JP6444301B2 - 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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- JP6444301B2 JP6444301B2 JP2015518683A JP2015518683A JP6444301B2 JP 6444301 B2 JP6444301 B2 JP 6444301B2 JP 2015518683 A JP2015518683 A JP 2015518683A JP 2015518683 A JP2015518683 A JP 2015518683A JP 6444301 B2 JP6444301 B2 JP 6444301B2
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- clutch
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- pressure
- rotational speed
- control unit
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Classifications
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- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
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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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- 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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- E—FIXED CONSTRUCTIONS
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- E—FIXED CONSTRUCTIONS
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- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- 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
- Y02T10/72—Electric energy management in electromobility
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Description
Nfout=Ns1×(−Zgf2/Zgf1) …(数式1)
Ngf1:第1FクラッチギアGf1の回転速度
Ngf2:第2FクラッチギアGf2の回転速度
Nrout=Ns1×Zgr3/Zgr1 …(数式2)
Ngr1:第1FクラッチギアGf1の回転速度
Ngr3:第2FクラッチギアGf2の回転速度
NS1=−Zr1/Zs1×Nr1+Nc1×(Zs1+Zr1)/Zs1 …(数式3)
Nr1:第1リングギアR1の回転速度
Nc1:第1キャリアC1の回転速度
Zs1:第1サンギアS1の歯数
Zr1:第1リンクギアR1の歯数
Nr1=Nm2×(−Zm2/Zgo1) …(数式4)
Nm2:第2モータMG2の回転速度
Zm2:第2モータギアGm2の歯数
Zgo1:第1リンク外周ギアGo1の歯数
Nc1=Nm1×(−Zm1/Zgc1) …(数式5)
Nm1:第1モータMG1の回転速度
Zm1:第1モータギアGm1の歯数
Zgc1:第1キャリアギアGc1の歯数
ここでは、オペレータがFR操作装置54を操作して、作業車両1の進行方向を前進から後進へ切り替える場合における、動力伝達装置24の概略動作を、図5A〜5B及び図6を利用して説明する。図5A、図5Bは、第1実施例の動力伝達装置24の概略動作を示すフローチャートである。
図6(a)は、オペレータがFR操作装置54を操作することによって指示される作業車両1の進行方向の時系列変化の一例を示す。図6(a)では、「F」が指示される進行方向が先進である場合を示し、「R」が指示される進行方向が後進である場合を示す。図6(a)に示されるように、時間Tsにおいて「F」から「R」へ指示される進行方向が切り替えられている。これによれば、本実施例では、時間Tsより前では、第1進行方向は前進方向であり、時間Ts以降では、第1進行方向は後進方向である。なお、以降の説明において、時間Ts以前において接続されているクラッチCFを第1クラッチと呼び、時間Ts以前において切断されているクラッチCRを第2クラッチと呼ぶ。
(Nrout−Nin)の目標値を0とするPI制御を、トルクリミットを設けて行うことによって、第2モータMG2のトルクを制御する。ここで、トルクリミットとは、速度制御中に出力を許す最大トルクの絶対値である。制御ステップnにおけるトルクリミットTlim(n)は、以下のように定められる。
Tlim0:0もしくは0に近い初期値
