WO2015199249A1 - 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
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- WO2015199249A1 WO2015199249A1 PCT/JP2015/073124 JP2015073124W WO2015199249A1 WO 2015199249 A1 WO2015199249 A1 WO 2015199249A1 JP 2015073124 W JP2015073124 W JP 2015073124W WO 2015199249 A1 WO2015199249 A1 WO 2015199249A1
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- output
- control mode
- hydraulic pump
- pump
- hydraulic
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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
- E02F9/2221—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
- 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
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0841—Articulated frame, i.e. having at least one pivot point between two travelling gear units
-
- 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
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0858—Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units
- E02F9/0866—Engine compartment, e.g. heat exchangers, exhaust filters, cooling devices, silencers, mufflers, position of hydraulic pumps in the engine compartment
-
- 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
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- 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
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
-
- 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
-
- 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
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
- E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions
-
- 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
- E02F3/30—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 dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—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 dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
Definitions
- the present invention relates to a work vehicle and a control method thereof.
- Some work vehicles have revolving bodies and work implements.
- a swing body is turned by a hydraulic motor, and a work machine such as a boom is driven by a hydraulic cylinder.
- the hydraulic motor and the hydraulic cylinder are driven by hydraulic oil discharged from a hydraulic pump.
- a hybrid work vehicle including an electric motor instead of a hydraulic motor has been developed in recent years.
- a turning body is turned by an electric motor, and a working machine such as a boom is driven by a hydraulic cylinder.
- the electric motor is driven by, for example, electric power stored in the power storage device.
- the hydraulic cylinder is driven by hydraulic oil discharged from a hydraulic pump.
- Such a hybrid work vehicle can improve fuel efficiency compared to a standard work vehicle.
- JP 2010-285828 A Japanese Patent No. 5044727
- the work vehicle performs various work using a work machine. Therefore, in order to improve workability, it is desired to improve the operation speed of the work implement. For example, in an operation of loading an object such as excavated earth and sand on a dump truck, an operation of turning the turning body and raising the boom is performed. During such a combined operation, it is desired to increase the boom raising speed in order to improve workability.
- the output of the hydraulic pump is distributed to a hydraulic motor that turns the swing body and a hydraulic cylinder that drives the work machine. Accordingly, since a part of the output of the hydraulic pump is used for driving the hydraulic motor, there is a limit in improving the operating speed of the hydraulic cylinder.
- An object of the present invention is to improve the work efficiency by increasing the operating speed of a work implement while improving the fuel efficiency during a complex operation in a work vehicle.
- a work vehicle includes a vehicle main body, an engine, a hydraulic pump, a work implement, a swing body, an electric motor, a composite operation detection unit, a control mode selection unit, and a swing pump output calculation. And a pump output determining unit.
- the vehicle main body includes a traveling body and a revolving body supported so as to be able to swivel with respect to the traveling body.
- the engine is mounted on the vehicle body.
- the hydraulic pump is driven by the engine.
- the work machine has a hydraulic actuator.
- the hydraulic actuator is driven by hydraulic oil discharged from a hydraulic pump.
- the electric motor turns the turning body.
- the combined operation detection unit detects the state of combined operation in which the hydraulic actuator and the electric motor are operated in combination.
- the control mode selection unit selects a control mode from a plurality of control modes including a first control mode and a second control mode.
- the swing pump output calculation unit calculates the swing pump output by converting the output of the electric motor into the output of the hydraulic pump.
- the reduction amount determination unit determines a reduction amount of the output of the hydraulic pump during the combined operation based on the swing pump output.
- the pump output determination unit determines a value obtained by subtracting the reduction amount from the output of the hydraulic pump determined according to the state of the combined operation as the output of the hydraulic pump during the combined operation.
- the pump output determination unit increases the output of the hydraulic pump during the combined operation in the second control mode than in the first control mode.
- the hydraulic actuator is driven with the reduced output by the reduction amount determined based on the output of the swing pump in the first control mode during the combined operation. Therefore, the fuel consumption at the time of composite operation can be improved.
- the output for driving the hydraulic actuator corresponds to the output distributed to the hydraulic actuator in a standard work vehicle. Therefore, a decrease in the operating speed of the hydraulic actuator can be suppressed as compared with a standard work vehicle.
