WO2006035589A1 - 作業車両の原動機制御装置 - Google Patents
作業車両の原動機制御装置 Download PDFInfo
- Publication number
- WO2006035589A1 WO2006035589A1 PCT/JP2005/016627 JP2005016627W WO2006035589A1 WO 2006035589 A1 WO2006035589 A1 WO 2006035589A1 JP 2005016627 W JP2005016627 W JP 2005016627W WO 2006035589 A1 WO2006035589 A1 WO 2006035589A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- speed
- rotational speed
- prime mover
- engine
- low
- Prior art date
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
Definitions
- the present invention relates to a prime mover control device for a work vehicle such as a wheeled hydraulic excavator.
- Patent Document 1 Japanese Patent No. 3073896
- a prime mover control device for a work vehicle prohibits the hydraulic pump driven by the prime mover, the hydraulic actuator driven by the pressure oil from the hydraulic pump, and the driving of the hydraulic actuator by the hydraulic oil of the hydraulic pump force.
- a rotation speed command means for commanding the rotation speed of the prime mover within a range where the low idle rotation speed is set as a lower limit by the operation of the operator can be further provided.
- the rotational speed of the prime mover is controlled to a low speed rotational speed.
- the rotational speed of the prime mover can be controlled to the commanded rotational speed.
- a braking device for braking the hydraulic actuator, and a braking detection means for detecting whether the braking device is activated or not.
- the operation of the drive prohibiting means is detected by the drive prohibition detecting means
- the low idle rotational speed is commanded by the rotational speed command means
- the operation of the braking device is detected by the brake detecting means. Then, the rotational speed of the prime mover can be controlled to a low speed.
- the prime mover control device When the hydraulic actuator is a traveling motor that rotates according to the amount of operation of the traveling pedal, the prime mover control device according to the present invention is capable of traveling in which the traveling motor can be rotated by operating the traveling pedal and in a neutral state in which rotation is not possible.
- the travel selection means for selecting the state and the travel selectable state by the travel selection means allow the flow of pressure oil to the hydraulic pump power travel motor, and if the neutral state is selected by the travel selection means, the hydraulic pressure
- the vehicle may further include travel control means for prohibiting the flow of pressure oil from the pump to the travel motor.
- a water temperature detection means for detecting the engine cooling water temperature and a first setting for setting the low speed rotation speed according to the engine cooling water temperature so that the lower the engine cooling water temperature detected by the water temperature detection means, the lower the low speed rotation speed.
- a means for controlling the rotational speed of the prime mover to a low speed it is preferable to control the rotational speed set by the first setting means.
- setting means for controlling the speed of the prime mover to a low speed. It is preferable to control the number of revolutions set by a fixed means.
- a start detection means for detecting the start of the prime mover is further provided, and until the predetermined time has elapsed after the start of the prime mover is detected by the start detection means, switching of the revolution speed of the prime mover to a low speed revolution is prohibited and the start detection is performed.
- the starting of the prime mover is detected by the means and a predetermined time has elapsed, switching to a low speed can be permitted.
- a warm-up determination means for determining completion of the warm-up operation of the prime mover, and prohibits the switching of the rotational speed of the prime mover to a low speed until the warm-up determination means determines completion of the warm-up operation.
- the rotational speed of the prime mover When at least the non-operation of the drive prohibiting means is detected by the drive prohibition detecting means, it is preferable to control the rotational speed of the prime mover to a set rotational speed equal to or higher than the low idle rotational speed. If the non-operation of the drive prohibition means is detected by the drive prohibition detection means while the motor speed is controlled at a low speed, the motor speed is gradually reduced to the command speed by the rotation speed command means. You can also increase the amount of calories.
- the speed of the prime mover is gradually increased to that command speed, and when the speed is less than the set speed, It is preferable to immediately increase the motor speed to the command speed.
- the command speed set by the rotation speed command means is higher than the low idle speed. At this time, the motor speed is controlled to the set speed.
- actuator drive command means for outputting a drive command for the hydraulic actuator is provided, and the motor speed is controlled to the set speed on condition that the drive command is not output by the actuator drive command means, and the drive command is output. Then, it is preferable to control the motor speed to the command speed.
- the hydraulic actuator is driven by at least the hydraulic oil of the hydraulic pump force.
- the speed of the prime mover is controlled to be lower and lower than the minimum speed (low idle speed) that can drive the hydraulic actuator.
- the engine speed can be made lower than the low idle speed while the load is not applied to the hydraulic pump, and fuel consumption can be improved while preventing engine stall.
- FIG. 1 is a block diagram showing a configuration of a prime mover control device according to a first embodiment of the present invention.
- FIG. 2 is a hydraulic circuit diagram for driving the hydraulic actuator mounted on the work vehicle according to the first embodiment.
- FIG. 3 is a hydraulic circuit diagram for driving a hydraulic actuator mounted on a work vehicle according to a second embodiment.
- FIG. 4 is a block diagram showing a configuration of a prime mover control device according to a second embodiment of the present invention.
- FIG. 5 is a hydraulic circuit diagram for driving a hydraulic actuator mounted on a work vehicle according to a third embodiment.
- FIG. 6 is a block diagram showing a configuration of a prime mover control device according to a third embodiment of the present invention.
- FIG. 7 is a diagram showing a modification of FIG.
- FIG. 8 is a block diagram showing a configuration of a prime mover control device according to a fourth embodiment of the present invention.
- FIG. 9 is a block diagram showing a configuration of a prime mover control device according to a fifth embodiment of the present invention.
- FIG. 10 is a diagram showing a modification of FIG.
- FIG. 11 is a diagram showing another modification of FIG.
- FIG. 12 is a block diagram showing a configuration of a prime mover control device according to a sixth embodiment of the present invention.
- FIG. 13 is a flowchart showing processing in the slow-up processing circuit of FIG.
- FIG. 14 is a block diagram showing a configuration of a prime mover control device according to a seventh embodiment of the present invention.
- a first embodiment of a prime mover control device for a work vehicle according to the present invention will be described below with reference to FIGS.
- FIG. 1 is a block diagram showing the configuration of the prime mover control device according to the first embodiment.
- This prime mover control device is a work vehicle having a hydraulic actuator (for example, a hydraulic excavator). Etc.).
- FIG. 2 is a hydraulic circuit diagram for driving the hydraulic actuator 5.
- Pressure oil from a hydraulic pump 2 driven by the engine 1 is supplied to a hydraulic actuator 5 such as a hydraulic cylinder or a hydraulic motor via a lock valve 3 and a control valve 4.
- the hydraulic actuator 5 is a hydraulic cylinder that drives a working device such as a boom and an arm, a revolving body, and a hydraulic motor that drives the traveling body.
- the lock valve 3 is a two-position switching valve that can be switched between a communication position that guides the hydraulic oil from the hydraulic pump 2 to the control valve 4 and a shut-off position that blocks the supply of pressure oil to the control valve 4. It can be switched by the operation.
- the gate lock lever 6 is provided at the entrance of the cab and is operated to a release position that prevents the passenger from getting on and off and a lock position that allows the passenger to get on and off.
- the gate opening lever 6 is operated to the release position, the lock valve 3 is switched to the communication position, and when the gate trotting lever 6 is operated to the lock position, the lock valve 3 is switched to the blocking position.
- the control valve 4 is switched by operating the operation lever 7 and controls the flow of pressure oil from the lock knob 3 to the hydraulic actuator 5.
- the configuration of the hydraulic circuit is not limited to that shown in FIG.
- the control valve 4 is configured as a hydraulic pilot type switching valve, a pilot circuit that generates a pilot pressure according to the operation amount of the operation lever 7 is provided, and the control valve 4 is switched by the pilot pressure according to the operation amount of the operation lever 7 You may do it.
- the lock valve 3 may be arranged in the pilot circuit.
- the cab is provided with a fuel lever 8 for commanding the engine speed.
- the fuel lever 8 can be operated between idle and full, and the operation amount (operation stroke amount or operation angle) of the fuel lever 8 is detected by the operation amount detector 11.
- Manipulation amount detector 11 signal S is input to the function generation circuit 12 and the signal generation circuit 13, respectively.
- the function generator circuit 12 stores in advance the relationship (characteristic L1) of the target engine speed N of the engine 1 with respect to the manipulated variable S.
- the function generator circuit 12 outputs the target engine speed N corresponding to the manipulated variable S. To do.
- the characteristic L1 As the manipulated variable S increases, the target rotational speed N increases proportionally from the low idle rotational speed NL to the rated rotational speed N1.
- the low idle speed NL is defined as any hydraulic actuating function by operating the operating lever 7. This is the minimum speed of engine 1 that does not stall when the motor 5 is driven. For example, it is set to lOOOrpm.
- the rated speed N1 is 2000 rpm, for example.
- the signal generating circuit 13 outputs a high signal when the low idle speed NL is commanded by the fuel lever 8, and outputs a low signal when a speed higher than the low idle speed NL is commanded.
- the gate lock lever 6 is provided with a limit switch 14.
- the limit switch 14 is turned on when the gate lock lever 6 is operated to the lock position, and the limit switch 14 is turned off when the gate lock lever 6 is operated to the release position.
- Signals from the limit switch 14 and the signal generation circuit 13 are input to the AND circuit 15, and the AND circuit 15 switches the switching circuit 16 in accordance with these input signals. That is, when a high signal is input from the signal generation circuit 13 and an ON signal of the limit switch 14 is input, the AND circuit 15 switches the switching circuit 16 to the terminal b side.
- the switching circuit 16 outputs the rotational speed NS (referred to as super low idle rotational speed) preset in the setting circuit 17 as the target rotational speed.
- the AND circuit 15 switches the switching circuit 16 to the terminal a side.
- the switching circuit 16 outputs the target rotational speed from the function generation circuit 12.
- the super low idle rotational speed NS is the low rotational speed of the engine 1 that is not stalled even if the air conditioner or auxiliary equipment is operated when the hydraulic pump 2 that does not drive the hydraulic actuator 5 is in a no-load state. . In this state, it is not necessary to consider the drive of the hydraulic actuator 5! Therefore, the super low idle speed NS is set to, for example, 600 rpm, which is lower than the low idle speed NL described above.
- This rotational speed is the rotational speed at which engine stall occurs when the load due to the driving of the hydraulic actuator 5 is applied to the engine 1.
- the idle rotational speed should be reduced below the low idle rotational speed NL by the output required to drive the hydraulic actuator 5. Can do.
- the governor 21 of the engine 1 is connected to the pulse motor 23 via the link mechanism 22, and the engine speed is controlled by the rotation of the Norse motor 23.
- a potentiometer 24 is connected to the governor 21 via a link mechanism 22, and the governor lever angle corresponding to the engine speed is detected by the potentiometer 24 and output to the servo control circuit 25.
- Servo control circuit 25 is the number of revolutions detected by potentiometer 24 and output from switching circuit 16.
- a control signal is output to the pulse motor 23 so that the target rotation speed is reached, and the rotation of the pulse motor 23 is controlled.
- the operator operates the gate lock lever 6 to the release position.
- the valve valve 3 is switched to the communication position (the lock valve is not activated), the hydraulic actuator 5 is allowed to be driven by the operation of the operation lever 7, the limit switch 14 is turned off, and the switching circuit 16 is connected to the terminal a side. Can be switched to.
- the target rotation speed N corresponding to the operation amount of the fuel lever 8 is output from the switching circuit 16, and the engine speed is controlled to the target rotation speed N by the servo control circuit 25. For example, if the fuel lever 8 is operated idle, the engine speed is controlled to the low idle speed NL, and if it is fully operated, the engine speed is controlled to the rated speed N1.
- the hydraulic actuator 5 is a working hydraulic cylinder and hydraulic motor. And a traveling hydraulic motor (hereinafter referred to as a traveling motor).
- a traveling hydraulic motor hereinafter referred to as a traveling motor.
- the hydraulic cylinder and hydraulic motor for work are switched between Z operation and non-operation by the lock valve 3 and the gate lock lever 6, and the traveling motor is switched from non-running by the brake switch 18 described later. For example, it is applied to a wheeled hydraulic excavator.
- FIG. 3 is a traveling hydraulic circuit diagram of a work vehicle (for example, a wheel-type hydraulic excavator) to which the prime mover control device according to the second embodiment is applied.
- the traveling pedal 31 can be operated forward and backward, and when the traveling pedal 31 is operated forward, the switching valve 32 is switched to the forward side, and the hydraulic oil from the hydraulic pump 2 is applied to the traveling motor 33. Supplied and the vehicle travels forward. On the contrary, when the travel pedal 31 is depressed backward, the switching valve 32 is switched to the reverse side, and the vehicle travels backward.
- FIG. 4 is a block diagram showing the configuration of the prime mover control device according to the second embodiment.
- a limit switch 14, a signal generation circuit 13, and a brake switch 18 are connected to the AND circuit 15.
- the brake switch 18 is a switch that can be switched to the travel, work, and parking positions. When the brake switch 18 is switched to the travel position (T terminal), both the work brake and parking brake (not shown) are released. The parking brake is activated when switched to the parking position (P terminal), and the work brake is activated when switched to the working position (W terminal).
- the AND circuit 15 receives signals from the P and W terminals of the brake switch 18, that is, a signal corresponding to the operating state of the brake. This brake switch 18 controls the operation Z non-operation of the traveling motor 23.
- the state where both work and traveling are prohibited that is, the gate lock lever 6 is operated to the lock position (lock valve operation), and the fuel lever 8 is operated to the idle
- the brake switch 18 is switched to the parking or working position (brake operation)
- the switching circuit 16 is switched to the terminal b side, and the engine speed force S is controlled to the super low idle speed NS.
- the traveling motor 33 does not rotate even when the traveling pedal 31 is operated under the super low idle rotational speed NS, so that the hydraulic pump 2 is not loaded and the engine stall can be prevented.
- a third embodiment of a prime mover control device for a work vehicle according to the present invention will be described with reference to FIGS.
- FIG. 5 is a hydraulic circuit diagram for traveling a work vehicle to which the prime mover control device according to the third embodiment is applied.
- the second embodiment is applied to a work vehicle in which pressure oil is supplied to the traveling motor 33 by the front stepping operation and the rear stepping operation of the traveling pedal 31, the third embodiment is applied to the traveling pedal 31.
- This is applied to a work vehicle in which pressure oil is supplied to the travel motor 33 by the stepping operation of the forward and backward switching valves 34.
- the forward / reverse switching valve 34 (electromagnetic switching valve) is switched to the forward, reverse, and neutral positions by operating the forward / reverse switching switch 19 (Fig. 6).
- Switching valve 32 is a hydraulic pilot type switching valve
- the pilot valve 35 is driven according to the amount of operation, and pressure oil (pilot pressure) from the hydraulic source 36 is driven.
- the switching valve 32 is switched to the forward or reverse side, the pressure oil from the hydraulic pump 2 is supplied to the travel motor 33, and the vehicle travels forward or backward.
- the forward / reverse switching valve 34 is switched to the neutral position, the pilot pressure does not act on the switching valve 32 even if the travel pedal 31 is operated, and the travel motor 33 is not driven.
- FIG. 6 is a block diagram showing the configuration of the prime mover control device according to the third embodiment.
- a forward / reverse switching switch 19 is connected to the AND circuit 15 instead of the brake switch 18.
- the forward / reverse selector switch 19 is a switch that can be switched between forward, reverse, and neutral positions.
- the forward / reverse switching valve 34 When switched to the forward position (F terminal) or reverse position (R terminal), the forward / reverse switching valve 34 is set to the forward position or reverse position. It is switched and forward traveling or reverse traveling is enabled by operating the traveling pedal 31.
- the forward / reverse switching valve 34 is switched to the neutral position, and travel by operating the travel pedal 31 becomes impossible.
- the AND circuit 15 receives a signal corresponding to the N terminal force of the forward / reverse switching switch 19, that is, a signal corresponding to the state in which the vehicle cannot travel.
- both work and travel are prohibited, that is, the gate.
- the lock lever 6 is operated to the lock position (lock valve operation)
- the fuel lever 8 is operated to the idle position
- the forward / reverse switching switch 19 is operated to the neutral position (forward / reverse switching valve neutral)
- the switching circuit 16 is switched to the terminal b side, and the engine speed is controlled to the parlow idle speed NS.
- the traveling motor 33 does not rotate even if the traveling pedal 31 is operated under the super low idle rotational speed NS! Therefore, the hydraulic pump 2 is not loaded and the engine stall can be prevented.
- the forward / reverse switching switch 19 is switched to the forward or reverse position.
- the switching circuit 16 is switched to the terminal a side, and the engine speed is controlled to a speed corresponding to the operation amount of the fuel lever 8.
- the engine speed becomes at least the low idle speed NL or more, and the engine stall can be prevented.
- a relationship is set in advance so that the target rotational speed increases as the amount of operation of the travel pedal 31 increases, and when the forward / reverse switching switch 19 is switched to the forward or reverse position, the engine rotational speed is You can control it!
- the forward / reverse switching switch 19 and the brake switch 18 are connected to the AND circuit 15, respectively, a high signal is input from the signal generating circuit 13, and the ON signal of the limit switch 14 is
- the switching circuit 16 is switched to the terminal b side. Also good. As a result, even if the brake is operated, unless the forward / reverse switching valve 34 is switched to the neutral position, the super low idle rotational speed NS does not occur, and engine stall can be reliably prevented.
- a fourth embodiment of the prime mover control apparatus for work vehicles according to the present invention will be described with reference to FIG.
- the super low idle speed NS is corrected according to the engine coolant temperature and the hydraulic oil temperature. In other words, if the engine coolant temperature is low, the engine 1 is not warmed, so the engine output is not sufficient, and if the hydraulic oil temperature is low, the oil viscosity is high and the pump load increases. In this case, engine stall is likely to occur, so the super low idle speed NS is corrected to a higher value.
- FIG. 8 is a block diagram showing the configuration of the prime mover control device according to the fourth embodiment. The same parts as those in FIG. 1 are denoted by the same reference numerals, and the differences from the first embodiment will be mainly described below.
- the prime mover control device is provided with a water temperature sensor 41 for detecting the engine cooling water temperature and a hydraulic oil temperature sensor 42 for detecting the hydraulic oil temperature. Signals from the sensors 41 and 42 are input to function generation circuits 43 and 44, respectively.
- the function generating circuit 43 stores in advance the relationship (characteristic L2) of the target engine speed of the engine 1 with respect to the engine coolant temperature as shown in the figure, and the function generating circuit 44 stores in advance the engine temperature with respect to the hydraulic oil temperature as shown in the figure.
- the relationship of target speed (characteristic L3) is memorized.
- the target speed decreases from the low idle speed NL to the minimum speed Nmin as the engine coolant temperature increases, and according to characteristic L3, the target speed force increases as the hydraulic oil temperature increases. Decrease from one idle speed NL to the minimum speed Nmin.
- the minimum rotational speed Nmin corresponds to the super low idle rotational speed NS in the first embodiment, that is, the super low idle rotational speed when engine cooling water temperature and hydraulic oil temperature are not taken into consideration.
- the maximum value selection circuit 46 uses the minimum rotation speed Nmin set in the setting circuit 45 and the maximum value of the target rotation speed output from the function generators 43 and 44 as the correction value for the super low idle rotation speed NS. Choose as.
- the AND circuit 15 switches the switching circuit 16 to the terminal b side when the gate lock lever 6 is operated to the locked position and the fuel lever 8 is operated to idle. As a result, the engine speed is controlled to the speed selected by the maximum value selection circuit 46.
- the switching circuit 16 is switched to the terminal a side. As a result, the engine speed is controlled to a speed corresponding to the amount of operation of the fuel lever 8.
- the function generation circuits 43 and 44 are respectively connected to the hydraulic oil temperature and the hydraulic oil temperature.
- the target rotation speed corresponding to the coolant temperature is output, and the maximum value selection circuit 46 selects the larger value.
- the super low idle speed NS is corrected to a higher value according to the temperature, so that the engine stall can be reliably prevented.
- the switching circuit 16 is switched in accordance with the operation of the gate lock lever 6 and the fuel lever 8, but the above-described diagram is obtained only by the operation of the gate lock lever 6 and the fuel lever 8. As with 4, 6, and 7, the switching circuit 16 may be switched according to the operation of the brake switch 18 and forward / reverse switch 19.
- the engine cooling water temperature is low when the engine is started and that the engine speed is the super low idle speed NS.
- the engine cooling water temperature is low and the engine key switch is turned on and engine 1 is started, there is a possibility that engine idling will be reduced if the engine speed is low but the engine speed is not stable. In such a case, the engine speed is not set to the super low idle speed NS.
- FIG. 9 is a block diagram showing the configuration of the prime mover control device according to the fifth embodiment.
- the AND circuit 51 receives a signal from the engine key switch 52, that is, the engine key switch off signal (0) or the on signal (1), and the flag 0 or the flag set by the flag set circuit 53.
- the flag 1 set by the flag set circuit 54 is input.
- the timer 55 starts counting.
- the judgment circuit 56 judges that the engine key switch 52 is turned on ⁇ off, that is, flag 1 ⁇ flag 0.
- the flag setting circuit 53 sets flag 0, and the reset circuit 57 resets the timer 55. To do.
- the switching circuit 58 switches to the signal generation circuit 59 side until the timer 55 counts a predetermined time.
- the predetermined time is the time required to reach an engine speed that does not cause an engine stall even if the engine speed is lowered to the super low idle speed NS, and is set to about 15 minutes, for example.
- the signal generation circuit 59 outputs a low signal (0), and the signal generation circuit 60 outputs a high signal (1).
- the signal generation circuit 61 outputs a high signal (1) when the temperature of the water temperature sensor 41 is equal to or higher than a predetermined value, and outputs a low signal (0) when the temperature is lower than the predetermined value.
- the predetermined value is the engine coolant temperature that does not stall even when the engine speed is reduced to the super low idle speed NS, in other words, the engine coolant temperature when the warm-up operation is almost finished.
- the OR circuit 62 receives a signal from the signal generation circuit 61 and a signal from the switching circuit 58. When a high signal of at least one of the signal generation circuit 61 and the switching circuit 58 is input to the OR circuit 62, the switching switch 63 is turned on and the flag set circuit 54 sets the flag 1.
- the switching circuit 16 is switched to the terminal a side.
- the switching switch 63 is turned off. As a result, the switching circuit 16 is switched to the terminal b side.
- the switching circuit 16 when the engine is started in a state where the engine coolant temperature is lower than a predetermined value, only the low signal is input to the OR circuit 62, and the switching switch 63 is turned off. As a result, even when the gate lock lever 6 is operated to the locked position and the fuel lever 8 is operated to the idle state, the switching circuit 16 maintains the terminal a side, so that the engine speed is the super low idle speed NS. In other words, it is controlled to the low idle speed NL. As a result, engine stall at engine start can be prevented.
- the signal generating circuit 61 A high signal is input to the key circuit 62, and the switch 63 is turned on.
- the super low idle speed NS is controlled before the predetermined time elapses, and fuel consumption can be further improved.
- the engine key switch 52 is turned on after a long time after the engine key switch 52 is turned off, the engine 1 may not be completely cooled and the engine coolant temperature may be higher than a predetermined value. In this case, when the engine key switch 52 is turned on, the engine speed is immediately controlled to the super low idle speed NS.
- the engine speed is set to the super low idle speed NS until the warm-up operation is completed.
- the engine speed is controlled to at least the low idle speed NL or higher.
- engine stall at engine start can be prevented.
- the predetermined time has elapsed or even before the predetermined time has elapsed, if the engine cooling water temperature exceeds the predetermined value, it is allowed to reach the super low idle speed NS. Can be improved.
- the switching circuit 16 is switched in accordance with the operation of the gate lock lever 6 and the fuel lever 8, but the above-described diagram is obtained only by the operation of the gate lock lever 6 and the fuel lever 8. As with 4, 6, and 7, the switching circuit 16 may be switched according to the operation of the brake switch 18 and forward / reverse switch 19.
- the operation of the lock valve 3 prohibits the hydraulic actuator 5 from being driven by the hydraulic oil from the hydraulic pump 2, but other drive prohibiting means are used. Also good.
- the limit switch 14 detects the operation Z non-operation of the lock valve 3, the drive prohibition detection means is not limited to this.
- the gate lock lever 6 is operated to the locked position and the fuel lever 8 is operated to idle, the engine speed is controlled to the super-open idle speed NS, but as shown in FIG. Lock lever 6 force
- the engine speed may be controlled to the super low idle speed NS only on the condition that it is operated to the S lock position.
- the configuration of the speed control means is not limited to the above.
- the force that activates the lock valve 3 in conjunction with the operation of the gate lock lever 6 Z is deactivated.
- a super low switch 9 is provided as shown in Fig. 11.
- the lock knob 3 may be activated or deactivated by operating the super low switch 9. In this case, the operation Z of the lock valve 3 is not detected by the super low switch 9.
- the fuel lever 8 is operated other than idling (for example, Even if the engine is fully operated, the engine speed is controlled to the super low idle speed NS.
- the gate lock lever 6 is operated to the release position and the target engine speed N corresponding to the operation amount of the fuel lever 8 is immediately output as the engine speed command value, the fuel supply amount increases at a stretch and An excessive load (stress) is applied, which is undesirable in terms of engine strength and engine performance.
- the sixth embodiment controls the returning operation of the engine speed as follows.
- FIG. 12 is a block diagram showing the configuration of the prime mover control device according to the sixth embodiment.
- the same parts as those in FIG. 10 are denoted by the same reference numerals, and the characteristic configuration will be mainly described below.
- the signal from the limit switch 14 is input to the judgment circuit 71, and the judgment circuit 71 turns the limit switch 14 from on (gate lock lever lock) to off (gate lock lever release), that is, a flag. 1 ⁇ Flag 0 is determined.
- the target rotational speed N corresponding to the operation amount S which is a signal from the function generation circuit 12, is input to the signal generation circuit 72 and also to the slow-up processing circuit 73.
- the signal generation circuit 72 outputs a high signal (1) when the target rotational speed N is equal to or higher than a predetermined rotational speed N2, and outputs a low signal (0) when the target rotational speed N is less than the set rotational speed N2.
- the set rotational speed N2 is an upper limit value of the target rotational speed N that does not cause a problem for the engine even if the engine rotational speed is increased from the super low idle rotational speed NS at once, and is set to 1400, for example.
- the slow-up processing circuit 73 outputs the target rotational speed to the switching circuit 75 by a process described later, and at the same time, the AND circuit 74 terminates the process.
- the AND circuit 74 switches the switching circuit 75 in accordance with signals from the determination circuit 71, the function generation circuit 72, and the slow-up processing circuit 73.
- AND circuit 74 connects switching circuit 75 to terminal b. Switch to the side. As a result, the switching circuit 75 outputs the target rotational speed from the slow-up processing circuit 73 to the servo control circuit 25. On the other hand, under other conditions, the AND circuit 74 switches the switching circuit 75 to the terminal a side. As a result, the switching circuit 75 outputs the target rotational speed from the switching circuit 16 to the servo control circuit 25. Note that the switching circuit 75 also outputs the target rotational speed to the slow-up processing circuit 73 as the previous value. As described above, the servo control circuit 25 controls the rotation of the pulse motor 23 in accordance with the target rotational speed.
- step S1 the target rotational speed N corresponding to the operation amount S of the fuel lever 8 is read, and in step S2, the previous value output by the switching circuit 75 is read.
- step S3 it is determined whether or not the target rotational speed N is greater than the previous value. If step S3 is affirmed, the process proceeds to step S4, where a predetermined value ⁇ is added to the previous value, and this is output as the target rotational speed.
- the predetermined value ⁇ is set to a rate of increase of the target rotational speed N by manual operation of the fuel lever 8 (for example, lOOrpmZsec), and the target rotational speed increases proportionally at a rate of ⁇ N.
- step S5 a non-end flag is output.
- step S6 is advanced and the target rotational speed N corresponding to the manipulated variable S is output as the target rotational speed.
- an end flag is output in step S7.
- the switching circuit 16 when the gate lock lever 6 is operated to the locked position, the switching circuit 16 is switched to the terminal b side regardless of the operating position of the fuel lever 8, and the switching circuit 75 is connected to the terminal b. Switched to the a side, the engine speed is controlled to the super low idle speed NS.
- the switching circuit 16 When the gate lock lever 6 is operated to the release position, the switching circuit 16 is switched to the terminal a side, and the target rotational speed N corresponding to the operation amount of the fuel lever 8 is input to the switching circuit 75. At this time, if the target rotational speed N is equal to or higher than the set rotational speed N2, the switching circuit 75 is switched to the terminal b side, and the engine rotational speed slow-up process is started.
- step S4 the target rotational speed output from the slow-up processing circuit 73 gradually increases (step S4), and the engine rotational speed gradually increases. This prevents the engine from being overloaded.
- step S7 an end flag is output (step S7), and the switching circuit 75 is switched to the terminal a side. As a result, the engine speed is controlled to the target speed N.
- the switching circuit 75 is switched to the terminal a side, and the switching circuit From 75, the target speed N is output as is.
- the engine speed is immediately controlled to a speed corresponding to the amount of operation of the fuel lever 8, and work can be performed quickly.
- the difference between the super low idle speed NS and the target speed N is small, it is problematic to increase the engine speed to the target speed N at once.
- the engine speed is gradually increased from the super low idle speed NS to the target speed N by the release operation of the gate lock lever 6. It is possible to prevent an excessive load force from being applied to the engine. If the target engine speed N is smaller than the set engine speed N2, the engine speed is increased from the super low idle engine speed NS to the target engine speed N at a stroke. Immediate control to the target rotational speed N enables quick work.
- a seventh embodiment of the prime mover control apparatus for work vehicles according to the present invention will be described with reference to FIG.
- FIG. 14 is a block diagram showing the configuration of the prime mover control device according to the seventh embodiment. The same parts as those in FIG. 10 are denoted by the same reference numerals, and the characteristic configuration will be mainly described below.
- the OR circuit 82 is supplied with a signal from the auto idle switch 81 that commands auto idle control and a signal from the OR circuit 91.
- auto idle control when the engine speed is high and the control lever 7 is in the neutral state for a predetermined time t, the engine speed is controlled to a predetermined set speed (auto idle speed N3). In this state, when the operation lever 7 is operated, the engine speed is returned to the high speed, and is configured as follows.
- the operation amount detector 83 detects the operation amount of the operation lever 7.
- the signal generation circuit 84 outputs a high signal (1) to the switching circuit 86 when the operation lever 7 is not operated (neutral), and outputs a low signal (0) when the operation lever 7 is operated.
- the OR circuit 82 switches the switching circuit 86 to the terminal b side when the auto idle switch 81 is ON or a high signal is output from the OR circuit 91, and switches the switching circuit 86 to the terminal a side under other conditions. In a state where the switching circuit 86 is switched to the terminal b side, when a high signal is output from the signal generation circuit 84, the timer 87 starts a power count, and when a low signal is output, the timer is reset. The timer is also reset when the switching circuit 86 is switched to the terminal a side.
- the timer 87 When the timer 87 counts a predetermined time t (for example, 3 seconds), it outputs a high signal (1) to the switching circuit 88 and switches the switching circuit 88 to the terminal b side. Before the elapse of the predetermined time t, a low signal (0) is output, and the switching circuit 88 is switched to the terminal a side.
- switching circuit 88 When switching circuit 88 switches to terminal b, it outputs auto idle speed N3 set in signal generation circuit 90, and when switching to terminal a, rated circuit speed N1 is set in signal generation circuit 89. Is output.
- the auto idle speed N3 is set to 1400 rpm, for example, similarly to the set speed N2 of the sixth embodiment.
- the signal from the timer 87 and the signal from the limit switch 14 are input to the OR circuit 91. After the timer 87 counts t for a predetermined time or when the limit switch 14 is turned ON, the OR circuit 82 is high. Output a signal.
- the switching circuit 16 is switched to the terminal a side by releasing the gate lock lever 6 and outputs the rated rotational speed N1 set in the signal generating circuit 92 in advance. To help. Also, when the gate lock lever 6 is locked, it is switched to the terminal b side, and the super speed per idle speed NS is output.
- the minimum value selection circuit 95 selects the minimum value for the rotational speed output from the switching circuit 88, the rotational speed output from the function generation circuit 12, and the medium force of the rotational speed output from the switching circuit 16, and sets it as the target rotational speed. Output to servo control circuit 25.
- the switching circuit 16 when the gate lock lever 6 is locked, the switching circuit 16 is switched to the terminal b side, and the super low idle rotation speed NS is output from the switching circuit 16.
- the switching circuit 86 When the gate lock lever 6 is locked, the switching circuit 86 is switched to the terminal b side, and when the operation lever 7 is operated to the neutral position for a predetermined time t, the switching circuit 88 outputs the auto idle speed N3.
- the minimum value selection circuit 95 selects the super mouth idle speed NS, and the engine speed is controlled to the super low idle speed NS.
- the gate lock lever 6 When the gate lock lever 6 is released in this state, if the target speed N by operating the fuel lever 8 is greater than the set speed N3, the minimum value selection circuit 95 selects the auto idle speed N3, The engine speed is controlled to auto idle speed N3. As a result, the amount of increase in engine speed is limited, and the load on the engine can be reduced.
- the switching circuit 88 When the operation lever 7 is operated in this state, the switching circuit 88 is switched to the terminal a side, and the engine speed is controlled to the target speed N corresponding to the operation amount of the fuel lever 8.
- the minimum value selection circuit 95 is output from the function generation circuit 12.
- the target engine speed N is selected, and the engine speed is controlled to the target engine speed N corresponding to the operation amount of the fuel lever 8. In this case, operating the operating lever 7 does not change the engine speed.
- the above operation is independent of the operation of the auto idle switch 81.
- the engine speed is controlled from the super low idle speed NS to the auto idle speed N3 by the release operation of the gate lock lever 6, so that the engine It is possible to prevent an excessive load force from being applied. Also, since the auto idle speed N3 is controlled until the control lever 7 is operated (auto idle control), Fuel consumption and noise can be reduced. If the target speed N is smaller than the set speed N3, the engine speed is controlled to the target speed N regardless of the operation of the control lever 7. The number can be immediately controlled to the target speed N.
- the target rotational speed is commanded within the range where the low idle rotational speed NL is set to the lower limit by operating the fuel lever 8.
- the composition is not limited to this.
- the characteristic L1 for setting the target rotational speed is an example, and the target rotational speed corresponding to the operation amount of the fuel lever 8 may be set by other characteristics.
- the engine speed is controlled to at least the set speed higher than the low idle speed NL when the non-operation of the lock valve 3 is detected, the engine speed is set to a value other than the command value commanded by the operator. The number may be controlled.
- the operation Z of the parking brake and the work brake is detected by operating the brake switch 18, but the configuration of the brake detection means is not limited to this.
- the hydraulic actuator 5 other than the travel motor 33 may be provided with a braking device, and when the operation of this braking device is detected, the engine speed may be controlled to the super low idle speed NS.
- the forward / reverse switching switch 19 selects a travelable state in which the travel motor 33 can rotate and a neutral state in which the travel motor 33 cannot rotate.
- the switching valve 34 and the switching valve 32 are switched to allow or prohibit the flow of pressure oil from the hydraulic pump 2 to the traveling motor 33, the configuration of the traveling selection means and the traveling control means is not limited to this.
- the higher value of the target rotational speed set according to the engine coolant temperature and the target rotational speed set according to the hydraulic oil temperature is set to the super low idle rotational speed NS.
- the target rotational speed set according to the engine coolant temperature or the target rotational speed set according to the hydraulic oil temperature may be set as the correction value for the super low idle rotational speed.
- the engine cooling water temperature is detected by the water temperature sensor 41
- the configuration of the water temperature detection means is not limited to this.
- the hydraulic oil temperature is detected by the hydraulic oil temperature sensor 42
- the configuration of the oil temperature detecting means is not limited to this.
- Special setting for target speed The characteristics L2 and L3 are examples, and the target speed may be set according to the engine coolant temperature and hydraulic oil temperature depending on other characteristics.
- the engine speed when the engine speed is restored from the super low idle speed NS, when the target speed N by operating the fuel lever 8 is higher than the auto idle speed N3, The engine speed is controlled to the auto idle speed N3.
- the engine speed is controlled to be higher than the low idle speed NL and lower than the target speed N by operating the fuel lever 8, the auto idle speed It may be controlled to a rotational speed other than the number. That is, in the above-described embodiment, the set rotational speed N3 may be determined separately without performing the force automatic idle control using the set rotational speed N3 when performing the automatic idle control.
- the hydraulic actuator drive command is output by the operating lever 7, the configuration of the actuator drive command is not limited to this.
- the present invention is similarly applicable to other work vehicles having a hydraulic pump 2 driven by the engine 1 and a hydraulic actuator 5 driven by pressure oil from the hydraulic pump 2.
- a hydraulic pump 2 driven by the engine 1
- a hydraulic actuator 5 driven by pressure oil from the hydraulic pump 2.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
- Control Of Transmission Device (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/663,847 US7757486B2 (en) | 2004-09-27 | 2005-09-09 | Engine control device for work vehicle |
JP2006537665A JP4331208B2 (ja) | 2004-09-27 | 2005-09-09 | 作業車両の原動機制御装置 |
EP05781972.4A EP1801396B1 (en) | 2004-09-27 | 2005-09-09 | Engine control device for working vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004-279087 | 2004-09-27 | ||
JP2004279087 | 2004-09-27 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006035589A1 true WO2006035589A1 (ja) | 2006-04-06 |
Family
ID=36118742
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/016627 WO2006035589A1 (ja) | 2004-09-27 | 2005-09-09 | 作業車両の原動機制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7757486B2 (ja) |
EP (2) | EP2385235B1 (ja) |
JP (2) | JP4331208B2 (ja) |
WO (1) | WO2006035589A1 (ja) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008150965A (ja) * | 2006-12-14 | 2008-07-03 | Hitachi Constr Mach Co Ltd | 建設機械のエンジン制御装置 |
JP2008174096A (ja) * | 2007-01-18 | 2008-07-31 | Denso Corp | 車両用表示装置 |
WO2008147357A1 (en) | 2007-05-31 | 2008-12-04 | Caterpillar Inc. | System and method for engine load management |
US20090182475A1 (en) * | 2008-01-10 | 2009-07-16 | Komatsu Ltd. | Work vehicle |
JP2009281077A (ja) * | 2008-05-23 | 2009-12-03 | Kobelco Cranes Co Ltd | 建設機械 |
WO2010092732A1 (ja) * | 2009-02-16 | 2010-08-19 | ヤンマー株式会社 | エンジン |
JP2012097751A (ja) * | 2011-12-14 | 2012-05-24 | Komatsu Ltd | 作業機械 |
WO2012153586A1 (ja) * | 2011-05-11 | 2012-11-15 | 日立建機株式会社 | 建設機械の制御システム |
JP2018017034A (ja) * | 2016-07-28 | 2018-02-01 | 株式会社日立建機ティエラ | 建設機械 |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101508786B1 (ko) | 2008-12-23 | 2015-04-06 | 두산인프라코어 주식회사 | 건설 기계 조작 레버의 안전 조작 제어방법 |
JP5718611B2 (ja) * | 2010-10-19 | 2015-05-13 | ニチユ三菱フォークリフト株式会社 | 車両、及びその制御方法 |
JP5523368B2 (ja) * | 2011-02-10 | 2014-06-18 | 日立建機株式会社 | 作業機械の電源制御回路 |
JP5705755B2 (ja) * | 2012-01-19 | 2015-04-22 | 日立建機株式会社 | 作業機械の油圧制御装置 |
JP5882066B2 (ja) * | 2012-01-19 | 2016-03-09 | 日立建機株式会社 | 作業車両の制御装置 |
US9739243B2 (en) * | 2012-02-10 | 2017-08-22 | Ford Gloabl Technologies, LLC | Methods and systems for fuel vapor control |
CN104937179A (zh) * | 2013-01-23 | 2015-09-23 | 沃尔沃建造设备有限公司 | 用于控制工程机械的行驶速度的方法 |
GB2522050B (en) | 2014-01-13 | 2016-12-14 | Jc Bamford Excavators Ltd | A method of operating a material handling machine |
JP6389101B2 (ja) * | 2014-10-29 | 2018-09-12 | 古河ユニック株式会社 | 車両搭載型クレーンの圧油供給量制御装置およびこれを備える車両搭載型クレーン |
EP3279455B1 (en) * | 2015-03-23 | 2020-06-03 | Volvo Construction Equipment AB | Engine idling control system of construction machine |
WO2017010484A1 (ja) * | 2015-07-13 | 2017-01-19 | 住友建機株式会社 | 道路機械 |
US20170138287A1 (en) * | 2015-11-17 | 2017-05-18 | Deere-Hitachi Construction Machinery Corp. | Controlling an engine speed of a work vehicle |
JP6485391B2 (ja) * | 2016-03-11 | 2019-03-20 | 株式会社豊田自動織機 | 荷役車両 |
CN109563784B (zh) * | 2017-03-31 | 2021-11-16 | 日立建机株式会社 | 液压作业机械 |
JP6769936B2 (ja) * | 2017-08-31 | 2020-10-14 | 日立建機株式会社 | ハイブリッド作業機械 |
WO2021173940A1 (en) * | 2020-02-27 | 2021-09-02 | Cnh Industrial America Llc | System and method for heating the hydraulic fluid of an electric work vehicle |
US11434622B2 (en) * | 2020-10-27 | 2022-09-06 | Deere & Company | Hydraulic fluid temperature-dependent control of engine speeds in self-propelled work vehicles |
CN113374001B (zh) * | 2021-06-07 | 2023-01-24 | 潍柴动力股份有限公司 | 挖掘机转速控制方法及装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05214995A (ja) * | 1992-02-06 | 1993-08-24 | Toyota Motor Corp | 内燃機関のアイドル回転数制御方法 |
JPH0821285A (ja) * | 1994-07-08 | 1996-01-23 | Daihatsu Motor Co Ltd | アイドルアップ制御方法 |
JP3073896B2 (ja) * | 1994-12-05 | 2000-08-07 | 株式会社クボタ | 作業車のアクセル位置自動変更構造 |
JP2002030954A (ja) * | 2001-04-24 | 2002-01-31 | Hitachi Constr Mach Co Ltd | 油圧走行車両の原動機回転数制御装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58137043A (ja) | 1982-02-09 | 1983-08-15 | Fujitsu Ltd | 表示制御方式 |
KR100188882B1 (ko) * | 1993-06-30 | 1999-06-01 | 토니 헬샴 | 내연기관 및 유압펌프의 자동예열시스템 |
JPH11351007A (ja) | 1998-06-10 | 1999-12-21 | Hitachi Constr Mach Co Ltd | 作業車両の原動機回転数制御装置および方法 |
EP1881240B1 (en) * | 2001-01-19 | 2009-09-09 | Hitachi Construction Machinery Co., Ltd. | Failure detection device for hydraulic motor and hydraulic drive vehicle |
JP4504604B2 (ja) * | 2001-09-20 | 2010-07-14 | 本田技研工業株式会社 | 汎用エンジンの制御装置 |
US6694240B1 (en) | 2002-08-29 | 2004-02-17 | Caterpillar Inc | Control system for and method of operating a work machine |
JP4010255B2 (ja) * | 2003-02-07 | 2007-11-21 | コベルコ建機株式会社 | 建設機械の制御装置 |
JP4130599B2 (ja) | 2003-03-13 | 2008-08-06 | 株式会社東芝 | レーザ光照射装置 |
-
2005
- 2005-09-09 WO PCT/JP2005/016627 patent/WO2006035589A1/ja active Application Filing
- 2005-09-09 JP JP2006537665A patent/JP4331208B2/ja not_active Expired - Fee Related
- 2005-09-09 US US11/663,847 patent/US7757486B2/en not_active Expired - Fee Related
- 2005-09-09 EP EP11175369.5A patent/EP2385235B1/en not_active Ceased
- 2005-09-09 EP EP05781972.4A patent/EP1801396B1/en not_active Ceased
-
2008
- 2008-11-10 JP JP2008287577A patent/JP4787873B2/ja not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05214995A (ja) * | 1992-02-06 | 1993-08-24 | Toyota Motor Corp | 内燃機関のアイドル回転数制御方法 |
JPH0821285A (ja) * | 1994-07-08 | 1996-01-23 | Daihatsu Motor Co Ltd | アイドルアップ制御方法 |
JP3073896B2 (ja) * | 1994-12-05 | 2000-08-07 | 株式会社クボタ | 作業車のアクセル位置自動変更構造 |
JP2002030954A (ja) * | 2001-04-24 | 2002-01-31 | Hitachi Constr Mach Co Ltd | 油圧走行車両の原動機回転数制御装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1801396A4 * |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008150965A (ja) * | 2006-12-14 | 2008-07-03 | Hitachi Constr Mach Co Ltd | 建設機械のエンジン制御装置 |
JP2008174096A (ja) * | 2007-01-18 | 2008-07-31 | Denso Corp | 車両用表示装置 |
WO2008147357A1 (en) | 2007-05-31 | 2008-12-04 | Caterpillar Inc. | System and method for engine load management |
EP2150886A1 (en) * | 2007-05-31 | 2010-02-10 | Caterpillar, Inc. | System and method for engine load management |
EP2150886B1 (en) * | 2007-05-31 | 2015-07-22 | Caterpillar, Inc. | System and method for engine load management |
US8287433B2 (en) * | 2008-01-10 | 2012-10-16 | Komatsu Ltd. | Work vehicle |
US20090182475A1 (en) * | 2008-01-10 | 2009-07-16 | Komatsu Ltd. | Work vehicle |
JP2009281077A (ja) * | 2008-05-23 | 2009-12-03 | Kobelco Cranes Co Ltd | 建設機械 |
WO2010092732A1 (ja) * | 2009-02-16 | 2010-08-19 | ヤンマー株式会社 | エンジン |
WO2012153586A1 (ja) * | 2011-05-11 | 2012-11-15 | 日立建機株式会社 | 建設機械の制御システム |
JP2012237131A (ja) * | 2011-05-11 | 2012-12-06 | Hitachi Constr Mach Co Ltd | 建設機械の制御システム |
CN103534421A (zh) * | 2011-05-11 | 2014-01-22 | 日立建机株式会社 | 工程机械的控制系统 |
US9260838B2 (en) | 2011-05-11 | 2016-02-16 | Hitachi Construction Machinery Co., Ltd. | Control system for construction machine |
JP2012097751A (ja) * | 2011-12-14 | 2012-05-24 | Komatsu Ltd | 作業機械 |
JP2018017034A (ja) * | 2016-07-28 | 2018-02-01 | 株式会社日立建機ティエラ | 建設機械 |
Also Published As
Publication number | Publication date |
---|---|
EP1801396A4 (en) | 2009-06-17 |
JPWO2006035589A1 (ja) | 2008-05-15 |
EP2385235A3 (en) | 2012-05-02 |
JP4331208B2 (ja) | 2009-09-16 |
EP2385235B1 (en) | 2013-10-23 |
US20080254939A1 (en) | 2008-10-16 |
JP2009085225A (ja) | 2009-04-23 |
EP2385235A2 (en) | 2011-11-09 |
EP1801396A1 (en) | 2007-06-27 |
US7757486B2 (en) | 2010-07-20 |
JP4787873B2 (ja) | 2011-10-05 |
EP1801396B1 (en) | 2013-12-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4331208B2 (ja) | 作業車両の原動機制御装置 | |
US8955472B2 (en) | Work vehicle and control method for work vehicle | |
JP4651467B2 (ja) | 冷却用油圧駆動ファンの制御装置および制御方法 | |
JP3902627B2 (ja) | 建設機械の原動機制御装置 | |
JP5134238B2 (ja) | 作業車両のエンジン負荷制御装置 | |
KR101882404B1 (ko) | 건설 기계 | |
US10336338B2 (en) | Work vehicle | |
WO2019188415A1 (ja) | 作業車両 | |
JPWO2002057662A1 (ja) | 油圧モータの故障検出装置および油圧駆動車両 | |
JP4115994B2 (ja) | 建設機械の制御装置および入力トルク演算方法 | |
JP2003343325A (ja) | 作業車両 | |
JP4825006B2 (ja) | 油圧回路の制御装置 | |
JP2010163946A (ja) | 作業車両の原動機制御装置 | |
WO1992007145A1 (en) | System for controlling number of rotations of prime mover in hydraulically driven vehicle | |
JP3650100B2 (ja) | 油圧モータの故障検出装置 | |
JP2008057468A (ja) | 作業機械のエンジン制御装置 | |
JP2008057469A (ja) | 作業機械のエンジン制御装置 | |
JPH11351007A (ja) | 作業車両の原動機回転数制御装置および方法 | |
JP4064019B2 (ja) | 建設機械のエンジン制御装置 | |
JP2001295675A (ja) | 油圧走行車両 | |
JP2008144640A (ja) | 建設機械の暖機装置 | |
JP4922053B2 (ja) | 冷却ファン駆動制御装置および建設機械 | |
JP2634330B2 (ja) | 油圧駆動車両の原動機回転数制御装置 | |
JP2680744B2 (ja) | 油圧走行車両の油圧駆動装置 | |
JPH02279836A (ja) | 油圧式建設機械の原動機回転数制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KM KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NG NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU LV MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2006537665 Country of ref document: JP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2005781972 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 2005781972 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 11663847 Country of ref document: US |