JP6427489B2 - 作業車両及び作業車両の制御方法 - Google Patents
作業車両及び作業車両の制御方法 Download PDFInfo
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- JP6427489B2 JP6427489B2 JP2015524090A JP2015524090A JP6427489B2 JP 6427489 B2 JP6427489 B2 JP 6427489B2 JP 2015524090 A JP2015524090 A JP 2015524090A JP 2015524090 A JP2015524090 A JP 2015524090A JP 6427489 B2 JP6427489 B2 JP 6427489B2
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Images
Classifications
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- E—FIXED CONSTRUCTIONS
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- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
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- 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
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- 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
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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
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- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
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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
- E02F3/36—Component parts
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- E—FIXED CONSTRUCTIONS
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- E—FIXED CONSTRUCTIONS
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- General Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Transmission Device (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Hybrid Electric Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (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。
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。
(数3)
Hem = ( Cp_target - Cp_current ) * P_gain
P_gainは、所定の係数である。エネルギーマネジメント要求決定部85は、現在のキャパシタ容量Cp_currentが少なくなるほど、エネルギーマネジメント要求馬力Hemを大きくする。また、エネルギーマネジメント要求決定部85は、目標キャパシタ容量Cp_targetが大きいほど、エネルギーマネジメント要求馬力Hemを大きくする。
(数4)
Hpto = Qdm / ηv * Pwp / ηt
ηvは容積効率である。ηtはトルク効率である。容積効率ηv及びトルク効率ηtは、作業機ポンプ23の特性に応じて定まる固定値である。作業機ポンプ圧Pwpは、作業機ポンプ圧検出部32によって検出される。
(数5)
Tpto = Qwp * Pwp / ηt
Qwpは、作業機ポンプ押しのけ容積である。作業機ポンプ押しのけ容積Qwpは、第1傾転角検出部33によって検出された傾転角から算出される。
1.エネルギーマネジメント要求馬力Hem
2.作業機要求馬力Hptoの優先分Hpto_A
3.トランスミッション要求馬力Htmの優先分Htm_A
4.作業機要求馬力Hptoの比例分Hpto_B
5.トランスミッション要求馬力Htmの比例分Htm_B
例えば、図14に示すように、エネルギーマネジメント要求馬力Hemから作業機要求馬力Hptoの比例分Hpto_Bまでの合計(Hem_A+Hpto_A+Htm_A+Hpto_B)は所定の負荷上限馬力Hmaxより小さいが、エネルギーマネジメント要求馬力Hem_Aからトランスミッション要求馬力Htmの比例分Htm_Bまでの合計が所定の負荷上限馬力Hmaxより大きくなる場合、当該合計が所定の負荷上限馬力Hmax以下となるように、トランスミッション要求馬力Htmの比例分がHtm_Bから、Htm_B よりも小さいHtm_B’に修正される。そして、修正前のトランスミッション要求馬力Htmに対する修正後のトランスミッション要求馬力Htm’の比が、トランスミッション出力率Rtmとして決定される。
(数6)
Ts1_Low = Te_ref * r_fr
Tc1_Low = Ts1_Low * (-1) * ( (Zr1/Zs1) + 1 )
Tr1_Low = Ts1_Low * (Zr1/Zs1)
Tcm1_Low = To_ref * (-1) * (Zod/Zo) + Tc1_Low
Tm1_Low = Tcm1_Low * (-1) * (Zm1_Low/Zm1d_Low)
Tm2_Low = Tr1_Low * (-1) * (Zm2/Zm2d)
Tc1_Hi = To_ref * (-1) * (Zod/Zo)
Tr1_Hi = Tc1_Hi * (-1) * (1 / (Zs/Zr+1))
Ts1_Hi = Tr1_Hi * (Zs/Zr)
Tsm1_Hi =Ts1 + Te_ref * r_fr
Tm1_Hi = Tsm1_Hi * (-1) * (Zm1_Hi/Zm1d_Hi)
Tm2_Hi = Tr1_Hi * (-1) * (Zm2/Zm2d)
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2の通りである。
23 作業機ポンプ
3 作業機
25 走行装置
24,124 動力伝達装置
27 制御部
61 入力軸
63 出力軸
62 歯車機構
MG1 第1モータ
MG2 第2モータ
81 目標入力トルク決定部
82 目標出力トルク決定部
83 指令トルク決定部
37 出力回転速度検出部
51a アクセル操作部材
51b アクセル操作検出部
84 トランスミッション要求決定部
64 キャパシタ
85 エネルギーマネジメント要求決定部
52a 作業機操作部材
86 作業機要求決定部
87 エンジン要求決定部
88 分配率決定部
89 要求スロットル決定部
56 記憶部
Claims (11)
- エンジンと、
前記エンジンによって駆動される油圧ポンプと、
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、
前記エンジンによって駆動される走行装置と、
前記エンジンからの駆動力を前記走行装置に伝達する動力伝達装置と、
前記動力伝達装置を制御する制御部と、
車速を検出する車速検出部と、
アクセル操作部材と、
前記アクセル操作部材の操作量を検出するアクセル操作検出部と、
を備え、
前記動力伝達装置は、
入力軸と、
出力軸と、
複数の遊星歯車機構と、前記動力伝達装置における駆動力伝達経路を複数のモード間で選択的に切り替えるためのモード切替機構と、を含み、前記入力軸の回転を前記出力軸に伝達する歯車機構と、
前記遊星歯車機構の回転要素に接続されるモータと、
を有し、
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おり、
前記制御部は、
前記車速と要求牽引力との関係を規定する要求牽引力特性に基づいて、前記車速から前記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、
前記動力伝達装置に入力されるトルクの目標値である目標入力トルクを決定する目標入力トルク決定部と、
前記要求牽引力に基づいて、前記動力伝達装置から出力されるトルクの目標値である目標出力トルクを決定する目標出力トルク決定部と、
前記動力伝達装置でのトルクの釣り合いを満たすように前記目標入力トルクと前記目標出力トルクとの関係を規定するトルクバランス情報を記憶する記憶部と、
前記目標入力トルクと前記目標出力トルクとから、前記トルクバランス情報により、前記モータへの指令トルクを決定する指令トルク決定部と、
を有し、
前記記憶部は、前記アクセル操作部材の操作量に対する牽引力比率を規定する牽引力比率情報と、前記アクセル操作部材の操作量に対する車速比率を規定する車速比率情報とを記憶しており、
前記トランスミッション要求決定部は、前記牽引力比率情報と前記車速比率情報とを参照して、前記アクセル操作部材の操作量に応じた前記牽引力比率と前記車速比率とを決定し、
前記トランスミッション要求決定部は、基準となる要求牽引力特性に対して、前記要求牽引力を示す縦軸方向に前記牽引力比率、前記車速を示す横軸方向に前記車速比率を乗じることによって、前記アクセル操作部材の操作量に応じた現在の前記要求牽引力特性を決定する、
作業車両。 - 変速操作部材をさらに備え、
前記トランスミッション要求決定部は、前記変速操作部材の操作に応じて前記基準となる要求牽引力特性を選択する、
請求項1に記載の作業車両。 - 前記要求牽引力特性は、所定速度以上の前記車速に対して、負の値の前記要求牽引力を規定する、
請求項1又は2に記載の作業車両。 - 前記モータで発生するエネルギーを蓄えるエネルギー貯留部をさらに備え、
前記制御部は、前記エネルギー貯留部でのエネルギーの残量に基づいてエネルギーマネジメント要求馬力を決定するエネルギーマネジメント要求決定部をさらに有し、
前記トランスミッション要求決定部は、前記車速と前記アクセル操作部材の操作量に基づいてトランスミッション要求馬力を決定し、
前記目標入力トルク決定部は、前記トランスミッション要求馬力と前記エネルギーマネジメント要求馬力とに基づいて、前記目標入力トルクを決定する、
請求項1から3のいずれかに記載の作業車両。 - 前記作業機を操作するための作業機操作部材をさらに備え、
前記制御部は、
前記作業機操作部材の操作量に基づいて作業機要求馬力を決定する作業機要求決定部と、
前記作業機要求馬力と前記トランスミッション要求馬力と前記エネルギーマネジメント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、
をさらに有し、
前記目標入力トルク決定部は、上限目標入力トルク線とエンジン回転速度とから前記目標入力トルクの上限値を決定し、
前記上限目標入力トルク線は、前記エンジン要求馬力とエンジン回転速度とから決定される前記エンジンの目標出力トルクよりも小さな値を前記目標入力トルクの上限値として規定する、
請求項4に記載の作業車両。 - 前記制御部は、トランスミッション出力率を決定する分配率決定部をさらに有し、
