To provide a deceleration-controlling device which reduces a sense of incompatibility of an operator by means of speed-reduction operation during slope-climbing.SOLUTION: A deceleration-controlling device 3 which is used for industrial vehicle includes a storage part 30 which stores a prescribed torque threshold, a speed calculation part 31, a torque calculation part 32, a difference calculation part 33 and a deceleration modification part 34. When a deceleration is performed, a speed calculation part 31 calculates a target speed, a torque calculation part 32 calculates a torque instruction value. When the calculated torque instruction value exceeds the torque threshold value, a difference calculation part 33 calculates a difference between the torque instruction value and the torque threshold and the deceleration modification part 34 modifies deceleration such that the calculated torque instruction value gets to the torque threshold or less, based on the calculated difference. The torque calculation part 32 modifies the torque instruction value and a motor 18 is actuated based on the modified torque instruction value and, thereby, decelerates a vehicle during a slope-climbing at deceleration of the deceleration attributed to gravity or more.SELECTED DRAWING: Figure 2
【課題】登坂中の減速操作によってオペレーターがもつ違和感を軽減する。【解決手段】減速制御装置3は、産業車両用であって、所定のトルク閾値を記憶している記憶部30と、速度算出部31と、トルク算出部32と、差分算出部33と、減速度修正部34とを備えている。減速操作がなされると、速度算出部31が目標速度を算出し、トルク算出部32がトルク指令値を算出する。算出されたトルク指令値がトルク閾値を上回っていると、差分算出部33がトルク指令値とトルク閾値との差分を算出し、減速度修正部34が算出された差分に基づいて、算出されるトルク指令値がトルク閾値以下になるように減速度を修正する。トルク算出部32は、トルク指令値を修正し、モータ18は、修正されたトルク指令値に基づいて作動し、それによって登坂中の車両を重力による減速度以上の減速度で減速させる。【選択図】図2
DECELERATION-CONTROLLING DEVICE, INDUSTRIAL VEHICLE INCLUDING SUCH DEVICE, DECELERATION-CONTROLLING METHOD AND DECELERATION-CONTROLLING PROGRAM
減速制御装置、当該装置を備えた産業車両、減速制御方法および減速制御プログラム
2023-09-29
Patent
Electronic Resource
Japanese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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