JP2014006152A - Drive source abnormality detection device - Google Patents

Drive source abnormality detection device Download PDF

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Publication number
JP2014006152A
JP2014006152A JP2012142027A JP2012142027A JP2014006152A JP 2014006152 A JP2014006152 A JP 2014006152A JP 2012142027 A JP2012142027 A JP 2012142027A JP 2012142027 A JP2012142027 A JP 2012142027A JP 2014006152 A JP2014006152 A JP 2014006152A
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drive source
rotational speed
abnormality detection
internal combustion
combustion engine
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Hidesuke Matsuzaki
英祐 松嵜
Hidekazu Kondo
秀和 近藤
Daisuke Kitajima
大輔 北島
Yoji Misaki
陽二 三崎
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Sumitomo Heavy Industries Ltd
Sumitomo SHI Construction Machinery Co Ltd
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Sumitomo Heavy Industries Ltd
Sumitomo SHI Construction Machinery Co Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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    • Y02T10/40—Engine management systems

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Abstract

PROBLEM TO BE SOLVED: To provide a drive source abnormality detection device capable of more clearly determining whether or not a decrease in output of a construction machine is caused by abnormality of a drive source.SOLUTION: A drive source abnormality detection device 1 for detecting abnormalities of an internal combustion engine controlled so as to maintain a target rotational speed ω, includes: a rotational speed detection unit 10 for detecting a rotational speed ωof the internal combustion engine; a load torque detection unit 11 for detecting pump absorption torque T; and a drive source abnormality detection unit 12 for detecting the abnormalities of the internal combustion engine on the basis of comparison of an actual rotational speed deviation Δωbetween a rotational speed ωdetected by the rotational speed detection unit 10 and the target rotational speed ω, with an estimated rotational speed deviation Δωcalculated from the pump absorption torque Tdetected by the load torque detection unit 11.

Description

本発明は、所定の目標回転数を維持するよう制御される駆動源の異常を検出する駆動源異常検出装置に関する。   The present invention relates to a drive source abnormality detection device that detects an abnormality of a drive source that is controlled to maintain a predetermined target rotational speed.

従来、内燃エンジンに作用する負荷が一定の状態、すなわち、内燃エンジンに作業負荷が作用しない状態である負荷一定状態の場合に、回転数指令手段で指令された目標回転数と回転数検出手段で検出された実回転数との偏差に基づき、内燃エンジンの動作異常判定を行うようにした建設機械の異常判定装置が知られている（例えば、特許文献１参照。）。   Conventionally, when the load acting on the internal combustion engine is constant, that is, when the work load is not applied to the internal combustion engine, the target rotational speed commanded by the rotational speed command means and the rotational speed detection means There is known an abnormality determination device for a construction machine that performs an operation abnormality determination of an internal combustion engine based on a deviation from the detected actual rotational speed (see, for example, Patent Document 1).

特開２００８−１４４６２６号公報JP 2008-144626 A

しかしながら、特許文献１に記載の油圧ショベルでは、油圧ショベルの出力が低下した場合に、その出力低下の原因が内燃エンジンに起因するものか油圧ポンプに起因するものかを判断するのが困難である。特許文献１に記載の油圧ショベルでは、油圧ポンプに問題がある場合であっても、目標回転数と実回転数との偏差が所定値以上である状態が所定時間継続すれば、内燃エンジンに異常があると判断されてしまうためである。   However, in the hydraulic excavator described in Patent Literature 1, when the output of the hydraulic excavator decreases, it is difficult to determine whether the output decrease is caused by the internal combustion engine or the hydraulic pump. . In the hydraulic excavator described in Patent Literature 1, even if there is a problem with the hydraulic pump, if the state where the deviation between the target rotational speed and the actual rotational speed is equal to or greater than a predetermined value continues for a predetermined time, the internal combustion engine is abnormal. This is because it is judged that there is.

上述の点に鑑み、本発明は、建設機械の出力低下の原因が駆動源の異常に起因するか否かをより明確に特定できる駆動源異常検出装置を提供することを目的とする。   In view of the above-described points, an object of the present invention is to provide a drive source abnormality detection device that can more clearly identify whether or not the cause of a decrease in the output of a construction machine is caused by an abnormality of the drive source.

上述の目的を達成するために、本発明の実施例に係る駆動源異常検出装置は、所定の目標回転数を維持するよう制御される駆動源の異常を検出する駆動源異常検出装置であって、前記駆動源の回転数を検出する回転数検出部と、前記駆動源の負荷トルクを検出する負荷トルク検出部と、前記回転数検出部が検出した回転数と前記目標回転数との間の第１回転数偏差と、前記負荷トルク検出部が検出した負荷トルクから算出される第２回転数偏差との比較に基づいて前記駆動源の異常を検出する駆動源異常検出部と、を備える。   In order to achieve the above object, a drive source abnormality detection apparatus according to an embodiment of the present invention is a drive source abnormality detection apparatus that detects an abnormality of a drive source that is controlled to maintain a predetermined target rotational speed. A rotation speed detection unit that detects the rotation speed of the drive source, a load torque detection unit that detects a load torque of the drive source, and between the rotation speed detected by the rotation speed detection unit and the target rotation speed A drive source abnormality detection unit that detects an abnormality of the drive source based on a comparison between the first rotation number deviation and a second rotation number deviation calculated from the load torque detected by the load torque detection unit.

上述の手段により、本発明は、建設機械の出力低下の原因が駆動源の異常に起因するか否かをより明確に特定できる駆動源異常検出装置を提供することができる。   With the above-described means, the present invention can provide a drive source abnormality detection device that can more clearly identify whether or not the cause of the output decrease of the construction machine is due to the abnormality of the drive source.

本発明の実施例に係る駆動源異常検出装置の構成例を示すブロック図である。It is a block diagram which shows the structural example of the drive source abnormality detection apparatus which concerns on the Example of this invention. 内燃エンジンの回転数制御の流れを示すブロック線図である。It is a block diagram which shows the flow of rotation speed control of an internal combustion engine. 図２のブロック線図を簡略化した図である。It is the figure which simplified the block diagram of FIG. 第１駆動源異常検出処理の流れを示すブロック線図である。It is a block diagram which shows the flow of a 1st drive source abnormality detection process. 非正常状態検出数の時間的推移を示すグラフである。It is a graph which shows the time transition of the number of abnormal state detection. 第２駆動源異常検出処理の流れを示すブロック線図である。It is a block diagram which shows the flow of a 2nd drive source abnormality detection process. 第２駆動源異常検出処理を実行した場合の非正常状態検出数の時間的推移を示すグラフである。It is a graph which shows temporal transition of the number of abnormal state detection at the time of performing the 2nd drive source abnormality detection processing.