前記作業機要求馬力と前記トランスミッション要求馬力と前記エネルギーマネジメント要求馬力との合計が、所定の負荷上限馬力より大きいときには、前記分配率決定部は、前記トランスミッション出力率として1より小さな値を設定し、
前記目標入力トルク決定部は、前記トランスミッション要求馬力に前記トランスミッション出力率を乗じた値と、前記エネルギーマネジメント要求馬力とに基づいて、前記目標入力トルクを決定する、
請求項5に記載の作業車両。 - 前記目標出力トルク決定部は、前記要求牽引力に前記トランスミッション出力率を乗じた値に基づいて、前記目標出力トルクを決定する、
請求項6に記載の作業車両。 - 前記制御部は、
エンジン要求馬力を決定するエンジン要求決定部と、
要求スロットル値を決定する要求スロットル決定部と、
をさらに有し、
前記記憶部は、前記エンジンの出力トルクとエンジン回転速度との関係を規定するエンジントルク線と、前記エンジン要求馬力から前記要求スロットル値を決定するためのマッチング線とを記憶しており、
前記エンジントルク線は、レギュレーション領域と全負荷領域とを含み、
前記レギュレーション領域は、前記要求スロットル値に応じて変化し、
前記全負荷領域は、定格点と、前記定格点よりも低エンジン回転速度側に位置する最大トルク点とを含み、
前記要求スロットル決定部は、前記エンジンの出力トルクが前記エンジン要求馬力に相当するトルクとなるマッチング点において、前記エンジントルク線と前記マッチング線とがマッチングするように、前記要求スロットル値を決定し、
前記マッチング線は、前記エンジントルク線の前記全負荷領域において前記定格点よりも前記最大トルク点に近い位置を通るように設定されている、
請求項1に記載の作業車両。 - 前記作業機を操作するための作業機操作部材と、
前記モータで発生するエネルギーを蓄えるエネルギー貯留部と、
をさらに備え、
前記制御部は、
前記作業機操作部材の操作量に基づいて作業機要求馬力を決定する作業機要求決定部と、
前記車速と、前記アクセル操作部材の操作量とに基づいてトランスミッション要求馬力を決定するトランスミッション要求決定部と、
前記エネルギー貯留部でのエネルギーの残量に基づいてエネルギーマネジメント要求馬力を決定するエネルギーマネジメント要求決定部と、
をさらに有し、
前記エンジン要求決定部は、前記作業機要求馬力と前記トランスミッション要求馬力と前記エネルギーマネジメント要求馬力とに基づいて前記エンジン要求馬力を決定する、
請求項8に記載の作業車両。 - 前記複数のモードは、第1モードと第2モードとを含み、
前記指令トルク決定部は、前記第1モードでは、第1のトルクバランス情報により前記モータへの指令トルクを決定し、前記第2モードでは、第2のトルクバランス情報により前記モータへの指令トルクを決定する、
請求項1から9のいずれかに記載の作業車両。 - 入力軸と、出力軸と、複数の遊星歯車機構と前記動力伝達装置における駆動力伝達経路を複数のモード間で選択的に切り替えるためのモード切替機構とを含み前記入力軸の回転を前記出力軸に伝達する歯車機構と、前記遊星歯車機構の回転要素に接続されるモータと、を有し、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る動力伝達装置を備える作業車両の制御方法であって、
車速を検出するステップと、
アクセル操作部材の操作量を検出するステップと、
前記車速と要求牽引力との関係を規定する要求牽引力特性に基づいて、前記車速から前記要求牽引力を決定するステップと、
前記動力伝達装置に入力されるトルクの目標値である目標入力トルクを決定するステップと、
前記要求牽引力に基づいて、前記動力伝達装置から出力されるトルクの目標値である目標出力トルクを決定するステップと、
前記動力伝達装置でのトルクの釣り合いを満たすように前記目標入力トルクと前記目標出力トルクとの関係を規定するトルクバランス情報により、前記目標入力トルクと前記目標出力トルクとから、前記モータへの指令トルクを決定するステップと、
を備え、
前記要求牽引力を決定するステップは、
前記アクセル操作部材の操作量に対する牽引力比率を規定する牽引力比率情報と、前記アクセル操作部材の操作量に対する車速比率を規定する車速比率情報とを参照して、前記アクセル操作部材の操作量に応じた前記牽引力比率と前記車速比率とを決定するステップと、
基準となる要求牽引力特性に対して、前記要求牽引力を示す縦軸方向に前記牽引力比率、前記車速を示す横軸方向に前記車速比率を乗じることによって、前記アクセル操作部材の操作量に応じた現在の前記要求牽引力特性を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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EP2918466B1 (en) | 2021-09-22 |
CN104870286B (zh) | 2018-06-29 |
US20150315767A1 (en) | 2015-11-05 |
JPWO2014208616A1 (ja) | 2017-02-23 |
US9267269B2 (en) | 2016-02-23 |
CN104870286A (zh) | 2015-08-26 |
JPWO2014208614A1 (ja) | 2017-02-23 |
CN104870287B (zh) | 2017-07-18 |
EP2918465A4 (en) | 2016-08-10 |
EP2910441A4 (en) | 2016-06-15 |
US20150322645A1 (en) | 2015-11-12 |
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EP2918465A1 (en) | 2015-09-16 |
EP2918466A4 (en) | 2016-10-26 |
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