JPH0735879Y2 - Front and rear wheel drive vehicle drive control device - Google Patents
Front and rear wheel drive vehicle drive control deviceInfo
- Publication number
- JPH0735879Y2 JPH0735879Y2 JP1988149768U JP14976888U JPH0735879Y2 JP H0735879 Y2 JPH0735879 Y2 JP H0735879Y2 JP 1988149768 U JP1988149768 U JP 1988149768U JP 14976888 U JP14976888 U JP 14976888U JP H0735879 Y2 JPH0735879 Y2 JP H0735879Y2
- Authority
- JP
- Japan
- Prior art keywords
- drive wheels
- rear drive
- wheels
- rotation speed
- control device
- 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
Description
【考案の詳細な説明】 〔産業上の利用分野〕 本考案は、軸重の変化が大きいモータグレーダ、農用ト
ラクタ等の前後輪駆動車両の駆動制御装置に関する。[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a drive control device for a front-rear wheel drive vehicle such as a motor grader or an agricultural tractor having a large change in axial load.
〔従来の技術〕 後ろ２軸を従来の機械式により駆動し、さらに前軸を油
圧モータと可変容量油圧ポンプとで油圧式に駆動する全
輪駆動のモータグレーダにおいては、従来、前輪と後輪
の回転数を検出し、前後輪の回転数比がある定められた
値に保たれるように、可変容量油圧ポンプの吐出量を調
整することで前・後軸の最適な駆動力が得られるように
している。[Prior Art] In an all-wheel drive motor grader in which the rear two shafts are driven by a conventional mechanical system, and the front shaft is hydraulically driven by a hydraulic motor and a variable displacement hydraulic pump, conventionally, a front wheel and a rear wheel are used. Optimum driving force for the front and rear axles is obtained by detecting the rotation speed of the front and rear wheels and adjusting the discharge rate of the variable displacement hydraulic pump so that the rotation speed ratio of the front and rear wheels is maintained at a specified value. I am trying.
この方式では、前・後輪の空気入りタイヤ有効半径が等
しいという前提のもとに前・後輪の回転速度比をある定
められた値に保つことで前・後軸の適当な駆動力を得よ
うとするものである。With this method, the appropriate driving force for the front and rear axles is maintained by maintaining the rotation speed ratio of the front and rear wheels at a certain value on the assumption that the effective radii of the pneumatic tires for the front and rear wheels are equal. It's about to get.
従来の上記方式では、前・後輪のタイヤ有効半径が等し
いとして制御を行なっているが、モータグレーダによる
作業では、ブレードを路面に押し付けて行われると共に
不整地を走行するため軸重の変化が大きく、それにより
空気入りタイヤ有効半径も大きく変化するため、前・後
輪の回転数比の調節だけでは最適な駆動制御を行なうこ
とができない。In the above-mentioned conventional method, control is performed assuming that the tire effective radii of the front and rear wheels are equal, but in the work by the motor grader, the blade is pressed against the road surface and the axle load changes because it travels on rough terrain. Since the effective radius of the pneumatic tire changes greatly, the optimum drive control cannot be performed only by adjusting the rotational speed ratio of the front and rear wheels.
本考案は、上記に鑑み、モータグレーダ等の軸重の変化
が多く、かつ、不整地を走行する前後輪駆動車両におい
て、最適な駆動制御を行うことができるようにすること
を課題とする。In view of the above, it is an object of the present invention to make it possible to perform optimum drive control in a front-rear wheel drive vehicle that has a large change in axle load such as a motor grader and that travels on an uneven terrain.
