Control device for agricultural construction machinery, agricultural construction machinery, method for controlling agricultural construction machinery, and control program

Abstract

The present invention provides a control device for agricultural and construction machinery, agricultural and construction machinery, a control method for agricultural and construction machinery, and a control program that can reduce the space, weight, and cost of energy storage devices, or eliminate the need for energy storage devices altogether. [Solution] The control device (40) of the agricultural construction machine is equipped with processors (70, 80, 90, 160), and the processors derive the output power of the power generation motor (14) provided in the agricultural construction machine (10) and the required power including the target power of the output motors (16, 130) provided in the agricultural construction machine, and if the required power exceeds the output power, the processors limit the target power to the output power or less.

Description

Technical Field

[0001] The present disclosure relates to a control device for an agricultural construction machine, an agricultural construction machine, a control method for an agricultural construction machine, and a control program.

Background Art

[0002] Patent Document 1 discloses an agricultural construction machine including a rotary electric motor, a generator driven by an engine, and power storage means for storing part of the power generated by the generator. In this agricultural construction machine, when the total power of the output power of the generator and the output power of the power storage means is less than the power of the rotary electric motor, the turning torque or speed is limited so as to suppress the power of the rotary electric motor. As an example, in Patent Document 1, assuming that the power represented by the operation signal from the turning operation lever is 9 Kw, the power that the generator 2 can output is 2 Kw, and the power that the EDLC can output is 6 Kw, there is a shortage of 1 Kw. Therefore, the vector control device limits the turning torque or speed so as to suppress the power to the rotary electric motor by 1 Kw, which is the shortage.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the agricultural construction machine described in Patent Document 1, since it is assumed that the power storage means also supplies a considerable amount of power to the rotary electric motor in addition to the generator, a large-capacity power storage means is required despite having a generator. Therefore, there is a problem that the space, weight, and cost for the power storage means increase.

[0005] This disclosure aims to provide a control device for agricultural construction machinery, agricultural construction machinery, a control method for agricultural construction machinery, and a control program that can reduce the space, weight, and cost of energy storage devices, or eliminate energy storage devices altogether. [Means for solving the problem]

[0006] A first aspect of this disclosure is a control device (40) for an agricultural construction machine, comprising a processor (70, 80, 90, 160), the processor derives the output power of a power generation motor (14) provided in the agricultural construction machine (10) and the required power, including the target power of an output motor (16, 130) provided in the agricultural construction machine, and if the required power exceeds the output power, limits the target power to the output power or less.

[0007] A second aspect of this disclosure is an agricultural construction machine comprising a control device for agricultural construction machines according to the first aspect, the power generation motor, and the output motor.

[0008] A third aspect of this disclosure is a control method for an agricultural construction machine in which a computer derives the output power of a power generation motor (14) provided in the agricultural construction machine (10) and the required power including the target power of the output motors (16, 130) provided in the agricultural construction machine, and if the required power exceeds the output power, limits the target power to the output power or less.

[0009] A fourth aspect of this disclosure is a control program for causing a computer to perform a process that includes deriving the output power of a power generation motor (14) provided in an agricultural construction machine (10) and the required power, including the target power of an output motor (16, 130) provided in the agricultural construction machine, and limiting the target power to the output power or less if the required power exceeds the output power. [Effects of the Invention]

[0010] The present disclosure provides a control device for agricultural machinery, agricultural machinery, a method for controlling agricultural machinery, and a control program that can reduce the space, weight, and cost of energy storage devices, or eliminate the need for energy storage devices altogether. [Brief explanation of the drawing]

[0011] [Figure 1] This is a block diagram showing the configuration of an agricultural construction machine according to the first embodiment of this disclosure. [Figure 2] This is a block diagram showing the configuration of a power generation PCU, a power generation inverter, and a power generation motor. [Figure 3] This is a block diagram showing the configuration of the traction PCU, traction inverter, and traction motor. [Figure 4] This block diagram shows the configuration of the upper-level ECU, the power generation PCU, and the driving PCU. [Figure 5] This block shows the functional configuration of the higher-level ECU. [Figure 6] This is a flowchart showing the flow of motor control processing in the higher-level ECU. [Figure 7] This block diagram shows the configuration of an agricultural construction machine according to the second embodiment of this disclosure. [Figure 8] This is a flowchart showing the flow of motor control processing in the higher-level ECU. [Figure 9] This is a block diagram showing the configuration of an agricultural construction machine according to the third embodiment of this disclosure. [Figure 10] This is a block diagram showing the configuration of the work PCU, work inverter, and work motor. [Figure 11] This is a block diagram showing the configuration of the upper-level ECU, power generation PCU, driving PCU, and work PCU. [Figure 12] This is a flowchart showing the flow of motor control processing in the higher-level ECU. [Modes for carrying out the invention]

[0012] [First Embodiment] First, a first embodiment of the present disclosure will be described.

[0013] As shown in FIG. 1, the agricultural construction machine 10 includes an engine 12, a power generation motor 14, a traveling motor 16, a power transmission mechanism 18, traveling wheels 20, a power generation inverter 22, a traveling inverter 24, a power storage device 26, a power generation PCU (Power Control Unit) 28, a traveling PCU 30, an upper ECU (Electronic Control Unit) 32, a traveling operation lever 34, a sensor group 36, and a notification device 38. The upper ECU 32, the power generation PCU 28, and the traveling PCU 30 constitute a control device 40 of the agricultural construction machine 10.

[0014] As an example, the agricultural construction machine 10 is a hydraulic-free electric agricultural construction machine without a hydraulic device. The agricultural construction machine 10 may be any machine that performs operations in agriculture or construction, such as a shovel car, a wheel loader, a bulldozer, a dump truck, a tractor, a combine, a tillage tractor, or a rice transplanter.

[0015] The engine 12 is a power source that drives the power generation motor 14 and the traveling wheels 20. The output shaft of the engine 12 is connected to the power generation motor 14 and the power transmission mechanism 18. The engine 12 may be any engine, such as a gasoline engine or a diesel engine.

[0016] The power generation motor 14 is driven by receiving power supply from the power generation inverter 22, and the power generation inverter 22 is controlled based on a control signal from the power generation PCU 28. The power generation motor 14 may be any motor, such as an AC motor or a DC motor.

[0017] The traction motor 16 is driven by power supplied from the traction inverter 24, and the traction inverter 24 is controlled based on a control signal from the traction PCU 30. The traction motor 16 may be any type of motor, such as an AC motor or a DC motor. The traction motor 16 is an example of an "output motor" in this disclosure, and the traction inverter 24 is an example of an "output inverter" in this disclosure.

[0018] The power transmission mechanism 18 is a mechanism that transmits power from the engine 12 and the drive motor 16 to the driving wheels 20. For example, a planetary gear mechanism is used for the power transmission mechanism 18. The driving wheels 20 are drive wheels that are driven by at least one of the driving forces of the engine 12 and the drive motor 16. In other words, the agricultural construction machine 10 is equipped with a parallel or split hybrid system. In addition to the drive wheels, the agricultural construction machine 10 also has driven wheels or steering wheels (not shown).