以下、図面を参照しつつ、本発明の実施例について説明する。   Hereinafter, embodiments of the present invention will be described with reference to the drawings.

図１は、本発明の実施例に係る駆動源異常検出装置の構成例を示す機能ブロック図である。   FIG. 1 is a functional block diagram illustrating a configuration example of a drive source abnormality detection apparatus according to an embodiment of the present invention.

駆動源異常検出装置１は、駆動源の異常を検出する装置であり、本実施例では、建設機械としてのショベルに取り付けられ、そのショベルに搭載される内燃エンジンの異常を検出する。駆動源異常検出装置１は、より具体的には、負荷トルクの変動にかかわらず所定の目標回転数を維持するよう制御される内燃エンジンの異常を検出する。なお、駆動源は、電動モータ、電動モータと内燃エンジンとの組み合わせ等の他の駆動源であってもよい。また、負荷トルクは、駆動源の駆動軸の回転を抑制するように作用するトルクである。本実施例では、負荷トルクは、建設機械の各種油圧アクチュエータを動作させる油圧ポンプの吸収トルクである。なお、内燃エンジンの駆動軸と油圧ポンプの回転軸とは望ましくは直結されているが、ギア、変速機等を介して接続されていてもよい。   The drive source abnormality detection device 1 is a device that detects an abnormality of a drive source. In this embodiment, the drive source abnormality detection device 1 is attached to a shovel as a construction machine and detects an abnormality of an internal combustion engine mounted on the shovel. More specifically, the drive source abnormality detection device 1 detects an abnormality of the internal combustion engine that is controlled to maintain a predetermined target rotational speed regardless of fluctuations in the load torque. The drive source may be another drive source such as an electric motor or a combination of an electric motor and an internal combustion engine. The load torque is torque that acts to suppress rotation of the drive shaft of the drive source. In this embodiment, the load torque is an absorption torque of a hydraulic pump that operates various hydraulic actuators of the construction machine. The drive shaft of the internal combustion engine and the rotary shaft of the hydraulic pump are desirably directly connected, but may be connected via a gear, a transmission, or the like.

また、本実施例では、駆動源異常検出装置１は、ＣＰＵ（Central Processing Unit）、ＲＡＭ(Random Access Memory)、ＲＯＭ（Read Only Memory）等を備えたコンピュータである。駆動源異常検出装置１は、回転数検出部１０、負荷トルク検出部１１、及び駆動源異常検出部１２のそれぞれに対応するプログラムをＲＯＭ又はＲＡＭから読み出し、各部に対応する処理をＣＰＵに実行させる。   In this embodiment, the drive source abnormality detection device 1 is a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. The drive source abnormality detection device 1 reads programs corresponding to each of the rotation speed detection unit 10, the load torque detection unit 11, and the drive source abnormality detection unit 12 from the ROM or RAM, and causes the CPU to execute processing corresponding to each unit. .

回転数検出部１０は、駆動源の駆動軸の回転数を検出するための機能要素であり、本実施例では、内燃エンジンの回転数を検出する回転数センサ２の出力に基づいて内燃エンジンの駆動軸の１秒間当たりの回転数を検出する。   The rotation speed detection unit 10 is a functional element for detecting the rotation speed of the drive shaft of the drive source. In this embodiment, the rotation speed detection unit 10 detects the rotation speed of the internal combustion engine based on the output of the rotation speed sensor 2 that detects the rotation speed of the internal combustion engine. The number of rotations per second of the drive shaft is detected.

負荷トルク検出部１１は、駆動源の駆動軸の回転を抑制するように作用する負荷トルクを検出するための機能要素である。本実施例では、負荷トルク検出部１１は、油圧ポンプの押し退け容積とポンプ吐出圧との積を求めることによって負荷トルクとしてのポンプ吸収トルクＴＰを検出する。なお、油圧ポンプは、斜板式可変容量型油圧ポンプである。また、押し退け容積は、斜板傾転角センサ３が出力する斜板傾転角の値に応じて算出され、ポンプ吐出圧は、吐出圧センサ４の出力に基づいて検出される。 The load torque detector 11 is a functional element for detecting load torque that acts to suppress rotation of the drive shaft of the drive source. In this embodiment, the load torque detecting unit 11 detects the pump absorption torque T P as the load torque by obtaining the product of the displacement volume and the pump discharge pressure of the hydraulic pump. The hydraulic pump is a swash plate type variable displacement hydraulic pump. Further, the displacement volume is calculated according to the value of the swash plate tilt angle output from the swash plate tilt angle sensor 3, and the pump discharge pressure is detected based on the output of the discharge pressure sensor 4.

また、負荷トルク検出部１１は、油圧ポンプが電子制御式可変容量型油圧ポンプであり、油圧ポンプに対する吐出量指令値が判明している場合には、油圧ポンプのノミナルモデルから押し退け容積を算出してもよい。   The load torque detector 11 calculates the displacement volume from the nominal model of the hydraulic pump when the hydraulic pump is an electronically controlled variable displacement hydraulic pump and the discharge amount command value for the hydraulic pump is known. May be.

また、負荷トルク検出部１１は、トルクセンサの出力に基づいてポンプ吸収トルクを直接的に検出してもよい。   Moreover, the load torque detection part 11 may detect a pump absorption torque directly based on the output of a torque sensor.

