Work vehicle and control method for work vehicle
AssigneeKomatsu Ltd.
InventorTakahisa Oasa
Life of this patent
Estimating the term…
Abstract
The controller determines whether the vehicle is in a shuttle motion from the operating position of the forward/reverse travel operating member and the actual traveling direction of the vehicle. The controller determines a target braking force when the vehicle is in the shuttle motion. The controller determines at least one of a target displacement of the travel pump and a target displacement of the travel motor based on the target braking force.
Claims12
A work vehicle comprising:
- an engine;
- a travel pump configured to be driven by the engine;
- a hydraulic circuit connected to the travel pump;
- a travel motor connected to the travel pump through the hydraulic circuit;
- a forward/reverse travel operating member;
- a forward/reverse travel operating sensor configured to output a signal indicative of an operating position of the forward/reverse travel operating member;
- a traveling direction sensor configured to output a signal indicative of an actual traveling direction of the work vehicle;
- and
- a controller configured to control the travel pump and the travel motor, the controller being configured to
- receive the signals from the forward/reverse travel operating sensor and the traveling direction sensor,
- determine whether the work vehicle is in a shuttle motion from the operating position of the forward/reverse travel operating member and the actual traveling direction of the work vehicle,
- determine a target braking force when the work vehicle is in the shuttle motion, the target braking force being a target value for the total deceleration-inducing force acting on the work vehicle,
- store a displacement instruction of the travel pump at a starting time of the shuttle motion,
- determine a pump target displacement of the travel pump and a motor target displacement of the travel motor based on the target braking force, the pump target displacement being determined by reducing the displacement instruction of the travel pump at the starting time of the shuttle motion in accordance with the target braking force and an elapsed time from the starting time of the shuttle motion, and
- control the travel pump and the travel motor to the pump target displacement and the motor target displacement, respectively.
A method executed by a controller in order to control a work vehicle, the work vehicle comprising an engine, a travel pump configured to be driven by the engine, a hydraulic circuit connected to the travel pump, a travel motor connected to the travel pump through the hydraulic circuit, and a forward/reverse travel operating member, the method comprising:
- receiving a signal indicative of an operating position of the forward/reverse travel operating member;
- receiving a signal indicative of an actual traveling direction of the work vehicle;
- determining that the work vehicle is in a shuttle motion from the operating position of the forward/reverse travel operating member and the actual traveling direction of the work vehicle;
- determining a target braking force when the work vehicle is in the shuttle motion, the target braking force being a target value for the total deceleration-inducing force acting on the work vehicle;
- storing a displacement instruction of the travel pump at a starting time of the shuttle motion;
- determining a pump target displacement of the travel pump and a motor target displacement of the travel motor based on the target braking force, the pump target displacement being determined by reducing the displacement instruction of the travel pump at the starting time of the shuttle motion in accordance with the target braking force and an elapsed time from the starting time of the shuttle motion;
- and
- controlling the travel pump and the travel motor to the pump target displacement and the motor target displacement, respectively.
Dependencies are inferred from the claim text.