本考案に係る前後輪駆動車両の駆動制御装置は、空気入
りタイヤを備えた前後の駆動輪の回転数を検出する回転
数センサと、上記前後の駆動輪の軸重を検出する軸重セ
ンサと、これらのセンサからの信号を受け、上記軸重セ
ンサの信号により前後の駆動輪の有効半径を算出してこ
の前後の駆動輪の有効半径にそれぞれ前後の駆動輪の回
転数を乗じて前後の駆動輪の回転速度を算出し、この前
後の駆動輪の回転速度に基いて前の駆動輪の回転速度を
制御するコントローラとからなることを特徴とする。A drive control device for a front and rear wheel drive vehicle according to the present invention includes a rotation speed sensor for detecting the rotation speed of front and rear drive wheels equipped with a pneumatic tire, and an axle load sensor for detecting the axle weight of the front and rear drive wheels. , The signals from these sensors are received, the effective radii of the front and rear drive wheels are calculated from the signals of the axle load sensor, and the effective radii of the front and rear drive wheels are multiplied by the rotational speeds of the front and rear drive wheels, respectively. It is characterized by comprising a controller that calculates the rotational speed of the drive wheel and controls the rotational speed of the front drive wheel based on the rotational speeds of the front and rear drive wheels.
本考案では、あらかじめコントローラにタイヤの荷重と
たわみの関係を入力しておき、コントローラでは、前後
の駆動輪の軸重を検出する軸重センサからの信号から空
気入りタイヤをもつ前後の駆動輪の有効半径を算出し、
さらに、この前後の駆動輪の有効半径にそれぞれ回転数
センサで検出した前後の駆動輪の回転数を乗じて前後の
駆動輪の回転速度を算出し、これに基づいてコントロー
ラが前後の駆動輪の回転速度がある定められた値になる
ように、前の駆動輪の回転速度を制御する。In the present invention, the relationship between the tire load and the deflection is input to the controller in advance, and the controller detects the axial load of the front and rear drive wheels from the signal from the axle load sensor. Calculate the effective radius,
Further, the effective radii of the front and rear drive wheels are respectively multiplied by the rotational speeds of the front and rear drive wheels detected by the rotation speed sensor to calculate the rotational speeds of the front and rear drive wheels. The rotation speed of the front drive wheel is controlled so that the rotation speed becomes a predetermined value.
このようにして、本考案では、車両の条件や路面条件に
よって前後の駆動輪の軸重が変動しても最適の状態で前
後輪が駆動され、車両が円滑に走行する。In this way, according to the present invention, the front and rear wheels are driven in an optimum state even if the axial loads of the front and rear drive wheels are changed depending on the vehicle condition and the road surface condition, and the vehicle travels smoothly.
本考案の一実施例を第１図及び第２図によって説明す
る。An embodiment of the present invention will be described with reference to FIGS. 1 and 2.
モータグレーダ15の空気入りタイヤを備えた後輪1a、1
b、1c、1dは、エンジン２、トランスミッション３、フ
ァイナルドライブ４さらにタンデム5a、5bを経由して動
力が伝達されるようになっている。一方、前輪6a、6b
は、油圧ポンプ７からの吐出油により回転する油圧モー
タ8a、8bによりそれぞれ駆動されるようになっている。
コントローラ９には、前後の駆動輪の軸重を検出する軸
重センサ10、11及び前後の駆動輪の回転数を検出する回
転数センサ12、13がそれぞれ接続されていて、これらセ
ンサからの信号が入力され、これらのデータを演算し、
前後の駆動輪への駆動出力が最適となるように油圧ポン
プ７の吐出量を制御する電磁弁14へ制御信号を送るよう
になっている。Rear wheels 1a, 1 with motor grader 15 pneumatic tires
Power is transmitted to the b, 1c, and 1d via the engine 2, the transmission 3, the final drive 4, and the tandems 5a and 5b. On the other hand, the front wheels 6a, 6b
Are driven by hydraulic motors 8a and 8b which are rotated by oil discharged from the hydraulic pump 7, respectively.
Connected to the controller 9 are axle load sensors 10 and 11 for detecting the axle weights of the front and rear drive wheels, and revolution speed sensors 12 and 13 for detecting the revolution speeds of the front and rear drive wheels, respectively. Is input, these data are calculated,
A control signal is sent to a solenoid valve 14 that controls the discharge amount of the hydraulic pump 7 so that the drive output to the front and rear drive wheels is optimized.
