JP2015143061A - 作業車両及び作業車両の制御方法 - Google Patents
作業車両及び作業車両の制御方法 Download PDFInfo
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- JP2015143061A JP2015143061A JP2014016829A JP2014016829A JP2015143061A JP 2015143061 A JP2015143061 A JP 2015143061A JP 2014016829 A JP2014016829 A JP 2014016829A JP 2014016829 A JP2014016829 A JP 2014016829A JP 2015143061 A JP2015143061 A JP 2015143061A
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- power
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- vehicle speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/15—Preventing overcharging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/44—Series-parallel type
- B60K6/445—Differential gearing distribution type
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/54—Transmission for changing ratio
- B60K6/543—Transmission for changing ratio the transmission being a continuously variable transmission
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
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- F16H3/62—Gearings having three or more central gears
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F16H—GEARING
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Abstract
Description
(式1)
Ts1_Low = Te_ref * r_fr
Tc1_Low = Ts1_Low * (-1) * ( (Zr1/Zs1) + 1 )
Tr2_Low = To_ref * (Zod/Zo)
Ts2_Low = Tr2_Low * (Zs2/Zr2)
Tcp1_Low = Tc1_Low + Ts2_Low
Tm1_Low = Tcp1_Low * (-1) * (Zp1/Zp1d)
Tr1_Low = Ts1_Low * (Zr1/Zs1)
Tm2_Low = Tr1_Low * (-1) * (Zp2/Zp2d)
また、指令トルク決定部83は、以下の(式2)に示す第2のトルクバランス情報を用いてHiモードでのモータMG1, MG2への指令トルクTm1_Hi,Tm2_ Hiを決定する。本実施形態において、第2のトルクバランス情報は、動力伝達装置24でのトルクの釣り合いの式である。
(式2)
Ts1_Hi = Te_ref * r_fr
Tc1_Hi = Ts1_Hi * (-1) * ( (Zr1/Zs1) + 1 )
Tr2_Hi = To_ref * (Zod/Zo)
Ts2_Hi = Tr2_Hi * (Zs2/Zr2)
Tcp1_Hi = Tc1_Hi + Ts2_Hi
Tm1_Hi = Tcp1_Hi * (-1) * (Zp1/Zp1d)
Tr1_Hi = Ts1_Hi * (Zr1/Zs1)
Tc2_Hi = Tr2_Hi * (-1) * ( (Zs2/Zr2) + 1 )
Tcp2_Hi = Tr1_Hi + Tc2_Hi
Tm2_Hi = Tcp2_Hi * (-1) * (Zp2/Zp2d)
ここで、各トルクバランス情報のパラメータの内容は以下の表1の通りである。
(6) エネルギーマネジメント要求決定部85は、現在蓄電量Cp_storageが目標蓄電量Cp_targetを上回ると、キャパシタ64を放電させるための負のエネルギーマネジメント要求パワーHemを決定する。したがって、キャパシタ64に蓄電された電気を作業車両1の加速等に効果的に消費させることができるため、作業車両1の燃費が向上する。
