• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method of controlling a work machine system, the work machine comprising a power source (19), to power source coupled drive devices (20-24) for propelling the work machine, and a control system (28) controlling the operation. In the method changes in a functional quantity of the drive devices are monitored by means of a with control system connected sensor (34). The functional quantity monitored is such that the change of which predicts an increase in the load of the drive devices while driving over an obstacle. In addition, in the process, a change in magnitude is compensated by the control system by controlling the power source (19) or the drive devices (20-24), or both thereof, to drive over the obstacle. In the work machine system, the sensor (34) is adapted to monitor changes in said functional quantity, and the control system is - to compensate for changes in quantity - adapted to control the power source (19) or the drive devices (20-25), or both of them, to drive over the obstacle. (Fig. 3)
    公开号:SE1350679A1
    申请号:SE1350679
    申请日:2013-06-03
    公开日:2014-02-15
    发明作者:Teemu Kananoja；Matti Mankki；Teemu Laakkonen
    申请人:John Deere Forestry Oy；
    IPC主号:
    专利说明:

    30 35 2 drivers also experience the swing as unpleasant. The increased power demand and the variations in the power demand load the drive devices more than normal, which can affect the need for their service and their service life.
    Summary of the invention The inventive method for controlling a work machine system is presented in claim 1. The work machine system according to the invention is presented in claim 10. The forest machine according to the invention is presented in claim 15.
    The method according to the solution is carried out or is applicable in a work machine system which comprises a power source, drive devices connected to the power source for propelling the work machine, ie. for its movement, as well as a control system that controls the function.
    As the work machine can be used different in the terrain moving work machines that are movable with wheels or caterpillar tracks or combinations of these.
    The work machine is, for example, a forestry machine, such as a harvester for felling trees, a forwarder for transporting tree trunks, or a skimmer.
    The working machine can be an excavator or a forestry machine that uses the crane and chassis of an excavator and whose crane tip is equipped with a harvester unit for handling trees or a felling head for felling trees.
    The working machine can be a tractor intended for agriculture and which is suitable for towing a forest trailer or to which a forest trailer has been connected for transporting tree trunks. A forest trailer is typically equipped with a crane and a gripper attached to it for loading and unloading tree trunks.
    In the presented method, changes in a functional quantity are monitored by the drive devices with one or more sensors connected to the control system. The functional quantity that is monitored is such that the change of which predicts an increase in the load on the drive devices while driving over an obstacle. In the method, a change in the magnitude is also compensated by controlling the power source or the drive devices or both of them by means of the control system to drive over an obstacle. 10 15 20 25 30 35 According to an example of the method, the drive devices are controlled by means of the control system so that the speed of the working machine decreases, in order to drive over an obstacle.
    The work machine runs over the obstacle, and with the method described above, e.g. an increase in the pressure of the drive devices is damped or limited.
    A reduction in speed reduces the power required to propel the work machine, which directly affects the pressures of the hydraulic drive device or - in the case of a drive device based on another technology - any other quantity, the change of which must be damped or limited.
    The method avoids a reduction in the rotational speed of the power source, especially an internal combustion engine. A smaller change in the rotational speed of the internal combustion engine than before affects the fuel consumption, which decreases.
    The consequence of this is also an improvement in driving comfort and an improvement in the stability of the work machine.
    According to a second example of the system, the power source is also controlled with the control system so that the rotational speed during the power take-off of the power source increases at least momentarily.
    According to a third example of the system, the power source is also controlled with the control system so that the torque at the power take-off of the power source increases at least momentarily.
    In one embodiment of the method, the drive devices are controlled by the control system so that their so-called Gear Ratio value changes to drive over an obstacle.
    In a particular embodiment of the method, said functional quantity, the change of which is monitored to detect an increase in the load, is the hydraulic pressure of the drive devices.
    According to an example, the drive devices comprise a hydraulic pump and a hydraulic motor, and in the process said pump or motor or both of them are controlled by means of the control system so that the control is dependent on the change in said functional quantity.