dTup:1制御ステップ当たりのトルクリミットの増加制限値
Tmap:トルクリミットの最大値
min(A,B):AとBのうち、小さい方の値
Tlim(n)=max(Tlim(n−1)−dTdowm, Tg) …(数式8)
dTdown:1制御ステップ当たりのトルクリミットの減少制限値
Tg:トルクリミットの目標値
max(A,B):AとBのうち、大きい方の値
本実施例では、作業車両1がモータの駆動力ばかりでなく、エンジンの駆動力を利用して第2クラッチの相対回転速度を減少させる例を説明する。図7A及び図7Bは、第2実施例の動力伝達装置24の概略動作を示すフローチャートである。図7A及び図7Bでは、第1実施例と同じ処理については、同じ符号を付しており、詳細な説明を省略する。図8(a)〜(f)は、第2実施例を説明するための図面であり、図6(a)〜図6(f)と対応する。なお、第1実施例との対比を容易とするために、図8(a)〜図8(f)の一部の図面において、第2実施例の値と異なる第1実施例の値を細線で表示している。また、図8(a)〜図8(f)において、第1実施例と同一の内容を意味するものは同一の符号を付している。以下、第1実施例と異なる動作を中心に、第2実施例の動力伝達装置24の概略動作を説明する。
Tlim(n)=max(Tlim(n−1)−dTdowm, Tf) …(数式10)
dTdown:1制御ステップ当たりのトルクリミットの減少制限値
Tf:トルクリミットの目標値
本実施例では、作業車両1のキャパシタ64に蓄えられている電気が少ないときに、電力をできるだけ消費せずに、クラッチの相対速度を減少させる例を説明する。図10A及び図10Bは、第3実施例の動力伝達装置24の概略動作を示すフローチャートである。図10A及び図10Bでは、第1実施例と同じ処理については、同じ符号を付しており、詳細な説明を省略する。図11(a)〜図11(e)は、第3実施例を説明するための図面であり、図6(a)〜図6(e)と対応する。なお、第1実施例との対比を容易とするために、図11(a)〜図11(e)の一部の図面において、第3実施例の値と異なる第1実施例の値を細線で表示している。また、図11(a)〜図11(e)において、第1実施例と同一の内容を意味するものは同一の符号を付している。以下、第1実施例と異なる動作を中心に、第3実施例の動力伝達装置24の概略動作を説明する。
上述した実施例では、オペレータがFR操作装置54を操作して、作業車両1の進行方向を前進から後進へ切り替える場合における、動力伝達装置24の概略動作を例に挙げて説明した。しかし、作業車両1の進行方向を後進から前進へ切り替える場合においても、上述した概略動作を適用することができる。以下に、作業車両1の進行方向を後進から前進へ切り替える場合における上述した実施例との差異点について説明する。なお、この場合において、第1クラッチは、クラッチCRとなり、第2クラッチはクラッチCFとなる。
本実施形態に係る作業車両1は、以下の特徴を有する。
以上、本発明の一実施形態について説明したが、本発明は上記実施形態に限定されるものではなく、発明の要旨を逸脱しない範囲で種々の変更が可能である。
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、
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、
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、
遊星歯車機構を含み、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、
前進及び後進のいずれか一方向の向きに前記走行装置を駆動させる前記歯車機構に接続するための第1クラッチと、
前記いずれか一方向と反対方向の向きに前記走行装置を駆動させる前記歯車機構に接続するための第2クラッチと、
前記第2クラッチのクラッチ入力軸とクラッチ出力軸との相対回転速度を検出する第2クラッチ相対回転速度検出部と、
を有し、
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、
前記第1クラッチが接続され、前記第2クラッチが切断されている状態において、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、前記第1クラッチが接続していることで前記エンジンの制動力で減速されて前記車速が予め定められた第1範囲内となれば、前記第1クラッチを切断するクラッチ制御部と、
前記第1クラッチが切断された後、前記第2クラッチの相対回転速度の絶対値を小さくするように前記モータを制御するモータ制御部と、
を有し、
前記クラッチ制御部は、前記車速が前記第1範囲内となれば、前記第2クラッチのクラッチ圧を、前記第2クラッチを接続する第1圧力より弱くトルクが伝達されない所定の第2圧力に変化させる、
作業車両。 - 前記クラッチ制御部は、前記第2クラッチの相対回転速度の絶対値が予め定められた第2範囲内となれば、第2クラッチのクラッチ圧を前記第2圧力から増加させる、
請求項1に記載の作業車両。 - 前記動力伝達装置は、前記モータの回転速度を検出するモータ回転速度検出部をさらに有し、
前記クラッチ制御部は、前記モータの回転速度が予め定められた第3範囲内となるとき、前記第2クラッチのクラッチ圧を、前記第2圧力より大きく前記第1圧力より小さい第3圧力に変化させて前記第2クラッチの相対回転速度の絶対値を減少させる、
