JPWO2010061837A1 - ハイブリッド式作業機械の制御方法、及びハイブリッド式作業機械のポンプ出力制限方法 - Google Patents
ハイブリッド式作業機械の制御方法、及びハイブリッド式作業機械のポンプ出力制限方法 Download PDFInfo
- Publication number
- JPWO2010061837A1 JPWO2010061837A1 JP2010540488A JP2010540488A JPWO2010061837A1 JP WO2010061837 A1 JPWO2010061837 A1 JP WO2010061837A1 JP 2010540488 A JP2010540488 A JP 2010540488A JP 2010540488 A JP2010540488 A JP 2010540488A JP WO2010061837 A1 JPWO2010061837 A1 JP WO2010061837A1
- Authority
- JP
- Japan
- Prior art keywords
- pump
- output
- hydraulic pump
- control method
- work machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 61
- 239000013642 negative control Substances 0.000 claims description 47
- 238000004364 calculation method Methods 0.000 claims description 45
- 238000010586 diagram Methods 0.000 claims description 44
- 238000004422 calculation algorithm Methods 0.000 claims description 32
- 238000006073 displacement reaction Methods 0.000 claims description 25
- 238000001514 detection method Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 12
- 239000013641 positive control Substances 0.000 description 10
- 238000009412 basement excavation Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000002485 combustion reaction Methods 0.000 description 4
- 239000003921 oil Substances 0.000 description 3
- 230000006866 deterioration Effects 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000011144 upstream manufacturing Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B60K6/48—Parallel type
- B60K6/485—Motor-assist type
-
- 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
-
- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1886—Controlling power supply to auxiliary devices
-
- 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
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
-
- 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
-
- 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
- F02D29/04—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 pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
- F03C1/00—Reciprocating-piston liquid engines
- F03C1/003—Reciprocating-piston liquid engines controlling
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
- F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
- F04B17/05—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by internal-combustion engines
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2203/00—Motor parameters
- F04B2203/02—Motor parameters of rotating electric motors
- F04B2203/0208—Power
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20523—Internal combustion engine
