JPH0543862B2 - - Google Patents
Info
- Publication number
- JPH0543862B2 JPH0543862B2 JP59000734A JP73484A JPH0543862B2 JP H0543862 B2 JPH0543862 B2 JP H0543862B2 JP 59000734 A JP59000734 A JP 59000734A JP 73484 A JP73484 A JP 73484A JP H0543862 B2 JPH0543862 B2 JP H0543862B2
- Authority
- JP
- Japan
- Prior art keywords
- speed
- engine
- engine speed
- hydraulic
- transmission
- 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.)
- Expired - Lifetime
Links
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000013459 approach Methods 0.000 claims description 4
- 230000009347 mechanical transmission Effects 0.000 claims description 3
- 230000007423 decrease Effects 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 1
Landscapes
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
- Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Description
【発明の詳細な説明】
本発明は、エンジンの動力を左右の出力軸に伝
達する機械式の変速装置と、エンジンにより駆動
される左右の油圧ポンプと、この左右の油圧ポン
プの吐出圧油によつて駆動されかつ前記変速装置
に連結された左右の油圧モータとより成り、主と
して装軌車両に利用される油圧機械式変速・操向
機において、加速時の速度比（左右平均出力軸回
転数／入力軸回転数）を増加させていく時の制御
方法に関するものである。Detailed Description of the Invention The present invention provides a mechanical transmission that transmits engine power to left and right output shafts, left and right hydraulic pumps driven by the engine, and pressure oil discharged from the left and right hydraulic pumps. In a hydromechanical transmission/steering device that is mainly used for tracked vehicles and consists of left and right hydraulic motors that are driven and connected to the transmission, the speed ratio during acceleration (average left and right output shaft rotation speed) This relates to a control method when increasing the input shaft rotation speed).
従来、この種の油圧機械式変速・操向機の制御
方法としては特開昭58−141933号公報に示すよう
に、エンジン回転数をスロツトル位置にて設定さ
れた目標エンジン回転数となるように油圧ポンプ
の吐出容積を増減して車速を自動的に制御する方
法が知られている。 Conventionally, as a control method for this type of hydromechanical transmission/steering device, as shown in Japanese Patent Laid-Open No. 58-141933, the engine speed is adjusted to a target engine speed set at the throttle position. A method of automatically controlling vehicle speed by increasing or decreasing the discharge volume of a hydraulic pump is known.
しかしこの制御方法は、スロツトル位置に対す
る目標エンジン回転数と実際のエンジン回転数と
の差を求め、このエンジン回転数差がゼロに近づ
くように油圧ポンプの吐出容積を増減して車速を
自動的に制御することでエンジン回転数をスロツ
トル位置にて設定した目標エンジン回転数とする
方法であるので、スロツトル位置をエンジン回転
数増方向に操作した時、つまり加速時にエンジン
回転数だけが上昇して車速（左右出力軸回転数）
が増加しないことがあり、運転者の運転感覚に適
応しないという不具合があつた。 However, this control method calculates the difference between the target engine speed and the actual engine speed relative to the throttle position, and automatically adjusts the vehicle speed by increasing or decreasing the discharge volume of the hydraulic pump so that this difference in engine speed approaches zero. This method uses control to set the engine speed to the target engine speed set at the throttle position, so when the throttle position is operated in the direction of increasing engine speed, that is, during acceleration, only the engine speed increases and the vehicle speed increases. (Left and right output shaft rotation speed)
However, there was a problem in that it did not adapt to the driver's driving sensations.
すなわち、スロツトル位置によつて目標エンジ
ン回転数が決定されるだけの制御では、実際のエ
ンジン回転数が目標エンジン回転数より高い時は
エンジン負荷トルクが上がり実際のエンジン回転
数が低下するように速度比を上げ、また逆に実際
のエンジン回転数が目標エンジン回転数より低い
時はエンジン負荷トルクが下がり実際のエンジン
回転数が上昇するように速度比を下げるように制
御されている。 In other words, in a control where the target engine speed is simply determined by the throttle position, when the actual engine speed is higher than the target engine speed, the engine load torque increases and the speed is adjusted so that the actual engine speed decreases. Control is performed to increase the speed ratio and, conversely, to lower the speed ratio so that when the actual engine speed is lower than the target engine speed, the engine load torque decreases and the actual engine speed increases.
