KR102635248B1 - Control method for transmission of construction machinery - Google Patents

Control method for transmission of construction machinery Download PDF

Info

Publication number
KR102635248B1
KR102635248B1 KR1020180119582A KR20180119582A KR102635248B1 KR 102635248 B1 KR102635248 B1 KR 102635248B1 KR 1020180119582 A KR1020180119582 A KR 1020180119582A KR 20180119582 A KR20180119582 A KR 20180119582A KR 102635248 B1 KR102635248 B1 KR 102635248B1
Authority
KR
South Korea
Prior art keywords
gear
construction machinery
wheel
electric motor
stage
Prior art date
Application number
KR1020180119582A
Other languages
Korean (ko)
Other versions
KR20200040323A (en
Inventor
서현재
Original Assignee
에이치디현대인프라코어 주식회사
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 에이치디현대인프라코어 주식회사 filed Critical 에이치디현대인프라코어 주식회사
Priority to KR1020180119582A priority Critical patent/KR102635248B1/en
Priority to CN201910949538.XA priority patent/CN111002817A/en
Publication of KR20200040323A publication Critical patent/KR20200040323A/en
Application granted granted Critical
Publication of KR102635248B1 publication Critical patent/KR102635248B1/en

Links

Images

Classifications

    • 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
    • B60K6/28—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 electric energy storing means, e.g. batteries or capacitors
    • 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
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/22—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or type of main drive shafting, e.g. cardan shaft
    • B60K17/24—Arrangements of mountings for shafting
    • 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
    • B60K6/24—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 combustion engines
    • 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
    • B60K6/26—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 motors or the generators
    • 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
    • B60K6/36—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 transmission gearings
    • 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
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/54—Transmission for changing ratio
    • B60K6/547—Transmission for changing ratio the transmission being a stepped gearing
    • 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
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • 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
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • 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
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/02—Selector apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/17—Construction vehicles, e.g. graders, excavators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/081—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/083—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • 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
    • Y02T10/62—Hybrid vehicles
    • 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
    • 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
    • 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
    • Y02T10/72—Electric energy management in electromobility

Abstract

건설기계를 위한 휠 구동 시스템 및 건설기계의 변속 제어방법이 개시된다. 본 발명은 엔진에 연결되어 전기에너지를 발생시키는 발전기; 적어도 하나의 전방 휠을 구동시키며, 상기 발전기로부터의 상기 전기에너지를 공급받아 구동토크를 발생하는 전방 전동기를 갖는 전방 액슬; 적어도 하나의 후방 휠을 구동시키며, 상기 발전기로부터의 상기 전기에너지를 공급받아 구동토크를 발생하는 후방 전동기를 갖는 후방 액슬; 유압 펌프에 의해 작동되는 부착장치를 구동시키는 구동장치 및 상기 발전기에서 발생된 전기에너지를 전방 액슬, 후방 액슬 및 구동장치에 각각 공급하는 통합 인버터를 포함하여 중앙 연결유닛의 부재에 따라 이와 연결해야 하는 전방 구동축 연결유닛 및 후방 구동축 연결유닛도 구비될 필요가 없으므로, 구조가 간단하여 유지보수가 용이하고, 건설기계의 제조비용을 절감할 수 있는 건설기계를 위한 휠 구동 시스템 및 건설기계의 변속 제어방법을 제공한다.A wheel drive system for construction machinery and a method for controlling transmission of construction machinery are disclosed. The present invention includes a generator connected to an engine to generate electrical energy; a front axle that drives at least one front wheel and has a front electric motor that generates driving torque by receiving the electric energy from the generator; a rear axle that drives at least one rear wheel and has a rear electric motor that generates driving torque by receiving the electric energy from the generator; In the absence of a central connection unit, it must be connected to a central connection unit, including a drive device that drives the attachment device operated by a hydraulic pump and an integrated inverter that supplies electrical energy generated by the generator to the front axle, rear axle and drive device, respectively. Since there is no need to provide a front drive shaft connection unit and a rear drive shaft connection unit, the structure is simple and maintenance is easy, and the wheel drive system and shift control method for construction equipment can reduce the manufacturing cost of construction equipment. provides.

Description

건설기계의 변속 제어방법{CONTROL METHOD FOR TRANSMISSION OF CONSTRUCTION MACHINERY}Transmission control method for construction machinery {CONTROL METHOD FOR TRANSMISSION OF CONSTRUCTION MACHINERY}

본 발명은 건설기계를 위한 휠 구동 시스템에 관한 것이다. 보다 자세하게는, 하이브리드 건설기계를 위한 휠 구동 시스템 및 건설기계의 변속 제어방법에 관한 것이다.The present invention relates to a wheel drive system for construction machinery. More specifically, it relates to a wheel drive system for hybrid construction equipment and a shift control method for construction equipment.

최근 엔진과 발전기를 동력원으로 각각 이용하는 하이브리드 구동 시스템에 대한 연구가 증가하는 추세이다. 일반 하이브리드 자동차에 있어서, 상기 발전기는 전기에너지를 생산하여 하나의 전동기에 공급한다. 상기 전동기는 구동토크를 발생하여 다수개의 휠들을 구동할 수 있다.Recently, research on hybrid drive systems that use engines and generators as power sources is increasing. In a general hybrid vehicle, the generator produces electrical energy and supplies it to one electric motor. The electric motor can generate driving torque to drive multiple wheels.

상기 일반 하이브리드 자동차의 휠 구동 시스템의 목적은 일반 주행에 있다. 이와는 달리, 상기 하이브리드 구동 시스템을 갖는 건설기계는 상기 일반 주행을 수행하면서 동시에 고하중 작업을 빈번히 수행해야 한다. 따라서, 상기 하이브리드 구동 시스템을 갖는 상기 건설기계에 포함된 다수개의 휠들은 다수개의 전동기들에 의해 각각 구동되며, 상기 휠들은 작업 환경에 따라 높은 토크를 지면에 작용할 수 있다.The purpose of the wheel drive system of the general hybrid vehicle is normal driving. In contrast, construction equipment having the hybrid drive system must frequently perform high-load work while performing the normal driving. Accordingly, a plurality of wheels included in the construction machine having the hybrid drive system are each driven by a plurality of electric motors, and the wheels can apply high torque to the ground depending on the work environment.

상기 건설기계가 상기 고하중 작업을 빈번하게 수행해야 하는 작업환경을 고려하고, 상기 건설기계의 상기 휠들이 상기 전동기들에 의해 각각 구동되는 점을 고려하여 휠 구동 효율을 향상시킬 수 있는 새로운 하이브리드 구동 시스템이 필요하다.A new hybrid drive that can improve wheel drive efficiency by taking into account the working environment in which the construction equipment must frequently perform the high-load work and the fact that the wheels of the construction equipment are each driven by the electric motors. A system is needed.

이러한 필요성에 의해 출원된 한국 공개공보 제10-2015-0136367호에는 작고 가벼운 전동기들을 사용할 수 있어, 건설기계의 경량화, 소형화가 가능하고 연비 개선 및 작업효율 개선이 가능한 건설기계를 위한 휠 구동 시스템에 대한 기술이 기재되어 있다.Korean Publication No. 10-2015-0136367, filed in response to this need, describes a wheel drive system for construction machinery that can use small and light electric motors, enabling lighter and more compact construction machinery and improving fuel efficiency and work efficiency. The technology is described.

도 1은 종래의 건설기계를 위한 휠 구동 시스템을 도시한 개략도이다.1 is a schematic diagram showing a wheel drive system for conventional construction machinery.

자세하게는 도 1과 같이, 종래의 휠 구동 시스템은 엔진(10)에 연결되어 전기에너지를 발생시키는 발전기(20), 전방 구동축을 통하여 적어도 하나의 전방 휠을 구동시키는 전방 액슬(30), 후방 구동축을 통하여 적어도 하나의 후방 휠을 구동시키는 후방 액슬(40), 및 상기 전방 구동축과 상기 후방 구동축에 각각 연결 가능하도록 구비되는 중앙 연결유닛(50)을 포함하고 있다.In detail, as shown in FIG. 1, the conventional wheel drive system includes a generator 20 that is connected to the engine 10 and generates electrical energy, a front axle 30 that drives at least one front wheel through the front drive shaft, and a rear drive shaft. It includes a rear axle 40 that drives at least one rear wheel, and a central connection unit 50 that is connected to the front drive shaft and the rear drive shaft, respectively.

또한 상기 전방 액슬(30)과 후방 액슬(40)에는 모두 변속기(36, 46)가 구비되어 있고, 전방 액슬(30)은 전방 좌측 구동축 및 전방 우측 구동축을 연결하는 전방 구동축 연결유닛(35)을 포함하며, 후방 액슬(40)은 후방 좌측 구동축 및 후방 우측 구동축을 연결하는 후방 구동축 연결유닛(45)을 포함하고 있다.In addition, both the front axle 30 and the rear axle 40 are equipped with transmissions 36 and 46, and the front axle 30 has a front drive shaft connection unit 35 that connects the front left drive shaft and the front right drive shaft. The rear axle 40 includes a rear drive shaft connection unit 45 that connects the rear left drive shaft and the rear right drive shaft.

이 때 연결유닛(50)은 전방 구동축 연결유닛(35)과 후방 구동축 연결유닛(45)에 연결되므로, 전방 구동축 연결유닛(35)은 중앙 연결유닛(50)으로부터 전달되는 변환토크를 전방 액슬(30)의 전방 좌측 구동축 및 전방 우측 구동축으로 각각 전달할 수 있다.At this time, the connection unit 50 is connected to the front drive shaft connection unit 35 and the rear drive shaft connection unit 45, so the front drive shaft connection unit 35 converts the conversion torque transmitted from the central connection unit 50 to the front axle ( 30) can be transmitted to the front left drive shaft and front right drive shaft, respectively.

그러나 최근 차량 컨트롤 기술의 발전에 따라 별도의 차동 기어가 없어도 각각의 제어가 가능하고, 또한 변속기와 전동기의 기술 발전에 따라 변속기와 소형의 전동기로도 일반적인 고하중 작업을 수행 시 필요로 하는 작업 토크를 충분히 달성할 수 있으므로, 이에 건설기계의 제조비용을 절감할 수 있고, 더 효율적인 연비를 달성하기 위한 새로운 건설기계의 설계가 필요하다. 즉 건설기계의 사용자는 건설기계의 소형화를 원하고 있으며, 저렴한 건설기계를 원하고 있다.However, with the recent development of vehicle control technology, each control is possible without a separate differential gear, and with the advancement of transmission and electric motor technology, the working torque required when performing general high-load work even with a transmission and a small electric motor. Since it is possible to sufficiently achieve this, the manufacturing cost of construction machinery can be reduced and the design of new construction machinery is needed to achieve more efficient fuel efficiency. In other words, users of construction machinery want to miniaturize construction machinery and want inexpensive construction machinery.