- the hydraulic actuator is driven with a larger output in the second control mode than in the first control mode during combined operation. Therefore, compared with a standard work vehicle, the operation speed of the work machine at the time of complex operation can be increased, thereby improving workability.
- the pump output determining unit may increase the output of the hydraulic pump during the combined operation by an amount corresponding to the reduction amount.
- the hydraulic actuator in the second control mode, can be driven with a large output corresponding to the output distributed to the drive of the hydraulic motor in the standard work vehicle. Thereby, the operation speed of the work machine during the combined operation can be further increased, and workability can be further improved.
- the pump output determining unit may increase the output of the hydraulic pump during the combined operation by an amount smaller than the reduction amount. In this case, it is possible to increase the operation speed of the work machine during the combined operation as compared with the first control mode, and to improve fuel consumption.
- the work vehicle may further include a discharge pressure detection unit and a motor output determination unit.
- the discharge pressure detection unit detects the discharge pressure of the hydraulic pump.
- the motor output determination unit determines the output of the electric motor at the time of composite operation.
- the motor output determining unit may limit the output of the electric motor in accordance with the discharge pressure of the hydraulic pump in the first control mode.
- the motor output determination unit may not limit the output of the electric motor according to the discharge pressure of the hydraulic pump in the second control mode.
- the electric motor in the first control mode, can be driven with an output equivalent to the output distributed to the hydraulic motor in the standard work vehicle.
- the electric motor can be driven with an output larger than the output distributed to the hydraulic motor in the standard work vehicle.
- the work implement may have a boom.
- the hydraulic actuator may be a boom cylinder that drives the boom.
- fuel efficiency can be improved during so-called hoist turning, in which turning of the turning body and driving of the boom are performed in combination.
- the workability can be improved by increasing the operating speed of the work implement during the hoist turning.
- a control method is a work vehicle control method.
- the control method includes first to sixth steps.
- the first step the state of the combined operation in which the hydraulic actuator for the working machine and the electric motor for turning are combined and detected is detected.
- the control mode is selected from a plurality of control modes including the first control mode and the second control mode.
- the swing pump output is calculated by converting the output of the electric motor into the output of the hydraulic pump.
- the reduction amount of the hydraulic pump output during the combined operation is determined based on the swing pump output.
- a value obtained by subtracting the reduction amount from the output of the hydraulic pump determined according to the state of the combined operation is determined as the output of the hydraulic pump during the combined operation.
- the output of the hydraulic pump at the time of the combined operation is increased as compared with the first control mode.
- the hydraulic actuator is driven with the reduced output by the reduction amount determined based on the swing pump output in the first control mode during the combined operation. Therefore, the fuel consumption at the time of composite operation can be improved.
- the output for driving the hydraulic actuator corresponds to the output distributed to the hydraulic actuator in a standard work vehicle. Therefore, a decrease in the operating speed of the hydraulic actuator can be suppressed as compared with a standard work vehicle.
- the hydraulic actuator is driven with a larger output in the second control mode than in the first control mode during combined operation.
- the operating speed of the work machine during combined operation can be increased, thereby improving workability.
- the present invention in a work vehicle, it is possible to improve fuel efficiency at the time of composite operation and to improve workability by increasing the operating speed of the work implement.
- FIG. 1 is a perspective view of a work vehicle according to an embodiment. It is a schematic diagram which shows schematic structure of a working vehicle. It is a figure which shows an engine output torque line and a pump absorption torque line. It is a figure which shows the output of the hydraulic pump of the 1st control mode at the time of compound operation, and a 2nd control mode. It is a block diagram which shows the control system of a work vehicle. It is a flowchart which shows control of the hydraulic pump at the time of compound operation. It is a flowchart which shows control of the turning electric motor at the time of compound operation. It is a figure which shows the output of the hydraulic pump of the 1st control mode at the time of compound operation which concerns on other embodiment, and a 2nd control mode.
- FIG. 1 is a perspective view of a work vehicle 100 according to the embodiment.
- the work vehicle 100 is a hydraulic excavator.
