WO2005108797A1 - 作業機械の油圧駆動装置 - Google Patents
作業機械の油圧駆動装置 Download PDFInfo
- Publication number
- WO2005108797A1 WO2005108797A1 PCT/JP2005/008199 JP2005008199W WO2005108797A1 WO 2005108797 A1 WO2005108797 A1 WO 2005108797A1 JP 2005008199 W JP2005008199 W JP 2005008199W WO 2005108797 A1 WO2005108797 A1 WO 2005108797A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- hydraulic pump
- engine
- hydraulic
- absorption torque
- output torque
- Prior art date
Links
- 238000010521 absorption reaction Methods 0.000 claims abstract description 123
- 239000000446 fuel Substances 0.000 claims abstract description 65
- 238000001514 detection method Methods 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 8
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 7
- 238000009412 basement excavation Methods 0.000 description 22
- 238000002347 injection Methods 0.000 description 19
- 239000007924 injection Substances 0.000 description 19
- 239000003921 oil Substances 0.000 description 13
- 238000010586 diagram Methods 0.000 description 12
- 230000033228 biological regulation Effects 0.000 description 9
- 230000002829 reductive effect Effects 0.000 description 8
- 239000004576 sand Substances 0.000 description 8
- 230000007423 decrease Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 230000002441 reversible effect Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000007935 neutral effect Effects 0.000 description 3
- 230000036961 partial effect Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- 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
-
- 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
-
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- 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
- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/30—Auxiliary equipments
- B60W2510/305—Power absorbed by auxiliaries
Definitions
- the present invention relates to a hydraulic drive device that is suitably mounted on a working machine such as a hydraulic shovel.
- Patent Document 1 JP-A-2-38630
- Patent Document 2 JP-A-2002-295408
- Patent Document 3 Patent No. 3064574
- Patent Document 4 JP-A-11-2144
- the hydraulic pump absorption torque characteristic line PLa is set to be a monotonically increasing function using the engine speed as a variable. Then, at the point Ma, the output torque of the engine and the absorption torque of the hydraulic pump are matched. The matching between the output torque of the engine and the absorption torque of the hydraulic pump is called "matching", and the point Ma in the figure is called a matching point Ma. In the case of the figure, since the matching point Ma is matched with the maximum horsepower point of the engine, the hydraulic pump absorbs the engine horsepower, that is, the maximum horsepower of the engine, at the matching point Ma, so that heavy excavation work can be increased. It can be done with efficiency.
- the output torque Ta of the engine at the matching point Ma and the engine speed Na are set as the target values, and the absorption torque of the hydraulic pump is increased or decreased while calculating the deviation between the target engine speed and the actual engine speed.
- the control method for matching the output torque of the engine and the absorption torque of the hydraulic pump at the matching point Ma is called “engine speed sensing control” and is a known technique.
- the engine When the operator selects the excavation mode or the straightening mode in the hydraulic drive, the engine is set to the partial load operation (partial operation), and is indicated by the line ELc in FIG. 10 (b).
- the engine output torque characteristic is set.
- a regulation line Rc is set toward the set engine speed NC.
- the hydraulic pump absorption torque characteristics indicated by the line V and PLc in the same figure (b) are set, and the absorption torque of the hydraulic pump is set to the set engine speed of the engine. It is controlled according to the value along the equal horsepower curve of the engine.
- Such a matching method between the absorption torque of the hydraulic pump and the output torque of the engine is referred to as “equal horsepower control”.
- the output torque point Mc is referred to as the “matching point Mc”.
- the fuel consumption rate (gZkwh: hereinafter omitted) is lower than the matching point Mc at the set engine speed NA. Since the output torque of the engine and the absorption torque of the hydraulic pump can be matched at the matching point Mc! The engine is to be used in an area where the fuel consumption rate is good while the engine power is the same as the engine power.
- the output torque point Md is referred to as the “matching point Md.”
- the matching point Md the output of the hydraulic pump required for the work is limited, thereby reducing the fuel consumption during light load work as a total amount.
- a target output torque point for obtaining the minimum fuel consumption is set for each work mode, and the work mode selected by the operator switching the work mode is supported.
- the engine horsepower at the target output torque point is absorbed by the hydraulic pump, whereby the fuel consumption can be reduced while ensuring the pump output required for the work.