한국 공개공보 제10-2015-0136367호Korean Publication No. 10-2015-0136367

따라서 본 발명은 상술한 사안을 감안하여 발명된 것으로 본 발명의 목적은 엔진에 연결되어 전기에너지를 발생시키는 발전기; 적어도 하나의 전방 휠을 구동시키며, 상기 발전기로부터의 상기 전기에너지를 공급받아 구동토크를 발생하는 전방 전동기를 갖는 전방 액슬; 적어도 하나의 후방 휠을 구동시키며, 상기 발전기로부터의 상기 전기에너지를 공급받아 구동토크를 발생하는 후방 전동기를 갖는 후방 액슬; 유압 펌프에 의해 작동되는 부착장치를 구동시키는 구동장치 및 상기 발전기에서 발생된 전기에너지를 전방 액슬, 후방 액슬 및 구동장치에 각각 공급하는 통합 인버터를 포함하여 중앙 연결유닛의 부재에 따라 이와 연결해야 하는 전방 구동축 연결유닛 및 후방 구동축 연결유닛도 구비될 필요가 없으므로, 구조가 간단하여 유지보수가 용이하고, 건설기계의 제조비용을 절감할 수 있는 건설기계를 위한 휠 구동 시스템 및 건설기계의 변속 제어방법을 제공하는 것이다.Therefore, the present invention was invented in consideration of the above-mentioned issues, and the object of the present invention is to include a generator connected to an engine to generate electrical energy; a front axle that drives at least one front wheel and has a front electric motor that generates driving torque by receiving the electric energy from the generator; a rear axle that drives at least one rear wheel and has a rear electric motor that generates driving torque by receiving the electric energy from the generator; In the absence of a central connection unit, it must be connected to a central connection unit, including a drive device that drives the attachment device operated by a hydraulic pump and an integrated inverter that supplies electrical energy generated by the generator to the front axle, rear axle and drive device, respectively. Since there is no need to provide a front drive shaft connection unit and a rear drive shaft connection unit, the structure is simple and maintenance is easy, and the wheel drive system and shift control method for construction equipment can reduce the manufacturing cost of construction equipment. is to provide.

상기 첫 번째 목적을 달성하기 위하여 본 발명은 엔진에 연결되어 전기에너지를 발생시키는 발전기; 적어도 하나의 전방 휠을 구동시키며, 상기 발전기로부터의 상기 전기에너지를 공급받아 구동토크를 발생하는 전방 전동기를 갖는 전방 액슬; 적어도 하나의 후방 휠을 구동시키며, 상기 발전기로부터의 상기 전기에너지를 공급받아 구동토크를 발생하는 후방 전동기를 갖는 후방 액슬; 유압 펌프에 의해 작동되는 부착장치를 구동시키는 구동장치 및 상기 발전기에서 발생된 전기에너지를 전방 액슬, 후방 액슬 및 구동장치에 각각 공급하는 통합 인버터를 포함하는 건설기계를 위한 휠 구동 시스템을 제공한다.In order to achieve the first object, the present invention includes a generator connected to an engine to generate electrical energy; a front axle that drives at least one front wheel and has a front electric motor that generates driving torque by receiving the electric energy from the generator; a rear axle that drives at least one rear wheel and has a rear electric motor that generates driving torque by receiving the electric energy from the generator; A wheel drive system for construction equipment is provided, including a drive device that drives an attachment device operated by a hydraulic pump and an integrated inverter that supplies electrical energy generated by the generator to the front axle, rear axle, and drive device, respectively.

또한 상기 구동장치는, 상기 통합 인버터와 전기적으로 연결된 펌프 모터와, 유압 펌프 및 펌프 모터과 유압 펌프 사이 구비된 기어 박스를 포함할 수 있다.Additionally, the driving device may include a pump motor electrically connected to the integrated inverter, a hydraulic pump, and a gear box provided between the pump motor and the hydraulic pump.

또한 상기 전방 액슬은, 상기 전방 전동기로부터 상기 구동토크를 공급받아 상기 구동토크를 건설기계의 속도에 따라 필요한 변환토크로 바꾸어 전방 구동축을 통하여 상기 전방 휠에 전달하는 전방 변속기를 포함할 수 있다.In addition, the front axle may include a front transmission that receives the driving torque from the front electric motor, converts the driving torque into necessary conversion torque according to the speed of the construction machine, and transmits it to the front wheels through the front drive shaft.

또한 상기 후방 액슬은, 후방 변속기를 포함하지 않을 수 있다.Additionally, the rear axle may not include a rear transmission.

또한 차량 속도, 전동기 전류값, 전동기 회전수 및 현 기어의 위치 정보를 사용하여 변속 여부를 수행하는 제어부를 더 포함할 수 있다.In addition, it may further include a control unit that determines whether or not to shift gears using vehicle speed, electric motor current value, electric motor rotation speed, and current gear position information.

또한 상기 제어부는, 아래의 변속조건을 만족하면 2단에서 1단으로 변속할 수 있다. - 작업 모드 : 수동, 자동 중 자동 - 차량 속도 : 설정 속도 이하 - 기어 위치 : 2단Additionally, the control unit can shift from 2nd gear to 1st gear if the following shifting conditions are satisfied. - Work mode: manual, automatic - Vehicle speed: below set speed - Gear position: 2nd gear

상기 제어부는, 아래의 변속조건을 만족하면 1단에서 2단으로 변속할 수 있다. - 작업 모드 : 수동, 자동 중 자동 - 차량 속도 : 설정 속도 이상 - 기어 위치 : 1단The control unit can shift from 1st gear to 2nd gear if the following shifting conditions are satisfied. - Work mode: manual, automatic - Vehicle speed: above set speed - Gear position: 1st gear

상기 두 번째 목적을 달성하기 위하여 본 발명은 상술한 구동 시스템이 적용되는 건설기계의 변속 제어방법에 있어서, 건설기계의 2속 주행단계; 차량의 속도, 전동기의 토크 센싱 정보를 포함하는 변속 조건을 제어부로 전송하는 전송단계; 변속조건을 확인하는 확인단계; 전동기 전류값을 0mA로 변경하는 변경단계; 2단 클러치를 오프하는 오프단계; 기어를 중립시키는 중립단계; 모터 회전수를 output rpm과 동기화시키는 동기화단계 및 1단 클러치를 온 시키는 온단계를 포함하는 건설기계의 변속 제어방법을 제공한다.In order to achieve the second object, the present invention provides a shift control method for a construction machine to which the above-described drive system is applied, comprising: a second-speed traveling step of the construction machine; A transmission step of transmitting shifting conditions including vehicle speed and electric motor torque sensing information to the control unit; A confirmation step of checking shifting conditions; A change step of changing the motor current value to 0mA; Off stage of turning off the second stage clutch; A neutral stage that neutralizes the gear; Provides a shift control method for construction machinery that includes a synchronization step to synchronize the motor rotation speed with the output rpm and an on step to turn on the first stage clutch.

또한 상기 전송 단계서의 변속 조건은, 자동 기어 변속 모드에서 설정 속도 이하로 주행 시 기어 위치가 2단인 경우로 상기 설정 속도는 4km/h 이하일 수 있다.In addition, the shifting condition in the transmission stage is a case where the gear position is 2nd when driving at a set speed or less in automatic gear shift mode, and the set speed may be 4 km/h or less.

상기 또 다른 목적을 달성하기 위하여 본 발명은 상술한 구동 시스템이 적용되는 건설기계의 변속 제어방법에 있어서, 건설기계의 1속 주행단계; 차량의 속도, 전동기의 토크 센싱 정보 등의 변속 조건을 제어부로 전송하는 전송단계; 변속조건을 확인하는 확인단계; 전동기 전류값을 0mA로 변경하는 변경단계; 1단 클러치 오프단계; 기어를 중립시키는 중립단계; 모터 회전수를 output rpm과 동기화시키는 동기화단계 및 2단 클러치를 온 시키는 온단계를 포함할 수 있다.In order to achieve the above further object, the present invention provides a shift control method for a construction machine to which the above-described drive system is applied, comprising: a first-speed traveling step of the construction machine; A transmission step of transmitting shifting conditions such as vehicle speed and electric motor torque sensing information to the control unit; A confirmation step of checking shifting conditions; A change step of changing the motor current value to 0mA; 1st clutch off stage; A neutral stage that neutralizes the gear; It may include a synchronization step to synchronize the motor rotation speed with the output rpm and an on step to turn on the second stage clutch.

그리고, 상기 전송단계에서의 변속 조건은, 자동 기어 변속 모드에서 설정 속도 이상으로 주행 시 기어 위치가 1단인 경우로 상기 설정 속도는 8km/h 이상일 수 있다.In addition, the shifting condition in the transmission stage is when the gear position is 1st gear when driving at a set speed or higher in automatic gear shifting mode, and the set speed may be 8 km/h or more.

상기에서 설명한 본 발명의 건설기계를 위한 휠 구동 시스템 및 건설기계의 변속 제어방법에 의하면, 중앙 연결유닛의 부재에 따라 이와 연결해야 하는 전방 구동축 연결유닛 및 후방 구동축 연결유닛도 구비될 필요가 없으므로, 구조가 간단하여 유지보수가 용이하고, 건설기계의 제조비용을 절감할 수 있는 효과가 있다.According to the wheel drive system for construction machinery and the shift control method for construction machinery of the present invention described above, there is no need to provide a front drive shaft connection unit and a rear drive shaft connection unit that must be connected to the central connection unit due to the absence of the central connection unit, The simple structure makes maintenance easy and has the effect of reducing the manufacturing cost of construction machinery.

또한 구동장치가 통합 인버터와 전기적으로 연결이 되므로, 엔진의 일정 회전수를 유지할 수 있어, 엔진의 효율을 극대화 시킬 수 있는 효과가 있다.Additionally, because the drive device is electrically connected to the integrated inverter, a constant engine rotation speed can be maintained, which has the effect of maximizing engine efficiency.

또한 전방 휠에만 전방 변속기를 장착하여 1단으로 변속하여도 작업 상에 큰 문제를 발생시키지 않기 때문에 전후방 모두에 변속기를 장착하지 않아도 되고, 이에 건설기계의 제조비용을 현저히 절감할 수 있는 효과가 있다. 즉 후방 액슬에 별도의 변속기가 구비되지 않아도 되므로, 그 무게를 줄일 수 있고 가격을 낮출 수 있으며, 상기 건설기계의 연비 및 작업효율을 개선할 수 있는 효과가 있다.In addition, since the front transmission is installed only on the front wheels and the transmission is shifted to 1st gear, there is no major problem during work, so there is no need to install the transmission on both the front and rear, which has the effect of significantly reducing the manufacturing cost of construction equipment. . In other words, since there is no need for a separate transmission on the rear axle, the weight can be reduced, the price can be reduced, and the fuel efficiency and work efficiency of the construction equipment can be improved.

또한 유압 펌프가 엔진 및 발전기에서 독립되므로, 상기 엔진이 효율이 좋은 일정 회전수에서 지속적으로 유지될 수 있도록 구현될 수 있는 효과가 있다.In addition, since the hydraulic pump is independent from the engine and generator, the engine can be continuously maintained at a constant, efficient rotation speed.

도 1은 종래의 건설기계를 위한 휠 구동 시스템을 도시한 개략도이다.
도 2은 본 발명의 일 실시예에 따른 휠 구동 시스템을 나타내는 구성을 도시한 개략도이다.
도 3은 도 2의 구성을 구동부(A), 발전부(B) 및 작업부(C)로 나누어 도시한 개략도이다.
도 4는 도 2의 휠 구동 시스템을 갖는 건설기계의 속도에 따른 토크를 나타내는 그래프이다.
도 5는 도 2의 휠 구동 시스템을 갖는 건설기계의 제어부에서 수행되는 제어 로직을 나타내는 구성도이다.
도 6은 본 발명의 일 실시예에 의한 건설기계의 변속 제어방법을 도시한 순서도이다.
도 7은 본 발명의 다른 실시예에 의한 건설기계의 변속 제어방법을 도시한 순서도이다.1 is a schematic diagram showing a wheel drive system for conventional construction machinery.
Figure 2 is a schematic diagram showing the configuration of a wheel drive system according to an embodiment of the present invention.
Figure 3 is a schematic diagram showing the configuration of Figure 2 divided into a driving part (A), a power generation part (B), and a working part (C).
FIG. 4 is a graph showing torque according to speed of a construction machine having the wheel drive system of FIG. 2.
FIG. 5 is a configuration diagram showing the control logic performed in the control unit of the construction machine having the wheel drive system of FIG. 2.
Figure 6 is a flowchart showing a shift control method for construction machinery according to an embodiment of the present invention.
Figure 7 is a flowchart showing a shift control method for construction machinery according to another embodiment of the present invention.

본 발명을 충분히 이해하기 위해서 본 발명의 바람직한 실시예를 첨부 도면을 참조하여 설명한다. 본 발명의 실시예는 여러 가지 형태로 변형될 수 있으며, 본 발명의 범위가 아래에서 상세히 설명하는 실시예로 한정되는 것으로 해석되어서는 안된다. 본 실시예는 당업계에서 평균적인 지식을 가진 자에게 본 발명을 보다 완전하게 설명하기 위하여 제공 되는 것이다. 따라서 도면에서의 요소의 형상 등은 보다 명확한 설명을 강조하기 위해서 과장되어 표현될 수 있다. 각 도면에서 동일한 부재는 동일한 참조부호로 도시한 경우가 있음을 유의하여야 한다. 또한, 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 공지 기능 및 구성에 대한 상세한 기술은 생략된다.In order to fully understand the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Embodiments of the present invention may be modified in various forms, and the scope of the present invention should not be construed as being limited to the embodiments described in detail below. This example is provided to more completely explain the present invention to those with average knowledge in the art. Therefore, the shapes of elements in the drawings may be exaggerated to emphasize a clearer description. It should be noted that identical members in each drawing may be indicated by the same reference numerals. Additionally, detailed descriptions of known functions and configurations that are judged to unnecessarily obscure the gist of the present invention are omitted.

도 2은 본 발명의 일 실시예에 따른 휠 구동 시스템을 나타내는 구성을 도시한 개략도이고, 도 3은 도 2의 구성을 구동부(A), 발전부(B) 및 작업부(C)로 나누어 도시한 개략도이다.Figure 2 is a schematic diagram showing the configuration of a wheel drive system according to an embodiment of the present invention, and Figure 3 shows the configuration of Figure 2 divided into a driving part (A), a power generation part (B), and a working part (C). This is a schematic diagram.

도 2 및 도 3를 참조하면, 휠 구동 시스템은 엔진(100)에 연결되어 전기에너지를 발생시키는 발전기(200); 전방 구동축(302, 304)을 통하여 적어도 하나의 전방 휠을 구동시키는 전방 액슬(300); 후방 구동축(402, 404)을 통하여 적어도 하나의 후방 휠을 구동시키는 후방 액슬(400); 유압 펌프(630, 640)에 의해 작동되는 붐, 버켓 등을 직접적으로 구동시키는 구동장치(600) 및 발전기(200)에서 발생된 전기에너지를 전방 액슬(300), 후방 액슬(400) 및 구동장치(600)에 각각 공급하는 통합 인버터(210)를 포함한다.Referring to Figures 2 and 3, the wheel drive system includes a generator 200 connected to the engine 100 to generate electrical energy; A front axle 300 that drives at least one front wheel through front drive axles 302 and 304; a rear axle 400 that drives at least one rear wheel through rear drive axles 402 and 404; The electric energy generated from the driving device 600 and the generator 200, which directly drives the boom, bucket, etc. operated by the hydraulic pumps 630 and 640, is transferred to the front axle 300, the rear axle 400 and the driving device. It includes an integrated inverter 210 that supplies power to 600, respectively.

특히 본 발명에 따른 건설기계를 위한 휠 구동 시스템은 종래와 달리 제어부(700)의 컨트롤 기술의 발전에 따라 별도의 차동기어가 없어도 각각의 제어가 가능하므로, 또한 변속기와 전동기의 기술 발전에 따라 변속기와 소형의 전동기로도 일반적인 고하중 작업을 수행 시 필요로 하는 작업 토크를 충분히 달성할 수 있으므로, 상기 전방 구동축(302, 304)과 상기 후방 구동축(402, 404)에 각각 연결 가능하도록 구비되는 종래의 중앙 연결유닛(50, 도 1 참조)이 본 발명에서는 구비되지 않는다. 이에 중앙 연결유닛(50)의 부재에 따라 이와 연결해야 하는 전방 구동축 연결유닛(35) 및 후방 구동축 연결유닛(45)도 구비될 필요가 없으므로, 구조가 간단하여 유지보수가 용이하고, 건설기계의 제조비용을 절감할 수 있는 효과가 있다.In particular, unlike the prior art, the wheel drive system for construction equipment according to the present invention can be controlled without a separate differential gear according to the development of control technology of the control unit 700, and also according to the technology development of transmission and electric motor. Since a small electric motor can sufficiently achieve the working torque required when performing general high-load work, a conventional motor is provided to be connected to the front drive shafts 302 and 304 and the rear drive shafts 402 and 404, respectively. The central connection unit 50 (see FIG. 1) is not provided in the present invention. Accordingly, due to the absence of the central connection unit 50, there is no need to provide the front drive shaft connection unit 35 and the rear drive shaft connection unit 45, so the structure is simple and maintenance is easy, and the construction equipment It has the effect of reducing manufacturing costs.

또한, 본 발명에 따른 건설기계를 위한 휠 구동 시스템은 종래와 달리 유압펌프(630, 640)가 엔진축(102)에 직결되지 않고, 이를 구동시키는 구동장치(600)의 펌프 모터(610)가 통합 인버터(210)와 연결되어 있으므로, 도 3과 같이 구동부(A)와, 발전부(B) 및 작업부(C)가 독립적으로 수행될 수 있는 구성으로, 특히 엔진(100)과 구동장치(600)가 직결 연결되지 않으므로, 유압 펌프에 의해 발생되는 순간적인 역토크에 의해 엔진(100)의 회전수(RPM)이 급격하게 떨어지는 현상을 차단할 수 있다. 이 경우 엔진(100)에서는 연료를 더 많이 분사하여 설정된 회전수(RPM)로 회복하고자 하므로, 비효율적으로 연료를 더욱 많이 사용하게 되는데, 본 발명에서는 구동장치(600)가 통합 인버터(210)와 전기적으로 연결이 되므로, 엔진(100)의 일정 회전수(RPM)를 유지할 수 있어, 엔진(100)의 효율을 극대화 시킬 수 있는 효과가 있는 것이다.In addition, in the wheel drive system for construction equipment according to the present invention, unlike the prior art, the hydraulic pumps 630 and 640 are not directly connected to the engine shaft 102, and the pump motor 610 of the drive device 600 that drives them is Since it is connected to the integrated inverter 210, the driving unit (A), the power generation unit (B), and the working unit (C) can be performed independently as shown in Figure 3. In particular, the engine 100 and the driving device ( Since 600) is not directly connected, it is possible to prevent a sudden drop in the rotational speed (RPM) of the engine 100 due to momentary reverse torque generated by the hydraulic pump. In this case, the engine 100 injects more fuel to recover to the set rotation speed (RPM), so more fuel is used inefficiently. In the present invention, the drive device 600 is connected to the integrated inverter 210 and electrically. Since it is connected, it is possible to maintain a constant rotational speed (RPM) of the engine 100, which has the effect of maximizing the efficiency of the engine 100.

이하 본 발명의 구성에 대한 설명을 이어가기로 한다.The description of the configuration of the present invention continues below.

발전기(200)는 엔진(100)으로부터 상기 구동력을 전달받을 수 있다. 발전기(200)는 엔진(100)으로부터 상기 구동력을 공급받아 전자기 유도작용을 이용하여 상기 전기에너지를 생산할 수 있다. 예를 들어, 발전기(200)는 교류 발전기 또는 직류 발전기일 수 있다. 발전기(200)는 통합 인버터(210)를 통하여 상기 생산된 전기에너지를 전방 액슬(300), 후방 액슬(400) 및 구동장치(600)에 각각 공급할 수 있다. 한편, 도면에서는 상기 구동장치(600)의 펌프 모터(610)가 구동장치(600)에 내포되도록 위치되어 있으나, 이러한 위치는 본 발명을 제한하지 않으며, 엔진(100)의 일측에 위치될 수 있다.The generator 200 may receive the driving force from the engine 100. The generator 200 can receive the driving force from the engine 100 and produce the electric energy using electromagnetic induction. For example, generator 200 may be an alternating current generator or a direct current generator. The generator 200 can supply the produced electric energy to the front axle 300, the rear axle 400, and the drive device 600, respectively, through the integrated inverter 210. Meanwhile, in the drawing, the pump motor 610 of the driving device 600 is positioned so as to be contained in the driving device 600, but this location does not limit the present invention and may be located on one side of the engine 100. .

전방 액슬(300)은 발전기(200)로부터의 전기에너지를 공급받아 구동토크를 발생하는 전방 전동기 및 상기 전방 전동기로부터 구동토크를 공급받아 구동토크를 건설기계의 속도에 따라 필요한 변환토크로 바꾸어 전방 구동축을 통하여 전방 휠에 전달하는 전방 변속기를 포함한다.The front axle 300 receives electric energy from the generator 200 and generates driving torque. The front axle 300 receives driving torque from the front electric motor and converts the driving torque into the necessary conversion torque according to the speed of the construction machine to create the front drive shaft. It includes a front transmission that transmits power to the front wheels.

전방 휠은 전방 좌측 휠(310) 및 전방 우측 휠(312)을 포함하고, 전방 구동축은 전방 좌측 휠(310)과 전방 우측 휠(312)에 각각 연결된 전방 좌측 구동축(302) 및 전방 우측 구동축(304)을 포함한다. 전방 변속기는 전방 좌측 변속기(360) 및 전방 우측 변속기(362)를 포함하고, 전방 전동기는 전방 좌측 전동기(320) 및 전방 우측 전동기(322)를 포함한다.The front wheels include a front left wheel 310 and a front right wheel 312, and the front drive shaft includes a front left drive shaft 302 and a front right drive shaft connected to the front left wheel 310 and the front right wheel 312, respectively ( 304). The front transmission includes a front left transmission 360 and a front right transmission 362, and the front electric motor includes a front left electric motor 320 and a front right electric motor 322.

또한 상기 전방 액슬(300)은 전방 좌측 구동축(302) 및 전방 우측 구동축(304) 상에 전방 좌측 감속기(340) 및 전방 우측 감속기(342)를 각각 더 포함할 수 있다. 전방 액슬(300)은 전방 좌측 구동축(302) 및 전방 우측 구동축(304) 상에 전방 좌측 휠 브레이크(330) 및 전방 우측 휠 브레이크(332)를 각각 더 포함할 수 있다.In addition, the front axle 300 may further include a front left reducer 340 and a front right reducer 342 on the front left drive shaft 302 and the front right drive shaft 304, respectively. The front axle 300 may further include a front left wheel brake 330 and a front right wheel brake 332 on the front left drive shaft 302 and the front right drive shaft 304, respectively.

후방 액슬(400)은 발전기(200)로부터의 전기에너지를 공급받아 구동토크를 발생하는 후방 전동기를 포함한다. 그러나 후방 액슬(400)은 전방 액슬(300)과 달리 변속기 기능을 갖는 후방 변속기를 포함하지 않는다. 이러한 후방 변속기의 부재에 대한 자세한 설명은 후술하기로 한다.The rear axle 400 includes a rear electric motor that receives electrical energy from the generator 200 and generates driving torque. However, unlike the front axle 300, the rear axle 400 does not include a rear transmission with a transmission function. A detailed explanation of the absence of this rear transmission will be provided later.

또한 후방 전동기는 후방 좌측 전동기(420) 및 후방 우측 전동기(422)를 포함하고, 상기 후방 휠은 후방 좌측 휠(410) 및 후방 우측 휠(412)을 포함하며, 후방 구동축은 후방 좌측 휠(410) 및 후방 우측 휠(412)에 각각 연결된 후방 좌측 구동축(402) 및 후방 우측 구동축(404)을 포함한다. 또한, 후방 액슬(400)은 후방 좌측 구동축(402) 및 후방 우측 구동축(404) 상에 후방 좌측 감속기(440) 및 후방 우측 감속기(442)를 각각 더 포함할 수 있다. 후방 액슬(400)은 후방 좌측 구동축(402) 및 후방 우측 구동축(404) 상에 후방 좌측 휠 브레이크(430) 및 후방 우측 휠 브레이크(432)를 각각 더 포함할 수 있다.In addition, the rear electric motor includes a rear left electric motor 420 and a rear right electric motor 422, the rear wheel includes a rear left wheel 410 and a rear right wheel 412, and the rear drive shaft includes a rear left wheel 410. ) and a rear left drive shaft 402 and a rear right drive shaft 404 respectively connected to the rear right wheel 412. Additionally, the rear axle 400 may further include a rear left reducer 440 and a rear right reducer 442 on the rear left drive shaft 402 and the rear right drive shaft 404, respectively. The rear axle 400 may further include a rear left wheel brake 430 and a rear right wheel brake 432 on the rear left drive shaft 402 and the rear right drive shaft 404, respectively.

특히 본 발명에 의한 건설기계를 위한 휠 구동 시스템에서는 전방 액슬(300)에는 전방 변속기가 구비되어 있으나, 후방 액슬(400)에는 후방 변속기가 구비되지 않는 것을 특징으로 한다. In particular, in the wheel drive system for construction equipment according to the present invention, the front axle 300 is equipped with a front transmission, but the rear axle 400 is not equipped with a rear transmission.

일반적으로 상기 건설기계가 고하중 작업을 할 때에 건설기계의 전방 액슬(300)에 하중이 주로 집중되고 후방 액슬(400)에 의해 구동되는 후방 좌측 휠(410) 및 후방 우측 휠(412)은 지면에 미끄러지거나 심지어 지면에서 뜨기도 하므로 후방 좌측 휠(410) 및 후방 우측 휠(412)은 지면에 토크를 작용할 수 없다. 예를 들어, 휠 로더의 전진 굴삭 작업, 트랙터의 트랙션 작업에 있어서, 전방 액슬(300)에 하중이 집중될 때, 후방 액슬(400)에는 하중이 작용하지 않기 때문에, 후방 좌측 휠(410) 및 후방 우측 휠(412)의 휠 슬립(wheel slip)이 각각 발생하게 되고, 전방 좌측 휠(310) 및 전방 우측 휠(312)만 토크를 각각 지면에 작용하게 된다.In general, when the construction machine performs high-load work, the load is mainly concentrated on the front axle 300 of the construction machine, and the rear left wheel 410 and rear right wheel 412 driven by the rear axle 400 are on the ground. Because they slip or even float on the ground, the rear left wheel 410 and rear right wheel 412 cannot apply torque to the ground. For example, in the forward excavation work of a wheel loader or the traction work of a tractor, when the load is concentrated on the front axle 300, the load does not act on the rear axle 400, so the rear left wheel 410 and Wheel slip of the rear right wheel 412 occurs, and only the front left wheel 310 and the front right wheel 312 apply torque to the ground.

즉 본 발명은 상기 전방 휠(310, 312)에만 전방 변속기를 장착하여 1단으로 변속하여도 작업 상에 큰 문제를 발생시키지 않기 때문에 전후방 모두에 변속기를 장착하지 않아도 되고, 이에 건설기계의 제조비용을 현저히 절감할 수 있는 효과가 있는 것이다.That is, the present invention does not cause major problems during work even if the front transmission is mounted only on the front wheels 310 and 312 and the transmission is shifted to 1st gear, so there is no need to mount the transmission on both the front and rear, thereby reducing the manufacturing cost of construction equipment. This has the effect of significantly reducing .

한편, 전방 좌측 휠(310) 및 전방 우측 휠(312)은 타이어(도시되지 않음)와 함께 하중을 지지하고 변환 토크를 지면에 전달할 수 있다. 또한, 전방 좌측 휠(310) 및 전방 우측 휠(312)은 제동 작용을 수행할 수 있다. 마찬가지로 후방 좌측 휠(410) 및 후방 우측휠(412)은 타이어(도시되지 않음)와 함께 하중을 지지하고 상기 변환토크를 지면에 전달할 수 있다. 또한, 후방좌측 휠(410) 및 후방 우측 휠(412)은 제동 작용을 수행할 수 있다.Meanwhile, the front left wheel 310 and the front right wheel 312 may support the load together with tires (not shown) and transmit the conversion torque to the ground. Additionally, the front left wheel 310 and the front right wheel 312 may perform a braking action. Likewise, the rear left wheel 410 and the rear right wheel 412 can support a load together with tires (not shown) and transmit the conversion torque to the ground. Additionally, the rear left wheel 410 and the rear right wheel 412 can perform a braking action.

또한 전방 좌측 감속기(340), 전방 우측 감속기(342), 후방 좌측 감속기(440), 및 후방 우측 감속기(442)는 전방 좌측 휠(310), 전방 우측 휠(312), 후방 좌측 휠(410), 및 후방 우측 휠(412)의 회전속도를 각각 줄여, 전방 좌측휠(310), 전방 우측 휠(312), 후방 좌측 휠(410), 및 후방 우측 휠(412)의 토크들을 각각 증가시킬 수 있다. 또한 전방 좌측 휠 브레이크(330), 전방 우측 휠 브레이크(332), 후방 좌측 휠 브레이크(430), 및 후방 우측 휠 브레이크(432)은 전방 좌측 휠(310), 전방 우측 휠(312), 후방 좌측 휠(410), 및 후방 우측 휠(412)을 각각 제동할 수 있으므로, 본 발명은 별도의 차동기어를 필요로 하지 않는다.In addition, the front left reducer 340, front right reducer 342, rear left reducer 440, and rear right reducer 442 include the front left wheel 310, front right wheel 312, and rear left wheel 410. , and the rotation speed of the rear right wheel 412 can be reduced, respectively, to increase the torques of the front left wheel 310, front right wheel 312, rear left wheel 410, and rear right wheel 412, respectively. there is. In addition, the front left wheel brake 330, the front right wheel brake 332, the rear left wheel brake 430, and the rear right wheel brake 432 are the front left wheel 310, the front right wheel 312, and the rear left wheel brake. Since the wheel 410 and the rear right wheel 412 can each be braked, the present invention does not require a separate differential gear.

엔진(100)은 연료를 연소하여 구동력을 발생시키고 엔진축(102)을 통하여 발전기(200)로 상기 구동력을 전달할 수 있다. 예를 들어, 엔진(100)은 디젤 엔진일 수 있다. 이와는 달리, 엔진(100)은 액화천연가스(LNG) 엔진, 압축천연가스(CNG) 엔진, 흡착천연가스(ANG) 엔진, 액화석유가스(LPG) 엔진, 또는 가솔린 엔진일 수 있다.The engine 100 generates driving force by burning fuel and can transmit the driving force to the generator 200 through the engine shaft 102. For example, engine 100 may be a diesel engine. Alternatively, the engine 100 may be a liquefied natural gas (LNG) engine, a compressed natural gas (CNG) engine, an adsorbed natural gas (ANG) engine, a liquefied petroleum gas (LPG) engine, or a gasoline engine.

발전기(200)는 엔진(100)으로부터 상기 구동력을 공급받아 전자기 유도작용을 이용하여 상기 전기에너지를 생산할 수 있다. 예를 들어, 발전기(200)는 교류 발전기 또는 직류 발전기일 수 있다. 발전기(200)는 통합 인버터(210)를 통하여 상기 생산된 전기에너지를 전방 액슬(300), 후방 액슬(400) 및 구동장치(600)에 각각 공급할 수 있다.The generator 200 can receive the driving force from the engine 100 and produce the electric energy using electromagnetic induction. For example, generator 200 may be an alternating current generator or a direct current generator. The generator 200 can supply the produced electric energy to the front axle 300, the rear axle 400, and the drive device 600, respectively, through the integrated inverter 210.

통합 인버터(210)는 발전기(200)가 생산한 상기 전기 에너지를 직류에서 교류로 혹은 교류에서 직류로 변환할 수 있다. 통합 인버터(210)는 발전기(200), 전방 액슬(300), 후방 액슬(400) 및 구동장치(600)에 각각 연결될 수 있도록 상기 전기에너지의 형태를 각각 변환할 수 있다. 하나의 통합 인버터(210)가 장치들을 각각 연결할 수 있으므로, 상기 건설기계의 공간 효율성을 높일 수 있다. 구체적으로, 통합 인버터(210)는 발전기(200), 전방 액슬(300)의 전방 좌측 전동기(320), 전방 우측 전동기(322), 후방 액슬(400)의 후방 좌측 전동기(420), 후방 우측 전동기(422) 및 구동장치(600)의 펌프 모터(610)에 각각 연결될 수 있다. 또는 이와 달리, 발전기(200), 전방 액슬(300)의 전방 좌측 전동기(320), 전방 우측 전동기(322), 후방 액슬(400)의 후방 좌측 전동기(420), 후방 우측 전동기(422) 및 구동장치(600)의 펌프 모터(610)를 위한 인버터들(도 3 참조)이 각각 구비될 수도 있다.The integrated inverter 210 can convert the electrical energy produced by the generator 200 from direct current to alternating current or from alternating current to direct current. The integrated inverter 210 can convert the form of the electric energy so that it can be connected to the generator 200, the front axle 300, the rear axle 400, and the drive device 600, respectively. Since one integrated inverter 210 can connect each device, the space efficiency of the construction machine can be increased. Specifically, the integrated inverter 210 includes a generator 200, a front left electric motor 320 of the front axle 300, a front right electric motor 322, a rear left electric motor 420 of the rear axle 400, and a rear right electric motor. It may be connected to the pump motor 610 of 422 and the driving device 600, respectively. Alternatively, the generator 200, the front left electric motor 320 of the front axle 300, the front right electric motor 322, the rear left electric motor 420 of the rear axle 400, the rear right electric motor 422, and the drive Inverters (see FIG. 3) for the pump motor 610 of the device 600 may also be provided, respectively.

예시적인 실시 예에 있어서, 발전기(200), 전방 액슬(300)의 전방 좌측 전동기(320) 및 전방 우측 전동기(322), 및 후방 액슬(400)의 후방 좌측 전동기(420) 및 후방 우측 전동기(422), 구동장치(600)의 펌프 모터(610)와 각각 전기적으로 연결되어 전기에너지를 저장하는 에너지 회수 장치(220)를 더 포함할 수 있다. 예를 들어, 에너지 회수 장치(220)는 통합 인버터(210)를 통하여 발전기(200), 전방 액슬(300)의 전방 좌측 전동기(320) 및 전방 우측 전동기(322), 및 후방 액슬(400)의 후방 좌측 전동기(420) 및 후방 우측 전동기(422)와 각각 전기적으로 연결될 수 있다.In an exemplary embodiment, the generator 200, the front left electric motor 320 and the front right electric motor 322 of the front axle 300, and the rear left electric motor 420 and the rear right electric motor of the rear axle 400 ( 422), and may further include an energy recovery device 220 that is electrically connected to the pump motor 610 of the driving device 600 and stores electrical energy. For example, the energy recovery device 220 operates the generator 200, the front left electric motor 320 and the front right electric motor 322 of the front axle 300, and the rear axle 400 through the integrated inverter 210. It may be electrically connected to the rear left electric motor 420 and the rear right electric motor 422, respectively.

에너지 회수 장치(220)는 배터리 또는 축전기(capacitor)를 포함할 수 있다. 예를 들어, 상기 건설기계가 가속될 때, 에너지 회수 장치(220)는 발전기(200)에서 생성되어 남는 전기에너지를 통합 인버터(210)를 통하여 저장할 수 있다. 또한, 상기 건설기계가 감속될 때, 에너지 회수 장치(220)는 전방 좌측 전동기(320), 전방 우측 전동기(322), 후방 좌측 전동기(420), 및 후방 우측 전동기(422)로부터 남는 상기 전기 에너지를 통합 인버터(210)를 통하여 역으로 저장할 수 있다.The energy recovery device 220 may include a battery or a capacitor. For example, when the construction machine accelerates, the energy recovery device 220 can store the remaining electrical energy generated by the generator 200 through the integrated inverter 210. In addition, when the construction machine decelerates, the energy recovery device 220 collects the remaining electrical energy from the front left electric motor 320, the front right electric motor 322, the rear left electric motor 420, and the rear right electric motor 422. Can be stored in reverse through the integrated inverter 210.

또한 엔진(100)으로부터 상기 구동력이 불안정하게 공급되어 발전기(200)가 상기 전기에너지를 안정적으로 생산하지 못할 때에는 반대로 에너지 회수 장치(220)는 전방 좌측 전동기(320), 전방 우측 전동기(322), 후방 좌측 전동기(420), 및 후방 우측 전동기(422), 구동장치(600)의 펌프 모터(610)에 안정적으로 상기 전기에너지를 공급할 수 있다.In addition, when the driving force is supplied unstable from the engine 100 and the generator 200 cannot stably produce the electric energy, on the contrary, the energy recovery device 220 uses the front left electric motor 320, the front right electric motor 322, The electric energy can be stably supplied to the rear left electric motor 420, the rear right electric motor 422, and the pump motor 610 of the driving device 600.

전방 액슬(300)은 전방 좌측 휠(310) 및 전방 우측 휠(312)을 구동시키며, 발전기(200)로부터 상기 전기에너지를 공급받아 상기 구동토크를 발생하는 전방 좌측 전동기(320) 및 전방 우측 전동기(322), 및 상기 구동토크를 상기 건설기계의 속도에 따라 필요한 변환토크로 바꾸어 전방 좌측 구동축(302) 및 전방 우측 구동축(304)을 통하여 전방 좌측 휠(310) 및 전방 우측 휠(312)에 상기 변환토크를 각각 전달하는 전방 좌측 변속기(360) 및 전방 우측 변속기(362)를 포함할 수 있다.The front axle 300 drives the front left wheel 310 and the front right wheel 312, and the front left electric motor 320 and the front right electric motor generate the driving torque by receiving the electric energy from the generator 200. (322), and converts the driving torque into the necessary conversion torque according to the speed of the construction machine to the front left wheel 310 and the front right wheel 312 through the front left drive shaft 302 and the front right drive shaft 304. It may include a front left transmission 360 and a front right transmission 362 that respectively transmit the conversion torque.

전방 좌측 전동기(320), 전방 우측 전동기(322), 후방 좌측 전동기(420), 및 후방 우측 전동기(422)는 통합 인버터(210)를 통하여 발전기(200)로부터 생산된 상기 전기에너지를 공급받아 상기 구동토크를 각각 발생할 수 있다.The front left electric motor 320, the front right electric motor 322, the rear left electric motor 420, and the rear right electric motor 422 are supplied with the electric energy produced by the generator 200 through the integrated inverter 210. Each driving torque can be generated.

예를 들어, 전방 좌측 전동기(320), 전방 우측 전동기(322), 후방 좌측 전동기(420), 및 후방 우측 전동기(422)는 교류 전동기 또는 직류 전동기를 포함할 수 있다. 또한, 상기 교류 전동기는 3상 교류용 전동기일 수 있다. 이와는 달리 상기 교류 전동기는 단상 교류용 전동기일 수도 있다.For example, the front left motor 320, front right motor 322, rear left motor 420, and rear right motor 422 may include an alternating current motor or a direct current motor. Additionally, the AC motor may be a three-phase AC motor. Alternatively, the AC motor may be a single-phase AC motor.

전방 좌측 변속기(360), 전방 우측 변속기(362)는 적어도 하나의 클러치 및 적어도 하나의 감속기를 각각 포함할 수 있다. 상기 클러치 및 상기 감속기는 기어 트레인(gear train)으로 배치될 수 있다. 전방 좌측 변속기(360), 전방 우측 변속기(362)는 상기 클러치 및 상기 감속기의 다양한 배치 및 다양한 직경의 기어를 사용하여 변속비를 각각 설정할 수 있다. 예를 들어, 전방 좌측 변속기(360), 전방 우측 변속기(362)는 적어도 2의 변속단수를 각각 가질 수 있다. 예를 들어, 전방 좌측 변속기(360), 및 전방 우측 변속기(362)는 1단에서 3:1의 변속비를 각각 갖고, 2단에서 1:1의 변속비를 각각 가질 수 있다.The front left transmission 360 and the front right transmission 362 may each include at least one clutch and at least one reducer. The clutch and the reducer may be arranged in a gear train. The front left transmission 360 and the front right transmission 362 can each set transmission ratios using various arrangements of the clutch and the reducer and gears of various diameters. For example, the front left transmission 360 and the front right transmission 362 may each have at least two shift stages. For example, the front left transmission 360 and the front right transmission 362 may each have a gear ratio of 3:1 in the first gear and a gear ratio of 1:1 in the second gear.

구동장치(600)는 붐, 버켓 등을 포함하는 부착장치를 구동한다. 구동장치(600)는 통합 인버터(210)와 전기적으로 연결된 펌프 모터(610)와, 유압 펌프(630, 640) 및 이들 사이 구비된 기어 박스(620)를 포함한다. 상기 유압 펌프(630, 640)는 건설기계의 부착장치를 구동하기 위해 액츄에이터(미도시)들에 유압동력을 각각 제공한다.The driving device 600 drives attachment devices including booms, buckets, etc. The driving device 600 includes a pump motor 610 electrically connected to the integrated inverter 210, hydraulic pumps 630 and 640, and a gear box 620 provided between them. The hydraulic pumps 630 and 640 provide hydraulic power to actuators (not shown) to drive attachment devices of construction machinery.

즉 본 발명에서는 유압 펌프(630, 640)가 엔진(100) 및 발전기(200)에서 독립되므로, 상기 엔진(100)이 효율이 좋은 일정 회전수(RPM)에서 지속적으로 유지될 수 있도록 구현될 수 있는 효과가 있다.That is, in the present invention, the hydraulic pumps 630 and 640 are independent from the engine 100 and the generator 200, so that the engine 100 can be continuously maintained at a constant rotational speed (RPM) with good efficiency. There is an effect.

도 4는 도 2의 휠 구동 시스템을 갖는 건설기계의 속도에 따른 토크를 나타내는 그래프이다.FIG. 4 is a graph showing torque according to speed of a construction machine having the wheel drive system of FIG. 2.

도 4에 도시된 바와 같이, 전방 좌측 전동기(320), 전방 우측 전동기(322), 후방 좌측 전동기(420), 및 후방 우측 전동기(422)에 의한 전동기 속도에 따른 구동토크는 반비례 관계에 있다. 건설기계의 상기 전동기 속도와 상기 구동토크의 곱은 일정한 관계가 된다. 이에 건설기계의 4바퀴 구동 시 전방 변속기는 1단 변속 상태에서 제1 속도(w1) 동안 동일한 토크를 유지하다가, 더 속도가 증가함에 따라 토크는 속도에 반비례하여 떨어지게 된다. 이 경우 속도의 증가에 따라 2단 변속 상태의 그래프와 만나는 지점의 제2 속도(w2)에서 2단 변속 상태로 변속시키는 것이 바람직하다.As shown in FIG. 4, the driving torque according to the motor speed by the front left electric motor 320, the front right electric motor 322, the rear left electric motor 420, and the rear right electric motor 422 is inversely proportional. The product of the electric motor speed of the construction machine and the driving torque has a certain relationship. Accordingly, when driving four wheels of a construction machine, the front transmission maintains the same torque during the first speed (w1) in the first gear shift state, but as the speed increases, the torque drops in inverse proportion to the speed. In this case, as the speed increases, it is desirable to shift to the second gear shift state at the second speed (w2) at the point where the graph of the two gear shift state meets.

전방 좌측 휠(310) 및 전방 우측 휠(312)은 전방 좌측 구동축(302) 및 전방 우측 구동축(304)을 통하여 전방 좌측 변속기(360), 및 전방 우측 변속기(362)와 각각 연결되어 구동될 수 있다. 전방 좌측 휠(310) 및 전방 우측 휠(312)은 타이어(미도시)와 함께 하중을 지지하고 상기 변환토크를 지면에 전달할 수 있다. 또한, 전방 좌측 휠(310) 및 전방 우측 휠(312)은 조향 작용 및 제동 작용을 수행할 수 있다.The front left wheel 310 and the front right wheel 312 can be driven by being connected to the front left transmission 360 and the front right transmission 362 through the front left drive shaft 302 and the front right drive shaft 304, respectively. there is. The front left wheel 310 and the front right wheel 312 can support a load together with tires (not shown) and transmit the conversion torque to the ground. Additionally, the front left wheel 310 and the front right wheel 312 can perform steering and braking operations.

이러한 건설기계는 고하중 작업을 수행하여야 하므로, 높은 토크를 발생할 수 있는 전동기를 구비해야 한다. 일반적으로 높은 토크를 발생할 수 있는 전동기는 크기가 크고 무겁다. 그러나 최근 전동기의 비약적인 발전으로 가볍고 작지만 최대 토크가 현저히 늘어나는 전동기가 선보이고 있다.Since these construction machines must perform high-load work, they must be equipped with electric motors capable of generating high torque. In general, electric motors that can generate high torque are large and heavy. However, with the recent rapid development of electric motors, electric motors that are light and small but have significantly increased maximum torque are being introduced.

따라서 필요로 하는 작업 토크(E)를 전방 액슬(300)의 전방 변속기(360, 632)에 의해서도 충분히 달성할 수 있으므로, 건설기계의 고하중 작업 시 후방 휠(410, 420)이 지면에 미끄러지거나 심지어 지면에서 뜨는 경우에도 1단으로 변속된 전방 변속기(360, 632)에 의해서도 충분한 토크를 발휘할 수 있다. 또한 실제로 건설기계는 고하중 작업을 수행할 수 있는 충분한 토크를 발휘할 수 있는 경우가 대부분이다. 또한 전후방 휠이 모두 지면에 접촉해 있을 때에는 토크 간격(D)만큼 더 큰 토크가 작용될 수 있음은 자명하다.Therefore, the required working torque (E) can be sufficiently achieved by the front transmission (360, 632) of the front axle (300), so the rear wheels (410, 420) do not slip on the ground during high load work on construction machinery. Even when floating off the ground, sufficient torque can be exerted by the front transmission (360, 632) shifted to first gear. In addition, in reality, most construction machines can exert sufficient torque to perform high-load work. Additionally, it is obvious that when both the front and rear wheels are in contact with the ground, a torque greater than the torque gap (D) can be applied.

이에 따라 본 발명에 의한 건설기계를 위한 휠 구동 시스템이 적용된 건설기계는 후방 액슬(400)에 별도의 변속기가 구비되지 않아도 되므로, 그 무게를 줄일 수 있고 가격을 낮출 수 있으며, 상기 건설기계의 연비 및 작업효율을 개선할 수 있는 효과가 있는 것이다.Accordingly, the construction machinery to which the wheel drive system for construction machinery according to the present invention is applied does not need to be equipped with a separate transmission on the rear axle 400, so the weight can be reduced, the price can be reduced, and the fuel efficiency of the construction machinery can be reduced. and has the effect of improving work efficiency.

또한 도 4와 같이, 일반적인 상황에서의 변속 2단의 4바퀴 구동 상태(2-4w)에서는 작업 및 주행을 별다른 변속이 없어도 문제없이 수행할 수 있다. 그러나 하기와 같이 일반적인 상황이 아닌 부분도 발생될 수 있다.Also, as shown in FIG. 4, in a normal 2nd gear 4-wheel drive state (2-4w), work and driving can be performed without any problems without any special shifting. However, non-normal situations may also occur, as shown below.

- 건설기계가 사용되는 높은 경사지가 있는 작업 현장의 경우 높은 경사지가 지속적으로 연장되는 현장도 있을 수 있기 때문에, 본 상황을 맞이하면 전동기에 과열이 발생될 수 있다. 이를 방지하기 위해 1단으로 변속하여 전동기에 인가되는 전류를 낮춰주는 변속 1단의 4바퀴 구동 상태(1-4w)로 변경하는 제어가 필요하다.- In the case of work sites with high slopes where construction machinery is used, there may be sites where the high slope continues to extend, so if this situation occurs, overheating may occur in the electric motor. To prevent this, it is necessary to control the 4-wheel drive state (1-4w) in 1st gear, which lowers the current applied to the motor by shifting to 1st gear.

- 작업 시 흙의 상태에 따라서 앞바퀴를 중심으로 뒷바퀴가 들리는 현상이 빈번히 발생되는 경우에는, 앞바퀴 두 개로 장비의 구동력을 맞춰야 하는 상황이 발생이 되므로, 변속 1단의 2바퀴 구동상태(1-2w)로의 변경하는 제어가 필요하다.- If the phenomenon of the rear wheel lifting around the front wheel frequently occurs depending on the condition of the soil during work, a situation may arise where the driving force of the equipment must be adjusted to the two front wheels, so 2-wheel drive in 1st gear (1-2w) ) is required to control the change.

한편, 낮은 토크와 높은 속도를 요구하는 평지의 경우에는 변속 2단의 4바퀴 구동 상태(2-4w)로 운행하다가 경사지 주행 또는 작업 시에는 1단으로 변속을 해야 할 필요성이 있다. 그러나 변속하는 상황이 많아지게 되면, 변속충격을 저감하는 방법이 필요하다.Meanwhile, in the case of flat ground that requires low torque and high speed, it is necessary to drive in 4-wheel drive mode (2-4w) in 2nd gear and then shift to 1st gear when driving or working on a slope. However, as the number of shifting situations increases, a method to reduce shifting shock is needed.

그러나, 휠 구동 건설기계의 경우 전동기 파워(torque, rpm)에 따라 변속기 및 감속기 사양이 결정되므로, 토크가 크고 속도가 낮거나, 속도가 빠르고 토크가 낮거나, 혹은 토크도 높고 속도도 높으냐에 따라 변속기, 감속기의 사양이 결정되는데 이러한 모든 것으로 고려하여 최적사양을 결정해야만 한다.However, in the case of wheel-driven construction equipment, transmission and reducer specifications are determined depending on the electric motor power (torque, rpm), so it depends on whether the torque is high and the speed is low, the speed is high and the torque is low, or the torque is high and the speed is high. The specifications of the transmission and reducer are determined, and all of these must be taken into consideration to determine the optimal specifications.

도 5는 도 2의 휠 구동 시스템을 갖는 건설기계의 제어부(700)에서 수행되는 제어 로직을 나타내는 구성도이다.FIG. 5 is a configuration diagram showing control logic performed in the control unit 700 of the construction machine having the wheel drive system of FIG. 2.

따라서 도 5와 같이, 구동력을 많이 필요로 할 때 변속기를 사용하여 변속을 수행하는 제어 로직(control logic)을 구현해야 한다. 이러한 제어 로직은 제어부(700)에서 작업모드(수동 변속모드, 자동 변속모드를 포함한다), 차량 속도, 전동기 전류값(토크), 전동기 회전수(RPM) 및 현 기어의 위치를 종합적으로 판단하여 건설기계의 기어 변속을 수행하게 된다.Therefore, as shown in FIG. 5, control logic that performs shifting using a transmission must be implemented when a large amount of driving force is required. This control logic comprehensively determines the work mode (including manual shift mode and automatic shift mode), vehicle speed, motor current value (torque), motor rotation speed (RPM), and current gear position in the control unit 700. Gear shifting of construction machinery is performed.

자세하게는 상기 제어부(700)의 다음과 같은 변속조건을 만족하게 되면 기어의 변속을 수행하게 된다. 일반적으로 본 발명의 구동시스템이 적용되는 건설기계는 2단으로 주행하는 것을 기본으로 하며, 우선 제어부(700)에서 2단에서 1단으로 변속하는 변속조건에 대하여 다음과 같다.In detail, when the following shifting conditions of the control unit 700 are satisfied, gear shifting is performed. In general, construction equipment to which the drive system of the present invention is applied is basically driven in 2nd gear, and the shifting conditions for shifting from 2nd gear to 1st gear in the control unit 700 are as follows.

- 작업 모드 : 수동, 자동 중 자동- Working mode: manual, automatic among automatic

- 차량 속도 : 설정 속도 이하, 이러한 설정 속도는 경사지에서 변속을 수행하면 변속하는 중에 동력이 없으므로, 차량의 속도가 줄어들고 최악의 경우 뒤로 밀릴 수도 있기 때문에 튜닝을 통해 적정한 값을 선정하는 것이 필요할 것이다. 따라서 4km/h 이하가 바람직하다.- Vehicle speed: Below the set speed. If this set speed is changed on a slope, there is no power while shifting, so the vehicle's speed may decrease and in the worst case, it may be pushed back. Therefore, it will be necessary to select an appropriate value through tuning. Therefore, less than 4 km/h is desirable.

- 전동기 회전수(RPM) : 상기 차량 속도를 확인하는 용도로 필요하다.- Motor rotation speed (RPM): Required to check the vehicle speed.

- 기어 위치 : 2단- Gear position: 2nd gear

반대로, 상기 제어부(700)에서 1단에서 2단으로 변속하는 변속조건에 대하여 다음과 같다.Conversely, the shifting conditions for shifting from 1st gear to 2nd gear in the control unit 700 are as follows.

- 작업 모드 : 수동, 자동 중 자동- Working mode: manual, automatic among automatic

- 차량 속도 : 설정 속도 이상, 같은 이유로 8km/h 이상이 바람직하다.- Vehicle speed: Above the set speed, for the same reason, 8 km/h or more is desirable.

- 전동기 회전수(RPM) : 상기 차량 속도를 확인하는 용도로 필요하다.- Motor rotation speed (RPM): Required to check the vehicle speed.

- 기어 위치 : 1단- Gear position: 1st gear

이하 본 발명에 의한 건설기계의 변속 제어방법에 대하여 도 6 및 도 7을 참조하여 설명하기로 한다.Hereinafter, the shift control method of construction equipment according to the present invention will be described with reference to FIGS. 6 and 7.

도 6은 본 발명의 일 실시예에 의한 건설기계의 변속 제어방법을 도시한 순서도이고, 도 7은 본 발명의 다른 실시예에 의한 건설기계의 변속 제어방법을 도시한 순서도이다. 또한 아래의 수행과정은 모두 제어부(700)에서 수행될 수 있음을 첨언한다.FIG. 6 is a flowchart showing a method for controlling transmission of a construction machine according to an embodiment of the present invention, and FIG. 7 is a flowchart showing a method for controlling a shift of a construction machine according to another embodiment of the present invention. Additionally, it should be noted that all of the following execution processes can be performed in the control unit 700.

도 6과 같이, 본 발명의 일 실시예에 의한 건설기계의 변속 제어방법은 건설기계의 2속 주행단계(S100); 차량의 속도, 전동기의 토크 센싱 정보 등의 변속 조건을 제어부로 전송하는 전송단계(S110); 변속조건을 확인하는 확인단계(S120); 전동기 전류값을 0mA로 변경하는 변경단계(S130); 2단 클러치 오프단계(S140); 기어를 중립시키는 중립단계(S150); 모터 회전수를 output rpm과 동기화시키는 동기화단계(S160) 및 1단 클러치를 온(ON) 시키는 온단계(S170)를 포함한다.As shown in FIG. 6, the method for controlling the shift speed of a construction machine according to an embodiment of the present invention includes a second-speed traveling step (S100) of the construction machine; A transmission step (S110) of transmitting shifting conditions such as vehicle speed and electric motor torque sensing information to the control unit; Confirmation step (S120) to check shifting conditions; A change step (S130) of changing the motor current value to 0 mA; 2nd stage clutch off stage (S140); Neutral stage (S150) to neutralize the gear; It includes a synchronization step (S160) that synchronizes the motor rotation speed with the output rpm and an on step (S170) that turns on the first stage clutch.

이 경우 상기 S110 단계에서의 변속조건은 상술한 바와 같이, 자동 기어 변속 모드에서 설정 속도 이하로 주행 시 기어 위치가 2단인 경우로 상기 설정 속도는 4km/h 이하가 바람직하다.In this case, as described above, the shifting condition in step S110 is a case where the gear position is 2nd when driving at a set speed or less in automatic gear shifting mode, and the set speed is preferably 4 km/h or less.

즉 S100에서 기어의 위치가 2단으로 2속 주행 시에는 S110 단계에서 변속 조건을 제어부로 CAN 통신 등을 통하여 전송한다. S120 단계에서 변속조건을 확인하고 만족된다고 판단되면, 전도기의 전류값을 0mA로 변경한 후 기어를 1단으로 변경을 시작하게 되는 것이다.(S140 내지 S170)That is, in S100, when the gear position is in 2nd gear and driving at 2nd speed, the shifting conditions are transmitted to the control unit through CAN communication, etc. in step S110. If the shifting conditions are checked in step S120 and determined to be satisfied, the current value of the conductor is changed to 0 mA and the gear is changed to 1st gear (S140 to S170).

한편, S170 단계에서 1단 클러치 온을 위해 순간적으로 전류를 상승시키게 되면 변속 시 충격이 발생하기 때문에 서서히 전류를 상승시켜 충격을 없앤다. 하지만 너무 느리게 변속을 수행한다면 건설기계의 가속력이 줄어들어 또 다른 충격을 운전자가 느끼게 되므로 적정한 전류의 상승을 찾아야 한다.Meanwhile, if the current is momentarily increased to turn on the first clutch in the S170 stage, shock occurs when shifting, so the current is gradually increased to eliminate the shock. However, if the gear shift is performed too slowly, the acceleration of the construction equipment will be reduced and the driver will feel another shock, so an appropriate increase in current must be found.

도 7과 같이, 본 발명의 다른 실시예에 의한 건설기계의 변속 제어방법은 건설기계의 1속 주행단계(S200); 차량의 속도, 전동기의 토크 센싱 정보 등의 변속 조건을 제어부로 전송하는 전송단계(S210); 변속조건을 확인하는 확인단계(S220); 전동기 전류값을 0mA로 변경하는 변경단계(S230); 1단 클러치 오프단계(S240); 기어를 중립시키는 중립단계(S250); 모터 회전수를 output rpm과 동기화시키는 동기화단계(S260) 및 2단 클러치를 온(ON) 시키는 온단계(S270)를 포함한다.As shown in FIG. 7, the method for controlling the speed of a construction machine according to another embodiment of the present invention includes a first-speed traveling step (S200) of the construction machine; A transmission step (S210) of transmitting shifting conditions such as vehicle speed and electric motor torque sensing information to the control unit; Confirmation step to check shifting conditions (S220); A change step (S230) of changing the motor current value to 0 mA; 1st clutch off stage (S240); Neutral stage (S250) to neutralize the gear; It includes a synchronization step (S260) that synchronizes the motor rotation speed with the output rpm and an on step (S270) that turns on the second stage clutch.

이 경우 상기 S210 단계에서의 변속조건은 상술한 바와 같이, 자동 기어 변속 모드에서 설정 속도 이하로 주행 시 기어 위치가 1단인 경우로 상기 설정 속도는 8km/h 이상이 바람직하다.In this case, the shifting condition in step S210 is, as described above, when the gear position is in 1st gear when driving below the set speed in automatic gear shifting mode, and the set speed is preferably 8 km/h or more.

즉 S200에서 기어의 위치가 1단으로 1속 주행 시에는 S210 단계에서 변속 조건을 제어부로 CAN 통신 등을 통하여 전송한다. S220 단계에서 변속조건을 확인하고 만족된다고 판단되면, 전도기의 전류값을 0mA로 변경한 후 기어를 2단으로 변경을 시작하게 되는 것이다.(S240 내지 S270)That is, in S200, when the gear position is in 1st gear and driving at 1st speed, the shifting conditions are transmitted to the control unit through CAN communication, etc. in step S210. If the shifting conditions are checked in step S220 and determined to be satisfied, the current value of the conductor is changed to 0 mA and the gear is changed to second gear (S240 to S270).

이상에서 설명된 본 발명의 건설기계를 위한 휠 구동 시스템 및 건설기계의 변속 제어방법의 실시예는 예시적인 것에 불과하며, 본 발명이 속한 기술분야의 통상의 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 타 실시예가 가능하다는 점을 잘 알 수 있을 것이다. 그러므로 본 발명은 상기의 상세한 설명에서 언급되는 형태로만 한정되는 것은 아님을 잘 이해할 수 있을 것이다. 따라서 본 발명의 진정한 기술적 보호 범위는 첨부된 특허청구범위의 기술적 사상에 의해 정해져야 할 것이다. 또한, 본 발명은 첨부된 청구범위에 의해 정의되는 본 발명의 정신과 그 범위 내에 있는 모든 변형물과 균등물 및 대체물을 포함하는 것으로 이해되어야 한다.The embodiments of the wheel drive system for construction machinery and the shift control method for construction machinery of the present invention described above are merely illustrative, and those skilled in the art will recognize various modifications and variations therefrom. It will be appreciated that other equivalent embodiments are possible. Therefore, it will be understood that the present invention is not limited to the forms mentioned in the detailed description above. Therefore, the true scope of technical protection of the present invention should be determined by the technical spirit of the attached patent claims. In addition, the present invention should be understood to include all modifications, equivalents and substitutes within the spirit and scope of the present invention as defined by the appended claims.

100 : 엔진 102 : 엔진축
200 : 발전기 210 : 통합 인버터
220 : 에너지 회수 장치 300 : 전방 액슬
302 : 전방 좌측 구동축 304 : 전방 우측 구동축
310 : 전방 좌측 휠 312 : 전방 우측 휠
320 : 전방 좌측 전동기 322 : 전방 우측 전동기
330 : 전방 좌측 휠 브레이크 332 : 전방 우측 휠 브레이크
340 : 전방 우측 감속기 342 : 전방 좌측 감속기
360 : 전방 좌측 변속기 362 : 전방 우측 변속기
400 : 후방 액슬 402 : 후방 좌측 구동축
404 : 후방 우측 구동축 410 : 후방 좌측 휠
412 : 후방 우측 휠 420 : 후방 좌측 전동기
422 : 후방 우측 전동기 430 : 후방 좌측 휠 브레이크
432 : 후방 우측 휠 브레이크 440 : 후방 좌측 감속기
442 : 후방 우측 감속기 600 : 구동장치
610 : 펌프 모터 620 : 기어 박스
630, 640 : 유압 펌프 700 : 제어부
A : 구동부 B : 발전부
C : 작업부100: Engine 102: Engine shaft
200: generator 210: integrated inverter
220: Energy recovery device 300: Front axle
302: Front left drive shaft 304: Front right drive shaft
310: Front left wheel 312: Front right wheel
320: Front left electric motor 322: Front right electric motor
330: Front left wheel brake 332: Front right wheel brake
340: Front right reducer 342: Front left reducer
360: Front left transmission 362: Front right transmission
400: Rear axle 402: Rear left drive shaft
404: Rear right drive shaft 410: Rear left wheel
412: Rear right wheel 420: Rear left electric motor
422: Rear right electric motor 430: Rear left wheel brake
432: Rear right wheel brake 440: Rear left reducer
442: Rear right reducer 600: Driving device
610: pump motor 620: gearbox
630, 640: Hydraulic pump 700: Control unit
A: Drive part B: Power generation part
C: Work Department

Claims (13)

삭제delete 삭제delete 삭제delete 삭제delete 삭제delete 삭제delete 삭제delete 삭제delete 삭제delete 발전기에서 발생된 전기에너지를 전방 액슬, 후방 액슬, 및 구동장치에 각각 공급하는 통합 인버터를 포함하는 건설기계를 위한 휠 구동 시스템이 적용되는 건설기계의 변속 제어방법에 있어서,
건설기계의 2속 주행단계;
차량의 속도, 전동기의 토크 센싱 정보를 포함하는 변속 조건을 제어부로 전송하는 전송단계(S110);
변속조건을 확인하는 확인단계(S120);
전동기 전류값을 0mA로 변경하는 변경단계(S130);
2단 클러치를 오프하는 오프단계(S140);
기어를 중립시키는 중립단계(S150);
모터 회전수를 output rpm과 동기화시키는 동기화단계(S160) 및
1단 클러치를 온(ON) 시키는 온단계(S170)를 포함하는 건설기계의 변속 제어방법.In the shift control method of construction machinery to which a wheel drive system for construction machinery is applied including an integrated inverter that supplies electrical energy generated from a generator to the front axle, rear axle, and drive device,
Second-speed driving stage of construction machinery;
A transmission step (S110) of transmitting shifting conditions including vehicle speed and electric motor torque sensing information to the control unit;
Confirmation step (S120) to check shifting conditions;
A change step (S130) of changing the motor current value to 0 mA;
Off stage (S140) of turning off the second stage clutch;
Neutral stage (S150) to neutralize the gear;
A synchronization step (S160) that synchronizes the motor rotation speed with the output rpm and
A shift control method for construction machinery including an on stage (S170) of turning on the first stage clutch. 청구항 10에 있어서,
상기 전송 단계(S110)서의 변속 조건은,
자동 기어 변속 모드에서 설정 속도 이하로 주행 시 기어 위치가 2단인 경우로 상기 설정 속도는 4km/h 이하인 것을 특징으로 하는 건설기계의 변속 제어방법.In claim 10,
The shifting conditions in the transmission step (S110) are,
A shift control method for construction machinery, characterized in that when driving at a set speed or less in automatic gear shift mode, the gear position is in second gear, and the set speed is 4 km/h or less. 발전기에서 발생된 전기에너지를 전방 액슬, 후방 액슬, 및 구동장치에 각각 공급하는 통합 인버터를 포함하는 건설기계를 위한 휠 구동 시스템이 적용되는 건설기계의 변속 제어방법에 있어서,
건설기계의 1속 주행단계(S200);
차량의 속도, 전동기의 토크 센싱 정보 등의 변속 조건을 제어부로 전송하는 전송단계(S210);
변속조건을 확인하는 확인단계(S220);
전동기 전류값을 0mA로 변경하는 변경단계(S230);
1단 클러치 오프단계(S240); 기어를 중립시키는 중립단계(S250);
모터 회전수를 output rpm과 동기화시키는 동기화단계(S260) 및
2단 클러치를 온(ON) 시키는 온단계(S270)를 포함하는 건설기계의 변속 제어방법.In the shift control method of construction machinery to which a wheel drive system for construction machinery is applied including an integrated inverter that supplies electrical energy generated from a generator to the front axle, rear axle, and drive device,
1st speed driving stage of construction machinery (S200);
A transmission step (S210) of transmitting shifting conditions such as vehicle speed and electric motor torque sensing information to the control unit;
Confirmation step to check shifting conditions (S220);
A change step (S230) of changing the motor current value to 0 mA;
1st clutch off stage (S240); Neutral stage (S250) to neutralize the gear;
A synchronization step (S260) that synchronizes the motor rotation speed with the output rpm and
A shift control method for construction machinery including an on stage (S270) for turning on the second stage clutch. 청구항 12에 있어서,
상기 전송단계(S210)에서의 변속 조건은,
자동 기어 변속 모드에서 설정 속도 이상으로 주행 시 기어 위치가 1단인 경우로 상기 설정 속도는 8km/h 이상인 것을 특징으로 하는 건설기계의 변속 제어방법.In claim 12,
The shifting conditions in the transmission step (S210) are,
A shift control method for construction machinery, wherein when driving at a speed higher than the set speed in automatic gear shift mode, the gear position is in 1st gear, and the set speed is 8 km/h or more.
KR1020180119582A 2018-10-08 2018-10-08 Control method for transmission of construction machinery KR102635248B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020180119582A KR102635248B1 (en) 2018-10-08 2018-10-08 Control method for transmission of construction machinery
CN201910949538.XA CN111002817A (en) 2018-10-08 2019-10-08 Wheel drive system for construction machine and speed change control method for construction machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020180119582A KR102635248B1 (en) 2018-10-08 2018-10-08 Control method for transmission of construction machinery

Publications (2)

Publication Number Publication Date
KR20200040323A KR20200040323A (en) 2020-04-20
KR102635248B1 true KR102635248B1 (en) 2024-02-08

Family

ID=70110840

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020180119582A KR102635248B1 (en) 2018-10-08 2018-10-08 Control method for transmission of construction machinery

Country Status (2)

Country Link
KR (1) KR102635248B1 (en)
CN (1) CN111002817A (en)

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3951555B2 (en) * 2000-05-23 2007-08-01 コベルコ建機株式会社 Construction machinery
JP2003082707A (en) * 2001-09-12 2003-03-19 Hitachi Constr Mach Co Ltd Electric construction machine and electric excavator
CN200974464Y (en) * 2006-12-08 2007-11-14 唐开太 Electric power hydraulic transmission automobile
CN102660971A (en) * 2012-05-18 2012-09-12 江苏天煤机电科技有限公司 Pure-hydraulic electric loader
KR20150084317A (en) * 2014-01-13 2015-07-22 두산인프라코어 주식회사 Hydraulic system for Construction Machinery
KR102130179B1 (en) * 2014-01-16 2020-07-03 두산인프라코어 주식회사 Wheel driving device of hybrid construction equipment and method thereof
KR102199514B1 (en) 2014-05-27 2021-01-06 두산인프라코어 주식회사 Wheel driving system for construction machinery
KR102371482B1 (en) * 2015-01-09 2022-03-07 현대두산인프라코어 주식회사 Automatic transmission method and apparatus for a construction machine
KR101861965B1 (en) * 2017-07-11 2018-05-28 두산인프라코어 주식회사 Method for auto controlling transmission of wheel loader

Also Published As

Publication number Publication date
KR20200040323A (en) 2020-04-20
CN111002817A (en) 2020-04-14

Similar Documents

Publication Publication Date Title
US8177004B2 (en) Control system for drive unit of hybrid vehicle
US7163480B2 (en) Powertrain for a hybrid vehicle with all-wheel drive capability and method for controlling wheel slip
US7798938B2 (en) Controller system for device unit of vehicle
US8425377B2 (en) Multiple-mode power split hybrid powertrain
CN102009587B (en) Electrically-controlled mechanical transmission-based hybrid power device
US20140358340A1 (en) Hybrid electric vehicle
JP5248896B2 (en) Traveling work vehicle
JPWO2012011495A1 (en) Control device for hybrid vehicle
US11225147B2 (en) Drive unit for four-wheel drive vehicle
US20150197239A1 (en) Modular powertrain with multiple motors
CN104859435A (en) Multi-mode power trains with direct-drive lock-up
KR102199514B1 (en) Wheel driving system for construction machinery
CN104553732A (en) Transmission system of hybrid electric vehicle
WO2015011540A2 (en) Power transmission system of vehicle and method of controlling the same
KR102423226B1 (en) Power split hybrid powertrain
US10836373B2 (en) Control system for hybrid vehicle
KR20150136366A (en) Wheel driving system for construction machinery
CN108340766B (en) Hybrid power system, vehicle and control method thereof
KR102635248B1 (en) Control method for transmission of construction machinery
JP5248895B2 (en) Traveling work vehicle
CN103079924A (en) Vehicle, control method, and program
US20220410868A1 (en) Vehicle drive device and control method therefor
CN216942663U (en) Two keep off special hybrid transmission and car
JP5842661B2 (en) Power transmission device for vehicle
CN114834261A (en) Energy-saving type independent electric drive loader drive control system and method

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant