Self-propelled work machine
A self-propelled work machine, in which the load of the work unit increases according to an increase in the travel speed. The self-propelled work machine includes electric motors for driving the travel units, an engine for driving the work unit, a work drive instruction unit for instructing the work unit to turn on, and a control unit for controlling the electric motors. The control unit reduces the actual speed of the electric motors by using PID control so that the actual rotational speed of the engine returns to a reference rotational speed when the actual rotational speed of the engine falls below the reference rotational speed in the state in which the work unit is turned on by the work drive instruction unit. The reference rotational speed is a reference value used when the work unit is driven by the engine.
1. A self-propelled work machine comprising travel units and a work unit in which a load placed on the work unit increases as the travel speed of the travel units increases, the self-propelled work machine further comprising:
electric motors for driving the travel units;
an engine for driving the work unit;
a work drive instruction unit for instructing the work unit to turn on or off; and
a control unit for controlling the electric motors, wherein
the control unit performs proportional-integral-derivative (PID) control in which the actual speed of the electric motors is reduced so that the actual rotational speed of the engine returns to an engine reference rotational speed when it is determined that two conditions are satisfied from among a condition wherein the instruction of the work drive instruction unit is ON, and a condition wherein the actual rotational speed of the engine is below the prescribed engine reference rotational speed when the work unit is driven by the engine.
2. The work machine of claim 1 , further comprising:
a target speed adjustment unit for specifying a target speed of the electric motors, wherein
the control unit performs PID control so as to maintain the actual speed of the electric motors at the target speed when it is determined that the condition wherein the instruction of the work drive instruction unit is ON is satisfied, and that the actual rotational speed of the engine has returned to the engine reference rotational speed.
3. The work machine of claim 1 , wherein the control unit performs control whereby the speed of the electric motors changes to the target speed of the electric motors regardless of the actual rotational speed of the engine when the condition wherein the instruction of the work drive instruction unit is ON is not satisfied.
4. The work machine of claim 1 , further comprising:
an electronic governor for adjusting the travel of a choke valve and the travel of a throttle valve in the engine, wherein
the control unit performs control so as to reduce the actual speed of the electric motors in relation to an increase in the travel of the throttle valve, and performs control so as to bring the rate at which the actual speed of the electric motors is reduced relative to an increase in the travel of the throttle valve to a lower level when a startup condition wherein the choke valve is being adjusted by the electronic governor is satisfied than when this condition is not satisfied.
5. The work machine of claim 4 , wherein
the control unit further comprises a startup-time correction map used during startup of the engine;
the startup-time correction map has a characteristic for reducing a deceleration correction coefficient for the electric motors in relation to an increase in the travel of the throttle valve so that the deceleration correction coefficient when the throttle valve is completely open is larger than zero; and
the control unit calculates the deceleration correction coefficient for the current travel of the throttle valve on the basis of the startup-time correction map, multiplies the deceleration correction coefficient by the target speed make a correction, and controls the actual speed of the electric motors at the corrected target speed when the startup condition is satisfied.
6. The work machine according to claim 4 , wherein
the control further comprises an initial correction map used during startup of the engine, and a normal-time correction map used after startup of the engine is completed;
the initial correction map has a characteristic whereby an initial correction coefficient for the electric motors increases in relation to an increase in the travel of the choke valve;
the normal-time correction map has a characteristic whereby a deceleration correction coefficient for the electric motors decreases in relation to an increase in the travel of the throttle valve; and
the control unit calculates the correction coefficient for the current travel of the choke valve on the basis of the initial correction map, calculates the deceleration correction coefficient for the current travel of the throttle valve on the basis of the normal-time correction map, multiplies both the deceleration correction coefficient and the inverse of the initial correction coefficient by the target speed to make a correction, and controls the actual speed of the electric motors at the corrected target speed when the startup condition is satisfied.
7. The work machine of claim 4 , further comprising:
a travel drive instruction unit for specifying forward movement of the travel units; wherein
the control unit performs control so as to bring the rate at which the actual speed of the electric motors is reduced relative to an increase in the travel of the throttle valve to a lower level than when the choke valve is stopped, only when the three conditions are satisfied from among a condition wherein the travel drive instruction unit specifies forward movement, a condition wherein the work drive instruction unit specifies the ON state, and a condition wherein the startup condition is satisfied.
8. The work machine of claim 1 , further comprising:
a rotational speed variation instruction unit for specifying a change in the rotational speed in order to change the rotational speed of the engine; wherein
the control unit performs control so that the control state in which the electric motors are kept immediately prior to receiving an instruction is maintained a prescribed specific period of time from the moment at which an instruction is received when at least one of instruction is received from among the instructions of the work drive instruction unit and the rotational speed variation instruction of the rotational speed variation instruction unit.
9. The work machine of claim 8 , wherein the specific period of time corresponds to the time until an unstable state is overcome when a signal that affects the control of the electric motors by the control unit and is one of the signals issued from the engine to the control unit becomes temporarily unstable in conjunction with at least one of the instructions.
10. The work machine of claim 8 , wherein the control unit continuously controls the electric motors in correlation with the engine while the engine is operating.
11. A self-propelled work machine comprising:
travel units and a work unit in which a load placed on the work unit increases as the travel speed of the travel units increases; the self-propelled work machine further comprising:
electric motors for driving the travel units;
an engine for driving the work unit;
an electronic governor for adjusting the travel of a choke valve and the travel of a throttle valve in the engine;
a work drive instruction unit for instructing the work unit to turn on or off; and
a control unit for controlling the electric motors, wherein
the control unit performs control so as to reduce the actual speed of the electric motors in relation to an increase in the travel of the throttle valve, and performs control so as to bring the rate at which the actual speed of the electric motors is reduced relative to an increase in the travel of the throttle valve to a lower level when a startup condition wherein the choke valve is being adjusted by the electronic governor is satisfied than when this condition is not satisfied.
12. A self-propelled work machine comprising travel units and a work unit, wherein a load placed on the work unit increases as the travel speed of the travel units increases; the self-propelled work machine further comprising:
electric motors for driving the travel units;
an engine for driving the work unit;
a work drive instruction unit for instructing the work unit to turn on or off;
a rotational speed variation instruction unit for specifying a change in the rotational speed in order to change the rotational speed of the engine; and
a control unit for controlling the electric motors, wherein
the control unit performs control so that the control state in which the electric motors are kept immediately prior to receiving an instruction is maintained for a prescribed specific period of time from the moment at which an instruction is received when at least one instruction is received from among the instructions of the work drive instruction unit and the rotational speed variation instruction of the rotational speed variation instruction unit.