JP6267949B2 - 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
- Publication number
- JP6267949B2 JP6267949B2 JP2013259380A JP2013259380A JP6267949B2 JP 6267949 B2 JP6267949 B2 JP 6267949B2 JP 2013259380 A JP2013259380 A JP 2013259380A JP 2013259380 A JP2013259380 A JP 2013259380A JP 6267949 B2 JP6267949 B2 JP 6267949B2
- Authority
- JP
- Japan
- Prior art keywords
- clutch
- speed ratio
- motor
- mode
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2079—Control of mechanical transmission
-
- 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
- B60K6/22—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 apparatus, components or means specially adapted for HEVs
- B60K6/36—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 apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
- B60K6/365—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 apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
-
- 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
- B60K6/22—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 apparatus, components or means specially adapted for HEVs
- B60K6/38—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 apparatus, components or means specially adapted for HEVs characterised by the driveline clutches
- B60K6/387—Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means
-
- 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
- B60K6/42—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/20—Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/202—Mechanical transmission, e.g. clutches, gears
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- 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
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/46—Gearings having only two central gears, connected by orbital gears
-
- 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
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/62—Gearings having three or more central gears
-
- 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
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/72—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously
-
- 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
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/72—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously
- F16H3/727—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously with at least two dynamo electric machines for creating an electric power path inside the gearing, e.g. using generator and motor for a variable power torque path
- F16H3/728—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously with at least two dynamo electric machines for creating an electric power path inside the gearing, e.g. using generator and motor for a variable power torque path with means to change ratio in the mechanical gearing
-
- 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
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
-
- 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
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/68—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings
- F16H61/684—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings without interruption of drive
- F16H61/686—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings without interruption of drive with orbital gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/415—Wheel loaders
-
- 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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H37/08—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing
- F16H37/10—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with differential gearing at both ends of intermediate shafts
- F16H2037/104—Power split variators with one end of the CVT connected or connectable to two or more differentials
-
- 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
- F16H2200/00—Transmissions for multiple ratios
- F16H2200/20—Transmissions using gears with orbital motion
- F16H2200/2002—Transmissions using gears with orbital motion characterised by the number of sets of orbital gears
- F16H2200/2007—Transmissions using gears with orbital motion characterised by the number of sets of orbital gears with two sets of orbital gears
