Work vehicle and control method for same
A work vehicle includes a control unit having a motor switch control unit and a motor command determining unit. The motor switch control unit controls a motor switching mechanism so that a third motor connects to a first motor when a first rotation speed is less than a second rotation speed. The first rotation speed is the rotation speed of the first motor corresponding to that of a rotating shaft of the third motor. The second rotation speed is the rotation speed of the second motor corresponding to that of a rotating shaft of the third motor. When the third motor is connected to the first motor, the motor command determining unit determines a command torque for the first motor and the third motor so that the command torque for the third motor is no more than the command torque for the first motor.
1. A work vehicle comprising:
an engine;
a hydraulic pump driven by the engine;
a work implement driven by a hydraulic fluid discharged from the hydraulic pump;
a travel device driven by the engine;
a power transmission device that transmits driving power from the engine to the travel device; and
a control unit for controlling the power transmission device;
the power transmission device including
an input shaft;
an output shaft;
a gear mechanism that has a planetary gear mechanism and that transmits rotation of the input shaft to the output shaft;
a first motor connected to first rotating elements of the planetary gear mechanism;
a second motor connected to second rotating elements of the planetary gear mechanism;
a third motor for assisting the first motor and the second motor; and
a motor switching mechanism that enables the third motor to be selectively connected to the first motor and the second motor;
the power transmission device being configured so that a rotation speed ratio of the output shaft with respect to the input shaft is changed by changing the rotation speeds of the first motor, the second motor, and the third motor, and
the control unit including
a motor switch control unit that controls the motor switching mechanism so that the third motor is connected to the first motor when a first rotation speed, which is a rotation speed of the first motor corresponding to that of a rotating shaft of the third motor, is less than a second rotation speed, which is a rotation speed of the second motor corresponding to that of a rotating shaft of the third motor; and
a motor command determining unit that, when the third motor is connected to the first motor, determines a command torque to the first motor and the third motor so that the command torque to the third motor is equal to or less than the command torque to the first motor.
2. The work vehicle according to claim 1 , wherein
the motor switching mechanism includes
a first clutch that switches between connection and disconnection of the third motor with the first motor; and
a second clutch that switches between connection and disconnection of the third motor with the second motor; and
the control unit further includes a predicted speed computing unit that computes a first predicted rotation speed that is a predicted value of the first rotation speed after a predetermined first predicted time period from a current time has elapsed, and a second predicted rotation speed that is a predicted value of the second rotation speed after the predetermined first predicted time period from a current time has elapsed; and
the motor switch control unit controls the motor switching mechanism to switch a connection target of the third motor from the second motor to the first motor when the first predicted rotation speed is reduced from a value that is larger than the second predicted rotation speed to the second predicted rotation speed.
3. The work vehicle according to claim 2 , wherein
from a time point when the first predicted rotation speed reaches the second predicted rotation speed until a predetermined second predicted time period has elapsed, the motor command determining unit sets the command torque for the third motor to a predetermined standby command value.
4. The work vehicle according to claim 1 , wherein
when the third motor is connected to the first motor, the motor command determining unit determines the command torques to the first motor and the third motor so that the command torque to the third motor is the same as the command torque to the first motor.
5. The work vehicle according to claim 1 , wherein
the motor command determining unit determines a required torque to the first motor;
the motor command determining unit determines the required torque as the command torque to the first motor, and sets the command torque to the third motor to the predetermined standby command value when the third motor is connected to the first motor and the required torque is equal to or less than a predetermined boundary torque; and
the motor command determining unit determines the boundary torque as the command torque to the first motor, and determines the command torque to the third motor from a difference between the required torque and the boundary torque when the third motor is connected to the first motor and the required torque is greater than the boundary torque.
6. The work vehicle according to claim 1 , wherein
the motor command determining unit determines a required torque to the first motor;
the motor command determining unit determines the required torque as the command torque to the first motor and sets the command torque to the third motor to the predetermined standby command value when the third motor is connected to the first motor and the required torque is equal to or less than a predetermined torque threshold;
the motor command determining unit determines the torque threshold as the command torque to the first motor and determines the command torque to the third motor from a difference between the required torque and the torque threshold value when the third motor is connected to the first motor, the required torque is greater than the torque threshold and the command torque to the third motor is equal to or less than the torque threshold; and
the motor command determining unit determines the command torques to the first motor and the third motor so that the command torque to the third motor is the same as the command torque to the first motor when the third motor is connected to the first motor, the required torque is greater than the torque threshold, and the command torque to the third motor is greater than the torque threshold.
7. The work vehicle according to claim 1 , wherein
when the second rotation speed is less than the first rotation speed, the motor switch control unit controls the motor switching mechanism to connect the third motor to the second motor, and
the motor command determining unit determines the command torques to the second motor and the third motor so that the command torque to the third motor is equal to or less than the command torque to the second motor when the third motor is connected to the second motor.
8. The work vehicle according to claim 2 , wherein
the motor switch control unit controls the motor switching mechanism to switch the connection target of the third motor from the first motor to the second motor when the second predicted rotation speed is reduced from a value greater than the first predicted rotation speed to the first predicted rotation speed.