    The drive devices may comprise a hydraulic drive device, a mechanical drive device or an electric drive device, or a combination thereof.
    The drive devices of the work machine can be based on various devices that convert generated or stored energy into kinetic energy for propelling the work machine. The power source can be e.g. an internal combustion engine and a mechanical shaft power generated therefrom, an accumulator system, a generator rotated with an internal combustion engine, or a fuel cell. In the case of energy transfer, the drive devices can use e.g. electrical energy, mechanical energy, hydraulic energy or pneumatic energy. For propulsion, work machines use e.g. hydraulic motors, compressed air motors, electric motors or mechanical devices.
    According to a fourth example of the method, the control system also controls another device of the work machine system which consumes power from the power source. In this case, the function of the device is delayed or stopped at least momentarily.
    The advantage is a reduction in the load on the power source. The device can be e.g. a fan or an air conditioner.
    A work machine system, in which the solution is carried out or in which it is applicable, comprises a power source, drive devices connected to the power source for propelling the work machine, and a control system which controls the function. In addition, the work machine system comprises one or more sensors that are connected to the control system. The sensor is adapted to monitor changes in a functional quantity of the drive devices, said functional quantity to be monitored being such, the change of which predicts an increase in the load of the drive devices while driving over an obstacle. To compensate for a change in magnitude, the control system is also adapted to control the power source or the drive devices, or both of them, for driving over an obstacle.
    According to one example, the control system is adapted to control the drive devices so that the speed of the work machine decreases for driving over an obstacle. 10 15 20 25 30 35 With a control system according to the solution, the benefit already presented above is achieved.
    In a special embodiment of the work machine system, said sensors are adapted to measure the hydraulic pressure in the drive devices.
    According to an example, the drive devices comprise a hydraulic drive device, a mechanical drive device or an electric drive device, or a combination thereof.
    The work machine system according to the presented solution is applicable in e.g. a work machine that is a forest machine that moves in the terrain. According to a special example, this is a forwarder moving in the terrain.
    Brief Description of the Drawings In the following description, the invention will be illustrated in more detail by way of example and with reference to the accompanying drawings, in which: Figure 1 shows a work machine which is a working machine movable in the terrain and in which the presented solutions a diagram showing drive devices of a working machine according to an example which can be applied in the working machine of Figure 1, Figure 3 is a diagram showing drive devices of Figure 2 and couplings in its hydraulic drive device in more detail, Figure 4 is a diagram showing couplings of drive devices according to another example and its hydraulic drive device in more detail, and Figure 5 shows an example of the behavior of a functional quantity of the drive devices and the control of the drive devices. DETAILED DESCRIPTION OF THE INVENTION Figure 1 shows a work machine, in particular a work machine movable in the terrain, in which a solution according to that presented is applied. This is a forestry machine, which is more precisely a forwarder for transporting tree trunks. The forwarder comprises a front chassis 11 and a rear chassis 12, which are interconnected by a chassis track 13 and in which the drive devices are located. In the front chassis 11 there is a cab 14 and an energy source 15, and in the rear chassis 12 there is a crane 16 with a gripper 17 and a cargo space 18.
    The energy source is an internal combustion engine. Each chassis includes a rocking axle with 2 wheels, but in the front chassis you can alternatively use a standard axle with 1 wheel that is larger than the wheels in the rear chassis.
    We will now examine drive devices of a work machine, which are based on an internal combustion engine as well as a combination of hydrostatic and mechanical drive device for moving the work machine. Said drive devices can be applied in a forwarder according to figure 1.