-
- 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
- F16H2200/00—Transmissions for multiple ratios
- F16H2200/20—Transmissions using gears with orbital motion
- F16H2200/203—Transmissions using gears with orbital motion characterised by the engaging friction means not of the freewheel type, e.g. friction clutches or brakes
- F16H2200/2035—Transmissions using gears with orbital motion characterised by the engaging friction means not of the freewheel type, e.g. friction clutches or brakes with two engaging means
-
- 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
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/04—Smoothing ratio shift
- F16H61/08—Timing control
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Transmission Device (AREA)
- Structure Of Transmissions (AREA)
- Operation Control Of Excavators (AREA)
- Hybrid Electric Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
Ltg = Li - ( Li - Lo ) * dt / tf
Ltgは、クラッチ指令信号の出力時点Paからの経過時間がdtであるときの目標速度比である。Liは、クラッチ指令信号の出力時点Paでの速度比である。Loは、予測係合時間の経過時点Pbでの目標速度比である。予測係合時間の経過時点Pbでの目標速度比は、目標軌跡Ls_targetから求められる。tfは予測係合時間である。モータ制御部55は、目標速度比Ltgに対応する第2モータMG2の回転速度を目標回転速度Ntargetとして決定する。そして、モータ制御部55は、目標回転速度Ntargetを示す指令信号を第2インバータI2に送る。なお、予測係合時間が所定の閾値よりも小さいときには、第2モータMG2への目標回転速度を0にしてもよい。第2モータMG2への回転速度が0であるときには、速度比は、モード切換点での速度比と一致するからである。
23 作業機ポンプ
3 作業機
25 走行装置
24 動力伝達装置
27 制御部
61 入力軸
63 出力軸と、
68 第1遊星歯車機構
69 第2遊星歯車機構
66 歯車機構
MG1 第1モータ
MG2 第2モータ
CH Hクラッチ
CL Lクラッチ
27 制御部
58 クラッチ制御部
82 予測係合時間決定部
83 速度比パラメータ推定部
73 第1油温検出部
56 記憶部
55 モータ制御部
84 目標軌跡決定部
Claims (5)
- 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、
前記エンジンによって駆動される走行装置と、
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、
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、
遊星歯車機構を有し、前記入力軸の回転を前記出力軸に伝達する歯車機構と、
前記遊星歯車機構の回転要素に接続されるモータと、
前記動力伝達装置での駆動力の伝達経路を第1モードから第2モードに切り換えるためのクラッチと、
を有し、
前記伝達経路が前記第1モードであるとき、前記クラッチは切断状態であり、
前記伝達経路は前記第2モードであるとき、前記クラッチは係合状態であり、
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速度比を変化させるように構成されており、
前記速度比に対応する速度比パラメータが、所定のモード切換閾値であるときに、前記第1モードでの前記入力軸に対する前記モータの回転速度比と、前記第2モードでの前記入力軸に対する前記モータの回転速度比とは等しくなり、
前記制御部は、予測係合時間決定部と、速度比パラメータ推定部と、クラッチ制御部と、目標軌跡決定部と、モータ制御部と、を有し、
前記クラッチが切断状態であるときに、前記予測係合時間決定部は、前記クラッチの係合開始から係合完了までに要する時間の予測値である予測係合時間を決定し、
前記速度比パラメータ推定部は、現時点から前記予測係合時間の経過後の前記速度比パラメータの推定値を決定し、
前記クラッチ制御部は、前記速度比パラメータの推定値が前記モード切換閾値に達したときに、前記クラッチを係合させるためのクラッチ指令信号を出力し、
前記目標軌跡決定部は、前記クラッチ指令信号の出力時点から前記予測係合時間の経過時点までの前記速度比パラメータの変化の目標軌跡を決定し、
前記モータ制御部は、前記クラッチ指令信号の出力時点から前記予測係合時間が経過するまでの間、前記目標軌跡に従って前記速度比パラメータが変化するように、前記モータを制御する、
作業車両。 - 前記クラッチは油圧式のクラッチであり、
前記クラッチに供給される作動油の温度を検出する油温検出部をさらに備え、
前記制御部は、前記作動油の温度を含む係合時間パラメータと、前記予測係合時間との関係を規定する予測係合時間情報を記憶する記憶部をさらに有し、
前記予測係合時間決定部は、前記油温検出部が検出した作動油の温度と、前記予測係合時間情報に基づいて、前記予測係合時間を決定する、
請求項1に記載の作業車両。 - 前記速度比パラメータ推定部は、所定時間ごとに前記速度比パラメータを記録し、記録した前記速度比パラメータから前記速度比パラメータの変化率を求め、前記速度比パラメータの変化率から前記速度比パラメータの推定値を決定する、
請求項1又は2に記載の作業車両。 - 前記第1モードでの前記モータの回転速度に対する前記速度比の変化率は、前記第2モードでの前記モータの回転速度に対する前記速度比の変化率と異なっている、
請求項1から3のいずれかに記載の作業車両。 - 動力伝達装置を備える作業車両の制御方法であって、
前記動力伝達装置は、
入力軸と、
出力軸と、
遊星歯車機構を有し、前記入力軸の回転を前記出力軸に伝達する歯車機構と、
前記遊星歯車機構の回転要素に接続されるモータと、
前記動力伝達装置での駆動力の伝達経路を第1モードから第2モードに切り換えるためのクラッチと、
を有し、
前記伝達経路が前記第1モードであるとき、前記クラッチが切断状態であり、
前記伝達経路が前記第2モードであるとき、前記クラッチが係合状態であり、
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速度比を変化させるように構成されており、
前記速度比に対応する速度比パラメータが、所定のモード切換閾値であるときに、前記第1モードでの前記入力軸に対する前記モータの回転速度比と、前記第2モードでの前記入力軸に対する前記モータの回転速度比とは等しくなり、
前記制御方法は、
前記クラッチが切断状態であるときに、前記クラッチの係合開始から係合完了までに要する時間の予測値である予測係合時間を決定するステップと、
現時点から前記予測係合時間の経過後の前記速度比パラメータの推定値を決定するステップと、
前記速度比パラメータの推定値が前記モード切換閾値に達したときに、前記クラッチを係合させるためのクラッチ指令信号を出力するステップと、
前記クラッチ指令信号の出力時点から前記予測係合時間の経過時点までの前記速度比パラメータの変化の目標軌跡を決定するステップと、
前記クラッチ指令信号の出力時点から前記予測係合時間が経過するまでの間、前記目標軌跡に従って前記速度比パラメータが変化するように、前記モータを制御するステップと、
を備える作業車両の制御方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013259380A JP6267949B2 (ja) | 2013-12-16 | 2013-12-16 | 作業車両及び作業車両の制御方法 |
PCT/JP2014/082706 WO2015093371A1 (ja) | 2013-12-16 | 2014-12-10 | 作業車両及び作業車両の制御方法 |
CN201480020847.4A CN105121919B (zh) | 2013-12-16 | 2014-12-10 | 作业车辆及作业车辆的控制方法 |
EP14871837.2A EP2963316A4 (en) | 2013-12-16 | 2014-12-10 | Work vehicle and method for controlling work vehicle |
