JP6403386B2 - 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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- JP6403386B2 JP6403386B2 JP2014005028A JP2014005028A JP6403386B2 JP 6403386 B2 JP6403386 B2 JP 6403386B2 JP 2014005028 A JP2014005028 A JP 2014005028A JP 2014005028 A JP2014005028 A JP 2014005028A JP 6403386 B2 JP6403386 B2 JP 6403386B2
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Classifications
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- E—FIXED CONSTRUCTIONS
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
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- 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
- B60K2006/381—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 characterized by driveline brakes
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- B60W2300/00—Indexing codes relating to the type of vehicle
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- B60W2520/00—Input parameters relating to overall vehicle dynamics
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W2540/00—Input parameters relating to occupants
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- 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
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- 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
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- B60W2710/083—Torque
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- 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
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- 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
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/10—Change speed gearings
- B60W2710/105—Output torque
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B60W2710/305—Auxiliary equipments target power to auxiliaries
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- 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
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- 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
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/93—Conjoint control of different elements
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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Hybrid Electric Vehicles (AREA)
- Structure Of Transmissions (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
Description
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)
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)
Hem = ( Cp_target - Cp_current ) * P_gain
P_gainは、所定の係数である。エネルギーマネジメント要求決定部85は、現在のキャパシタ容量Cp_currentが少なくなるほど、エネルギーマネジメント要求パワーHemを大きくする。また、エネルギーマネジメント要求決定部85は、目標キャパシタ容量Cp_targetが大きいほど、エネルギーマネジメント要求パワーHemを大きくする。
