Work vehicle and control method for same
A work vehicle includes a pump brake control determining unit determines that a pump brake control is to be executed for causing a braking force to be generated by using a load on a hydraulic pump during braking. A pump brake torque control unit increases a pump brake torque to correspond to the load on the hydraulic pump during the pump brake control.
1. A work vehicle comprising:
an engine;
a hydraulic pump driven by the engine;
a travel device driven by the engine;
a power transmission device that transmits driving power from the engine to the travel device;
a power take-off device for distributing driving power from the engine to the hydraulic pump and the power transmission device; and
a control unit for controlling the hydraulic pump and 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; and
a motor connected to rotating elements of the planetary gear mechanism,
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 a rotation speed of the motor, and
the control unit including
a pump brake control determining unit that determines whether to execute a pump brake control for causing a braking force to be generated by using a load on the hydraulic pump during braking; and
a pump brake torque control unit that increases a pump brake torque that corresponds to the load on the hydraulic pump during the pump brake control.
2. The work vehicle according to claim 1 , wherein
the pump brake control determining unit determines that the pump brake control is to be executed when an engine regenerative torque regenerated in the engine from the travel device through the power transmission device is equal to or greater than a predetermined torque threshold.
3. The work vehicle according to claim 1 , wherein
the pump brake control determining unit determines that the pump brake control is to be executed when the engine rotation speed meets or exceeds a predetermined rotation speed threshold.
4. The work vehicle according to claim 1 , wherein
the pump brake control determining unit controls the pump brake torque on the basis of an engine regenerative torque regenerated in the engine from the travel device through the power transmission device.
5. The work vehicle according to claim 4 , further comprising
an energy reservoir unit for storing energy regenerated by the motor;
the control unit further including
a target braking power determining unit that determines a target braking power; and
a reservoir power computing unit that computes a reservoir power of the energy reservoir unit,
the pump brake torque control unit determining the engine regenerative torque on the basis of the target braking power and the reservoir power.
6. The work vehicle according to claim 1 , wherein
the pump brake torque control unit controls the pump brake torque so that the engine rotation speed meets a target engine rotation speed while the pump brake control is being executed.
7. The work vehicle according to claim 1 , wherein
the pump brake torque control unit increases the pump brake torque when the vehicle speed reaches or exceeds a predetermined vehicle speed threshold.
8. The work vehicle according to claim 7 , further comprising
a speed change operating member for selecting a speed range that defines an upper limit of the vehicle speed,
the pump brake torque control unit determining the predetermined vehicle speed threshold on the basis of the speed range selected with the speed change operating member.
9. The work vehicle according to claim 7 , further comprising
a forward/reverse travel operating member for switching between forward travel and reverse travel of the vehicle,
the pump brake torque control unit determining the predetermined vehicle speed threshold on the basis of a selection with the forward/reverse travel operating member.
10. The work vehicle according to claim 1 , further comprising
a work implement having a hydraulic cylinder,
the hydraulic pump discharging hydraulic fluid for driving the hydraulic cylinder.
11. The work vehicle according to claim 10 , further comprising
a relief valve provided parallel to the hydraulic cylinder in a hydraulic circuit; and
a pump brake control valve that controls the hydraulic fluid supplied to the relief valve,
the pump brake torque control unit increasing a load on the hydraulic pump by controlling the pump brake control valve.
12. The work vehicle according to claim 11 , further comprising
a work implement operating member for operating the work implement,
the control unit further including
a required pump flow rate determining unit for determining a required flow rate of the hydraulic pump on the basis of the pump brake torque; and
a work implement requirement determining unit for determining a required flow rate of the hydraulic cylinder on the basis of an operating amount of the work implement operating member,
the pump brake torque control unit determining a flow rate of the pump brake control valve on the basis of the required flow rate of the hydraulic pump and the required flow rate of the hydraulic cylinder.
13. The work vehicle according to claim 1 , further comprising
a cooling fan for cooling a cooling water for the engine; and
a fan motor for driving the cooling fan,
the hydraulic pump discharging hydraulic fluid for driving the fan motor, and
the pump brake torque control unit increasing a load on the hydraulic pump by increasing a rotation speed of the fan motor.
14. The work vehicle according to claim 1 , further comprising
a warm-up hydraulic circuit connected to the hydraulic pump,
the pump brake torque control unit increasing the load on the hydraulic pump by executing a warm-up operation to increase a temperature of the hydraulic fluid using the warm-up hydraulic circuit.
15. The work vehicle according to claim 1 , further comprising
a work implement having a hydraulic cylinder driven by hydraulic fluid discharged from the hydraulic pump;
a work implement operating member for operating the work implement;
a relief valve provided parallel to the hydraulic cylinder in a hydraulic circuit;
a pump brake control valve that controls the hydraulic fluid supplied to the relief valve; and
an energy reservoir unit for storing energy regenerated by the motor,
the control unit including
a target braking power determining unit that determines a target braking power;
a reservoir power computing unit that computes a reservoir power of the energy reservoir unit;
a required pump flow rate determining unit for determining a required flow rate of the hydraulic pump on the basis of the pump brake torque; and
a work implement requirement determining unit for determining a required flow rate of the hydraulic cylinder on the basis of an operating amount of the work implement operating member,
the pump brake torque control unit determining an engine regenerative torque regenerated in the engine from the travel device through the power transmission device on the basis of the target braking power and the reservoir power,
the pump brake control determining unit determining that the pump brake control is to be executed when the engine regenerative torque meets or exceeds a predetermined torque threshold and an engine rotation speed meets or exceeds a predetermined rotation speed threshold,
the pump brake torque control unit determining the pump brake torque so that the engine rotation speed meets the target engine rotation speed while the pump brake control is being executed,
the pump brake torque control unit determining a flow rate of the pump brake control valve on the basis of the required flow rate of the hydraulic cylinder determined on the basis of the pump brake torque and the required flow rate of the hydraulic pump, and
the pump brake torque control unit increasing a load on the hydraulic pump by controlling the pump brake control valve.
16. The control method for a work vehicle, the work vehicle including
an engine;
a hydraulic pump driven by the engine;
a travel device driven by the engine;
a power transmission device that transmits driving power from the engine to the travel device; and
a power take-off device for distributing driving power from the engine to the hydraulic pump and 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; and
a motor connected to rotating elements of the planetary gear mechanism,
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 a rotation speed of the motor, and
the method comprising:
a step for determining whether to execute a pump brake control for causing a braking force to be generated due to a load on the hydraulic pump during braking; and
a step for increasing a pump brake torque to correspond to the load on the hydraulic pump during the pump brake control.