WO2022254891A1 - ダンプトラック - Google Patents
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- WO2022254891A1 WO2022254891A1 PCT/JP2022/013331 JP2022013331W WO2022254891A1 WO 2022254891 A1 WO2022254891 A1 WO 2022254891A1 JP 2022013331 W JP2022013331 W JP 2022013331W WO 2022254891 A1 WO2022254891 A1 WO 2022254891A1
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- Prior art keywords
- hydraulic pressure
- valve
- hydraulic
- brake pedal
- dump truck
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- 230000001172 regenerating effect Effects 0.000 claims abstract description 20
- 230000009467 reduction Effects 0.000 claims abstract description 7
- 230000002093 peripheral effect Effects 0.000 claims description 51
- 230000001133 acceleration Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 230000004048 modification Effects 0.000 description 7
- 238000012986 modification Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 239000004576 sand Substances 0.000 description 3
- 239000002783 friction material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
- B60T8/17616—Microprocessor-based systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/102—Indicating wheel slip ; Correction of wheel slip of individual wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
- B60L3/108—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels whilst braking, i.e. ABS
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
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- B60L2240/26—Vehicle weight
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- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/465—Slip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
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- B60T2270/603—ASR features related thereto
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to a dump truck with two brake pedals.
- the dump truck of Patent Document 1 includes a plurality of rear wheels (driving wheels) driven by an electric motor, a plurality of front wheels (driven wheels), a retard brake pedal that can be operated by the driver, and an operation of the retard brake pedal.
- a controller that performs regenerative control of the electric motor and generates braking torque on the rear wheel side, a service brake pedal that can be operated by the driver, and a service brake pedal that operates according to the operation of the service brake pedal and generates braking torque on the rear wheel side.
- a front wheel brake (driven wheel brake) that operates according to the operation of the service brake pedal and generates braking torque on the front wheel side.
- Dump trucks for example, run in mines and transport excavated ore and sand.
- the loading condition of the dump truck bed and the condition of the mine road change, and the ratio of the load borne by the front and rear wheels of the dump truck also changes.
- the dump truck descends the roadway, the dump truck leans forward, increasing the load on the front wheels and decreasing the load on the rear wheels.
- the load on the rear wheels is small. In such a case, the rear wheels are likely to slip. If the road conditions are poor due to the weather, the rear wheels are more likely to slip.
- the front wheel brakes and rear wheel brakes described above are, for example, hydraulic brakes, and the more frequently they are used, the more the shoe (friction material) deteriorates. Therefore, generally, the driver operates the retard brake pedal during normal braking, and operates the service brake pedal during emergency braking. However, when the rear wheel slips during normal braking (that is, when the driver operates the retard brake pedal and does not operate the service brake pedal), the driver increases the operation amount of the retard brake pedal. Alternatively, additional operation of the service brake pedal promotes slippage of the rear wheels.
- the present invention has been made in view of the above problems, and its object is to reduce the braking torque on the drive wheel side by the electric motor to avoid locking of the drive wheels when the drive wheels slip. Another object of the present invention is to provide a dump truck capable of securing braking torque for the entire vehicle by generating braking torque on the driven wheel side by means of a driven wheel brake.
- the present invention provides a driving wheel, a driven wheel, an electric motor for driving the driving wheels, an inverter for controlling the electric motor, and a driver-operable driving wheel.
- a first brake pedal a controller that outputs a regenerative torque command value for generating a braking torque corresponding to the amount of operation of the first brake pedal to the inverter and regeneratively controls the electric motor, and a driver.
- a second brake pedal that can be operated; a hydraulic valve that generates hydraulic pressure corresponding to the amount of operation of the second brake pedal; and a plurality of driven wheel brakes provided on each of the driven wheels and operated in accordance with the hydraulic pressure of the hydraulic valve, wherein the peripheral speed of the plurality of driven wheels is A plurality of drive wheel peripheral speed sensors for detecting each, an electromagnetic proportional valve for generating hydraulic pressure, and a high pressure selection valve for selecting and outputting the higher one of the hydraulic pressure of the hydraulic valve and the hydraulic pressure of the electromagnetic proportional valve. wherein the controller determines slip ratios of the plurality of drive wheels based on detection results of the plurality of drive wheel peripheral speed sensors when the first brake pedal is operated and the second brake pedal is not operated.