Hpto = Qdm / ηv * Pwp / ηt
ηvは容積効率である。ηtはトルク効率である。容積効率ηv及びトルク効率ηtは、作業機ポンプ23の特性に応じて定まる固定値である。作業機ポンプ圧Pwpは、作業機ポンプ圧検出部32によって検出される。
Tpto = Qwp * Pwp / ηt
Qwpは、作業機ポンプ押しのけ容積である。作業機ポンプ押しのけ容積Qwpは、第1傾転角検出部33によって検出された傾転角から算出される。
(式6)
Nedm = Qdm / ( Qmax / ηv )
(式7)
Hprior = Hem + Hfix
(式8)
Hdiv = Max (0, Hmax-Hprior)
ここで、Max (A, B)は、AとBのうちの最も大きな値を表す。
(式9)
Htc = Htc_max−(Htc_max−Htc_min)/(Vth2−Vth1)*(|Vveh|−Vth1)
つまり、車速Vvehの絶対値が第1速度Vth1から第2速度Vth2までの間であるとき、トランスミッション保障パワーHtcは、車速Vvehの絶対値が大きくなればなるほど、第1パワーHtc_maxよりも小さくなる。
(式10)
Vth1 = Km*Vth1_org
Vth2 = Km*Vth1_org
(式11)
Htpa = Min (Hdiv, Htm, Htc)
ここで、Min (A, B, C)は、AとBとCとのうちの最も小さな値を表す。なお、以降の説明において、Min(A, B)と表されるとき、Min(A, B)は、AとBとのうちの最も小さな値を表す。
(式12)
Hla = Min (Hdiv−Htpa, Hpto)
(式13)
Htaa = Min (Hdiv−Htpa−Hla, Htm−Htpa)
(式14)
Hta = Htpa+Htaa
(式15)
Rtm = Hta/Htm
Rpto = Hla/Hpto
(式16)
Htpa2 = Min (Hcrp, Htm)
ここで、Hcrpは、クリープパワーを表す。クリープパワーHcrpとは、作業車両がクリーピング(creeping)するために動力伝達装置24が必要とするパワーである。つまり、クリープパワーHcrpは、作業車両1の走行上必要となる最小限のパワーである。
(式17)
Hla_prop = Hdiv*Hla_tmp/(Hla_tmp+Hta_tmp)
(式18)
Hla2 = Min (Max(Hdiv−Htpa2, 0), Hpto, Hla_prop)
(式19)
Htaa2 = Min (Max(Hdiv−Htpa2−Hla2, 0), Htm−Htpa2)
(式20)
Hta2 = Htpa2 + Htaa2
(式21)
Rtm = Hta2/Htm
Rpto = Hla2/Hpto
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
51a アクセル操作部材
51b アクセル操作検出部
52a 作業機操作部材
53a 変速操作部材
53b 変速操作検出部
56 記憶部
61 入力軸
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
81 目標入力トルク決定部
82 目標出力トルク決定部
83 指令トルク決定部
84 トランスミッション要求決定部
85 エネルギーマネジメント要求決定部
86 作業機要求決定部
87 エンジン要求決定部
88 分配率決定部
Claims (9)
- エンジンと、
前記エンジンによって駆動される作業機ポンプと、
前記作業機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入力する入力軸と、前記走行装置に伝達する駆動力を出力する出力軸と、モータとを少なくとも含む動力伝達装置と、
車速を検出する車速検出部と、
前記作業機ポンプの作業機ポンプ圧を検出する作業機ポンプ圧検出部と、
前記作業機を操作するための作業機操作部材と、
前記作業機操作部材の操作量を検出する作業機操作検出部と、
アクセル操作部材と、
前記アクセル操作部材の操作量を検出するアクセル操作検出部と、
前記動力伝達装置を制御する制御部と、
を備え、
前記動力伝達装置では、前記モータの回転速度が変化することによって、前記入力軸に対する前記出力軸の回転速度比が変化し、
前記制御部は、
前記作業機操作部材の操作量と前記作業機ポンプ圧とに基づいて作業機要求パワーを決定する作業機要求決定部と、
前記車速と、前記アクセル操作部材の操作量とに基づいてトランスミッション要求パワーを決定するトランスミッション要求決定部と、
前記エンジンから前記動力伝達装置に実際に供給される駆動力を前記トランスミッション要求パワーで割った値であるトランスミッション出力率と、前記エンジンから前記作業機ポンプに実際に供給される駆動力を前記作業機要求パワーで割った値である作業機出力率とを決定する分配率決定部と、
を有し、
前記分配率決定部は、上限目標入力トルク線とエンジントルク線との交点である最大マッチング点における前記エンジンの回転速度である第1回転速度以上の回転速度で前記エンジンが回転し、且つ、前記作業機要求パワーと前記トランスミッション要求パワーとの合計が前記第1回転速度におけるエンジンの負荷上限パワーから所定の優先配分パワーを除いた第1分配可能パワーより大きい第1の場合には、所定のトランスミッション保障パワーと前記トランスミッション要求パワーとのうちのより小さい方のパワーを前記動力伝達装置に割り当て、前記第1分配可能パワーの残りのパワーを前記作業機ポンプと前記動力伝達装置とに分配することによって、前記作業機ポンプに割り当てる第1作業機割当パワーと前記動力伝達装置に割り当てる第1トランスミッション割当パワーとを決定し、
前記トランスミッション保障パワーは、車速の絶対値が第1速度から第1速度より大きい第2速度までは、車速の絶対値が大きくなればなるほど小さくなる、
作業車両。 - 前記分配率決定部は、前記第1の場合において、前記作業機要求パワーを優先的に確保できるように、前記第1分配可能パワーの前記残りのパワーを前記動力伝達装置よりも前記作業機ポンプに優先的に割り当てる、請求項1に記載の作業車両。
- 前記第1回転速度より低い第2回転速度で前記エンジンが回転する場合、前記第2回転速度における前記エンジンの負荷上限パワーは、前記第2回転速度における前記上限目標入力トルク線のトルク値に基づいて算出され、
前記分配率決定部は、前記第2回転速度で前記エンジンが回転し、且つ、前記作業機要求パワーと前記トランスミッション要求パワーとの合計が前記第2回転速度における前記エンジンの負荷上限パワーから前記優先配分パワーを除いた第2分配可能パワーより大きい第2の場合には、前記作業車両が最低限の走行を行うために前記動力伝達装置が必要とするクリープパワーと前記トランスミッション要求パワーとのうちのより小さい方のパワーを前記動力伝達装置に割り当て、前記第2分配可能パワーの残りのパワーを前記作業機ポンプと前記動力伝達装置とに分配することによって、前記作業機ポンプに割り当てる第2作業機割当パワーと前記動力伝達装置に割り当てる第2トランスミッション割当パワーとを決定する、
請求項1または2に記載の作業車両。 - 前記分配率決定部は、前記第2の場合において、
前記エンジンが前記第1回転速度で回転する場合を仮定して、前記第1作業機割当パワーと前記第1トランスミッション割当パワーとを決定し、
前記第1作業機割当パワーに対する前記第1トランスミッション割当パワーとの比と、作業機比例割当パワーに対するトランスミッション比例割当パワーの比とが等しくなり、且つ、前記作業機比例割当パワーと前記トランスミッション比例割当パワーとの和が前記第2分配可能パワーとなるように、前記作業機比例割当パワーを決定し、
前記作業機要求パワーと前記作業機比例割当パワーとのうちのより小さい方のパワーを優先的に確保できるように、前記第2分配可能パワーの前記残りのパワーを前記動力伝達装置よりも前記作業機ポンプに優先的に割り当てる、請求項3に記載の作業車両。 - 前記モータで発生するエネルギーを蓄えるエネルギー貯留部をさらに備え、
前記制御部は、前記エネルギー貯留部でのエネルギーの残量に基づいて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さらに有し、
前記優先配分パワーは、前記エネルギーマネジメント要求パワーを含む、請求項1から4のいずれかの作業車両。 - 前記トランスミッション保障パワーは、
車速の絶対値が0から前記第1速度までは、所定の第1パワーであり、
車速の絶対値が前記第1速度から前記第2速度までは、車速の絶対値が大きくなればなるほど、前記第1パワーよりも小さくなり、
車速の絶対値が前記第2速度以上であると、前記第1パワーよりも小さい所定の第2パワーである、請求項1から5のいずれかに記載の作業車両。 - 変速操作部材と、
前記変速操作部材の位置を検出する変速操作検出部と、
をさらに備え、
前記変速操検出部によって検出される変速段に応じて、前記第1速度及び前記第2速度が設定される、請求項6に記載の作業車両。 - 前記制御部は、
前記動力伝達装置に入力されるトルクの目標値である目標入力トルクを決定する目標入力トルク決定部と、
前記動力伝達装置から出力されるトルクの目標値である目標出力トルクを決定する目標出力トルク決定部と、
前記動力伝達装置でのトルクの釣り合いを満たすように前記目標入力トルクと前記目標出力トルクとの関係を規定するトルクバランス情報を記憶する記憶部と、
前記目標入力トルクと前記目標出力トルクとから、前記トルクバランス情報により、前記モータへの指令トルクを決定する指令トルク決定部と、
をさらに有する、請求項1から7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作業機ポンプと、前記作業機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入力する入力軸と、前記走行装置に伝達する駆動力を出力する出力軸と、モータとを少なくとも含む動力伝達装置と、車速を検出する車速検出部と、前記作業機ポンプの作業機ポンプ圧を検出する作業機ポンプ圧検出部と、前記作業機を操作するための作業機操作部材と、前記作業機操作部材の操作量を検出する作業機操作検出部と、アクセル操作部材と、前記アクセル操作部材の操作量を検出するアクセル操作検出部と、を備え、
前記動力伝達装置では、前記モータの回転速度が変化することによって、前記入力軸に対する前記出力軸の回転速度比が変化し、
前記作業機操作部材の操作量と前記作業機ポンプ圧とに基づいて作業機要求パワーを決定するステップと、
前記車速と、前記アクセル操作部材の操作量とに基づいてトランスミッション要求パワーを決定するステップと、
前記エンジンから前記動力伝達装置に実際に供給される駆動力を前記トランスミッション要求パワーで割った値であるトランスミッション出力率と、前記エンジンから前記作業機ポンプに実際に供給される駆動力を前記作業機要求パワーで割った値である作業機出力率とを決定するステップと、
を含み、
前記トランスミッション出力率と前記作業機出力率とを決定するステップは、上限目標入力トルク線とエンジントルク線との交点である最大マッチング点における前記エンジンの回転速度である第1回転速度以上の回転速度で前記エンジンが回転し、且つ、前記作業機要求パワーと前記トランスミッション要求パワーとの合計が前記第1回転速度におけるエンジンの負荷上限パワーから所定の優先配分パワーを除いた第1分配可能パワーより大きい第1の場合には、所定のトランスミッション保障パワーと前記トランスミッション要求パワーとのうちのより小さい方のパワーを前記動力伝達装置に割り当て、前記第1分配可能パワーの残りのパワーを前記作業機ポンプと前記動力伝達装置とに分配することによって、前記作業機ポンプに割り当てる第1作業機割当パワーと前記動力伝達装置に割り当てる第1トランスミッション割当パワーとを決定し、
前記トランスミッション保障パワーは、車速の絶対値が第1速度から第1速度より大きい第2速度までは、車速の絶対値が大きくなればなるほど小さくなる、作業車両の制御方法。
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