JPWO2018051452A1 - ダンプトラックのピッチング制御システム - Google Patents
ダンプトラックのピッチング制御システム Download PDFInfo
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- JPWO2018051452A1 JPWO2018051452A1 JP2018506449A JP2018506449A JPWO2018051452A1 JP WO2018051452 A1 JPWO2018051452 A1 JP WO2018051452A1 JP 2018506449 A JP2018506449 A JP 2018506449A JP 2018506449 A JP2018506449 A JP 2018506449A JP WO2018051452 A1 JPWO2018051452 A1 JP WO2018051452A1
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Classifications
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- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
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- B60G17/0424—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics regulated by varying the resiliency of hydropneumatic suspensions by varying the air pressure of the accumulator
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Abstract
Description
本発明の第1実施形態に係るピッチング制御システムは、例えば、図1に示すダンプトラック101に適用される。このダンプトラック101は、車体10の下部の骨格を形成するフレーム11と、このフレーム11の前部の左右両端にそれぞれ一輪ずつ配置された前輪12Fと、フレーム11の後部の左右両端に回転可能にそれぞれ二輪ずつ配置された後輪12Rとを備えている。
本発明の第2実施形態に係るダンプトラック101のピッチング制御システムは、上述した第1実施形態の構成に加え、さらにコントローラ19が、図8、図9に示すように、ガスチャージ圧Pcと、サスペンションシリンダ30にガス301とオイル302がチャージされてから車体10が走行した時間の累積を示す走行累積時間との関係を取得する関係取得部198と、走行累積時間を計時する計時部199と、関係取得部198が取得したガスチャージ圧Pcと走行累積時間との関係に対して、計時部199によって計時された走行累積時間を適用することにより、ガスチャージ圧Pcを演算するガスチャージ圧演算部200とを備えている。
上述した本発明の第1実施形態においては、バネ特性演算部197が、図6に示すサスペンションシリンダ30のバネ特性から前輪サスペンションシリンダ31L,31Rのバネ定数kfl,kfr及び後輪サスペンションシリンダ32L,32Rのバネ定数krl,krrをそれぞれ演算してピッチング剛性Kを算出した場合について説明した。
101…ダンプトラック、191…駆動トルク指令値演算部、192…ピッチング目標量演算部、193…トルク補正値演算部、194…ピッチング状態量検出部、195…車体重量判定部、196…制御ゲイン可変部、197…バネ特性演算部、198…関係取得部、199…計時部、200…ガスチャージ圧演算部
301…ガス、302…オイル、306…ストロークセンサ(ストローク検出部)、307…圧力センサ(圧力検出部)、308…温度センサ(温度検出部)
Claims (3)
- モータを含む後輪駆動装置と、ガスとオイルが封入され、走行時の車体への衝撃を緩和し、前後左右の車輪と前記車体を連結する4本のサスペンションシリンダから成る4つのサスペンションとを備えたダンプトラックに適用され、前記車体のピッチング運動を制御するダンプトラックのピッチング制御システムであって、
前記車体のピッチング運動の状態量を検出するピッチング状態量検出部と、
前記サスペンションシリンダのストロークを検出するストローク検出部と、
前記サスペンションシリンダの内部の圧力を検出する圧力検出部と、
前記サスペンションシリンダの内部の温度を検出する温度検出部と、
これらのストローク検出部、圧力検出部、及び温度検出部の検出結果に基づいて、前記サスペンションシリンダのバネ特性を演算するバネ特性演算部と、
前記バネ特性演算部によって演算された前記バネ特性に応じて、前記車体のピッチング運動の目標量を演算するピッチング目標量演算部と、
前記バネ特性演算部によって演算された前記バネ特性に応じて、ピッチング量の補正に必要なトルク補正値を演算するトルク補正値演算部とを備え、
前記トルク補正値演算部は、前記ピッチング状態量検出部によって検出された前記車体のピッチング運動の状態量と、前記ピッチング目標量演算部によって演算された前記車体のピッチング運動の目標量との差分に応じて前記トルク補正値を演算して出力し、前記トルク補正値演算部からの出力を受けて前記後輪駆動装置が駆動トルクを増減するように構成されたことを特徴とするダンプトラックのピッチング制御システム。 - 請求項1に記載のダンプトラックのピッチング制御システムにおいて、
前記サスペンションシリンダの最伸長状態における前記ガスの圧力を示すガスチャージ圧と、前記サスペンションシリンダに前記ガスと前記オイルがチャージされてから前記車体が走行した時間の累積を示す走行累積時間との関係を取得する関係取得部と、
前記走行累積時間を計時する計時部と、
前記関係取得部が取得した前記関係に対して、前記計時部によって計時された前記走行累積時間を適用することにより、前記ガスチャージ圧を演算するガスチャージ圧演算部とを備え、
前記バネ特性演算部は、前記ストローク検出部、前記圧力検出部、及び前記温度検出部の検出結果に加え、前記ガスチャージ圧演算部の演算結果に基づいて、前記バネ特性を演算することを特徴とするダンプトラックのピッチング制御システム。 - 請求項1に記載のダンプトラックのピッチング制御システムにおいて、
前記4つのサスペンションのうち前輪と前記車体を連結する2つの前輪サスペンションは、前記車体の前側に配置された2本の前輪サスペンションシリンダから成り、
前記バネ特性演算部は、前記前輪サスペンションシリンダに対する前記ストローク検出部、前記圧力検出部、及び前記温度検出部の検出結果を用いて、前記バネ特性を演算することを特徴とするダンプトラックのピッチング制御システム。
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