- the electromagnetic proportional valve when it is determined that the slip ratio of at least one of the drive wheels is a predetermined value or more, the regenerative torque command value is reduced, and braking torque corresponding to the reduction amount is output to the electromagnetic proportional valve, the electromagnetic proportional valve generates hydraulic pressure corresponding to the drive command value, and the plurality of driven wheel brakes are controlled by the high pressure selection valve Operates according to selected hydraulic pressure.
- the braking torque on the driven wheel side is generated by the driven wheel brake while the braking torque on the driving wheel side by the electric motor is reduced to avoid locking of the driving wheels.
- the braking torque of the entire vehicle can be secured.
- FIG. 1 is a diagram showing the configuration of a travel system for a dump truck according to a first embodiment of the present invention
- FIG. 4 is a flow chart showing processing contents of a controller in the first embodiment of the present invention
- FIG. 10 is a flow chart showing processing contents of a controller in the second embodiment of the present invention
- FIG. 10 is a diagram showing the configuration of a travel system for a dump truck according to a third embodiment of the present invention
- FIG. 10 is a flow chart showing processing contents of a controller in the first modified example of the present invention
- FIG. FIG. 10 is a diagram showing a part of the configuration of a traveling system for a dump truck in a second modified example of the present invention
- It is a figure showing the operation range of the retard brake pedal in the 3rd modification of this invention.
- FIG. 1 is a side view showing the structure of the dump truck in this embodiment.
- the dump truck of this embodiment runs, for example, in a mine and transports excavated ore and sand.
- the dump truck includes a vehicle body frame 1, a loading platform 3 rotatably supported via a support shaft 2 at the rear portion of the vehicle body frame 1, a hoist cylinder 4 for rotating the loading platform 3, and a front portion of the vehicle body frame 1. , a plurality of rear wheels 6 attached to the rear side of the body frame 1, and a plurality of front wheels 7 attached to the front side of the body frame 1.
- the rear wheels 6 are driving wheels and the front wheels 7 are driven wheels.
- the loading platform 3 is loaded with cargo such as ore and sand as shown.
- the loading platform 3 rotates about the support shaft 2 (more specifically, the front end of the loading platform 3 rises and tilts) to discharge the load.
- a driver's seat (not shown) where the driver sits, an accelerator pedal (not shown) that the driver can operate, a retard brake pedal 8 (see FIG. 2 described later), and a service brake A pedal 9 (see FIG. 2, which will be described later) is arranged.
- the accelerator pedal is operated by the driver when he wants to start or accelerate the dump truck.
- the retard brake pedal 8 is operated by the driver when he wants to perform normal braking of the dump truck.
- the service brake pedal 9 is operated by the driver when he/she wants to brake the dump truck in an emergency.
- FIG. 2 is a diagram showing the configuration of the traveling system of the dump truck in this embodiment.
- the dump truck traveling system of this embodiment includes left and right electric motors 10 , inverters 11 , resistors 12 , and controllers 13 in addition to the accelerator pedal and retard brake pedal (first brake pedal) 8 described above.
- the left and right electric motors 10 drive the left and right rear wheels 6, respectively.
- the controller 13 is composed of, for example, a CPU, a ROM, a RAM, and the like.
- the accelerator pedal has a potentiometer (not shown) that detects its operation amount, and outputs the detected operation amount to the controller 13 .
- the retard brake pedal 8 has a potentiometer (not shown) for detecting the amount of operation, and outputs the detected amount of operation to the controller 13 .
- the controller 13 outputs to the inverter 11 a driving torque command value corresponding to (specifically, for example, proportional to) the amount of operation of the accelerator pedal to drive and control the electric motor 10 .
- the inverter 11 controls power supplied to the electric motor 10 using power supplied from a generator (not shown) driven by an engine (not shown). As a result, the driving torque of the rear wheels by the electric motor 10 is controlled.
- the controller 13 outputs to the inverter 11 a regenerative torque command value for generating braking torque corresponding to (specifically, for example, proportional to) the amount of operation of the retard brake pedal 8 to regenerate the electric motor 10. control.
- the inverter 11 operates the electric motor 10 as a generator and controls electric power generated by the electric motor 10 . Thereby, the braking torque for the rear wheels by the electric motor 10 is controlled. Note that the inverter 11 supplies the power generated by the electric motor 10 to the resistor 12 for consumption.
