JP5198661B2 - ハイブリッド型作業機械及び作業機械の制御方法 - Google Patents
ハイブリッド型作業機械及び作業機械の制御方法 Download PDFInfo
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- JP5198661B2 JP5198661B2 JP2011519438A JP2011519438A JP5198661B2 JP 5198661 B2 JP5198661 B2 JP 5198661B2 JP 2011519438 A JP2011519438 A JP 2011519438A JP 2011519438 A JP2011519438 A JP 2011519438A JP 5198661 B2 JP5198661 B2 JP 5198661B2
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- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
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- B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
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- B60W30/1882—Controlling power parameters of the driveline, e.g. determining the required power characterised by the working point of the engine, e.g. by using engine output chart
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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- Chemical & Material Sciences (AREA)
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- Power Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Sustainable Development (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
- Hybrid Electric Vehicles (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
エンジン実回転数Nengactは、エンジン50の実際の回転数を示す変数である。エンジン50はパワーショベルの運転時には常に駆動されており、エンジン実回転数Nactが検出されている。
油圧負荷要求出力Phydreqは、油圧負荷54が必要とする動力を示す変数であり、例えばパワーショベルを運転者が操作する際の操作レバーの操作量に相当する。
電気負荷要求出力Pelcreqは、電気負荷56が必要とする電力を示す変数であり、例えばパワーショベルを運転者が操作する際の操作レバーの操作量に相当する。
バッテリ電圧Vactは、バッテリ58の出力電圧を示す変数である。本実施形態ではバッテリとしてキャパシタ蓄電器を用いている。キャパシタの充電量は、キャパシタの端子間電圧の二乗に比例するから、出力電圧を検出することでバッテリ58の充電状態(すなわち、充電率SOC)を知ることができる。
エンジン実出力Pengactは、エンジン50の実際の出力を示す実測値であり、エンジン50の回転数とトルクとの積から求められる。
エンジン50は常に予め設定された一定の回転数で駆動されるように駆動制御されている。この予め設定された一定の回転数がエンジン目標回転数Nengrefである。
アシストモータ実回転数Nasmactは、アシストモータ52の実際の回転数を示す変数である。アシストモータ52はエンジン50に接続されているため、パワーショベルの運転時には常に駆動されており、アシストモータ実回転数Nasmactが検出されている。
油圧負荷要求出力Phydreqに対して、実際に油圧負荷54に供給する動力である。油圧負荷要求出力Phydreqに対して常に要求された動力を供給すると、同時に駆動されている電気負荷56の要求を満たせなくなったり、バッテリ58の充電率SOCを適当な範囲内に維持できなくなってしまう。このため、実際に油圧負荷54に供給する動力をある程度制限しなくてはならない場合がある。
電気負荷要求出力Pelcreqに対して、実際に電気負荷54に供給する電力である。電気負荷要求出力Pelcreqに対して常に要求された電力を供給すると、同時に駆動されている油圧負荷54の要求を満たせなくなったり、バッテリ58の充電率SOCを適当な範囲内に維持できなくなってしまう。このため、実際に電気負荷56に供給する電力をある程度制限しなくてはならない場合がある。