駆動源異常検出部１２は、駆動源の異常を検出するための機能要素であり、本実施例では、実回転数偏差ΔωＲと推定回転数偏差ΔωＶとの差に基づいて内燃エンジンの異常を検出する。なお、実回転数偏差ΔωＲは、目標回転数ω０と実回転数ωＲとの差の絶対値であり、例えば、回転数検出部１０が検出する内燃エンジンの実回転数ωＲを時間微分することによって算出される。また、推定回転数偏差ΔωＶは、目標回転数ω０と推定回転数ωＶとの差の絶対値であり、例えば、負荷トルク検出部１１が検出するポンプ吸収トルクＴＰと所定の伝達関数に基づいて算出される。なお、駆動源異常検出部１２による処理、並びに、推定回転数ωＶ及び推定回転数偏差ΔωＶの算出方法については、その詳細を後述する。 Driving source abnormality detecting unit 12 is a functional element for detecting the abnormality of the driving source, in the present embodiment, abnormality of the internal combustion engine based on the difference between the actual rotation speed deviation [Delta] [omega R the estimated rotation speed deviation [Delta] [omega V Is detected. The actual rotational speed deviation Δω R is an absolute value of the difference between the target rotational speed ω 0 and the actual rotational speed ω R. For example, the actual rotational speed ω R of the internal combustion engine detected by the rotational speed detection unit 10 is expressed as time. Calculated by differentiating. Further, the estimated rotational speed deviation [Delta] [omega V is the absolute value of the difference between the target speed omega 0 and the estimated rotational speed omega V, for example, the pump absorption torque T P and a predetermined transfer function the load torque detecting unit 11 detects Is calculated based on Details of the processing by the drive source abnormality detection unit 12 and the calculation method of the estimated rotational speed ω V and the estimated rotational speed deviation Δω V will be described later.

次に、図２及び図３を参照しながら、駆動源としての内燃エンジンの回転数制御の流れについて説明する。なお、図２は、内燃エンジンの回転数制御の流れを示すブロック線図であり、図中の破線で囲まれた部分が内燃エンジン内の制御の流れを表す。また、図３は、図２のブロック線図を簡略化した図を示し、図３（Ａ）、図３（Ｂ）、図３（Ｃ）の順に簡略化が進むが、何れの図も同じ制御の流れを示す。   Next, the flow of the rotational speed control of the internal combustion engine as the drive source will be described with reference to FIGS. FIG. 2 is a block diagram showing the flow of the rotational speed control of the internal combustion engine, and the portion surrounded by the broken line in the drawing represents the flow of control in the internal combustion engine. FIG. 3 is a simplified diagram of the block diagram of FIG. 2, and simplification proceeds in the order of FIG. 3 (A), FIG. 3 (B), and FIG. 3 (C). The flow of control is shown.

図２に示すように、ＰＩ制御部２０は、目標回転数ω０と推定回転数ωＶとの偏差である推定回転数偏差ΔωＶがゼロとなるように推定回転数ωＶをフィードバック制御（ＰＩ制御）する演算要素である。本実施例では、ＰＩ制御部２０は、推定回転数偏差ΔωＶと吸気温、大気圧、コモンレール圧等とに基づいて決定した燃料噴射量Ｑをリミッタ２１に対して出力する。 As shown in FIG. 2, the PI control unit 20 feedback-controls the estimated rotational speed ω V so that the estimated rotational speed deviation Δω V that is the deviation between the target rotational speed ω 0 and the estimated rotational speed ω V becomes zero ( This is an arithmetic element for PI control. In this embodiment, PI control unit 20 outputs the estimated rotational speed deviation [Delta] [omega V and the intake air temperature, atmospheric pressure, the fuel injection quantity Q determined based on the common rail pressure and the like with respect to the limiter 21.

リミッタ２１は、入力された燃料噴射量Ｑの値を所定範囲内に制限する演算要素である。具体的には、リミッタ２１は、入力された燃料噴射量Ｑが所定の上限値以上の場合に、その上限値をエンジンメカ系伝達関数２２に対して出力する。また、リミッタ２１は、入力された燃料噴射量Ｑが所定の下限値以下の場合に、その下限値をエンジンメカ系伝達関数２２に対して出力する。なお、リミッタ２１は、入力された燃料噴射量Ｑが下限値より大きく上限値より小さい場合には、入力された燃料噴射量Ｑをそのままエンジンメカ系伝達関数２２に対して出力する。   The limiter 21 is a calculation element that limits the value of the input fuel injection amount Q within a predetermined range. Specifically, the limiter 21 outputs the upper limit value to the engine mechanical system transfer function 22 when the input fuel injection amount Q is greater than or equal to a predetermined upper limit value. The limiter 21 outputs the lower limit value to the engine mechanical system transfer function 22 when the input fuel injection amount Q is equal to or less than a predetermined lower limit value. When the input fuel injection amount Q is larger than the lower limit value and smaller than the upper limit value, the limiter 21 outputs the input fuel injection amount Q to the engine mechanical system transfer function 22 as it is.

エンジンメカ系伝達関数２２は、内燃エンジンを構成する機械部品の伝達関数を有する演算要素であり、入力として燃料噴射量Ｑを受け、エンジン出力トルクＴＥを出力する。その後、外乱としてのポンプ吸収トルクＴＰとエンジン出力トルクＴＥとの差である差分トルクΔＴがトルク・回転数変換部２３に入力される。 Engine mechanical system transfer function 22 is an arithmetic element having a transfer function of the mechanical parts that constitute the internal combustion engine, receiving the fuel injection amount Q as an input, and outputs an engine output torque T E. Then, the difference torque ΔT is the difference between the pump absorption torque T P and the engine output torque T E of the disturbance is input to the torque-rotation speed conversion unit 23.

トルク・回転数変換部２３は、入力として差分トルクΔＴを受け、推定回転数ωＶを出力する演算要素である。具体的には、差分トルクΔＴを慣性モーメントＪで除算して得られる角加速度を積分することによって回転数の変化分を導き出し、その変化分を現在の回転数（前回推定した回転数）に加えることによって推定回転数ωＶを算出する。なお、慣性モーメントＪは、フライホイール等に関する慣性モーメントを表し、ｓは、ラプラス演算子を表す。また、トルク・回転数変換部２３は、差分トルクΔＴがゼロならば、すなわち、エンジン出力トルクＴＥとポンプ吸収トルクＴＰとが等しければ、前回推定した回転数と同じ回転数を出力する。回転数が変化しないためである。 Torque and rotation speed converting section 23 receives the differential torque ΔT as an input, a calculation element for outputting an estimated rotational speed omega V. Specifically, the change in the rotational speed is derived by integrating the angular acceleration obtained by dividing the differential torque ΔT by the moment of inertia J, and the change is added to the current rotational speed (previously estimated rotational speed). It calculates the estimated rotational speed omega V by. The moment of inertia J represents the moment of inertia related to the flywheel and the like, and s represents the Laplace operator. The torque and rotation speed conversion unit 23, the difference torque ΔT is if zero, i.e., being equal and the pump absorption torque T P engine output torque T E, and outputs the same rotational speed as the rotational speed the previously estimated. This is because the rotational speed does not change.