- the work vehicle 100 includes a vehicle main body 1 and a work implement 4.
- the vehicle body 1 has a traveling body 2 and a revolving body 3.
- the traveling body 2 includes a pair of traveling devices 2a and 2b.
- Each traveling device 2a, 2b has crawler belts 2d, 2e.
- Traveling devices 2a and 2b drive work vehicle 100 by driving crawler belts 2d and 2e.
- the turning body 3 is placed on the traveling body 2.
- the swivel body 3 is provided so as to be turnable with respect to the traveling body 2.
- the turning body 3 turns when a turning electric motor 32 (see FIG. 2) described later is driven.
- the revolving unit 3 is provided with a cab 5.
- the swivel body 3 has an engine chamber 16.
- the engine compartment 16 is disposed behind the cab 5.
- the engine chamber 16 houses devices such as an engine 21 and a hydraulic pump 25 described later.
- the work machine 4 is attached to the revolving unit 3.
- the work machine 4 includes a boom 7, an arm 8, a work attachment 9, a boom cylinder 10, an arm cylinder 11, and an attachment cylinder 12.
- a base end portion of the boom 7 is rotatably connected to the swing body 3.
- the distal end portion of the boom 7 is rotatably connected to the proximal end portion of the arm 8.
- the distal end portion of the arm 8 is rotatably connected to the work attachment 9.
- the boom cylinder 10, the arm cylinder 11, and the attachment cylinder 12 are hydraulic actuators that are driven by hydraulic oil discharged from a hydraulic pump 25 described later.
- the boom cylinder 10 operates the boom 7.
- the arm cylinder 11 operates the arm 8.
- the attachment cylinder 12 operates the work attachment 9.
- the work machine 4 is driven by driving these cylinders 10, 11, and 12.
- the work attachment 9 is a bucket, but may be another attachment such as a crusher or a breaker.
- FIG. 2 is a schematic diagram showing a schematic configuration of the work vehicle 100.
- the engine 21 is, for example, a diesel engine.
- the output horsepower of the engine 21 is controlled by adjusting the amount of fuel injected into the cylinder of the engine 21. This adjustment is performed by the electronic governor 23 attached to the fuel injection pump 22 of the engine 21 being controlled by a command signal from the controller 40.
- the governor 23 an all-speed control type governor is generally used, and the engine rotation speed and the fuel injection amount are adjusted according to the load so that the engine rotation speed becomes a target rotation speed described later. That is, the governor 23 increases or decreases the fuel injection amount so that there is no deviation between the target engine speed and the actual engine speed.
- the actual rotation speed of the engine 21 is detected by the engine rotation speed sensor 24.
- the engine rotation speed detected by the engine rotation speed sensor 24 is input to the controller 40 described later as a detection signal.
- the drive shaft of the hydraulic pump 25 is connected to the output shaft of the engine 21.
- the hydraulic pump 25 is driven by the rotation of the output shaft of the engine 21.
- the hydraulic pump 25 is a variable displacement hydraulic pump. As the tilt angle of the swash plate 26 changes, the capacity of the hydraulic pump 25 changes.
- the pump control valve 27 operates in response to a command signal input from the controller 40 and controls the hydraulic pump 25 via a servo piston.
- the pump control valve 27 has a pump absorption torque corresponding to the command value (command current value) of the command signal input from the controller 40 to the pump control valve 27, as the product of the discharge pressure of the hydraulic pump 25 and the capacity of the hydraulic pump 25.
- the tilt angle of the swash plate 26 is controlled so as not to exceed. That is, the pump control valve 27 controls the output torque of the hydraulic pump 25 in accordance with the input command current value.
- the hydraulic oil discharged from the hydraulic pump 25 is supplied to the hydraulic actuator 10-12 via the work machine control valve 28. Specifically, the hydraulic oil is supplied to the boom cylinder 10, the arm cylinder 11, and the attachment cylinder 12. Thereby, the boom cylinder 10, the arm cylinder 11, and the attachment cylinder 12 are each driven, and the boom 7, the arm 8, and the work attachment 9 operate.
- the discharge pressure of the hydraulic pump 25 is detected by the discharge pressure detector 39.
