JP7460730B2 - 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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- 230000005540 biological transmission Effects 0.000 claims description 42
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- 230000002706 hydrostatic effect Effects 0.000 claims description 33
- 239000010720 hydraulic oil Substances 0.000 claims description 31
- 230000003068 static effect Effects 0.000 claims description 20
- 230000008859 change Effects 0.000 claims description 13
- 230000001052 transient effect Effects 0.000 claims description 5
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- 230000004044 response Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 23
- 230000008569 process Effects 0.000 description 22
- 238000006073 displacement reaction Methods 0.000 description 10
- 239000000446 fuel Substances 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 7
- 238000002347 injection Methods 0.000 description 6
- 239000007924 injection Substances 0.000 description 6
- 239000003921 oil Substances 0.000 description 6
- 230000007423 decrease Effects 0.000 description 2
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- 239000004065 semiconductor Substances 0.000 description 1
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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
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
- F02D11/105—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
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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
-
- 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
- E02F9/2004—Control mechanisms, e.g. control levers
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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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
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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
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
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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
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B63/00—Adaptations of engines for driving pumps, hand-held tools or electric generators; Portable combinations of engines with engine-driven devices
- F02B63/06—Adaptations of engines for driving pumps, hand-held tools or electric generators; Portable combinations of engines with engine-driven devices for pumps
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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
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/021—Introducing corrections for particular conditions exterior to the engine
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H59/04—Ratio selector apparatus
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/4078—Fluid exchange between hydrostatic circuits and external sources or consumers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/46—Automatic regulation in accordance with output requirements
- F16H61/475—Automatic regulation in accordance with output requirements for achieving a target power, e.g. input power or output power
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
- F16H63/50—Signals to an engine or motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/415—Wheel loaders
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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
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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
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/422—Drive systems for bucket-arms, front-end loaders, dumpers or the like
-
- 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
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
-
- 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
- E02F9/2285—Pilot-operated systems
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/1002—Output torque