US14/781,687 US20160040394A1 (en) | 2013-12-16 | 2014-12-10 | Work vehicle and control method for same |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013259380A JP6267949B2 (ja) | 2013-12-16 | 2013-12-16 | 作業車両及び作業車両の制御方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015117715A JP2015117715A (ja) | 2015-06-25 |
JP6267949B2 true JP6267949B2 (ja) | 2018-01-24 |
Family
ID=53402719
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013259380A Expired - Fee Related JP6267949B2 (ja) | 2013-12-16 | 2013-12-16 | 作業車両及び作業車両の制御方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20160040394A1 (ja) |
EP (1) | EP2963316A4 (ja) |
JP (1) | JP6267949B2 (ja) |
CN (1) | CN105121919B (ja) |
WO (1) | WO2015093371A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10094470B2 (en) * | 2016-01-11 | 2018-10-09 | Cnh Industrial America Llc | Systems and method of determining PTO transmission gear ratio |
KR101838120B1 (ko) * | 2016-02-29 | 2018-03-13 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 작업 기계의 제어 장치, 작업 기계 및 작업 기계의 제어 방법 |
JP6431561B2 (ja) * | 2017-03-31 | 2018-11-28 | 本田技研工業株式会社 | 自動変速機 |
JP6477825B1 (ja) * | 2017-10-19 | 2019-03-06 | マツダ株式会社 | 自動変速機の変速制御装置 |
JP7001540B2 (ja) * | 2018-05-18 | 2022-01-19 | 株式会社クボタ | 作業車 |
US10218282B1 (en) * | 2018-05-31 | 2019-02-26 | Power Integrations, Inc. | Method and apparatus for sequencing outputs in a multi-output power converter system |
JP7163837B2 (ja) * | 2019-03-20 | 2022-11-01 | トヨタ自動車株式会社 | ハイブリッド車両の制御装置 |
US11413960B2 (en) | 2019-07-12 | 2022-08-16 | Deere & Company | Power shift transmission with electric power assist |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6159061A (ja) * | 1984-08-29 | 1986-03-26 | Shimadzu Corp | 流体機械式変速機 |
US6616559B1 (en) * | 1998-10-26 | 2003-09-09 | Yanmar Co., Ltd. | Continuously variable transmission |
JP4087961B2 (ja) * | 1998-10-27 | 2008-05-21 | ヤンマー株式会社 | 油圧−機械式変速機の中立制御方法 |
JP4577975B2 (ja) * | 2000-11-06 | 2010-11-10 | ヤンマー株式会社 | Hmt式トランスミッションを備えるトラクタの駆動モード切換機構 |
US7090613B2 (en) * | 2004-05-15 | 2006-08-15 | General Motors Corporation | Method of providing electric motor torque reserve in a hybrid electric vehicle |
JP4789507B2 (ja) * | 2005-05-24 | 2011-10-12 | 株式会社小松製作所 | 変速装置 |
JP4670569B2 (ja) * | 2005-10-03 | 2011-04-13 | 日本精工株式会社 | 無段変速装置 |
US7846051B2 (en) * | 2007-05-11 | 2010-12-07 | Gm Global Technology Operations, Inc. | Hybrid powertrain with an engine input clutch and method of control |
US8702548B2 (en) * | 2011-11-03 | 2014-04-22 | Gm Global Technology Operations | Hydraulic control system for an automatic transmission |
-
2013
- 2013-12-16 JP JP2013259380A patent/JP6267949B2/ja not_active Expired - Fee Related
-
2014
- 2014-12-10 US US14/781,687 patent/US20160040394A1/en not_active Abandoned
- 2014-12-10 EP EP14871837.2A patent/EP2963316A4/en not_active Withdrawn
- 2014-12-10 CN CN201480020847.4A patent/CN105121919B/zh not_active Expired - Fee Related
- 2014-12-10 WO PCT/JP2014/082706 patent/WO2015093371A1/ja active Application Filing
Also Published As
Publication number | Publication date |
---|---|
EP2963316A1 (en) | 2016-01-06 |
CN105121919B (zh) | 2017-03-29 |
JP2015117715A (ja) | 2015-06-25 |
WO2015093371A1 (ja) | 2015-06-25 |
EP2963316A4 (en) | 2017-06-07 |
CN105121919A (zh) | 2015-12-02 |
US20160040394A1 (en) | 2016-02-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6267949B2 (ja) | 作業車両及び作業車両の制御方法 | |
JP6327846B2 (ja) | 作業車両及びその制御方法 | |
JP6364194B2 (ja) | 作業車両及びその制御方法 | |
JP6416787B2 (ja) | 作業車両及びその制御方法 | |
JP6444301B2 (ja) | 作業車両及び作業車両の制御方法 | |
JP6368712B2 (ja) | 作業車両及びその制御方法 | |
JP6297821B2 (ja) | 作業車両 | |
JP6271270B2 (ja) | 作業車両及び作業車両の制御方法 | |
JP6265726B2 (ja) | 作業車両及び作業車両の制御方法 | |
JP6313965B2 (ja) | 作業車両及びその制御方法 | |
WO2015056492A1 (ja) | 作業車両及び作業車両の制御方法 | |
JP6630030B2 (ja) | ホイールローダ及びホイールローダの制御方法 | |
JP6265725B2 (ja) | 作業車両及び作業車両の制御方法 | |
JP6320741B2 (ja) | 作業車両及び作業車両の制御方法 | |
WO2015111317A1 (ja) | 作業車両及び作業車両の制御方法 | |
JP6473083B2 (ja) | 作業車両及びその制御方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20161025 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20170808 |
|
A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20171006 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20171128 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6267949 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
LAPS | Cancellation because of no payment of annual fees |