JP3295047B2 - Traveling drive for industrial vehicles - Google Patents
Traveling drive for industrial vehiclesInfo
- Publication number
- JP3295047B2 JP3295047B2 JP36834998A JP36834998A JP3295047B2 JP 3295047 B2 JP3295047 B2 JP 3295047B2 JP 36834998 A JP36834998 A JP 36834998A JP 36834998 A JP36834998 A JP 36834998A JP 3295047 B2 JP3295047 B2 JP 3295047B2
- Authority
- JP
- Japan
- Prior art keywords
- torque
- road surface
- speed control
- rotation speed
- control curve
- 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.)
- Expired - Fee Related
Links
Classifications
-
- 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
- Y02T10/62—Hybrid vehicles
-
- 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
Landscapes
- Hybrid Electric Vehicles (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、電動モータにより
駆動車輪を駆動して走行する産業用車両、たとえば荷役
現場や建設現場などで使用されるダンプトラック、ホイ
ールローダ、フォークリフト、コンテナキャリヤなどの
走行駆動装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial vehicle which travels by driving drive wheels by an electric motor, for example, traveling of a dump truck, a wheel loader, a forklift, a container carrier and the like used at a cargo handling site or a construction site. The present invention relates to a driving device.
【０００２】[0002]
【従来の技術】従来の上記産業用車両の走行駆動系を図
３により説明する。2. Description of the Related Art A conventional driving system for an industrial vehicle will be described with reference to FIG.
【０００３】産業用車両を走行させる駆動車輪１に電動
モータ２が連結されており、この電動モータ２を駆動す
るインバータ（モータコントローラ）３が設けられてい
る。このインバータ３へは、エンジン４に連結された発
電機５（あるいはバッテリ）よりコンダクタ６を介して
給電されている。また電動モータ２に回転数検出器７が
設けられ、この回転数検出器７により検出されたモータ
回転数の信号がインバータ３へフィードバックされてい
る。An electric motor 2 is connected to driving wheels 1 for driving an industrial vehicle, and an inverter (motor controller) 3 for driving the electric motor 2 is provided. Power is supplied to the inverter 3 from a generator 5 (or a battery) connected to the engine 4 via a conductor 6. Further, the electric motor 2 is provided with a rotation speed detector 7, and a signal of the motor rotation speed detected by the rotation speed detector 7 is fed back to the inverter 3.
【０００４】またインバータ３へモータ２の回転数の指
令値を出力する制御装置（上位コントローラ）11が設け
られており、この制御装置11へ、アクセルペダル13の操
作角度（たとえば１０〜５０°）の信号が入力されてい
る。A control device (upper controller) 11 for outputting a command value of the number of revolutions of the motor 2 to the inverter 3 is provided. The operation angle of the accelerator pedal 13 (for example, 10 to 50 °) is provided to the control device 11. Is input.
【０００５】そして、制御装置11は、アクセルペダル13
の踏み込み量（たとえば操作角度；１０〜５０°）によ
りモータ２の回転数の指令値を演算し、この演算したモ
ータ２の回転数の指令値をインバータ３へ出力してい
る。[0005] Then, the control device 11
A command value for the rotation speed of the motor 2 is calculated based on the amount of depression (for example, an operation angle; 10 to 50 °), and the calculated command value for the rotation speed of the motor 2 is output to the inverter 3.
【０００６】またインバータ３には、図４に示すモータ
２のトルク／回転数制御曲線が予め設定されており、イ
ンバータ３は、制御装置11より入力したモータ２の回転
数の指令値にしたがってモータ２のトルク／回転数制御
を行っている。A torque / rotation speed control curve of the motor 2 shown in FIG. 4 is set in the inverter 3 in advance. 2 is performed.
【０００７】[0007]
【発明が解決しようとする課題】上記産業用車両、たと
えばホイールローダは、作業状況に応じて細石が多い路
面、泥濘の路面などを走行する機会が多く、これらの路
面を走行するとき車輪に加わるトルクが低下することか
ら、モータ２の回転数は高速側に移行し、車輪がスリッ
プする状況が発生し、アクセルペダル13の踏み込み量で
の制御が非常に困難になるという問題があった。The above-mentioned industrial vehicle, for example, a wheel loader, has many opportunities to travel on a road surface with a lot of fine stones, a muddy road surface, or the like, depending on the work situation, and is added to wheels when traveling on these road surfaces. Since the torque decreases, the rotation speed of the motor 2 shifts to a high speed side, causing a situation in which the wheels slip, and there has been a problem that control by the depression amount of the accelerator pedal 13 becomes very difficult.