- the discharge pressure of the hydraulic pump 25 detected by the discharge pressure detection unit 39 is input to the controller 40 as a detection signal.
- the work machine control valve 28 is a flow direction control valve having a plurality of control valves corresponding to the hydraulic actuators 10-12.
- the work implement control valve 28 controls the flow rate of the hydraulic oil supplied to the hydraulic actuator 10-12.
- the drive shaft of the generator motor 29 is connected to the output shaft of the engine 21.
- the generator motor 29 performs a power generation action and an electric action.
- the generator motor 29 is connected via an inverter 33 to a swing electric motor 32 and a capacitor 34 as a power storage device. Electric power is stored in the capacitor 34 by the generator motor 29 generating power.
- the capacitor 34 supplies electric power to the turning electric motor 32.
- the capacitor 34 supplies electric power to the generator motor 29.
- the turning electric motor 32 is driven by power supplied from the capacitor 34, and turns the turning body 3 described above. Note that other power storage devices such as a battery may be used instead of the capacitor.
- the torque of the generator motor 29 is controlled by the controller 40.
- the generator / electric motor 29 is controlled to generate power, a part of the output torque generated by the engine 21 is transmitted to the drive shaft of the generator / motor 29 to absorb the torque of the engine 21 to generate power. Is called.
- AC power generated by the generator motor 29 is converted into DC power by the inverter 33 and supplied to the capacitor 34.
- the generator motor 29 is controlled to perform an electric action, the DC power stored in the capacitor 34 is converted into AC power by the inverter 33 and supplied to the generator motor 29.
- the drive shaft of the generator motor 29 is driven to rotate, and torque is generated by the generator motor 29.
- This torque is transmitted from the drive shaft of the generator motor 29 to the output shaft of the engine 21 and added to the output torque of the engine 21.
- the power generation amount (absorption torque amount) and the electric amount (assist amount; generated torque amount) of the generator motor 29 are controlled according to a command signal from the controller 40.
- the inverter 33 converts the electric power generated when the electric generator motor 29 generates electric power or the electric power stored in the capacitor 34 into electric power having a desired voltage, frequency, and number of phases suitable for the swing electric motor 32. To the swing electric motor 32. In addition, when the turning operation
- the cab 5 is provided with operating devices 51-53 and a display input device 43.
- the operation devices 51-53 include a first operation device 51, a second operation device 52, and a target rotation speed setting device 53.
- the first operating device 51 is operated by an operator to operate the swing body 3.
- the first operating device 51 has an operating member such as a lever, for example.
- An operation signal indicating the operation direction and the operation amount of the first operation device 51 is input to the controller 40. That is, a turning operation signal indicating a right turning operation amount or a left turning operation amount is input to the controller 40 in accordance with the operation direction and the operation amount with respect to the neutral position of the first operating device 51.
- the controller 40 controls the power supplied from the capacitor 34 to the turning electric motor 32 according to the operation amount of the first operating device 51. Thereby, the revolving structure 3 turns at a speed corresponding to the operation amount of the first operating device 51. Further, the revolving structure 3 turns in a direction corresponding to the operation direction of the first operating device 51.
- the first operating device 51 may also be used as an operating device for the arm 8 depending on the operating direction.
- the left-right direction operation and the front-rear direction operation of the first operating device 51 may be assigned to the operation of the arm 8 and the operation of the revolving structure 3.
- the work implement control valve 28 described above changes the opening area of the control valve that controls the arm cylinder 11 according to the operation amount of the first operating device 51.
- the arm 8 operates at a speed corresponding to the operation amount of the first operating device 51.
- the arm cylinder 11 expands and contracts according to the operation direction of the first operating device 51.
- the second operating device 52 is operated by an operator to operate the boom 7.
- the second operating device 52 has an operating member such as a lever.
- An operation signal indicating the operation direction and the operation amount of the second operation device 52 is input to the controller 40. That is, a boom operation signal indicating a boom raising operation amount or a boom lowering operation amount is input to the controller 40 in accordance with the operation direction and the operation amount with respect to the neutral position of the second operation device 52.
