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WO2008146846A1 - 作業車両の駆動力制御装置および駆動力制御方法 - Google Patents

作業車両の駆動力制御装置および駆動力制御方法 Download PDF

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Publication number
WO2008146846A1
WO2008146846A1 PCT/JP2008/059818 JP2008059818W WO2008146846A1 WO 2008146846 A1 WO2008146846 A1 WO 2008146846A1 JP 2008059818 W JP2008059818 W JP 2008059818W WO 2008146846 A1 WO2008146846 A1 WO 2008146846A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving force
tire
tire slip
detected
slip
Prior art date
Application number
PCT/JP2008/059818
Other languages
English (en)
French (fr)
Inventor
Yoshiaki Saito
Original Assignee
Komatsu Ltd.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd. filed Critical Komatsu Ltd.
Priority to CN200880101004.1A priority Critical patent/CN101765726B/zh
Priority to EP14176174.2A priority patent/EP2824351B1/en
Priority to EP08776933.7A priority patent/EP2151594B1/en
Priority to JP2009516339A priority patent/JP5292635B2/ja
Priority to US12/601,316 priority patent/US8364355B2/en
Publication of WO2008146846A1 publication Critical patent/WO2008146846A1/ja

Links

Classifications

    • 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
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • 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
    • 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
    • E02F9/22—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
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D31/00—Fluid couplings or clutches with pumping sets of the volumetric type, i.e. in the case of liquid passing a predetermined volume per revolution
    • F16D31/02—Fluid couplings or clutches with pumping sets of the volumetric type, i.e. in the case of liquid passing a predetermined volume per revolution using pumps with pistons or plungers working in cylinders
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D31/00—Fluid couplings or clutches with pumping sets of the volumetric type, i.e. in the case of liquid passing a predetermined volume per revolution
    • F16D31/08—Control of slip
    • 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
    • F16H61/472—Automatic regulation in accordance with output requirements for achieving a target output torque
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/26—Wheel slip
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/10—Change speed gearings
    • B60W2710/105—Output torque
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/304—Signal inputs from the clutch
    • F16D2500/3042—Signal inputs from the clutch from the output shaft
    • F16D2500/30421—Torque of the output shaft
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/31—Signal inputs from the vehicle
    • F16D2500/3114—Vehicle wheels
    • F16D2500/3115—Vehicle wheel speed
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/31—Signal inputs from the vehicle
    • F16D2500/3114—Vehicle wheels
    • F16D2500/3118—Slip of vehicle wheels
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/507—Relating the vehicle
    • F16D2500/5075—Prevention or regulation of vehicle's wheel slip
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
    • F16D2500/70422—Clutch parameters
    • F16D2500/70438—From the output shaft
    • F16D2500/7044—Output shaft torque
    • 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
    • F16H59/50—Inputs being a function of the status of the machine, e.g. position of doors or safety belts
    • F16H2059/506—Wheel slip

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
  • Control Of Transmission Device (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

　掘削作業時などのタイヤスリップが生じるおそれのある状況下でタイヤスリップを繰り返し発生させないようにすることで、タイヤスリップによる作業効率の低下という問題、タイヤ損傷による耐久性低下およびユーザのタイヤ交換費用負担大という問題を解決する。 本発明の作業車両には、作業機が備えられ、エンジンの動力が駆動力伝達経路を介してタイヤに駆動力として伝達される。作業車両の駆動力伝達経路には、タイヤに伝達される駆動力が変更自在の駆動力可変手段が設けられている。タイヤスリップ検出手段では、タイヤスリップが発生したことが検出される。駆動力計測手段では、タイヤスリップ検出手段でタイヤスリップが検出された場合に、タイヤスリップ検出時点の駆動力が計測される。駆動力制御手段では、タイヤスリップ検出時点の駆動力未満になるように、駆動力可変手段が制御される。
PCT/JP2008/059818 2007-05-30 2008-05-28 作業車両の駆動力制御装置および駆動力制御方法 WO2008146846A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CN200880101004.1A CN101765726B (zh) 2007-05-30 2008-05-28 作业车辆的驱动力控制装置及驱动力控制方法
EP14176174.2A EP2824351B1 (en) 2007-05-30 2008-05-28 Working vehicle with driving force control
EP08776933.7A EP2151594B1 (en) 2007-05-30 2008-05-28 Working vehicule with driving force control means
JP2009516339A JP5292635B2 (ja) 2007-05-30 2008-05-28 作業車両の駆動力制御装置および駆動力制御方法
US12/601,316 US8364355B2 (en) 2007-05-30 2008-05-28 Driving force controller and driving force control method of working vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007143465 2007-05-30
JP2007-143465 2007-05-30

Publications (1)

Publication Number Publication Date
WO2008146846A1 true WO2008146846A1 (ja) 2008-12-04

Family

ID=40075083

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/059818 WO2008146846A1 (ja) 2007-05-30 2008-05-28 作業車両の駆動力制御装置および駆動力制御方法

Country Status (5)

Country Link
US (1) US8364355B2 (ja)
EP (2) EP2151594B1 (ja)
JP (1) JP5292635B2 (ja)
CN (2) CN101765726B (ja)
WO (1) WO2008146846A1 (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2410196A4 (en) * 2009-03-18 2012-12-26 Komatsu Mfg Co Ltd VEHICLE OF CIVIL ENGINEERING
AU2014354005A1 (en) * 2014-11-27 2016-06-16 Komatsu Ltd. System for managing mining machinery, method for managing mining machinery, and dump truck