- the dump truck traveling system of the present embodiment includes a hydraulic pump 14, a hydraulic valve 15, a plurality of rear wheel brakes (drive wheel brakes) 16, and a plurality of front wheel brake (driven wheel brake) 17. Further, as features of this embodiment, an electromagnetic proportional valve 18, a high pressure selection valve 19, a plurality of rear wheel peripheral speed sensors (drive wheel peripheral speed sensors) 20, and a plurality of front wheel peripheral speed sensors (driven wheel peripheral speed sensors) 21 Prepare.
- the hydraulic valve 15 is, for example, a mechanically operated valve and is operated by operating the service brake pedal 9.
- the hydraulic pressure corresponding to (in detail, for example, proportional to) the operation amount of the service brake pedal 9 is generated, and the plurality of rear wheel brakes 16 and the high pressure selection valve 19 are generated.
- Output to The plurality of rear wheel brakes 16 are a plurality of hydraulic brakes provided on the plurality of rear wheels 6 respectively, and are operated by the hydraulic pressure of the hydraulic valves 15 .
- Hydraulic brakes for example, consist of a disk that rotates together with the wheel and a hydraulic cylinder that presses a shoe (friction material) against the disk, and produces friction torque (braking torque) according to the pressing force of the shoe. Occur.
- the electromagnetic proportional valve 18 is operated by a drive command (electrical signal) from the controller 13.
- a drive command electric signal
- the hydraulic pressure corresponding to the drive command value (electrical signal value) from the controller 13 is generated and output to the high pressure selection valve 19 .
- the high pressure selection valve 19 selects the higher one of the hydraulic pressure of the hydraulic valve 15 and the hydraulic pressure of the electromagnetic proportional valve 18 and outputs it to the plurality of front wheel brakes 17 .
- a plurality of front wheel brakes 17 are a plurality of hydraulic brakes respectively provided on the plurality of front wheels 7 and operated by hydraulic pressure selected by the high pressure selection valve 19 .
- the service brake pedal 9 has a potentiometer (not shown) for detecting the amount of operation thereof, and outputs the detected amount of operation to the controller 13 .
- a plurality of rear wheel peripheral speed sensors 20 respectively detect peripheral speeds vr of the plurality of rear wheels 6 and output them to the controller 13 .
- the peripheral velocity v r of each rear wheel 6 is represented by (radius R r of rear wheel 6 ) ⁇ (rotational angular velocity ⁇ r of rear wheel 6 ).
- a plurality of front wheel peripheral speed sensors 21 respectively detect peripheral speeds vf of the plurality of front wheels 7 and output them to the controller 13 .
- the peripheral velocity v f of each front wheel 7 is represented by (radius R f of front wheel 7 ) ⁇ (rotational angular velocity ⁇ f of front wheel 7 ).
- the controller 13 is in a state in which the retard brake pedal 8 is operated and the service brake pedal 9 is not operated based on the operation amount of the retard brake pedal 8 and the operation amount of the service brake pedal detected by the potentiometer. determine whether When it is determined that the retard brake pedal 8 is operated and the service brake pedal 9 is not operated, a slip of the rear wheel 6 occurs based on the detection results of the plurality of rear wheel peripheral speed sensors 20 and the like. determine whether it did. Then, when it is determined that the rear wheels 6 have slipped, the regenerative torque command value of the inverter 11 is reduced.
- the controller 13 outputs to the electromagnetic proportional valve 18 a drive command value for generating braking torque corresponding to the reduction amount of the regenerative torque command value.
- the hydraulic pressure generated by the electromagnetic proportional valve 18 is output to the front wheel brake 17 via the high pressure selection valve 19. and the front wheel brake 17 is activated.
- FIG. 3 is a flow chart showing the processing content of the controller in this embodiment.
- the controller 13 determines whether the retard brake pedal 8 is operated and the service brake pedal 9 is not operated based on the amount of operation of the retard brake pedal 8 and the amount of operation of the service brake pedal detected by the potentiometer. is determined (step S1).
- step S3 When the controller 13 determines that the retard brake pedal 8 is operated and the service brake pedal 9 is not operated, the rear wheel peripheral speed sensors 20 and the front wheel peripheral speed sensors 21 detect The maximum value of the peripheral speeds is set as the estimated value V of the vehicle speed (step S2). Then, as shown by the following formula (1), the slip ratio ⁇ Calculate r (step S3).