- the work implement control valve 28 changes the opening area of the control valve that controls the boom cylinder 10 according to the operation amount of the second operating device 52. Thereby, the boom 7 operates at a speed according to the operation amount of the second operating device 52. Further, the boom cylinder 10 expands and contracts according to the operation direction of the second operating device 52.
- the second operating device 52 may also be used as an operating device for the work attachment 9 depending on the operating direction.
- the left-right operation and the front-rear operation of the second operating device 52 may be assigned to the operation of the boom 7 and the operation of the work attachment 9.
- the work implement control valve 28 changes the opening area of the control valve that controls the attachment cylinder 12 according to the operation amount of the second operating device 52.
- the work attachment 9 operates at a speed corresponding to the operation amount of the second operation device 52.
- the attachment cylinder 12 expands and contracts according to the operation direction of the second operating device 52.
- the target rotational speed setting device 53 is a device for setting the target rotational speed of the engine 21.
- the target rotation speed setting device 53 has an operation member such as a dial. The operator can manually set the target rotational speed of the engine 21 by operating the target rotational speed setting device 53.
- the operation content of the target rotation speed setting device 53 is input to the controller 40 as an operation signal.
- the display input device 43 functions as a display device that displays information on the work vehicle 100 such as the engine rotation speed.
- the display input device 43 has a touch panel monitor and functions as an input device operated by an operator.
- the controller 40 is realized by a computer having a storage unit 42 such as a RAM and a ROM, and a calculation unit 41 such as a CPU.
- the controller 40 is programmed to control the engine 21 and the hydraulic pump 25.
- the controller 40 may be realized by a plurality of computers.
- the controller 40 controls the engine 21 based on the engine output torque line as indicated by P1 or E1 in FIG.
- the engine output torque line represents a torque upper limit value that the engine 21 can output according to the rotational speed. That is, the engine output torque line defines the relationship between the engine rotation speed and the maximum value of the output torque of the engine 21.
- the governor 23 controls the output of the engine 21 so that the output torque of the engine 21 does not exceed the engine output torque line.
- the engine output torque line is stored in the storage unit 42 of the controller 40.
- the controller 40 sends a command signal to the governor 23 so that the engine rotation speed becomes the set target rotation speed.
- FH in FIG. 3 indicates the fastest regulation line when the target rotational speed is the maximum target rotational speed NH.
- F1 in FIG. 3 indicates a regulation line when the target rotational speed is N1 smaller than NH.
- the controller 40 changes the engine output torque line according to the set target rotational speed.
- the controller 40 calculates a target absorption torque of the hydraulic pump 25 corresponding to the target rotation speed of the engine 21. This target absorption torque is set so that the output horsepower of the engine 21 and the absorption horsepower of the hydraulic pump 25 are balanced.
- the controller 40 calculates a target absorption torque based on a pump absorption torque line as indicated by Lp in FIG.
- the pump absorption torque line defines the relationship between the engine rotation speed and the absorption torque of the hydraulic pump 25, and is stored in the storage unit 42 of the controller 40.
- the controller 40 selects an engine output torque line according to the set work mode.
- the work mode is set by the display input device 43.
- the work mode includes a P mode and an E mode.
- the P mode is a work mode in which the output torque of the engine 21 is large and the workability is excellent.
- the first engine output torque line P1 shown in FIG. 3 is selected.
- the first engine output torque line P1 corresponds to, for example, the rating of the engine 21 or the maximum power output.
- the E mode is a work mode in which the output torque of the engine 21 is smaller than that of the P mode and has excellent fuel efficiency.
- the second engine output torque line E1 shown in FIG. 3 is selected.
- the output torque of the engine 21 is smaller than that in the first engine output torque line P1.
- the operator can select a plurality of control modes for the P mode described above.
- the plurality of control modes have a first control mode and a second control mode.
- the controller 40 controls the engine 21 by the first engine output torque line P1.
- the first control mode as will be described later, the output of the hydraulic pump 25 is reduced, and the output torque of the engine is reduced accordingly. That is, in the second control mode, the output of the hydraulic pump 25 is increased as compared with the first control mode.
- FIG. 4 is a diagram showing the output of the hydraulic pump 25 in the first control mode and the second control mode during the combined operation.
