JP6368495B2 - 作業車両及びその制御方法 - Google Patents
作業車両及びその制御方法 Download PDFInfo
- Publication number
- JP6368495B2 JP6368495B2 JP2014014214A JP2014014214A JP6368495B2 JP 6368495 B2 JP6368495 B2 JP 6368495B2 JP 2014014214 A JP2014014214 A JP 2014014214A JP 2014014214 A JP2014014214 A JP 2014014214A JP 6368495 B2 JP6368495 B2 JP 6368495B2
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- Prior art keywords
- flow rate
- engine
- pump
- hydraulic pump
- work implement
- Prior art date
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Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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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
- 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
- B60K6/44—Series-parallel type
- B60K6/445—Differential gearing distribution type
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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
- 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
- B60K6/38—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 driveline clutches
- B60K6/387—Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1886—Controlling power supply to auxiliary devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/283—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a single arm pivoted directly on the chassis
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/202—Mechanical transmission, e.g. clutches, gears
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2066—Control of propulsion units of the type combustion engines
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2289—Closed circuit
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
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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
- 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
- B60K6/38—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 driveline clutches
- B60K2006/381—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 driveline clutches characterized by driveline brakes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/06—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving electric generators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20523—Internal combustion engine
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
- F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/515—Pressure control characterised by the connections of the pressure control means in the circuit
- F15B2211/5151—Pressure control characterised by the connections of the pressure control means in the circuit being connected to a pressure source and a directional control valve
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6654—Flow rate control
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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
- Y02T10/62—Hybrid vehicles
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Description
[数1]
Ts1_Low = Te_ref * r_fr
Tc1_Low = Ts1_Low * (-1) * ( (Zr1/Zs1) + 1 )
Tr2_Low = To_ref * (Zod/Zo)
Ts2_Low = Tr2_Low * (Zs2/Zr2)
Tcp1_Low = Tc1_Low + Ts2_Low
Tm1_Low = Tcp1_Low * (-1) * (Zp1/Zp1d)
Tr1_Low = Ts1_Low * (Zr1/Zs1)
Tm2_Low = Tr1_Low * (-1) * (Zp2/Zp2d)
また、指令トルク決定部83は、以下の数2に示す第2のトルクバランス情報を用いてHiモードでのモータMG1, MG2への指令トルクTm1_Hi,Tm2_ Hiを決定する。本実施形態において、第2のトルクバランス情報は、動力伝達装置24でのトルクの釣り合いの式である。
[数2]
Ts1_Hi = Te_ref * r_fr
Tc1_Hi = Ts1_Hi * (-1) * ( (Zr1/Zs1) + 1 )
Tr2_Hi = To_ref * (Zod/Zo)
Ts2_Hi = Tr2_Hi * (Zs2/Zr2)
Tcp1_Hi = Tc1_Hi + Ts2_Hi
Tm1_Hi = Tcp1_Hi * (-1) * (Zp1/Zp1d)
Tr1_Hi = Ts1_Hi * (Zr1/Zs1)
Tc2_Hi = Tr2_Hi * (-1) * ( (Zs2/Zr2) + 1 )
Tcp2_Hi = Tr1_Hi + Tc2_Hi
Tm2_Hi = Tcp2_Hi * (-1) * (Zp2/Zp2d)
ここで、各トルクバランス情報のパラメータの内容は以下の表1の通りである。
Claims (9)
- エンジンと、
前記エンジンによって駆動される可変容量型の油圧ポンプと、
前記油圧ポンプから吐出された作動油によって駆動される作業機と、
前記油圧ポンプの容量を制御するポンプ容量制御装置と、
前記油圧ポンプの吐出圧を検出するポンプ圧検出部と、
前記油圧ポンプの吐出圧が所定のリリーフ圧以上であるときに開かれるリリーフ弁と、
車両を走行させる走行装置と、
前記エンジンからの駆動力が入力され、前記走行装置を駆動するための駆動力を出力する動力伝達装置と、
アクセル操作部材と、
作業機操作部材と、
前記動力伝達装置を制御する制御部と、
を備え、
前記制御部は、
前記アクセル操作部材の操作量に基づいて前記走行装置での目標牽引力である要求牽引力を決定するトランスミッション要求決定部と、
前記作業機操作部材の操作量に基づいて前記作業機での目標流量である要求流量を決定する作業機要求決定部と、
前記要求牽引力に基づいて決定されるトランスミッション要求馬力と、前記要求流量に基づいて決定される作業機要求馬力と、に基づいてエンジン要求馬力を決定するエンジン要求決定部と、
前記エンジン要求馬力に基づいて前記エンジンへの指令スロットル値を決定する要求スロットル決定部と、
前記要求流量に基づいて前記油圧ポンプの目標容量を決定するポンプ容量決定部と、
を有し、
前記作業機要求決定部は、前記油圧ポンプの吐出圧が所定の制限開始圧以上であるときには、前記要求流量の上限を所定の流量制限値に制限し、
前記作業機要求決定部は、前記作業機操作部材の操作量から前記油圧ポンプの吐出流量を決定し、前記油圧ポンプの吐出圧から前記流量制限値を決定し、前記流量制限値と、前記作業機操作部材の操作量に基づいて決定した吐出流量とを比較し、小さい方の値を前記要求流量として決定し、
前記油圧ポンプの吐出圧が、前記制限開始圧より大きく且つ前記リリーフ圧より小さい所定の制限圧以上であるときには、前記流量制限値は、0より大きい所定の制限値で一定である、
作業車両。 - エンジンと、
前記エンジンによって駆動される可変容量型の油圧ポンプと、
前記油圧ポンプから吐出された作動油によって駆動される作業機と、
前記油圧ポンプの容量を制御するポンプ容量制御装置と、
前記油圧ポンプの吐出圧を検出するポンプ圧検出部と、
前記油圧ポンプの吐出圧が所定のリリーフ圧以上であるときに開かれるリリーフ弁と、
車両を走行させる走行装置と、
前記エンジンからの駆動力が入力され、前記走行装置を駆動するための駆動力を出力する動力伝達装置と、
アクセル操作部材と、
作業機操作部材と、
前記動力伝達装置を制御する制御部と、
を備え、
前記制御部は、
前記アクセル操作部材の操作量に基づいて前記走行装置での目標牽引力である要求牽引力を決定するトランスミッション要求決定部と、
前記作業機操作部材の操作量に基づいて前記作業機での目標流量である要求流量を決定する作業機要求決定部と、
前記要求牽引力に基づいて決定されるトランスミッション要求馬力と、前記要求流量に基づいて決定される作業機要求馬力と、に基づいてエンジン要求馬力を決定するエンジン要求決定部と、
前記エンジン要求馬力に基づいて前記エンジンへの指令スロットル値を決定する要求スロットル決定部と、
前記要求流量に基づいて前記油圧ポンプの目標容量を決定するポンプ容量決定部と、
を有し、
前記作業機要求決定部は、前記油圧ポンプの吐出圧が所定の制限開始圧力以上であるときには、前記要求流量の上限を所定の流量制限値に制限し、
前記作業機要求決定部は、前記要求流量と前記油圧ポンプの容量とに基づいて、作業機要求エンジン回転速度を決定し、
前記要求スロットル決定部は、前記エンジン要求馬力に基づいて第1のスロットル値を決定し、
前記要求スロットル決定部は、前記作業機要求エンジン回転速度に基づいて第2のスロットル値を決定し、
前記要求スロットル決定部は、前記第1のスロットル値と前記第2のスロットル値のうち大きい方を前記エンジンへの指令スロットル値として決定する、
作業車両。 - エンジン回転速度を検出するエンジン回転速度検出部をさらに備え、
前記ポンプ容量決定部は、前記要求流量と前記エンジン回転速度とに基づいて前記油圧ポンプの目標容量を決定する、
請求項1又は2に記載の作業車両。 - 前記作業機要求決定部は、車両が掘削作業中であるときには、前記所定の流量制限値を増大させる、
請求項1から3のいずれかに記載の作業車両。 - 前記ポンプ容量制御装置は、前記ポンプ容量制御装置に入力される指令信号に応じて前記油圧ポンプの容量を変更し、
前記ポンプ容量決定部は、前記油圧ポンプの目標容量に応じて前記ポンプ容量制御装置への指令信号を決定する、
請求項1から4のいずれかに記載の作業車両。 - 前記油圧ポンプの傾転角を検出する傾転角検出部をさらに備え、
前記ポンプ容量決定部は、前記油圧ポンプの傾転角に対応する前記油圧ポンプの実際の容量と、前記油圧ポンプの目標容量と、に基づくフィードバック制御により、前記ポンプ容量制御装置への指令信号を決定する、
請求項5に記載の作業車両。 - 前記動力伝達装置は、入力軸と出力軸とモータとをさらに有し、
前記動力伝達装置は、前記モータの回転速度を変化させることによって、前記入力軸に対する前記出力軸の回転速度比を変化させるように構成されている、
請求項1から6のいずれかに記載の作業車両。 - エンジンと、前記エンジンによって駆動される可変容量型の油圧ポンプと、前記油圧ポンプから吐出された作動油によって駆動される作業機と、前記油圧ポンプの容量を制御するポンプ容量制御装置と、前記油圧ポンプの吐出圧を検出するポンプ圧検出部と、前記油圧ポンプの吐出圧が所定のリリーフ圧以上であるときに開かれるリリーフ弁と、車両を走行させる走行装置と、前記エンジンからの駆動力が入力され前記走行装置を駆動するための駆動力を出力する動力伝達装置と、アクセル操作部材と、作業機操作部材と、を備える作業車両の制御方法であって、
前記アクセル操作部材の操作量に基づいて前記走行装置での目標牽引力である要求牽引力を決定するステップと、
前記作業機操作部材の操作量に基づいて前記作業機での目標流量である要求流量を決定するステップと、
前記要求牽引力に基づいて決定されるトランスミッション要求馬力と、前記要求流量に基づいて決定される作業機要求馬力と、に基づいてエンジン要求馬力を決定するステップと、
前記エンジン要求馬力に基づいて前記エンジンへの指令スロットル値を決定するステップと、
前記要求流量に基づいて前記油圧ポンプの目標容量を決定するステップと、
を有し、
前記要求流量を決定するステップにおいて、前記油圧ポンプの吐出圧が所定の制限開始圧力以上であるときには、前記要求流量の上限を所定の流量制限値に制限し、前記作業機操作部材の操作量から前記油圧ポンプの吐出流量を決定し、前記油圧ポンプの吐出圧から前記流量制限値を決定し、前記流量制限値と、前記作業機操作部材の操作量に基づいて決定した吐出流量とを比較し、小さい方の値を前記要求流量として決定し、
前記油圧ポンプの吐出圧が、前記制限開始圧力より大きく且つ前記リリーフ圧より小さい所定の制限圧力以上であるときには、前記流量制限値は、0より大きい所定の制限値で一定である、
作業車両の制御方法。 - エンジンと、前記エンジンによって駆動される可変容量型の油圧ポンプと、前記油圧ポンプから吐出された作動油によって駆動される作業機と、前記油圧ポンプの容量を制御するポンプ容量制御装置と、前記油圧ポンプの吐出圧を検出するポンプ圧検出部と、前記油圧ポンプの吐出圧が所定のリリーフ圧以上であるときに開かれるリリーフ弁と、車両を走行させる走行装置と、前記エンジンからの駆動力が入力され前記走行装置を駆動するための駆動力を出力する動力伝達装置と、アクセル操作部材と、作業機操作部材と、を備える作業車両の制御方法であって、
前記アクセル操作部材の操作量に基づいて前記走行装置での目標牽引力である要求牽引力を決定するステップと、
前記作業機操作部材の操作量に基づいて前記作業機での目標流量である要求流量を決定するステップと、
前記要求流量に基づいて前記油圧ポンプの目標容量を決定するステップと、
前記要求流量と前記油圧ポンプの容量とに基づいて、作業機要求エンジン回転速度を決定するステップと、
前記要求牽引力に基づいて決定されるトランスミッション要求馬力と、前記要求流量に基づいて決定される作業機要求馬力と、に基づいてエンジン要求馬力を決定するステップと、
前記エンジン要求馬力に基づいて前記エンジンへの指令スロットル値を決定するステップと、
を有し、
前記要求流量を決定するステップにおいて、前記油圧ポンプの吐出圧が所定の制限開始圧力以上であるときには、前記要求流量の上限を所定の流量制限値に制限し、
前記エンジンへの指令スロットル値を決定するステップは、
前記エンジン要求馬力に基づいて第1のスロットル値を決定するステップと、
前記作業機要求エンジン回転速度に基づいて第2のスロットル値を決定するステップと、
前記第1のスロットル値と前記第2のスロットル値のうち大きい方を前記エンジンへの指令スロットル値として決定するステップと、
を含む、
作業車両の制御方法。
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