A forklift equipped with a variable displacement traveling hydraulic pump driven by an engine, a hydraulic motor that forms a closed circuit with the traveling hydraulic pump therebetween and is driven by hydraulic oil discharged from the traveling hydraulic pump, and driving wheels driven by the hy
A forklift equipped with a variable displacement traveling hydraulic pump driven by an engine, a hydraulic motor that forms a closed circuit with the traveling hydraulic pump therebetween and is driven by hydraulic oil discharged from the traveling hydraulic pump, and driving wheels driven by the hydraulic motor, when an accelerator opening detected by an accelerator opening sensor is reduced, the accelerator opening detected by the accelerator opening sensor and a target maximum absorption torque of the traveling hydraulic pump are given to a table on which a setting value calculated in advance depending on the accelerator opening, and the target maximum absorption torque of the traveling hydraulic pump or a vehicle speed of the forklift is described to calculate the setting value, and the accelerator opening detected by the accelerator opening sensor is corrected using the obtained setting value to calculate a corrected accelerator opening.
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1. A forklift equipped with a variable displacement traveling hydraulic pump driven by an engine, a hydraulic motor that forms a closed circuit with the traveling hydraulic pump therebetween and is driven by hydraulic oil discharged from the traveling hydraulic pump, and driving wheels driven by the
1. A forklift equipped with a variable displacement traveling hydraulic pump driven by an engine, a hydraulic motor that forms a closed circuit with the traveling hydraulic pump therebetween and is driven by hydraulic oil discharged from the traveling hydraulic pump, and driving wheels driven by the hydraulic motor, the forklift comprising: an accelerator operation unit that performs operation for increasing or decreasing an amount of fuel supplied to the engine;an accelerator opening sensor that detects an accelerator opening which is an operation amount of the accelerator operation unit; anda control device that has a modulation control unit configured to calculate a value delayed depending on a setting value of a cut-off frequency or a time constant of the accelerator opening as a corrected accelerator opening, and a target maximum absorption torque setting unit configured to calculate a target maximum absorption torque of the traveling hydraulic pump or a target swash plate tilting angle of a swash plate provided in the traveling hydraulic pump depending on the corrected accelerator opening, and controls the traveling hydraulic pump,wherein the modulation control unit calculates, with reference to a table on which the setting value of the cut-off frequency or the time constant according to at least the corrected accelerator opening is described, the setting value by a corrected accelerator opening obtained at a previous control cycle, and calculates a corrected accelerator opening of a current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using the obtained setting value, andthe target maximum absorption torque setting unit calculates the target maximum absorption torque or the target swash plate tilting angle depending on the corrected accelerator opening of the current control cycle. 2. The forklift equipped with a variable displacement traveling hydraulic pump driven by an engine according to claim 1, wherein the modulation control unit calculates, with reference to a table on which the setting value of the cut-off frequency or the time constant according to the corrected accelerator opening, and the target maximum absorption torque of the traveling hydraulic pump, the target swash plate tilting angle of the swash plate, or a vehicle speed of the forklift is described, the setting value by a corrected accelerator opening obtained at a previous control cycle and the target maximum absorption torque of the traveling hydraulic pump or the target swash plate tilting angle, and calculates a corrected accelerator opening of a current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using the obtained setting value. 3. The forklift equipped with a variable displacement traveling hydraulic pump driven by an engine according to claim 1, wherein when the accelerator opening detected by the accelerator opening sensor decreases, the modulation control unit calculates, with reference to a table on which the setting value of the cut-off frequency or the time constant is described, the setting value being set in advance depending on the corrected accelerator opening, and the target maximum absorption torque of the traveling hydraulic pump, the target swash plate tilting angle of the swash plate provided in the traveling hydraulic pump or a vehicle speed of the forklift, the setting value by a corrected accelerator opening obtained at a previous control cycle, and a target maximum absorption torque of the traveling hydraulic pump or the target swash plate tilting angle, and the modulation control unit calculates a corrected accelerator opening of a current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using the obtained setting value. 4. The forklift according to claim 3, wherein the setting value of the cut-off frequency or the time constant is determined so that as the target maximum absorption torque, the target swash plate tilting angle or the vehicle speed decreases, responsiveness of the traveling hydraulic pump rises. 5. The forklift according to claim 3, wherein the setting value of the cut-off frequency or the time constant is determined so that as the target maximum absorption torque, the target swash plate tilting angle or the vehicle speed decreases, responsiveness of the traveling hydraulic pump rises, and as the accelerator opening decreases, the responsiveness falls. 6. The forklift according to claim 3, wherein the modulation control unit maintains the target maximum absorption torque or the target swash plate tilting angle used when referring to the table at a value of a timing at which the accelerator opening sensor detects a decrease in the accelerator opening, andwhen the accelerator opening sensor detects an increase in the accelerator opening, the modulation control unit releases the maintenance. 