JP2017085814A - 電動作業車 - Google Patents
電動作業車 Download PDFInfo
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- JP2017085814A JP2017085814A JP2015213093A JP2015213093A JP2017085814A JP 2017085814 A JP2017085814 A JP 2017085814A JP 2015213093 A JP2015213093 A JP 2015213093A JP 2015213093 A JP2015213093 A JP 2015213093A JP 2017085814 A JP2017085814 A JP 2017085814A
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- yaw rate
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- slip
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- unit
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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
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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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
-
- 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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5776—Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
-
- 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
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
-
- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/22—Yaw angle
-
- 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
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- 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
- B60L2240/461—Speed
-
- 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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- 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
- Y02T10/64—Electric machine technologies in electromobility
-
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Automation & Control Theory (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Energy (AREA)
- Sustainable Development (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
このような事情から、左右一対のモータによってそれぞれ独立して駆動される左右一対の駆動輪を備えた電動作業車において、車輪のスリップを適切に判定する技術が望まれている。
Yc=F(R1,R2)
で表される変換式:Fが、演算ヨーレート算出部51に構築されている。この変換式:Fは、実験等を通じて求めることが可能であり、演算ヨーレート算出部51内で、関数ないしはテーブルで構築することができる。
(1)上述した実施形態では、草刈走行車両は、モーアユニット3を前輪と後輪との間に配置するミッドマウント型であったが、モーアユニット3を前輪の前方に配置するフロントモーア型であってもよい。
(2)上述した実施形態では、後輪ユニット2の左駆動輪2aと右駆動輪2bとが独立して駆動可能な、いわゆるゼロターン型車両であったが、左駆動輪2aと右駆動輪2bとが差動機構によって連結されている車両であってもよい。
(3)上述した実施形態では、作業車は完全電動式の作業車として構成されていたが、ハイブリッド方式を採用してもよい。
1a :左前車輪
1b :右前車輪
2 :後輪ユニット
2a :左駆動輪
2b :右駆動輪
4 :インバータ
5 :コントローラ
5a :センサ情報処理部
5b :操作入力処理部
6 :モータ制御ユニット
9 :手動操作入力デバイス群
10 :走行車体
15 :操縦操作ユニット
15a :左操縦レバー
15b :右操縦レバー
20 :バッテリ
21 :左モータ
22 :右モータ
23 :走行駆動機構
41 :左輪給電部
42 :右輪給電部
50 :スリップ検出部
51 :演算ヨーレート算出部
52 :刈刃駆動制御部
61 :左輪速度演算部
62 :右輪速度演算部
63 :走行制御部
70 :ヨーレート検出器
71 :左回転検出センサ
72 :右回転検出センサ
73 :加速度センサ
501 :第1スリップ判定部
502 :第2スリップ判定部
Claims (5)
- 操縦操作ユニットを備えた走行車体と、
前記走行車体を対地支持する左駆動輪に回転動力を供給する左モータと、
前記走行車体を対地支持する右駆動輪に回転動力を供給する右モータと、
前記操縦操作ユニットに対する操作に基づいて、前記左モータと前記右モータとに独立した駆動信号を与えるモータ制御ユニットと、
前記走行車体の実ヨーレートを検出するヨーレート検出器と、
前記左モータないしは前記左駆動輪の回転数と前記右モータないしは前記右駆動輪の回転数とから演算ヨーレートを導出する演算ヨーレート算出部と、
前記演算ヨーレートと前記実ヨーレートとからスリップの発生を判定するスリップ検出部と、
を備えた電動作業車。 - 前記スリップ検出部は、前記実ヨーレートと前記演算ヨーレートとの差を演算し、前記差が、上限しきい値以上の場合にスリップの発生を判定する請求項1に記載の電動作業車。
- 前記スリップ検出部は、前記実ヨーレートと前記演算ヨーレートとの差の符号に基づいて、スリップが発生している駆動輪を特定する請求項1または2に記載の電動作業車。
- 前記実ヨーレートと前記演算ヨーレートとが下限しきい値以下の場合、前記走行車体の加速度を検出する加速度センサの検出結果に基づいて前記左駆動輪及び前記右駆動輪のスリップの発生を判定する請求項1から3のいずれか一項に記載の電動作業車。
- 前記実ヨーレートが前記演算ヨーレートを超える場合に、斜面走行が判定される請求項1から4のいずれか一項に記載の電動作業車。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015213093A JP6479627B2 (ja) | 2015-10-29 | 2015-10-29 | 電動作業車 |
