JP6416787B2 - 作業車両及びその制御方法 - Google Patents
作業車両及びその制御方法 Download PDFInfo
- Publication number
- JP6416787B2 JP6416787B2 JP2015553552A JP2015553552A JP6416787B2 JP 6416787 B2 JP6416787 B2 JP 6416787B2 JP 2015553552 A JP2015553552 A JP 2015553552A JP 2015553552 A JP2015553552 A JP 2015553552A JP 6416787 B2 JP6416787 B2 JP 6416787B2
- Authority
- JP
- Japan
- Prior art keywords
- work implement
- engine
- work
- operation amount
- 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.)
- Active
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/12—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by varying the length of stroke of the working members
-
- 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
- B60K25/00—Auxiliary drives
- B60K25/02—Auxiliary drives directly from an engine shaft
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1886—Controlling power supply to auxiliary devices
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1886—Controlling power supply to auxiliary devices
- B60W30/1888—Control of power take off [PTO]
-
- 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
- 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
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/422—Drive systems for bucket-arms, front-end loaders, dumpers or the like
-
- 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
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
-
- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- 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
- E02F9/2062—Control of propulsion units
- E02F9/2066—Control of propulsion units of the type combustion engines
-
- 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
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
-
- 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
-
- 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
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
-
- 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
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
-
- 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
- E02F9/2289—Closed circuit
-
- 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
- E02F9/2292—Systems with two or more pumps
-
- 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
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
- F04B17/05—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by internal-combustion engines
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
- F15B11/10—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor in which the servomotor position is a function of the pressure also pressure regulators as operating means for such systems, the device itself may be a position indicating system
-
- 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
- B60K25/00—Auxiliary drives
- B60K25/02—Auxiliary drives directly from an engine shaft
- B60K2025/026—Auxiliary drives directly from an engine shaft by a hydraulic transmission
-
- 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
-
- 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
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/42—Flow control characterised by the type of actuation
- F15B2211/426—Flow control characterised by the type of actuation electrically or electronically
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/605—Load sensing circuits