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
- F15B2211/20553—Type of pump variable capacity with pilot circuit, e.g. for controlling a swash plate
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/26—Power control functions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
-
- 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
- Y02T10/62—Hybrid vehicles
-
- 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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- 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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
によって油圧ポンプ21の入力馬力を変化させると共に、コントローラ2によってエンジンモータ1の回転数を変化させて上記の各作業モードを切り換え、図2に示すような油圧ポンプの吐出圧力−吐出流量特性(P−Q特性)を実現させている。
η(i,j)=η(j,j)−(Pj−Pi)(η(j,j)−η(j+1,j))/(Pj−Pj+1)
η(i,j+1)=η(j,j+1)−(Pj−Pi)(η(j,j+1)−η(j+1,j+1))/(Pj−Pj+1)
続いて、ステップS4において、算出したポンプ効率η(i,j)とη(i,j+1)を用いて以下の式によりポンプ効率ηoを算出する。これは、図5における(5)に相当する。
ηo=η(i,j)−(Kj−Ki)(η(i,j)−η(j,j+1))/(Kj−Kj+1)
以上のような演算処理により、ポンプ吐出圧力がPiでポンプ傾斜板角度がKiのときのポンプ効率ηoを精度よく求めることができる。すなわち、ポンプ吐出圧力とポンプ傾斜板角度をパラメータとしてポンプ効率を求めることで、精度よくポンプ効率を算出することができる。
ポンプ出力制限量ΔWrを用いて、ΔWとΔIの関係に基づく線形補間により、制御後のポンプ電流Ioを算出する。
そして、制限前のポンプ電流Iiに、以上のようにして求められたポンプ電流制限量ΔIoを加えることで制限後のポンプ電流Ioを求めることができる(Io=Ii+ΔIo)。
=Ij−(Ij−Ij+1)ΔTr/(Tji−Tj+1,i)
図16において、この式により求められた制限後のポンプ電流Ioは(5)で示されている。
=Ij−(Ij−Ij+1)ΔQr/(Qj+1,i)
図19において、この式により求められた制限後のポンプ電流Ioは(5)で示されている。
2 コントローラ
3 モード切換器
4 スロットルボリューム
5 電磁比例弁
21 油圧ポンプ
21a 斜板
21A パイロット・ギアポンプ
22 コントローラバルブ
22a,22b,22c 切換弁
23 ポンプ吐出圧センサ
24 ネガティブコントロール絞り弁(ネガコン絞り弁)
25 タンク
26 ネガティブコントロールセンサ(ネガコンセンサ)
27 レギュレータ
30 エンジン
32 スプリッタ
34 アシストモータ
36,40 インバータ
38 バッテリ
42 コントローラ
50 油圧負荷推定演算部
52 エンジン出力範囲決定部
54 バッテリ出力決定部
54A バッテリ出力範囲決定部
54B バッテリ出力目標値決定部
54C 充電状態算出部
Claims (14)
- 油圧ポンプをエンジンの出力と電動発電機の出力とで駆動するハイブリッド式作業機械の制御方法であって、
前記油圧ポンプの入力側の動力を算出し、
算出した動力に基づいて前記電動発電機の出力を制御する
ことを特徴とするハイブリッド式作業機械の制御方法。 - 請求項1記載のハイブリッド式作業機械の制御方法であって、
前記油圧ポンプの入力側の動力を推定演算により算出することを特徴とするハイブリッド式作業機械の制御方法。 - 請求項2記載のハイブリッド式作業機械の制御方法であって、
前記油圧ポンプの出力側の動力を求め、求められた動力をポンプ効率で割ることにより、前記油圧ポンプの入力側の動力を算出することを特徴とするハイブリッド式作業機械の制御方法。 - 請求項3記載のハイブリッド式作業機械の制御方法であって、
前記油圧ポンプとして可変斜板式油圧ポンプを用い、
該可変斜板式油圧ポンプの傾斜板角度と吐出圧力とを用いて前記ポンプ効率を算出する
ことを特徴とするハイブリッド式作業機械の制御方法。 - 請求項1記載のハイブリッド式作業機械の制御方法であって、
前記エンジンの動力を前記油圧ポンプに供給する連結軸にトルクセンサを設け、
該トルクセンサの検出値から前記油圧ポンプの入力側の動力を算出する
ことを特徴とするハイブリッド式作業機械の制御方法。 - 請求項1乃至4のうちいずれか一項記載のハイブリッド式作業機械の制御方法であって、
ネガティブコントロール圧力から求めた前記油圧ポンプの吐出量であるネガコン制御吐出量圧と、前記油圧ポンプの吐出圧力から求めた前記油圧ポンプの吐出量である馬力制御吐出量とを比較し、いずれか小さいほうを前記油圧ポンプの吐出量として選定することを特徴とするハイブリッド式作業機械の制御方法。 - 請求項1乃至4のうちいずれか一項記載のハイブリッド式作業機械の制御方法であって、
油圧負荷を駆動するための指令を送る複数の操作レバーのレバー操作量から求めた前記油圧ポンプに要求される吐出量を加算して求めた要求吐出量と、前記油圧ポンプの吐出圧力から求めた前記油圧ポンプの吐出量である馬力制御吐出量とを比較し、いずれか小さいほうを前記油圧ポンプの吐出量として選定することを特徴とするハイブリッド式作業機械の制御方法。 - 請求項1乃至4のうちいずれか一項記載のハイブリッド式作業機械の制御方法であって、