上記のように構成された本実施例において、コントロー
ラ９にはあらかじめ空気入りタイヤの荷重とたわみの関
係データを記憶させておく。前後の駆動輪の軸重を検出
する軸重センサ10、11からの信号は、コントローラ９に
入力され、この入力された軸重からコントローラ９は前
後の駆動輪のタイヤ有効半径Rf、Rrを算出する。さらに
前後の駆動輪の回転数Wf、Wrを検出する回転数センサ1
2、13からの信号がコントローラ９に入力され、同コン
トローラ９では上記の算出されたタイヤ有効半径Rf、Rr
にそれぞれ回転数Wf、Wrを乗じて前後の駆動輪の回転速
度Vf（＝Rf・Wf）、Vr（＝Rr、Wr）を算出する。In the present embodiment configured as described above, the controller 9 stores the relationship data of the load and the deflection of the pneumatic tire in advance. The signals from the axle load sensors 10 and 11 for detecting the axle weights of the front and rear drive wheels are input to the controller 9, and the controller 9 uses the input axle weights to detect the effective tire radii R f and R r of the front and rear drive wheels. To calculate. Furthermore, a rotation speed sensor 1 for detecting the rotation speeds W f and W r of the front and rear drive wheels
The signals from 2 and 13 are input to the controller 9, which calculates the tire effective radii R f and R r calculated above.
Are multiplied by the rotational speeds W f and W r , respectively, to calculate the rotational speeds V f (= R f · W f ), V r (= R r , W r ) of the front and rear drive wheels.
次に、コントローラ９では、前後の駆動輪の回転速度比
をあらかじめ定めた値になるように信号を油圧ポンプ７
からの吐出量を制御する電磁油圧弁14へ送る。これによ
って、油圧ポンプ７の吐出量が調整され、それに従って
前輪6a、6bの油圧モータ8a、8bを回転数が制御され前車
輪の回転数Wfが調節される。Next, the controller 9 sends a signal to the hydraulic pump 7 so that the rotational speed ratio of the front and rear drive wheels becomes a predetermined value.
To the electromagnetic hydraulic valve 14 that controls the discharge amount from the. Thus, the adjusted discharge amount of the hydraulic pump 7, accordingly the front wheels 6a, hydraulic motors 8a of 6b, 8b of the rotation speed is controlled rotational speed W f of the front wheels is adjusted.
このようにして、本実施例では、前後の駆動輪の軸重が
変化して空気入りタイヤの径が変化しても、前後の駆動
輪の回転速度が最適の状態になるように前輪6a、6bの油
圧モータ8a、8bの駆動力を制御することができ、車両を
円滑に走行させることができる。In this way, in this embodiment, even if the axle weights of the front and rear drive wheels change and the diameter of the pneumatic tire changes, the front wheels 6a, so that the rotational speeds of the front and rear drive wheels are in an optimum state. The driving force of the hydraulic motors 8a and 8b of 6b can be controlled, and the vehicle can be run smoothly.
本考案では、以上説明したように、コントローラにおい
て、軸重センサの検出した空気入りタイヤを備えた前後
の駆動輪の軸重より前後の駆動輪の有効半径を算出し、
この前後の駆動輪の有効半径にそれぞれ回転数センサの
検出した前後の駆動輪の回転速度を乗じて前後の駆動輪
の回転速度を算出し、これに基づいて前の駆動輪の回転
速度を制御している。従って前後の駆動輪の軸重が変動
してそのタイヤ径が変化しても前後の駆動輪の回転速度
の関係が最適の状態になるように前の駆動輪の回転速度
を制御する。In the present invention, as described above, in the controller, the effective radii of the front and rear drive wheels are calculated from the axle loads of the front and rear drive wheels equipped with the pneumatic tire detected by the axle load sensor,
The effective radii of the front and rear drive wheels are multiplied by the front and rear drive wheel rotation speeds detected by the rotation speed sensor to calculate the front and rear drive wheel rotation speeds, and the front drive wheel rotation speed is controlled based on this. is doing. Therefore, the rotational speed of the front drive wheel is controlled so that the relationship between the rotational speeds of the front and rear drive wheels is optimized even if the axial load of the front and rear drive wheels changes and the tire diameter changes.
従って、本考案によれば、前後の駆動輪の軸重が変化し
ても各駆動輪を常に最適な回転速度で駆動して円滑に車
両を走行させることができる。Therefore, according to the present invention, even if the axle weights of the front and rear drive wheels change, each drive wheel can be always driven at an optimum rotational speed to smoothly drive the vehicle.