7. The forklift equipped with a variable displacement traveling hydraulic pump driven by an engine according to claim 1, wherein the modulation control unit calculates, with reference to a first table on which a first setting value of the cut-off frequency or the time constant according to the corrected accelerator opening, and the target maximum absorption torque of the traveling hydraulic pump, the target swash plate tilting angle of the swash plate or a vehicle speed of the forklift is described, a first setting value by a corrected accelerator opening obtained at a previous control cycle and the target maximum absorption torque or the target swash plate tilting angle of the traveling hydraulic pump, and calculates a corrected accelerator opening of a current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using the obtained first setting value,the modulation control unit calculates, with reference to a second table on which a second setting value of the cut-off frequency or the time constant according to the accelerator opening is described, a second setting value by the accelerator opening detected by the accelerator opening sensor and the target maximum absorption torque of the traveling hydraulic pump or the target swash plate tilting angle, and calculates a corrected accelerator opening of a current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using the obtained second setting value,the modulation control unit selects one of the calculations of the first and second setting values to calculate the corrected accelerator opening of the current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using corresponding one of the obtained first and second setting values based on an operation amount of the accelerator operation unit. 8. The forklift equipped with a variable displacement traveling hydraulic pump driven by an engine according to claim 1, wherein when the accelerator opening detected by the accelerator opening sensor increases, the modulation control unit calculates, with reference to a first table on which a first setting value of the cut-off frequency or the time constant according to the accelerator opening, the target maximum absorption torque of the traveling hydraulic pump, the target swash plate tilting angle of the swash plate or a vehicle speed of the forklift is described, the first setting value by a corrected accelerator opening obtained at a previous control cycle and the target maximum absorption torque of the traveling hydraulic pump or the target swash plate tilting angle and calculates a corrected accelerator opening of a current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using the obtained first setting value,when the accelerator opening detected by the accelerator opening sensor decreases, the modulation control unit calculates, with reference to a second table on which a second setting value of the cut-off frequency or the time constant according to the accelerator opening is described, the second setting value by the accelerator opening detected by the accelerator opening sensor and the target maximum absorption torque of the traveling hydraulic pump or the target swash plate tilting angle and calculates a corrected accelerator opening of a current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using the obtained second setting value. 9. The forklift according to claim 8, wherein the first setting value of the cut-off frequency or the time constant is determined so that as the target maximum absorption torque, the target swash plate tilting angle or the vehicle speed decreases, responsiveness of the traveling hydraulic pump rises, andwhen the second setting value is determined so that when the accelerator opening increases, as the accelerator opening increases, the responsiveness falls and then rises again. 10. The forklift according to claim 8, wherein the first setting value of the cut-off frequency or the time constant is determined so that as the target maximum absorption torque, the target swash plate tilting angle or the vehicle speed decreases, responsiveness of the traveling hydraulic pump rises, and as the accelerator opening decreases, the responsiveness falls, andthe second setting value is determined so that when the accelerator opening increases, as the accelerator opening increases, the responsiveness falls and then rises again. 11. A method of controlling a forklift equipped with a variable displacement traveling hydraulic pump driven by an engine, a hydraulic motor that forms a closed circuit with the traveling hydraulic pump therebetween and is driven by hydraulic oil discharged from the traveling hydraulic pump, driving wheels driven by the hydraulic motor, an accelerator operation unit that performs operation for increasing or decreasing an amount of fuel supplied to the engine, and an accelerator opening sensor configured to detect an accelerator opening that is an operation amount of the accelerator operation unit, the method comprising the steps of: calculating a value delayed depending on a setting value of a cut-off frequency or a time constant of the accelerator opening as a corrected accelerator opening and calculating a target maximum absorption torque of the traveling hydraulic pump or a target swash plate tilting angle of a swash plate provided in the traveling hydraulic pump depending on the corrected accelerator opening to control the traveling hydraulic pump,calculating the setting value by a corrected accelerator opening obtained at a previous control cycle, with reference to a table on which the setting value of the cut-off frequency or the time constant according to at least the corrected accelerator opening is described,calculating a corrected accelerator opening of a current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using the obtained setting value, andcontrolling the traveling hydraulic pump by calculating the target maximum absorption torque or the target swash plate tilting angle depending on the corrected accelerator opening of the current control cycle. 12. The method of controlling a forklift equipped with a variable displacement traveling hydraulic pump driven by an engine according to claim 11, the method further comprising: calculating, with reference to a table on which the setting value of the cut-off frequency or the time constant according to the corrected accelerator opening, the target maximum absorption torque of the traveling hydraulic pump, the target swash plate tilting angle of the swash plate or a vehicle speed of the forklift is described, the setting value by a corrected accelerator opening obtained at a previous control cycle of the traveling hydraulic pump and the target maximum absorption torque or the target swash plate tilting angle,calculating a corrected accelerator opening of a current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using the obtained setting value, andcalculating the target maximum absorption torque or the target swash plate tilting angle depending on the corrected accelerator opening of the current control cycle to control the traveling hydraulic pump. 13. The method of controlling a forklift equipped with a variable displacement traveling hydraulic pump driven by an engine according to claim 11, the method further comprising: in a case where the accelerator opening detected by the accelerator opening sensor decreases, calculating, with reference to a table on which the setting value of the cut-off frequency