Work vehicle and method of controlling work vehicle

A work vehicle comprising:

• an engine;
• a hydraulic pump driven by the engine;
• a work implement driven by hydraulic fluid discharged from the hydraulic pump;
• a travel apparatus driven by the engine;
• a power transmission device that transmits drive power from the engine to the travel apparatus;
• a controller that controls the power transmission device;
• the power transmission device including
• an input shaft,
• an output shaft,
• a gear mechanism including a planetary gear mechanism, the gear mechanism transmitting rotation of the input shaft to the output shaft,
• a first motor and a second motor each connected to rotational elements in the planetary gear mechanism, and
• a mode switching mechanism that switches a drive power transmission route in the power transmission device to one mode of at least two modes,
• varying rotation speeds of the motors varies a transmission speed ratio in the power transmission device, the transmission speed ratio is being a ratio of a rotation speed of the output shaft to a rotation speed of the input shaft,
• the controller including
• a motor control unit that controls the first motor and the second motor to keep the transmission speed ratio at a maximum value when the vehicle speed belongs to a range greater than a second vehicle speed where the transmission speed ratio reaches the maximum value thereof obtainable by the power transmission device, and less than a third vehicle speed where the rotation speed of the second motor reaches a predetermined limit value, the third vehicle speed being greater than the second vehicle speed, and that controls the first motor and the second motor to decrease the transmission speed ratio when the vehicle speed increases beyond the third vehicle speed, and
• the controller increasing a rotation speed of the engine from a second rotation speed of the engine corresponding to the second vehicle speed when the vehicle speed belongs to a range greater than the second vehicle speed and less than the third vehicle speed, and increasing the rotation speed of the engine from a third rotation speed of the engine corresponding to a third vehicle speed when the vehicle speed belongs to a ranges greater than the third vehicle speed.

A method of controlling a work vehicle provided with a power transmission device,

• the power transmission device including
• an input shaft,
• an output shaft,
• a gear mechanism including a planetary gear mechanism that transmits a rotation of the input shaft to the output shaft,
• a first motor and a second motor each connected to rotational elements in the planetary gear mechanism, and
• a mode switching mechanism that switches a drive power transmission route in the power transmission device to one mode of at least two modes,
• the power transmission device being configured such that varying the rotation speed of the motors varies the transmission speed ratio, the transmission speed ratio being a ratio of a rotation speed of the output shaft to a rotation speed of the input shaft,
• the at least two modes including a first mode, and a second mode used in a range with the higher transmission speed ratio than the first mode, and
• the method comprising:
• increasing a rotation speed of the engine from a first rotation speed of the engine corresponding to a first vehicle speed when the vehicle speed belongs a range greater than a first vehicle speed where the transmission speed ratio is a predetermined first value that is less than the maximum value of the transmission speed ratio obtainable by the power transmission device;
• when the transmission route is in the second mode, the first value is greater than a second value of the transmission speed ratio at which the rotation speed of the first motor and the rotation speed of the second motor are equal.