JP6255137B2 - ハイブリッド建設機械の制御装置 - Google Patents
ハイブリッド建設機械の制御装置 Download PDFInfo
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- F01N3/00—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust
- F01N3/02—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust
- F01N3/021—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters
- F01N3/023—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters using means for regenerating the filters, e.g. by burning trapped particles
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- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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- B60W20/16—Control strategies specially adapted for achieving a particular effect for reducing engine exhaust emissions
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- 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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- E—FIXED CONSTRUCTIONS
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
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- F01N3/00—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust
- F01N3/02—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust
- F01N3/021—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters
- F01N3/023—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters using means for regenerating the filters, e.g. by burning trapped particles
- F01N3/027—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters using means for regenerating the filters, e.g. by burning trapped particles using electric or magnetic heating means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N9/00—Electrical control of exhaust gas treating apparatus
- F01N9/002—Electrical control of exhaust gas treating apparatus of filter regeneration, e.g. detection of clogging
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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
- F02D29/06—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 electric generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
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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
- Y02T10/10—Internal combustion engine [ICE] based vehicles
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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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- 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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- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/93—Conjoint control of different elements
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Hybrid Electric Vehicles (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Processes For Solid Components From Exhaust (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
蓄電装置の暖機は電動発電機を作動させて充放電を行う。蓄電装置の充電のために電動発電機を回生させると蓄電量が増加するので、所定値まで充電できるが、蓄電装置の放電のために電動発電機を力行させるとエンジンの負荷が減るので、排気ガスの高温を維持できなくなる。また、蓄電装置の充電量が所定値以上のときには、電動発電機の回生が困難になる。これらのことにより、蓄電装置の暖機中には「フィルタ再生」を中断しなければならない可能性が生じる。
図1において、ハイブリッドショベル1は、垂直方向にそれぞれ回動するブーム1a、アーム1b及びバケット1cを有する多関節型のフロント装置1Aと、上部旋回体1d及び下部走行体1eを有する車体1Bとを備えている。フロント装置1Aのブーム1aの基端は、上部旋回体1dの前部に垂直方向に回動可能に支持されている。ブーム1a、アーム1b、バケット1c、上部旋回体1d及び下部走行体1eは、ブームシリンダ3a、アームシリンダ3b、バケットシリンダ3c、旋回用電動発電機16(図2参照)及び左右の走行モータ3e、3fによりそれぞれ駆動される。なお、ブーム1a、アーム1b、バケット1c、及び下部走行体1eを駆動する油圧アクチュエータ3a〜3c,3e,3fを油圧作業部という。
(1)油圧ポンプ6に必要な動力を供給するための制御
油圧ポンプ6の油圧負荷(ポンプ吸収トルク)が大きく、エンジン7の動力だけでは十分な動力を供給できない場合に、電動発電機10を力行動作させて油圧ポンプ6に十分な動力を供給する。このアシスト動作をパワーアシストと呼ぶ。また、エンジン7のアイドル状態からの復帰時など、エンジン7の目標回転数に対して、エンジンの実回転数の乖離が大きい場合には、電動発電機10を力行動作させて、エンジン7の実回転数を素早く目標回転数に合致させる。このアシスト動作を加速アシストと呼ぶ。
(2)エンジン7の動力を平滑化するための制御
油圧ポンプ6の油圧負荷(ポンプ吸収トルク)が急峻に増加する場合には電動発電機10を力行動作させ、油圧ポンプ6の油圧負荷(ポンプ吸収トルク)が急峻に減少する場合には電動発電機10を回生動作させることで、エンジン動力の変化率が徐変するような制御を行う。この制御によって、排気ガス中の有害物質の生成を抑制することができる。
(3)蓄電残量を管理するための制御
油圧ポンプ6の油圧負荷(ポンプ吸収トルク)が小さく、且つ、バッテリコントローラ20によって算出されるバッテリ15の蓄電残量が少ないときは、インバータ12を制御して電動発電機10を発電機として動作させる回生制御を行い、余剰の電力を発生させるとともに、発生した余剰電力をバッテリ15に蓄える制御を行う。逆に、油圧ポンプ6の油圧負荷(ポンプ吸収トルク)が大きく、且つ、バッテリコントローラ20によって算出されるバッテリ15の蓄電残量が所定量以上あるときは、インバータ12を制御して電動発電機10にバッテリ15の電力を供給して電動発電機10を電動機として動作させる力行制御を行い、油圧ポンプ6をアシスト駆動する。
(4)フィルタ再生時の制御
車体コントローラ11は、フィルタ再生実施の判断を行い、フィルタ再生中は、上記(1)〜(3)の制御内容に対して各種の制限制御を実施する。
力行可能量演算部313での演算方法について図4を用いて説明する。図4は本発明のハイブリッド建設機械の制御装置の第1の実施の形態における力行可能量演算部の演算方法の一例を説明するための回転数―トルクマップ図である。
第1の実施の形態においては、充放電要求演算部309から充放電要求信号がトルク指令値演算部310に入力していたが、本実施の形態においては、充放電要求演算部309から充電要求信号のみがトルク指令値演算部310に入力される点が異なる。
Claims (5)
- エンジンと、エンジンによって駆動され発電可能な電動発電機と、前記エンジンと前記電動発電機の合計トルクで駆動される油圧ポンプと、前記油圧ポンプから吐出された圧油で駆動する複数の油圧アクチュエータと、前記電動発電機が発電した電力を蓄積し、前記電動発電機を駆動する電力を供給する蓄電装置と、前記蓄電装置と前記電動発電機との間の電力授受を行うインバータと、前記エンジンの排気ガス中の粒子状物質を捕集するフィルタと、前記電動発電機の力行動作または回生動作を制御するために前記インバータへ指令信号を出力する制御装置とを備えたハイブリッド建設機械において、
前記制御装置は、
前記フィルタの再生の要求を判断するフィルタ再生判断部と、
前記油圧ポンプの負荷を演算する油圧負荷演算部と、
前記油圧負荷演算部が演算した前記油圧ポンプの負荷に基づき前記電動発電機の力行可能量を演算する力行可能量演算部と、
前記電動発電機に対するトルク指令値を演算するトルク指令値演算部と、
前記トルク指令値演算部が演算した前記電動発電機のトルク指令値と前記フィルタ再生判断部が判断した前記フィルタの再生の要求信号とに基づいて、前記トルク指令値に対して力行を制限した信号を出力する力行動作制限部とを有し、
前記力行動作制限部は、前記フィルタの再生の要求信号があり、かつ前記トルク指令値演算部が演算したトルク指令値が前記力行可能量演算部が演算した前記力行可能量より大きい場合に前記電動発電機の力行動作を制限する
ことを特徴とするハイブリッド建設機械。 - 請求項1に記載のハイブリッド建設機械において、
前記フィルタの差圧を検出する差圧センサをさらに備え、
前記フィルタ再生判断部は、前記差圧センサが検出した前記フィルタの差圧信号を入力し、オペレータの操作による手動再生要求なのか、前記フィルタの差圧信号による連続再生要求なのかを判断し、
前記フィルタ再生判断部において、前記フィルタの手動再生の要求信号があると判断したとき、前記力行動作制限部は、前記電動発電機の力行動作を予め定めた所定値以下に制限する
ことを特徴とするハイブリッド建設機械。 - 請求項2に記載のハイブリッド建設機械において、
前記複数の油圧アクチュエータの動作を指示する操作レバー装置と、前記操作レバー装置の操作信号を入力して、オペレータの操作の状態を判断するレバー入力判断部とをさらに備え、
前記フィルタ再生判断部において、前記フィルタの連続再生の要求信号があると判断し、かつ前記レバー入力判断部において、オペレータの操作有り状態であると判断したときに、前記力行動作制限部は、前記電動発電機の力行動作を前記力行可能量演算部が演算した前記電動発電機の力行可能量よりも小さくする
ことを特徴とするハイブリッド建設機械。 - 請求項1に記載のハイブリッド建設機械において、
前記複数の油圧アクチュエータの動作を指示する操作レバー装置と、前記操作レバー装置の操作信号を入力して、オペレータの操作の状態を判断するレバー入力判断部とをさらに備え、
前記フィルタの再生の要求信号があると共に、前記レバー入力判断部において、オペレータの操作が無い状態であると判断したときに、前記力行動作制限部は、前記電動発電機の力行動作を予め定めた所定値以下に制限する
ことを特徴とするハイブリッド建設機械。 - 請求項1に記載のハイブリッド建設機械において、
前記フィルタの近傍に設けられた電熱ヒータと、前記電熱ヒータへ供給する前記蓄電装置からの電力を制御する第2のインバータと、前記蓄電装置の電圧と温度とを検出するバッテリセンサとを備え、
前記制御装置は、前記バッテリセンサが検出した前記蓄電装置の電圧と温度とを入力し、これらに基づいて前記蓄電装置の蓄電残量を演算し、前記蓄電装置に対する充電要求信号と放電要求信号を算出する充放電要求演算部と、前記放電要求信号を入力して前記電熱ヒータへ供給する電力指令信号を演算する電熱ヒータ制御部とを有し、前記充電要求信号は前記トルク指令値演算部に入力し、
前記力行動作制限部は、前記フィルタの再生の要求信号があるときであって、前記充電要求信号があるときには、前記電動発電機の回生動作の指令信号を演算し、前記電熱ヒータ制御部は、前記フィルタの再生の要求信号があるときであって、前記放電要求信号があるときには、前記電熱ヒータへ供給する電力指令信号を出力する
ことを特徴とするハイブリッド建設機械。
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