[0019] The power generation inverter 22 and the traction inverter 24 are connected by a busbar 42, to which a power storage device 26 is connected. The power storage device 26 can be, for example, a capacitor, but a small secondary battery may also be used. Any type of capacitor is acceptable, such as an electric double-layer capacitor, a film capacitor, or an aluminum electrolytic capacitor. Any type of secondary battery is acceptable, such as a lithium-ion battery, a nickel-metal hydride battery, a lead-acid battery, or a solid-state battery.

[0020] The driving control lever 34 is a device operated by the operator controlling the agricultural construction machine 10. An accelerator pedal or the like may be used instead of the driving control lever 34. The sensor group 36 includes an operation sensor 44 that detects the amount of movement of the driving control lever 34. The sensor group 36 also includes sensors (not shown) that detect various operating states of the agricultural construction machine 10. The sensor group 36 outputs detection signals corresponding to the various detection results.

[0021] The higher-level ECU 32 outputs control commands to the power generation PCU 28 and the driving PCU 30 based on the detection signals input from the sensor group 36. The power generation PCU 28 generates a control signal based on the control command from the higher-level ECU 32 and outputs the generated control signal to the power generation inverter 22. The driving PCU 30 generates a control signal based on the control command from the higher-level ECU 32 and outputs the generated control signal to the driving inverter 24.

[0022] The notification device 38 includes, for example, a light-emitting device, a display, a speaker, or a vibrator. Based on a notification signal output from the higher-level ECU 32 and input to the notification device 38, the notification device 38 provides notification to the operator using light, text, sound, or vibration.

[0023] As shown in Figure 2, the power generation motor 14 is equipped with a rotation angle sensor 46, and the power generation inverter 22 is equipped with a current sensor 48, a voltage sensor 49, and a temperature sensor 50. The rotation angle sensor 46 is, for example, a resolver or rotary encoder, which detects the rotation angle of the power generation motor 14 and outputs a detection signal to the power generation inverter 22 according to the detection result. If rotation speed is required, the rotation speed can be calculated from the change in rotation angle per unit time, and if angular acceleration is required, the angular acceleration can be calculated from the change in rotation speed per unit time. The current sensor 48 is, for example, a phase current sensor, which detects the current supplied to the power generation motor 14 and outputs a detection signal to the power generation inverter 22 according to the detection result. The voltage sensor 49 detects the voltage of the busbar 42 and outputs a detection signal to the power generation inverter 22 according to the detection result.

[0024] The temperature sensor 50 is, for example, a resistive sensor that detects the temperature of each switching element (not shown) provided in the power generation inverter 22 and outputs a detection signal according to the detection result. Each switching element is, for example, an IGBT (Insulated Gate Bipolar Transistor) or a MOSFET (Metal-Oxide-Semiconductor Field Effect Transistor).

[0025] The power generation inverter 22 has an A / D converter (not shown) that converts analog detection signals output from the rotation angle sensor 46, current sensor 48, voltage sensor 49, and temperature sensor 50 into digital detection signals, and outputs the digitally converted detection signals to the power generation PCU 28.

[0026] Similarly, as shown in Figure 3, the drive motor 16 is equipped with a rotation angle sensor 56, and the drive inverter 24 is equipped with a current sensor 58, a voltage sensor 59, and a temperature sensor 60. The drive inverter 24 has an A / D converter (not shown) that converts the analog detection signals output from the rotation angle sensor 56, current sensor 58, voltage sensor 59, and temperature sensor 60 into digital detection signals, and outputs the digitally converted detection signals to the drive PCU 30.

[0027] As shown in Figure 4, the upper ECU 32 includes a CPU (Central Processing Unit) 70, a ROM (Read Only Memory) 72, and a RAM (Random Access Memory) 74. The CPU 70, ROM 72, and RAM 74 are interconnected via a bus 76 so that they can communicate with each other.

[0028] The CPU 70 executes various programs. Specifically, the CPU 70 reads various programs stored in the ROM 72 and executes them using the RAM 74 as a working area. Then, the CPU 70 performs various arithmetic operations according to the program. The ROM 72 stores various programs and various data. The RAM 74 temporarily stores programs or data as a working area.

[0029] Similarly, the power generation PCU28 includes a CPU80, ROM82, and RAM84. The CPU80, ROM82, and RAM84 are interconnected via a bus86 so as to be able to communicate with each other. The driving PCU30 also includes a CPU90, ROM92, and RAM94. The CPU90, ROM92, and RAM94 are interconnected via a bus96 so as to be able to communicate with each other.

[0030] The CPU 70 of the higher-level ECU 32 is a higher-level processor that controls the CPU 80 of the power generation PCU 28 and the CPU 90 of the driving PCU 30. The CPU 80 of the power generation PCU 28 is a power generation processor that controls the power generation inverter 22, and the CPU 90 of the driving PCU 30 is a driving processor that controls the driving inverter 24.

[0031] The CPU 70 of the upper-level ECU 32 is an example of a "processor," "upper-level processor," and "computer" in this disclosure. The CPU 80 of the power generation PCU 28 is an example of a "power generation control processor" in this disclosure, and the CPU 90 of the driving PCU 30 is an example of an "output control processor" in this disclosure.

[0032] As shown in Figure 5, the ROM 72 of the upper-level ECU 32 stores a control program 100 for controlling the generator motor 14 and the drive motor 16. The CPU 70 reads the control program 100 and executes it using the RAM 74 as a working area. The CPU 70 then executes motor control processing to control the generator motor 14 and the drive motor 16 according to the control program 100. The motor control processing is performed by the CPU 70 operating as an acquisition unit 102, a derivation unit 104, a determination unit 106, a correction unit 108, and a control unit 110 according to the control program 100.

[0033] The acquisition unit 102 acquires the target rotational speed of the driving wheels 20 based on a detection signal output from the operation sensor 44 according to the amount of operation of the driving operation lever 34, which is input to the higher-level ECU 32. For example, the ROM 72 stores table information that defines the relationship between the amount of operation of the driving operation lever 34 and the target rotational speed of the driving wheels 20, and the acquisition unit 102 acquires the target rotational speed of the driving wheels 20 based on the table information.

[0034] Furthermore, the acquisition unit 102 acquires the rotational speed of the engine 12, the rotational speed of the power generation motor 14, and the rotational speed of the drive motor 16. The rotational speed of the engine 12 is obtained, for example, by counting the ignition pulses of the ignition coil (not shown) provided in the engine 12. Also, for example, the power generation PCU 28 derives the rotational speed of the power generation motor 14 based on the detection signal of the rotation angle sensor 46, and the acquisition unit 102 acquires the rotational speed of the power generation motor 14 based on the derivation result of the power generation PCU 28. Similarly, the drive PCU 30 derives the rotational speed of the drive motor 16 based on the detection signal of the rotation angle sensor 56, and the acquisition unit 102 acquires the rotational speed of the drive motor 16 based on the derivation result of the drive PCU 30. Alternatively, the acquisition unit 102 may acquire the rotational speed of the power generation motor 14 based on the detection signal of the rotation angle sensor 46 input to the higher-level ECU 32 via the power generation PCU 28. Similarly, the acquisition unit 102 may acquire the rotational speed of the drive motor 16 based on the detection signal of the rotational angle sensor 56 that is input to the higher-level ECU 32 via the drive PCU.