アシストモータ52の出力を指示する値である。アシストモータ出力指令Pasmrefにより、アシストモータ52が電動機として機能してエンジン50をアシストして油圧負荷54に動力を供給するか、あるいは、アシストモータ52が発電機として機能して電気負荷56に電力を供給するかバッテリ58を充電するか、が指示される。
1A、1B 走行機構
2 旋回機構
3 上部旋回体
4 ブーム
5 アーム
6 バケット
7 ブームシリンダ
8 アームシリンダ
9 バケットシリンダ
10 キャビン
11 エンジン
12 電動発電機(アシストモータ)
13 減速機
14 メインポンプ
15 パイロットポンプ
16 高圧油圧ライン
17 コントロールバルブ
18 インバータ
19 蓄電部
20 インバータ
21 旋回用電動機
23 メカニカルブレーキ
24 旋回減速機
25 パイロットライン
26 操作装置
26A、26B レバー
26C ペダル
27 油圧ライン
28 油圧ライン
29 圧力センサ
30 コントローラ
31 速度指令変換部
32 駆動制御装置
40 旋回駆動制御装置
50 エンジン
52 アシストモータ
54 油圧負荷
56 電気負荷
58 バッテリ
60 制御部
60a 出力条件算出部
60−1〜60−7 ブロック
60−8 ブロック(動力分配部)
60−9〜60−13 ブロック
Claims (9)
- エンジンの出力を油圧に変換し油圧駆動部に供給する油圧発生機と、
前記エンジンに接続され、電動機及び発電機の両方として機能する電動発電機と、
該電動発電機に電力を供給して電動機として機能させる蓄電器と、
該蓄電器からの電力により駆動され、且つ回生電力を発生して前記蓄電器に供給する電気駆動部と、
前記電動発電機の動作を制御する制御部と
を有するハイブリッド型作業機械であって、
前記制御部は、前記エンジンの回転数に基づいて前記エンジンの出力上限値を補正し、補正した前記エンジンの出力上限値に基づいて前記電動発電機の出力値を決定することを特徴とするハイブリッド型作業機械。 - 請求項1記載のハイブリッド型作業機械であって、
前記制御部は、前記エンジンの回転数に基づいて前記電動発電機の出力下限値を補正し、補正した前記電動発電機の出力下限値に基づいて前記電動発電機と前記油圧駆動部と前記電気駆動部との出力値を決定することを特徴とするハイブリッド型作業機械。 - 請求項2記載のハイブリッド型作業機械であって、
前記制御部は、前記蓄電器の放電能力を考慮して前記電動発電機の出力下限値を補正することを特徴とするハイブリッド型作業機械。 - 請求項1乃至3のうちいずれか一項記載のハイブリッド型作業機械であって、
前記制御部は、前記蓄電器の放電能力に基づいて前記油圧駆動部の出力を決定することを特徴とするハイブリッド型作業機械。 - エンジンの出力を油圧に変換し油圧駆動部に供給する油圧発生機と、
前記エンジンに接続され、電動機及び発電機の両方として機能する電動発電機と、
該電動発電機に電力を供給して電動機として機能させる蓄電器と、
該蓄電器からの電力により駆動され、且つ回生電力を発生して前記蓄電器に供給する電気駆動部と、
前記電動発電機の動作を制御する制御部と
を有するハイブリッド型作業機械であって、
前記制御部は、前記エンジンの回転数に基づいて前記電動発電機の出力下限値を補正し、補正した前記電動発電機の出力下限値に基づいて前記電動発電機の出力値を決定することを特徴とするハイブリッド型作業機械。 - 請求項5記載のハイブリッド型作業機械であって、
前記制御部は、前記蓄電器の放電能力を考慮して前記電動発電機の出力下限値を補正することを特徴とするハイブリッド型作業機械。 - 請求項5又は6記載のハイブリッド型作業機械であって、
前記制御部は、前記蓄電器の放電能力を考慮して前記油圧駆動部の出力を決定することを特徴とするハイブリッド型作業機械。 - エンジンにより油圧発生機を駆動して作業を行う作業機械の制御方法であって、
該内燃機関の出力の増加率を所定値に設定し、
該増加率の該所定値から求められる前記内燃機関の出力上限値と、前記油圧発生機に要求される油圧出力から求められた要求動力とを比較し、
前記要求動力が前記出力上限値を超えたときに、前記エンジンの出力が前記出力上限値以下になるように出力制御し、
前記エンジンの出力制御を所定の時間毎に行い、
前記エンジンの出力上限値を、前回のエンジンの出力に所定の割合の値を加えて算出することを特徴とする作業機械の制御方法。 - 請求項8記載の作業機械の制御方法であって、
前記出力上限値を求める際に、さらに前記エンジンの回転数も考慮することを特徴とする作業機械の制御方法。
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KR101360608B1 (ko) | 2014-02-10 |
KR20120024833A (ko) | 2012-03-14 |
CN102803036A (zh) | 2012-11-28 |
CN102803036B (zh) | 2016-01-20 |
US20120109472A1 (en) | 2012-05-03 |
WO2010150382A1 (ja) | 2010-12-29 |
JPWO2010150382A1 (ja) | 2012-12-06 |
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