To provide a mining machinery that can highly accurately perform travel control by calculating drive torque, with a road surface gradient and wheel settlement taken into consideration.SOLUTION: A mining machinery comprises: a road surface gradient calculation unit that calculates a road surface gradient of a traveling route, based on a position and a speed measured by a GNSS receiver, a vehicle body posture measured by a vehicle body posture sensor, and an acceleration measured by an acceleration sensor; a drive power coefficient calculation unit that calculates a drive power coefficient, based on a speed measured by the GNSS receiver, an acceleration measured by the acceleration sensor, a wheel speed measured by a wheel speed sensor, a steering direction measured by a steering angle sensor, a vehicle weight measured by a load sensor, and drive torque measured by a drive torque sensor; and a target torque calculation unit that calculates target torque, based on the road surface gradient calculated by the road surface gradient calculation unit and the drive power coefficient calculated by the drive power coefficient calculation unit.SELECTED DRAWING: Figure 2

    【課題】路面勾配及び車輪沈下を考慮して駆動トルクを算出し、走行制御を高精度に行うことができる鉱山機械を提供する。【解決手段】鉱山機械は、GNSS受信機により計測された位置及び速度、車体姿勢センサにより計測された車体姿勢、及び加速度センサにより計測された加速度に基づいて、走行する経路の路面勾配を算出する路面勾配算出部と、GNSS受信機により計測された速度、加速度センサにより計測された加速度、車輪速度センサにより計測された車輪速度、操舵角センサにより計測された操舵方向、荷重センサにより計測された車重、及び駆動トルクセンサにより計測された駆動トルクに基づいて、駆動力係数を算出する駆動力係数算出部と、路面勾配算出部により算出された路面勾配及び駆動力係数算出部により算出された駆動力係数に基づいて、目標トルクを算出する目標トルク算出部と、を備える。【選択図】図2


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    Title :

    MINING MACHINERY


    Additional title:

    鉱山機械


    Contributors:
    BANDO MIKIO (author) / UOZU SHINICHI (author)

    Publication date :

    2022-04-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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