    According to Figure 2, the internal combustion engine at any given time generates a suitable power that is needed, for example, to move and drive the work machine in different situations and terrains. The mechanical power that the internal combustion engine 19 generates on its shaft is converted into a hydraulic power in a pump 20, the power being proportional to the feed pressure and the volume flow that the pump 20 produces. The pump 20 is adjustable, whereby the volume flow produced can be varied. The hydraulic power is utilized in a motor 21 which in turn generates a driving torque and a rotational speed for a PTO shaft. The supply pressure produced by the pump 20 depends on the load and power demand of the motor 21. The rotational speed of the motor 21 depends on the volume flow produced by the pump 20 and the setting of the motor 21, if the motor 21 is adjustable. The motor 21 is again connected to a gear 22 (fast / slow), through which the mechanical power is transmitted to the wheels 27 of the work machine, for example by a gimbal drive 23 and differential shafts 24 to rocking shafts with 2 wheels or to bogies 25 with work machine the wheels 27 of the nens mounted on rotating wheel suspensions 26. The drive devices are controlled by the electronic control system 28 of the work machine, which also controls the internal combustion engine 19 through an electronic control unit 29 (ECU, 10 15 20 25 30 35 7 Electronic Control Unit). The ECU (Engine Control Unit) is the engine control unit that controls and monitors engine functions.
    The mechanical power generated by the internal combustion engine is proportional to the torque and rotational speed obtained from the internal combustion engine 1. The rotational speed or the working speed of the working machine depends on a control value determined by the driver which is typically given by a pedal 30. The pedal generates a setting signal 32 which depends on the position of the pedal 30 and which is fed into the control system 28. Also other means, e.g. a joystick, can be used to provide the joystick. It is typical that the greater the displacement in the position of the pedal or the control value, the higher the rotational speed or driving speed that is reached. When pressed, the pedal 30 also provides, if necessary, an opening of the working brake of the work machine, after which the control system 28 controls the pump 20 with a control valve which has a predetermined minimum level or a minimum value. The control signal is typically a current signal on which the volume output produced by the pump 20 depends.
    Figure 3 shows the drive devices of Figure 2 in more detail with respect to the hydraulic drive device. In this example, it is a question of a closed circuit and a single-circuit system, especially an engine system. The function and numbering of different parts correspond to the numbering presented in figure 2 and the description relating to it.
    The pump 20 is, for example, an axial piston pump adjustable in its stroke volume (Vg) with an inclined disc, in which the direction of the volume and thereby further the direction of rotation of the motor and the direction of operation of the working machine can be changed by turning the inclined disc of the pump on both sides of the neutral intermediate position. The controllable quantities are the pump's stroke volume and at the same time the volume flow produced by the pump. The motor 21 is, for example, an axial piston motor with an inclined disc or an inclined shaft, or a radial piston motor. An adjustable motor includes e.g. a rotatable bevel. The controllable parameters are thus the engine displacement (Vg) and rotational speed. The motor 21 can also have a fixed, ie. constant stroke volume (Vg). The controllable quantity is the rotational speed of the motor.
    Figure 4 shows the drive devices of Figure 2 in more detail with respect to the hydraulic drive device. In this example, it is an open circuit. 10 15 20 25 30 35 8 The function and numbering of different parts correspond to the numbering presented in figure 2 and the description relating to it.
    By means of a hydraulically operating drive device in Figure 4, an adjustable travel speed for the working machine is achieved, since a volume flow adjustable with a valve 35 is produced to the motor 21. Preferably, it is a directional valve that is electrically controllable and proportionally functioning. The fate of the valve fl volume depends on the position and opening of the valve, which, on the other hand, are controlled by a control signal. The control signal is typically a current signal, on which the volume fl fate of the valve depends. In Figure 4, the valve 35 is shown in a principle diagram, but said valve and its functions can also be performed by means of one or more different hydraulic components which are connected to channels.
    In the example of Figure 4, the pump 20 is adjustable with respect to stroke volume (Vg), e.g. an axial piston pump. The controllable quantities are the stroke volume of the pump and the volume flow produced by the pump. The motor 21 has a fixed, i.e. constant stroke volume (Vg); it is e.g. an axial piston engine or a radial piston engine. The controllable quantity is thus the rotational speed of the motor.
    The work machine's control system monitors the drive devices, e.g. the drive device, its hydraulic control circuit and all auxiliary functions connected therewith. Said control system works e.g. in a PC operating environment.
    The equipment of the steering system is located within easy reach of the driver in the cab.