- the combined operation means a combined operation of raising the boom and turning, and it is assumed that no other hydraulic actuator is operated.
- Tmax is the maximum output of the hydraulic pump 25 determined by the pump absorption torque described above.
- the output of the hydraulic pump 25 is reduced to a value T1 smaller than the maximum output Tmax.
- the reduction amount dT is determined based on the swing pump output obtained by converting the output of the swing electric motor 32 into the output of the hydraulic pump 25.
- the boom cylinder 10 is driven by the output T1 of the hydraulic pump 25.
- the output of the hydraulic pump 25 is not reduced as in the first control mode, and the maximum output Tmax is the output of the hydraulic pump 25. That is, in the second control mode, the output of the hydraulic pump 25 during the combined operation is increased by an amount corresponding to the reduction amount dT compared to the first control mode.
- the boom cylinder 10 is driven with the maximum output Tmax.
- the output of the hydraulic pump 25 is determined according to the operation amount of the first operating device 51 and the second operating device 52.
- the maximum output Tmax is the maximum value of the output of the hydraulic pump 25 that is determined according to the operation amount of the first operating device 51 and the second operating device 52.
- the maximum output Tmax is set to the maximum value of the output of the hydraulic pump 25 when the swing electric motor 32 is not operated and only the boom cylinder 10 is operated.
- processing in the first control mode and the second control mode at the time of composite operation will be described in detail.
- FIG. 5 is a block diagram showing a control system of work vehicle 100.
- the calculation unit 41 of the controller 40 includes a composite operation detection unit 44, a control mode selection unit 45, a swing pump output calculation unit 46, a reduction amount determination unit 47, and a pump output determination unit 48. And a motor output determination unit 49.
- FIG. 6 is a flowchart showing the control of the hydraulic pump 25 during combined operation.
- step S ⁇ b> 1 the composite operation detection unit 44 detects whether or not the boom cylinder 10 and the swing electric motor 32 are operated in combination. Specifically, the composite operation detection unit 44 detects whether or not the boom raising operation and the turning operation are performed in combination. The composite operation detection unit 44 determines the presence / absence of the composite operation based on detection signals from the first operation device 51 and the second operation device 52. When the boom raising operation and the turning operation are performed in combination, the process proceeds to step S2.
- step S2 it is determined whether or not the first control mode is selected.
- the operator can set either the first control mode or the second control mode by operating the display input device 43.
- the control mode selection unit 45 receives a selection signal indicating the selected control mode from the display input device 43, and sets the selected control mode as the control mode for the combined operation.
- the process proceeds to step S3.
- the first control mode is not selected in step S2, that is, when the second control mode is selected, the process proceeds to step S6.
- step S3 the reduction amount dT described above is calculated.
- the reduction amount dT is expressed by the following equation (1).
- ⁇ is a predetermined gain. In the first control mode, ⁇ is set to 1 or a value close to 1.
- Ls is the swing pump output.
- the swing pump output calculation unit 46 calculates the output of the swing electric motor 32 by multiplying the output torque of the swing electric motor 32 by the rotation speed of the swing electric motor 32, and converts it into the output of the hydraulic pump 25, thereby turning the swing pump.
- the pump output Ls is calculated.
- the rotary pump output Ls is expressed by the following equation (2).
- Nm is the rotational speed of the swing electric motor 32.
- the rotational speed Nm of the swing electric motor 32 is detected by the motor rotational speed detector 54.
- Tm is the output torque of the swing electric motor 32.
- the output torque Tm of the swing electric motor 32 is detected by the motor torque detector 55.
- ⁇ is an efficiency considering the hydraulic loss, and a predetermined value is set.
- the reduction amount determination unit 47 calculates the reduction amount dT of the output of the hydraulic pump 25 during the combined operation from the above-described swing pump output Ls and Equation 1.
- step S4 the pump output determination unit 48 calculates the output Tp of the hydraulic pump 25 during the combined operation.
- the output Tp of the hydraulic pump 25 during the combined operation is calculated by the following equation (3).
- the pump output determination unit 48 determines a value obtained by subtracting the reduction amount dT from the maximum output Tmax of the hydraulic pump 25 as the output Tp of the hydraulic pump 25 during the combined operation.
