JP3528966B2 - Work machine - Google Patents

Description

Description: BACKGROUND OF THE INVENTION [0001] 1. Field of the Invention [0002] The present invention relates to a driving unit for a working unit.
Equipped with an engine and an electric motor
Work machine. 2. Description of the Related Art In recent years, as a working machine, a driving source of a working unit has been used.
Models that separate the driving source of the
You. For example, the working unit is driven by the engine, and the traveling unit is
Data driven. This method controls the rotation of the electric motor.
Work machine with a relatively small turn.
You. Such a working machine is disclosed in, for example, Japanese Patent Application Laid-Open No. 3-43.
No. 013 “Self-propelled lawn mower” (hereinafter, “conventional technology”)
Is known). [0003] This prior art is disclosed in FIG.
For example, Engine 2 (refer to the one described in the gazette
Was. same as below. ) To drive the lawn mowing cutter 3
The front wheel 1 is driven by the drive motor 20 for traveling using the power supply
0 and the controller 53 drives the drive motor 2 for traveling.
This is to control the rotation of 0. [0004] The above-mentioned prior art is based on running.
The power consumption of the row drive motor 20 is the power of the battery 49
Work for a long time
Has limitations. In addition, a large capacity battery 49 is provided.
There is a need. The large capacity battery 49 is large and heavy.
Therefore, it is not advisable to mount it on a small work machine. [0005] Then, the lawn mowing cutter 3 is
In addition, a generator is also driven, and the battery 49
And the generator and the battery 49 are driven for traveling.
It is conceivable to use the power source for the dynamic motor 20. To the generator
Power consumption of the driving motor 20
Power while charging surplus power to the battery 49.
Can be charged. By doing so, the battery 49
The size of the work equipment can be reduced.
Advantageous for reducing the amount of work and reducing the weight of work equipment
It is. And you can work for a long time
Wear. By the way, a small load such as a lawn mowing cutter 3 is used.
The engine 2 for driving the working part of the load is a small engine
Often employs. However, when working
In some cases, the traveling speed is significantly changed according to the work situation.
May be used. For example, throttle valve opening
When the small engine is running at low speed
However, the traveling drive motor 20 is rapidly accelerated to accelerate
May be in line state. The power generated by the generator
To drive the drive motor 20 for traveling,
If the acceleration of the motor 20 is large, the amount of power generated by the generator
Many are required. If the required power generation increases rapidly,
The load on Jin2 will also increase sharply. The load on the engine 2 suddenly exceeds
As the rotation speed increases, the rotation speed of the engine 2 decreases. Engine times
When the number of turns decreases, the number of rotations of the lawn mowing cutter 3 also decreases.
Thus, work efficiency is reduced. Therefore, an object of the present invention is to provide a work unit with an engine.
Drive the generator and charge the battery with this generator
These generators and batteries are connected to the electric motor power supply.
In the work equipment that
It is possible to accelerate the electric motor at the required acceleration while suppressing
It is to provide the technology that can be done. [0008] In order to achieve the above object,
An auger for snow removal driven by an engine
Work section, a generator driven by the engine,
A battery to be charged by the
And an electric motor powered by a battery.
Traveling section such as traveling wheels driven by
Based on a comparison of the actual traveling speed of the traveling section to the speed
And a control unit for controlling the rotation of the motor.
And the control unit determines the actual traveling speed of the traveling unit according to the magnitude of the actual traveling speed.
Determine the required acceleration and ensure that the engine speed is high.
The correction coefficient is closer to 1 as it is closer and closer to 0 as the rotation speed is smaller.
The correction coefficient corresponding to the engine speed at that time.
Step of finding and multiplying the required acceleration by this correction coefficient
Step and the electric motor
Controlling the rotation.
You. When the engine speed is high,
Near the required acceleration determined according to the actual traveling speed of the
With a small value, the rotation of the electric motor can be accelerated. Ma
When the engine speed is low, the corrected small
The required acceleration can accelerate the rotation of the electric motor.
it can. Therefore, optimal acceleration according to the engine speed
The rotation of the electric motor can be controlled in degrees. As described above, when the engine is running at a low speed,
Even when the motor is suddenly accelerated,
Speed is suppressed to the optimal value according to the engine speed
Therefore, the amount of power generated by the generator is also suppressed. As a result,
The burden on the engine can be reduced. Sudden to the engine
The electric motor can be operated at the required acceleration while controlling the
Can be accelerated. A sudden increase in the burden on the engine
Control to prevent a decrease in engine speed.