第１図は、本考案の第１実施例に係るモータグレーダの
全体図、第２図は同実施例の作用を示すための系統図で
ある。 1a、1b、1c、1d…後輪、２…エンジン、３…トランスミ
ッション、４…ファイナルドライブ、5a、5b…タンデ
ム、6a、6b…前輪、７…可変容量油圧ポンプ、8a、8b…
油圧モータ、９…コントローラ、10…前の駆動輪の軸重
センサ、11…後の駆動輪の軸重センサ、12…前の駆動輪
の回転数センサ、13…後の駆動輪の回転数センサ、14…
油圧ポンプ吐出量制御電磁弁、15…モータグレーダ。FIG. 1 is an overall view of a motor grader according to a first embodiment of the present invention, and FIG. 2 is a system diagram showing the operation of the same embodiment. 1a, 1b, 1c, 1d ... rear wheels, 2 ... engine, 3 ... transmission, 4 ... final drive, 5a, 5b ... tandem, 6a, 6b ... front wheels, 7 ... variable displacement hydraulic pump, 8a, 8b ...
Hydraulic motor, 9 ... Controller, 10 ... Front drive wheel axle load sensor, 11 ... Rear drive wheel axle load sensor, 12 ... Front drive wheel rotation speed sensor, 13 ... Rear drive wheel rotation speed sensor ,14…
Hydraulic pump discharge rate control solenoid valve, 15 ... Motor grader.
Claims (1)
転数を検出する回転数センサと、上記前後の駆動輪の軸
重を検出する軸重センサと、これらのセンサからの信号
を受け、上記軸重センサの信号により前後の駆動輪の有
効半径を算出してこの前後の駆動輪の有効半径にそれぞ
れ前後の駆動輪の回転数を乗じて前後の駆動輪の回転速
度を算出し、この前後の駆動輪の回転速度に基いて前の
駆動輪の回転速度を制御するコントローラとからなるこ
とを特徴とする前後輪駆動車両の駆動制御装置。1. A rotation speed sensor for detecting the rotation speed of front and rear drive wheels equipped with a pneumatic tire, a shaft load sensor for detecting the shaft load of the front and rear drive wheels, and signals from these sensors. , The effective radius of the front and rear drive wheels is calculated by the signal of the axle load sensor, and the effective radii of the front and rear drive wheels are multiplied by the rotational speeds of the front and rear drive wheels to calculate the rotational speeds of the front and rear drive wheels, A drive control device for a front-rear wheel drive vehicle, comprising: a controller that controls the rotational speed of the front drive wheel based on the rotational speeds of the front and rear drive wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1988149768U JPH0735879Y2 (en) | 1988-11-18 | 1988-11-18 | Front and rear wheel drive vehicle drive control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1988149768U JPH0735879Y2 (en) | 1988-11-18 | 1988-11-18 | Front and rear wheel drive vehicle drive control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0270049U JPH0270049U (en) | 1990-05-28 |
| JPH0735879Y2 true JPH0735879Y2 (en) | 1995-08-16 |
Family
ID=31422301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1988149768U Expired - Lifetime JPH0735879Y2 (en) | 1988-11-18 | 1988-11-18 | Front and rear wheel drive vehicle drive control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0735879Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108290497A (en) * | 2015-12-07 | 2018-07-17 | 卡特彼勒公司 | To the pressure and speed control of vehicle |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008027333A1 (en) * | 2008-06-07 | 2009-12-31 | Cnh Baumaschinen Gmbh | Control arrangement for vehicles with hydrostatic auxiliary drive |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS632731A (en) * | 1986-06-20 | 1988-01-07 | Fuji Heavy Ind Ltd | Torque distribution control device in four-wheel drive vehicle |
| JPS63258223A (en) * | 1987-04-16 | 1988-10-25 | Takayuki Miyao | Four-wheel driving system |
-
1988
- 1988-11-18 JP JP1988149768U patent/JPH0735879Y2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108290497A (en) * | 2015-12-07 | 2018-07-17 | 卡特彼勒公司 | To the pressure and speed control of vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0270049U (en) | 1990-05-28 |
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