[0035] The determination unit 106 determines whether the target torque of the drive motor 16 exceeds a predetermined maximum output torque of the drive motor 16. The maximum output torque of the drive motor 16 is derived based on the current derived from the detection result of the current sensor 58, the temperature detected by the temperature sensor 60, and the rotational speed derived from the detection result of the rotational angle sensor 56.

[0036] If the determination unit 106 determines that the target torque of the traction motor 16 exceeds the output torque of the traction motor 16, the correction unit 108 corrects the target torque and target power of the traction motor 16 so that the target torque of the traction motor 16 is limited to or less than the output torque of the traction motor 16. In this case, if the target torque of the traction motor 16 is limited to the output torque of the traction motor 16, the output torque of the traction motor 16 can be set to the maximum value within the limit range, but the target torque of the traction motor 16 may also be limited to a torque lower than the output torque of the traction motor 16.

[0037] The derivation unit 104 derives the target power of the drive motor 16 based on a value obtained by multiplying the target torque of the drive motor 16 by the rotational speed of the drive motor 16. For example, the higher-level ECU 32 calculates the target rotational speed of the drive motor 16 as the sum of a value obtained by multiplying the target rotational speed of the drive wheels 20 by a predetermined value and a value obtained by multiplying the rotational speed of the engine 12 by a predetermined value, so that the target rotational speed of the drive motor 16 matches the rotational speed of the drive wheels 20. The derivation unit 104 then obtains the target torque of the drive motor 16 so that the target rotational speed of the drive motor 16 matches the rotational speed of the drive motor 16.

[0038] The derivation unit 104 derives the voltage control power required to match the bus voltage, which is the voltage of the bus 42, with the target bus voltage. The bus voltage is derived, for example, based on the detection results of the voltage sensors 49 and 59. For the target bus voltage, for example, the ROM 72 stores table information that defines the relationship between the amount operated by the travel operation lever 34 and the target bus voltage, and the derivation unit 102 obtains the target bus voltage based on the table information.

[0039] The derivation unit 104 then derives the required power by adding the voltage control power to the target power of the driving motor 16.

[0040] Furthermore, the derivation unit 104 derives the power output of the power generation motor 14 based on a value obtained by multiplying the power output torque of the power generation motor 14 by the rotational speed of the power generation motor 14. The power output torque of the power generation motor 14 is derived, for example, based on the current derived in the power generation PCU 28 based on the detection result of the current sensor 48, the temperature detected by the temperature sensor 50, and the detection result of the rotation angle sensor 46.

[0041] The determination unit 106 determines whether the required power exceeds the output power of the power generation motor 14.

[0042] If the determination unit 106 determines that the required power exceeds the output power of the power generator motor 14, the correction unit 108 corrects the target torque of the drive motor 16 so that the target power of the drive motor 16 is limited to or less than the output power of the power generator motor 14. In this case, if the target power of the drive motor 16 is limited to the output power of the power generator motor 14, the output torque of the drive motor 16 can be set to the maximum value within the limit range, but the target power of the drive motor 16 may also be limited to a power lower than the output power of the power generator motor 14.

[0043] If the target torque of the drive motor 16 is corrected by the correction unit 108, the control unit 110 outputs a control command to the drive PCU 30 to drive the drive motor 16 with the corrected target torque. On the other hand, if the target torque of the drive motor 16 is not corrected by the correction unit 108, the control unit 110 outputs a control command to the drive PCU 30 to drive the drive motor 16 with the uncorrected target torque. Based on the control command, the drive PCU 30 controls the drive inverter 24 so that the drive motor 16 is driven with the target torque. As a result, the drive motor 16 is driven with the target torque.

[0044] Furthermore, if the control unit 110 corrects the target torque of the traction motor 16 by limiting the target power of the traction motor 16 to below the output power limit, it outputs a notification signal to the notification device 38 indicating that the target torque of the traction motor 16 has been corrected. As a result, the notification device 38 notifies the operator by light, text, sound, vibration, etc.

[0045] The derivation unit 104 derives the target torque of the power generation motor 14 based on the required power.

[0046] The control unit 110 outputs a control command to the power generation PCU 28 to drive the power generation motor 14 with the derived target torque. Based on the control command, the power generation PCU 28 controls the power generation inverter 22 so that the power generation motor 14 is driven with the derived target torque. As a result, the power generation motor 14 is driven with the target torque.

[0047] Furthermore, the first response time, from when the CPU 70 of the higher-level ECU 32 outputs a control command to the CPU 80 of the power generation PCU 28 to limit the voltage of the busbar 42 until the voltage of the busbar 42 is controlled, is set to be longer than the second response time, from when the CPU 70 of the higher-level ECU 32 outputs the target torque of the drive motor 16 to the CPU 90 of the drive PCU 30 until the torque of the drive motor 16 is controlled.

[0048] Next, with reference to Figure 6, the control method for the agricultural construction machine 10 according to the first embodiment will be described.

[0049] In step S101, the CPU 70 of the higher-level ECU 32 acquires the target rotational speed of the driving wheels 20 based on the detection signal output from the operation sensor 44 according to the amount of operation of the driving operation lever 34 and input to the higher-level ECU 32.

[0050] In step S102, the CPU 70 obtains, for example, the rotational speed of the engine 12 obtained by counting the ignition pulses of the ignition coil, the rotational speed of the generator motor 14 derived by the power generation PCU 28 based on the detection signal of the rotational angle sensor 46, and the rotational speed of the drive motor 16 derived by the drive PCU 30 based on the detection signal of the rotational angle sensor 56.

[0051] In step S103, the CPU 70 obtains the target torque of the drive motor 16 derived by the higher-level ECU 32 and determines whether the obtained target torque of the drive motor 16 exceeds the predetermined output torque of the drive motor 16. If the CPU 70 determines that the target torque of the drive motor 16 exceeds the output torque of the drive motor 16, it proceeds to step S104. If the CPU 70 determines that the target torque of the drive motor 16 is less than or equal to the output torque of the drive motor 16, it proceeds to step S105.

[0052] In step S104, the CPU 70 corrects the target torque and target power of the traction motor 16 so that the target torque of the traction motor 16 obtained in step S103 is limited to less than or equal to the output torque of the traction motor 16.

[0053] In step S105, the CPU 70 derives the target power of the drive motor 16 based on the value obtained by multiplying the target torque of the drive motor 16 obtained in step S103 by the rotational speed of the drive motor 16 obtained in step S102.

[0054] In step S106, the CPU 70 derives the voltage control power required to match the bus voltage, which is the voltage of bus 42, with the target bus voltage.

[0055] In step S107, the CPU 70 derives the required power by adding the voltage-controlled power derived in step S106 to the target power of the drive motor 16 derived in step S105.

[0056] In step S108, the CPU 70 derives the power output of the power generation motor 14 based on the value obtained by multiplying the power output torque of the power generation motor 14 by the rotational speed of the power generation motor 14 obtained in step S102.

[0057] In step S109, the CPU 70 determines whether the required power derived in step S107 exceeds the output power of the power generation motor 14 derived in step S108. If the CPU 70 determines that the required power exceeds the output power of the power generation motor 14, it proceeds to step S110. If the CPU 70 determines that the required power is less than or equal to the output power of the power generation motor 14, it proceeds to step S111.