As a result, the working efficiency of the working unit can be improved.
it can. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described with reference to the accompanying drawings.
This will be described below. Note that "before", "after",
"Left", "Right", "Top" and "Bottom" are directions viewed from the worker
L indicates the left side, and R indicates the right side. In addition, the drawing
In the direction of. FIG. 1 is a plan view of a snow blower according to the present invention.
The snowplow 10 as an electric vehicle has an engine 11
On the front of the fuselage 11 as a working unit.
Equipped with a gasket 13 and a blower 14
Controllers 15L and 15R, and an operation panel
16 is a vehicle in which the operator is behind the operation panel 16
It is a walking type work machine that walks with you. The main parts are explained in detail below.
I will tell. The operation panel 16 will be described in detail with reference to FIG. A part of the output of the engine 12
Turn the obtained electric power to a battery placed below the operation panel 16.
(See reference numeral 43 in FIG. 4), and will be described later.
Supply to left and right traveling motors. Remaining output of engine 12
The working unit is connected via an electromagnetic clutch 18 and a belt 19
And the rotation of the blower 14 and the auger 13. Oh
The auga 13 has the function of collecting the snow accumulated on the ground in the center.
After receiving the snow, the blower 14 passes through the shooter 21.
To project snow to a desired position around the body 11. 22
Denotes an auger housing, and a cover portion surrounding the auger 13
Material. [0014] The left crawler 15L and the driving wheel 23L play free.
It is wound around the driving wheel 24L.
The wheel 23L is rotated forward and backward by the left traveling motor 25L. Right
The crawler 15R is also wound around the driving wheel 23R and the idle wheel 24R.
In the present invention, the drive wheel 23R moves rightward.
The motor is rotated forward and backward by the row motor 25R. In a conventional snow blower, one engine (gas
Engine or diesel engine)
Rotating system) and traveling system (crawler drive system)
However, in the present invention, a working unit system (auger rotation)
System) and drive the electric motors (travel motors 25L, 25L).
R) to drive the traveling system (crawler drive system)
It is characterized by the following. Fine running speed control, turning control and
The electric motor is suitable for forward and reverse switching control, while
The working system that receives severe load fluctuations is a powerful internal combustion engine
We did so based on the belief that was appropriate. FIG. 2 is a view taken in the direction of arrow 2 in FIG.
Has a main switch 28 on the side in front of the operation box 27,
Engine choke 29, clutch operation button 31, etc.
Equipped on the upper surface of the operation box 27,
Auger housing attitude adjustment lever 33, for those involved in the running system
Direction speed lever 34, engine throttle related to working unit system
A lever 35 is provided, and a grip 36R and a right
And a right turn operation lever 37R.
Lip 36L, left turning operation lever 37L,
A bar 38 is provided. The left and right turning operation levers 37L and 37R are shaken.
キ, but complete braking as described below
No effect. By operating the travel motor 25L,
Used to turn the aircraft by reducing the rotation of 25R
To do this, instead of saying the brake lever,
I decided to call. The main switch 28 has a main key inserted.
Well-known that you can start the engine by turning
Switch. Engine chalk 29 can be mixed by pulling
The concentration of aiki can be increased. Snow throw direction adjustment lever
32 changes the direction of the shooter (21 in FIG. 1)
Lever to operate the auger housing at the same time
The lever 33 is an auger housing (reference numeral 22 in FIG. 1).
This lever is operated when changing the force. Other departments
The operation of the material will be described with reference to FIG. FIG. 3 is a view taken in the direction of arrow 3 in FIG.
By holding the lever 37L, the potentiometer 39
Rotate the angle of the L arm 39a to the position of the imaginary line.
Can be. Potentiometer 39L is connected to arm 39a.
This is a device that emits electrical information according to the rotational position. The traveling preparation lever 38 is a switch means.
A member acting on the spring 42 and a pulling action of the spring 41
By the way, if it becomes the state shown in the figure (free state), the switch means
42 turns on. Run preparation lever 38 with the left hand of the operator
Is turned clockwise, the switch means 42 is turned off.
You. In this way, the travel preparation lever 38 is held
Whether it is or not can be detected by the switch means 42. FIG. 4 is a control system diagram of the snow blower according to the present invention.