23 作業機ポンプ
3 作業機
25 走行装置
24,124 動力伝達装置
27 制御部
37 車速検出部
54 前後進切換操作装置
61 入力軸
62 歯車機構
63 出力軸
64 キャパシタ(エネルギー貯留部)
MG1 第1モータ
MG2 第2モータ
85 エネルギーマネジメント要求決定部
Claims (10)
- エンジンと、
前記エンジンによって駆動される油圧ポンプと、
前記油圧ポンプから吐出された作動油によって駆動される作業機と、
走行装置と、
前記エンジンからの駆動力を前記走行装置に伝達する動力伝達装置と、
オペレータによって前進もしくは後進の指示が入力される前後進切換操作装置と、
前記走行装置の車速を検出する車速検出部と、
前記動力伝達装置を制御する制御部と、
を備え、
前記動力伝達装置は、
入力軸と、
出力軸と、
前記エンジンからの駆動力を受けるジェネレータと、
前記走行装置に対して駆動力を出力するモータと、
前記ジェネレータで発生する電気を蓄えるエネルギー貯留部と、
を含み、
前記動力伝達装置は、前記モータの回転速度を変化させることによって、前記入力軸に対する前記出力軸の回転速度比を変化させるように構成されており、
前記制御部は、
目標蓄電量と前記エネルギー貯留部の現在蓄電量との差に基づいて、前記エネルギー貯留部を充電するために前記動力伝達装置が必要とするエネルギーマネジメント要求パワーを決定するエネルギーマネジメント要求決定部
を含み、
前記エネルギーマネジメント要求決定部は、前記前後進切換操作装置から入力される前記オペレータが指示する第1進行方向と、前記車速検出部により検出される車速から判定される第2進行方向とが異なるとき、前記目標蓄電量を増加させる、作業車両。 - 前記エネルギーマネジメント要求決定部は、前記第1進行方向と、前記第2進行方向とが異なるとき、前記エネルギーマネジメント要求パワーを増加させる、請求項1に記載の作業車両。
- 前記エネルギーマネジメント要求決定部は、前記車速に基づいて前記目標蓄電量を決定する、請求項1または2に記載の作業車両。
- 前記エネルギーマネジメント要求決定部は、前記第1進行方向と前記第2進行方向とが一致するとき、前記車速に応じて前記目標蓄電量を変化させる、請求項3に記載の作業車両。
- 前記エネルギーマネジメント要求決定部は、前記車速の絶対値が大きくなるほど、前記目標蓄電量を低減させる、請求項4に記載の作業車両。
- 前記エネルギーマネジメント要求決定部は、前記目標蓄電量と前記現在蓄電量との差が小さくなるほど、前記エネルギーマネジメント要求パワーを減少させる、請求項1から5のいずれかに記載の作業車両。
- 前記エネルギーマネジメント要求決定部は、前記現在蓄電量が前記目標蓄電量を上回ると、前記エネルギー貯留部を放電させるための前記エネルギーマネジメント要求パワーを決定する、請求項6に記載の作業車両。
- 前記エネルギー貯留部はキャパシタである、請求項1から7のいずれかに記載の作業車両。
- 前記動力伝達装置は、
車両の前進時に接続されるFクラッチと、
車両の後進時に接続されるRクラッチと、
前記入力軸の回転を前記出力軸に伝達する歯車機構と、
を含み、
前記ジェネレータと前記モータとは、前記歯車機構の回転要素に接続される、
請求項1から8のいずれかに記載の作業車両。 - 作業車両の制御方法であって、
前記作業車両は、エンジンと、前記エンジンによって駆動される油圧ポンプと、前記油圧ポンプから吐出された作動油によって駆動される作業機と、走行装置と、前記エンジンからの駆動力を前記走行装置に伝達する動力伝達装置と、オペレータによって前進もしくは後進の指示が入力される前後進切換操作装置と、前記走行装置の車速を検出する車速検出部と、を備え、
前記動力伝達装置は、入力軸と、出力軸と、前記エンジンからの駆動力を受けるジェネレータと、前記走行装置に対して駆動力を出力するモータと、前記ジェネレータで発生する電気を蓄えるエネルギー貯留部と、を含み、
前記動力伝達装置は、前記モータの回転速度を変化させることによって、前記入力軸に対する前記出力軸の回転速度比を変化させるように構成されており、
前記制御方法は、
目標蓄電量と前記エネルギー貯留部の現在蓄電量との差に基づいて、前記エネルギー貯留部を充電するために前記動力伝達装置が必要とするエネルギーマネジメント要求パワーを決定するステップ
を含み、
前記エネルギーマネジメント要求パワーを決定するステップは、
前記前後進切換操作装置から入力される前記オペレータが指示する第1進行方向と、前記車速検出部により検出される車速から判定される第2進行方向とが異なるとき、前記目標蓄電量を増加させるステップを含む、
作業車両の制御方法。
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