ここで、図３（Ａ）を参照する。図３（Ａ）は、図２の破線で囲まれた部分におけるＰＩ制御部２０、リミッタ２１、及びエンジンメカ系伝達関数２２を１つの演算要素であるエンジン内伝達関数３０に置き換えたブロック線図である。エンジン内伝達関数３０は、入力として推定回転数偏差ΔωＶを受け、エンジン出力トルクＴＥを出力する。 Here, reference is made to FIG. FIG. 3A is a block diagram in which the PI control unit 20, the limiter 21, and the engine mechanical system transfer function 22 in the part surrounded by a broken line in FIG. 2 are replaced with an in-engine transfer function 30 which is one arithmetic element. It is. The transfer function 30 engine, receives the estimated rotation speed deviation [Delta] [omega V as input, and outputs an engine output torque T E.

また、目標回転数ω０が予め設定された固定値であることを考慮すると、推定回転数偏差ΔωＶは、推定回転数ωＶが固定値としての目標回転数ω０からどの程度逸脱しているかを表す値として捉えられる。そのため、推定回転数ωＶを出力とする代わりに、推定回転数偏差ΔωＶを出力として捉えることができる。 Further, considering that the target rotational speed ω 0 is a fixed value set in advance, the estimated rotational speed deviation Δω V is deviated from the target rotational speed ω 0 as the estimated rotational speed ω V as a fixed value. It is taken as a value indicating whether or not. Therefore, instead of the output of the estimated rotation speed omega V, it is possible to capture the estimated rotation speed deviation [Delta] [omega V as the output.

図３（Ｂ）は、推定回転数偏差ΔωＶを出力とし、ポンプ吸収トルクＴＰを入力として、図３（Ａ）のブロック線図を書き換えたものである。また、図３（Ｃ）は、図３（Ｂ）のトルク・回転数変換部２３及びエンジン内伝達関数３０を１つの演算要素であるエンジン全伝達関数３１に置き換えたブロック線図である。 FIG. 3 (B), and outputs the estimated rotational speed deviation [Delta] [omega V, as an input pump absorption torque T P, in which rewriting the block diagram of FIG. 3 (A). FIG. 3C is a block diagram in which the torque / rotation speed conversion unit 23 and the in-engine transfer function 30 in FIG. 3B are replaced with an engine total transfer function 31 which is one arithmetic element.

エンジン全伝達関数３１は、ポンプ吸収トルクＴＰと実回転数偏差ΔωＲとの関係に基づいて予め生成されるノミナルモデルであり、入力としてポンプ吸収トルクＴＰを受け、推定回転数偏差ΔωＶを出力する。 Engine overall transfer function 31 is a nominal model which is generated in advance based on the relationship between the pump absorption torque T P and the actual rotation speed deviation [Delta] [omega R, receives pump absorption torque T P as inputs, the estimated rotational speed deviation [Delta] [omega V Is output.

このようにして、内燃エンジンの回転数制御の流れは、ポンプ吸収トルクＴＰに基づいて、推定回転数偏差ΔωＶ、すなわち推定回転数ωＶの目標回転数ω０からの逸脱度合いを導き出す処理としても把握され得る。 In this way, the flow of the rotational speed control of the internal combustion engine, based on the pump absorption torque T P, estimated rotational speed deviation [Delta] [omega V, i.e. the deviation degree from the target rotation speed omega 0 of the estimated rotation speed omega V derived process Can also be grasped.

次に、図４を参照しながら、駆動源異常検出部１２が駆動源の異常を検出する処理（以下、「第１駆動源異常検出処理」とする。）について説明する。なお、図４は、第１駆動源異常検出処理の流れを示すブロック線図である。また、駆動源異常検出部１２は、第１駆動源異常検出処理を所定の制御周期で繰り返し実行する。本実施例では、駆動源異常検出部１２は、例えば、数ミリ秒〜数十ミリ秒の制御周期で第１駆動源異常検出処理を繰り返し実行する。なお、駆動源異常検出部１２は、例えば、数時間毎に数分間にわたって第１駆動源異常検出処理を数ミリ秒〜数十ミリ秒間隔で繰り返し実行してもよい。   Next, a process in which the drive source abnormality detection unit 12 detects an abnormality in the drive source (hereinafter referred to as “first drive source abnormality detection process”) will be described with reference to FIG. FIG. 4 is a block diagram showing the flow of the first drive source abnormality detection process. Further, the drive source abnormality detection unit 12 repeatedly executes the first drive source abnormality detection process at a predetermined control cycle. In the present embodiment, the drive source abnormality detection unit 12 repeatedly executes the first drive source abnormality detection process at a control cycle of, for example, several milliseconds to several tens of milliseconds. For example, the drive source abnormality detection unit 12 may repeatedly execute the first drive source abnormality detection process at intervals of several milliseconds to several tens of milliseconds over several minutes every several hours.

また、図４に示す処理の流れは、内燃エンジンが制限を受けることなくエンジン出力トルクＴＰを生成できるときに実行される。具体的には、リミッタ２１等の非線形演算要素によってエンジン出力トルクＴＰが制限されないときに限って実行される。 Also, the flow of processes shown in FIG. 4 is executed when that can generate the engine output torque T P without the internal combustion engine restricted. Specifically, it is executed only when the engine output torque TP is not limited by a non-linear calculation element such as the limiter 21.