Yes, the machine in the control unit 44 built in or attached to the operation panel
The squares indicate equipment and the circles indicate equipment.
Shows the river. And the engine 1 surrounded by the imaginary line frame
2. Electromagnetic clutch 18, blower 14 and auger 13
The business unit system 45 is used, and the other is a traveling system. 43 is the battery
Teri. The flow of the command is indicated by a broken line in the control unit 44.
Although shown for convenience, this is only a reference
No. First, the operation of the working unit system will be described. Maine
Insert the key into switch 28 and turn to start position
By turning the cell motor (not shown)
The engine 12 is started. Engine throttle lever
Reference numeral 35 denotes a throttle wire (not shown) which is a throttle valve 4
8, the engine throttle lever 35
To control the opening of the throttle valve 48.
Can be As a result, the rotation speed of the engine 12 is reduced.
Can be controlled. While holding the travel preparation lever 38,
By operating the switch operation button 31, the operator's will
To connect the electromagnetic clutch 18 and blower 14 and auger 1
3 can be turned. Note that the travel preparation lever 38 is
To operate the clutch or to operate the clutch operation button 31
As a result, the electromagnetic clutch 18 can be disconnected.
Wear. Next, the operation of the traveling system will be described. Of the present invention
The snow blower is a brake equivalent to the parking brake of ordinary vehicles.
Equipped with left and right electromagnetic brakes 51L and 51R as rakes
These electromagnetic brakes 51L and 51R are parked.
The vehicle is in a brake state under the control of the control unit 44.
Then, release the electromagnetic brakes 51L and 51R in the following procedure.
I do. The main switch 28 is in the start position
And the travel preparation lever 38 is held
Are satisfied, the directional speed lever 34 is moved forward or
Is switched to reverse (explained in FIG. 5),
The keys 51L and 51R enter an open (non-brake) state. FIG. 5 shows the directional speed lever employed in the present invention.
FIG. 4 is an operation explanatory view, in which a direction speed lever 34 is
And can be reciprocated as indicated by an arrow.
You can move the vehicle forward by tilting
And in the “forward” region, Lf is slow forward, H
Speed control can also be performed so that f advances at high speed. As well
If you tilt the vehicle backwards from the neutral range,
And in the "reverse" region, Lr is
Speed control is also performed so that low speed reverse and Hr high speed reverse
I can. In this example, as shown at the left end of the figure,
The highest speed is 0V (volt), the highest speed of forward is 5V, neutral range
Potentiometer so that the range is 2.3V to 2.7V
Generates a voltage corresponding to the position. One lever
You can set the front-back direction and high / low speed control with
The directional speed lever 34 was named. Returning to FIG. 4, the position of the directional speed lever 34
The control unit 44, which has obtained information from the potentiometer 49,
Left and right running via right motor driver 52L, 52R
By turning the row motors 25L, 25R,
The rotation speed of 5R is detected by the rotation sensors 53L and 53R.
And set the rotation speed to a predetermined value based on the signal.
Execute feedback control. As a result, the left and right drive
The wheels 23L and 23R rotate in a desired direction at a predetermined speed,
It becomes a running state. The braking during running is performed in the following procedure. In the present invention
Is a regenerative brake circuit for motor drivers 52L and 52R.
54L and 54R. As a general rule, the electric power is transferred from the battery to the electric motor.
By supplying air energy, the electric motor rotates.
You. On the other hand, generators are a means of converting rotation into electrical energy.
It is a step. Therefore, in the present invention, running is performed by electrical switching.
Change the row motors 25L and 25R into generators and generate electricity
Cried. If the generated voltage is higher than the battery voltage,
Energy can be stored in the battery 43. this
Is the operating principle of the regenerative brake. The degree of grip of the left turning operation lever 37L is determined by
It is detected by the tension meter 39L, and according to this detection signal,
The control unit 44 operates the left regenerative brake circuit 54L.
Then, the speed of the left traveling motor 25L is reduced. Right turn operation
The degree of grip of lever 37R is determined by potentiometer 39R.
The control unit 44 detects the right regenerative brake according to the detection signal.
By operating the rake circuit 54R, the right traveling motor 25R
Decrease speed. That is, the left turning operation lever 37L is
By turning it, you can turn left and turn right
By turning the 37R, you can make a right turn. Then, the traveling is stopped by any of the following:
be able to. The directional speed lever 34 is returned to the neutral position.