従つてスロツトル位置が第３図のからに急
激に操作された時に目標エンジン回転数は、N1
からN2に急激に変化する。一方、実際のエンジ
ン回転数はエンジンおよび車両の慣性のため急激
に変化せずN1から徐々に加速して行く。この時、
実際のエンジン回転数と目標エンジン回転数との
差によつて油圧ポンプの吐出容量を制御して速度
比を減少させてしまい車速が上昇しない。そして
実際のエンジン回転数が目標エンジン回転数より
高くなつてはじめて速度比を増加させ車速を上昇
させるように制御される。 Therefore, when the throttle position is suddenly operated from the position shown in Fig. 3, the target engine speed becomes N 1
It changes rapidly from to N2 . On the other hand, the actual engine speed does not change suddenly due to the inertia of the engine and vehicle, but gradually accelerates from N1 . At this time,
The discharge capacity of the hydraulic pump is controlled based on the difference between the actual engine speed and the target engine speed, and the speed ratio is reduced, so that the vehicle speed does not increase. Only when the actual engine speed becomes higher than the target engine speed, control is performed to increase the speed ratio and increase the vehicle speed.
本発明は上記の事情に鑑みなされたものであ
り、その目的は、加速操作した時にエンジン回転
数とともに出力回転数が変化して運転者の運転感
覚に合致した様に加速できるようにした油圧機械
式変速・操向機の加速時速度比増加制御方法を提
供することである。 The present invention was made in view of the above circumstances, and its purpose is to provide a hydraulic machine in which the output rotation speed changes together with the engine rotation speed when an acceleration operation is performed, so that acceleration can be performed in a manner that matches the driver's sense of driving. An object of the present invention is to provide a method for controlling an increase in speed ratio during acceleration of a type transmission/steering machine.
以下本発明の実施態様を図面（第１図）を参照
して説明する。 Embodiments of the present invention will be described below with reference to the drawings (FIG. 1).
図中１はエンジン２に連結した１つの入力軸３
と２つの（左右）の出力軸４，５を有する機械式
の変速装置、６，７はエンジン２にて駆動される
２つの（左右）の油圧ポンプ、８，９は各油圧ポ
ンプ６，７の吐出油にて駆動される油圧モータで
あり、この両モータ８，９の出力軸は上記変速装
置１に連結してあり、この油圧ポンプ６，７の吐
出容積の制御により変速装置１は各速度内で無段
階に変速されるようになつている。変速装置１に
は１速用クラツチＡ、２速用クラツチＢ、３速用
クラツチＣ、４速用クラツチＤがあり、それぞれ
油圧にて選択的に作動することにより出力軸４，
５の回転数が１速〜４速に変速されるようになつ
ている。 In the figure, 1 is one input shaft 3 connected to the engine 2.
and a mechanical transmission having two (left and right) output shafts 4 and 5, 6 and 7 are two (left and right) hydraulic pumps driven by the engine 2, and 8 and 9 are respective hydraulic pumps 6 and 7. The output shafts of both motors 8 and 9 are connected to the transmission 1, and by controlling the discharge volume of the hydraulic pumps 6 and 7, the transmission 1 is driven by the discharge oil of the hydraulic pumps 6 and 7. The speed can be changed steplessly within the range. The transmission 1 has a clutch A for 1st speed, a clutch B for 2nd speed, a clutch C for 3rd speed, and a clutch D for 4th speed, and each of them is selectively operated by hydraulic pressure to control the output shaft 4,
The rotational speed of the engine 5 is changed from 1st speed to 4th speed.