[0058] In step S110, the CPU 70 corrects the target torque of the drive motor 16 so that the target power of the drive motor 16 is limited to less than or equal to the output power of the generator motor 14 derived in step S108.

[0059] In step S111, if the CPU 70 corrected the target torque of the traction motor 16 in step S110, it outputs a control command to the traction PCU 30 to drive the traction motor 16 with the corrected target torque. On the other hand, if the CPU 70 has not corrected the target torque of the traction motor 16, it outputs a control command to the traction PCU 30 to drive the traction motor 16 with the uncorrected target torque. Based on the control command, the traction PCU 30 controls the traction inverter 24 so that the traction motor 16 is driven with the target torque. As a result, the traction motor 16 is driven with the target torque.

[0060] In step S112, if the CPU 70 corrects the target torque of the traction motor 16 in step S110 by limiting the target power of the traction motor 16 to below the output power limit, it outputs a notification signal to the notification device 38 indicating that the target torque of the traction motor 16 has been corrected. As a result, the notification device 38 notifies the operator by light, text, sound, vibration, etc.

[0061] In step S113, the CPU 70 derives the target torque of the generator motor 14 based on the required power derived in step S107. The target torque of the generator motor 14 is derived according to the following conditions: If the target torque of the drive motor 16 is corrected in step S110, it is derived by dividing the output power of the generator motor 14 by the rotational speed of the generator motor 14; if the target torque of the drive motor 16 is not corrected in step S110, it is derived by dividing the required power by the rotational speed of the generator motor 14.

[0062] In step S114, the CPU 70 outputs a control command to the power generation PCU 28 to drive the power generation motor 14 with the target torque derived in step S113. Based on the control command, the power generation PCU 28 controls the power generation inverter 22 so that the power generation motor 14 is driven with the derived target torque. As a result, the power generation motor 14 is driven with the target torque.

[0063] Next, the effects of the control device 40 according to the first embodiment will be described.

[0064] As detailed above, in the control device 40 according to the first embodiment, the CPU 70 derives the output power of the power generation motor 14 and the required power including the target power of the driving motor 16. If the required power exceeds the output power of the power generation motor 14, the CPU 70 limits the target power of the driving motor 16 to less than or equal to the output power of the power generation motor 14. This eliminates the need for a large-capacity energy storage device 26, thereby reducing the space, weight, and cost of the energy storage device 26, or even eliminating the energy storage device 26 altogether.

[0065] Furthermore, by limiting the target power of the traction motor 16 to less than or equal to the output power of the power generation motor 14, voltage fluctuations in the busbar 42 due to the imbalance between the target power of the traction motor 16 and the output power of the power generation motor 14 can be suppressed.

[0066] Furthermore, a power storage device 26 is connected to the busbar 42 that connects the power generator inverter 22, which supplies power to the power generation motor 14, and the traction inverter 24, which supplies power to the traction motor 16. The required power is the target power of the traction motor 16 plus the voltage control power required to match the busbar voltage, which is the voltage of the busbar 42, to the target busbar voltage. This ensures that the voltage of the busbar 42 is maintained, allowing power to be stored in the power storage device 26.

[0067] Furthermore, the power output of the power generation motor 14 is derived based on the product of the power output torque of the power generation motor 14 and the rotational speed of the power generation motor 14. This allows for the derivation of a highly accurate power output that takes into account the power output torque and rotational speed of the power generation motor 14. Similarly, the target power of the traction motor 16 is derived based on the product of the target torque and rotational speed of the traction motor 16. This allows for the derivation of a highly accurate target power that takes into account the target torque and rotational speed of the traction motor 16.

[0068] Furthermore, the control device 40 has a power generation PCU 28 that controls the power generation inverter 22 that supplies power to the power generation motor 14, and the CPU 80 of the power generation PCU 28 derives the output torque of the power generation motor 14. Therefore, the higher-level ECU 32 can obtain the output torque of the power generation motor 14, which it does not know otherwise.

[0069] Furthermore, the CPU 70 of the higher-level ECU 32 derives the output power of the generator motor 14 based on the value obtained by multiplying the output torque of the generator motor 14, derived by the CPU 80 of the power generation PCU 28, by the rotational speed of the generator motor 14, and derives the target power of the drive motor 16 based on the value obtained by multiplying the target torque of the drive motor 16 by the rotational speed of the drive motor 16. If the required power exceeds the output power of the generator motor 14, the CPU 70 of the higher-level ECU 32 outputs a control command to the CPU 90 of the drive PCU 30 to limit the target power. Therefore, since the processing is distributed among the CPU 70 of the higher-level ECU 32, the CPU 80 of the power generation PCU 28, and the CPU 90 of the drive PCU 30, the load on each of the CPUs can be reduced.

[0070] Furthermore, the first response time, from the moment the CPU 70 of the higher-level ECU 32 outputs a control command to the CPU 80 of the power generation PCU 28 to limit the voltage of the busbar 42 until the voltage of the busbar 42 is controlled, is set to be longer than the second response time, from the moment the CPU 70 of the higher-level ECU 32 outputs the target torque of the drive motor 16 to the CPU 90 of the drive PCU 30 until the torque of the drive motor 16 is controlled. If the first response time is set to be shorter than the second response time, the torque control of the drive motor 16 cannot keep up with the voltage control of the busbar 42, resulting in poor control performance. However, if the first response time is set to be longer than the second response time, the torque control of the drive motor 16 can keep up with the voltage control of the busbar 42, thus preventing deterioration of control performance.

[0071] Furthermore, the CPU 70 of the higher-level ECU 32 corrects the target torque of the drive motor 16 by limiting the target power of the drive motor 16 to less than or equal to the output power of the generator motor 14, and outputs a notification signal indicating that the target torque of the drive motor 16 has been corrected. As a result, the notification device 38 notifies the operator with light, text, sound, or vibration, so that the operator can recognize that the target torque of the drive motor 16 has been corrected.

[0072] Next, a modified example of the first embodiment will be described.

[0073] In the first embodiment, the CPU 70 of the higher-level ECU 32 derives the output power of the power generator motor 14 based on a value obtained by multiplying the output torque of the power generator motor 14, derived by the CPU 80 of the power generation PCU 28, by the rotational speed of the power generator motor 14, and derives the target power of the drive motor 16 based on a value obtained by multiplying the target torque of the drive motor 16 by the rotational speed of the drive motor 16. However, the CPU 80 of the power generation PCU 28 may derive the output power of the power generator motor 14, and the CPU 90 of the drive PCU 30 may derive the target power of the drive motor 16. Furthermore, if the required power exceeds the output power of the power generator motor 14, the CPU 90 of the drive PCU 30 may execute control to limit the target power of the drive motor 16. As a result, the processing is distributed among the CPU 70 of the upper-level ECU 32, the CPU 80 of the power generation PCU 28, and the CPU 90 of the driving PCU 30, thereby reducing the load on each of them.

[0074] Furthermore, in the first embodiment, a power storage device 26 is connected to the bus 42 in order to suppress voltage fluctuations of the bus 42 and stabilize the voltage of the bus 42. However, if it is possible to control the voltage of the bus 42 to stabilize it without the power storage device 26, the power storage device 26 may be omitted.

[0075] Furthermore, in the first embodiment, the target power of the travel motor 16 is derived, and if the required power, including the target power of the travel motor 16, exceeds the output power of the generator motor 14, the target torque of the travel motor 16 is corrected so that the target power of the travel motor 16 is limited to or less than the output power of the generator motor 14. However, the target power of an output motor other than the travel motor 16 may be derived, and if the required power, including the target power of the output motor, exceeds the output power of the generator motor 14, the target torque of the output motor may be corrected so that the target power of the output motor is limited to or less than the output power of the generator motor 14. In this case, the output motor may be a work motor that drives a work machine, or a slewing motor that performs a slewing motion.

[0076] Furthermore, the above-mentioned variations may be combined and implemented as appropriate.

[0077] [Second Embodiment] Next, a second embodiment of this disclosure will be described.

[0078] In the second embodiment, the configuration of the agricultural construction machine 10 is modified from that of the first embodiment as follows. That is, as shown in Figure 7, the agricultural construction machine 10 is equipped with a power transmission mechanism 120. The power transmission mechanism 120 is a mechanism that transmits power from the travel motor 16 to the travel wheels 20. For example, a reduction gear mechanism is used for the power transmission mechanism 120. The engine 12 drives only the power generator motor 14, and the travel wheels 20 are driven only by the driving force of the travel motor 16. In other words, the agricultural construction machine 10 is equipped with a series hybrid system.

[0079] Furthermore, the agricultural construction machine 10 is equipped with an accelerator pedal 122. The accelerator pedal 122 is a device operated by the operator who controls the agricultural construction machine 10. The sensor group 36 includes an operation sensor 124 that detects the amount of operation of the accelerator pedal 122.

[0080] Next, with reference to Figure 8, the control method for the agricultural construction machine 10 according to the second embodiment will be described.

[0081] In step S201, the CPU 70 of the higher-level ECU 32 acquires the target rotational speed of the driving wheels 20 based on the detection signal output from the operation sensor 124 and input to the higher-level ECU 32, for example, according to the amount of operation of the accelerator pedal 122.

[0082] In step S202, the CPU 70 obtains, for example, the rotational speed of the power generation motor 14 derived by the power generation PCU 28 based on the detection signal of the rotation angle sensor 46, and the rotational speed of the travel motor 16 derived by the travel PCU 30 based on the detection signal of the rotation angle sensor 56.

[0083] The processing in steps S203 to S214 is the same as the processing in steps S103 to S114 according to the first embodiment described above, and therefore its explanation is omitted.

[0084] In the second embodiment, the same effects as in the first embodiment described above can be obtained. In the second embodiment, the same modifications as in the first embodiment described above may be adopted.

[0085] [Third Embodiment] Next, a third embodiment of this disclosure will be described.

[0086] In the third embodiment, the configuration of the agricultural construction machine 10 is modified from that of the first embodiment as follows. Specifically, as shown in Figure 9, the agricultural construction machine 10 includes a work motor 130, a work implement 132, a work inverter 134, a work PCU 136, and a work operating lever 138. The upper-level ECU 32, the power generation PCU 28, the driving PCU 30, and the work PCU 136 constitute the control device 40 of the agricultural construction machine 10.

[0087] The work PCU 136 is composed of the same hardware as the power generation PCU 28 and the travel PCU 30. The work motor 130 may be any motor, such as an AC motor or a DC motor. The travel motor 16 and the work motor 130 are examples of "output motors" in this disclosure, and the travel inverter 24 and the work inverter 134 are examples of "output inverters" in this disclosure. The work machine 132 is a mechanism that performs work on the agricultural construction machine 10. The work machine 132 has a rotating mechanism that is driven by the driving force of the work motor 130. The power generation inverter 22, the travel inverter 24, and the work inverter 134 are connected by a busbar 42.

[0088] The work operation lever 138 is a device operated by the operator of the agricultural construction machine 10. The sensor group 36 includes an operation sensor 140 that detects the amount of movement of the work operation lever 138.

[0089] As shown in Figure 10, the work motor 130 is equipped with a rotation angle sensor 146, and the work inverter 134 is equipped with a current sensor 148, a voltage sensor 149, and a temperature sensor 150. The work inverter 134 has an A / D converter (not shown) that converts the analog detection signals output from the rotation angle sensor 146, current sensor 148, voltage sensor 149, and temperature sensor 150 into digital detection signals, and outputs the digitally converted detection signals to the work PCU 136.

[0090] As shown in Figure 11, the work PCU 136 includes a CPU 160, a ROM 162, and a RAM 164. The CPU 160, ROM 162, and RAM 164 are connected to each other via a bus 166 so as to be able to communicate with each other. The CPU 70 of the higher-level ECU 32 outputs control commands to the CPU 80 of the power generation PCU 28, the CPU 90 of the driving PCU 30, and the CPU 160 of the work PCU 136. The CPU 160 of the work PCU 136 is a work processor that controls the work inverter 134. The CPU 90 of the driving PCU 30 and the CPU 160 of the work PCU 136 are examples of "output control processors" in this disclosure.

[0091] Next, with reference to Figure 12, a control method for the agricultural construction machine 10 according to the third embodiment will be described.

[0092] In step S301, the CPU 70 of the higher-level ECU 32 acquires the target rotational speed of the driving wheels 20 based on the detection signal output from the operation sensor 140 and input to the higher-level ECU 32, for example, according to the amount of operation of the driving operation lever 34. The CPU 70 also acquires the target rotational speed of the work implement 132 based on the detection signal output from the operation sensor 140 and input to the higher-level ECU 32, for example, according to the amount of operation of the work operation lever 138.

[0093] In step S302, the CPU 70 obtains, for example, the rotational speed of the engine 12 obtained by counting the ignition pulses of the ignition coil, the rotational speed of the generator motor 14 derived by the power generation PCU 28 based on the detection signal of the rotational angle sensor 46, the rotational speed of the drive motor 16 derived by the drive PCU 30 based on the detection signal of the rotational angle sensor 56, and the rotational speed of the work motor 130 derived by the work PCU 136 based on the detection signal of the rotational angle sensor 146.

[0094] In step S303, the CPU 70 obtains the target torque of the drive motor 16 derived by the higher-level ECU 32 and determines whether the obtained target torque of the drive motor 16 exceeds the predetermined output torque of the drive motor 16. If the CPU 70 determines that the target torque of the drive motor 16 exceeds the output torque of the drive motor 16, it proceeds to step S304. If the CPU 70 determines that the target torque of the drive motor 16 is less than or equal to the output torque of the drive motor 16, it proceeds to step S305.

[0095] In step S304, the CPU 70 corrects the target torque and target power of the traction motor 16 so that the target torque of the traction motor 16 obtained in step S303 is limited to less than or equal to the output torque of the traction motor 16.

[0096] In step S305, the CPU 70 derives the target power of the drive motor 16 based on the value obtained by multiplying the target torque of the drive motor 16 obtained in step S303 by the rotational speed of the drive motor 16 obtained in step S302.