また、図４に示すように、エンジン全伝達関数３１は、推定回転数偏差ΔωＶを出力する演算要素である。本実施例では、エンジン全伝達関数３１は、入力としてポンプ吸収トルクＴＰを受け、推定回転数偏差ΔωＶを算出し、算出した推定回転数偏差ΔωＶを比較演算要素４１に対して出力する。具体的には、エンジン全伝達関数３１は、斜板傾転角センサ２の出力と吐出圧センサ３の出力とに基づいて算出されるポンプ吸収トルクＴＰを受ける。また、本実施例では、エンジン全伝達関数３１は、図に示すような二次遅れ要素として表される。なお、ζは減衰係数を表し、Ｔｗは固有角周波数の逆数である固有周期を表し、Ｔｚはエンジン全伝達関数３１のゼロ点、すなわち、ゲインがゼロとなるときの周期を表す。また、エンジン全伝達関数３１では、固有角周波数が高いほど、すなわち固有周期Ｔｗが小さいほど、系の速度応答性は増大する。 Further, as shown in FIG. 4, an engine overall transfer function 31 is an arithmetic element for outputting an estimated rotational speed deviation [Delta] [omega V. In this embodiment, the engine overall transfer function 31 receives the pump absorption torque T P as input, calculates the estimated rotational speed deviation [Delta] [omega V, and outputs the calculated estimated rotation speed difference [Delta] [omega V relative comparison operation element 41 . Specifically, the engine overall transfer function 31 receives the pump absorption torque T P which is calculated based on the outputs of the discharge pressure sensor 3 of the swash plate tilt angle sensor 2. In the present embodiment, the engine total transfer function 31 is expressed as a second-order lag element as shown in the figure. Ζ represents an attenuation coefficient, Tw represents a natural period that is the reciprocal of the natural angular frequency, and Tz represents a zero point of the engine total transfer function 31, that is, a period when the gain becomes zero. In the engine total transfer function 31, the higher the natural angular frequency, that is, the smaller the natural period Tw, the higher the speed response of the system.

微分演算要素４０は、実回転数偏差ΔωＲを出力する演算要素である。本実施例では、微分演算要素４０は、入力として実回転数ωＲを受け、実回転数ωＲを時間微分して実回転数偏差ΔωＲを算出し、算出した実回転数偏差ΔωＲを比較演算要素４１に対して出力する。 Differential operation element 40 is an arithmetic element that outputs the actual rotational speed error [Delta] [omega R. In this embodiment, differential operation element 40 receives the actual revolution speed omega R as input, by differentiating the actual revolution speed omega R time calculates the actual rotational speed difference [Delta] [omega R, the actual rotational speed difference [Delta] [omega R calculated Output to the comparison operation element 41.

比較演算要素４１は、推定回転数偏差ΔωＶと実回転数偏差ΔωＲとの比較結果ｎを出力する演算要素である。本実施例では、比較演算要素４１は、入力として推定回転数偏差ΔωＶ及び実回転数偏差ΔωＲを受け、比較結果ｎを積分演算要素４２に対して出力する。また、本実施例では、比較結果ｎは、実回転数偏差ΔωＲが推定回転数偏差ΔωＶより大きい場合に値１となり、実回転数偏差ΔωＲが推定回転数偏差ΔωＶ以下の場合に値ゼロとなる。なお、値１は、駆動源としての内燃エンジンが正常でない状態（以下、「非正常状態」とする。）を表す。実回転数偏差ΔωＲが推定回転数偏差ΔωＶより大きい場合、内燃エンジンが所要のエンジン出力トルクＴＥを出力できていないと推定できるためである。これは、内燃エンジンが所要のエンジン出力トルクＴＥを出力できなくなると、ポンプ吸収トルクＴＰが一定であれば、内燃エンジンの回転数は低下し、推定回転数偏差ΔωＶが一定のまま実回転数偏差ΔωＲが増大するという事実に基づく。 Comparison operation element 41 is an arithmetic element for outputting a comparison result n between the estimated rotation speed deviation [Delta] [omega V and the actual rotation speed deviation [Delta] [omega R. In the present embodiment, the comparison calculation element 41 receives the estimated rotation speed deviation Δω V and the actual rotation speed deviation Δω R as inputs, and outputs the comparison result n to the integration calculation element 42. In this embodiment, the comparison result n is 1 when the actual rotational speed deviation Δω R is larger than the estimated rotational speed deviation Δω V , and when the actual rotational speed deviation Δω R is less than or equal to the estimated rotational speed deviation Δω V. The value is zero. The value 1 represents a state where the internal combustion engine as a drive source is not normal (hereinafter referred to as “unnormal state”). If the actual rotation speed deviation [Delta] [omega R is greater than the estimated rotational speed deviation [Delta] [omega V, it is because it can be estimated that the internal combustion engine not be output the required engine output torque T E. This, when the internal combustion engine can not be output the required engine output torque T E, if the pump absorption torque T P is constant, the rotation speed of the internal combustion engine is reduced, the estimated rotational speed deviation [Delta] [omega V is kept constant real Based on the fact that the rotational speed deviation Δω R increases.

一方、値ゼロは、内燃エンジンが正常な状態を表す。実回転数偏差ΔωＲが推定回転数偏差ΔωＶ以下の場合、内燃エンジンが所要のエンジン出力トルクＴＥを出力できていると推定できるためである。 On the other hand, a value of zero represents a normal state of the internal combustion engine. If the actual rotation speed deviation [Delta] [omega R is less than the estimated rotational speed deviation [Delta] [omega V, it is because it can be estimated that the internal combustion engine is able to output the required engine output torque T E.

積分演算要素４２は、比較結果ｎの値を所定積算期間にわたって積算し、その積算結果を非正常状態検出数Ｎとして出力する演算要素である。本実施例では、積分演算要素４２は、入力として比較結果ｎを受け、過去の所定積算期間にわたる比較結果ｎの積算結果を非正常状態検出数Ｎとして比較演算要素４３に対して出力する。   The integration calculation element 42 is an operation element that integrates the value of the comparison result n over a predetermined integration period and outputs the integration result as an abnormal state detection number N. In this embodiment, the integration calculation element 42 receives the comparison result n as an input, and outputs the integration result of the comparison result n over the past predetermined integration period as an abnormal state detection number N to the comparison calculation element 43.

比較演算要素４３は、非正常状態検出数Ｎと異常検出閾値ＴＨ１との比較結果を異常検出結果ＤＲとして出力する演算要素である。本実施例では、比較演算要素４３は、入力として非正常状態検出数Ｎ及び異常検出閾値ＴＨ１を受け、異常検出結果ＤＲを出力する。また、本実施例では、異常検出結果ＤＲは、非正常状態検出数Ｎが異常検出閾値ＴＨ１より大きい場合に"異常検出"を表す値１となり、非正常状態検出数Ｎが異常検出閾値ＴＨ１以下の場合に"異常不検出"を表す値ゼロとなる。   The comparison calculation element 43 is a calculation element that outputs a comparison result between the number N of abnormal state detections and the abnormality detection threshold TH1 as the abnormality detection result DR. In the present embodiment, the comparison calculation element 43 receives the abnormal state detection number N and the abnormality detection threshold TH1 as inputs and outputs an abnormality detection result DR. Further, in the present embodiment, the abnormality detection result DR is 1 indicating “abnormality detection” when the abnormal state detection number N is greater than the abnormality detection threshold TH1, and the abnormal state detection number N is equal to or less than the abnormality detection threshold TH1. In the case of "0", the value indicating "abnormality not detected" is zero.