請求項2に記載の作業車両。 - 前記クラッチ制御部は、前記第2クラッチの相対回転速度の絶対値が予め定められた第4範囲内となるとき、前記第2クラッチのクラッチ圧を、前記第2圧力より大きく前記第1圧力より小さい第3圧力に変化させて前記第2クラッチの相対回転速度の絶対値を減少させる、
請求項1に記載の作業車両。 - 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、
をさらに備え、
前記アクセル部材の操作量が予め定められた第5範囲内となるとき、前記第2クラッチのクラッチ圧を前記第3圧力に変化させて前記第2クラッチの相対回転速度の絶対値を減少させる、
請求項3または4に記載の作業車両。 - 前記モータ制御部は、前記モータの出力が許される最大トルクの絶対値であるトルクリミットを設けて、前記モータのトルクを制御し、
前記モータ制御部は、トルクリミットを所定の初期値から所定の最大値まで増加させて前記第2クラッチの相対回転速度の絶対値を減少させることを特徴とする、
請求項1から5のいずれかに記載の作業車両。 - 前記モータ制御部は、
前記第2クラッチの相対回転速度の絶対値が、前記第2範囲より小さい予め定められた第6範囲内となるまで、前記トルクリミットを前記初期値から前記最大値まで増加させ、
前記第2クラッチの相対回転速度の絶対値が前記第6範囲内となると、前記トルクリミットを所定の第1目標値まで減少させる、
請求項6に記載の作業車両。 - 前記モータ制御部は、前記第2クラッチの相対回転速度の絶対値が前記第6範囲より小さい予め定められた第7範囲内となると、前記モータのトルクを0とする、
請求項7に記載の作業車両。 - 前記第1範囲は、前記作業車両が前記第2進行方向に向かうときの前記車速を正とすると、前記車速が所定値以下となる範囲である、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、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、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、を備え、
前記動力伝達装置は、入力軸と、出力軸と、遊星歯車機構を含み、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、前進及び後進のいずれか一方向の向きに前記走行装置を駆動させる前記歯車機構に接続するための第1クラッチと、前記いずれか一方向と反対方向の向きに前記走行装置を駆動させる前記歯車機構に接続するための第2クラッチと、を有し、
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、
前記第1クラッチが接続され、前記第2クラッチが切断されている状態において、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、前記走行装置の車速から判定される第2進行方向とが異なるとき、前記第1クラッチが接続していることで前記エンジンの制動力で減速されて前記車速が予め定められた第1範囲内となれば、前記第1クラッチを切断し、且つ、前記第2クラッチのクラッチ圧を、前記第2クラッチを接続する第1圧力より弱くトルクが伝達されない所定の第2圧力に変化させるステップと、
前記第1クラッチが切断された後、前記第2クラッチのクラッチ入力軸とクラッチ出力軸との相対回転速度の絶対値を小さくするように前記モータを制御するステップと、
を含む、
作業車両の制御方法。
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JP5185093B2 (ja) | 2008-12-09 | 2013-04-17 | 株式会社小松製作所 | 作業車両の油圧システムおよび油圧システムの制御方法 |
KR101054756B1 (ko) | 2009-07-31 | 2011-08-05 | 현대자동차주식회사 | 하이브리드 차량의 백래시 진동 저감 방법 |
JP5237313B2 (ja) | 2010-02-16 | 2013-07-17 | 株式会社小松製作所 | 作業車両及び作業車両の制御方法 |
JP5205408B2 (ja) * | 2010-03-24 | 2013-06-05 | 株式会社小松製作所 | 作業車両及び作業車両の制御方法 |
EP2748491B1 (en) * | 2011-08-25 | 2018-02-07 | CNH Industrial Italia S.p.A. | Proportional parking brake control in cooperation with operation of a continuously variable transmission |
US9732499B2 (en) * | 2013-06-28 | 2017-08-15 | Komatsu Ltd. | Work vehicle and control method for same |
WO2015056492A1 (ja) * | 2013-10-18 | 2015-04-23 | 株式会社小松製作所 | 作業車両及び作業車両の制御方法 |
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