[0097] In step S306, the CPU 70 obtains the target torque of the work motor 130 derived by the higher-level ECU 32 and determines whether the obtained target torque of the drive motor 16 exceeds the predetermined output torque of the work motor 130. If the CPU 70 determines that the target torque of the work motor 130 exceeds the output torque of the work motor 130, it proceeds to step S307. If the CPU 70 determines that the target torque of the work motor 130 is less than or equal to the output torque of the work motor 130, it proceeds to step S308.

[0098] In step S307, the CPU 70 corrects the target torque and target power of the work motor 130 so that the target torque of the work motor 130 obtained in step S306 is limited to less than or equal to the output torque of the work motor 130.

[0099] In step S308, the CPU 70 derives the target power of the work motor 130 based on the value obtained by multiplying the target torque of the work motor 130 obtained in step S306 by the rotational speed of the work motor 130 obtained in step S302.

[0100] In step S309, the CPU 70 derives the voltage control power required to match the bus voltage, which is the voltage of bus 42, with the target bus voltage.

[0101] In step S310, the CPU 70 derives the required power by adding the target power of the drive motor 16 derived in step S305, the target power of the work motor 130 derived in step S308, and the voltage control power derived in step S309.

[0102] In step S311, the CPU 70 derives the power output of the power generation motor 14 based on the value obtained by multiplying the output torque of the power generation motor 14 by the rotational speed of the power generation motor 14 obtained in step S302.

[0103] In step S312, the CPU 70 determines whether the required power derived in step S310 exceeds the output power of the power generation motor 14 derived in step S311. If the CPU 70 determines that the required power exceeds the output power of the power generation motor 14, it proceeds to step S313. If the CPU 70 determines that the required power is less than or equal to the output power of the power generation motor 14, it proceeds to step S314.

[0104] In step S313, the CPU 70 corrects the target torque of the work motor 130 by limiting the target power of the work motor 130 so that the total target power, which is the sum of the target power of the drive motor 16 and the target power of the work motor 130, is limited to less than or equal to the output power of the generator motor 14 derived in step S311. In this case, if the total target power, which is the sum of the target power of the drive motor 16 and the target power of the work motor 130, is limited to the output power of the generator motor 14, the output torque of the work motor 130 can be set to the maximum value within the limit range. However, the total target power may also be limited to a power lower than the output power of the generator motor 14.

[0105] In step S314, if the CPU 70 corrected the target torque of the work motor 130 in step S313, it outputs a control command to the work PCU 136 to drive the work motor 130 with the corrected target torque. On the other hand, if the CPU 70 has not corrected the target torque of the work motor 130, it outputs a control command to the work PCU 136 to drive the work motor 130 with the uncorrected target torque. Based on the control command, the work PCU 136 controls the work inverter 134 so that the work motor 130 is driven with the target torque. As a result, the work motor 130 is driven with the target torque.

[0106] In step S315, if the CPU 70 corrects the target torque of the work motor 130 by limiting the target power of the work motor 130 in step S314, it outputs a notification signal to the notification device 38 indicating that the target torque of the work motor 130 has been corrected. As a result, the notification device 38 notifies the operator by light, text, sound, vibration, etc.

[0107] In step S316, the CPU 70 derives the target torque of the power generation motor 14 based on the required power derived in step S310.

[0108] In step S317, the CPU 70 outputs a control command to the power generation PCU 28 to drive the power generation motor 14 with the target torque derived in step S316. Based on the control command, the power generation PCU 28 controls the power generation inverter 22 so that the power generation motor 14 is driven with the derived target torque. As a result, the power generation motor 14 is driven with the target torque.

[0109] Furthermore, the first response time, from when the CPU 70 of the higher-level ECU 32 outputs a control command to the CPU 80 of the power generation PCU 28 to limit the voltage of the busbar 42 until the voltage of the busbar 42 is controlled, is set to be longer than the second response time, from when the CPU 70 of the higher-level ECU 32 outputs the target torque of the work motor 130 to the CPU 160 of the work PCU 136 until the torque of the work motor 130 is controlled.

[0110] Next, the effects of the control device 40 according to the third embodiment will be described.

[0111] As detailed above, in the control device 40 according to the third embodiment, the CPU 70 derives the required power, which includes the output power of the power generation motor 14, the target power of the drive motor 16, and the target power of the work motor 130. If the required power exceeds the output power of the power generation motor 14, the CPU 70 limits the total target power, which is the sum of the target power of the drive motor 16 and the target power of the work motor 130, to less than or equal to the output power of the power generation motor 14. This eliminates the need for a large-capacity energy storage device 26, thereby reducing the space, weight, and cost of the energy storage device 26, or even eliminating the energy storage device 26 altogether.

[0112] Furthermore, by limiting the total target power, which is the sum of the target power of the drive motor 16 and the target power of the work motor 130, to less than or equal to the output power of the power generation motor 14, voltage fluctuations of the busbar 42 due to the imbalance between the total target power and the output power of the power generation motor 14 can be suppressed.

[0113] Furthermore, a power storage device 26 is connected to the busbar 42 that connects the power generator inverter 22 that supplies power to the power generation motor 14, the traction inverter 24 that supplies power to the traction motor 16, and the work inverter 134 that supplies power to the work motor 130. The required power is the sum of the target power of the traction motor 16, the target power of the work motor 130, and the voltage control power required to match the busbar voltage, which is the voltage of the busbar 42, with the target busbar voltage. This ensures that the voltage of the busbar 42 is maintained, allowing power to be stored in the power storage device 26.

[0114] Furthermore, the power output of the power generation motor 14 is derived based on the value obtained by multiplying the power output torque of the power generation motor 14 by the rotational speed of the power generation motor 14. This allows for the derivation of a highly accurate power output that takes into account the power output torque and rotational speed of the power generation motor 14. Similarly, the target power of the drive motor 16 is derived based on the value obtained by multiplying the target torque of the drive motor 16 by the rotational speed of the drive motor 16. This allows for the derivation of a highly accurate target power that takes into account the target torque and rotational speed of the drive motor 16. Furthermore, the target power of the work motor 130 is derived based on the value obtained by multiplying the target torque of the work motor 130 by the rotational speed of the work motor 130. This allows for the derivation of a highly accurate target power that takes into account the target torque and rotational speed of the work motor 130.

[0115] Furthermore, the control device 40 has a power generation PCU 28 that controls the power generation inverter 22 that supplies power to the power generation motor 14, and the CPU 80 of the power generation PCU 28 derives the output torque of the power generation motor 14. Therefore, the higher-level ECU 32 can obtain the output torque of the power generation motor 14, which it does not know otherwise.

[0116] Furthermore, the CPU 70 of the higher-level ECU 32 derives the output power of the generator motor 14 based on the value obtained by multiplying the output torque of the generator motor 14, derived by the CPU 80 of the power generation PCU 28, by the rotational speed of the generator motor 14. It also derives the target power of the drive motor 16 based on the value obtained by multiplying the target torque of the drive motor 16 by the rotational speed of the drive motor 16. Finally, it derives the target power of the work motor 130 based on the value obtained by multiplying the target torque of the work motor 130, derived by the CPU 160 of the work PCU 136, by the rotational speed of the work motor 130. In addition, the CPU 70 of the higher-level ECU 32 derives the total target power by adding the target power of the drive motor 16 and the target power of the work motor 130. Then, if the CPU 70 of the higher-level ECU 32, which adds the voltage-controlled power to the total target power, exceeds the output power of the power generation motor 14, outputs a control command to the CPU 160 of the work PCU 136 to limit the target power. Therefore, the processing is distributed among the CPU 70 of the higher-level ECU 32, the CPU 80 of the power generation PCU 28, the CPU 90 of the driving PCU 30, and the CPU 160 of the work PCU 136, thus reducing the load on each of them.