Release the travel preparation lever 38. Turn off main switch 28
Return to position. After the stop, the main switch 28 is turned off.
If you return, the electromagnetic brakes 51L and 51R will be in the brake state.
It is the same as applying the parking brake. Next, the control unit 44 shown in FIG.
FIG. 6 shows a control flow in the case of a computer.
This will be described with reference to FIG. This control flow is, for example,
It starts when the main switch 28 is turned on. Figure
Here, STxx indicates a step number. No special explanation
As for the step numbers, the process proceeds in numerical order. FIG. 6 is a control flowchart of the control unit according to the present invention.
(1). ST01: Operation direction and operation amount Op of directional speed lever
Read. Is determined by the position of the directional speed lever.
You. ST02: Operation direction of directional speed lever is "forward" side
Check if the answer is YES and proceed to ST03 in forward mode.
The left and right electric motors (traveling motors) are controlled to travel forward, and N
O goes to ST12. ST03: Is the operation amount Op of the direction speed lever Op?
Then, the target speed So of the traveling section moving forward is calculated. Target speed
So is, for example, a target motor speed of the electric motor. ST04: Measure the actual traveling speed Sr of the traveling section. Actual running
The speed Sr is determined by, for example, the rotation sensors 53L and 53R in FIG.
What is necessary is just to measure the actual motor rotation speed. ST05: Upper limit threshold at which actual running speed Sr is set in advance
Check whether it is smaller than the value SH, and if YES, go to ST06.
If it is NO, the actual traveling speed Sr is determined to be excessive and ST
Go to 10. ST06: Target speed So and actual running speed Sr
Compare with Actual traveling speed Sr is smaller than target speed So
If so, it is determined that the speed is insufficient, and the process proceeds to ST07. Real
If the traveling speed Sr is equal to the target speed So, change the state.
It is determined that it is not necessary to proceed to ST08. Actual running speed S
If r is greater than the target speed So, it is determined that the speed is excessive.
Then, the process proceeds to ST09. ST07: In order to correct the insufficient speed, the acceleration mode
In step ST13, acceleration control of the electric motor is performed, and the process proceeds to ST13. ST08: Since there is no need to change the state,
The process proceeds to ST13 while maintaining the actual rotation speed. ST09: Electric motor in deceleration mode to correct overspeed
Then, the process proceeds to ST13. ST10: Actual traveling speed Sr and upper limit threshold
By calculating the speed difference ΔS from SH, the actual traveling speed Sr
Ask for an excess. ST11: Decelerate the electric motor by the speed difference ΔS
The process returns to the limit threshold SH and proceeds to ST13. ST12: Control the electric motor for reverse running in the predetermined reverse mode.
Control. It should be noted that the control in ST12 is based on the S
Substantially the same control stroke as the forward running control from T03 to ST11.
This is a step, in which reverse control is executed instead of forward control.
It is. ST13: Determine whether to stop the control shown in FIG.
If YES, control is stopped; if NO, ST0
Return to 1. For example, if the main switch 28 is turned off
Stop when FIG. 7 is a control flowchart of the control unit according to the present invention.
(Step 2) in step ST07 of FIG.
Subroutine for specifically executing the acceleration mode control shown in
Show the routine. ST101: Actual running speed Sr is set in advance
Speed threshold (high speed threshold SH, medium speed threshold S
M, low speed threshold SL, and low speed threshold SN).
You. For each speed threshold, see “SH>SM>SL>
SN ”. For example, the high speed threshold SH = 4.
0 km / h, medium speed threshold value SM = 3.0 km / h, low speed
Threshold SL = 1.5 km / h, Slow threshold SN =
It is 0.5 km / h. When the actual traveling speed Sr is lower than the high speed threshold SH,
If it exceeds the medium speed threshold value SM, the actual traveling speed Sr becomes
The process proceeds to ST102 assuming that it is in the high speed range. Actual running speed Sr
Exceeds the medium speed threshold value SM and exceeds the low speed threshold value SL
If the actual traveling speed Sr is in the middle speed range,
Proceed to 3. When the actual traveling speed Sr is lower than the low speed threshold SL,
If it exceeds the speed threshold value SN, the actual traveling speed Sr is low.
