JP5562288B2 - 建設機械の電動駆動装置 - Google Patents
建設機械の電動駆動装置 Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
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- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
- E02F3/325—Backhoes of the miniature type
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- E—FIXED CONSTRUCTIONS
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- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/24—Driver interactions by lever actuation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/142—Emission reduction of noise acoustic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/145—Structure borne vibrations
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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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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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
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- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y02T10/00—Road transport of goods or passengers
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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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- 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
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Description
なお、上記第1〜第3の変形例においては、LS差圧Plsに相当する圧力を出力する差圧検出弁41を備えていないため、圧力補償弁35A,36A等は、対応する方向切換弁の上流側圧力を導入して閉弁側に作用させる受圧部と、対応する方向切換弁の下流側圧力(詳細には、負荷ポートの出力圧)を導入して開弁側に作用させる受圧部と、油圧ポンプ30の吐出圧Psを導入して開弁側に作用させる受圧部と、シャトル弁39から複数の油圧アクチュエータの最高負荷圧Plmaxを導入して閉弁側に作用させる受圧部とを有している。
13A 走行用油圧モータ
13B 走行用油圧モータ
15 ブレード用油圧シリンダ
17 旋回用油圧モータ
18 スイング用油圧シリンダ
22 ブーム用油圧シリンダ
23 アーム用油圧シリンダ
24 バケット用油圧シリンダ
28 双方向コンバータ(電動・発電機制御手段、回転数取得手段)
29 電動・発電機
30 油圧ポンプ
33,33A ブーム用方向切換弁
34,34A アーム用方向切換弁
35,35A ブーム用圧力補償弁
36,36A アーム用圧力補償弁
37A 操作装置(操作手段)
37B 操作装置(操作手段)
40,40A,40B,40C LS差圧検出装置(差圧検出手段)
45,45A ロードセンシング制御装置(指令制御手段)
58 吐出圧センサ(吐出圧検出手段)
59 最高負荷圧センサ(最高負荷圧検出手段)
62 センタバイパス流路
63 絞り
64 制御圧センサ(制御圧検出手段)
66 ネガティブ制御装置(指令制御手段、吐出流量演算手段)
69 パイロット圧センサ(最大操作量検出手段)
70 ポジティブ制御装置(指令制御手段、吐出流量演算手段)
Claims (4)
- 蓄電装置と、
前記蓄電装置との間で電力の授受を行う電動・発電機と、
前記電動・発電機によって駆動する油圧ポンプと、
複数の油圧アクチュエータと、
前記複数の油圧アクチュエータの動作を指示する複数の操作手段と、
前記複数の操作手段の操作方向及び操作量に応じて、前記油圧ポンプから前記複数の油圧アクチュエータへ供給する圧油の方向及び流量をそれぞれ制御する複数の方向切換弁とを備えた建設機械の電動駆動装置において、
前記電動・発電機の回転数を可変制御する電動・発電機制御手段と、
前記複数の操作手段のそれぞれからの操作指令量に基づく要求流量の変化に応じて前記電動・発電機制御手段への指令値を演算する指令制御手段とを備え、
前記複数の方向切換弁のそれぞれの前後差圧が、前記油圧ポンプの吐出圧と前記複数の油圧アクチュエータの最高負荷圧との差圧であるロードセンシング差圧となるように制御する複数の圧力補償弁と、
