JP2011163106A5 - - Google Patents
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- JP2011163106A5 JP2011163106A5 JP2010047100A JP2010047100A JP2011163106A5 JP 2011163106 A5 JP2011163106 A5 JP 2011163106A5 JP 2010047100 A JP2010047100 A JP 2010047100A JP 2010047100 A JP2010047100 A JP 2010047100A JP 2011163106 A5 JP2011163106 A5 JP 2011163106A5
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- electric motor
- inertia
- inertial body
- angular acceleration
- rotation
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前記の課題を解決するために、本発明は、駆動される慣性体の慣性より小さい慣性を有する駆動系を介して慣性体を駆動する電動機の回転を、操作量を可変とする操作端の操作によって制御し、前記操作端の操作量を検出する操作検出手段と、前記電動機の回転を検出する回転検出手段と、前記操作検出手段と前記回転検出手段の各検出値に基づいて前記電動機を制御する電動機制御手段とを備えた電動機の制御装置において、前記慣性体は作業状態あるいは載荷状態で慣性の大きさが変化する作業手段あるいは載荷手段を含み、前記電動機の加速あるいは減速を行う際に、前記電動機の角加速度の最大値を、前記電動機の出力トルクによって前記慣性体の慣性の最小値を加速または減速する角加速度以下の所定の値に制限することを特徴とする構成を採用した。In order to solve the above-mentioned problems, the present invention provides an operation of operating the operating end to change the operation amount of the rotation of the electric motor that drives the inertial body through a drive system having an inertia smaller than the inertia of the driven inertial body. And an operation detecting means for detecting the operation amount of the operating end, a rotation detecting means for detecting the rotation of the electric motor, and controlling the electric motor based on detection values of the operation detecting means and the rotation detecting means. In the motor control device comprising the motor control means, the inertial body includes a work means or a loading means whose magnitude of inertia changes in a working state or a loaded state, and when accelerating or decelerating the motor, and characterized in that to limit the maximum value of the angular acceleration of the motor, to a predetermined value minimum value follows the angular acceleration to accelerate or decelerate the inertia of the inertial body by an output torque of the electric motor It adopted the configuration that.
また、前記の課題を解決するために、本発明は、前記電動機の角加速度の最大値を、前記電動機の最大出力トルクによって前記慣性体の慣性の最小値を加速または減速する角加速度以下の所定の値に制限することを特徴とする構成を採用した。In order to solve the above-described problem, the present invention provides a predetermined value equal to or less than an angular acceleration at which the maximum value of the angular acceleration of the electric motor is accelerated or decelerated by the maximum output torque of the electric motor. The structure characterized by limiting to the value of is adopted.
本発明の電動機の制御装置は、駆動される慣性体の慣性より小さい慣性を有する駆動系を介して慣性体を駆動する電動機の回転を、操作量を可変とする操作端の操作によって制御し、前記操作端の操作量を検出する操作検出手段と、前記電動機の回転を検出する回転検出手段と、前記操作検出手段と前記回転検出手段の各検出値に基づいて前記電動機を制御する電動機制御手段とを備えた電動機の制御装置において、前記慣性体は作業状態あるいは載荷状態で慣性の大きさが変化する作業手段あるいは載荷手段を含み、前記電動機の加速あるいは減速を行う際に、前記電動機の角加速度の最大値を、前記電動機の出力トルクによって前記慣性体の慣性の最小値を加速または減速する角加速度以下の所定の値に制限することを特徴とする構成を採用することにより、油圧ショベルの旋回駆動に適用すると、作業姿勢や負荷の大小に応じて旋回慣性が小さい場合にも、旋回加速や減速の際の角加速度が大きくなりすぎず、急激な加速や減速をせずに良好な操作感覚を得ることができるという効果がある。The motor control device of the present invention controls the rotation of the electric motor that drives the inertial body via a drive system having an inertia smaller than the inertia of the driven inertial body by operating the operation end with a variable operation amount, Operation detection means for detecting the operation amount of the operation end, rotation detection means for detecting rotation of the electric motor, and electric motor control means for controlling the electric motor based on detection values of the operation detection means and the rotation detection means. The inertial body includes working means or loading means whose magnitude of inertia changes in a working state or a loaded state, and when the motor is accelerated or decelerated, an angle of the motor the maximum value of the acceleration, the structure and limits the minimum value predetermined value or less angular acceleration to accelerate or decelerate the inertia of the inertial body by an output torque of the electric motor By use, when applied to a turning drive of a hydraulic excavator, if the turning inertia in response to the work posture and load size is smaller, the angular acceleration during turning acceleration or deceleration is not too large, sudden acceleration Ya There is an effect that a good operation feeling can be obtained without deceleration .
また、本発明の電動機の制御装置は、前記電動機の角加速度の最大値を、前記電動機の最大出力トルクによって前記慣性体の慣性の最小値を加速または減速する角加速度以下の所定の値に制限することを特徴とする構成を採用することにより、油圧ショベルの旋回作動などのように、操作レバーをフル操作して電動機の最大出力トルクが短時間に出力しても、小さな旋回慣性の加速や減速の際の角加速度が大きくなりすぎず、慣性の大きさに応じて角加速度も変化して、良好な操作感覚を得ることができるという効果がある。In the motor control device of the present invention, the maximum value of the angular acceleration of the motor is limited to a predetermined value equal to or less than the angular acceleration that accelerates or decelerates the minimum value of inertia of the inertial body by the maximum output torque of the motor. By adopting a configuration characterized in that, even if the operation lever is fully operated and the maximum output torque of the motor is output in a short time, such as turning operation of a hydraulic excavator, acceleration of small turning inertia and There is an effect that the angular acceleration at the time of deceleration does not become too large, and the angular acceleration changes according to the magnitude of inertia, and a good operational feeling can be obtained.
旋回の慣性体は、上部旋回体32と掘削アタッチメント33、および、バケット36内の土砂などから構成され、掘削アタッチメント33の状態とバケット36内の土砂などの有無や量により慣性の大きさが変化する。ブームシリンダ34a、アームシリンダ35a、バケットシリンダ36aを完全に伸張させて、かつ、バケット36内に何も入っていない場合に、前記慣性体の慣性はほぼ最小になる。狭い場所で旋回する場合に、掘削アタッチメントが周囲の物にあたらないようにするための作業姿勢である。バケット36が旋回半径の大きな位置にあって、内部に最大の重量物が入っていると、前記慣性体の慣性は最大になる。The swiveling inertia body is composed of the upper swiveling body 32, the excavation attachment 33, and the earth and sand in the bucket 36, and the magnitude of the inertia varies depending on the state of the excavation attachment 33 and the presence and amount of the earth and sand in the bucket 36. To do. When the boom cylinder 34a, the arm cylinder 35a, and the bucket cylinder 36a are fully extended and nothing is contained in the bucket 36, the inertia of the inertial body is almost minimized. This is a work posture for preventing the excavation attachment from hitting surrounding objects when turning in a narrow place. If the bucket 36 is at a position where the turning radius is large and a maximum weight is contained therein, the inertia of the inertial body is maximized.
図2は、本発明に係わる前記電動機1の制御装置の構成を示すブロック図である。この制御装置は、操作端2の操作量Xを検出する操作検出手段2aと、電動機1の角速度Nを検出する回転検出手段1aと、これらの検出された操作端2の操作量Xと電動機1の角速度Nから、電動機1の出力トルクの目標値Toを演算する演算手段としてのコントローラ3と、発電機5または蓄電装置7から供給される電力に対して、電動機1の出力トルクをコントローラ3で演算された目標トルクToに制御する電動機制御手段としてのインバータ4とで構成されている。油圧ショベルの旋回の場合には操作端2は操作レバーであり、車両の走行の場合には操作端2はペダルである。FIG. 2 is a block diagram showing the configuration of the control device for the electric motor 1 according to the present invention. The control device includes an operation detection unit 2a that detects an operation amount X of the operation end 2, a rotation detection unit 1a that detects an angular velocity N of the electric motor 1, and the detected operation amount X of the operation end 2 and the electric motor 1. The controller 3 as a calculation means for calculating the target value To of the output torque of the electric motor 1 from the angular velocity N of the motor 1 and the electric torque supplied from the generator 5 or the power storage device 7 with the controller 3 It is comprised with the inverter 4 as an electric motor control means controlled to the calculated target torque To. When the excavator is turning, the operation end 2 is an operation lever, and when the vehicle is traveling, the operation end 2 is a pedal.
油圧ショベルの旋回の場合には、操作レバーはフル操作する場合が多く、そうすると電動機1の出力トルクは最大値Tmaxが出力される。前記駆動系の慣性は、図5に示す領域をはみ出して急加速して、最終段減速機43の出力軸ピニオンと旋回ベアリングのインターナルギヤ高速でぶつかってショックが発生する。そして、最終段減速機43の出力軸ピニオンと旋回ベアリングのインターナルギヤがかみ合うと、前記慣性体の慣性が最小の場合には、角加速度α2mで加速し、前記慣性体の慣性が最大の場合には角加速度α3mで加速する。角速度が最大値になるまでの時間は、前記慣性体の慣性が最大の場合には数秒かかるが、前記慣性体の慣性が最小値の場合には1秒以下となって、加速が急すぎて、オペレータにとって操作感覚が悪い。In the case of turning of the hydraulic excavator, the operation lever is often fully operated, and as a result, the output torque of the electric motor 1 is output at the maximum value Tmax. The inertia of the drive system suddenly accelerates out of the region shown in FIG. 5, and a shock is generated when the output shaft pinion of the final stage reducer 43 and the internal gear of the swing bearing collide at high speed. When the output shaft pinion of the final stage reduction gear 43 and the internal gear of the slewing bearing mesh with each other, when the inertia of the inertial body is minimum, the inertial body is accelerated at an angular acceleration α2m, and the inertial body has the maximum inertia. Is accelerated with an angular acceleration α3 m. The time until the angular velocity reaches the maximum value takes several seconds when the inertia of the inertial body is maximum, but is less than 1 second when the inertia of the inertial body is minimum, and the acceleration is too rapid. The operation feeling is bad for the operator.
上述した実施形態では、電動機1の出力トルクによって前記慣性体の慣性の最小値を加速する角加速度以下の所定の値を、原点を通る直線A、あるいは、値が一定の直線Bとしたが、その二つの直線の組み合わせでも良く、あるいは、複数の直線の組み合わせでも良く、あるいは、曲線でもよい。In the above-described embodiment, the predetermined value below the angular acceleration that accelerates the minimum inertia value of the inertial body by the output torque of the electric motor 1 is the straight line A passing through the origin or the straight line B having a constant value. A combination of the two straight lines, a combination of a plurality of straight lines, or a curve may be used.
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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JP2010047100A JP2011163106A (en) | 2010-02-12 | 2010-02-12 | Control device of motor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2010047100A JP2011163106A (en) | 2010-02-12 | 2010-02-12 | Control device of motor |
Publications (2)
Publication Number | Publication Date |
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JP2011163106A JP2011163106A (en) | 2011-08-25 |
JP2011163106A5 true JP2011163106A5 (en) | 2013-03-21 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2010047100A Pending JP2011163106A (en) | 2010-02-12 | 2010-02-12 | Control device of motor |
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JP (1) | JP2011163106A (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6125272B2 (en) * | 2013-02-26 | 2017-05-10 | 住友建機株式会社 | Electric swivel work machine |
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EP1813728A4 (en) * | 2004-11-17 | 2014-09-17 | Komatsu Mfg Co Ltd | Swing control device and construction machinery |
JP2009068197A (en) * | 2007-09-11 | 2009-04-02 | Kobelco Contstruction Machinery Ltd | Slewing control device of electric slewing work machine |
JP5095361B2 (en) * | 2007-11-22 | 2012-12-12 | 住友建機株式会社 | Swivel drive control device and construction machine including the same |
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