駆動源異常検出部１２は、異常検出結果ＤＲが値１となった場合、出力装置５に対して制御信号を出力する。本実施例では、出力装置５は、車載スピーカであり、駆動源異常検出部１２からの制御信号に応じて警報を出力する。なお、出力装置５は、駆動源の異常を検出した旨の警告メッセージを表示するディスプレイであってもよい。   The drive source abnormality detection unit 12 outputs a control signal to the output device 5 when the abnormality detection result DR has a value of 1. In the present embodiment, the output device 5 is an in-vehicle speaker and outputs an alarm according to a control signal from the drive source abnormality detection unit 12. The output device 5 may be a display that displays a warning message indicating that a drive source abnormality has been detected.

次に、図５を参照しながら、非正常状態検出数Ｎの時間的推移について説明する。なお、図５は、非正常状態検出数Ｎの時間的推移を示すグラフであり、縦軸に非正常状態検出数Ｎを配し、横軸に時間軸を配する。また、非正常状態検出数Ｎは、所定積算期間が経過する毎（例えば、数分、数十分、又は数時間の単位である。）にゼロにリセットされる。   Next, the temporal transition of the number N of detected abnormal states will be described with reference to FIG. FIG. 5 is a graph showing the temporal transition of the number N of abnormal state detections, where the number N of abnormal state detections is arranged on the vertical axis and the time axis is arranged on the horizontal axis. The abnormal state detection number N is reset to zero every time the predetermined integration period elapses (for example, a unit of several minutes, several tens of minutes, or several hours).

図５に示すように、所定積算期間における非正常状態検出数Ｎ、すなわち、所定積算期間において所定の制御周期で繰り返し実行される第１駆動源異常検出処理における比較結果ｎが値１となる頻度は、時間の経過とともに徐々に増大する。内燃エンジンの経年劣化のためである。そのため、非正常状態検出数Ｎは、経年劣化以外の原因による異常が内燃エンジンに存在しない場合であっても、使用期間が例えば１０年を超えたあたりで異常検出閾値を上回る。図５の破線円Ｃ０の部分は、内燃エンジンの経年劣化により非正常状態検出数Ｎが異常検出閾値を超えたことを表す。これに応じて、駆動源異常検出装置１は警報を出力し、経年劣化により内燃エンジンがもはや安定的に利用できない状態になったことをショベルの操作者に通知できる。   As shown in FIG. 5, the number N of abnormal state detections during a predetermined integration period, that is, the frequency at which the comparison result n in the first drive source abnormality detection process that is repeatedly executed at a predetermined control period during the predetermined integration period is a value 1. Gradually increases over time. This is due to the aging of the internal combustion engine. Therefore, the abnormal state detection number N exceeds the abnormality detection threshold when the usage period exceeds, for example, 10 years, even when there is no abnormality due to causes other than aging deterioration in the internal combustion engine. A broken line circle C0 in FIG. 5 indicates that the number N of abnormal state detections exceeds the abnormality detection threshold due to aging deterioration of the internal combustion engine. In response to this, the drive source abnormality detection device 1 outputs an alarm and can notify the operator of the excavator that the internal combustion engine is no longer stably available due to aging.

一方、経年劣化以外の原因によって内燃エンジンに異常が生じた場合、例えば、内燃エンジンとしてのディーゼルエンジンに不正軽油等の低品質な燃料が供給された場合、非正常状態検出数Ｎは急激に増加する。図５に示すピークＰ１、Ｐ２は、経年劣化以外の原因により、非正常状態検出数Ｎが急激に増加した状態を示す。また、図５の破線円Ｃ１、Ｃ２の部分は、ピークＰ１、Ｐ２が発生したときに、非正常状態検出数Ｎが異常検出閾値を超えたことを表す。これに応じて、駆動源異常検出装置１は警報を出力し、経年劣化以外の原因によって内燃エンジンに異常が生じたことをショベルの操作者に通知できる。   On the other hand, when an abnormality occurs in the internal combustion engine due to a cause other than aged deterioration, for example, when low quality fuel such as illegal light oil is supplied to a diesel engine as the internal combustion engine, the number N of abnormal state detections increases rapidly. To do. Peaks P1 and P2 shown in FIG. 5 indicate a state in which the number N of abnormal state detections has rapidly increased due to causes other than aging deterioration. Further, broken line circles C1 and C2 in FIG. 5 indicate that the number N of abnormal state detections exceeds the abnormality detection threshold when the peaks P1 and P2 occur. In response to this, the drive source abnormality detection device 1 outputs an alarm and can notify the operator of the shovel that an abnormality has occurred in the internal combustion engine due to a cause other than aging.

以上の構成により、駆動源異常検出装置１は、内燃エンジンに異常が生じたことを検出することによって、ショベルの出力低下の原因が内燃エンジンの異常に起因するか否かをより明確に特定することができる。   With the above configuration, the drive source abnormality detection device 1 more clearly specifies whether or not the cause of the output reduction of the shovel is caused by the abnormality of the internal combustion engine by detecting that the abnormality has occurred in the internal combustion engine. be able to.

なお、駆動源異常検出装置１は、非正常状態検出数Ｎが異常検出閾値ＴＨ１を上回った場合に警報を出力させるが、図示しないエンジンコントローラ等が出力する他の異常検出信号に基づく警報の出力を中止させるものではない。したがって、駆動源異常検出装置１は、他の異常検出信号が生成された場合には、その異常検出信号に基づく警報の出力を優先させてもよい。   The drive source abnormality detection device 1 outputs an alarm when the abnormal state detection number N exceeds the abnormality detection threshold TH1, but outputs an alarm based on another abnormality detection signal output by an engine controller or the like (not shown). Is not intended to cancel. Therefore, when another abnormality detection signal is generated, the drive source abnormality detection device 1 may prioritize output of an alarm based on the abnormality detection signal.

