Work vehicle having a controller that controls the hydraulic cylinders and the electrically driven motor on a basis of a distribution ratio of a first torque and a distribution ratio of a second torque
A work vehicle includes: an engine; a hydraulic pump that is driven by the engine; hydraulic cylinders that are extended and contracted by pressurized fluid delivered from the hydraulic pump; a work device that is moved according to the extension/contraction operations of the hydraulic cylinders; a travel device that is driven independently of the work device; an electrically driven motor that is driven by electric power generated by the engine to operate the travel device; and a controller that controls the hydraulic cylinders and the electrically driven motor. The controller controls the output power of the hydraulic pump and the output power of the electrically driven motor by changing the distribution ratios of a first torque consumed by the work device and a second torque consumed by the travel device among torques output by the engine, on the basis of a reaction force received by the vehicle body.
1. A work vehicle comprising:
an engine that is mounted on a vehicle body;
a hydraulic pump that is driven by the engine;
hydraulic cylinders that are extended and contracted by pressurized fluid delivered from the hydraulic pump;
a work device that is moved according to the extension/contraction operations of the hydraulic cylinders;
a travel device that is driven independently of the work device;
an electrically driven motor that is driven by electric power generated by the engine to operate the travel device; and
a controller that controls the hydraulic cylinders and the electrically driven motor on a basis of a distribution ratio of a first torque and a distribution ratio of a second torque, the first torque being consumed by the work device among torques output by the engine, the second torque being consumed by the travel device among torques output by the engine, wherein
the controller is configured to:
calculate a reaction force received by the vehicle body when the work vehicle penetrates into an excavation target on a basis of a traction force and a vehicle velocity of the vehicle body;
determine the distribution ratio of the first torque and the distribution ratio of the second torque such that as the calculated reaction force received by the vehicle body becomes larger, the first torque becomes smaller, the second torque becomes larger, and a ratio of an increase in the distribution ratio of the second torque to an increase in the reaction force received by the vehicle body becomes smaller, while the work vehicle is performing excavation work; and
control output power of the hydraulic pump and output power of the electrically driven motor on the basis of the determined distribution ratio of the first torque and the determined distribution ratio of the second torque.
2. The work vehicle according to claim 1 , wherein
the controller is configured to:
decide an upper limit value of the first torque and an upper limit value of the second torque on the basis of the reaction force; and
control the first torque and the second torque on a basis of the upper limit value of the first torque and the upper limit value of the second torque.
3. The work vehicle according to claim 1 , wherein the controller is configured to:
decide the distribution ratio of the first torque and the distribution ratio of the second torque on the basis of the reaction force after elapse of a predetermined time from penetrating of the work vehicle into the excavation target; and
control the first torque and the second torque such that the distribution ratio of the first torque and the distribution ratio of the second torque are held until excavation work is finished.
4. The work vehicle according to claim 1 , wherein
the work device has arms attached to the vehicle body and a bucket attached to the arms, and
the controller controls the second torque such that as a pressure of the hydraulic cylinders for operating the arms becomes larger, the second torque becomes smaller.
5. The work vehicle according to claim 1 , further comprising:
a mode switch operation section that can manually switch between a first control mode in which the first torque and the second torque are controlled on the basis of the reaction force and a second control mode in which the first torque and the second torque are controlled such that ratios of the first torque and the second torque are held at predetermined ratios regardless of the reaction force.