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7052—Single-acting output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/75—Control of speed of the output member
-
- 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
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
Description
[数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、以下の数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。
[数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。
Claims (12)
- 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、
エンジン回転速度を変更するためのアクセル操作部材と、
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が増大したときに、前記エンジン回転速度を増大させることで、前記作業機の速度を増大させる制御部と、
を備え、
前記制御部は、前記作業機操作部材の操作量が、所定操作量以下であるときには、前記作業機操作部材の操作量の増大に応じて、前記油圧ポンプの吐出容量を増大させ、
前記作業機操作部材の操作量が、前記所定操作量であるときに、前記油圧ポンプの吐出容量が最大容量となり、
前記制御部は、前記作業機操作部材の操作量が、前記所定操作量より大きいときに、前記作業機操作部材の操作量の増大に応じて前記エンジン回転速度を増大させる、
作業車両。 - 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、
エンジン回転速度を変更するためのアクセル操作部材と、
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が増大したときに、前記エンジン回転速度を増大させることで、前記作業機の速度を増大させる制御部と、
を備え、
前記制御部は、前記作業機操作部材の操作量と前記油圧ポンプへの要求流量との関係を規定する要求流量情報を記憶する記憶部を有し、
前記制御部は、前記要求流量情報を参照して、前記作業機操作部材の操作量に対応する前記要求流量を決定し、
前記制御部は、前記要求流量と前記油圧ポンプの吐出容量とに基づいて、前記エンジン回転速度を決定する、
作業車両。 - 入力軸と、出力軸と、モータとを有し、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をさらに備え、
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、前記モータの出力トルクを制御することにより、車両の牽引力を制御する、
請求項1又は2に記載の作業車両。 - 前記制御部は、前記アクセル操作部材の操作量に基づいて前記走行装置での目標牽引力である要求牽引力を決定し、車両の牽引力が前記要求牽引力となるように、前記モータの出力トルクを制御する、
請求項3に記載の作業車両。 - 前記作業機に供給される油圧を制御する作業機制御弁と、
ロードセンシング弁を含み、前記油圧ポンプの吐出圧と、前記作業機制御弁の出口油圧との差圧が所定の値となるように、前記油圧ポンプの吐出容量を制御する容量制御装置と、
をさらに備える、
請求項2に記載の作業車両。 - 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、
エンジン回転速度を変更するためのアクセル操作部材と、
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が増大したときに、前記エンジン回転速度を増大させることで、前記作業機の速度を増大させる制御部と、
入力軸と、出力軸と、モータとを有し、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、
を備え、
前記制御部は、前記アクセル操作部材の操作量に基づいて前記走行装置での目標牽引力である要求牽引力を決定し、車両の牽引力が前記要求牽引力となるように、前記モータの出力トルクを制御し、
前記制御部は、前記作業機操作部材の操作量の増大に応じて前記エンジン回転速度を増大させるときには、前記要求牽引力を前記アクセル操作部材の操作量に基づいて決定される値よりも低減させる、
作業車両。 - 前記制御部は、前記作業機操作部材の操作前よりも牽引力が低減されるように、前記要求牽引力を低減させる、
請求項6に記載の作業車両。 - 前記動力伝達装置は、遊星歯車機構を有し、
前記制御部は、前記作業機操作部材の操作量に関らず牽引力が維持されるように、前記要求牽引力を低減させる、
請求項6に記載の作業車両。 - 前記制御部は、前記要求牽引力に所定の削減率を乗じることで、前記要求牽引力を低減させる、
請求項6から8のいずれかに記載の作業車両。 - 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、エンジン回転速度を変更するためのアクセル操作部材と、前記作業機を操作するための作業機操作部材と、を備える作業車両の制御方法であって、
前記作業機操作部材の操作量が増大したときに、前記エンジン回転速度を増大させることで、前記作業機の速度を増大させるステップを備え、
前記作業機操作部材の操作量が、所定操作量以下であるときには、前記作業機操作部材の操作量の増大に応じて、前記油圧ポンプの吐出容量を増大させ、
前記作業機操作部材の操作量が、前記所定操作量であるときに、前記油圧ポンプの吐出容量が最大容量となり、
前記作業機操作部材の操作量が、前記所定操作量より大きいときに、前記作業機操作部材の操作量の増大に応じて前記エンジン回転速度を増大させる、
作業車両の制御方法。 - 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、エンジン回転速度を変更するためのアクセル操作部材と、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と前記油圧ポンプへの要求流量との関係を規定する要求流量情報を記憶する記憶部と、を備える作業車両の制御方法であって、
前記要求流量情報を参照して、前記作業機操作部材の操作量に対応する前記要求流量を決定するステップと、
前記要求流量と前記油圧ポンプの吐出容量とに基づいて、前記エンジン回転速度を決定するステップと、
前記作業機操作部材の操作量が増大したときに、前記エンジン回転速度を増大させることで、前記作業機の速度を増大させるステップと、
を備える作業車両の制御方法。 - 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、エンジン回転速度を変更するためのアクセル操作部材と、前記作業機を操作するための作業機操作部材と、入力軸と出力軸とモータとを有し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、を備える作業車両の制御方法であって、
前記アクセル操作部材の操作量に基づいて前記走行装置での目標牽引力である要求牽引力を決定するステップと、
車両の牽引力が前記要求牽引力となるように、前記モータの出力トルクを制御するステップと、