１１はエンジン２の回転数を制御するスロツト
ル位置を検出してこれの信号ａをとり出すスロツ
トル位置検出器、１２は車両を旋回させるための
ハンドルの旋回角度を検出してこれの信号ｂをと
り出すハンドル角検出器、１３はチエンジレバー
の前進、後進、中立、超信地旋回の４種の位置を
検出してそれぞれに応じた信号ｃをとり出すチエ
ンジレバー位置検出器、１４はエンジンブレーキ
をかけるための信号ｄをとり出すエンジンブレー
キスイツチ、１５は実際のエンジン回転数（nE）
によるエンジン回転数信号nEを取り出すエンジン
回転数検出器、１６，１７は各油圧モータ８，９
の回転数信号ｎ
m1、ｎ
m1を取り出すモータ回転
数検出器、１８，１９，２０，２１は上記１速〜
４速用クラツチＡ〜Ｄの油圧力を検出してそれぞ
れの信号ｅ、ｆ、ｇ、ｈを取り出す油圧スイツ
チ、２２，２３，２４，２５は上記１速〜４速用
クラツチＡ〜Ｄを制御するそれぞれのクラツチ切
換スイツチ、２６，２７は両ポンプ６，７の吐出
容積制御アクチエータである。２８は制御論理回
路であり、この回路２８は上記各信号ａ〜ｈ及び
nE、ｎ
m1、ｎ
m1が入力することにより、この入
力信号に応じて両ポンプ６，７の吐出容積制御ア
クチエータ２０，２７に信号ｉ、ｊを、また各ク
ラツチ切換スイツチ２２〜２５に信号ｋ、ｌ、
ｍ、ｎを出すようになつている。 11 is a throttle position detector that detects the throttle position for controlling the rotational speed of the engine 2 and takes out a signal a from this, and 12 detects a turning angle of a steering wheel for turning the vehicle and takes out a signal b from this. 13 is a change lever position detector that detects the four positions of the change lever: forward, reverse, neutral, and super turning, and outputs a signal c corresponding to each position. 14 is a change lever position detector that detects the engine brake. The engine brake switch takes out the signal d for application, 15 is the actual engine speed (n E )
16, 17 are each hydraulic motor 8 , 9
The motor rotation speed detectors 18, 19, 20, and 21 take out the rotation speed signals n m 1 and n m 1 of the above-mentioned 1st speed ~
Hydraulic switches 22, 23, 24, and 25 detect the hydraulic pressure of the 4th speed clutches A to D and take out the respective signals e, f, g, and h, which control the 1st to 4th speed clutches A to D. The respective clutch changeover switches 26 and 27 are discharge volume control actuators for both pumps 6 and 7. 28 is a control logic circuit, and this circuit 28 handles each of the above-mentioned signals a to h and
By inputting n E , n m 1 , n m 1 , signals i and j are applied to the discharge volume control actuators 20 and 27 of both pumps 6 and 7, and each clutch changeover switch 22 to 25 is inputted. signals k, l,
It is designed to produce m and n.
以下本発明方法における作用及び各作用におけ
る制御論理回路の具体的実施例を示す。 Hereinafter, specific embodiments of the actions of the method of the present invention and the control logic circuits for each action will be shown.
エンジン回転数はスロツトル位置と負荷トルク
によつて決まるのであるが、負荷トルクは変速装
置１の速度比の値により変化させることができ
る。ところで上記変速・操向機は無段変速機であ
るから、エンジン回転数はスロツトル位置に対し
て任意の回転数に制御できる。なお油圧ポンプ
６，７の吐出容積を変化させることにより速度比
は変化し、速度比が増加するとエンジン回転数が
下がり、速度比が減少するとエンジン回転数は上
がる。従つてスロツトル位置に対して最適なエン
ジン回転数を設定しておき、その回転数になるよ
うに変速装置１の速度比を制御すればエンジンの
最適な運転ができる。 The engine speed is determined by the throttle position and the load torque, and the load torque can be changed by the speed ratio value of the transmission 1. By the way, since the above-mentioned transmission/steering device is a continuously variable transmission, the engine speed can be controlled to an arbitrary speed with respect to the throttle position. Note that by changing the discharge volumes of the hydraulic pumps 6 and 7, the speed ratio changes; when the speed ratio increases, the engine speed decreases, and when the speed ratio decreases, the engine speed increases. Therefore, the engine can be operated optimally by setting the optimum engine speed for the throttle position and controlling the speed ratio of the transmission 1 to reach that speed.
次に速度比増加制御の具体的実施例を第２図を
参照して説明する。 Next, a specific example of speed ratio increase control will be described with reference to FIG. 2.
実際のエンジン回転数（nE）を検出するエンジ
ン回転数検出器１５より現在のエンジン回転数信
号nEと直前のエンジン回転数信号nE′とが第１演
算器３１に送られて時間に対するエンジン回転数
の変化割合Ｃが演算されその値Ｃが比較演算器３
１′に入力される。 The current engine rotation speed signal n E and the previous engine rotation speed signal n E ' are sent from the engine rotation speed detector 15 that detects the actual engine rotation speed (n E ) to the first computing unit 31 to calculate the time. The rate of change C of the engine speed is calculated and the value C is calculated by the comparator 3
1' is input.