【０００８】そこで、本発明は、路面や作業状況に適し
た走行性能を得ることができる産業用車両の走行駆動装
置を提供することを目的としたものである。SUMMARY OF THE INVENTION It is an object of the present invention to provide a driving device for an industrial vehicle that can obtain a driving performance suitable for a road surface or a working condition.
【０００９】[0009]
【課題を解決するための手段】前述した目的を達成する
ために、請求項１に記載の発明は産業用車両のアクセル
ペダルの踏み込み量により走行用電動モータを駆動する
走行駆動装置であって、前記車両が走行する路面状況を
入力する路面状況入力手段と、前記電動モータの複数の
トルク／回転数制御曲線を有し、前記路面状況入力手段
により入力された路面状況に応じて前記トルク／回転数
制御曲線を選択し、この選択されたトルク／回転数制御
曲線により、前記アクセルペダルの踏み込み量による前
記電動モータのトルク／回転数制御を行う制御手段を備
えたことを特徴とするものである。In order to achieve the above-mentioned object, an invention according to claim 1 is a traveling drive device for driving a traveling electric motor by an amount of depression of an accelerator pedal of an industrial vehicle, The road surface conditions on which the vehicle runs
Road condition input means for inputting, and a plurality of torque / rotation speed control curves of the electric motor, wherein the road condition input means
The torque / rotational speed according to the road surface condition
A control means for selecting a control curve and performing torque / rotational speed control of the electric motor by an amount of depression of the accelerator pedal based on the selected torque / rotational speed control curve.
【００１０】ここで、産業用車両は、ダンプトラック、
ホイールローダ、フォークリフト、コンテナキャリヤな
どである。Here, the industrial vehicle is a dump truck,
Wheel loaders, forklifts, container carriers, etc.
【００１１】上記構成によると、路面状況入力手段によ
り入力された路面状況に応じて、複数の設定されたトル
ク／回転数制御曲線の中から１つのトルク／回転数制御
曲線が選択され、選択されたトルク／回転数制御曲線に
より、アクセルペダルの踏み込み量による電動モータの
トルク／回転数制御が行われる。トルク／回転数制御曲
線を変えることにより、電動モータの最大回転数、トル
クの変動による回転数の変動範囲を変えることができ、
路面状況に適した走行性能を得ることができる。[0011] According to the above configuration, the road surface condition input means is provided.
Depending on the input road surface conditions
Torque / speed control from the torque / speed control curve
Curve is selected and selected torque / speed control curve
Thus, the torque / rotational speed control of the electric motor is performed based on the depression amount of the accelerator pedal. By changing the torque / rotation speed control curve, the maximum rotation speed of the electric motor and the fluctuation range of the rotation speed due to the fluctuation of the torque can be changed.
Driving performance suitable for road surface conditions can be obtained.
【００１２】請求項２記載の発明は、上記請求項１記載
の発明であって、路面状態が軟弱なときに、複数のトル
ク／回転数制御曲線の中から、アクセルペダルの踏み込
み量に対する電動モータの回転数の範囲が最も狭い曲線
が選択されることを特徴とするものである。According to a second aspect of the present invention, when the road surface condition is soft, a plurality of torques are provided.
Depress the accelerator pedal from the torque / rotation speed control curve.
Curve with the narrowest range of the electric motor speed with respect to the displacement
Is selected .
【００１３】上記構成によると、アクセルペダルの踏み
込み量に対する電動モータの回転変動範囲が最も狭い曲
線が選択されることにより、電動モータの最大回転数、
トルクの変動による回転数の変動が最も抑えられ、軟弱
状態の走行に適した走行性能が得られる。 According to the above construction, the accelerator pedal is depressed.
Songs with the narrowest range of rotation fluctuation of the electric motor with respect to the insertion amount
The maximum number of rotations of the electric motor,
Rotational speed fluctuations due to torque fluctuations are most suppressed,
Running performance suitable for running in the state is obtained.
【００１４】[0014]
【００１５】[0015]
【００１６】[0016]
【発明の実施の形態】以下、本発明の実施の形態を図面
に基づいて説明する。なお、従来例の図３の構成と同一
の構成には同一の符号を付して説明を省略する。Embodiments of the present invention will be described below with reference to the drawings. The same components as those in the conventional example shown in FIG.
