JP2017165262A - 作業車 - Google Patents

作業車 Download PDF

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Publication number
JP2017165262A
JP2017165262A JP2016052377A JP2016052377A JP2017165262A JP 2017165262 A JP2017165262 A JP 2017165262A JP 2016052377 A JP2016052377 A JP 2016052377A JP 2016052377 A JP2016052377 A JP 2016052377A JP 2017165262 A JP2017165262 A JP 2017165262A
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JP
Japan
Prior art keywords
electric motor
battery
pair
regenerative
current value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2016052377A
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English (en)
Inventor
隼輔 宮下
Shunsuke Miyashita
隼輔 宮下
山中　之史
Yukifumi Yamanaka
山中　　之史
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Kubota Corp
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Kubota Corp
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Publication date
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Priority to JP2016052377A priority Critical patent/JP2017165262A/ja
Priority to US15/355,522 priority patent/US10442425B2/en
Publication of JP2017165262A publication Critical patent/JP2017165262A/ja
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/354—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having separate mechanical assemblies for transmitting drive to the front or to the rear wheels or set of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/24—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/28—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the electric energy storing means, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
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    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/54—Transmission for changing ratio
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    • B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
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Abstract

【課題】電動モータの回生電力をバッテリに安定的に供給することができると共に、バッテリの充電所要時間を容易に予測することができる作業車が要望されている。【解決手段】制御装置１７は、電動モータＭの回生電力が電動モータＭの回転速度に拘わらず一定の電流値でバッテリ１３に充電される電流値一定回生制御を実行する。【選択図】図３

Description

本発明は、走行装置を駆動する電動モータの回生電力をバッテリに充電する作業車に関する。
上記のような作業車として、例えば、特許文献１に記載の作業車が既に知られている。特許文献１に記載の作業車には、左右一対の後輪を駆動するエンジンと、左右一対の前輪を駆動する電動モータ（文献では「モータジェネレータ」）と、電動モータに電力を供給するバッテリと、が備えられている。特許文献１に記載の作業車では、電動モータが発電機としても機能し、走行時に電動モータの回生電力がバッテリに充電される。
特開２００３−６１２０７号公報
特許文献１に記載の作業車では、電動モータの回生電力量がその回転速度に応じて変動すると、バッテリに供給される電動モータの回生電力量も変動する。このため、電動モータの回生電力をバッテリに安定的に供給することができず、バッテリの充電所要時間の予測も立て難い。
上記状況に鑑み、電動モータの回生電力をバッテリに安定的に供給することができると共に、バッテリの充電所要時間を容易に予測することができる作業車が要望されている。
本発明の特徴は、
左右一対の前輪と、左右一対の後輪と、を有している走行装置と、
左右一対の前記前輪及び左右一対の前記後輪のうち一方を駆動するエンジンと、
左右一対の前記前輪及び左右一対の前記後輪のうち他方を駆動する電動モータと、
前記電動モータに電力を供給するバッテリと、
前記電動モータを制御する制御装置と、を備えており、
前記制御装置は、前記電動モータの回生電力が前記電動モータの回転速度に拘わらず一定の電流値で前記バッテリに充電される電流値一定回生制御を実行することにある。
本特徴構成によれば、バッテリの電力が枯渇した場合でも、エンジンの駆動力によって車両が走行可能な状態であれば、電動モータの回生電力をバッテリに充電することができる。その際、電動モータの回生電力がその回転速度に拘わらず一定の電流値でバッテリに充電されるため、電動モータの回転速度が変動しても、電動モータの回生電力をバッテリに安定的に供給することができると共に、バッテリの充電所要時間を容易に予測することができる。
さらに、本発明において、
前記制御装置は、前記電動モータの回転速度が基準値以上である場合、前記電流値一定回生制御を実行すると好適である。
本特徴構成によれば、電動モータが基準値以上の回転速度で回転して、その回生電力が一定の高い電流値でバッテリに充電されるため、バッテリの充電所要時間を短くしながら、電動モータの回生電力をバッテリに安定的に供給することができる。
さらに、本発明において、
前記制御装置は、前進走行時及び後進走行時の何れにおいても、前記電流値一定回生制御を実行すると好適である。
本特徴構成によれば、前進走行時のみならず後進走行時にも、電動モータの回生電力がバッテリに充電されるため、バッテリの充電所要時間を短くすることができる。
ユーティリティビークルを示す左側面図である。 ユーティリティビークルを示す平面図である。 制御装置の制御ブロックを示す図である。 電動モータの回転速度とトルク指令値との関係を示す図である。
本発明を実施するための形態について、図面に基づき説明する。なお、以下の説明では、図１及び図２に示す矢印Ｆの方向を「機体前側」、矢印Ｂの方向を「機体後側」、図２に示す矢印Ｌの方向を「機体左側」、矢印Ｒの方向を「機体右側」とする。
〔ユーティリティビークルの全体構成〕
図１及び図２には、本発明に係る「作業車」に相当するユーティリティビークル（多目的車両）を示している。本ユーティリティビークルは、エンジンＥ及び電動モータＭを駆動源とするハイブリッド作業車である。本ユーティリティビークルには、機体フレーム１と、機体フレーム１を支持するホイール式の走行装置２と、が備えられている。走行装置２には、操舵可能かつ駆動可能な左右一対の前輪２Ｆと、駆動可能な左右一対の後輪２Ｂと、が備えられている。本ユーティリティビークルは、その走行モードが、エンジンＥの駆動力が左右一対の後輪２Ｂに伝達され、かつ、電動モータＭの駆動力が左右一対の前輪２Ｆに伝達される４ＷＤモードと、エンジンＥの駆動力が左右一対の後輪２Ｂに伝達され、かつ、電動モータＭの駆動力が左右一対の前輪２Ｆに伝達されない２ＷＤモードと、電動モータＭの駆動力が左右一対の前輪２Ｆに伝達され、かつ、エンジンＥの駆動力が左右一対の後輪２Ｂに伝達されないＥＶモードと、に切り替え可能である。
機体フレーム１の前後中央部には、乗員が搭乗する運転部３が設けられている。機体フレーム１の後部には、荷台４が設けられている。荷台４は、後支点で上下揺動して積載物を後方にダンプ排出可能である。荷台４の下方には、原動部５が設けられている。原動部５には、エンジンＥと、エンジンＥの駆動力を無段階に変速するベルト無段変速装置６と、ベルト無段変速装置６の変速動力を変速して走行装置２（左右一対の後輪２Ｂ）に伝達するトランスミッション７と、が備えられている。トランスミッション７には、ギヤ変速機構（図示省略）や差動機構（図示省略）が備えられている。
〔運転部〕
運転部３には、運転者が着座する運転席８や同乗者が着座する助手席９、乗員保護用のロプス１０、ステアリングハンドル１２が設けられている。その他、運転部３には、走行速度を設定するアクセルペダル１５や前記走行モードを切り替える走行モード切替スイッチ１６が設けられている（図３参照）。運転部３の下方には、左右一対の前輪２Ｆを駆動する電動モータＭや、電動モータＭに電力を供給するバッテリ１３、電動モータＭとバッテリ１３との間で電力を変換するインバータ１４が配置されている。
〔制御装置〕
図３に示すように、本ユーティリティビークルには、電動モータＭを制御する制御装置１７が備えられている。制御装置１７には、アクセルペダル１５の操作信号や走行モード切替スイッチ１６の切替信号が入力される。その他、制御装置１７には、電動モータＭの回転速度Ｎを検出する電動モータ回転速度センサ１８の検出信号が入力される。制御装置１７には、トルクマップＴＭが備えられている。
図４に示すように、トルクマップＴＭは、電動モータＭの回転速度Ｎとトルク指令値Ｔとの関係を規定している。トルクマップＴＭにおいて、横軸が電動モータＭの回転速度Ｎ、縦軸がトルク指令値Ｔを示している。トルクマップＴＭのうち第四象限Ｑ４には、前進側の回生領域における電動モータＭの回転速度Ｎとトルク指令値Ｔとの関係が、トルクマップＴＭのうち第二象限Ｑ２には、後進側の回生領域における電動モータＭの回転速度Ｎとトルク指令値Ｔとの関係が規定されている。前進側の回生領域における電動モータＭの回転速度Ｎとトルク指令値Ｔとの関係と、後進側の回生領域における電動モータＭの回転速度Ｎとトルク指令値Ｔとの関係とは、対称（原点に対して点対称）な形状となるように規定されている。なお、トルクマップＴＭのうち第一象限Ｑ１には、前進側の力行領域における電動モータＭの回転速度Ｎとトルク指令値Ｔとの関係が、トルクマップＴＭのうち第三象限Ｑ３には、後進側の力行領域における電動モータＭの回転速度Ｎとトルク指令値Ｔとの関係が規定されているが、図４においては、これらの図示を省略している。
〔電動モータの回生制御〕
次に、電動モータＭの回生制御について、図４を用いて説明する。図４に示すように、電動モータＭの回転速度Ｎが第一基準回転速度Ｎ１以下である場合、制御装置１７は、トルク指令値Ｔを０に設定し、当該トルク指令値Ｔをインバータ１４に指令する。すなわち、電動モータＭの回転速度Ｎが第一基準回転速度Ｎ１以下である場合、電動モータＭの回生電力がバッテリ１３に充電されない。ここで、第一基準回転速度Ｎ１は、低速走行時（例えば、時速数ｋｍ以下）の電動モータＭの回転速度Ｎを採用することができる。
そして、電動モータＭの回転速度Ｎが第一基準回転速度Ｎ１以上で第二基準回転速度Ｎ２以下の場合、制御装置１７は、トルク指令値Ｔを、電動モータＭの回転速度Ｎの増加に比例して増加する形態で０からトルク上限値Ｔｍａｘの範囲で設定し、当該トルク指令値Ｔをインバータ１４に指令する。すなわち、電動モータＭの回転速度Ｎが第一基準回転速度Ｎ１よりも大きい場合、電動モータＭの回生電力がバッテリ１３に充電される。
そして、電動モータＭの回転速度Ｎが第二基準回転速度Ｎ２以上で第三基準回転速度Ｎ３以下の場合、制御装置１７は、トルク指令値Ｔをトルク上限値Ｔｍａｘに設定し、当該トルク指令値Ｔをインバータ１４に指令する。すなわち、電動モータＭの回転速度Ｎが第二基準回転速度Ｎ２以上で第三基準回転速度Ｎ３以下の場合、トルク指令値Ｔがトルク上限値Ｔｍａｘに維持される。
そして、電動モータＭの回転速度Ｎが第三基準回転速度Ｎ３（本発明に係る「基準値」に相当）以上である場合、制御装置１７は、電動モータＭの回生電力が電動モータＭの回転速度Ｎに拘わらず一定の電流値でバッテリ１３に充電される電流値一定回生制御を実行する。すなわち、電動モータＭの回転速度Ｎが第三基準回転速度Ｎ３以上の場合、電動モータＭの回生電力の電流値が電動モータＭの回転速度Ｎに拘わらず一定に維持される。この場合、トルク指令値Ｔは、トルク上限値Ｔｍａｘから電動モータＭの回転速度Ｎの増加に反比例して低下する。ここで、前記一定の電流値は、例えば、バッテリ１３の自己発熱を抑える観点から決定することができる。
このような構成によれば、バッテリ１３の電力が枯渇した場合でも、エンジンＥの駆動力によって車両が走行可能な状態であれば、電動モータＭの回生電力をバッテリ１３に充電することができる。その際、電動モータＭの回生電力がその回転速度Ｎに拘わらず一定の電流値でバッテリ１３に充電されるため、電動モータＭの回転速度Ｎが変動しても、電動モータＭの回生電力をバッテリ１３に安定的に供給することができると共に、バッテリ１３の充電所要時間を容易に予測することができる。
〔別実施形態〕
（１）上記実施形態では、制御装置１７は、電動モータＭの回転速度Ｎが第三基準回転速度Ｎ３以上である場合、電流値一定回生制御を実行するが、本発明に係る「基準値」は、第三基準回転速度Ｎ３に限定されない。すなわち、本発明に係る「基準値」として、適宜の回転速度Ｎを採用することができる。
（２）上記実施形態では、制御装置１７は、前進走行時及び後進走行時の何れにおいても、電流値一定回生制御を実行するが、前進走行時のみ電流値一定回生制御を実行してもよい。
（３）トルクマップＴＭに規定された電動モータＭの回転速度Ｎとトルク指令値Ｔとの関係は、例示であり、電動モータＭの回転速度Ｎとトルク指令値Ｔとの関係は、トルクマップＴＭに規定されたものに限定されない。
（４）上記実施形態では、左右一対の前輪２Ｆが電動モータＭによって駆動され、左右一対の後輪２ＢがエンジンＥによって駆動されるが、左右一対の前輪２ＦがエンジンＥによって駆動され、左右一対の後輪２Ｂが電動モータＭによって駆動されてもよい。
本発明は、ユーティリティビークルの他、トラクタや田植機、コンバインにも利用可能である。また、農業作業車の他、建設作業車にも利用可能である。
に利用可能である。
２ 走行装置
２Ｆ 前輪
２Ｂ 後輪
１３ バッテリ
１７ 制御装置
Ｅ エンジン
Ｍ 電動モータ
Ｎ３ 第三基準回転速度（基準値）

Claims (3)

  1. 左右一対の前輪と、左右一対の後輪と、を有している走行装置と、
    左右一対の前記前輪及び左右一対の前記後輪のうち一方を駆動するエンジンと、
    左右一対の前記前輪及び左右一対の前記後輪のうち他方を駆動する電動モータと、
    前記電動モータに電力を供給するバッテリと、
    前記電動モータを制御する制御装置と、を備えており、
    前記制御装置は、前記電動モータの回生電力が前記電動モータの回転速度に拘わらず一定の電流値で前記バッテリに充電される電流値一定回生制御を実行する作業車。
  2. 前記制御装置は、前記電動モータの回転速度が基準値以上である場合、前記電流値一定回生制御を実行する請求項１に記載の作業車。
  3. 前記制御装置は、前進走行時及び後進走行時の何れにおいても、前記電流値一定回生制御を実行する請求項１又は２に記載の作業車。
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JP2002218601A (ja) * 2001-01-16 2002-08-02 Akebono Brake Res & Dev Center Ltd 制動回生装置

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