Work vehicle
A work vehicle includes a pair of electric motors independently running and driving right and left running wheels in a state of being able to create straight running state and turning running; a pair of right and left change speed operation tools independently manually operated and performing a change speed operation to the right and left running wheels; and a controller controlling operation. The controller controls the operation of the respective electric motors by setting target speeds with regard to the respective electric motors such that the speed difference in the target speeds is smaller than the speed difference corresponding to the difference in the operation positions of the respective change speed operation tools by a set amount in a case where the operation positions of the respective change speed operation tools are different between right and left.
1. A work vehicle comprising:
a pair of electric motors independently running and driving right and left running wheels in a state of being able to cause a straight running state and a turning running state;
a pair of right and left change speed operation tools that are independently manually operated and perform a change speed operation to the right and left running wheels;
a pair of change speed operation position detectors that detect operation positions of the respective change speed operation tools; and
a controller that control operation of the respective electric motors by setting target speeds with regard to the respective electric motors based on detection information of the respective change speed operation position detectors,
wherein the controller controls the operation of the respective electric motors by setting target speeds with regard to the respective electric motors such that the speed difference in the target speeds is smaller than the speed difference corresponding to the difference in the operation positions of the respective change speed operation tools by a set amount in a case where the operation positions of the respective change speed operation tools are different between the right and left operation tools.
2. The work vehicle according to claim 1 , wherein the controller obtains operation position corresponding speeds corresponding to the operation positions detected by the change speed operation position detectors based on the operation positions detected by the change speed operation position detectors and variation characteristics between operation positions and operation position corresponding speeds determined in advance in a state where the operation position corresponding speed becomes greater as the operation position is operated on the speed-increasing side, and
when the operation position corresponding speeds are different between the right and left, in order to reduce the speed difference, the controller sets a value obtained by decreasing the operation position corresponding speed on the high-speed side by a set amount as the target speed and sets a value obtained by increasing the operation position corresponding speed on the low-speed side by a set amount as the target speed.
3. The work vehicle according to claim 2 , wherein the controller sets an added value as the target speed with respect to the operation position corresponding speed on the high-speed side, the added value being obtained by adding a value in which the operation position corresponding speed on the high-speed side is multiplied by a first set ratio and a value in which the operation position corresponding speed on the low-speed side is multiplied by a second set ratio that is smaller than the first set ratio, and the controller sets another added value as the target speed with respect to the operation position corresponding speed on the low-speed side, the other added value being obtained by adding a value in which the operation position corresponding speed on the low-speed side is multiplied by the first set ratio and a value in which the operation position corresponding speed on the high-speed side is multiplied by the second set ratio.
4. The work vehicle according to claim 3 , further comprising a set ratio setter to artificially change and set the first set ratio and the second set ratio.
5. The work vehicle according to claim 3 , wherein the controller changes and sets the first set ratio and the second set ratio in accordance with change in the running speed so as to decrease the first set ratio and increase the second set ratio as the running speed becomes high.
6. The work vehicle according to claim 3 , wherein the first set ratio is 70-85% and the second set ratio is 15-30%.
7. The work vehicle according to claim 3 , wherein the target speed for a respective motor of the pair of electric motors is determined based upon the operation position of a corresponding change speed operation tool of the pair of right and left change speed operation tools, and a respective ratio of one of the first set ratio and the second set ratio of the operation position of the other change speed operation tool of the pair of right and left change speed operation tools.
8. The work vehicle according to claim 2 , wherein when one of the pair of right and left change speed operation tools is operated in an operation position to command stop and the other of the pair of right and left change speed operation tool is operated in an operation position to command a predetermined operation position corresponding speed, the electric motor corresponding to the one of the pair of right and left change speed operation tool is driven at a lower speed than the operation position corresponding speed commanded by the other of the pair of right and left change speed operation tool in spite of commanding stop.
9. The work vehicle according to claim 1 , wherein the controller controls the operation of the respective electric motors to set the target speeds during turning running operation and straight running operation.