最大負荷圧力に所定の差圧を加算して求めた油圧ポンプの吐出圧力を用いて、ポンプ馬力制御PQ線図から前記油圧ポンプの吐出量を求めることを特徴とするハイブリッド式作業機械の制御方法。 - 可変容量式油圧ポンプをエンジンで駆動し、電動発電機により該エンジンをアシストするハイブリッド式作業機械のポンプ出力制御方法であって、
前記可変式油圧ポンプの出力から前記エンジンの出力及び前記電動発電機の出力を減算して求めた出力超過分を用い、予め定められたアルゴリズムに従って前記可変容量式油圧ポンプの出力を制限することを特徴とするハイブリッド式作業機械のポンプ出力制御方法。 - 請求項9記載のハイブリッド式作業機械のポンプ出力制御方法であって、
前記アルゴリズムは、前記出力超過分と前記可変容量式油圧ポンプの吐出圧力とを用いて前記可変容量式油圧ポンプの制御電流を決定することを特徴とするハイブリッド式作業機械のポンプ出力制御方法。 - 請求項9記載のハイブリッド式作業機械のポンプ出力制御方法であって、
前記アルゴリズムに基づいて作成したマップを用いて前記可変容量式油圧ポンプの制御電流を決定することを特徴とするハイブリッド式作業機械のポンプ出力制御方法。 - 請求項9記載のハイブリッド式作業機械のポンプ出力制御方法であって、
前記アルゴリズムは、前記可変容量式油圧ポンプの制御電流制限量とポンプ出力制限量の関係を示す線図を用いて、前記可変容量式油圧ポンプの制御電流を決定することを特徴とするハイブリッド式作業機械のポンプ出力制御方法。 - 請求項9記載のハイブリッド式作業機械のポンプ出力制御方法であって、
前記アルゴリズムは、前記可変容量式油圧ポンプの制御電流制限量とトルク制限量の関係を示す線図を用いて、前記可変容量式油圧ポンプの制御電流を決定することを特徴とするハイブリッド式作業機械のポンプ出力制御方法。 - 請求項9記載のハイブリッド式作業機械のポンプ出力制御方法であって、
前記アルゴリズムは、前記可変容量式油圧ポンプの制御電流制限量とポンプ吐出量制限量の関係を示す線図を用いて、前記可変容量式油圧ポンプの制御電流を決定することを特徴とするハイブリッド式作業機械のポンプ出力制御方法。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010540488A JP4843105B2 (ja) | 2008-11-28 | 2009-11-25 | ハイブリッド式作業機械の制御方法、及びハイブリッド式作業機械のポンプ出力制限方法 |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008304530 | 2008-11-28 | ||
JP2008304530 | 2008-11-28 | ||
JP2008308698 | 2008-12-03 | ||
JP2008308698 | 2008-12-03 | ||
PCT/JP2009/069833 WO2010061837A1 (ja) | 2008-11-28 | 2009-11-25 | ハイブリッド式作業機械の制御方法、及びハイブリッド式作業機械のポンプ出力制限方法 |
JP2010540488A JP4843105B2 (ja) | 2008-11-28 | 2009-11-25 | ハイブリッド式作業機械の制御方法、及びハイブリッド式作業機械のポンプ出力制限方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP4843105B2 JP4843105B2 (ja) | 2011-12-21 |
JPWO2010061837A1 true JPWO2010061837A1 (ja) | 2012-04-26 |
Family
ID=42225710
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2010540488A Active JP4843105B2 (ja) | 2008-11-28 | 2009-11-25 | ハイブリッド式作業機械の制御方法、及びハイブリッド式作業機械のポンプ出力制限方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8744654B2 (ja) |
EP (1) | EP2363537B1 (ja) |
JP (1) | JP4843105B2 (ja) |
KR (1) | KR101364396B1 (ja) |
CN (1) | CN102216533B (ja) |
WO (1) | WO2010061837A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013056647A (ja) * | 2011-09-09 | 2013-03-28 | Hitachi Constr Mach Co Ltd | 作業機械の駆動制御装置 |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009022107A1 (de) * | 2009-05-20 | 2010-11-25 | Ksb Ag | Verfahren und Vorrichtung zur Betriebspunktbestimmung einer Arbeitsmaschine |
JP5367639B2 (ja) * | 2010-05-27 | 2013-12-11 | 住友重機械工業株式会社 | ハイブリッド式作業機械の制御方法 |
JP2012072833A (ja) * | 2010-09-28 | 2012-04-12 | Sumitomo Heavy Ind Ltd | 吐出量制御装置 |