この比較演算器３１′には時間△ｔに対する変
化割合の設定値Ｃが記憶させてあり、前記第１演
算器３１で演算されたエンジン回転数の変化割合
Ｃとその設定値C′とが比較演算されてＣ≧C′の場
合には第２演算器３２に入力される。Ｃ＜C′の場
合にはエンジン回転数制御（特開昭58−141933
号）に移る。 This comparison calculator 31' stores a set value C of the rate of change with respect to time Δt, and compares the rate of change C of the engine speed calculated by the first calculator 31 with the set value C'. When the result of the calculation is C≧C′, the signal is input to the second calculation unit 32. When C<C', engine speed control (Japanese Patent Laid-Open No. 141933
No.).
第２演算器３２においてエンジン回転数の変化
割合ＣをC′に近ずける様にエンジン回転数差信号
I1が出力され、演算装置３２′に入力される。 The second computing unit 32 outputs an engine speed difference signal so that the change rate C of the engine speed approaches C'.
I 1 is output and input to the arithmetic unit 32'.
この演算装置３２′へは、チエンジレバー位置
検出器１３からの前進、後進、中立、超信地旋回
のそれぞれに応じた信号ｃと、そのときの速度段
に応じた油圧スイツチ１８〜２１からの信号ｅ〜
ｈのいずれか１つの信号とが入力される。そして
この各入力信号I1、ｃ、ｅ〜ｈのうちの１つの信
号を演算して上記エンジン回転数差信号I1がゼロ
に近ずくように信号ｉ、ｊが加算器３３，３４を
介して両油圧ポンプ６，７の吐出容積制御アクチ
エータ２６，２７に出力される。 This arithmetic unit 32' receives signals c from the change lever position detector 13 corresponding to forward movement, reverse movement, neutrality, and super turn, and from hydraulic switches 18 to 21 according to the speed stage at that time. Signal e~
h is input. Then, one of the input signals I 1 , c, and e to h is operated, and the signals i and j are sent through adders 33 and 34 so that the engine speed difference signal I 1 approaches zero. and is output to the discharge volume control actuators 26 and 27 of both hydraulic pumps 6 and 7.
上記信号ｉ、ｊにより両油圧ポンプ６，７が制
御されて車速が増加し、エンジン回転数の上昇割
合が設定値Ｃにおさえられる。 Both hydraulic pumps 6 and 7 are controlled by the signals i and j, the vehicle speed increases, and the rate of increase in engine speed is suppressed to the set value C.
上記加算器３３，３４は現在出力されている信
号ｉ、ｊにエンジン回転数差信号の＋I1あるいは
−I1を加える演算器である。 The adders 33 and 34 are arithmetic units that add +I 1 or -I 1 of the engine speed difference signal to the currently output signals i and j.
以上要約すると、現在のエンジン回転数nEと直
前のエンジン回転数nE′との時間に対する変化割
合を制御論理回路に記憶させておき、この変化割
合を越えたエンジン回転数の変化に対して、この
記憶させた変化割合でエンジン回転数が変化する
ように制御する事により、スロツトル操作しても
エンジン回転数だけが上昇して出力回転数が変化
しないという状態を防止して、エンジン回転数の
上昇と同時に出力回転数も変化するようにした制
御方法である。 To summarize, the rate of change over time between the current engine speed n E and the previous engine speed n E ′ is stored in the control logic circuit, and when the engine speed changes beyond this change rate, By controlling the engine speed so that it changes at this memorized rate of change, it is possible to prevent a situation where only the engine speed increases even when the throttle is operated and the output speed does not change. This is a control method in which the output rotational speed also changes at the same time as the rotational speed increases.
具体的に述べると、加速時にエンジン回転上昇
率が高過ぎると速度比を増加してエンジンにかか
る負荷を増し、エンジン回転上昇率を一定に制御
すると同時に車速が増速される。 Specifically, if the engine speed increase rate is too high during acceleration, the speed ratio is increased to increase the load on the engine, and the vehicle speed is increased while controlling the engine speed increase rate to be constant.
これにより、従来の様にエンジン回転数だけ増
加し、車速が増速されないことを防止できるか
ら、運転者の運転感覚と合致した様に加速でき
る。 This prevents the vehicle speed from being increased due to an increase in engine speed as in the conventional case, so that the vehicle can be accelerated in a manner consistent with the driver's sense of driving.
本発明は以上の様になり、加速時にエンジン回
転数だけが上昇することを防止して出力軸回転と
ともに上昇させることができ、運転者の運転感覚
に合致した様に加速できる。 As described above, the present invention prevents the engine speed from increasing only during acceleration, and allows it to increase along with the rotation of the output shaft, allowing the engine to accelerate in a manner that matches the driving sensation of the driver.
第１図は本発明の実施例を示す全体説明図、第
２図は要部説明図、第３図はスロツトル位置と目
標エンジン回転数との関係を示す図表である。
１は変速装置、２はエンジン、３は入力軸、
４，５は出力軸、６，７は油圧ポンプ、８，９は
油圧モータ。
FIG. 1 is an overall explanatory diagram showing an embodiment of the present invention, FIG. 2 is an explanatory diagram of main parts, and FIG. 3 is a chart showing the relationship between throttle position and target engine speed. 1 is the transmission, 2 is the engine, 3 is the input shaft,
4 and 5 are output shafts, 6 and 7 are hydraulic pumps, and 8 and 9 are hydraulic motors.
Claims (1)
の出力軸４，５と複数段の変速用油圧クラツチＡ
〜Ｄとを有する機械式の変速装置１と、エンジン
２にて駆動される左右の油圧ポンプ６，７とこれ
の吐出油にて駆動される左右の油圧モータ８，９
とからなり、この油圧モータ８，９の出力軸を上
記変速装置１に連結し、油圧ポンプ６，７の吐出
容積の制御により変速装置１を各速度段で無段階
に変速されるようにした油圧機械式変速操向機に
おいて、現在のエンジン回転数と直前のエンジン
回転数との差によつて決定される時間に対する変
化割合を所定の値に設定し、加速時にエンジン回
転数が前記値を越えて変化した場合には、エンジ
ン回転数の変化割合を前記値に近づくように前記
油圧ポンプ６，７の吐出容積を制御することを特
徴とする油圧機械式変速・操向機の加速時速度比
増加制御方法。1 One input shaft 3 connected to the engine 2, left and right output shafts 4 and 5, and a multi-speed hydraulic clutch A
-D, a mechanical transmission 1, left and right hydraulic pumps 6, 7 driven by the engine 2, and left and right hydraulic motors 8, 9 driven by the oil discharged from these pumps.
The output shafts of the hydraulic motors 8 and 9 are connected to the transmission 1, so that the transmission 1 can be shifted steplessly at each speed stage by controlling the discharge volume of the hydraulic pumps 6 and 7. In a hydromechanical variable speed steering gear, a rate of change over time determined by the difference between the current engine speed and the previous engine speed is set to a predetermined value, and the engine speed changes to the above value during acceleration. If the rate of change exceeds the value, the discharge volume of the hydraulic pumps 6 and 7 is controlled so that the rate of change in engine speed approaches the value. Ratio increase control method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP73484A JPS60145431A (en) | 1984-01-09 | 1984-01-09 | Speed ratio increase control method of hydromechanical speedchange/steering mechanism under acceleration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP73484A JPS60145431A (en) | 1984-01-09 | 1984-01-09 | Speed ratio increase control method of hydromechanical speedchange/steering mechanism under acceleration |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60145431A JPS60145431A (en) | 1985-07-31 |
| JPH0543862B2 true JPH0543862B2 (en) | 1993-07-02 |
Family
ID=11481952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP73484A Granted JPS60145431A (en) | 1984-01-09 | 1984-01-09 | Speed ratio increase control method of hydromechanical speedchange/steering mechanism under acceleration |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60145431A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2013102945A1 (en) * | 2012-01-04 | 2015-05-11 | トヨタ自動車株式会社 | Vehicle control device |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4040492B2 (en) * | 2003-02-24 | 2008-01-30 | 株式会社クボタ | Work vehicle travel control device |
| US9523428B2 (en) * | 2014-02-12 | 2016-12-20 | Toyota Motor Engineering & Manufacturing North America, Inc. | System and method for shift restraint control |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5226574A (en) * | 1975-08-26 | 1977-02-28 | Hitoshi Soga | Method of producing sponge rubber product |
| JPS58141933A (en) * | 1982-02-17 | 1983-08-23 | Komatsu Ltd | Control of engine speed of hydraulic mechanical type speed change gear and direction controller |
-
1984
- 1984-01-09 JP JP73484A patent/JPS60145431A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5226574A (en) * | 1975-08-26 | 1977-02-28 | Hitoshi Soga | Method of producing sponge rubber product |
| JPS58141933A (en) * | 1982-02-17 | 1983-08-23 | Komatsu Ltd | Control of engine speed of hydraulic mechanical type speed change gear and direction controller |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2013102945A1 (en) * | 2012-01-04 | 2015-05-11 | トヨタ自動車株式会社 | Vehicle control device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60145431A (en) | 1985-07-31 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |