WO2012128181A1 - 作業車両の駆動制御装置 - Google Patents
作業車両の駆動制御装置 Download PDFInfo
- Publication number
- WO2012128181A1 WO2012128181A1 PCT/JP2012/056723 JP2012056723W WO2012128181A1 WO 2012128181 A1 WO2012128181 A1 WO 2012128181A1 JP 2012056723 W JP2012056723 W JP 2012056723W WO 2012128181 A1 WO2012128181 A1 WO 2012128181A1
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- WO
- WIPO (PCT)
- Prior art keywords
- engine
- controller
- work vehicle
- speed
- accelerator pedal
- Prior art date
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- 238000010521 absorption reaction Methods 0.000 claims description 33
- 238000006073 displacement reaction Methods 0.000 claims description 25
- 238000001514 detection method Methods 0.000 claims description 19
- 230000002265 prevention Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 19
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 239000000446 fuel Substances 0.000 description 12
- 230000033228 biological regulation Effects 0.000 description 9
- 238000002347 injection Methods 0.000 description 8
- 239000007924 injection Substances 0.000 description 8
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 6
- 230000007423 decrease Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000994 depressogenic effect Effects 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000007935 neutral effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Images
Classifications
-
- 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2066—Control of propulsion units of the type combustion engines
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1884—Avoiding stall or overspeed of the engine
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1886—Controlling power supply to auxiliary devices
-
- 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
-
- 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
-
- 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
- B60W2520/06—Direction of travel
-
- 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
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18036—Reversing
-
- 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
Definitions
- the present invention relates to a drive control device for a work vehicle, and more particularly, to an engine stall prevention means suitable for a work vehicle equipped with an engine in which a fuel injection amount is narrowed in accordance with exhaust gas regulations.
- the travel driving force may decrease and the work vehicle may run backward due to its own weight.
- the forward / reverse command means is operated during forward travel to select reverse travel, or during reverse travel, the forward / backward command means is selected to select forward travel, and the accelerator pedal is depressed. It is often done by adjusting the amount to adjust the braking force without operating the brake pedal. In such a situation, the load due to its own weight or inertia acts on the engine via the tire, transmission and torque converter, so when the accelerator pedal is operated to return, the engine output torque is more than the load acting on the engine. It drops, and in the worst case it is stalled.
- a torque converter-driven work vehicle drives a hydraulic pump by an engine and drives the front working machine such as a steering mechanism and a loader with the energy of the pressure oil discharged from the hydraulic pump.
- the driving of the front work machine is also an engine load. For example, when the target engine speed is set to a low idle engine speed, if a high hydraulic load operation such as “lifting the loader while turning the steering wheel” is performed, the engine It becomes easy to do. Such a problem becomes particularly prominent in a work vehicle equipped with an exhaust gas regulation-compliant engine with a narrow fuel injection amount.
- the engine stall prevention technology for in-vehicle engines is to determine whether the work vehicle is in a reverse running state or a non-reverse running state, and when it is in a reverse running state, the engine rotation speed is more automatic than in the non-reverse running state.
- a technique for increasing the cost is proposed (for example, see Patent Document 1).
- a technology that automatically reduces the absorption torque of a variable displacement hydraulic pump driven by the engine when the engine speed is detected and it is determined that the engine speed has dropped below a predetermined threshold. For example, see Patent Document 2.
- the prime mover control device for the work vehicle described in Patent Document 1 is configured to increase the target engine speed and prevent engine stall when it is determined that the work vehicle is in the reverse running state, It is difficult to prevent engine stall when the engine load increases rapidly, such as when the forward / reverse command means is operated to switch from forward travel to reverse travel or from reverse travel to forward travel.
- the prime mover control device for a work vehicle described in Patent Literature 1 is configured to prevent engine stall by uniformly increasing the target engine speed regardless of the magnitude of the load actually acting on the engine. If the engine load is larger than the engine torque corresponding to the target engine speed with the increment added, the engine stall cannot be prevented and any load conditions acting on the in-vehicle engine are taken into consideration. If the target engine speed increment is set high so that the engine does not stall, wasteful fuel consumption increases, which is contrary to the purpose of exhaust gas regulations.
- the engine load control device for a work vehicle described in Patent Document 2 reduces the absorption torque of the variable displacement hydraulic pump when the engine rotation speed falls below a threshold value due to a hydraulic load acting on the work vehicle. Therefore, it is difficult to prevent engine stall when forward / reverse switching during traveling is performed simultaneously with an increase in hydraulic load.
- the present invention has been made in view of such problems of the prior art, and the object of the present invention is to reliably prevent engine stall even when a large load suddenly acts on the in-vehicle engine.
- An object of the present invention is to provide a drive control device for a work vehicle that is excellent in environmental performance.
- the present invention provides a controller that controls drive control of a work vehicle, engine load factor detection means that outputs an engine load factor signal to the controller, and a forward / reverse switching signal of the work vehicle to the controller.
- a forward / reverse command means for outputting, an accelerator operation amount detecting means for outputting an accelerator pedal signal corresponding to an operation amount of an accelerator pedal to the controller, and a vehicle speed detecting means for outputting a vehicle speed signal of a work vehicle to the controller.
- the controller stores in advance whether or not the forward / reverse switching signal from the forward / reverse command means has been received and the vehicle speed of the work vehicle detected by the vehicle speed detection means.
- the vehicle speed of the work vehicle is determined, and it is determined that the forward / reverse switching signal has been received.
- a target engine rotation speed command obtained by adding an increment of the target engine rotation speed for preventing engine stall to the target engine rotation speed set according to the accelerator pedal signal, It is given to an engine.
- the engine load increases rapidly. Therefore, when the vehicle speed of the work vehicle is low and the target engine speed applied to the engine is low, the engine load is low. It becomes easy to cause. Therefore, in such an engine load situation, a target engine speed command obtained by adding an increment of the target engine speed for preventing engine stall to the target engine speed set according to the operation amount of the accelerator pedal is output to the engine. By doing so, the engine torque can be made larger than the engine load torque, so that engine stall can be reliably prevented even in an exhaust gas regulation compliant engine.
- the controller sets an increment of the engine engine speed for preventing engine stall in accordance with an engine load factor fetched from the engine load factor detecting means. It is characterized by that.
- the controller sets first and second set values for the engine load factor fetched from the engine load factor detection means, and detects the engine load factor.
- the increment of the target engine speed is set to a constant value, and is not less than the first set value and not more than the second set value. Is characterized in that the higher the engine load factor is, the larger the increment of the target engine speed is set.
- the first and second set values are set for the engine load factor, and when the engine load factor is less than the first set value, the target engine speed increment is set to a constant value, and the first set value is set.
- the value is equal to or smaller than the second set value, the engine engine can be prevented from being stalled more reliably and the fuel consumption can be significantly reduced by setting the target engine speed increment larger as the engine load factor is higher. be able to.
- a controller for controlling driving of a work vehicle, an engine speed detecting means for outputting an actual speed signal corresponding to the actual speed of the engine to the controller, A forward / reverse command means for outputting a forward / reverse switching signal of the work vehicle to the controller, an accelerator operation amount detection means for outputting an accelerator pedal signal corresponding to the operation amount of the accelerator pedal to the controller, and a variable capacity driven by the engine
- a work vehicle drive control device comprising: a hydraulic pump, and an absorption torque control means for controlling the absorption torque of the variable displacement hydraulic pump according to an absorption torque command output from the controller; A determination as to whether or not a forward / reverse switching signal has been received from the forward / reverse command means; and the accelerator pedal It is determined whether or not the signal is a signal when the accelerator pedal is not operated, and whether or not the actual rotational speed of the engine is equal to or less than a threshold value stored in advance, and it is determined that the forward / reverse command is received.
- variable torque is supplied to the absorption torque control means.
- An absorption torque command for minimizing the absorption torque of the hydraulic pump is output.
- the present invention is set according to the amount of operation of the accelerator pedal when it is determined that a forward / reverse command from the forward / reverse command means has been received and when it is determined that the vehicle speed of the work vehicle is equal to or less than a prestored threshold.
- the target engine speed command which is obtained by adding the target engine speed for preventing engine stall to the target engine speed, is given to the engine, so that the engine torque can always be greater than the engine load torque, and the fuel injection amount is The engine stall can also be reliably prevented for the exhaust gas regulation compliant engine.
- the present invention determines that the forward / reverse command from the forward / backward command means has been received, determines that the accelerator pedal signal is a signal when the accelerator pedal is not operated, and the threshold value in which the actual engine speed is stored in advance. If it is determined that the absorption torque control means outputs an absorption torque command that minimizes the absorption torque of the variable displacement hydraulic pump, the engine load torque can be reduced and the fuel injection amount is narrowed down. The engine stall can also be reliably prevented for an exhaust gas-compliant engine.
- the wheel loader 1 to which the drive control device of this example is applied includes a rear vehicle body 3 including a cab 2 and a front side of the rear vehicle body 3 via a connecting pin 4 (advance of the wheel loader 1).
- the front vehicle body 5 connected to the rear vehicle body, the rear vehicle body 3 and the wheels 6 and 7 provided on the front vehicle body 5, and the front work machine 8 attached to the front portion of the front vehicle body 5. It is configured.
- the front vehicle body 5 is configured to be able to bend in the left-right direction with respect to the rear vehicle body 3 around the connecting pin 4. Therefore, the wheel loader 1 operates a steering device (not shown) provided in the cab 2 during traveling to bend the front vehicle body 5 leftward or rightward with respect to the rear vehicle body 3, thereby changing the traveling direction. Can be changed.
- the front work machine 8 includes an arm 11 having one end connected to the front vehicle body 5 via a connecting pin 10, a bucket 13 attached to the tip of the arm 11 via a connecting pin 12, and connecting pins 14 and 15. Both ends of the lift cylinder 16 are connected to the front vehicle body 5 and the arm 11, the bell crank 18 is swingably connected to the arm 11 via a connecting pin 17, and one end is connected to the bell crank 18.
- the link member 19 is connected to the bucket 13 at the other end, and the bucket tilt cylinder 22 is connected to the front vehicle body 5 and the bell crank 18 at both ends via connecting pins 20 and 21.
- only one arm 11, connecting pins 12, 14, 15, and lift cylinder 16 are provided. However, in the actual machine, each of these members is provided on each side of the bucket 13. Provided.
- the lift cylinder 16 and the bucket tilt cylinder 22 are driven by hydraulic oil discharged from a variable displacement hydraulic pump 35 (see FIG. 2).
- a variable displacement hydraulic pump 35 see FIG. 2.
- the lift cylinder 16 can be extended and contracted, that is, the arm 11 and the bucket 13 can be raised and lowered by operating an operation device such as an operation lever provided in the cab 2.
- an operation device such as an operation lever provided in the cab 2.
- the bucket tilt cylinder 22 when the bucket tilt cylinder 22 is extended, the bucket 13 rotates upward, and when the bucket tilt cylinder 22 is contracted, the bucket 13 rotates downward.
- the expansion and contraction of the bucket tilt cylinder 22, that is, the upward rotation and the downward rotation of the bucket 13 can be performed by operating an operation device such as an operation lever provided in the cab 2.
- the rear vehicle body 3 includes an engine 31, a torque converter 32 that transmits the driving force of the engine 31 to the rear wheels 6 and the front wheels 7, a transmission 33, an axle device 34, and a variable driven by the engine 31.
- an engine based on a control signal output from the main controller 36 that controls the entire drive control of the wheel loader 1 including the engine 31 and the variable displacement hydraulic pump 35, and the engine.
- the engine controller 37 that controls the drive of the engine 31, the accelerator pedal 38, the accelerator operation amount detection means 39 that outputs a signal corresponding to the operation amount of the accelerator pedal 38, and the forward / reverse command that commands the forward / reverse switching of the wheel loader 1 Means 40 are provided.
- the engine load factor signal s1 output from the rack sensor (engine load factor detecting means) 41 provided in the fuel injection device of the engine 31 is taken into the main controller 36 through the engine controller 37.
- the main controller 36 also includes an accelerator operation amount signal s2 output from the accelerator operation amount detection means 39, a forward / reverse switching signal s3 of the wheel loader 1 output from the forward / reverse command means 40, and a vehicle speed sensor (vehicle speed detection means). 42, a vehicle speed signal s4 and a vehicle traveling direction signal s5 output from the engine 42, an actual rotation speed signal s6 of the engine 31 output from the engine rotation speed sensor (engine rotation speed detecting means) 43, and a torque converter turbine rotation sensor (torque turbine rotation detection). Means)
- the rotational speed signal s7 of the torque converter output shaft output from 44 is taken in.
- the vehicle traveling direction signal s5 can also be detected by the torque converter turbine rotation sensor 44.
- the main controller 36 is configured to include an arithmetic processing unit having a CPU, ROM, RAM, and other peripheral circuits, and a target engine speed command i1 corresponding to the operation amount of the accelerator pedal 38 and the load state of the engine 31. Is output to the engine controller 37, and the engine controller 37 is controlled so that the rotational speed of the engine 31 becomes the target engine rotational speed. Further, the main controller 36 outputs an absorption torque change command i2 to the absorption torque changing means 35a, and changes the absorption torque of the variable displacement hydraulic pump 35 to a required value according to the load state of the engine 31. Details of each of these controls will be sequentially described below.
- the engine rotation speed Na is set according to the operation amount of the accelerator pedal 38
- the target engine rotation speed Na (low idle) when the pedal is not operated is set to the minimum value Nmin
- the target engine is increased as the pedal operation amount increases.
- the rotational speed Na increases.
- the target engine speed Na when the pedal is fully depressed is the maximum value Nmax.
- the torque ratio Tr changes in accordance with a torque converter speed ratio e (output rotational speed Nt / input rotational speed Ni) which is a ratio of the rotational speed of the input shaft and the output shaft of the torque converter 32.
- the torque converter speed ratio e is a positive value when the rotational directions of the input shaft and the output shaft of the torque converter 32 are the same, and is a negative value when the rotational directions of the input shaft and the output shaft are different.
- FIG. 4 is a diagram showing the relationship between torque converter speed ratio e and torque ratio Tr.
- the torque ratio Tr decreases as the speed ratio e increases, and when the speed ratio e is 1, the torque ratio Tr becomes zero.
- the torque ratio Tr increases as the speed ratio e decreases when the speed ratio e ranges from 0 to ea, and decreases when the speed ratio e is smaller than ea. As a result, the torque ratio Tr decreases.
- the input torque of the torque converter 32 will be described by taking reverse running as an example.
- the weight of the vehicle is W
- the slope of the slope is ⁇
- the force that tries to descend the slope by its own weight is F.
- the rolling radius of the tire 6 is R
- the rolling resistance of the tire 6 is ⁇
- the total gear ratio between the transmission 33 and the axle device 34 is Gi
- the mechanical efficiency between the tires 6 and 7 and the transmission 33 is ⁇ .
- the input torque Tin increases as the vehicle's own weight W increases, the gradient angle ⁇ increases, and the torque ratio Tr decreases.
- the input torque Tin exceeds the engine output Te (Te ⁇ Tin)
- an engine stall occurs.
- the main controller 36 sets the target engine speed set according to the operation amount of the accelerator pedal 38.
- An increment ⁇ N (see FIG. 6) of the target engine speed corresponding to the engine load factor signal taken from the engine controller 37 is added to the speed Na (see FIG. 3), and the result is output to the engine controller 37.
- ⁇ N see FIG. 6
- the target engine rotation speed increment ⁇ N is not set to a constant value, but the first and second set values L1 and L2 are set for the engine load factor taken from the engine controller 37, and the engine controller 37, when the engine load factor taken in from 37 is less than the first set value L1, the increment of the target engine speed is set to a constant value, and is not less than the first set value L1 and not more than the second set value L2.
- the higher the engine load factor the larger the target engine speed increase is set.
- the rotational speed of the engine 31 is determined using the addition value of the target engine rotational speed Na corresponding to the operation amount of the accelerator pedal 38 and the engine rotational speed increment ⁇ N corresponding to the engine load factor signal as the target engine rotational speed.
- the characteristic of the engine output torque Te during normal running is as shown by the solid line in the figure, whereas the target engine rotational speed Na increases by an increment ⁇ N during reverse running.
- the characteristic of the output torque Te shifts to the right as shown by the dotted line in the figure. As a result, the engine output torque increases from T1 to T2, and engine stall can be prevented.
- step S1 signals from the various sensors 39, 41 to 44 and the switch 40 shown in FIG.
- step S2 a target engine rotational speed Na corresponding to the pedal operation amount detected by the accelerator operation amount detection means 39 is calculated based on the previously stored characteristics of FIG.
- step S3 based on the forward / reverse switching signal s3 output from the forward / reverse command means 40, it is determined whether or not the forward / reverse command means 40 is at the neutral position.
- step S4 it is determined whether or not the vehicle speed of the wheel loader 1 is equal to or less than a prestored reference value.
- step S5 it is determined whether or not the vehicle travels forward and backward based on the forward / reverse switching signal s3 output from the forward / reverse command means 40.
- step S5 If it is determined in step S5 that the forward / reverse command means 40 has been switched, or if it is determined that the wheel loader 1 is in the reverse running state (Yes), the process proceeds to step S6, and the characteristic diagram of FIG. Based on this, the engine speed increment ⁇ N is obtained.
- step S3 When it is determined in step S3 that the forward / reverse command means 40 is at the neutral position (No), or when it is determined in step S4 that the vehicle speed of the wheel loader 1 is not less than the reference value (No), the forward / reverse command means 40 is determined in step S5. Is determined not to be switched (No) or when it is determined that the speed ratio e ⁇ 1.2 (No), the process proceeds to step S8, and the operation of the accelerator pedal 38 obtained in step S2 is performed. Based on the target engine speed Na corresponding to the amount, drive control of the engine 31 is performed.
- the drive control device for a work vehicle adds the increment ⁇ N corresponding to an increase in engine load such as forward / reverse switching to the target engine speed Na corresponding to the operation amount of the accelerator pedal 38. Since the new target engine rotational speed Na is set, the output torque of the engine 31 can be increased, and engine exhaust corresponding to the exhaust gas regulation type in which the fuel injection amount is narrowed can be prevented.
- the drive control device for a work vehicle according to the present invention sets the first and second set values L1 and L2 for the engine load factor taken in from the engine controller 37, and the engine load factor taken in from the engine controller 37 is the first.
- the target engine speed increment ⁇ N is set to a constant value. Since the engine speed increment ⁇ N is set to be large, engine stall can be reliably prevented and wasteful fuel consumption can be suppressed.
- the engine rotational speed N is controlled so that the engine torque changes within a region defined by the maximum torque line. That is, when the accelerator pedal 38 is not operated, the low idle rotational speed NL is set as the target engine rotational speed Na, and the engine load fluctuates with the driving of the wheels 6 and 7 and the driving of the hydraulic cylinders 16 and 22. Then, the matching point A where the output Te of the engine 31 and the engine load are balanced moves on the regulation line FL.
- variable displacement hydraulic pump 35 is provided with the absorption torque changing means 35a, and when the engine load suddenly increases as shown by the broken line in FIG. The absorption torque of the hydraulic pump 35 is forcibly minimized.
- step S11 signals from the various sensors 39, 41 to 44 and the switch 40 shown in FIG.
- step S12 a target pump torque Pp corresponding to the actual rotational speed of the engine 31 is obtained based on the previously stored characteristics of FIG.
- the example of FIG. 11 has a characteristic that the target pump torque Pp is maximized when the actual rotational speed of the engine 31 is equal to or higher than a preset stored value N1 (for example, 950 rpm or higher).
- step S13 based on the accelerator operation amount signal s2 output from the accelerator operation amount detection means 39, it is determined whether or not the accelerator pedal 38 is in a non-operation state.
- the process proceeds to step S14, and the engine 31 is based on the actual rotation speed signal of the engine 31 output from the engine rotation speed sensor 43. It is determined whether or not the actual rotation speed is equal to or greater than a preset value N1 stored in advance.
- step S14 When it is determined in step S14 that the actual rotational speed of the engine 31 is equal to or higher than the set value N1 (Yes), the process proceeds to step S15, and based on the forward / reverse switching signal s3 output from the forward / reverse command means 40, It is determined whether the forward / reverse command means 40 has been switched.
- step S15 When it is determined in step S15 that the forward / reverse command means 40 has been switched (Yes), the process proceeds to step S16, and the target pump torque Tp is set to the minimum value shown in FIG. Next, the process proceeds to step S17, where the minimum value indicated by the target pump torque Tp is set as a new target pump torque Tp, and the target pump torque Tp is given to the variable displacement hydraulic pump 35.
- step S13 When it is determined in step S13 that the accelerator pedal 38 is in the operating state (No), or when it is determined in step S14 that the actual engine speed is smaller than the set value N1 (No), the forward / reverse command means 40 is determined in step S15. If it is determined that the switching operation has not been performed (No), the process proceeds to step S17, and drive control of the variable displacement hydraulic pump 35 is performed based on the target pump torque Tp obtained in step S12.
- FIG. 12 shows a specific example of the absorption torque changing means 35a.
- the absorption torque changing means 35a of the present embodiment inputs the discharge pressure Pp of the variable displacement hydraulic pump 35 to the pilot port of the PC valve 51 and supplies hydraulic oil corresponding to the discharge pressure Pp.
- the displacement of the variable displacement hydraulic pump 35 is controlled by supplying the servo valve 52 and changing the tilt angle of the swash plate of the variable displacement hydraulic pump 35 by the operation of the servo valve 52.
- the PC valve 51 is configured with a pressure control valve of a selective operation system, and an absorption torque change command i2 from the main controller 36 is input to the electromagnetic pilot port.
- the PC valve 51 Before the absorption torque change command i2 is output from the main controller 36, the PC valve 51 is controlled so that the product of the discharge pressure and the capacity of the variable displacement hydraulic pump 35 does not exceed a certain torque. Controls the tilt angle of the swash plate. On the other hand, when the absorption torque change command i2 is output from the main controller 36, the PC valve 51 maximizes the swash plate tilt angle of the variable displacement hydraulic pump 35 and minimizes the absorption torque of the variable displacement hydraulic pump 35. To do. As a result, the torque of the engine 31 can be increased in accordance with the hydraulic load and matched at the matching point of the high hydraulic load, so that engine stall can be prevented.
- the main controller 36 and the engine controller 37 are provided as controllers for controlling the drive of the work vehicle.
- the drive control of the work vehicle may be performed by a single controller that integrates the main controller 36 and the engine controller 37. Is possible.
- the present invention can be used for a drive control device for a work vehicle such as a wheel loader.
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- Automation & Control Theory (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
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Abstract
Description
Tout=F×R×η/Gi・・・ (2)
上記の(1)式及び(2)式より、トルコン32の入力トルクTinは、下記の(3)式のようになる。
=W×(sinθ-μ×cosθ)×R×η/(Gi×Tr)・・・ (3)
この(3)式から明らかなように、車両の自重Wが重いほど、勾配角度θが大きいほど、トルク比Trが小さいほど、入力トルクTinが増大する。入力トルクTinがエンジン出力Teを上回ると(Te<Tin)、エンストを生じることになる。
2 キャブ
3 後部車体
5 前部車体
6,7 車輪
8 フロント作業機
16 リフトシリンダ
22 バケット傾斜シリンダ
31 エンジン
32 トルコン
33 トランスミッション
34 アクスル装置
35 可変容量型油圧ポンプ
35a 吸収トルク変更手段
36 メインコントローラ
37 エンジンコントローラ
38 アクセルペダル
39 アクセル操作量検出手段
40 前後進指令手段
41 ラックセンサ
42 車速センサ
43 エンジン回転速度センサ
44 トルコンタービン回転センサ
51 PC弁
52 サーボ弁
Claims (4)
- 作業車両の駆動制御を司るコントローラと、
前記コントローラにエンジン負荷率信号を出力するエンジン負荷率検出手段と、
前記コントローラに作業車両の前後進切換信号を出力する前後進指令手段と、
前記コントローラにアクセルペダルの操作量に応じたアクセルペダル信号を出力するアクセル操作量検出手段と、
前記コントローラに作業車両の車速信号を出力する車速検出手段と
を備えた作業車両の駆動制御装置において、
前記コントローラは、前記前後進指令手段からの前後進切換信号を受信したか否かの判定と、前記車速検出手段により検出された前記作業車両の車速が予め記憶された閾値以下であるか否かの判定を行い、
前記前後進切換信号を受信したと判定し、かつ前記作業車両の車速が前記予め記憶された閾値以下であると判定した場合、前記アクセルペダル信号に応じて設定される目標エンジン回転速度にエンスト防止用の目標エンジン回転速度の増分を加えた目標エンジン回転速度指令を前記エンジンに付与することを特徴とする作業車両の駆動制御装置。 - 前記コントローラは、前記エンスト防止用の目標エンジン回転速度の増分を、前記エンジン負荷率検出手段から取り込まれるエンジン負荷率に応じて設定することを特徴とする請求項1に記載の作業車両の駆動制御装置。
- 前記コントローラは、前記エンジン負荷率検出手段から取り込まれるエンジン負荷率に関して第1及び第2の設定値を設定し、前記エンジン負荷率検出手段から取り込まれるエンジン負荷率が前記第1の設定値未満である場合には、前記目標エンジン回転速度の増分を一定値とし、前記第1の設定値以上前記第2の設定値以下である場合には、前記エンジン負荷率が高いほど前記目標エンジン回転速度の増分を大きく設定することを特徴とする請求項2に記載の作業車両の駆動制御装置。
- 作業車両の駆動制御を司るコントローラと、
前記コントローラに前記エンジンの実回転速度に応じた実回転速度信号を出力するエンジン回転速度検出手段と、
前記コントローラに作業車両の前後進切換信号を出力する前後進指令手段と、
前記コントローラにアクセルペダルの操作量に応じたアクセルペダル信号を出力するアクセル操作量検出手段と、
前記エンジンにより駆動される可変容量型油圧ポンプと、
前記コントローラから出力される吸収トルク指令に応じて前記可変容量型油圧ポンプの吸収トルクを制御する吸収トルク制御手段と
を備えた作業車両の駆動制御装置において、
前記コントローラは、前記前後進指令手段からの前後進切換信号を受信したか否かの判定と、前記アクセルペダル信号がアクセルペダル非操作時の信号であるか否かの判定と、前記エンジンの実回転速度が予め記憶された閾値以下であるか否かの判定を行い、
前記前後進指令を受信したと判定し、前記アクセルペダル信号がアクセルペダル非操作時の信号であると判定し、かつ前記エンジンの実回転速度が予め記憶された閾値以下であると判定した場合、前記吸収トルク制御手段に前記可変容量型油圧ポンプの吸収トルクを最小にする吸収トルク指令を出力することを特徴とする作業車両の駆動制御装置。
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KR1020137027187A KR20140024322A (ko) | 2011-03-18 | 2012-03-15 | 작업 차량의 구동 제어 장치 |
US14/002,074 US9043099B2 (en) | 2011-03-18 | 2012-03-15 | Drive control device for work vehicle |
CN201280013866.5A CN103429875B (zh) | 2011-03-18 | 2012-03-15 | 作业车辆的驱动控制装置 |
EP12761300.8A EP2687704B1 (en) | 2011-03-18 | 2012-03-15 | Drive control device for work vehicle |
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JP2011061175A JP5508324B2 (ja) | 2011-03-18 | 2011-03-18 | 作業車両の駆動制御装置 |
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CN112477863A (zh) * | 2019-09-12 | 2021-03-12 | 郑州宇通客车股份有限公司 | 一种车辆、扭矩输出方法及装置 |
CN114258458A (zh) * | 2019-08-07 | 2022-03-29 | 卡特彼勒公司 | 基于检测到的机械负载要求来控制机械的发动机 |
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JP6042294B2 (ja) * | 2013-09-03 | 2016-12-14 | ヤンマー株式会社 | 建設機械 |
KR102046661B1 (ko) * | 2013-10-21 | 2019-11-20 | 두산인프라코어 주식회사 | 작업기계의 엔진 회전수의 급 저하 방지 장치 및 방법 |
JP6200792B2 (ja) * | 2013-12-09 | 2017-09-20 | 株式会社Kcm | 作業車両のエンジン制御装置 |
JP6126981B2 (ja) * | 2013-12-16 | 2017-05-10 | 株式会社Kcm | 作業車両 |
EP2889433B1 (en) * | 2013-12-20 | 2019-05-01 | Doosan Infracore Co., Ltd. | System and method of controlling vehicle of construction equipment |
JP6204866B2 (ja) * | 2014-03-31 | 2017-09-27 | 日立建機株式会社 | ハイブリッド建設機械 |
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JP7001574B2 (ja) * | 2018-11-07 | 2022-01-19 | ヤンマーパワーテクノロジー株式会社 | 建設機械 |
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EP2687704B1 (en) | 2016-06-08 |
KR20140024322A (ko) | 2014-02-28 |
CN103429875A (zh) | 2013-12-04 |
EP2687704A1 (en) | 2014-01-22 |
CN103429875B (zh) | 2016-03-23 |
JP2012197696A (ja) | 2012-10-18 |
US20140005900A1 (en) | 2014-01-02 |
JP5508324B2 (ja) | 2014-05-28 |
EP2687704A4 (en) | 2015-04-08 |
US9043099B2 (en) | 2015-05-26 |
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