JP6514118B2 - 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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- JP6514118B2 JP6514118B2 JP2015558843A JP2015558843A JP6514118B2 JP 6514118 B2 JP6514118 B2 JP 6514118B2 JP 2015558843 A JP2015558843 A JP 2015558843A JP 2015558843 A JP2015558843 A JP 2015558843A JP 6514118 B2 JP6514118 B2 JP 6514118B2
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- clutch
- motor
- work vehicle
- power transmission
- control unit
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Classifications
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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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- 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
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- 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
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- 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
- F16H3/724—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 using external powered electric machines
- F16H3/725—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 using external powered electric machines with means to change ratio in the mechanical gearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- 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
- F16H61/02—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 characterised by the signals used
- F16H61/0262—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 characterised by the signals used the signals being hydraulic
- F16H61/0265—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 characterised by the signals used the signals being hydraulic for gearshift control, e.g. control functions for performing shifting or generation of shift signals
- F16H61/0267—Layout of hydraulic control circuits, e.g. arrangement of valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—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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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
- B60K2006/4816—Electric machine connected or connectable to gearbox internal shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- 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
- F16H37/04—Combinations of toothed gearings only
- F16H2037/049—Forward-reverse units with forward and reverse gears for achieving multiple forward and reverse gears, e.g. for working machines
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- 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
- F16H3/724—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 using external powered electric machines
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- 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
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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
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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
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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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
- Y02T10/70—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
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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
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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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
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells
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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
- Y10S903/904—Component specially adapted for hev
- Y10S903/909—Gearing
- Y10S903/91—Orbital, e.g. planetary gears
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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
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- 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
- Y10S903/904—Component specially adapted for hev
- Y10S903/915—Specific drive or transmission adapted for hev
- Y10S903/917—Specific drive or transmission adapted for hev with transmission for changing gear ratio
- Y10S903/919—Stepped shift
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Description
以下、図面を参照して、本発明の実施形態について説明する。図1は、本発明の実施形態に係る作業車両1の側面図である。図1に示すように、作業車両1は、車体フレーム2と、作業機3と、走行輪4、5と、運転室6とを備えている。作業車両1は、ホイールローダであり、走行輪4、5が回転駆動されることにより走行する。作業車両1は、作業機3を用いて掘削等の作業を行うことができる。
また、出力軸63に接続される第2遊星歯車機構69の回転要素を第6回転要素と呼ぶ。つまり、第2リングギアR2は、第6回転要素に相当する。
第1の実施形態では、第1モータMG1及び第2モータMG2の少なくとも一方が制御不能であり、第1モータMG1及び第2モータMG2の両方が回転可能である場合についての緊急走行について説明した。しかし、モータ出力軸が軸受ベアリングとの間で一体化して動かなくなるモータ固着による異常も存在する。これは、軸受に潤滑油が不足したときにベアリングがモータ軸及び軸受に焼きつき、焼きついたベアリングが溶解し、溶解したベアリングが冷めるとモータ軸及び軸受と一体化することによって生じる。第2の実施形態では、特に、第1モータMG1が固着する異常が生じた場合における緊急走行方法について説明する。
Vlst1 <Vchg_s <Vchg_f…(式1)
Nlmt2 < Nlmt1 < Nlmt4…(式2)
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 (14)
- 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、歯車機構と、第1モータと、第2モータと、回転軸固定部と、動力伝達部と、可変動力伝達部とを含み、
前記動力伝達装置では、前記第1モータまたは前記第2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、
前記歯車機構は、前記入力軸の回転を前記出力軸に伝達し、
前記歯車機構は、第1遊星歯車機構と第2遊星歯車機構とを含み、
前記第1遊星歯車機構は、互いに異なる第1回転要素、第2回転要素、及び、第3回転要素を含み、
前記第2遊星歯車機構は、互いに異なる第4回転要素、第5回転要素、及び、第6回転要素を含み、
前記エンジンは、前記入力軸を介して前記第1回転要素に接続することができ、
前記動力伝達部は、前記第2回転要素の駆動力を前記第4回転要素に伝達することができ、
前記回転軸固定部は、前記第3回転要素の回転軸と前記第5回転要素の回転軸とを一体で動作させることができ、
前記出力軸は、前記第6回転要素に接続され、
前記第1モータと前記第2モータは、それぞれ前記第1遊星歯車機構の異なる回転要素に接続され、
前記可変動力伝達部は、前記エンジンから前記走行装置へ駆動力を伝達する経路上に設けられたクラッチを含み、
前記制御部は、
前記第1モータと前記第2モータの少なくとも一方のモータが異常であることを検出する異常検出部と、
少なくとも前記回転軸固定部により前記第3回転要素の回転軸と前記第5回転要素の回転軸とを一体で動作させることによって、前記少なくとも一方のモータを駆動しなくても前記エンジンの出力を前記出力軸まで伝達できるように前記動力伝達装置内の要素の接続関係を変更する接続変更部と、
前記エンジンの出力を適切な駆動力に変換して前記出力軸に伝達できるように、前記可変動力伝達部を制御する駆動力変換制御部と、
を含む、作業車両。 - 前記回転軸固定部は、
固定端と接続または切断することができるLクラッチと、
前記第3回転要素と前記第5回転要素とを接続または切断することができるHクラッチとを含む、
請求項1に記載の作業車両。 - 前記接続変更部は、前記Lクラッチと前記Hクラッチとを共に係合状態とする、請求項2に記載の作業車両。
- 前記可変動力伝達部は、FクラッチとRクラッチとのうちの一方である第1クラッチを含み、
前記Fクラッチは、前進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され、
前記Rクラッチは、後進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され、
前記駆動力変換制御部は、前記作業車両発進時に、前記第1クラッチのクラッチ圧を徐々に高めるように制御する、請求項3に記載の作業車両。 - 前記可変動力伝達部は、前記Hクラッチと前記Lクラッチとのうちの一方である第2クラッチを含み、
前記駆動力変換制御部は、前記作業車両発進時に、前記Hクラッチと前記Lクラッチとのうちの他方である第3クラッチを係合した後、前記第2クラッチのクラッチ圧を徐々に高めるように制御する、請求項2に記載の作業車両。 - 前記制御部は、前記接続変更部による動作または前記駆動力変換制御部による制御が行われる際には、前記エンジンの回転速度が所定の上限値を越えないように制御する、請求項1から5のいずれかに記載の作業車両。
- 少なくとも前記第2モータで発生するエネルギーを蓄え、前記エネルギーを少なくとも前記第2モータに出力可能なエネルギー貯留部をさらに備え、
前記可変動力伝達部は、FクラッチとRクラッチとのうちの一方である第1クラッチを含み、
前記Fクラッチは、前進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され、
前記Rクラッチは、後進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され、
前記第1モータが回転不能である異常を前記異常検出部が検出すると、
前記接続変更部は、少なくとも前記Lクラッチを解放状態とし、
前記駆動力変換制御部は、前記第1クラッチのクラッチ圧を高めるように制御し、前記第1クラッチが係合した後に前記第2モータでエネルギーを発生させ、発生されたエネルギーを前記エネルギー貯留部に蓄えさせる、
請求項2に記載の作業車両。 - 前記エネルギー貯留部が所定の第1量以上のエネルギーを貯留したときに、
前記接続変更部は、前記Lクラッチを解放状態とし、前記Hクラッチを係合状態とし、
前記駆動力変換制御部は、前記第1クラッチの係合を解除し、前記エネルギー貯留部に蓄えられたエネルギーを用いて前記第2モータを駆動し、前記出力軸を駆動する、
請求項7に記載の作業車両。 - 前記エネルギー貯留部が貯留するエネルギーが前記第1量より小さい所定の第2量を下回ったときに、
前記駆動力変換制御部は、前記第2モータの駆動を終了し、
前記接続変更部は、前記Hクラッチを解放状態とし、
前記駆動力変換制御部は、前記第1クラッチのクラッチ圧を高めるように制御し、前記第1クラッチが係合した後に前記エンジンの駆動力によって前記第2モータでエネルギーを発生させ、発生されたエネルギーを前記エネルギー貯留部に蓄えさせる、
請求項8に記載の作業車両。 - 前記駆動力変換制御部は、
前記エネルギー貯留部が貯留するエネルギーが前記第2量より小さい第3量より大きいとき、前記第1クラッチの入出力回転軸の回転を同期させるように前記エネルギー貯留部に蓄えられたエネルギーを用いて前記第2モータを回転させた後で、前記第1クラッチを係合させ、
前記エネルギー貯留部が貯留するエネルギーが前記第3量以下であるとき、前記第1クラッチのクラッチ圧を徐々に高めるように制御し、前記第1クラッチを係合させる、
請求項9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を備え、
前記動力伝達装置は、入力軸と、出力軸と、歯車機構と、第1モータと、第2モータと、回転軸固定部と、動力伝達部と、可変動力伝達部とを含み、
前記動力伝達装置では、前記第1モータまたは前記第2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、
前記歯車機構は、前記入力軸の回転を前記出力軸に伝達し、
前記歯車機構は、第1遊星歯車機構と第2遊星歯車機構とを含み、
前記第1遊星歯車機構は、互いに異なる第1回転要素、第2回転要素、及び、第3回転要素を含み、
前記第2遊星歯車機構は、互いに異なる第4回転要素、第5回転要素、及び、第6回転要素を含み、
前記エンジンは、前記入力軸を介して前記第1回転要素に接続することができ、
前記動力伝達部は、前記第2回転要素の駆動力を前記第4回転要素に伝達することができ、
前記回転軸固定部は、前記第3回転要素の回転軸と前記第5回転要素の回転軸とを一体で動作させることができ、
前記出力軸は、前記第6回転要素に接続され、
前記第1モータと前記第2モータは、それぞれ前記第1遊星歯車機構の異なる回転要素に接続され、
前記可変動力伝達部は、前記エンジンから前記走行装置へ駆動力を伝達する経路上に設けられたクラッチを含み、
前記制御方法は、
前記作業車両が前記第1モータと前記第2モータの少なくとも一方のモータが異常であることを検出するステップと、
前記作業車両が少なくとも前記回転軸固定部により前記第3回転要素の回転軸と前記第5回転要素の回転軸とを一体で動作させることによって、前記少なくとも一方のモータを駆動しなくても前記エンジンの出力を前記出力軸まで伝達できるように前記動力伝達装置内の要素の接続関係を変更するステップと、
前記作業車両が前記エンジンの出力を適切な駆動力に変換して前記出力軸に伝達できるように、前記可変動力伝達部を制御するステップと、
を含む、
作業車両の制御方法。 - 前記回転軸固定部は、固定端と接続または切断することができるLクラッチと、前記第3回転要素と前記第5回転要素とを接続または切断することができるHクラッチとを含み、
前記接続関係を変更するステップにおいて、前記作業車両は、前記Lクラッチと前記Hクラッチとを共に係合状態とする、
請求項11に記載の作業車両の制御方法。 - 前記作業車両は、少なくとも前記第2モータで発生するエネルギーを蓄え、前記エネルギーを少なくとも前記第2モータに出力可能なエネルギー貯留部をさらに備え、
前記回転軸固定部は、固定端と接続または切断することができるLクラッチと、前記第3回転要素と前記第5回転要素とを接続または切断することができるHクラッチとを含み、
前記可変動力伝達部は、FクラッチとRクラッチとのうちの一方である第1クラッチを含み、
前記Fクラッチは、前進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され、
前記Rクラッチは、後進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され、 前記少なくとも一方のモータが異常であることを検出するステップにおいて、前記作業車両は、第1モータが回転不能である異常を前記作業車両が検出し、
前記接続関係を変更するステップにおいて、前記作業車両は、少なくとも前記Lクラッチを解放状態とし、
前記可変動力伝達部を制御するステップにおいて、前記作業車両は、前記第1クラッチのクラッチ圧を高めるように制御し、前記第1クラッチが係合した後に前記第2モータでエネルギーを発生させ、発生されたエネルギーを前記エネルギー貯留部に蓄えさせる、
請求項11に記載の作業車両の制御方法。 - 前記エネルギー貯留部が所定の第1量以上のエネルギーを貯留したときに、
前記接続関係を変更するステップにおいて、前記作業車両は、前記Lクラッチを解放状態とし、前記Hクラッチを係合状態とし、
前記可変動力伝達部を制御するステップにおいて、前記作業車両は、前記第1クラッチの係合を解除し、前記エネルギー貯留部に蓄えられたエネルギーを用いて前記第2モータを駆動し、前記出力軸を駆動する、
請求項13に記載の作業車両の制御方法。
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