Travel control apparatus for working vehicle
There are provided: a first circuit for traveling HC 1 , formed through a closed circuit connection of a variable displacement hydraulic pump 2 and a variable displacement hydraulic motor 3 , that includes a motor control unit 10, 11 that controls a displacement of the hydraulic motor 3 ; a second circuit for working HC 2 that drives a work hydraulic actuator 114, 115 by pressure oil from a work hydraulic pump 4 ; and a maximum value control unit that controls a maximum displacement of the hydraulic motor 3 in accordance with load pressure Pf in the second circuit HC 2 . The maximum value control unit decreases the maximum displacement to a minimum limit q 1 corresponding to a maximum load pressure Pr in the second circuit when load pressure Pf in the second circuit exceeds a predetermined value Ps.
1. A travel control apparatus for working vehicle, comprising:
a first circuit for traveling, formed through a closed circuit connection of a variable displacement hydraulic pump and a variable displacement hydraulic motor, that comprises a motor control unit that controls a displacement of the hydraulic motor;
a second circuit for working that drives a work hydraulic actuator by pressure oil from a work hydraulic pump, the work hydraulic actuator comprising:
an arm cylinder that drives an arm for supporting a bucket and has an arm operation pressure range in which a pressure in the second circuit varies during an arm operation and a maximum load pressure in the second circuit is set as a maximum pressure of the arm operation pressure range, and
a bucket cylinder that drives the bucket and has a bucket operation pressure range in which a pressure in the second circuit varies during a bucket operation, the pressure in the second circuit being smaller than a pressure in the arm operation pressure range, and a pressure around a minimum pressure of the arm operation pressure range is set as a maximum pressure of the bucket operation pressure range; and
a maximum value control unit that controls a maximum displacement of the hydraulic motor in accordance with load pressure in the second circuit, wherein:
when a load pressure in the second circuit exceeds a first predetermined value that corresponds to the maximum pressure of the bucket operation pressure range, the maximum value control unit decreases the maximum displacement to a minimum limit corresponding to a maximum load pressure in the second circuit within a predetermined increment of the load pressure from the first predetermined value, the load pressure with the predetermined increment being smaller than the maximum load pressure in the second circuit.
2. A travel control apparatus for working vehicle according to claim 1 , further comprising:
a limit setting unit that manually sets the minimum limit.
3. A travel control apparatus for working vehicle according to claim 1 , wherein:
the maximum value control unit decreases the maximum displacement to the minimum limit in a stepwise manner over a course of time when load pressure in the second circuit exceeds the first predetermined value and drive pressure in the first circuit exceeds a second predetermined value.
4. A travel control apparatus for working vehicle according to claim 1 , wherein:
the maximum value control unit decreases the maximum displacement to the minimum limit gradually over a course of time when load pressure in the second circuit exceeds the first predetermined value and drive pressure in the first circuit exceeds a second predetermined value.
5. A travel control apparatus for working vehicle according to claim 1 , wherein:
in a case where load pressure in the second circuit exceeds the first predetermined value, the maximum value control unit sets a rate of decrease of the maximum displacement to be greater than a rate of decrease to be achieved in a case where load pressure in the second circuit does not exceed the first predetermined value.
6. A travel control apparatus for working vehicle according to claim 1 , wherein:
the maximum value control unit comprises:
a first arithmetic circuit that calculates a first displacement of the hydraulic motor in correspondence to load pressure in the first circuit in accordance with a predetermined first characteristic;
a second arithmetic circuit that calculates a second displacement of the hydraulic motor in correspondence to load pressure in the second circuit in accordance with a predetermined second characteristic; and
an output circuit that outputs a control signal so as to control the maximum displacement to the calculated first displacement or the calculated second displacement, whichever is smaller, wherein:
the second characteristic is set so that the second displacement decreases to the minimum limit when load pressure in the second circuit exceeds the first predetermined value.
7. A travel control apparatus for working vehicle according to claim 6 , wherein:
the second characteristic is set so that the second displacement corresponds to a maximum value of the first characteristic in a range where load pressure in the second circuit is less than the first predetermined value.
8. A travel control apparatus for working vehicle according to claim 1 , wherein:
a maximum load pressure of the second circuit is a relief pressure that is regulated by a relief valve.