The process proceeds to ST104 assuming that the vehicle is in the speed range. Actual running speed Sr
If the speed is equal to or lower than the slow speed threshold value SNL, the actual traveling speed Sr is in the slow speed range.
And proceeds to ST105. ST102: When the electric motor is accelerated
Required acceleration α0 (required acceleration α0)
The speed is α1. The first reference acceleration α1 is, for example, 0.8 m
/ S ^Two It is. ST103: Set required acceleration α0 as second reference acceleration α2
You. The second reference acceleration α2 is larger than the first reference acceleration α1.
Threshold value, for example, 0.9 m / s ^Two It is. ST104: Set required acceleration α0 as third reference acceleration α3
You. The third reference acceleration α3 is larger than the second reference acceleration α2
Threshold value, for example, 1.0 m / s ^Two It is. ST105: Set required acceleration α0 as fourth reference acceleration α4
You. The fourth reference acceleration α4 is larger than the third reference acceleration α3.
Threshold value, for example, 1.4 m / s ^Two It is. Theories above
As is clear from the above description, the above ST101 to ST105
Is the acceleration required according to the magnitude of the actual traveling speed Sr of the traveling section.
This is a step of determining the degree α0. ST106: Measure engine speed No
I do. What is necessary is just to measure with a rotation sensor not shown. ST107: Correction coefficient D based on engine speed No
e. Specifically, it is determined using the map shown in FIG.
You. FIG. 8 is a correction coefficient map according to the present invention.
The horizontal axis is the engine speed No (rpm) and the vertical axis is
The correction coefficient De corresponds to the engine speed No.
This is to obtain the correction coefficient De. According to this map,
The correction coefficient De is set to 1 as the engine speed No increases.
And the smaller the number of revolutions, the closer to 0
I understand. More specifically, the correction coefficient De is determined by
When the rotation speed No is less than the normal lower limit of 2200 rpm
Is 0.5, and the rotational speed No is the normal upper limit of 2800r.
pm, it is 1.0, and the number of revolutions is common
When the range is 2200 to 2800 rpm, the rotation speed No
Is a value represented by a linear line proportional to. On this map
Therefore, the supplement corresponding to the engine speed No at that time is
The positive coefficient De can be obtained. Returning to FIG. 7, the description will be continued. The above explanation
As is clear from ST107, the above-mentioned ST107 determines the rotation of the engine.
The larger the number No, the closer to 1 and the smaller the number of rotations, 0.
From the correction coefficient De close to the engine speed N at that time
This is a step of obtaining a correction coefficient De corresponding to o. ST108: Correction coefficient De is set to required acceleration α
0 and make a correction to obtain the new required acceleration α0.
You. Thus, ST108 sets the correction coefficient De to the required acceleration.
This is a step of multiplying the degree α0. ST109: Starting the electric motor at the corrected required acceleration α0
The rotation is accelerated, and the process returns to ST07 in FIG.
Thus, in ST109, the corrected required acceleration α0
This is a step of controlling the rotation of the electric motor. FIG. 9 shows a corrected required acceleration map according to the present invention.
And executed in ST01 to ST108 in FIG.
Engine speed No (rpm) and actual running speed Sr
(Km / h) and required acceleration α0 (m / s) ^Two A relationship with
These are shown together. According to this map,
When the rotation speed No of the gin is large, the actual traveling speed of the traveling section
A value close to the required acceleration α0 determined according to the magnitude of the degree Sr
It can be seen that the rotation of the electric motor can be accelerated. Also,
When the engine speed No is small, the corrected small
Acceleration of the electric motor with the required acceleration α0.
It turns out that it can be done. Therefore, the engine speed No
Rotation of the electric motor at the optimum required acceleration α0 according to
Can accelerate. To summarize the present invention, the airframe 11 shown in FIG.
Electric motors 25L, 2 as running motors on the left and right of
5R, these electric motors 25L, 25R
For driving the driving wheels 23L and 23R (running parts) of the vehicle
In the snow blower 10 as a machine, the snow blower 10
Drive wheels 23 with respect to target traveling speeds of driving wheels 23L and 23R
L, 23R based on the comparison of the actual traveling speeds of the electric motor 2
A control unit for controlling the rotation of 5L and 25R (reference numeral 4 in FIG. 4)
4) is provided. The control unit 44 controls the driving wheels 23L, 23R
To determine the required acceleration according to the actual traveling speed of the vehicle
(ST101 to ST105 in FIG. 7) and the engine 1
2 is closer to 1 as the rotation speed is higher and 0 as the rotation speed is lower.