- the pump controller controls the pump maximum absorption horsepower according to the accelerator opening, the pump discharge pressure, and the operation amount of the operation lever device.
- the required horsepower is calculated by calculating the required horsepower of the pump and the minimum value, and the required engine power is calculated by selecting the minimum value.
- the engine controller determines the required horsepower reference target engine speed having the lowest fuel consumption rate corresponding to the engine required horsepower, and compares the required horsepower reference target engine speed with the engine required speed. Set the rotation speed of the larger! / By controlling the fuel injection amount and fuel injection timing based on the engine target speed, the engine output torque and the speed are controlled.
- the operation amount of the operation lever device is small, the engine speed is not so much required, the engine can be used in a region where the fuel consumption rate is low at a light load, and the operation level is low.
- the engine speed can be preferentially increased and the workability can be secured.
- the operation amount of the operation lever device is small, and the engine speed is low. At a light load when the engine speed is not so required, the engine can be used in a low fuel consumption region. If the engine load is high and the operation amount of the operation lever device is large, and the engine load is high and the load is high, the engine speed should be preferentially increased to ensure the workability! When the amount of operation of the lever device is suddenly changed, the engine speed frequently changes, but since the work implement does not follow the engine speed up and down, there is a problem that it does not match the operator's operation feeling. .
- the present invention has been made in view of the above-described problems, and has a hydraulic drive device for a working machine capable of reliably obtaining a fuel efficiency reduction effect even in actual work in which work conditions change every moment.
- the purpose is to provide.
- a hydraulic drive device for a working machine comprises:
- a hydraulic drive device for a working machine including an engine, a hydraulic pump driven by the engine, and a hydraulic actuator operated by hydraulic oil discharged from the hydraulic pump,
- the hydraulic pump control unit is configured to set a predetermined engine output torque point at which the fuel consumption rate of the engine becomes substantially minimum. And controlling the absorption torque of the hydraulic pump so that the output torque of the engine matches the absorption torque of the hydraulic pump (first invention).
- the work condition determination means includes an operation state detection means for detecting an operation state of the hydraulic actuator, and a discharge pressure detection means for detecting a discharge pressure of Z or the hydraulic pump. It is preferable that the work condition is determined based on the detection result obtained by the operation state detection means and the detection result obtained by Z or the discharge pressure detection means (second invention).
- the hydraulic pump control means may include one hydraulic pump absorption torque characteristic that matches output torque of the engine and absorption torque of the hydraulic pump at the predetermined engine output torque point; At another engine output torque point different from the predetermined engine output torque point, switching to another hydraulic pump absorption torque characteristic for matching the output torque of the engine and the absorption torque of the hydraulic pump is performed gradually. Is preferable (third invention).
- throttle control means for controlling the engine speed at no load of the engine is provided, and the throttle control means is provided by the hydraulic pump control means to provide the predetermined engine output torque.
- the no-load engine speed is adjusted in synchronization with the switching operation. According to the difference between the engine speed corresponding to the engine output torque point and the engine speed corresponding to the other engine output torque point.
- Te fourth invention
- a work condition that does not require much output of the hydraulic pump is set as a specific work condition, and in an actual work in which the work condition changes every moment, the current work condition is It is determined by the work condition determining means whether the work condition is such. Then, when the work condition determined by the work condition determining means is a specific work condition, the hydraulic pump control means controls the absorption torque of the hydraulic pump so that the fuel consumption rate of the engine becomes substantially minimum. Engine output torque point The force torque and the absorption torque of the hydraulic pump are matched. Therefore, even in actual work in which the working conditions change every moment, the fuel consumption reduction effect can be reliably obtained.
- the switching of the absorption torque characteristic of the hydraulic pump is performed gradually, so that a rapid change in the engine speed and a sudden change in the discharge oil amount of the hydraulic pump are suppressed, and It is possible to reduce the impact and the like that can be produced by the actuator.
- FIG. 1 is a side view of a hydraulic shovel according to one embodiment of the present invention.
- FIG. 2 is an overall schematic system configuration diagram of a hydraulic drive device according to the present embodiment.
- FIG. 3 is an output torque characteristic diagram of an engine according to the embodiment.
- FIG. 4 is a functional block diagram of the engine's hydraulic pump control device according to the present embodiment.
- FIG. 5 is a characteristic diagram (1) showing the relationship between the output torque characteristics of the engine and the absorption torque characteristics of the hydraulic pump.