次に、図６及び図７を参照しながら、駆動源異常検出部１２が内燃エンジンの異常を検出する処理の別の例（以下、「第２駆動源異常検出処理」とする。）について説明する。なお、図６は、第２駆動源異常検出処理の流れを示すブロック線図であり、図４に対応する。また、図７は、非正常状態検出数Ｎの時間的推移を示すグラフであり、図５に対応する。なお、図７の点線で示す推移は、図５の実線で示す推移に相当する。   Next, another example of the process in which the drive source abnormality detection unit 12 detects an abnormality in the internal combustion engine (hereinafter referred to as “second drive source abnormality detection process”) will be described with reference to FIGS. 6 and 7. To do. FIG. 6 is a block diagram showing the flow of the second drive source abnormality detection process, and corresponds to FIG. FIG. 7 is a graph showing the temporal transition of the number N of abnormal state detections, and corresponds to FIG. The transition indicated by the dotted line in FIG. 7 corresponds to the transition indicated by the solid line in FIG.

第２駆動源異常検出処理は、推定回転数偏差補正値αを推定回転数偏差ΔωＶに加算する処理を有する点において第１駆動源異常検出処理と相違するが、その他の点において共通する。そのため、共通点の説明を省略し、相違点の部分を詳細に説明する。 Second drive source abnormality detection processing is different from the first drive source abnormality detection process in that a process of adding the estimated rotational speed error correction value α to the estimated rotational speed difference [Delta] [omega V, common to the other points. Therefore, the description of the common points is omitted, and the differences are described in detail.

推定回転数偏差補正値αは、内燃エンジンの経年劣化により実回転数偏差ΔωＲが徐々に増大し、内燃エンジンの経年劣化の影響を受けない推定回転数偏差ΔωＶよりも大きくなり易くなるのを是正するために用いられる値である。 The estimated rotational speed deviation correction value α is likely to be larger than the estimated rotational speed deviation Δω V that is not affected by the aging deterioration of the internal combustion engine because the actual rotational speed deviation Δω R gradually increases due to the aging deterioration of the internal combustion engine. It is a value used to correct

本実施例では、推定回転数偏差補正値αは、初期値がゼロであり、非正常状態検出数Ｎの平均値が所定の変更閾値ＴＨ２に達する度に所定値ｘが加算される。なお、非正常状態検出数Ｎの平均値は、例えば、時間的に連続する所定数の所定積算期間における非正常状態検出数Ｎの平均値であり、通常、内燃エンジンの使用期間が長くなるにつれて増加する。   In the present embodiment, the estimated rotational speed deviation correction value α has an initial value of zero, and a predetermined value x is added each time the average value of the abnormal state detection number N reaches a predetermined change threshold TH2. Note that the average value of the abnormal state detection number N is, for example, the average value of the abnormal state detection number N in a predetermined number of predetermined integration periods that are temporally continuous. Normally, as the use period of the internal combustion engine increases. To increase.

具体的には、図７に示すように、時刻ｔ１において非正常状態検出数Ｎの平均値が変更閾値ＴＨ２に達した場合、駆動源異常検出部１２は、推定回転数偏差補正値αの値ゼロに所定値ｘを加算して値ｘとする。   Specifically, as shown in FIG. 7, when the average value of the abnormal state detection number N reaches the change threshold value TH2 at time t1, the drive source abnormality detection unit 12 determines the value of the estimated rotational speed deviation correction value α. A predetermined value x is added to zero to obtain a value x.

所定値ｘが加算された推定回転数偏差補正値αは、図６に示すように、エンジン全伝達関数３１の出力である推定回転数偏差ΔωＶに加算された上で、比較演算要素４１に入力される。 The estimated rotational speed deviation correction value α to which the predetermined value x is added is added to the estimated rotational speed deviation Δω V , which is the output of the engine total transfer function 31, as shown in FIG. Entered.

比較演算要素４１は、推定回転数偏差ΔωＶに推定回転数偏差補正値αを加えた値より実回転数偏差ΔωＲが大きい場合に比較結果ｎを値１とする。また、比較演算要素４１は、推定回転数偏差ΔωＶに推定回転数偏差補正値αを加えた値より実回転数偏差ΔωＲが小さいか等しい場合に比較結果ｎを値ゼロとする。 Comparison operation element 41, the comparison result n with the value 1 when the estimated rotation speed deviation [Delta] [omega V to the estimated rotation speed deviation correction value α the actual rotation speed deviation [Delta] [omega R than a value obtained by adding a large. The comparison operation element 41, and the comparison result n the value zero when either the actual rotational speed difference [Delta] [omega R than a value obtained by adding the estimated rotational speed deviation correction value α to the estimated rotational speed deviation [Delta] [omega V is less equal.

これにより、駆動源異常検出部１２は、内燃エンジンの経年劣化により実回転数偏差ΔωＲが増大し、実回転数偏差ΔωＲが推定回転数偏差ΔωＶを上回り易くなるのを緩和できる。 Thus, the drive source abnormality detection unit 12 can alleviate the fact that the actual rotational speed deviation Δω R increases due to the deterioration of the internal combustion engine and the actual rotational speed deviation Δω R easily exceeds the estimated rotational speed deviation Δω V.

その後、駆動源異常検出部１２は、図７に示すように、時刻ｔ２〜ｔ８のそれぞれにおいて、非正常状態検出数Ｎの平均値が変更閾値ＴＨ２に達する毎に、推定回転数偏差補正値αの値に所定値ｘを加算する。その結果、推定回転数偏差補正値αの値は、ｘ、２ｘ、３ｘ、・・・、８ｘと増加する。   Thereafter, as shown in FIG. 7, the drive source abnormality detection unit 12 performs the estimated rotational speed deviation correction value α every time the average value of the abnormal state detection number N reaches the change threshold value TH2 at each of the times t2 to t8. A predetermined value x is added to the value of. As a result, the estimated rotational speed deviation correction value α increases to x, 2x, 3x, ..., 8x.

なお、第２駆動源異常検出処理においても、駆動源異常検出部１２は、経年劣化以外の原因によって内燃エンジンに異常が生じ、非正常状態検出数Ｎが急激に増加した場合には警報を出力する。そのため、経年劣化以外の原因によって内燃エンジンに異常が生じたことをショベルの操作者に通知できる。   Even in the second drive source abnormality detection process, the drive source abnormality detection unit 12 outputs an alarm when an abnormality occurs in the internal combustion engine due to a cause other than aged deterioration and the abnormal state detection number N increases rapidly. To do. Therefore, the operator of the excavator can be notified that an abnormality has occurred in the internal combustion engine due to a cause other than aging.

以上の構成により、駆動源異常検出装置１は、経年劣化以外の原因によって内燃エンジンに異常が生じたことを操作者に通知できるようにしながらも、経年劣化による非正常状態検出数Ｎの増加に起因する過度の警報出力を防止できる。   With the above configuration, the drive source abnormality detection device 1 can notify the operator that an abnormality has occurred in the internal combustion engine due to a cause other than aging deterioration, while increasing the number N of abnormal state detections due to aging deterioration. The excessive alarm output resulting from it can be prevented.

以上、本発明の好ましい実施例について詳説したが、本発明は、上述した実施例に制限されることはなく、本発明の範囲を逸脱することなしに上述した実施例に種々の変形及び置換を加えることができる。   Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

例えば、上述の実施例では、駆動源異常検出装置１は、ショベルに搭載され、油圧ポンプが直結された内燃エンジンの異常を検出するが、内燃エンジン等の駆動源を搭載するフォークリフト等の他の建設機械に搭載されてもよい。また、油圧ポンプ以外の他の負荷が駆動源の駆動軸に接続されてもよい。   For example, in the above-described embodiment, the drive source abnormality detection device 1 is mounted on a shovel and detects an abnormality of an internal combustion engine to which a hydraulic pump is directly connected. It may be mounted on a construction machine. Further, a load other than the hydraulic pump may be connected to the drive shaft of the drive source.

１・・・駆動源異常検出装置 ２・・・回転数センサ ３・・・斜板傾転角センサ ４・・・吐出圧センサ ５・・・出力装置 １０・・・回転数検出部 １１・・・負荷トルク検出部 １２・・・駆動源異常検出部 ２０・・・ＰＩ制御部 ２１・・・リミッタ ２２・・・エンジンメカ系伝達関数 ２３・・・トルク・回転数変換部 ３０・・・エンジン内伝達関数 ３１・・・エンジン全伝達関数 ４０・・・微分演算要素 ４１・・・比較演算要素 ４２・・・積分演算要素 ４３・・・比較演算要素   DESCRIPTION OF SYMBOLS 1 ... Drive source abnormality detection apparatus 2 ... Speed sensor 3 ... Swash plate tilt angle sensor 4 ... Discharge pressure sensor 5 ... Output device 10 ... Speed detector 11 ... Load torque detection unit 12 ... Drive source abnormality detection unit 20 ... PI control unit 21 ... Limiter 22 ... Engine mechanical system transfer function 23 ... Torque / rotational speed conversion unit 30 ... Engine Internal transfer function 31 ... Engine total transfer function 40 ... Differential operation element 41 ... Comparison operation element 42 ... Integration operation element 43 ... Comparison operation element

Claims (4)

所定の目標回転数を維持するよう制御される駆動源の異常を検出する駆動源異常検出装置であって、
前記駆動源の回転数を検出する回転数検出部と、
前記駆動源の負荷トルクを検出する負荷トルク検出部と、
前記回転数検出部が検出した回転数と前記目標回転数との間の第１回転数偏差と、前記負荷トルク検出部が検出した負荷トルクから算出される第２回転数偏差との比較に基づいて前記駆動源の異常を検出する駆動源異常検出部と、
を備える駆動源異常検出装置。 A drive source abnormality detection device for detecting an abnormality of a drive source controlled to maintain a predetermined target rotational speed,
A rotational speed detector for detecting the rotational speed of the drive source;
A load torque detector for detecting a load torque of the drive source;
Based on a comparison between a first rotation speed deviation between the rotation speed detected by the rotation speed detection unit and the target rotation speed and a second rotation speed deviation calculated from the load torque detected by the load torque detection unit. A drive source abnormality detector for detecting an abnormality of the drive source;
A drive source abnormality detection device comprising: 前記駆動源異常検出部は、前記第１回転数偏差が前記第２回転数偏差より大きい状態を所定頻度以上の頻度で検出した場合に前記駆動源の異常を検出する、
請求項１に記載の駆動源異常検出装置。 The drive source abnormality detection unit detects an abnormality of the drive source when detecting a state in which the first rotation speed deviation is greater than the second rotation speed deviation at a frequency equal to or higher than a predetermined frequency.
The drive source abnormality detection device according to claim 1. 前記駆動源異常検出部は、前記駆動源の経年劣化に応じて前記第２回転数偏差を補正する、
請求項１又は２に記載の駆動源異常検出装置。 The drive source abnormality detection unit corrects the second rotational speed deviation in accordance with aged deterioration of the drive source;
The drive source abnormality detection apparatus according to claim 1 or 2. 所定の目標回転数を維持するよう制御される内燃エンジンの異常を検出する駆動源異常検出装置であって、
前記内燃エンジンの回転数を検出する回転数検出部と、
前記内燃エンジンの駆動軸に接続される油圧ポンプのポンプ吸収トルクを検出する負荷トルク検出部と、
前記回転数検出部が検出した回転数と前記目標回転数との間の第１回転数偏差と、前記負荷トルク検出部が検出したポンプ吸収トルクから算出される第２回転数偏差との比較に基づいて前記内燃エンジンの異常を検出する駆動源異常検出部と、
を備える駆動源異常検出装置。 A drive source abnormality detection device for detecting an abnormality of an internal combustion engine controlled to maintain a predetermined target rotational speed,
A rotational speed detector for detecting the rotational speed of the internal combustion engine;
A load torque detector for detecting a pump absorption torque of a hydraulic pump connected to a drive shaft of the internal combustion engine;
For comparison between the first rotational speed deviation between the rotational speed detected by the rotational speed detection unit and the target rotational speed and the second rotational speed deviation calculated from the pump absorption torque detected by the load torque detection unit. A drive source abnormality detector for detecting an abnormality of the internal combustion engine based on
A drive source abnormality detection device comprising:
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019031205A (en) * 2017-08-08 2019-02-28 住友重機械工業株式会社 Shovel

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019031205A (en) * 2017-08-08 2019-02-28 住友重機械工業株式会社 Shovel
JP6999326B2 (en) 2017-08-08 2022-01-18 住友重機械工業株式会社 Excavator, diagnostic method

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