【００１７】図１は本発明の実施の形態を示す産業用車
両の走行駆動系の構成図である。FIG. 1 is a configuration diagram of a traveling drive system of an industrial vehicle showing an embodiment of the present invention.
【００１８】図１に示すように、新たに、車両が走行す
る路面状況により選択される４つのポジション「強硬
地」「硬地」「弱地」「軟弱地」を有すスイッチ（路面
状況入力手段の一例）21が設けられ、このスイッチ21の
ポジション選択信号が制御装置（上位コントローラ）1
1’に入力されている。As shown in FIG. 1, a new switch (road surface condition input) having four positions "hard ground", "hard ground", "weak ground" and "soft ground" newly selected according to the road surface conditions on which the vehicle travels. An example of means) 21 is provided, and a position selection signal of the switch 21
1 'has been entered.
【００１９】また図２に示すように、インバータ（モー
タコントローラ）３’には、上記スイッチ21の４つのボ
ジションにそれぞれ対応するトルク／回転数制御曲線−
１〜−４が設定されている。すなわち、トルク／回転数
制御曲線−１はポジション「強硬地」に対応し、トルク
／回転数制御曲線−２はポジション「硬地」に対応し、
トルク／回転数制御曲線−３はポジション「弱地」に対
応し、トルク／回転数制御曲線−４はポジション「軟弱
地」に対応している。As shown in FIG. 2, the inverter (motor controller) 3 'has a torque / rotation speed control curve corresponding to each of the four positions of the switch 21.
1 to -4 are set. That is, the torque / rotation speed control curve-1 corresponds to the position "hard ground", the torque / rotation speed control curve-2 corresponds to the position "hard ground",
The torque / rotation speed control curve-3 corresponds to the position "weak ground", and the torque / rotation speed control curve-4 corresponds to the position "soft ground".
【００２０】また各曲線における最高速トルクラインの
位置がアクセル踏み込み量１００％に相当しており、ア
クセル踏み込み量１００％に対応して、たとえばトルク
／回転数制御曲線−１では１１５ｋｍ／ｈｒの速度、ト
ルク／回転数制御曲線−２ではでは６５ｋｍ／ｈｒの速
度、トルク／回転数制御曲線−３では４０ｋｍ／ｈｒの
速度、トルク／回転数制御曲線−４では２０ｋｍ／ｈｒ
の速度に相当する回転数が指定されている。The position of the highest speed torque line in each curve corresponds to the accelerator pedal depression amount of 100%. In response to the accelerator pedal depression amount of 100%, for example, the torque / rotation speed control curve-1 has a speed of 115 km / hr. In the torque / rotation speed control curve-2, the speed is 65 km / hr, in the torque / rotation speed control curve-3, it is 40 km / hr, and in the torque / rotation speed control curve-4, 20 km / hr.
The number of rotations corresponding to the speed of is designated.
【００２１】上記構成による作用を説明する。The operation of the above configuration will be described.
【００２２】操作員により、スイッチ21が操作され、１
つのポジションが選択されると、制御装置11’は、この
ポジションに相当する選択信号をインバータ３’へ出力
する。When the switch 21 is operated by the operator,
When one position is selected, the control device 11 'outputs a selection signal corresponding to this position to the inverter 3'.
【００２３】また制御装置11’は、アクセルペダル13が
踏み込まれ、その操作角度信号を入力すると、このアク
セルペダル13の操作角度（たとえば１０〜５０°）を踏
み込み量（０〜１００％）へ変換し、インバータ３’へ
出力する。When the accelerator pedal 13 is depressed and an operation angle signal is input, the control device 11 'converts the operation angle (for example, 10 to 50 °) of the accelerator pedal 13 into a depression amount (0 to 100%). And outputs it to the inverter 3 '.
【００２４】インバータ３’は、入力した選択信号によ
りトルク／回転数制御曲線を選択し、続いて踏み込み量
（０〜１００％）を入力すると、選択したトルク／回転
数制御曲線により入力した踏み込み量が指定する回転数
を求め、この回転数およびトルク／回転数制御曲線にし
たがってモータ２のトルク／回転数制御を行う。The inverter 3 'selects a torque / rotation speed control curve based on the input selection signal, and subsequently inputs a depression amount (0 to 100%). Is determined, and the torque / rotation speed of the motor 2 is controlled according to the rotation speed and the torque / rotation speed control curve.
【００２５】上記作用により、従来問題となっていた、
細石が多い路面、泥濘の路面など軟弱な路面を走行する
ときの動作について説明する。Due to the above-mentioned effects, there has been a problem conventionally.
The operation when traveling on a soft road surface such as a road surface with many fine stones or a muddy road surface will be described.
【００２６】路面が軟弱となると、操作員は、スイッチ
21により「軟弱地」のポジションを選択し、よってイン
バータ３’では、トルク／回転数制御曲線−４が選択さ
れる。このトルク／回転数制御曲線−４によると、アク
セルペダル13を踏み込んでも、モータ２は２０ｋｍ／ｈ
ｒの速度に相当する回転数に制限され、さらに必要負荷
トルクによってトルク／回転数制御曲線−４上を推移し
ても、回転数の変動が少なく、アクセルペダル13の踏み
込み量（０〜１００％）により走行速度を制御しやすく
なり、また従来のように回転数が大きく高速側へ変動す
ることが抑制されて車輪１のスリップが防止され、走行
性能が向上する。When the road surface becomes soft, the operator operates the switch
The position of "soft ground" is selected by 21, and the torque / rotation speed control curve -4 is selected in the inverter 3 '. According to the torque / rotation speed control curve-4, even if the accelerator pedal 13 is depressed, the speed of the motor 2 is 20 km / h.
r, the rotation speed is limited to the rotation speed corresponding to the speed, and even if the rotation speed changes on the torque / rotation speed control curve-4 according to the required load torque, the fluctuation of the rotation speed is small, and the depression amount of the accelerator pedal 13 (0 to 100% ) Makes it easier to control the traveling speed, and suppresses a large number of revolutions from fluctuating to a higher speed side as in the related art, thereby preventing the wheels 1 from slipping and improving traveling performance.
【００２７】このように、路面状況により、トルク／回
転数制御曲線を選択することにより、モータの回転数、
必要負荷トルクによる回転数の変動を制限することがで
き、路面状況に応じた走行性能を得ることができる。As described above, by selecting the torque / rotation speed control curve according to the road surface condition, the rotation speed of the motor,
It is possible to limit the fluctuation of the rotation speed due to the necessary load torque, and to obtain the traveling performance according to the road surface condition.
【００２８】なお、本実施の形態では、路面状況を４通
りに設定し、対応したトルク／回転数制御曲線を４通り
としているが、４通りに限ることはなく、路面状況をさ
らに分類してさらに多くの曲線を設定することも可能で
ある。In this embodiment, the road surface conditions are set to four types, and the corresponding torque / rotation speed control curves are set to four types. However, the present invention is not limited to the four types, and the road surface conditions are further classified. It is also possible to set more curves.
【００２９】また本実施の形態では、トルク／回転数制
御曲線の切り替えを路面状況により行っているが、路面
状況だけでなく、作業状況など他の条件によりトルク／
回転数制御曲線を切り替えるようにすることもできる。In this embodiment, the torque / rotation speed control curve is switched depending on the road surface condition.
It is also possible to switch the rotation speed control curve.
【００３０】また本実施の形態では、アクセルペダル13
を使用しているが、アクセルペダル13に代えて、手で操
作するレバー、回転式ポテンショメータなどの変動量を
入力することができる入力手段を使用することも可能で
ある。In the present embodiment, the accelerator pedal 13
However, instead of the accelerator pedal 13, it is also possible to use an input means such as a lever manually operated, a rotary potentiometer, etc., capable of inputting a variable amount.
【００３１】[0031]
【発明の効果】以上のように本発明によれば、路面状況
に適した走行性能を得ることができる。As described above, according to the present invention, it is possible to obtain running performance suitable for road surface conditions .
【図１】本発明の実施の形態における産業用車両の走行
駆動系の構成図である。FIG. 1 is a configuration diagram of a traveling drive system of an industrial vehicle according to an embodiment of the present invention.
【図２】同産業用車両の走行駆動装置のトルク／回転数
制御曲線図である。FIG. 2 is a torque / rotation speed control curve diagram of the traveling drive device of the industrial vehicle.
【図３】従来の産業用車両の走行駆動系の構成図であ
る。FIG. 3 is a configuration diagram of a traveling drive system of a conventional industrial vehicle.
【図４】従来の産業用車両の走行駆動装置のトルク／回
転数制御曲線図である。FIG. 4 is a torque / rotation speed control curve diagram of a conventional traveling drive device for an industrial vehicle.
１ 駆動車輪 ２ 電動モータ ３’ インバータ（制御手段） ４ エンジン ５ 発電機 ６ コンダクタ ７ 回転数検出器 11’ 制御装置（制御手段） 13 アクセルペダル 21 スイッチ（路面状況入力手段） DESCRIPTION OF SYMBOLS 1 Drive wheel 2 Electric motor 3 'Inverter (control means) 4 Engine 5 Generator 6 Conductor 7 Speed detector 11' Control device (control means) 13 Accelerator pedal 21 Switch (road surface state input means)
フロントページの続き (56)参考文献 特開 平７−170800（ＪＰ，Ａ) 特開 平８−9699（ＪＰ，Ａ) (58)調査した分野(Int.Cl.7，ＤＢ名) B60L 15/20 B60K 6/02 B66F 9/24 Continuation of the front page (56) References JP-A-7-170800 (JP, A) JP-A-8-9699 (JP, A) (58) Fields investigated (Int. Cl. 7 , DB name) B60L 15 / 20 B60K 6/02 B66F 9/24
Claims (2)
量により走行用電動モータを駆動する走行駆動装置であ
って、前記車両が走行する路面状況を入力する路面状況入力手
段と、 前記電動モータの複数のトルク／回転数制御曲線を有
し、前記路面状況入力手段により入力された路面状況に
応じて前記トルク／回転数制御曲線を選択し、この選択
されたトルク／回転数制御曲線により、前記アクセルペ
ダルの踏み込み量による前記電動モータのトルク／回転
数制御を行う制御手段 を備えたこと を特徴とする産業用車両の走行駆動装置。1. A travel driving device for driving a travel electric motor in accordance with an amount of depression of an accelerator pedal of an industrial vehicle, wherein a road surface input means for inputting a road surface condition on which the vehicle travels.
And stage, a plurality of torque / speed control curve of the electric motor, the road surface condition input by the road surface condition input means
Control means for selecting the torque / rotational speed control curve in accordance with the torque / rotational speed control curve and controlling the torque / rotational speed of the electric motor based on the depression amount of the accelerator pedal based on the selected torque / rotational speed control curve. Characteristic traveling drive device for industrial vehicles.
／回転数制御曲線の中から、アクセルペダルの踏み込み
量に対する電動モータの回転数の範囲が最も狭い曲線が
選択されること を特徴とする請求項１記載の産業用車両の走行駆動装
置。2. When a road surface condition is weak, a plurality of torques
/ Depress the accelerator pedal from the rotation speed control curve
The curve with the narrowest range of the electric motor speed with respect to the
Travel drive apparatus of an industrial vehicle according to claim 1, characterized in that it is selected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP36834998A JP3295047B2 (en) | 1998-12-25 | 1998-12-25 | Traveling drive for industrial vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP36834998A JP3295047B2 (en) | 1998-12-25 | 1998-12-25 | Traveling drive for industrial vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2000197214A JP2000197214A (en) | 2000-07-14 |
| JP3295047B2 true JP3295047B2 (en) | 2002-06-24 |
Family
ID=18491591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP36834998A Expired - Fee Related JP3295047B2 (en) | 1998-12-25 | 1998-12-25 | Traveling drive for industrial vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3295047B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| MY164832A (en) * | 2014-12-08 | 2018-01-30 | Nissan Motor | Hybrid vehicle control device and hybrid vehicle control method |
| JP7203534B2 (en) * | 2018-08-22 | 2023-01-13 | 日産自動車株式会社 | HYBRID VEHICLE CONTROL METHOD AND HYBRID VEHICLE CONTROL DEVICE |
| CN112339742A (en) * | 2019-08-09 | 2021-02-09 | 比亚迪股份有限公司 | Hybrid electric vehicle, torque distribution method and torque distribution device thereof |
| CN115384321A (en) * | 2022-09-28 | 2022-11-25 | 徐工集团工程机械股份有限公司科技分公司 | Multi-working-condition operation mode control method and system for pure electric loader |
-
1998
- 1998-12-25 JP JP36834998A patent/JP3295047B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JP2000197214A (en) | 2000-07-14 |
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