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/101—Engine speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/50—Input parameters for engine control said parameters being related to the vehicle or its components
- F02D2200/501—Vehicle speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/60—Input parameters for engine control said parameters being related to the driver demands or status
- F02D2200/602—Pedal position
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/14—Inputs being a function of torque or torque demand
- F16H59/18—Inputs being a function of torque or torque demand dependent on the position of the accelerator pedal
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
- F16H61/431—Pump capacity control by electro-hydraulic control means, e.g. using solenoid valves
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Fluid Gearings (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Description
上記の実施形態では、コントローラ72は、過渡時には、ストール時の目標入力馬力と静的な目標入力馬力との間で、単位時間ごとにHST23への目標入力馬力を増大させている。しかし、コントローラ72は、ストール時の目標入力馬力に限らず、アクセル操作量に応じた他の値を、HST23への目標入力馬力の下限として決定してもよい。
31 走行用ポンプ
32 駆動油圧回路
33 走行用モータ
23 HST(静油圧式変速機)
22 作業機用ポンプ
3 作業機
61 アクセル操作部材
64 アクセル操作センサ(第1センサ)
67 作業機操作部材
68 作業機操作センサ(第2センサ)
72 コントローラ
36 車速センサ
63 シフト操作部材
66 シフト操作センサ
71 記憶装置
Claims (11)
- エンジンと、
前記エンジンによって駆動される走行用ポンプと、前記走行用ポンプに接続された油圧回路と、前記油圧回路を介して前記走行用ポンプに接続された走行用モータと、を含む静油圧式変速機と、
前記エンジンによって駆動される作業機用ポンプと、
前記作業機用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、
アクセル操作部材と、
前記アクセル操作部材の操作量を示す信号を出力するアクセル操作センサと、
作業機操作部材と、
前記作業機操作部材の操作量を示す信号を出力する作業機操作センサと、
実際の車速を検出する車速センサと、
前記アクセル操作センサと前記作業機操作センサと前記車速センサからの信号を受信するコントローラと、
を備え、
前記コントローラは、
前記アクセル操作部材の操作量と前記実際の車速とから、目標加速度を決定し、
前記アクセル操作部材の操作量から、前記アクセル操作部材の操作量の定常時における前記静油圧式変速機への目標入力馬力である静的な目標入力馬力を決定し、
前記目標加速度から、前記アクセル操作部材の操作量の変更による過渡時における前記静油圧式変速機への目標入力馬力である動的な目標入力馬力を決定し、
前記静的な目標入力馬力と前記動的な目標入力馬力とから、前記静油圧式変速機に入力される目標入力馬力を決定し、
前記目標入力馬力と前記作業機操作部材の操作量とから前記エンジンの目標回転速度を決定する、
作業車両。 - 前記コントローラは、前記アクセル操作部材の操作量の変更による過渡時には、前記静的な目標入力馬力を越えない範囲で、前記アクセル操作部材の操作量に応じた速さで、前記動的な目標入力馬力を増大させる、
請求項1に記載の作業車両。 - 前記コントローラは、前記静的な目標入力馬力と前記動的な目標入力馬力とのうち小さい方を、前記静油圧式変速機に入力される目標入力馬力として決定する、
請求項1に記載の作業車両。 - 前記コントローラは、
前記アクセル操作部材の操作量から、目標基準車速を決定し、
前記目標基準車速と前記実際の車速との差である車速偏差を算出し、
前記車速偏差から、前記目標加速度を決定する、
請求項1に記載の作業車両。 - 前記コントローラは、
前記実際の車速と前記目標加速度とから、加速時の第1目標車速と、減速時の第2目標車速とを決定し、
前記車速偏差に応じて、加速時の第1目標車速と、減速時の第2目標車速とを目標車速として切り替えて決定する、
請求項4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走行用ポンプと、前記走行用ポンプに接続された油圧回路と、前記油圧回路を介して前記走行用ポンプに接続された走行用モータと、を含む静油圧式変速機と、前記エンジンによって駆動される作業機用ポンプと、前記作業機用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を備える作業車両を制御するための方法であって、
アクセル操作部材の操作量と作業機操作部材の操作量と実際の車速とを取得することと、
前記アクセル操作部材の操作量と前記実際の車速とから、目標加速度を決定することと、
前記アクセル操作部材の操作量から、前記アクセル操作部材の操作量の定常時における前記静油圧式変速機への目標入力馬力である静的な目標入力馬力を決定することと、
前記目標加速度から、前記アクセル操作部材の操作量の変更による過渡時における前記静油圧式変速機への目標入力馬力である動的な目標入力馬力を決定することと、
前記静的な目標入力馬力と前記動的な目標入力馬力とから、前記静油圧式変速機に入力される目標入力馬力を決定することと、
前記目標入力馬力と前記作業機操作部材の操作量とから前記エンジンの目標回転速度を決定すること、
を備える方法。 - 前記アクセル操作部材の操作量の変更による過渡時には、前記静的な目標入力馬力を越えない範囲で、前記アクセル操作部材の操作量に応じた速さで、前記動的な目標入力馬力を増大させることを備える、
請求項6記載の方法。 - 前記静的な目標入力馬力と前記動的な目標入力馬力とのうち小さい方を、前記静油圧式変速機に入力される目標入力馬力として決定することを備える、
請求項6記載の方法。 - 前記アクセル操作部材の操作量から、目標基準車速を決定することと、
前記目標基準車速と前記実際の車速との差である車速偏差を算出することと、
前記車速偏差から、前記目標加速度を決定すること、
を備える請求項6記載の方法。 - 前記実際の車速と前記目標加速度とから、加速時の第1目標車速と、減速時の第2目標車速とを決定することと、
前記車速偏差に応じて、加速時の第1目標車速と、減速時の第2目標車速とを目標車速として切り替えて決定すること、
を備える請求項9に記載の方法。 - 走行用ポンプと、前記走行用ポンプからの作動油によって駆動される走行用モータと、を含む静油圧式変速機と、作業機用ポンプと、前記作業機用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を備える作業車両を制御するための方法であって、
アクセル操作部材の操作量と作業機操作部材の操作量と実際の車速とを取得することと、
前記アクセル操作部材の操作量と前記実際の車速とから、目標加速度を決定することと、
前記アクセル操作部材の操作量から、前記アクセル操作部材の操作量の定常時における前記静油圧式変速機への目標入力馬力である静的な目標入力馬力を決定することと、
前記目標加速度から、前記アクセル操作部材の操作量の変更による過渡時における前記静油圧式変速機への目標入力馬力である動的な目標入力馬力を決定することと、
前記静的な目標入力馬力と前記動的な目標入力馬力とから、前記静油圧式変速機に入力される目標入力馬力を決定することと、
前記目標入力馬力と前記作業機操作部材の操作量とからエンジンの目標回転速度を決定すること、
を備える方法。
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