EP2770119B1 (en) * | 2011-10-19 | 2021-09-22 | Hitachi Construction Machinery Co., Ltd. | Hybrid-driven hydraulic work machine |
CN103890409A (zh) * | 2011-10-20 | 2014-06-25 | 日立建机株式会社 | 电动式液压作业机械的液压驱动装置 |
JP5959874B2 (ja) | 2012-02-15 | 2016-08-02 | 日立建機株式会社 | ハイブリッド式作業車両 |
US20150337871A1 (en) * | 2014-05-23 | 2015-11-26 | Caterpillar Inc. | Hydraulic control system having bias current correction |
JP6378577B2 (ja) * | 2014-08-20 | 2018-08-22 | 川崎重工業株式会社 | 液圧駆動システム |
JP2016217378A (ja) * | 2015-05-15 | 2016-12-22 | 川崎重工業株式会社 | 建設機械の油圧駆動システム |
JP2017210732A (ja) * | 2016-05-23 | 2017-11-30 | Kyb株式会社 | ハイブリッド建設機械の制御システム |
CN109689979B (zh) * | 2017-03-07 | 2021-05-18 | 日立建机株式会社 | 工程机械 |
JP6814440B2 (ja) * | 2017-06-21 | 2021-01-20 | コベルコ建機株式会社 | 作業機械 |
JP7130474B2 (ja) * | 2018-07-11 | 2022-09-05 | 住友建機株式会社 | ショベル |
KR102391357B1 (ko) * | 2018-09-05 | 2022-04-27 | 가부시키가이샤 히다치 겡키 티에라 | 전동식 유압 작업 기계의 유압 구동 장치 |
CN113508208A (zh) | 2019-03-11 | 2021-10-15 | 住友建机株式会社 | 挖土机及挖土机的控制方法 |
CN110469647A (zh) * | 2019-06-28 | 2019-11-19 | 中冶宝钢技术服务有限公司 | 一种用于静压驱动车辆的防超速液压装置 |
CN110307198A (zh) * | 2019-06-28 | 2019-10-08 | 徐工集团工程机械股份有限公司科技分公司 | 基于负流量控制的液压***及工程机械 |
KR20220044439A (ko) | 2019-08-09 | 2022-04-08 | 스미토모 겐키 가부시키가이샤 | 쇼벨 |
JP2022076550A (ja) * | 2020-11-10 | 2022-05-20 | キャタピラー エス エー アール エル | 可変容量型油圧ポンプの較正システム |
CN113482983B (zh) * | 2021-06-30 | 2023-06-16 | 三一汽车制造有限公司 | 支腿油缸油压均衡的控制方法、***及作业机械 |
CN113525345B (zh) * | 2021-07-30 | 2022-09-06 | 三一汽车起重机械有限公司 | 一种混合动力工程机械跛行控制方法、装置及起重机 |
WO2023074822A1 (ja) | 2021-10-29 | 2023-05-04 | 住友建機株式会社 | ショベル |
CN118176345A (zh) | 2021-10-29 | 2024-06-11 | 住友建机株式会社 | 挖土机 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10103112A (ja) | 1996-09-26 | 1998-04-21 | Daikin Ind Ltd | 油圧駆動装置 |
JP4874311B2 (ja) | 1998-04-13 | 2012-02-15 | 大阪瓦斯株式会社 | ガスエンジン潤滑油組成物 |
JP2001173024A (ja) * | 1999-12-17 | 2001-06-26 | Shin Caterpillar Mitsubishi Ltd | 建設機械におけるハイブリッドシステム |
US7520354B2 (en) * | 2002-05-02 | 2009-04-21 | Oshkosh Truck Corporation | Hybrid vehicle with combustion engine/electric motor drive |
JP3833573B2 (ja) | 2002-06-06 | 2006-10-11 | 新キャタピラー三菱株式会社 | ハイブリッド式建設機械 |
DE10248715A1 (de) * | 2002-10-18 | 2004-05-13 | Compact Dynamics Gmbh | Hybridantrieb für ein Kraftfahrzeug |
JP3914520B2 (ja) * | 2003-06-18 | 2007-05-16 | 日立建機株式会社 | ハイブリッド式作業車両 |
JP4024192B2 (ja) * | 2003-09-08 | 2007-12-19 | 株式会社小松製作所 | ハイブリッド作業機械の駆動制御装置 |
JP2005237178A (ja) * | 2004-02-23 | 2005-09-02 | Kobelco Contstruction Machinery Ltd | 作業機械の動力源装置 |
JP2005233164A (ja) * | 2004-02-23 | 2005-09-02 | Kobelco Contstruction Machinery Ltd | 作業機械の動力源装置 |
CN1304213C (zh) * | 2005-03-11 | 2007-03-14 | 大连理工大学 | 并联式混合动力*** |
CN1895944A (zh) * | 2005-07-15 | 2007-01-17 | 中国第一汽车集团公司 | 提高混合动力汽车燃料经济性的控制方法 |
JP4725406B2 (ja) * | 2006-04-26 | 2011-07-13 | コベルコ建機株式会社 | ハイブリッド式作業機械の動力源装置 |
JP5169029B2 (ja) | 2007-06-05 | 2013-03-27 | 富士ゼロックス株式会社 | 画像表示媒体、画像表示装置、及び画像表示プログラム |
US7900724B2 (en) * | 2008-03-20 | 2011-03-08 | Terex-Telelect, Inc. | Hybrid drive for hydraulic power |
-
2009
- 2009-11-25 CN CN200980146190.5A patent/CN102216533B/zh not_active Expired - Fee Related
- 2009-11-25 EP EP09829085.1A patent/EP2363537B1/en not_active Not-in-force
- 2009-11-25 KR KR1020117012107A patent/KR101364396B1/ko active IP Right Grant
- 2009-11-25 US US13/130,816 patent/US8744654B2/en not_active Expired - Fee Related
- 2009-11-25 JP JP2010540488A patent/JP4843105B2/ja active Active
- 2009-11-25 WO PCT/JP2009/069833 patent/WO2010061837A1/ja active Application Filing
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013056647A (ja) * | 2011-09-09 | 2013-03-28 | Hitachi Constr Mach Co Ltd | 作業機械の駆動制御装置 |
Also Published As
Publication number | Publication date |
---|---|
KR20110089163A (ko) | 2011-08-04 |
WO2010061837A1 (ja) | 2010-06-03 |
EP2363537A1 (en) | 2011-09-07 |
EP2363537B1 (en) | 2013-10-16 |
US8744654B2 (en) | 2014-06-03 |
KR101364396B1 (ko) | 2014-02-17 |
CN102216533A (zh) | 2011-10-12 |
CN102216533B (zh) | 2015-08-19 |
JP4843105B2 (ja) | 2011-12-21 |
US20110238264A1 (en) | 2011-09-29 |
EP2363537A4 (en) | 2012-06-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4843105B2 (ja) | ハイブリッド式作業機械の制御方法、及びハイブリッド式作業機械のポンプ出力制限方法 | |
JP5562870B2 (ja) | ハイブリッド式作業機械及びその制御方法 | |
JP5952901B2 (ja) | ハイブリッド式建設機械 | |
JP5220679B2 (ja) | ハイブリッド型作業機械及びハイブリッド型作業機械の制御方法 | |
WO2011105415A1 (ja) | ハイブリッド建設機械の制御装置 | |
JP5974014B2 (ja) | ハイブリッド駆動式の油圧作業機械 | |
US9013050B2 (en) | Hybrid construction machine | |
JP6062116B2 (ja) | 作業車両及びその制御方法 | |
KR20140109407A (ko) | 건설 기계의 제어 장치 | |
JP6245828B2 (ja) | 作業機械及び作業機械の制御方法 | |
WO2014087978A1 (ja) | 作業機械 | |
WO2017204040A1 (ja) | ハイブリッド建設機械の制御システム | |
JP2016044414A (ja) | 液圧駆動システム | |
JP2017053212A (ja) | 作業車両及びその制御方法 | |
JP5367639B2 (ja) | ハイブリッド式作業機械の制御方法 | |
JPWO2018163826A1 (ja) | 建設機械 | |
EP3112640B1 (en) | Hybrid construction machine |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20111004 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20111006 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 4843105 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20141014 Year of fee payment: 3 |
|
S802 | Written request for registration of partial abandonment of right |
Free format text: JAPANESE INTERMEDIATE CODE: R311802 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |