JP6548601B2 - 作業車 - Google Patents
作業車 Download PDFInfo
- Publication number
- JP6548601B2 JP6548601B2 JP2016064299A JP2016064299A JP6548601B2 JP 6548601 B2 JP6548601 B2 JP 6548601B2 JP 2016064299 A JP2016064299 A JP 2016064299A JP 2016064299 A JP2016064299 A JP 2016064299A JP 6548601 B2 JP6548601 B2 JP 6548601B2
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- JP
- Japan
- Prior art keywords
- rotational speed
- upper limit
- value
- electric motor
- torque
- 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.)
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Classifications
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- 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
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- 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
- B60K1/00—Arrangement or mounting of electrical propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- 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
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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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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60Y2300/60—Control of electric machines, e.g. problems related to electric motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/91—Battery charging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/11—Electric energy storages
- B60Y2400/112—Batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/70—Gearings
- B60Y2400/72—Continous variable transmissions [CVT]
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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
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- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
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- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
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Description
特許文献1に記載の作業車には、駆動可能な左右一対の前輪と、駆動可能な左右一対の後輪と、を有している走行装置と、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に記載の作業車は、エンジンの駆動力が左右一対の後輪に伝達され、かつ、電動モータの駆動力が左右一対の前輪に伝達される4WDモードでの走行が可能である。
駆動可能な左右一対の前輪と、駆動可能な左右一対の後輪と、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、
前記電動モータの回転速度とトルク指令値との関係に基づいて、前記電動モータを制御する制御装置と、
前記前輪の回転速度を検出する前輪回転速度検出センサと、
前記後輪の回転速度を検出する後輪回転速度検出センサと、を備えており、
前記制御装置は、
前記前輪回転速度検出センサの検出値及び前記後輪回転速度検出センサの検出値に基づいて、前記前輪及び前記後輪のうち前記エンジンに駆動されるエンジン駆動輪の回転速度から前記前輪及び前記後輪のうち前記電動モータに駆動されるモータ駆動輪の回転速度を引算することにより、前記エンジン駆動輪の回転速度に対する前記モータ駆動輪の回転速度の低下度合いを示す回転速度低下度を算出する回転速度低下度算出部と、
前記回転速度低下度と基準値との比較結果に基づいて、前記トルク指令値の上限値を変更するトルク上限値変更部と、を備えており、
前記トルク上限値変更部は、前記回転速度低下度が前記基準値よりも大きい場合は、前記エンジン駆動輪よりも回転速度が低い回転状態の前記モータ駆動輪を駆動する前記電動モータについて、力行領域における前記トルク指令値の上限値を大きくし、かつ、回生領域における前記トルク指令値の上限値を小さくし、前記回転速度低下度が前記基準値よりも小さい場合は、前記エンジン駆動輪よりも回転速度が低い回転状態の前記モータ駆動輪を駆動する前記電動モータについて、力行領域における前記トルク指令値の上限値を小さくし、かつ、回生領域における前記トルク指令値の上限値を大きくすることにある。
さらに、本発明において、
前記トルク上限値変更部は、前記回転速度低下度が前記基準値と等しい場合は、力行領域における前記トルク指令値の上限値及び回生領域における前記トルク指令値の上限値を変更しないと好適である。
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。
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。
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の検出信号や前輪2Fの回転速度を検出する前輪回転速度検出センサ19の検出信号、後輪2Bの回転速度を検出する後輪回転速度検出センサ20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や回転速度低下度算出部21、回転速度低下度比較部22、トルク上限値変更部23が備えられている。
次に、電動モータMの力行・回生制御について、図5を用いて説明する。図5に示すように、回転速度低下度算出部21は、回転速度低下度ΔVを算出する(S1)。
(1)上記実施形態では、トルク上限値変更部23は、回転速度低下度ΔVと基準回転速度低下度ΔVsとの比較結果に基づいて、力行側のトルク上限値Ta_max及び回生側のトルク上限値Tb_maxを変更するが、力行側のトルク上限値Ta_maxのみを変更してもよい。
2F 前輪
2B 後輪
13 バッテリ
17 制御装置
19 前輪回転速度検出センサ
20 後輪回転速度検出センサ
21 回転速度低下度算出部
23 トルク上限値変更部
E エンジン
M 電動モータ
N 回転速度
T トルク指令値
ΔV 回転速度低下度
ΔVs 基準回転速度低下度(基準値)
Claims (2)
- 駆動可能な左右一対の前輪と、駆動可能な左右一対の後輪と、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、
前記電動モータの回転速度とトルク指令値との関係に基づいて、前記電動モータを制御する制御装置と、
前記前輪の回転速度を検出する前輪回転速度検出センサと、
前記後輪の回転速度を検出する後輪回転速度検出センサと、を備えており、
前記制御装置は、
前記前輪回転速度検出センサの検出値及び前記後輪回転速度検出センサの検出値に基づいて、前記前輪及び前記後輪のうち前記エンジンに駆動されるエンジン駆動輪の回転速度から前記前輪及び前記後輪のうち前記電動モータに駆動されるモータ駆動輪の回転速度を引算することにより、前記エンジン駆動輪の回転速度に対する前記モータ駆動輪の回転速度の低下度合いを示す回転速度低下度を算出する回転速度低下度算出部と、
前記回転速度低下度と基準値との比較結果に基づいて、前記トルク指令値の上限値を変更するトルク上限値変更部と、を備えており、
前記トルク上限値変更部は、前記回転速度低下度が前記基準値よりも大きい場合は、前記エンジン駆動輪よりも回転速度が低い回転状態の前記モータ駆動輪を駆動する前記電動モータについて、力行領域における前記トルク指令値の上限値を大きくし、かつ、回生領域における前記トルク指令値の上限値を小さくし、前記回転速度低下度が前記基準値よりも小さい場合は、前記エンジン駆動輪よりも回転速度が低い回転状態の前記モータ駆動輪を駆動する前記電動モータについて、力行領域における前記トルク指令値の上限値を小さくし、かつ、回生領域における前記トルク指令値の上限値を大きくする作業車。 - 前記トルク上限値変更部は、前記回転速度低下度が前記基準値と等しい場合は、力行領域における前記トルク指令値の上限値及び回生領域における前記トルク指令値の上限値を変更しない請求項1に記載の作業車。
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