From the correction coefficient close to
Step of obtaining a corresponding correction coefficient (ST10 in FIG. 7)
7) and a step of multiplying the required acceleration by the correction coefficient
(ST108 in FIG. 7) and the corrected required acceleration
Step of controlling rotation of electric motors 25L and 25R
(109 in FIG. 7). While the engine 12 is rotating at low speed, the electric motor 2
Even when 5L and 25R are suddenly accelerated, the electric motor
The acceleration of the motors 25L and 25R depends on the rotation speed of the engine 12.
The generator 17 (AC power generation)
Power generation by the machine) is also suppressed. As a result, engine 1
2 can be reduced. To the engine 12
Electric motors 25L, 25R while suppressing a heavy load increase
Can be accelerated at the required acceleration. To engine 12
By suppressing the sudden increase in the load on the engine 12
The number of turns can be prevented from decreasing, and as a result,
(Auger 13 and blower 14) to improve work efficiency
Can be. FIG. 10 is a control flow of the control unit according to the present invention.
6 is a chart (No. 3), which corresponds to step ST0 in FIG.
9 to specifically execute the deceleration mode control shown in FIG.
Show the routine. The subroutine of FIG.
The acceleration control of the electric motor is performed in the acceleration mode shown in FIG.
The contents are basically the same as the subroutine.
This is simply replaced with the deceleration β0. Outlined below
Will be described. ST201: The actual traveling speed Sr is set in advance.
High threshold SH, medium threshold SM, low threshold
Sr ≧ Sr> SM compared with the value SL and the slow speed threshold SN
If SM ≧ Sr> SL, proceed to ST202 and ST20.
3 and if SL ≧ Sr> SN, proceed to ST204,
If N ≧ Sr, the process proceeds to ST205. ST202: Reduction required for deceleration control of the electric motor
The speed β0 (required deceleration β0) is defined as a first reference deceleration β1.
You. ST203: Set required deceleration β0 as second reference deceleration β2
You. β1> β2. ST204: Set required deceleration β0 as third reference deceleration β3
You. β2> β3. ST205: Set required deceleration β0 as fourth reference deceleration β4
You. β3> β4. ST206: Measure engine speed No
I do. ST207: Revolutions of engine in map shown in FIG.
A correction coefficient De is obtained based on No. ST1 in FIG.
Same as 07. ST208: Multiply the correction coefficient De by the required deceleration β0 to compensate.
This is set as the new required deceleration β0. ST209: Starting the electric motor at the corrected required deceleration β0
The rotation is decelerated, and the process returns to ST09 in FIG. As is clear from the above description, the above ST
201 to ST205 are the magnitudes of the actual traveling speed Sr of the traveling section.
This is a step of determining the required deceleration β0 according to the degree. S
T208 is a step for multiplying the required deceleration β0 by the correction coefficient De.
This is Tep. ST209 determines the corrected required deceleration β0
Is a step of controlling the rotation of the electric motor. Here, the electric motor is reduced at the required deceleration β0.
The speed control will be organized and described. In general,
When the engine speed is low, the deceleration of the electric motor
Even if it is excessive, this will directly
Does not increase. However, if the deceleration is excessive,
Voltage generated by the regenerative braking action of the motor
(Generation voltage) is large. Excessive electromotive force is applied to the battery
Is not desirable for batteries and electrical components.
Therefore, some countermeasures are required. Furthermore, regeneration
If the electromotive voltage generated by the rake action is excessive,
Generator rotor tries to rotate faster than the current
It is possible to do. In that case, the generator
The output shaft of the engine.
It is not preferable. In contrast, the present invention requires the correction coefficient De.
By multiplying the required deceleration β0, the corrected required deceleration β
At 0, the electric motor is decelerated. Necessary deceleration
The degree β0 is the same as the required acceleration α0 shown in FIG.
Thus, as the actual traveling speed Sr increases, it decreases
The engine speed so that it decreases as the engine speed decreases.
Can be specified. If the required deceleration β0 is small,
The electromotive voltage generated by the regenerative braking action of the dynamic motor
Become smaller. In this way, the battery and power
To reduce the burden on parts and
Electric motor with optimum required deceleration β0
Can be decelerated. The working machine to which the present invention is applied is a snow blower 1
The type is not limited to 0, and the type such as a lawnmower is arbitrary.