- the controller 13 determines whether or not the slip ratio ⁇ r of each rear wheel 6 is equal to or greater than a predetermined value (specifically, for example, a preset value within the range of 0.1 to 0.4) (step S4 ).
- a predetermined value specifically, for example, a preset value within the range of 0.1 to 0.4
- the regenerative torque command value of the inverter 11 is reduced.
- Step S5 the regenerative torque command value of the inverter 11 is reduced.
- Step S6 outputs a drive command value for generating braking torque corresponding to the amount of reduction to the electromagnetic proportional valve 18.
- the controller 13 reduces the regenerative torque command value by a predetermined amount, and after a predetermined period of time has elapsed, determines again whether the slip ratios ⁇ r of the rear wheels 6 are equal to or greater than the predetermined value. Then, when it is determined again that the slip ratio ⁇ r of at least one rear wheel 6 is equal to or greater than the predetermined value, the regenerative torque command value is further reduced by a predetermined amount, and after the lapse of a predetermined time, the plurality of rear wheels 6 is determined again as to whether or not the slip ratio ⁇ r of is greater than or equal to the predetermined value. Repeat this process.
- the controller 13 maintains the regenerative torque command value or reduces the regenerative torque command value when it is determined that the slip ratios ⁇ r of all the rear wheels 6 are less than the predetermined value after the elapse of the predetermined time. Gradually increase and restore.
- the controller 13 outputs to the electromagnetic proportional valve 18 a drive command value for generating the braking torque ⁇ T corresponding to the reduction amount of the regenerative torque command value.
- the electromagnetic proportional valve 18 generates the hydraulic pressure P corresponding to the drive command value from the controller 13 .
- the retard brake pedal 8 is operated and the service brake pedal 9 is not operated as described above, although the hydraulic pressure of the electromagnetic proportional valve 18 is generated, the hydraulic pressure of the hydraulic valve 15 is not generated. do not have. Therefore, the plurality of front wheel brakes 17 are operated by the hydraulic pressure P of the electromagnetic proportional valve 18 selected by the high pressure selection valve 19 .
- the state where only the braking torque on the rear wheel side by the electric motor 10 is obtained before the slip of the rear wheel 6 occurs is changed to the braking torque on the rear wheel side by the electric motor 10 after the slip of the rear wheel 6 occurs.
- the state shifts to a state in which braking torque on the front wheel side is obtained by the front wheel brake 17 .
- the braking torque ⁇ T corresponding to the reduction amount of the regenerative torque command value described above is represented by the following formula (2)
- the braking torque Tb of each front wheel brake 17 is represented by the following formula (3)
- the hydraulic pressure P of the electromagnetic proportional valve 18 is represented by the following formula (4).
- n is the number of front wheel brakes
- ⁇ is the friction coefficient of the shoe
- P is the working oil pressure of the hydraulic cylinder
- r is the radius of the piston of the hydraulic cylinder
- R is the effective radius of the portion of the shoe that is pressed against the disc
- N is the number of shoes.
- FIG. 4 is a flow chart showing the processing content of the controller in this embodiment. Note that the description of the parts equivalent to those of the first embodiment will be omitted.
- the controller 13 determines whether the retard brake pedal 8 is operated and the service brake pedal 9 is not operated based on the operation amount of the retard brake pedal 8 and the operation amount of the service brake pedal 9 detected by the potentiometer. It is determined whether or not (step S1).
- step S7 When the controller 13 determines that the retard brake pedal 8 is operated and the service brake pedal 9 is not operated, the controller 13 generates a braking torque T corresponding to the amount of operation of the retard brake pedal 8. A theoretical value V i of the vehicle speed in the case where the vehicle speed is equal to 0 is calculated (step S7).
- the deceleration a of the vehicle has the braking torque T as a parameter
- the theoretical value V i of the vehicle speed is reduced
- a time integral value of velocity a is used as a parameter.
- M in the formula is the gross vehicle weight, which is a set value (average value) in this embodiment.