前記ロードセンシング差圧を検出する差圧検出手段とをさらに備え、
前記指令制御手段は、前記差圧検出手段で検出されたロードセンシング差圧が予め設定された目標値となるように、それらの差分に応じて前記電動・発電機制御手段への指令値を演算しており、
前記電動・発電機制御手段は、前記ロードセンシング差圧が前記目標値を上回って前記電動・発電機の回転数を減少させるときに、前記電動・発電機の回転子の慣性力を電力に変換して前記蓄電装置を充電する回生制御を行うことを特徴とする建設機械の電動駆動装置。 - 蓄電装置と、
前記蓄電装置との間で電力の授受を行う電動・発電機と、
前記電動・発電機によって駆動する油圧ポンプと、
複数の油圧アクチュエータと、
前記複数の油圧アクチュエータの動作を指示する複数の操作手段と、
前記複数の操作手段の操作方向及び操作量に応じて、前記油圧ポンプから前記複数の油圧アクチュエータへ供給する圧油の方向及び流量をそれぞれ制御する複数の方向切換弁とを備えた建設機械の電動駆動装置において、
前記電動・発電機の回転数を可変制御する電動・発電機制御手段と、
前記複数の操作手段のそれぞれからの操作指令量に基づく要求流量の変化に応じて前記電動・発電機制御手段への指令値を演算する指令制御手段とを備え、
前記複数の方向切換弁のそれぞれの前後差圧が、前記油圧ポンプの吐出圧と前記複数の油圧アクチュエータの最高負荷圧との差圧であるロードセンシング差圧となるように制御する複数の圧力補償弁と、
前記油圧ポンプの吐出圧を検出する吐出圧検出手段と、
前記複数の油圧アクチュエータの最高負荷圧を検出する最高負荷圧検出手段とをさらに備え、
前記指令制御手段は、前記最高負荷圧検出手段で検出された前記複数の油圧アクチュエータの最高負荷圧に基づいて前記油圧ポンプの吐出圧に対する目標値を設定し、前記吐出圧検出手段で検出された前記油圧ポンプの吐出圧が前記目標値となるように、それらの差分に応じて前記電動・発電機制御手段への指令値を演算しており、
前記電動・発電機制御手段は、前記油圧ポンプの吐出圧が前記目標値を上回って前記電動・発電機の回転数を減少させるときに、前記電動・発電機の回転子の慣性力を電力に変換して前記蓄電装置を充電する回生制御を行うことを特徴とする建設機械の電動駆動装置。 - 蓄電装置と、
前記蓄電装置との間で電力の授受を行う電動・発電機と、
前記電動・発電機によって駆動する油圧ポンプと、
複数の油圧アクチュエータと、
前記複数の油圧アクチュエータの動作を指示する複数の操作手段と、
前記複数の操作手段の操作方向及び操作量に応じて、前記油圧ポンプから前記複数の油圧アクチュエータへ供給する圧油の方向及び流量をそれぞれ制御する複数の方向切換弁とを備えた建設機械の電動駆動装置において、
前記電動・発電機の回転数を可変制御する電動・発電機制御手段と、
前記複数の操作手段のそれぞれからの操作指令量に基づく要求流量の変化に応じて前記電動・発電機制御手段への指令値を演算する指令制御手段とを備え、
前記複数の方向切換弁は、オープンセンタ型であり、
前記複数の方向切換弁のセンタバイパス流路の下流側に設けられた絞りと、
前記絞りの上流側で切換わる複数の方向切換弁のうちの少なくとも1つの切換量の変化に基づき変化する、前記絞りの上流側圧力を制御圧として検出する制御圧検出手段と、
前記電動・発電機の回転数を取得する回転数取得手段と、
前記回転数取得手段で取得された前記電動・発電機の回転数に基づいて前記油圧ポンプの吐出流量を演算する吐出流量演算手段とをさらに備え、
前記指令制御手段は、前記吐出流量演算手段で算出された前記油圧ポンプの吐出流量に基づいて前記制御圧に対する目標値を設定し、前記制御圧検出手段で検出された制御圧と前記目標値との差分に応じて前記電動・発電機制御手段への指令値を演算しており、
前記電動・発電機制御手段は、前記制御圧が前記目標値を上回って前記電動・発電機の回転数を減少させるときに、前記電動・発電機の回転子の慣性力を電力に変換して前記蓄電装置を充電する回生制御を行うことを特徴とする建設機械の電動駆動装置。 - 蓄電装置と、
前記蓄電装置との間で電力の授受を行う電動・発電機と、
前記電動・発電機によって駆動する油圧ポンプと、
複数の油圧アクチュエータと、
前記複数の油圧アクチュエータの動作を指示する複数の操作手段と、
前記複数の操作手段の操作方向及び操作量に応じて、前記油圧ポンプから前記複数の油圧アクチュエータへ供給する圧油の方向及び流量をそれぞれ制御する複数の方向切換弁とを備えた建設機械の電動駆動装置において、
前記電動・発電機の回転数を可変制御する電動・発電機制御手段と、
前記複数の操作手段のそれぞれからの操作指令量に基づく要求流量の変化に応じて前記電動・発電機制御手段への指令値を演算する指令制御手段とを備え、
前記複数の操作手段の最大操作量を検出する最大操作量検出手段と、
前記電動・発電機の回転数を検出する回転数取得手段と、
前記回転数取得手段で検出された前記電動・発電機の回転数に基づいて前記油圧ポンプの吐出流量を演算する吐出流量演算手段とをさらに備え、
前記指令制御手段は、前記最大操作量検出手段で検出された前記複数の操作手段の最大操作量に基づいて要求流量を設定し、前記吐出流量演算手段で算出された前記油圧ポンプの吐出流量が前記要求流量となるように、それらの差分に応じて前記電動・発電機制御手段への指令値を演算しており、
前記電動・発電機制御手段は、前記油圧ポンプの吐出流量が前記要求流量を上回って前記電動・発電機の回転数を減少させるときに、前記電動・発電機の回転子の慣性力を電力に変換して前記蓄電装置を充電する回生制御を行うことを特徴とする建設機械の電動駆動装置。
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