The working part when a lawnmower is used is driven by the engine
It is a lawn cutter. Also, in the above-described embodiment of the present invention,
And the control unit 44 controls the running of the running unit with respect to the target running speed.
The rotation of the electric motor is
It has a function to control
Steps ST101 to ST105, depending on the engine speed
Step ST107 for finding a corresponding correction coefficient, correction coefficient
Is multiplied by the required acceleration in step ST108 and correction
To control the rotation of the electric motor with the required acceleration
ST109, each having a function corresponding to
Just fine. According to the present invention, the following effects are exhibited by the above configuration.
I do. Claim 1 is based on the magnitude of the actual traveling speed of the traveling section.
To determine the required acceleration, and
Multiplying the required acceleration by the required correction coefficient
The electric motor rotates at the corrected required acceleration.
Decided to control. The correction factor is the engine speed
The value is closer to 1 as the rotation speed is larger and closer to 0 as the rotation speed is lower.
is there. By doing so, the engine speed can be increased.
Is determined according to the magnitude of the actual traveling speed of the traveling section.
Acceleration of the electric motor at a value close to the required acceleration
be able to. Also, when the engine speed is low
Is the rotation of the electric motor at the corrected small required acceleration.
Can be accelerated. Therefore, the engine speed
Control the rotation of the electric motor with the optimal acceleration according to
Can be. The electric motor is suddenly turned on while the engine is running at a low speed.
The acceleration of the electric motor is
To the optimal value according to the engine speed.
The amount of power generated by the power generation is also suppressed. As a result, the burden on the engine
Can be reduced. Rapid increase in engine load
Acceleration of the electric motor at the required acceleration while suppressing
Can be. Suppress sudden increase in load on the engine
The engine speed can be prevented from lowering.
As a result, the working efficiency of the working unit can be improved. Only
By suppressing a sudden increase in the load on the engine.
Improve exhaust performance to smoothly exhaust exhaust from the engine,
Reduction of noise due to knocking due to normal combustion and improvement of fuel efficiency
You can aim up.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view of a snow blower according to the present invention. FIG. 2 is a view as viewed in the direction of arrow 2 in FIG. 1 FIG. 3 is a view as viewed in the direction of arrow 3 in FIG. FIG. 5 is an explanatory diagram of the operation of the directional speed lever employed in the present invention. FIG. 6 is a control flowchart of the control unit according to the present invention (No. 1). FIG. 7 is a control flowchart of the control unit according to the present invention. 8 is a correction coefficient map according to the present invention. FIG. 9 is a corrected acceleration map according to the present invention. FIG. 10 is a control flowchart (3) of a control unit according to the present invention. Explanation: 10: work machine (snow-removing machine), 11: body, 12: engine, 13, 14 ... working unit (snow-removing auger and blower), 17: generator, 23L, 23R: running unit (running wheel), 25L , 25R ... Electric motor (traveling motor), 4
3 ... Battery, 44 ... Control unit, De ... Correction coefficient, No ...
Engine speed, So: target traveling speed of traveling section, Sr
... actual traveling speed of the traveling section, ST101 to ST105 ... step for determining required acceleration, ST107 ... step for obtaining a correction coefficient corresponding to the engine speed, ST108 ...
Step of multiplying the required acceleration by the correction coefficient, ST109 ...
Controlling the rotation of the electric motor with the corrected required acceleration.

────────────────────────────────────────────────── (5) References JP-A-2001-292501 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B60L 11/12 B60K 6/04 F02D 29/00

Claims (1)

(57) [Claims 1] A working unit such as an auger for snow removal driven by an engine, a generator driven by the engine, a battery charged by the generator, the generator and the battery And a control unit for controlling the rotation of the electric motor based on a comparison between a traveling unit such as a traveling wheel driven by the electric motor and a target traveling speed of the traveling unit and an actual traveling speed of the traveling unit. A control unit, wherein the control unit determines a required acceleration in accordance with the magnitude of the actual traveling speed of the traveling unit; and Obtaining a correction coefficient corresponding to the engine speed at that time from a correction coefficient close to zero; multiplying the correction coefficient by the required acceleration; Controlling the rotation of the electric motor with the corrected required acceleration.