US15/336,074 US10029571B2 (en) | 2015-10-29 | 2016-10-27 | Electric work vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015213093A JP6479627B2 (ja) | 2015-10-29 | 2015-10-29 | 電動作業車 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017085814A true JP2017085814A (ja) | 2017-05-18 |
JP6479627B2 JP6479627B2 (ja) | 2019-03-06 |
Family
ID=58638601
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015213093A Active JP6479627B2 (ja) | 2015-10-29 | 2015-10-29 | 電動作業車 |
Country Status (2)
Country | Link |
---|---|
US (1) | US10029571B2 (ja) |
JP (1) | JP6479627B2 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102094859B1 (ko) * | 2018-11-30 | 2020-04-01 | 홍익대학교 산학협력단 | 슬립 검출을 통한 모터 제어 방법 및 시스템 |
JP2020048585A (ja) * | 2019-12-27 | 2020-04-02 | ヤンマー株式会社 | 作業車両 |
US10919463B1 (en) | 2018-06-18 | 2021-02-16 | Hydro-Gear Limited Partnership | Vehicle drive and control system |
US10925216B1 (en) | 2015-02-28 | 2021-02-23 | Hydro-Gear Limited Partnership | Lawn tractor with electronic drive and control system |
Families Citing this family (12)
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US9867331B1 (en) | 2014-10-28 | 2018-01-16 | Hydro-Gear Limited Partnership | Utility vehicle with onboard and remote control systems |
JP6559112B2 (ja) * | 2016-11-25 | 2019-08-14 | 本田技研工業株式会社 | 作業機 |
JP2019106786A (ja) * | 2017-12-12 | 2019-06-27 | 株式会社クボタ | 電動作業車 |
EP3867096A1 (en) * | 2018-10-17 | 2021-08-25 | Mtd Products Inc. | Adjustable seat assembly for a lawn maintenance vehicle |
JP7390998B2 (ja) * | 2020-09-16 | 2023-12-04 | 株式会社クボタ | 草刈装置 |
US11993323B2 (en) * | 2021-09-03 | 2024-05-28 | Firefly Automatix, Inc. | Steering system for a mower |
CN115782606A (zh) * | 2021-09-10 | 2023-03-14 | 中国科学院深圳先进技术研究院 | 基于脉冲神经网络的小车轮速自调控方法及自调控*** |
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USD1014569S1 (en) | 2022-04-01 | 2024-02-13 | Amos Power, Inc. | Robotic vehicle |
USD1014573S1 (en) | 2022-04-01 | 2024-02-13 | Amos Power, Inc. | Removable track unit for a robotic vehicle |
US11547035B1 (en) | 2022-05-24 | 2023-01-10 | Amos Power, Inc. | Lift assist for an electrically driven hitch on an robotic vehicle |
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2015
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-
2016
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JPH10103985A (ja) * | 1996-09-30 | 1998-04-24 | Honda Motor Co Ltd | 方向検出装置 |
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10925216B1 (en) | 2015-02-28 | 2021-02-23 | Hydro-Gear Limited Partnership | Lawn tractor with electronic drive and control system |
US10919463B1 (en) | 2018-06-18 | 2021-02-16 | Hydro-Gear Limited Partnership | Vehicle drive and control system |
US10926768B1 (en) | 2018-06-18 | 2021-02-23 | Hydro-Gear Limited Partnership | Vehicle drive and control system |
US11427203B1 (en) | 2018-06-18 | 2022-08-30 | Hydro-Gear Limited Partnership | Vehicle drive and control system |
US11833985B1 (en) | 2018-06-18 | 2023-12-05 | Hydro-Gear Limited Partnership | Vehicle drive and control system |
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JP2020048585A (ja) * | 2019-12-27 | 2020-04-02 | ヤンマー株式会社 | 作業車両 |
Also Published As
Publication number | Publication date |
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US10029571B2 (en) | 2018-07-24 |
JP6479627B2 (ja) | 2019-03-06 |
US20170120755A1 (en) | 2017-05-04 |
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