- the controller 13 stores in advance the peripheral speed detected by the rear wheel peripheral speed sensor 20 or the front wheel peripheral speed sensor 21 as the vehicle speed V0 at time t0 . Then, the theoretical value Vi of the vehicle speed is calculated by subtracting the time integral value of the deceleration a from the vehicle speed V0 , as shown in the above equation (6).
- the controller 13 determines the larger of the maximum value of the peripheral speeds detected by the plurality of rear wheel peripheral speed sensors 20 and the plurality of front wheel peripheral speed sensors 21 and the above-described theoretical value Vi of the vehicle speed as the vehicle speed. is set to the estimated value V of (step S8). Subsequent processing (steps S3 to S6) is the same as in the first embodiment, and description thereof is omitted.
- the accuracy of the estimated value V of the vehicle speed can be improved, and the accuracy of determination of the slip of the rear wheels 6 can be improved as compared with the first embodiment.
- FIG. 5 is a diagram showing the configuration of the traveling system of the dump truck in this embodiment.
- symbol is attached
- the dump truck traveling system of the present embodiment includes an acceleration sensor 22 that detects vehicle acceleration (deceleration a in detail), and a load weight sensor 23 that detects the vehicle load weight (load weight in detail). Further prepare.
- the controller 13 of this embodiment controls the total vehicle weight calculated based on the braking torque T corresponding to the operation amount of the retard brake pedal 8, the deceleration a detected by the acceleration sensor 22, and the detection value of the load weight sensor 23.
- step S7 in FIG. 4 described above the controller 13 calculates the theoretical value V i is calculated (step S7 in FIG. 4 described above).
- steps S1, S8, and S3 to S6 in FIG. 4 described above are the same as those in the second embodiment, and description thereof will be omitted.
- the accuracy of the estimated value V of the vehicle speed can be increased to improve the accuracy of determining the slippage of the rear wheels 6 .
- the controller 13 outputs the drive command value to the electromagnetic proportional valve 18 (after step S6), and then determines whether the front wheels 7 have slipped.
- step S6 the controller 13 outputs the drive command value to the electromagnetic proportional valve 18 (after step S6), and then determines whether the front wheels 7 have slipped.
- the controller 13 of this modification calculates the speed of each front wheel 7 based on the peripheral speed vf of each front wheel 7 detected by each front wheel peripheral speed sensor 21 and the estimated value V of the vehicle speed, as shown in the following equation (7).
- a slip ratio ⁇ f is calculated (step S9).
- the controller 13 determines whether or not the slip ratio ⁇ f of each front wheel 7 is equal to or greater than a predetermined value (more specifically, a value preset within the range of 0.1 to 0.4, for example) (step S10). .
- a predetermined value more specifically, a value preset within the range of 0.1 to 0.4, for example.
- the drive command value of the electromagnetic proportional valve 18 is reduced. (Step S11). As a result, the braking torque on the front wheel side by the front wheel brake 17 can be reduced, and locking of the front wheel 7 can be avoided.
- the dump truck has a plurality of rear wheel brakes 16 operated by the hydraulic pressure (working hydraulic pressure) of the hydraulic valve 15 and the hydraulic pressure (working hydraulic pressure) selected by the high pressure selection valve 19.
- a case in which a plurality of actuated front wheel brakes 17 are provided has been described as an example, the present invention is not limited to this. That is, it is sufficient that the plurality of front wheel brakes 17 are operated according to the hydraulic pressure selected by the high pressure selection valve 19 .
- the dump truck uses the discharge pressure of the pilot pump 24 as the source pressure, and the hydraulic valve 15 that generates the hydraulic pressure (pilot hydraulic pressure) corresponding to the operation amount of the service brake pedal 9.
- a first hydraulic control valve 25 that is operated by the hydraulic pressure of the hydraulic valve 15 and generates working hydraulic pressure using the discharge pressure of the hydraulic pump 14 as the source pressure
- An electromagnetic proportional valve 18 that generates hydraulic pressure (pilot hydraulic pressure) corresponding to the drive command value from the controller 13 using the discharge pressure of the brake 16 and the pilot pump 24 as the source pressure, and the hydraulic pressure of the hydraulic valve 15 and the hydraulic pressure of the electromagnetic proportional valve 18.
- a high pressure selection valve 19 that selects and outputs the higher one of the hydraulic pressures, and a second hydraulic pressure that is operated by the hydraulic pressure selected by the high pressure selection valve 19 and generates working hydraulic pressure using the discharge pressure of the hydraulic pump 14 as the source pressure.
- a control valve 26 and a front wheel brake 17 operated by the hydraulic pressure of the second hydraulic control valve may be provided. Thereby, the size of the rear wheel brake 16 and the front wheel brake 17 may be increased.
- the dump truck has been described as an example in which only the regenerative control of the electric motor 10 is performed according to the operation of the retard brake pedal 8, but this is not the case. Not limited.
- the plurality of rear wheel brakes 16 and the plurality of front wheel brakes 17 may be operated.
- the controller 13 outputs to the inverter 11 a regenerative torque command value for generating a braking torque corresponding to the operation amount of the retard brake pedal 8 over the entire operation amount, thereby regeneratively controlling the electric motor 10.
- Hydraulic valve 15 or another hydraulic valve is actuated by operation of the retard brake pedal 8 when the amount of operation exceeds a threshold value.
- the hydraulic pressure generated by the hydraulic valve 15 or other hydraulic valves described above is output to a plurality of rear wheel brakes 16 and high pressure selection valves 19, as in the first embodiment, or alternatively, as in the second modification. Similarly, it is output to the first hydraulic control valve 25 and the high pressure selection valve 19 . According to this modified example, it is possible to enhance safety.
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Abstract
Description
7 前輪(従動輪)
8 リタードブレーキペダル(第1のブレーキペダル)
9 サービスブレーキペダル(第2のブレーキペダル)
10 電動モータ
11 インバータ
13 コントローラ
15 油圧弁
16 後輪ブレーキ(駆動輪ブレーキ)
17 前輪ブレーキ(従動輪ブレーキ)
18 電磁比例弁
19 高圧選択弁
20 後輪周速度センサ(駆動輪周速度センサ)
21 前輪周速度センサ(従動輪周速度センサ)
22 加速度センサ
23 積載重量センサ
25 第1の油圧制御弁
26 第2の油圧制御弁
Claims (8)
- 複数の駆動輪と、
複数の従動輪と、
前記複数の駆動輪を駆動する電動モータと、
前記電動モータを制御するインバータと、
運転者が操作可能な第1のブレーキペダルと、
前記第1のブレーキペダルの操作量に対応する制動トルクを発生させるための回生トルク指令値を前記インバータへ出力して前記電動モータを回生制御させるコントローラと、
運転者が操作可能な第2のブレーキペダルと、
前記第2のブレーキペダルの操作量に対応する油圧を生成する油圧弁と、
前記複数の駆動輪にそれぞれ設けられ、前記油圧弁の油圧に応じて作動する複数の駆動輪ブレーキと、
前記複数の従動輪にそれぞれ設けられ、前記油圧弁の油圧に応じて作動する複数の従動輪ブレーキとを備えたダンプトラックにおいて、
前記複数の駆動輪の周速度をそれぞれ検出する複数の駆動輪周速度センサと、
油圧を生成する電磁比例弁と、
前記油圧弁の油圧と前記電磁比例弁の油圧のうちの高い方を選択して出力する高圧選択弁とを更に備え、
前記コントローラは、
前記第1のブレーキペダルが操作され且つ前記第2のブレーキペダルが操作されない場合に、前記複数の駆動輪周速度センサの検出結果に基づき、前記複数の駆動輪のスリップ率が所定値以上であるかどうかを判定し、
少なくとも1つの前記駆動輪のスリップ率が所定値以上であると判定したときに、前記回生トルク指令値を低減し、その低減量に相当する制動トルクを発生させるための駆動指令値を前記電磁比例弁へ出力しており、
前記電磁比例弁は、前記駆動指令値に対応する油圧を生成し、
前記複数の従動輪ブレーキは、前記高圧選択弁で選択された油圧に応じて作動することを特徴とするダンプトラック。 - 請求項1に記載のダンプトラックにおいて、
前記複数の従動輪の周速度をそれぞれ検出する複数の従動輪周速度センサを更に備え、
前記コントローラは、前記複数の駆動輪周速度センサ及び前記複数の従動輪周速度センサで検出された周速度のうちの最大値を車両速度の推定値として設定し、前記駆動輪周速度センサで検出された前記駆動輪の周速度と前記車両速度の推定値によって前記駆動輪のスリップ率を演算することを特徴とするダンプトラック。 - 請求項1に記載のダンプトラックにおいて、
前記複数の従動輪の周速度をそれぞれ検出する複数の従動輪周速度センサを更に備え、
前記コントローラは、前記第1のブレーキペダルの操作量に対応する制動トルクを発生させた場合の車両速度の理論値を演算し、前記複数の駆動輪周速度センサ及び前記複数の従動輪周速度センサで検出された周速度のうちの最大値と前記車両速度の理論値とのいずれか大きい方を前記車両速度の推定値に設定することを特徴とするダンプトラック。 - 請求項3に記載のダンプトラックにおいて、
車両加速度を検出する加速度センサと、
車両積載重量を検出する積載重量センサとを更に備え、
前記コントローラは、前記第1のブレーキペダルの操作量と前記加速度センサ、前記積載重量センサ、及び前記従動輪周速度センサの検出結果に基づいて、前記車両速度の理論値を演算することを特徴とするダンプトラック。 - 請求項2~4のいずれか1項に記載のダンプトラックにおいて、
前記コントローラは、
前記電磁比例弁へ前記駆動指令値を出力した後、前記複数の従動輪周速度センサの検出結果に基づき、前記複数の従動輪のスリップ率が所定値以上であるかどうかを判定し、
少なくとも1つの前記従動輪のスリップ率が所定値以上であると判定したときに、前記駆動指令値を低減することを特徴とする運搬車両。 - 請求項1に記載のダンプトラックにおいて、
前記複数の駆動輪ブレーキは、前記油圧弁の油圧によって作動し、
前記複数の従動輪ブレーキは、前記高圧選択弁で選択された油圧によって作動することを特徴とするダンプトラック。 - 請求項1に記載のダンプトラックにおいて、
前記油圧弁の油圧によって作動し、作動油圧を生成する第1の油圧制御弁と、
前記高圧選択弁で選択された油圧によって作動し、作動油圧を生成する第2の油圧制御弁とを更に備え、
前記複数の駆動輪ブレーキは、前記第1の油圧制御弁の作動油圧によって作動し、
前記複数の従動輪ブレーキは、前記第2の油圧制御弁の作動油圧によって作動することを特徴とするダンプトラック。 - 請求項1に記載のダンプトラックにおいて、
前記コントローラは、前記第1のブレーキペダルの操作量に対応する制動トルクを発生させるための回生トルク指令値を前記インバータへ出力して前記電動モータを回生制御させており、
前記油圧弁若しくは他の油圧弁は、前記第1のブレーキペダルの操作量が閾値を超える場合に、その操作量に対応する油圧を生成することを特徴とするダンプトラック。
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US18/279,111 US20240140378A1 (en) | 2021-06-02 | 2022-03-23 | Dump Truck |
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JPS6050061A (ja) * | 1983-08-30 | 1985-03-19 | Toyota Motor Corp | アンチスキッド制御方法 |
JPH0898313A (ja) * | 1994-09-21 | 1996-04-12 | Aisin Seiki Co Ltd | 電動車両の制動装置 |
JPH11245801A (ja) * | 1998-05-14 | 1999-09-14 | Akebono Brake Ind Co Ltd | 液圧制御装置 |
JP2011056969A (ja) * | 2009-09-04 | 2011-03-24 | Toyota Motor Corp | ブレーキ制御装置 |
JP2020149325A (ja) | 2019-03-13 | 2020-09-17 | 日立建機株式会社 | ダンプトラック |
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2021
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JPS6050061A (ja) * | 1983-08-30 | 1985-03-19 | Toyota Motor Corp | アンチスキッド制御方法 |
JPH0898313A (ja) * | 1994-09-21 | 1996-04-12 | Aisin Seiki Co Ltd | 電動車両の制動装置 |
JPH11245801A (ja) * | 1998-05-14 | 1999-09-14 | Akebono Brake Ind Co Ltd | 液圧制御装置 |
JP2011056969A (ja) * | 2009-09-04 | 2011-03-24 | Toyota Motor Corp | ブレーキ制御装置 |
JP2020149325A (ja) | 2019-03-13 | 2020-09-17 | 日立建機株式会社 | ダンプトラック |
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US20220314956A1 (en) * | 2021-03-30 | 2022-10-06 | Komatsu America Corp. | Vehicle With Antilock Braking System |
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