[0117] Furthermore, the first response time, from the moment the CPU 70 of the higher-level ECU 32 outputs a control command to the CPU 80 of the power generation PCU 28 to limit the voltage of the busbar 42 until the voltage of the busbar 42 is controlled, is set to be longer than the second response time, from the moment the CPU 70 of the higher-level ECU 32 outputs the target torque of the work motor 130 to the CPU 160 of the work PCU 136 until the torque of the work motor 130 is controlled. If the first response time is set to be shorter than the second response time, the torque control of the work motor 130 cannot keep up with the voltage control of the busbar 42, resulting in poor control performance. However, if the first response time is set to be longer than the second response time, the torque control of the work motor 130 can keep up with the voltage control of the busbar 42, thus preventing deterioration of control performance.

[0118] Furthermore, if the CPU 70 of the higher-level ECU 32 corrects the target torque of the work motor 130 by limiting the target power of the work motor 130, it outputs a notification signal indicating that the target torque of the work motor 130 has been corrected. As a result, the notification device 38 notifies the operator with light, text, sound, or vibration, so that the operator can recognize that the target torque of the work motor 130 has been corrected.

[0119] Furthermore, if the CPU 70 of the higher-level ECU 32 limits the target power of the work motor 130, among the drive motor 16 and the work motor 130, when the total required power, including the target power of the drive motor 16 and the work motor 130, exceeds the output power of the generator motor 14, it limits the target power of the work motor 130. This maintains the target power of the drive motor 16, thereby ensuring the necessary driving performance for the agricultural construction machine 10.

[0120] Next, a modified example of the third embodiment will be described.

[0121] In the first embodiment, the CPU 70 of the higher-level ECU 32 derives the output power of the power generation motor 14 based on a value obtained by multiplying the output torque of the power generation motor 14, derived by the CPU 80 of the power generation PCU 28, by the rotational speed of the power generation motor 14; derives the target power of the drive motor 16 based on a value obtained by multiplying the target torque of the drive motor 16 by the rotational speed of the drive motor 16; and derives the target power of the work motor 130 based on a value obtained by multiplying the target torque of the work motor 130, derived by the CPU 160 of the work PCU 136, by the rotational speed of the work motor 130. However, the CPU 80 of the power generation PCU 28 may derive the output power of the power generation motor 14, the CPU 90 of the drive PCU 30 may derive the target power of the drive motor 16, and the CPU 160 of the work PCU 136 may derive the target power of the work motor 130. Furthermore, if the required power exceeds the output power of the power generation motor 14, the CPU 160 of the work PCU 136 may execute control to limit the target power of the work motor 130. This distributes the processing among the CPU 70 of the higher-level ECU 32, the CPU 80 of the power generation PCU 28, the CPU 90 of the driving PCU 30, and the CPU 160 of the work PCU 136, thereby reducing the load on each of them.

[0122] Furthermore, in the third embodiment, a power storage device 26 is connected to the bus 42 in order to suppress voltage fluctuations in the bus 42 and stabilize the voltage of the bus 42. However, if it is possible to control the voltage of the bus 42 to stabilize it without the power storage device 26, the power storage device 26 may be omitted.

[0123] Furthermore, in the third embodiment, if the required power, including the target power of the travel motor 16 and the target power of the work motor 130, exceeds the output power of the power generator motor 14, the target power of the work motor 130 is limited, although the target power of the travel motor 16 may also be limited. In this case, the target power of the work motor 130 is maintained, so that the necessary work performance for the agricultural construction machine 10 can be secured. Also, if the required power, including the combined target power of the travel motor 16 and the work motor 130, exceeds the output power of the power generator motor 14, the target power of both the travel motor 16 and the work motor 130 may be limited.

[0124] Furthermore, the above-mentioned variations may be combined and implemented as appropriate.

[0125] Although one embodiment of the present disclosure has been described above, the present disclosure is not limited to the above embodiments, and various modifications and applications are possible without departing from the gist of the present disclosure.

[0126] Furthermore, the configurations of the agricultural machinery and control devices described in each of the above embodiments are merely examples, and it goes without saying that unnecessary parts may be deleted or new parts added without departing from the spirit of this disclosure.

[0127] Furthermore, the motor control processing flow described in each of the above embodiments is merely an example, and it goes without saying that unnecessary steps may be deleted, new steps added, or the processing order rearranged, as long as it does not deviate from the spirit of this disclosure.

[0128] The apparatus and method described herein may be implemented by a dedicated computer comprising a processor programmed to perform one or more functions embodied by a computer program. Alternatively, the apparatus and method described herein may be implemented by a dedicated computer comprising a processor composed of dedicated hardware logic circuits. Alternatively, the apparatus and method described herein may be implemented by one or more dedicated computers comprising a combination of a processor that executes a computer program and one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by the computer on a computer-readable non-transitional tangible recording medium.

[0129] The features of this disclosure are as follows: (Note 1) Equipped with processors (70, 80, 90, 160), The aforementioned processor, The power output of the power generation motor (14) installed in the agricultural construction machine (10) and the required power including the target power of the output motors (16, 130) installed in the agricultural construction machine are derived. If the required power exceeds the available power, the target power shall be limited to the available power or less. Control device for agricultural and construction machinery (40). (Note 2) A power storage device (26) is connected to the busbar (42) that connects the power generation inverter (22) that supplies power to the power generation motor and the output inverters (24, 134) that supply power to the output motor. The required power is the target power plus the voltage control power necessary to make the bus voltage, which is the voltage of the bus, match the target bus voltage. Control device for agricultural construction machinery as described in Appendix 1. (Note 3) The output power is derived based on the value obtained by multiplying the output torque of the power generation motor by the rotational speed of the power generation motor. The target power is derived based on the value obtained by multiplying the target torque of the output motor by the rotational speed of the output motor. Control device for agricultural construction machinery as described in Appendix 1 or Appendix 2. (Note 4) The processor includes a power generation control processor (80) that controls a power generation inverter that supplies power to the power generation motor, The power generation control processor derives the outputtable torque. Control device for agricultural construction machinery as described in Appendix 3. (Note 5) The aforementioned processor, An output control processor (90, 160) controls the output inverter that supplies power to the output motor, A higher-level processor (70) that outputs control commands to the power generation control processor and the output control processor, It has, The aforementioned higher-end processor, Based on the value obtained by multiplying the output torque by the rotational speed of the power generation motor, the output power is derived. Based on the value obtained by multiplying the target torque by the rotational speed of the output motor, the target power is derived. If the required power exceeds the available power, a control command to limit the target power is output to the output control processor. Control device for agricultural construction machinery as described in Appendix 4. (Note 6) The power generation control processor derives the output power based on the value obtained by multiplying the output torque by the rotational speed of the power generation motor. The output control processor is Based on the value obtained by multiplying the target torque by the rotational speed of the output motor, the target power is derived. If the required power exceeds the available power, control is executed to limit the target power. Control device for agricultural construction machinery as described in Appendix 4. (Note 7) The power generator inverter that supplies power to the power generation motor and the output inverter that supplies power to the output motor are connected by a busbar. The first response time, from the time the processor outputs a control command to limit the voltage of the bus until the voltage of the bus is controlled, is set to be longer than the second response time, from the time the processor outputs the target torque until the torque of the output motor is controlled. A control device as described in any one of the appendices 1 through 6. (Note 8) When the processor corrects the target torque of the output motor by limiting the target power to less than or equal to the output power, it outputs a notification signal indicating that the target torque of the output motor has been corrected. A control device as described in any one of the appendices 1 through 7. (Note 9) The aforementioned target power is the total target power obtained by adding the target power of the drive motor and the target power of the work motor provided on the agricultural construction machine. The processor limits the target power of the drive motor if the required power exceeds the output power. A control device as described in any one of the appendices 1 through 8. (Note 10) The aforementioned target power is the total target power obtained by adding the target power of the drive motor and the target power of the work motor provided on the agricultural construction machine. The processor limits the target power of the work motor if the required power exceeds the output power. A control device as described in any one of the appendices 1 through 9. (Note 11) A control device described in any one of the appendices 1 to 10, The aforementioned power generation motor, The output motor and, Agricultural and construction machinery equipped with these features. (Note 12) Computers The power output of the power generation motor (14) installed in the agricultural construction machine (10) and the required power including the target power of the output motors (16, 130) installed in the agricultural construction machine are derived. If the required power exceeds the available power, the target power shall be limited to the available power or less. Control methods for agricultural and construction machinery. (Note 13) The power output of the power generation motor (14) installed in the agricultural construction machine (10) and the required power including the target power of the output motors (16, 130) installed in the agricultural construction machine are derived. If the required power exceeds the available power, the target power shall be limited to the available power or less. A control program that causes a computer to perform a process that includes [specific actions]. [Explanation of Symbols]

[0130] 10...Agricultural and construction machinery, 12...Engine, 14...Generator motor, 16...Travel motor, 18...Power transmission mechanism, 20...Travel wheels, 22...Generator inverter, 24...Travel inverter, 26...Energy storage device, 28...Generator PCU, 30...Travel PCU, 32...Higher-level ECU, 34...Travel control lever, 36...Sensor group, 38...Notification device, 40...Control device, 42...Bus, 44...Operation sensor, 46...Rotation angle sensor, 48...Current sensor, 49...Voltage sensor, 50...Temperature sensor, 56...Rotation angle sensor, 58...Current sensor, 59...Voltage sensor, 60...Temperature sensor, 70...CPU, 72...ROM, 74...RAM, 76...Bus 80...CPU, 82...ROM, 84...RAM, 86...Bus, 90...CPU, 92...ROM, 94...RAM, 96...Bus, 100...Control program, 102...Acquisition unit, 104...Derivation unit, 106...Determination unit, 108...Correction unit, 110...Control unit, 120...Power transmission mechanism, 122...Accelerator pedal, 124...Operation sensor, 130...Work motor, 132...Work machine, 134...Work inverter, 136...Work PCU, 138...Work operation lever, 140...Operation sensor, 146...Rotation angle sensor, 148...Current sensor, 150...Temperature sensor, 160...CPU, 162...ROM, 164...RAM, 166...Bus

Claims

1. Equipped with processors (70, 80, 90, 160), The aforementioned processor, The power output of the power generation motor (14) provided in the agricultural construction machine (10) and the required power including the target power of the output motors (16, 130) provided in the agricultural construction machine are derived. If the required power exceeds the available power, the target power shall be limited to the available power or less. Control device for agricultural construction machinery (40).

2. A power storage device (26) is connected to the busbar (42) that connects the power generation inverter (22) that supplies power to the power generation motor and the output inverters (24, 134) that supply power to the output motor. The required power is the target power plus the voltage control power necessary to make the bus voltage, which is the voltage of the bus, match the target bus voltage. A control device for agricultural construction machinery according to claim 1.

3. The output power is derived based on the value obtained by multiplying the output torque of the power generation motor by the rotational speed of the power generation motor. The target power is derived based on the value obtained by multiplying the target torque of the output motor by the rotational speed of the output motor. A control device for agricultural construction machinery according to claim 1.

4. The processor includes a power generation control processor (80) that controls a power generation inverter that supplies power to the power generation motor, The power generation control processor derives the outputtable torque. The control device for agricultural construction machinery according to claim 3.

5. The aforementioned processor, An output control processor (90, 160) controls the output inverter that supplies power to the output motor, A higher-level processor (70) that outputs control commands to the power generation control processor and the output control processor, It has, The aforementioned higher-end processor, Based on the value obtained by multiplying the output torque by the rotational speed of the power generation motor, the output power is derived. Based on the value obtained by multiplying the target torque by the rotational speed of the output motor, the target power is derived. If the required power exceeds the available power, a control command to limit the target power is output to the output control processor. A control device for agricultural construction machinery according to claim 4.

6. The power generation control processor derives the output power based on the value obtained by multiplying the output torque by the rotational speed of the power generation motor. The output control processor is Based on the value obtained by multiplying the target torque by the rotational speed of the output motor, the target power is derived. If the required power exceeds the available power, control is executed to limit the target power. A control device for agricultural construction machinery according to claim 4.

7. The power generator inverter that supplies power to the power generation motor and the output inverter that supplies power to the output motor are connected by a busbar. The first response time, from the time the processor outputs a control command to limit the voltage of the bus until the voltage of the bus is controlled, is set to be longer than the second response time, from the time the processor outputs the target torque until the torque of the output motor is controlled. The control device according to claim 1.

8. When the processor corrects the target torque of the output motor by limiting the target power to less than or equal to the output power, it outputs a notification signal indicating that the target torque of the output motor has been corrected. The control device according to claim 1.

9. The aforementioned target power is the total target power obtained by adding the target power of the drive motor and the target power of the work motor provided on the agricultural construction machine. The processor limits the target power of the drive motor if the required power exceeds the output power. The control device according to claim 1.

10. The aforementioned target power is the total target power obtained by adding the target power of the drive motor and the target power of the work motor provided on the agricultural construction machine. The processor limits the target power of the work motor if the required power exceeds the output power. The control device according to claim 1.

11. A control device for agricultural construction machinery according to claim 1, The aforementioned power generation motor, The output motor and, Agricultural and construction machinery equipped with these features.

12. Computers The power output of the power generation motor (14) provided in the agricultural construction machine (10) and the required power including the target power of the output motors (16, 130) provided in the agricultural construction machine are derived. If the required power exceeds the available power, the target power shall be limited to the available power or less. Control methods for agricultural and construction machinery.

13. The power output of the power generation motor (14) provided in the agricultural construction machine (10) and the required power including the target power of the output motors (16, 130) provided in the agricultural construction machine are derived. If the required power exceeds the available power, the target power shall be limited to the available power or less. A control program that causes a computer to perform a process that includes [specific actions].

Images