- the controller 40 outputs a command signal corresponding to the output Tp of the hydraulic pump 25 to the pump control valve 27.
- the output Tp of the hydraulic pump 25 is a value T1 smaller than the maximum output Tmax, as shown in FIG.
- step S2 when the second control mode is selected, the process proceeds to step S6.
- step S6 the reduction amount dT is set to zero. Specifically, in the second control mode, the reduction amount dT becomes 0 by setting the above-described gain ⁇ to 0.
- step S4 the output Tp of the hydraulic pump 25 during the combined operation becomes the maximum output Tmax in the second control mode according to the above equation (3). That is, in the second control mode, the pump output determination unit 48 increases the output of the hydraulic pump 25 during the combined operation by an amount corresponding to the reduction amount dT.
- step S5 the controller 40 outputs a command signal corresponding to the output Tp of the hydraulic pump 25 to the pump control valve 27. As described above, in the second control mode, the output Tp of the hydraulic pump 25 becomes the maximum output Tmax as shown in FIG.
- FIG. 7 is a flowchart showing the control of the swing electric motor 32 during the composite operation.
- steps S11 and S12 are the same as steps S1 and S2 described above, respectively, and thus description thereof is omitted.
- step S12 When the first control mode is selected in step S12, the output of the swing electric motor 32 is limited in steps S13 to S15. Specifically, in step S13, the discharge pressure of the hydraulic pump 25 is detected. The discharge pressure of the hydraulic pump 25 is detected by the discharge pressure detector 39.
- step S14 the upper limit Tm1 of the motor output is calculated.
- the motor output determination unit 49 determines the upper limit Tm1 of the motor output according to the discharge pressure of the hydraulic pump 25. For example, the motor output determination unit 49 decreases the upper limit Tm1 of the motor output as the discharge pressure of the hydraulic pump 25 decreases.
- step S15 a motor output command value is determined.
- the motor output determining unit 49 determines the smaller one of the motor output Tm2 determined by the operation amount of the first operating device 51 and the above-described upper limit Tm1 of the motor output as the motor output command value. That is, in the first control mode, the motor output determination unit 49 limits the output of the swing electric motor 32 to the motor output upper limit Tm1 or less according to the discharge pressure of the hydraulic pump 25.
- step S16 the controller 40 outputs a command signal corresponding to the motor output command value to the inverter 33.
- the output of the hydraulic pump 25 distributed for turning by the hydraulic motor is determined according to the discharge pressure of the hydraulic pump 25. Therefore, by determining the upper limit Tm1 of the motor output in the first control mode as described above, as shown by the broken line in FIG. 4, the turning equivalent to the output of the turning hydraulic pump 25 in the standard work vehicle The output of the electric motor 32 can be obtained.
- step S12 when the second control mode is selected, the output of the turning electric motor 32 is not limited as in steps S13 to S15. Accordingly, in step 17, the motor output determination unit 49 determines the motor output Tm2 determined by the operation amount of the first operating device 51 as the motor output command value.
- step S16 the controller 40 outputs a command signal corresponding to the motor output command value to the inverter 33.
- the motor output determination unit 49 does not limit the output of the swing electric motor 32 according to the discharge pressure of the hydraulic pump 25, but the swing electric motor according to the remaining power of the capacitor 34 and the like. It is not excluded to limit 32 outputs.
- the boom cylinder 10 is driven with a reduced output corresponding to the reduction amount determined based on the swing pump output in the first control mode during the combined operation. Therefore, the fuel consumption at the time of composite operation can be improved.
- the reduced output corresponds to the output distributed to the boom cylinder drive in the standard work vehicle. Therefore, a decrease in the operating speed of the boom cylinder 10 can be suppressed as compared with a standard work vehicle.
- the output is not reduced as in the first control mode, and the boom cylinder 10 is driven at the maximum output Tmax. Therefore, the work speed can be improved by increasing the operation speed of the boom cylinder 10 during the combined operation.
- the pump output determining unit 48 may increase the output of the hydraulic pump 25 during the combined operation by an amount smaller than the reduction amount dT. That is, in the second control mode, the gain ⁇ in Equation 1 may be set to a value greater than 0 and less than 1. In this case, as shown in FIG. 8, the output Tp of the hydraulic pump 25 used for driving the boom cylinder 10 in the second control mode is a value between T1 and Tmax.