or the time constant is described, the setting value by a corrected accelerator opening obtained at a previous control cycle and the target maximum absorption torque of the traveling hydraulic pump or the target swash plate tilting angle, the setting value being set in advance depending on the accelerator opening, the target maximum absorption torque of the traveling hydraulic pump, the target swash plate tilting angle of a swash plate provided in the traveling hydraulic pump or a vehicle speed of the forklift,calculating a corrected accelerator opening of a current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using the obtained setting value, andcalculating the target maximum absorption torque or the target swash plate tilting angle depending on the corrected accelerator opening of the current control cycle to control the traveling hydraulic pump. 14. The method of controlling a forklift according to claim 13, wherein the setting value of the cut-off frequency or the time constant is determined so that as the target maximum absorption torque, the target swash plate tilting angle or the vehicle speed decreases, responsiveness of the traveling hydraulic pump rises. 15. The method of controlling a forklift according to claim 13, wherein the setting value of the cut-off frequency or the time constant is determined so that as the target maximum absorption torque, the target swash plate tilting angle or the vehicle speed decreases, responsiveness of the traveling hydraulic pump rises, and as the accelerator opening decreases, the responsiveness falls. 16. The method of controlling a forklift according to claim 13, wherein the modulation control unit maintains the target maximum absorption torque or the target swash plate tilting angle used when referring to the table at a value of a timing at which the accelerator opening sensor detects a decrease in the accelerator opening, andwhen the accelerator opening sensor detects an increase in the accelerator opening, the modulation control unit releases the maintenance. 17. The method of controlling a forklift equipped with a variable displacement traveling hydraulic pump driven by an engine according to claim 11, the method further comprising: calculating, with reference to a first table on which a first setting value of the cut-off frequency or the time constant according to the corrected accelerator opening, and the target maximum absorption torque of the traveling hydraulic pump, the target swash plate tilting angle of the swash plate or the vehicle speed of the forklift is described, the first setting value by a corrected accelerator opening obtained at a previous control cycle and the target maximum absorption torque of the traveling hydraulic pump or the target swash plate tilting angle, and calculating a corrected accelerator opening of a current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using the obtained first setting value,calculating, with reference to a second table on which a second setting value of the cut-off frequency or the time constant according to the accelerator opening is described, the second setting value by the accelerator opening detected by the accelerator opening sensor and the target maximum absorption torque of the traveling hydraulic pump or the target swash plate tilting angle, and calculating a corrected accelerator opening of a current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using the obtained second setting value,selecting one of the calculations of the first and second setting values to calculate of the current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using corresponding one of the obtained first and second setting values based on an operation amount of the accelerator operation unit, andcalculating the target maximum absorption torque or the target swash plate tilting angle depending on the corrected accelerator opening of the current control cycle to control the traveling hydraulic pump. 18. The method of controlling a forklift equipped with a variable displacement traveling hydraulic pump driven by an engine according to claim 11, the method further comprising: in a case where the accelerator opening detected by the accelerator opening sensor decreases, calculating, with reference to a first table on which a first setting value of the cut-off frequency or the time constant according to the corrected accelerator opening, the target maximum absorption torque of the traveling hydraulic pump, the target swash plate tilting angle of the swash plate or a vehicle speed of the forklift is described, the first setting value by a corrected accelerator opening obtained at a previous control cycle and the target maximum absorption torque of the traveling hydraulic pump or the target swash plate tilting angle and calculating a corrected accelerator opening of a current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using the obtained first setting value,in a case where the accelerator opening detected by the accelerator opening sensor increases, calculating, with reference a second table on which a second setting value of the cut-off frequency and the time constant according to the accelerator opening is described, the second setting value by the accelerator opening detected by the accelerator opening sensor and the target maximum absorption torque of the traveling hydraulic pump or the target swash plate tilting angle, and calculating a corrected accelerator opening of a current control cycle by correcting the accelerator opening detected by the accelerator opening sensor using the obtained second setting value, andcalculating the target maximum absorption torque or the target swash plate tilting angle depending on the corrected accelerator opening of the current control cycle to control the traveling hydraulic pump. 19. The method of controlling a forklift according to claim 18, wherein the first setting value of the cut-off frequency or the time constant is determined so that as the target maximum absorption torque, the target swash plate tilting angle or the vehicle speed decreases, responsiveness of the traveling hydraulic pump rises, andthe second setting value is determined so that when the accelerator opening increases, as the accelerator opening increases, the responsiveness falls and then rises again. 20. The method of controlling a forklift according to claim 18, wherein the first setting value of the cut-off frequency or the time constant is determined so that as the target maximum absorption torque, the target swash plate tilting angle or the vehicle speed decreases, responsiveness of the traveling hydraulic pump rises, and as the accelerator opening decreases, the responsiveness falls, andthe second setting value is determined so that when the accelerator opening increases, as the accelerator opening increases, the responsiveness falls and then rises again.
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