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8858151B2 (en) * 2011-08-16 2014-10-14 Caterpillar Inc. Machine having hydraulically actuated implement system with down force control, and method
CN105612080B (zh) * 2013-10-09 2019-07-12 伊顿智能动力有限公司 用于限制离合器转矩以减小高mu车轮打滑的方法
US10407072B2 (en) * 2015-09-03 2019-09-10 Deere & Company System and method of regulating wheel slip in a traction vehicle
US10112615B2 (en) * 2015-09-03 2018-10-30 Deere & Company System and method of reacting to wheel slip in a traction vehicle
US9845008B2 (en) 2015-09-03 2017-12-19 Deere & Company System and method of detecting load forces on a traction vehicle to predict wheel slip
US9994104B2 (en) 2015-09-03 2018-06-12 Deere & Company System and method of reacting to wheel slip in a traction vehicle
EP3392415B1 (en) * 2015-12-18 2023-07-12 Sumitomo Heavy Industries, Ltd. Shovel and control method for same
CN105864228B (zh) * 2016-05-06 2017-08-25 广西大学 一种作业车辆的机电液速度控制系统
CN106523445B (zh) * 2016-12-02 2018-06-19 贵州詹阳动力重工有限公司 一种车辆的控制装置和控制方法
JP7266372B2 (ja) * 2018-06-29 2023-04-28 株式会社小松製作所 作業機械、および作業機械を含むシステム
JP6748177B2 (ja) * 2018-11-14 2020-08-26 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
JP7261111B2 (ja) * 2019-07-16 2023-04-19 株式会社小松製作所 作業機械、および作業機械の制御方法
EP4313705A1 (en) * 2021-03-30 2024-02-07 Volvo Truck Corporation A method for determining a slip limit value for a wheel of a vehicle
CN113818505A (zh) * 2021-11-24 2021-12-21 徐工集团工程机械股份有限公司科技分公司 一种装载机铲掘防滑控制方法、系统及装置
CN115056656B (zh) * 2022-08-03 2024-12-27 中国第一汽车股份有限公司 电动车辆的控制方法、装置、电动车辆和存储介质
CN116163358A (zh) * 2023-02-27 2023-05-26 山推工程机械股份有限公司 推土机钩深控制系统和控制方法

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JPH0658345A (ja) 1991-07-08 1994-03-01 Komatsu Ltd ４輪駆動車両のスリップ防止方法
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JP2001146928A (ja) 1999-09-10 2001-05-29 Komatsu Ltd 作業車両
JP2005146886A (ja) 2003-11-11 2005-06-09 Kawasaki Heavy Ind Ltd タイヤスリップ制御装置
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JP2007127174A (ja) * 2005-11-02 2007-05-24 Hitachi Constr Mach Co Ltd 作業車両の走行制御装置および走行制御方法

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JPH04100739A (ja) * 1990-08-15 1992-04-02 Fujitsu Ten Ltd 加速スリップ防止装置
JPH0658345A (ja) 1991-07-08 1994-03-01 Komatsu Ltd ４輪駆動車両のスリップ防止方法
JP2001115870A (ja) 1999-08-09 2001-04-24 Kawasaki Heavy Ind Ltd タイヤスリップ制御装置
JP2001146928A (ja) 1999-09-10 2001-05-29 Komatsu Ltd 作業車両
JP2001116129A (ja) * 1999-10-18 2001-04-27 Toyota Autom Loom Works Ltd 産業車両のスイッチバック終了判定装置及びスイッチバック制御装置
JP2005146886A (ja) 2003-11-11 2005-06-09 Kawasaki Heavy Ind Ltd タイヤスリップ制御装置
JP2007049825A (ja) * 2005-08-10 2007-02-22 Hitachi Ltd 電動車両の走行制御装置および電動走行制御システム
JP2007127174A (ja) * 2005-11-02 2007-05-24 Hitachi Constr Mach Co Ltd 作業車両の走行制御装置および走行制御方法

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Title
See also references of EP2151594A4 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2410196A4 (en) * 2009-03-18 2012-12-26 Komatsu Mfg Co Ltd VEHICLE OF CIVIL ENGINEERING
AU2014354005A1 (en) * 2014-11-27 2016-06-16 Komatsu Ltd. System for managing mining machinery, method for managing mining machinery, and dump truck
AU2014354005B2 (en) * 2014-11-27 2016-06-30 Komatsu Ltd. System for managing mining machinery, method for managing mining machinery, and dump truck
US9704304B2 (en) 2014-11-27 2017-07-11 Komatsu Ltd. System for managing mining machinery, method for managing mining machinery, and dump truck

Also Published As

Publication number Publication date
CN101765726A (zh) 2010-06-30
CN101765726B (zh) 2015-04-15
US8364355B2 (en) 2013-01-29
US20100174454A1 (en) 2010-07-08
EP2824351A2 (en) 2015-01-14
CN104627184B (zh) 2016-11-09
EP2824351A3 (en) 2017-03-08
EP2151594A4 (en) 2013-03-27
EP2151594A1 (en) 2010-02-10
CN104627184A (zh) 2015-05-20
JPWO2008146846A1 (ja) 2010-08-19
EP2151594B1 (en) 2017-03-01
EP2824351B1 (en) 2020-04-22
JP5292635B2 (ja) 2013-09-18

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