- the control mode is not limited to two of the first control mode and the second control mode, and may be three or more.
- the reduction amount dT may be a value between the first control mode and the second control mode.
- the present invention is applied to the combined operation of the boom raising and turning, but the present invention is applied to the combined operation of the operation of the work machine 4 other than the boom raising and turning. Also good.
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Abstract
Description
Claims (6)
- 走行体と、旋回可能に前記走行体に支持される旋回体と、を有する車両本体と、
前記車両本体に搭載されるエンジンと、
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る作動油によって駆動される油圧アクチュエータを有する作業機と、
前記旋回体を旋回させる電動モータと、
前記油圧アクチュエータと前記電動モータとが複合して操作される複合操作の状態を検出する複合操作検出部と、
制御モードを、第1制御モードと第2制御モードとを含む複数の制御モードから選択する制御モード選択部と、
前記電動モータの出力を前記油圧ポンプにおける出力に換算した旋回ポンプ出力を算出する旋回ポンプ出力算出部と、
前記旋回ポンプ出力に基づいて前記複合操作時における前記油圧ポンプの出力の低減量を決定する低減量決定部と、
前記第1制御モードでは、前記複合操作の状態に応じて決定される前記油圧ポンプの出力から前記低減量を差し引いた値を、前記複合操作時における前記油圧ポンプの出力として決定し、前記第2制御モードでは、前記第1制御モードよりも、前記複合操作時における前記油圧ポンプの出力を増大させる、ポンプ出力決定部と、
作業車両。 - 前記ポンプ出力決定部は、前記第2制御モードでは、前記低減量に相当する分、前記複合操作時における前記油圧ポンプの出力を増大させる、
請求項1に記載の作業車両。 - 前記ポンプ出力決定部は、前記第2制御モードでは、前記低減量よりも小さい分、前記複合操作時における前記油圧ポンプの出力を増大させる、
請求項1に記載の作業車両。 - 前記油圧ポンプの吐出圧を検出する吐出圧検出部と、
前記複合操作時における前記電動モータの出力を決定するモータ出力決定部と、
をさらに備え、
前記モータ出力決定部は、前記第1制御モードでは、前記油圧ポンプの吐出圧に応じて前記電動モータの出力を制限し、前記第2制御モードでは、前記油圧ポンプの吐出圧に応じた前記電動モータの出力の制限を行わない、
請求項1から3のいずれかに記載の作業車両。 - 前記作業機はブームを有し、
前記油圧アクチュエータは、前記ブームを駆動するブームシリンダである、
請求項1から4のいずれかに記載の作業車両。 - 作業機用の油圧アクチュエータと、旋回用の電動モータとが複合して操作される複合操作の状態を検出するステップと、
第1制御モードと第2制御モードとを含む複数の制御モードから選択された制御モードを示す選択信号を受信するステップと、
前記電動モータの出力を油圧ポンプにおける出力に換算した旋回ポンプ出力を算出するステップと、
前記旋回ポンプ出力に基づいて前記複合操作時における前記油圧ポンプの出力の低減量を決定するステップと、
前記第1制御モードにおいて、前記複合操作の状態に応じて決定される前記油圧ポンプの出力から前記低減量を差し引いた値を、前記複合操作時における前記油圧ポンプの出力として決定するステップと、
前記第2制御モードにおいて、前記第1制御モードよりも、前記複合操作時における前記油圧ポンプの出力を増大させるように、前記油圧ポンプの指令信号を出力するステップと、
を備える作業車両の制御方法。
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US14/909,861 US9540785B1 (en) | 2015-08-18 | 2015-08-18 | Working vehicle and working vehicle control method |
DE112015000107.7T DE112015000107B4 (de) | 2015-08-18 | 2015-08-18 | Arbeitsfahrzeug und Arbeitsfahrzeugsteuerungsverfahren |
CN201580001065.0A CN105452570A (zh) | 2015-08-18 | 2015-08-18 | 作业车辆及其控制方法 |
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