前記作業機操作部材の操作量が増大したときに、前記エンジン回転速度を増大させることで、前記作業機の速度を増大させるステップと、
を備える作業車両の制御方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013260523 | 2013-12-17 | ||
JP2013260523 | 2013-12-17 | ||
PCT/JP2014/083259 WO2015093477A1 (ja) | 2013-12-17 | 2014-12-16 | 作業車両及びその制御方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2015093477A1 JPWO2015093477A1 (ja) | 2017-03-16 |
JP6416787B2 true JP6416787B2 (ja) | 2018-10-31 |
Family
ID=53402822
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015553552A Active JP6416787B2 (ja) | 2013-12-17 | 2014-12-16 | 作業車両及びその制御方法 |
Country Status (5)
Country | Link |
---|---|
US (2) | US9815471B2 (ja) |
EP (1) | EP2993332B1 (ja) |
JP (1) | JP6416787B2 (ja) |
CN (1) | CN105283649B (ja) |
WO (1) | WO2015093477A1 (ja) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5866489B1 (ja) * | 2014-09-19 | 2016-02-17 | 株式会社小松製作所 | 作業車両及び作業車両の制御方法 |
US9883626B2 (en) * | 2015-10-02 | 2018-02-06 | Deere & Company | Controlling an agricultural vehicle based on sensed inputs |
EP3441598B1 (en) * | 2016-03-10 | 2023-07-26 | Hitachi Construction Machinery Co., Ltd. | Work machine |
CN106120905A (zh) * | 2016-06-24 | 2016-11-16 | 山东交通学院 | 一种多单元连杆驱动三活动度滑移装载机器人 |
WO2018085974A1 (en) * | 2016-11-08 | 2018-05-17 | Guangxi Liugong Machinery Co., Ltd. | Multiple level work hydraulics anti-stall |
CN110199142B (zh) | 2017-06-27 | 2020-12-01 | 株式会社小松制作所 | 作业车辆、及作业车辆的控制方法 |
US10517238B2 (en) * | 2017-09-18 | 2019-12-31 | Deere & Company | Implement optimization by automated adjustments |
US20190183048A1 (en) * | 2017-12-18 | 2019-06-20 | Macdon Industries Ltd. | Engine Speed Control and Ground Speed Control of a Hydraulically Driven Tractor |
EP3660229B1 (en) * | 2018-09-28 | 2022-08-03 | Hitachi Construction Machinery Co., Ltd. | Loading vehicle |
JP7236917B2 (ja) * | 2019-04-04 | 2023-03-10 | 株式会社小松製作所 | 作業車両、作業車両の制御装置および制御方法 |
CN109944707B (zh) * | 2019-05-06 | 2021-10-01 | 徐州徐工挖掘机械有限公司 | 一种提高挖掘机燃油经济性的控制方法 |
FR3101867B1 (fr) * | 2019-10-10 | 2021-10-08 | Manitou Bf | Engin de manutention de charge équipé d'un moteur thermique et procédé de commande de la vitesse en rotation du moteur thermique d'un tel engin |
JP7417485B2 (ja) * | 2020-07-10 | 2024-01-18 | 株式会社小松製作所 | 作業機械、および作業機械を制御するための方法 |
CN116906312B (zh) * | 2023-09-08 | 2023-11-17 | 临工重机股份有限公司 | 静液压驱动工程车辆的行走控制方法 |
Family Cites Families (30)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1992018706A1 (fr) * | 1991-04-12 | 1992-10-29 | Komatsu Ltd. | Niveleuse pour bulldozer |
US5535830A (en) * | 1993-04-27 | 1996-07-16 | Kabushiki Kaisha Komatsu Seisakusho | Dozing control unit for a bulldozer |
JP3155119B2 (ja) * | 1993-05-31 | 2001-04-09 | 株式会社小松製作所 | ブルドーザのド−ジング装置 |
JP3297147B2 (ja) * | 1993-06-08 | 2002-07-02 | 株式会社小松製作所 | ブルドーザのドージング装置 |
US5564507A (en) * | 1993-06-08 | 1996-10-15 | Kabushiki Kaisha Komatsu Seisakusho | Load control unit for a bulldozer |
US5555942A (en) * | 1993-06-16 | 1996-09-17 | Kabushiki Kaisha Komatsu Seisakusho | Blade control system for use in a bulldozer |
JP3794763B2 (ja) * | 1996-09-13 | 2006-07-12 | 株式会社小松製作所 | ブルドーザのドージング装置 |
JPH11210514A (ja) * | 1998-01-22 | 1999-08-03 | Komatsu Ltd | 建設機械の原動機制御装置 |
JP2002315105A (ja) | 2001-04-12 | 2002-10-25 | Komatsu Ltd | ホイールローダ |
US7493987B2 (en) | 2002-09-09 | 2009-02-24 | Jlg Industries, Inc. | Platform load sensing for vertical lifts |
JP4208179B2 (ja) | 2002-10-28 | 2009-01-14 | 株式会社小松製作所 | 油圧駆動車両 |