9. The work vehicle according to claim 8 , wherein
from a time point when the second predicted rotation speed reaches the first predicted rotation speed until a predetermined third predicted time period has elapsed, the motor command determining unit sets the command torque for the third motor to a predetermined standby command value.
10. The work vehicle according to claim 7 , wherein
when the third motor is connected to the second motor, the motor command determining unit determines the command torques to the second motor and the third motor so that the command torque to the third motor is the same as the command torque to the second motor.
11. The work vehicle according to claim 7 , wherein
the motor command determining unit determines a required torque to the second motor;
the motor command determining unit determines the required torque as the command torque to the second motor and sets the command torque to the third motor to the predetermined standby command value when the third motor is connected to the second motor and the required torque is equal to or less than a predetermined boundary torque; and
the motor command determining unit determines the boundary torque as the command torque to the second motor, and determines the command torque to the third motor from a difference between the required torque and the boundary torque when the third motor is connected to the second motor and the required torque is greater than the boundary torque.
12. The work vehicle according to claim 7 , wherein
the motor command determining unit determines a required torque to the second motor;
the motor command determining unit determines the required torque as the command torque to the second motor and sets the command torque to the third motor to the predetermined standby command value when the third motor is connected to the second motor and the required torque is equal to or less than a predetermined torque threshold;
the motor command determining unit determines the torque threshold as the command torque to the second motor and determines the command torque to the third motor from a difference between the required torque and the torque threshold value when the third motor is connected to the second motor, the required torque is greater than the torque threshold and the command torque to the third motor is equal to or less than the torque threshold; and
the motor command determining unit determines the command torques to the second motor and the third motor so that the command torque to the third motor is the same as the command torque to the second motor when the third motor is connected to the second motor, the required torque is greater than the torque threshold, and the command torque to the third motor is greater than the torque threshold.
13. The work vehicle according to claim 1 , wherein
the rotation speed of the first motor is less than the first rotation speed.
14. The work vehicle according to claim 7 , wherein
the rotation speed of the second motor is less than the second rotation speed.
15. The work vehicle according to claim 1 , wherein
the motor switching mechanism includes
a first clutch that switches between connection and disconnection of the third motor with the first motor; and
a second clutch that switches between connection and disconnection of the third motor with the second motor; and
the control unit further includes a predicted speed computing unit that computes a first predicted rotation speed that is a predicted value of the first rotation speed after a predetermined first predicted time period from a current time has elapsed, and a second predicted rotation speed that is a predicted value of the second rotation speed after the predetermined first predicted time period from a current time has elapsed;
the motor switch control unit controls the motor switching mechanism to switch a connection target of the third motor from the second motor to the first motor when the first predicted rotation speed is reduced from a value that is larger than the second predicted rotation speed to the second predicted rotation speed;
from a time point when the first predicted rotation speed reaches the second predicted rotation speed until a predetermined second predicted time period has elapsed, the motor command determining unit sets the command torque for the third motor to a predetermined standby command value;
when the third motor is connected to the first motor, the motor command determining unit determines the command torques to the first motor and the third motor so that the command torque to the third motor is the same as the command torque to the first motor;
the motor switch control unit controls the motor switching mechanism to switch the connection target of the third motor from the first motor to the second motor when the second predicted rotation speed is reduced from a value greater than the first predicted rotation speed to the first predicted rotation speed;
from a time point when the second predicted rotation speed reaches the first predicted rotation speed until a predetermined third predicted time period has elapsed, the motor command determining unit sets the command torque for the third motor to a predetermined standby command value; and
when the third motor is connected to the second motor, the motor command determining unit determines the command torques to the second motor and the third motor so that the command torque to the third motor is the same as the command torque to the second motor.
16. A control method for a work vehicle, comprising:
an engine;
a hydraulic pump driven by the engine;
a work implement driven by a hydraulic fluid discharged from the hydraulic pump;
a travel device driven by the engine;
a power transmission device that transmits driving power from the engine to the travel device;
the power transmission device including
an input shaft;
an output shaft;
a gear mechanism that has a planetary gear mechanism and that transmits rotation of the input shaft to the output shaft;
a first motor connected to first rotating elements of the planetary gear mechanism;
a second motor connected to second rotating elements of the planetary gear mechanism;
a third motor for assisting the first motor and the second motor; and
a motor switching mechanism that enables the third motor to be selectively connected to the first motor and the second motor; and
the power transmission device being configured so that a rotation speed ratio of the output shaft with respect to the input shaft is changed by changing the rotation speeds of the first motor, the second motor, and the third motor; and
the method comprising
controlling the motor switching mechanism so that the third motor is connected to the first motor when a first rotation speed, which is a rotation speed of the first motor corresponding to that of a rotating shaft of the third motor, is less than a second rotation speed, which is a rotation speed of the second motor corresponding to that of a rotating shaft of the third motor; and
when the third motor is connected to the first motor, determining command torques to the first motor and the third motor so that the command torque to the third motor is equal to or less than the command torque to the first motor.