    Regarding the connection to actuators, the control system's automatic control is based on a CAN bus solution according to the prior art, where information is transmitted in digital form.
    According to one example, the control system equipment includes a display module, a PC keyboard, a mouse pad, a central unit (HPCCPU) with processor and memory, and in many cases also a printer, and the control system modules. The equipment also includes one or more control panels, whose keys, pushbuttons and joysticks are used to influence the control system. In this example, at least one sensor (eg sensor 34 according to Figure 3 or Figure 4) or a measuring device which gives a signal proportional to the value of a functional quantity of the working machine has been connected to or belongs to its equipment 28. 10 15 20 25 30 35 9 Preferably, said sensors are also connected e.g. to a drive device of the work machine.
    In the examples of Figures 3 and 4, the sensor 34 is connected to the hydraulic drive device of the work machine. The control system 28 comprises e.g. a predetermined parameter, the value of which depends on the magnitude measured by the sensor 34. Said magnitude can be measured continuously at a requested sampling frequency or only periodically. Said quantity is, for example, pressure, in particular the pressure of the hydraulic drive device, for example the supply pressure generated by the pump 20, or the pressure in the motor 21.
    According to a second example, said quantity is the rotational speed of the internal combustion engine, in particular the rotational speed of its PTO shaft. According to a third example, said magnitude is the internal pressure of the wheel 27 measured by a sensor.
    The application required for the execution of the presented solution and the software contained in it are installed in the control system's processor-based central unit, which comprises the necessary RAM and mass memories. The control system uses an operating system, during which the application is run. The device and the operating system comprise the necessary applications and protocol means for communication with other devices.
    The work machine's control system is based on e.g. CAN bus technology (Control Area Network) and decentralized control. The system consists of independent intelligent modules that communicate via a CAN bus. The control system controls the power source, the drive device and with these connected auxiliary functions, and if necessary also the crane system. The system typically consists of modules in the CAN bus. The control system or one of its modules takes care of the control of the power source, the drive device and the auxiliary functions and communication associated with it, and controls the stroke volume of said pump and motor.
    The following is an example in which the functional size of the work machine is to be considered, the value of which depends on the load of the drive devices.
    The load depends on the generated power needed to move and drive the work machine in different situations and terrains. In particular, it is a question of such a change in the value of the quantity which is a consequence of the working machine running over an obstacle or starting to run over an obstacle. The current change in the value of the quantity represents a future increase in the load; in other words, it predicts a coming major change.
    By monitoring said magnitude, one can thus predict the coming load. In this way, the control system can prepare for changes in the load and control the drive devices in a requested manner in said situation.
    In Figure 5, the quantity to be monitored is the pressure of the hydraulic drive device. Figure 5 shows the behavior of the pressure of the hydraulic drive device within a certain period of time. According to one example, it is a question of the pressure measured by a pressure sensor, for example the pressure 36 measured by the sensor 34.
    In a similar manner as the pressure 36, some other functional quantity of said work machine can also behave, so that what is to be presented in the following can also be applied to other quantities in addition to the pressure.
    At an obstacle or when hitting an obstacle, the value of the quantity changes, since e.g. a greater force is required to ascend the obstacle or to maintain a requested driving speed despite the obstacle. In the case of a hydraulic drive device, the supply pressure of the pump 20 or the pressure of the motor 21 increases (see Figure 3 or Figure 4). In the example of Figure 5, an increase in pressure 36 can be seen, which is higher than a set limit value 38.
    The control system detects the change in magnitude and preferably also compares the change in magnitude with a predetermined limit value. If the change in magnitude is greater than the said limit value, the control system transitions to a state in which it affects the work machine to compensate for the change that has occurred. As for the change in size, e.g. the absolute or relative change or rate of change. In addition, it is often the case that the change in magnitude must occur within a set time interval. In the example of Figure 5, the increase in pressure must be at least approx. 60-100 bar or preferably at least approx. 75 bar. The change in pressure must occur within a time interval of no more than approx. 80-150 ms or preferably within a time interval of at most 120 ms.
    The control system controls the drive devices with a control signal which depends on the requested driving speed. When it comes to e.g. a hydraulic drive device 10 15 20 25 30 35 11 device, controls said control signal b | .a. a pump. Said control signal depends on b | .a. a setting signal (eg setting signal 32 according to Figure 3 or Figure 4) and according to an example also the maximum value of the rotational speed of the internal combustion engine, or the current rotational speed of the internal combustion engine, or the rotational speed of the internal combustion engine corresponding to the setting signal, or a combination thereof. The control signal used by the control system is, for example, a control signal which changes the so-called
    The Gear Ratio value of the hydraulic drive device, or alternatively the control signal affects such quantities of the drive devices, in which a change causes a change in the Gear Ratio value. The control system uses tabulation, rules or counting algorithms in the control. The control system also includes adjustable parameters, in which values of variables mentioned in this description have been stored. Preferably, they can be set by the user, in order to be able to influence the function of the system.
    In the case of a hydraulic drive, the Gear Ratio value refers to the characteristics of either the pump or the motor, e.g. the position of the inclined disc, or the relationship between the characteristics of the pump and the motor, e.g. the relationship between the position (angle) of their oblique discs. The drive device can be realized completely mechanically, e.g. with a gearbox, whereby the Gear Ratio value can be determined between its power intake and power take-off.
    When it comes to driving over an obstacle and an increasing need for power, the control system compensates the situation so that the driving speed is reduced or the work machine is braked, whereby the control system affects either the power source or other drive devices, or both. According to one example, the reduction in driving speed is approx. 10-35% depending on the level of the current driving speed. In the example of Figure 5, the control system affects the current driving speed (eg 1.5-4.0 km / h) so that the Gear Ratio value 37 of the hydraulic drive device is reduced immediately, allowing a delay of e.g. 50-120 ms.
    The reduction is approx. 10-35% depending on the current level of the Gear Ratio value. Alternatively or in addition, the reduction may also depend on the current driving speed. Preferably, the higher the driving speed, the greater the reduction. Alternatively, the Gear Ratio value 10 15 20 25 30 35 12 is reduced to a predetermined value. In this example, the travel speed is affected by turning the engine 21 oblique disc so that the stroke volume decreases.
    The Gear Ratio value of a mechanical drive device can also be affected, in which case it is especially a question of stepless or discrete Gear Ratio values of gearboxes or transmissions, as in e.g. a planetary gear. This is, for example, the relationship between the rotational speed of the power take-off of the drive device and the rotational speed of its power take-off, or a correspondingly determined relationship between the functional quantities of the power take-off and the take-off.
    According to an example, the control system compensates the situation at the same time by increasing the rotational speed of the power source, whereby the control system affects the power source by means of e.g. an electronic control unit (ECU). The control system controls the electronic control unit, as well as the power transmission, by means of one or more control signals. The rotation speed is kept at an elevated level for e.g. a predetermined delay. The amount of increase in rotational speed is e.g. predetermined or depending on e.g. the current rotational speed.
    The control system compensates for the situation of e.g. a predetermined delay.
    In the example of Figure 5, the Gear Ratio value is kept reduced for the time being by a delay 39 (eg 300 ms), after which the intention is to restore the Gear Ratio value to the value it had before the compensation started, or to a value which substantially corresponds to this, or to a value corresponding to the current state of said setting signal.
    The control system ends the compensation by resetting the travel speed that the work machine had before the compensation started, or to a travel speed that substantially corresponds to this, or to a travel speed that corresponds to the current state of said setting signal. The control system affects either the power source or other drive devices, or both. The reset takes place preferably by a stepwise increase in the driving speed, whereby the change of the driving speed per a certain unit of time is limited, or the speed of change of the driving speed is limited. In this case, the control system can apply various ramp functions, according to which the necessary control signals are generated. Such a ramp function can also be seen in Figure 5, in which the Gear Ratio value is increased after the delay 39. The Gear Ratio value is gradually increased so that the change of the Gear Ratio value per a certain unit of time is limited.
    If a new change that requires compensatory measures is detected in the quantity being monitored, it works again as presented above. If necessary, said ramp function is interrupted.
    The work machine runs over the obstacle, and with the method described above, e.g. an increase in pressure 36 is attenuated or limited.
    A situation has been described above in particular, in which an increase in the need for power caused when driving over an obstacle is foreseen. The increase in the need for power can also be a consequence of other situations, but these can be responded to with the procedure and system presented above.
    权利要求:
    Claims (15)
    [1]
    A method for controlling a work machine system, which work machine system comprises a power source (19), drive devices (20-24) connected to the power source for propelling the work machine, and a control system (28) which controls the function, characterized in that in the procedure: - changes in the functional quantity of the drive devices are monitored by means of a sensor (34) connected to the control system, the functional quantity being monitored being such that its change predicts an increase in the load of the drive devices while driving over a obstacle, and - a change in magnitude is compensated by means of the control system by controlling the power source (19) or the drive devices (20-24), or both of them, to drive over the obstacle.
    [2]
    Method according to claim 1, characterized in that in the method the drive devices (20-24) are controlled by the control system (28) so that the speed of the working machine decreases, in order to drive over the obstacle.
    [3]
    Method according to Claim 2, characterized in that the power source (19) is also controlled by the control system (28) so that the rotational speed of the power take-off of the power source increases at least momentarily.
    [4]
    Method according to one of Claims 1 to 3, characterized in that the power source (19) is also controlled by the control system (28) so that the torque of the power take-off of the power source increases at least momentarily.
    [5]
    Method according to one of Claims 1 to 4, characterized in that the drive devices (20-24) are controlled by the control system (28) so that their Gear Ratio value changes in order to drive over the obstacle.
    [6]
    Method according to one of Claims 1 to 5, characterized in that another device of the work machine system, which consumes power from the power source, is also controlled by the control system (28) so that the function of the device is delayed at least momentarily or its function is stopped at least momentarily. 10 15 20 25 30 35 15
    [7]
    Method according to any one of claims 1-6, characterized in that the drive devices comprise a hydraulic pump (20) and a hydraulic motor (21), and in the method said pump (20) or said motor (21) or both of them controlled by the control system, depending on the change of said functional quantity.
    [8]
    Method according to one of Claims 1 to 7, characterized in that the drive devices (20-24) comprise a hydraulic drive device, a mechanical drive device or an electric drive device, or a combination thereof.
    [9]
    Method according to any one of claims 1-8, characterized in that said functional quantity is the hydraulic pressure in the drive devices.
    [10]
    Work machine system, comprising: - a power source (19), - drive devices (20-25) connected to the power source for propelling the work machine, and - a control system (28) controlling the function, characterized in that the work machine system further comprises: - a sensor (34) which is connected to the control system and adapted to monitor changes in a functional quantity of the drive devices, the functional quantity to be monitored being such that its change predicts an increase in the load of the drive devices while driving over an obstacle, and - the control system is adapted to control a change in magnitude to control the power source (19) or the drive devices (20-25), or both of them, to drive over the obstacle.
    [11]
    Work machine system according to claim 10, characterized in that the control system (28) is adapted to control the drive devices (20-24) so that the speed of the work machine decreases, in order to drive over the obstacle.
    [12]
    Work machine system according to claim 10 or 11, characterized in that said sensor (35) is adapted to measure the hydraulic pressure in the drive devices. 10 16
    [13]
    Work machine system according to one of Claims 10 to 12, characterized in that the drive devices comprise a hydraulic drive device, a mechanical drive device or an electric drive device, or a combination thereof.
    [14]
    Work machine system according to one of Claims 10 to 13, characterized in that the work machine is a forest machine movable in the terrain.
    [15]
    Forest machine, in particular a forwarder movable in the terrain, characterized in that it comprises a work machine system according to claim 10.
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    FI20125842A|FI125919B|2012-08-14|2012-08-14|Work machine system and procedure for checking a work machine system|
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