JP2005119645A (ja) * | 2003-09-26 | 2005-05-12 | Komatsu Ltd | 車両制御装置 |
JP4789507B2 (ja) * | 2005-05-24 | 2011-10-12 | 株式会社小松製作所 | 変速装置 |
US7686737B2 (en) * | 2005-09-30 | 2010-03-30 | Kubota Corporation | Speed control structure and method for work vehicle |
JP4732126B2 (ja) | 2005-10-28 | 2011-07-27 | 株式会社小松製作所 | エンジンの制御装置 |
CN101287899B (zh) | 2005-12-26 | 2010-12-08 | 株式会社小松制作所 | 建筑车辆 |
EP2169251B1 (en) * | 2007-07-18 | 2012-12-12 | Komatsu, Ltd. | Working vehicle, and vehicle speed control method for a working vehicle |
EP2177387B1 (en) * | 2007-07-30 | 2017-08-16 | Hitachi Construction Machinery Co., Ltd | Running driver of working vehicle |
WO2009019974A1 (ja) | 2007-08-09 | 2009-02-12 | Komatsu Ltd. | 作業車両及び作業車両の作動油量制御方法 |
JP5276597B2 (ja) * | 2007-10-22 | 2013-08-28 | 株式会社小松製作所 | 作業車両の変速制御装置および方法 |
JP5185846B2 (ja) * | 2009-01-28 | 2013-04-17 | 日立建機株式会社 | 作業車両の走行駆動装置 |
EP2407600B1 (en) * | 2009-03-12 | 2013-05-15 | Komatsu, Ltd. | Preventing overloading of the implement of a construction machine |
JP5248377B2 (ja) * | 2009-03-16 | 2013-07-31 | 日立建機株式会社 | 作業機械の油圧駆動装置 |
EP2412662A4 (en) * | 2009-03-27 | 2017-03-29 | Komatsu Ltd. | Fuel saving control device for working machine and fuel saving control method for working machine |
JP5312400B2 (ja) | 2010-05-27 | 2013-10-09 | 日立建機株式会社 | ハイブリッドホイールローダ |
KR101302262B1 (ko) | 2011-03-30 | 2013-09-02 | 가부시끼 가이샤 구보다 | 작업차 |
JP5933296B2 (ja) * | 2011-07-29 | 2016-06-08 | 株式会社クボタ | 車両用変速制御システム |
JP5959874B2 (ja) * | 2012-02-15 | 2016-08-02 | 日立建機株式会社 | ハイブリッド式作業車両 |
US9561789B2 (en) | 2012-03-28 | 2017-02-07 | Kubota Corporation | Hybrid work vehicle |
KR102192740B1 (ko) | 2014-04-24 | 2020-12-17 | 두산인프라코어 주식회사 | 건설기계의 엔진 및 유압펌프 통합 제어 장치 및 방법 |
-
2014
- 2014-12-16 CN CN201480032787.8A patent/CN105283649B/zh active Active
- 2014-12-16 EP EP14872328.1A patent/EP2993332B1/en active Active
- 2014-12-16 US US14/892,647 patent/US9815471B2/en active Active
- 2014-12-16 WO PCT/JP2014/083259 patent/WO2015093477A1/ja active Application Filing
- 2014-12-16 JP JP2015553552A patent/JP6416787B2/ja active Active
-
2017
- 2017-01-26 US US15/415,999 patent/US9790663B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
CN105283649A (zh) | 2016-01-27 |
JPWO2015093477A1 (ja) | 2017-03-16 |
EP2993332A1 (en) | 2016-03-09 |
US9815471B2 (en) | 2017-11-14 |
EP2993332B1 (en) | 2021-11-03 |
US9790663B2 (en) | 2017-10-17 |
US20170145659A1 (en) | 2017-05-25 |
EP2993332A4 (en) | 2017-03-08 |
CN105283649B (zh) | 2018-02-02 |
WO2015093477A1 (ja) | 2015-06-25 |
US20160121900A1 (en) | 2016-05-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6416787B2 (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 | |
JP6368495B2 (ja) | 作業車両及びその制御方法 | |
EP2918466B1 (en) | Work vehicle and method for controlling work vehicle | |
JP6327846B2 (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 | |
JP6403386B2 (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 | |
WO2015111317A1 (ja) | 作業車両及び作業車両の制御方法 | |
JP2018105114A (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: 20171006 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20180612 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180807 |
|
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: 20180911 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20181004 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6416787 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |