JPH03271077A - Superconfident ground turning controller for shift steering device - Google Patents
Superconfident ground turning controller for shift steering deviceInfo
- Publication number
- JPH03271077A JPH03271077A JP6801990A JP6801990A JPH03271077A JP H03271077 A JPH03271077 A JP H03271077A JP 6801990 A JP6801990 A JP 6801990A JP 6801990 A JP6801990 A JP 6801990A JP H03271077 A JPH03271077 A JP H03271077A
- Authority
- JP
- Japan
- Prior art keywords
- steering
- super
- turning
- signal
- control
- 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.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000004913 activation Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 239000000446 fuel Substances 0.000 description 2
- 230000002706 hydrostatic effect Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000004418 eye rotation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、静浦圧機械式無段変速機部と、静浦圧ダブル
デフ式操向機部をＨする装軌車両用変速操向装置に適用
される超信地旋回制御装置に関する。[Detailed Description of the Invention] [Field of Industrial Application] The present invention is applied to a variable speed steering system for a tracked vehicle that has a hydrostatic pressure mechanical continuously variable transmission section and a hydrostatic pressure double differential type steering device section. The present invention relates to a super pivot turning control device.
ここで超信地旋回とは、車両のその場旋回をいつＯ
〔従来の技術〕
従来の技術としては、実願昭６０−５６５３５号に示す
ものがある。その内容を第２図及び第３図に示す。Here, the term "super turning" refers to when a vehicle turns on the spot. [Prior Art] As a conventional art, there is one shown in Utility Model Application No. 60-56535. The contents are shown in Figures 2 and 3.
第２図に示すように、制御袋ｗｔ３１にはアクセルペダ
ル位置検出器からの信号ａと、ポジション選択スイッチ
からの信号すと、ブレーキペダルからの信号Ｃと、ハン
ドル角検出器からの信号ｄと、エンジン回転数信号Ｎ
Ｅ ｓ変速用油圧モータ回転数信号Ｎ、％操向用油圧モ
ータ目転数信号ＮＮ、変速部出力回転数信号Ｎ。が入力
することにより、これらの入力信号に応じて変速用油圧
ポンプ５、操向用油圧ポンプ７にそれぞれ制御信号に、
Ｄを与え、また、エンジン４の燃料噴射量制御アクチュ
エータ１４に制御信号ｍを与え、さらに、１速クラッチ
作動用電磁弁１５ないし４速クラッチ作動用電磁弁１８
にそれぞれ制御信号ｅ −ｈを送出するようになってい
るとともに、前進クラッチ作動用電磁弁１９、後進クラ
ッチ作動用電磁弁２０にそれぞれ制御信号ｉ、ｊを送出
するようになっている。As shown in FIG. 2, the control bag wt31 receives a signal a from the accelerator pedal position detector, a signal from the position selection switch, a signal C from the brake pedal, and a signal d from the steering wheel angle detector. , engine speed signal N
E s Hydraulic motor rotation speed signal for gear shift N, hydraulic motor eye rotation speed signal for % steering NN, transmission unit output rotation speed signal N. By inputting these signals, the transmission hydraulic pump 5 and the steering hydraulic pump 7 receive control signals, respectively, according to these input signals.
D, and also provides a control signal m to the fuel injection amount control actuator 14 of the engine 4, and further provides a solenoid valve 15 for operating the 1st speed clutch to a solenoid valve 18 for operating the 4th speed clutch.
Control signals e-h are sent to the forward clutch actuating solenoid valve 19 and control signals i and j are sent to the reverse clutch actuating solenoid valve 20, respectively.
第３図に示すように、
（１） ポジション選択スイッチ２Ｂの位置が超信地
旋回位置にあるとき、ポジション選択スイッチ２Ｂから
出力される信号すをｂ ８１とする。この信号す、が制
御論理回路３２に入力されると、制御信号ｅおよびｉが
それぞれ出力されて、１速クラッチ作動用電磁弁１５、
前進クラッチ作動用電磁弁１９に送られる。As shown in FIG. 3, (1) When the position selection switch 2B is at the super pivot position, the signal output from the position selection switch 2B is b81. When this signal S is input to the control logic circuit 32, control signals e and i are outputted, respectively, and the first speed clutch actuating solenoid valve 15,
The signal is sent to the forward clutch actuating solenoid valve 19.
これにより、１速クラッチ作動用電磁弁１５および前進
クラッチ作動用電磁弁１９が作動し、前進１速状態とな
る。As a result, the first speed clutch actuation solenoid valve 15 and the forward clutch actuation solenoid valve 19 are activated, resulting in the first forward speed state.
（２）超信地旋回時は、変速部出力回転数が常にゼロで
なければならない。このため、次のようにする。すなわ
ち、エンジン回転数検出器２１から出力されたエンジン
回転数信号ＮＥは制御論理回路３３に入力される。(2) During a super pivot turn, the gearbox output rotation speed must always be zero. For this reason, do the following. That is, the engine speed signal NE output from the engine speed detector 21 is input to the control logic circuit 33.
この制御論理回路３３は、変速部出力回転数をゼロとす
べき変速用油圧モータ回転数を演算し、これをモータ目
標回転数信号ＮＩＩ＋として出力する。This control logic circuit 33 calculates the speed change hydraulic motor speed at which the speed change output speed should be set to zero, and outputs this as a motor target speed signal NII+.
このモータ目標回転数信号Ｎ１１１は加算器３４に入力
される。This motor target rotation speed signal N111 is input to the adder 34.
加算器３４には、同時に変速用油圧モータ回転数検出器
２２から出力された変速用油圧モータ回転数信号ＮＭが
入力され、偏差信号ΔＮｍＮ、 −ＮＭが出力される。At the same time, the shift hydraulic motor rotation speed signal NM output from the shift hydraulic motor rotation speed detector 22 is input to the adder 34, and the deviation signal ΔNmN, -NM is output.
この偏差信号ΔＮは積分器３５に入力される。この積分
器３５にて、偏差信号ΔＮは積分され、制御信号ｋが出
力される。This deviation signal ΔN is input to an integrator 35. This integrator 35 integrates the deviation signal ΔN and outputs a control signal k.
この制御信号ｋにより、変速用ポンプ吐出量制御アクチ
ュエータ１２が作動し、変速用油圧モータ回転数がモー
タ目標回転数に収束する。これにより、変速部出力回転
数は常にゼロに保つことができ、操向用油圧モータ８を
回転すれば、超信地旋回が行える状態となる。This control signal k causes the speed change pump discharge amount control actuator 12 to operate, and the speed change hydraulic motor rotation speed converges to the motor target rotation speed. As a result, the output rotation speed of the transmission section can always be kept at zero, and by rotating the steering hydraulic motor 8, a state can be reached in which a super pivot turn can be performed.
（３） 超信地旋回の車両旋回方向および旋回速度は
ハンドル角により与えられる。すなわち、ハンドル角検
出器２８からの信号ｄ（ハンドル旋回角度信号）は、超
信地旋回設定器３６に入力される。(3) The vehicle turning direction and turning speed in a super turn are given by the steering wheel angle. That is, the signal d (steering wheel turning angle signal) from the steering wheel angle detector 28 is input to the super pivot turning setting device 36.
この超信地旋回設定器３６には、ハンドル角に対する操
向用油圧ポンプ吐出量が記憶してあり、吐出量に対応し
た制御信号ｇを出力する。この制御信号ｐは操向用油圧
ポンプ吐出量制御アクチュエータ１３に入力され、操向
用油圧モータ８の回転方向および回転数が制御される。The super turn setting device 36 stores the steering hydraulic pump discharge amount with respect to the steering wheel angle, and outputs a control signal g corresponding to the discharge amount. This control signal p is input to the steering hydraulic pump discharge amount control actuator 13, and the rotation direction and rotation speed of the steering hydraulic motor 8 are controlled.
（４） なお、制御論理回路３２、制御論理回路３３
、超信地旋回設定器３６はポジション選択スイッチ２６
が超信地旋回位置、すなわち、信号ｂ −ｂ 、、のと
きにのみ作動する。(4) Furthermore, the control logic circuit 32 and the control logic circuit 33
, the super pivot turn setting device 36 is the position selection switch 26
is activated only when it is in the super pivot position, i.e., signal b - b , .
以上のように、ポジション選択スイッチが超信地旋回位
置にあるときクラッチ作動用電磁弁を作動させて前進１
速または後進ｌ速状態を保持し、超信地旋回中は変速部
出力回転数が常にゼロとなるように変速用油圧モータ回
転数をフィードバック制御し、変速操向装置の左右の出
力軸に加わる負ｔ：Ｉが均等でないような地形において
も、左右出力軸を互いに逆方向に同回転数で回転させる
ことにより超信地旋−をする。As described above, when the position selection switch is in the super turning position, the clutch actuating solenoid valve is actuated to move forward 1.
Feedback control is performed on the speed change hydraulic motor rotation speed so that the speed change or reverse l speed state is maintained, and the speed change output speed is always zero during a super turn.The speed is applied to the left and right output shafts of the speed change steering device. Even in terrain where the negative t:I is not equal, a super-stable turn can be achieved by rotating the left and right output shafts in opposite directions at the same rotation speed.
従来の技術に記した構成により、超信地旋１！！１を行
う場合には、たとえ変速部出力軸回転数を０としていて
も、変速部内の変速用抽圧ポンプモータや１速用遊星歯
車列が常時同転しており、相当量の馬力を変速部内にて
浪費している。この為、操向部に流れ込む動力すなわち
車両の超信地旋回に利用できる馬力が上記浪費分だけ不
足するという問題が生じる。With the configuration described in the conventional technology, super-strong turn 1! ! When performing step 1, even if the speed change output shaft rotation speed is set to 0, the extraction pressure pump motor for speed change and the planetary gear train for 1st speed in the speed change section are constantly rotating at the same time, and a considerable amount of horsepower is transferred to the speed change. Wasted within the department. For this reason, a problem arises in that the power flowing into the steering section, that is, the horsepower that can be used for turning the vehicle, is insufficient by the amount of power that is wasted.
本発明は、これらの問題を解決する超信地旋回制御装置
を提供することを目的とする。An object of the present invention is to provide a super turn control device that solves these problems.
〔課題を解決するための手段）
本発明に係る変速操向装置用超信地旋回制御装置は、変
速部と操向部を有する超信地旋回制御装置において、ポ
ジション選択スイッチ（２６）とハンドル角検出器（２
８）と制御論理回路（４０）と超信地旋回設定器（４１
）を具備し、前記制御論理回路（４０）と超信地旋回設
定器（４１）はポジション選択スイッチ（２６）からの
信号を入力して前記スイッチ（２Ｂ）が超信地旋回位置
となった場合にのみ作動し、
前記制御論理回路（４０）は、スイッチ（２６）から超
信地旋回信号が入力されると、前進クラッチ作動用電磁
弁（１９）のみに制御信号を出力し、前進クラッチを作
動させ、前記超信地旋回設定器（４１）は、ハンドル角
検出器（２８）からの旋回角度信号が入力されると操向
用油圧ポンプ吐出量制御アクチュエータ（１３）に制御
信号を出力し、操向用油圧ポンプ（７）の吐出量制御を
介して、操向用油圧モータ（８）の回転方向及び回転数
を制御することを特徴とする。[Means for Solving the Problems] A super turn control device for a speed change steering device according to the present invention is a super turn control device for a speed change steering device that has a speed change section and a steering section. Angle detector (2
8), control logic circuit (40) and super pivot turn setting device (41)
), the control logic circuit (40) and the super pivot turn setting device (41) input a signal from the position selection switch (26) to set the switch (2B) to the super pivot pivot position. The control logic circuit (40) outputs a control signal only to the forward clutch actuating solenoid valve (19) when the super turn signal is input from the switch (26), and the forward clutch actuates. When the turning angle signal from the steering wheel angle detector (28) is input, the super turn setting device (41) outputs a control signal to the steering hydraulic pump discharge amount control actuator (13). However, the rotation direction and rotation speed of the steering hydraulic motor (8) are controlled by controlling the discharge amount of the steering hydraulic pump (7).
ポジション選択スイッチが超信地旋回位置となった場合
には、前進クラッチ作動用電磁弁１９のみ作動させ、】
速〜４速りラッチ作動用電磁弁は作動させない。これに
より超信地旋回時の変速部内の馬力の浪費を回避する。When the position selection switch is in the super turning position, only the forward clutch actuating solenoid valve 19 is operated.]
Do not operate the solenoid valve for operating the 1st to 4th gear latch. This avoids wasting horsepower in the transmission section during super-turning turns.
本発明の実施例をＴＳ１図に示す。第１図に示す横道を
有するため、ポジション選択スイッチ２Ｂが超信地旋回
位置にある場合、
（１） ポジション選択スイッチ２６から出力される
超信地旋回信号す、が制御論理回路４０に入力されると
、前進クラッチ作動用制御信号ｌのみが出力され、前進
状態となる。この時、操向用油圧ポンプ７は回転し始め
る。一方、変速部の全クラッチは角’ｆ放されている為
、変速部内の遊星歯車列は、ｔｌｔにつれ回りを生じて
いるだけであり、変速用油圧ポンプ５は回転して若干の
馬力を消費しているが、消費馬力は最低の状態となって
いる。An embodiment of the present invention is shown in Figure TS1. Since it has a side path as shown in FIG. Then, only the forward clutch operation control signal l is output, and the vehicle enters the forward state. At this time, the steering hydraulic pump 7 begins to rotate. On the other hand, since all the clutches in the transmission section are released by an angle 'f', the planetary gear train in the transmission section only rotates as tlt increases, and the transmission hydraulic pump 5 rotates and consumes some horsepower. However, the horsepower consumption is at its lowest.
（２）超信地旋回時の車両旋回方向及び旋回速度は、ハ
ンドル角により与えられる。即ち、ハンドル角検出器２
Ｂからのハンドル旋回角度ｒｉ号ｄは、超信地旋回設定
器４１に入力される。該設定器４１には、ハンドル角に
対する操向用油圧ポンプ吐出量を記憶してあり、吐出量
に対応した制御信号ｇを出力する。制御信号ｇは操向用
抽圧ポンプ吐出量制御アクチュエータ１３に入力され、
操向用油圧モータ８の回転方向及び同転数が制御される
。尚、制御論理回路４０、超信地旋回設定器４１は、ポ
ジション選択スイッチ２６が超信地旋回位置にある時の
み作動する。以上の作用により、車両は力強く超信地旋
回することができる。(2) The vehicle turning direction and turning speed during a super turn are given by the steering wheel angle. That is, the handle angle detector 2
The steering wheel turning angle ri No. d from B is input to the super turn setting device 41. The setting device 41 stores the steering hydraulic pump discharge amount with respect to the steering wheel angle, and outputs a control signal g corresponding to the discharge amount. The control signal g is input to the steering extraction pump discharge amount control actuator 13,
The rotation direction and rotation speed of the steering hydraulic motor 8 are controlled. The control logic circuit 40 and the super pivot turn setting device 41 operate only when the position selection switch 26 is in the super pivot pivot position. Due to the above-mentioned effects, the vehicle can make a powerful turn.
本発明は前述のように構成されているので、以下に記載
する効果を奏する。Since the present invention is configured as described above, it produces the effects described below.
（１） ポジション選択スイッチを超信地旋回位置に
した場合には、変速部内の馬力の浪費を回避できる。(1) When the position selection switch is set to the super pivot position, it is possible to avoid wasting horsepower in the transmission section.
（２） そのため、力強い超信地旋回を行なうことが
できる。(2) Therefore, it is possible to perform powerful super-turns.
第１図は本発明装置の実施例を示す図、第２図は従来装
置のブロック線図、第３図は第２図の構成要素である制
御装置の詳細を示す図である。
１・・・変速操向装置、２・・・変速部、３・・・操向
部、４・・・エンジン、５・・・突通用油圧ポンプ、６
・・・変速ｍ ／ｌｈ 圧−Ｔ−一夕、７・・・操向用
油圧ポンプ、８・・・ａｘｈ川浦用モータ、９・・・入
力軸、１０．１１中出力軸、１２、食通用ポンプ吐出量
制御アクチュエータ、１３・・・１・埴向用ポンプ吐出
量制御アクチュエータ、１４・・・燃料噴９・ｊ量制御
アクチュエータ、１５・・・１速クラッチ作動用電磁弁
、１６・・・２速クラッチ作動用電磁弁、１７・・３速
クラッチ作動用電磁弁、Ｉ８・・・４速クラッチ作動用
電磁弁、１９・・・前進クラッチ作動用電磁弁、２０・
・・後進クラッチ作動用電磁弁、２１・・・エンジン四
転数検出器、２２・・・変速用抽圧モータ回転数検出器
、２３・・・変速部出力回転数検出器、２４・・・操向
用油圧モータ１０１転数検出器、２５・・・アクセルペ
ダル位置検出器、２６・・・ポジション選択スイッチ、
２７・・・ブレーキペダル位置検出器、２８・・・ハン
ドル角検出器、３１゜５１・・・制御装置、３２．３３
．４０・・・制御論理回路、３４・・・加算器、３５・
・・積分器、３８．４１・・・超信地旋回設定器。FIG. 1 is a diagram showing an embodiment of the device of the present invention, FIG. 2 is a block diagram of a conventional device, and FIG. 3 is a diagram showing details of a control device which is a component of FIG. 2. DESCRIPTION OF SYMBOLS 1... Speed-change steering device, 2... Transmission part, 3... Steering part, 4... Engine, 5... Hydraulic pump for penetration, 6
・・・Speed m/lh Pressure-T-Ito, 7...Hydraulic pump for steering, 8...axh Kawaura motor, 9...Input shaft, 10.11 Medium output shaft, 12, Eclipse General purpose pump discharge amount control actuator, 13... 1. Pump discharge amount control actuator for horizontal direction, 14... Fuel injection 9.j amount control actuator, 15... Solenoid valve for 1st speed clutch operation, 16...・Solenoid valve for operating the 2nd speed clutch, 17... Solenoid valve for operating the 3rd speed clutch, I8... Solenoid valve for operating the 4th speed clutch, 19... Solenoid valve for operating the forward clutch, 20.
... Solenoid valve for reverse clutch operation, 21... Engine four rotation speed detector, 22... Extraction motor rotation speed detector for gear change, 23... Transmission part output rotation speed detector, 24... Steering hydraulic motor 101 rotation speed detector, 25... accelerator pedal position detector, 26... position selection switch,
27... Brake pedal position detector, 28... Handle angle detector, 31° 51... Control device, 32.33
．． 40... Control logic circuit, 34... Adder, 35...
...Integrator, 38.41...Super pivot turn setting device.
Claims (1)
ポジション選択スイッチ（２６）とハンドル角検出器（
２８）と制御論理回路（４０）と超信地旋回設定器（４
１）を具備し、前記制御論理回路（４０）と超信地旋回
設定器（４１）はポジション選択スイッチ（２６）から
の信号を入力して前記スイッチ（２６）が超信地旋回位
置となった場合にのみ作動し、 前記制御論理回路（４０）は、スイッチ（２６）から超
信地旋回信号が入力されると、前進クラッチ作動用電磁
クラッチ（１９）のみに制御信号を出力し、前進クラッ
チを作動せさ、 前記超信地旋回設定器（４１）は、ハンドル角検出器（
２８）からの旋回角度信号が入力されると操向用油圧ポ
ンプ吐出量制御アクチュエータ（１３）に制御信号を出
力し、操向用油圧ポンプ（７）の吐出量制御を介して、
操向用油圧モータ（８）の回転方向及び回転数を制御す
ることを特徴とする速度操向装置用超信地旋回制御装置
。[Claims] A super turning control device having a transmission section and a steering section,
Position selection switch (26) and handle angle detector (
28), control logic circuit (40), and super pivot turn setting device (4)
1), the control logic circuit (40) and the super pivot turn setting device (41) input a signal from the position selection switch (26) to set the switch (26) to the super pivot pivot position. When the control logic circuit (40) receives a super turn signal from the switch (26), it outputs a control signal only to the electromagnetic clutch (19) for forward clutch activation, and the control logic circuit (40) outputs a control signal only to the forward clutch actuation electromagnetic clutch (19), and the The clutch is actuated, and the super pivot turn setting device (41) is connected to the steering wheel angle detector (
When the turning angle signal from 28) is input, a control signal is output to the steering hydraulic pump discharge amount control actuator (13), and via the discharge amount control of the steering hydraulic pump (7),
A super-turn control device for a speed steering device, characterized in that it controls the rotation direction and rotation speed of a steering hydraulic motor (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6801990A JP2617602B2 (en) | 1990-03-20 | 1990-03-20 | Super pivot control device for variable speed steering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6801990A JP2617602B2 (en) | 1990-03-20 | 1990-03-20 | Super pivot control device for variable speed steering device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03271077A true JPH03271077A (en) | 1991-12-03 |
| JP2617602B2 JP2617602B2 (en) | 1997-06-04 |
Family
ID=13361690
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6801990A Expired - Lifetime JP2617602B2 (en) | 1990-03-20 | 1990-03-20 | Super pivot control device for variable speed steering device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2617602B2 (en) |
-
1990
- 1990-03-20 JP JP6801990A patent/JP2617602B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JP2617602B2 (en) | 1997-06-04 |
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