Work machine and method for controlling work machine
AssigneeKomatsu Ltd.
InventorAkira TAKENO
Life of this patent
Estimating the term…
Abstract
A work machine includes a drive source, a transmission, a travel device, a brake device, and a controller. The transmission is connected to the drive source. The travel device is connected to the transmission and causes the work machine to travel. The brake device brakes the travel device. The controller acquires a brake command in order to brake the work machine. The controller determines a target braking force in response to the brake command. The controller acquires transmission information indicating a state of the transmission. The controller calculates an inertial braking force from the transmission based on the transmission information. The controller controls a braking force of the brake device based on a difference between the target braking force and the inertial braking force.
Claims8
A work machine, comprising:
- a drive source;
- a transmission connected to the drive source;
- a travel device connected to the transmission and configured to cause the work machine to travel;
- a brake device configured to brake the travel device;
- and
- a controller configured to
- acquire a brake command in order to brake the work machine,
- determine a target braking force in response to the brake command,
- acquire transmission information indicating a state of the transmission,
- calculate an inertial braking force from the transmission based on the transmission information, and
- control a braking force of the brake device based on a difference between the target braking force and the inertial braking force.
A method for controlling a work machine including a drive source, a transmission connected to the drive source, a travel device connected to the transmission and configured to cause the work machine to travel, and a brake device configured to brake the travel device, the method comprising:
- acquiring a brake command in order to brake the work machine;
- determining a target braking force in response to the brake command;
- acquiring transmission information indicating a state of the transmission;
- calculating an inertial braking force from the transmission based on the transmission information;
- and
- controlling a braking force of the brake device based on a difference between the target braking force and the inertial braking force.
Dependencies are inferred from the claim text.