- FIG. 6 is a characteristic diagram (2) showing the relationship between the output torque characteristics of the engine and the absorption torque characteristics of the hydraulic pump.
- FIG. 7 is a diagram showing a state of a change in a hydraulic pump absorption torque characteristic line.
- FIG. 8 is a flowchart showing a processing procedure for determining a work condition.
- FIG. 9 is a time chart showing how the set engine speed, hydraulic pump absorption torque, and fuel consumption rate change in one working example.
- FIG. 10 is an explanatory diagram of a conventional technique.
- the present embodiment is an example in which the present invention is applied to a hydraulic shovel as a working machine.
- FIG. 1 shows a side view of a hydraulic shovel according to one embodiment of the present invention.
- FIG. 2 is an overall schematic system configuration diagram of the hydraulic drive device according to the present embodiment.
- FIG. 3 is a diagram showing an output torque characteristic diagram of the engine according to the present embodiment.
- Functional block diagram of hydraulic pump control unit As shown in FIG. 1, the excavator 1 of the present embodiment is driven by a lower traveling body 2 including a traveling device 2b driven by a traveling hydraulic motor 2a, and a turning hydraulic motor 3a.
- An operator cab 6 is provided at a front left position of the upper rotating body 4.
- the working machine 5 is configured such that a boom 7, an arm 8 and a packet 9 are rotatably connected in order from the upper revolving unit 4 side, so that the boom 7, the arm 8 and the packet 9 correspond to each of these.
- Hydraulic cylinders (boom cylinder 10, arm cylinder 11, and bucket cylinder 12) are arranged at the bottom.
- work implement operation levers 13, 14 for operating the swing operation of the upper swing body 4 and the bending and undulating movement of the work implement 5 are arranged.
- a pair of traveling operation levers 15 and 15 for operating the traveling operation of the lower traveling body 2 are arranged in front of the driver's seat.
- the hydraulic excavator 1 is provided with a hydraulic circuit 16 as shown in FIG.
- the hydraulic circuit 16 supplies hydraulic oil discharged from a hydraulic pump 18 driven by an engine 17 to a hydraulic actuator 20 (a boom cylinder 10, an arm cylinder 11, a knocket cylinder 12, a traveling hydraulic oil) through an operation valve 19. It is configured to supply and discharge the motor 2a and the turning hydraulic motor 3a).
- the engine 17 is a diesel engine.
- a fuel efficiency map Fm represented by an equal fuel consumption curve 7? In Fig. 3 is set, and a line indicated by a symbol EL in Fig. 3 is set.
- EL In this engine output torque characteristic line EL, when the set engine speed (engine speed at no load) is set to NA, the regulation line Ra is set toward the set engine speed NA, and the set engine speed is set. Is set to NB (NB minus NA), the regulation line Rb is set toward the set engine speed NB, and the set engine speed is set to NB.
- the regulation line Rc is set toward the set engine rotational speed NC.
- the engine output torque characteristic line EL when NA is set as the set engine speed, the engine output torque is specified by the engine speed Ns and the output torque Ts of the engine 17 corresponding to the engine speed Ns.
- the output torque of the engine 17 becomes maximum
- the output torque point Ma specified by the engine speed Na and the output torque Ta of the engine 17 corresponding to the engine speed Na
- the output (horsepower) of the engine 17 becomes maximum, and a predetermined engine speed Nb between the engine speed Ns and the engine speed Na, and an output torque Tb of the engine 17 corresponding to the predetermined engine speed Nb.
- the fuel consumption rate is substantially minimized at the output torque point Mb (corresponding to the "predetermined engine output torque point" of the present invention).
- the point indicated by the symbol ⁇ in FIG. 3 is the point at which the fuel consumption rate becomes the minimum.
- the engine 17 is provided with an accumulator (common rail) type fuel injection device 21.
- the fuel injection device 21 is a device known per se, and a detailed description thereof is omitted, but a system in which fuel is stored in a common rail chamber by a fuel pressure pump and fuel is injected from an injector by opening and closing a solenoid valve.
- the fuel injection characteristic is determined by a drive signal from the engine controller 22 to the solenoid valve, so that an arbitrary injection characteristic from a low speed range to a high speed range of the engine 17 can be obtained.
- a so-called electronic control injection system is constructed by devices including the fuel injection device 21, the engine controller 22, and various sensors.
- the target injection characteristics are mapped by digital values.
- the engine output torque characteristics as shown in FIG. 3 can be obtained.
- a fuel dial 23 is provided to set the throttle amount of the engine 17, and a throttle signal (hereinafter, referred to as a "first throttle signal") from a potentiometer 23a attached to the fuel dial 23 is provided by a pump controller. 24 is to be entered.
- the actual rotation speed of the engine 17 is detected by a rotation speed sensor 25, and the detection signal is input to the engine controller 22 and the pump controller 24, respectively.
- a fuel injection device having a mechanical power governor is used instead of the common rail type fuel injection device 21, a fuel injection device having a mechanical power governor is used. And other types of fuel injection devices with electronic governors are also possible.
- the hydraulic pump 18 is a variable displacement hydraulic pump, and an electric-hydraulic servo mechanism 26 is attached to the hydraulic pump 18.
- the electric / hydraulic servo mechanism 26 uses a pressure oil discharged from the hydraulic pump 18 to adjust the tilt angle of the swash plate 18 a of the hydraulic pump 18, and a control current from the pump controller 24.
- an electromagnetic proportional control valve 28 for controlling the regulator 27 based on the control signal.
- the pump controller 24 reads the set engine speed set by the first throttle signal from the potentiometer 23a attached to the fuel dial 23 and the work mode command signal from the monitor panel 39 described later, and further rotates the engine.
- the actual engine speed is read from the actual engine speed signal from the number sensor 25, and the swash plate 18a of the hydraulic pump 18 is tilted in order to increase or decrease the absorption torque of the hydraulic pump 18 according to the deviation between the two engine speeds.
- the control current value for controlling the angle is output to the electromagnetic proportional control valve 28.
- a pressure sensor 29 for detecting the discharge pressure of the hydraulic pump 18 is provided, and a pump discharge pressure signal from the pressure sensor 29 is input to the pump controller 24.
- the operation valve 19 is a hydraulic pilot-operated type that is provided corresponding to the hydraulic actuator 20 (the traveling hydraulic motor 2a, the turning hydraulic motor 3a, the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12).
- a set of directional control valves 30,..., 30 is provided. Pilot pressure oil output from each of the pressure reducing valves 33, 34, 36 described later is supplied to each of the directional control valves 30 to perform a predetermined oil path switching operation. Is being performed! /
- the work implement operation levers 13, 14 are provided with pressure reducing valves 33, 34 via operation units 31, 32 for outputting various operation commands corresponding to various lever operations.
- the travel operation levers 15 and 15 are similarly provided with a pressure reducing valve 36 via an operation unit 35 that outputs various operation commands corresponding to various lever operations.
- Each of the pressure reducing valves 33, 34, and 36 is supplied with pilot pressure oil having a pilot pump force (not shown) .
- the pressure reducing valves 33, 34, and 36 supply the supplied pilot pressure oil with various types. The pressure is adjusted based on the operation command, and the adjusted pilot pressure oil is output to the operation valve 19.
- the pilot pressure oil output from each of the pressure reducing valves 33, 3, 4, and 36 is a predetermined pilot pressure oil
- the signal is input to the input port, whereby a predetermined oil passage switching operation is performed.
- a predetermined oil passage switching operation is performed.
- the turning operation of the upper revolving unit 4 and the bending and undulating operation of the work machine 5 are performed by the predetermined operation of the work machine operation levers 13 and 14, and the predetermined operation of the traveling operation levers 15 and 15
- the traveling operation of the lower traveling body 2 is performed.
- Operating signals indicating the operating states of the work implement operating levers 13 and 14 and the travel operating levers 15 and 15 are transmitted to hydraulic switches 37, 34, 37 attached to the pressure reducing valves 33, 34, and 36, respectively.
- the signal is input to the pump controller 24 via the controller.
- the operation unit 31 includes an arm dump by changing the operation amounts of the arm dump operation, the arm excavation operation, the packet dump operation, and the packet excavation operation among the various lever operations of the work implement operation lever 13 into electric signals.
- a potentiometer 38 for outputting as an operation amount signal, an arm excavation operation amount signal, a bucket dump operation amount signal, and a packet excavation operation amount signal is attached, and various operation amount signals from the potentiometer 38 are input to the pump controller 24. It is now being done.
- the operator's cab 6 is provided with a monitor panel 39 that functions as a setting device for an operator to select a desired operation mode from a plurality of operation modes.
- This embodiment In this state, for the sake of explanation, it is assumed that two types of work modes, a heavy excavation mode and an economy mode, can be selected.
- the hydraulic drive device mainly includes an engine controller 22, a pump controller 24, various sensors and switches (25, 29, 37, 38), various setting devices (23, 39), and An engine / hydraulic pump control device 40 composed of various actuators (21, 28) is provided.
- the engine / hydraulic pump control device 40 will be described in detail below with reference to the functional block diagram of FIG.
- the pump controller 24 includes a work condition determination unit (corresponding to “work condition determination means” in the present invention) 41, a pump absorption torque command control unit 42, a control current command control unit 43, a throttle And a command control unit (corresponding to “throttle control means” in the present invention) 44.
- a first throttle signal from a potentiometer 23a attached to the fuel dial 23 and a work mode command signal from the monitor panel 39 are input to the work condition determination unit 41 via a throttle command control unit 44 described later. It is supposed to be. Further, the work condition determination section 41 receives various operation signals from the respective hydraulic switches 37, various operation amount signals from the potentiometer 38 attached to the operation section 31, and a pump discharge pressure signal from the pressure sensor 29. Is to be entered. The work condition discriminating section 41 discriminates the current work condition based on the input signals and uses the discrimination result as a work condition signal (“a” Z “bj Z“ c ”). The output is sent to the control unit 42 and a throttle command control unit 44 described later. The processing procedure up to the determination of the work condition by the work condition determination unit 41 will be described later in detail. The work condition (b) described later corresponds to the “specific work condition” in the present invention.
- the pump absorption torque command control unit 42 is configured to receive an actual engine speed signal from a speed sensor 25 and a work condition signal from the work condition determination unit 41.
- the pump absorption torque command control unit 42 maps and stores a plurality of hydraulic pump absorption torque characteristics that are set based on work conditions and work modes.
- Each hydraulic pump absorption torque characteristic relates the torque absorbed by the hydraulic pump 18 from the engine 17 (hereinafter simply referred to as “absorption torque”) to the engine speed.
- the hydraulic pump absorption torque characteristic indicated by the line PLa in the figure is set in accordance with the work condition (a) and the heavy excavation mode, and the work condition (b) is also set. Then, the hydraulic pump absorption torque characteristic indicated by the line PLb in the figure is set.
- a hydraulic pump absorption torque characteristic indicated by a line PLc in the figure is set corresponding to the operation condition (c).
- three hydraulic pump absorption torque characteristics are set.
- the present invention is not limited to this, and more hydraulic pump absorption torque characteristics are set based on work conditions and work modes. Good!
- the hydraulic pump absorption torque characteristic line selected based on the work condition signal and the work mode command signal, and the actual engine speed signal from the speed sensor 25 It outputs a pump absorption torque command value determined based on the above.
- the hydraulic pump absorption torque characteristic line PLa is selected.
- the pump absorption torque value Ta corresponding to the actual engine speed signal Na is output as the pump absorption torque command value.
- the control current command control unit 43 is configured to receive a pump absorption torque command value from the pump absorption torque command control unit 42.
- the control current command control unit 43 stores a control current value to the electromagnetic proportional control valve 28 corresponding to the pump absorption torque command value.
- the control current command control unit 43 outputs a control current value determined based on the pump absorption torque command value from the pump absorption torque command control unit 42 to the electromagnetic proportional control valve 28. Have been. Now, for example, when the pump absorption torque command value from the pump absorption torque command control unit 42 is Ta, The control current value la corresponding to the pump absorption torque command value Ta is output to the electromagnetic proportional control valve 28.
- the control current value lb corresponding to the pump absorption torque command value Tb is output to the electromagnetic proportional control valve 28.
- the control current value Ic corresponding to the pump absorption torque command value Tc is output to the electromagnetic proportional control valve 28.
- control current command control unit 43 has a modulation function, and when switching the control current value from la to lb, a predetermined time A t (time t current
- the current value is gradually reduced between times t to t) (see FIG. 9).
- control current command controller 43 When the economy mode is selected on the touch panel 39, the control current command controller 43 outputs the control current value Ic to the electromagnetic proportional control valve 28 (not shown).
- the output torque characteristic EL of the engine 17 has the output torque point Ms ⁇
- the characteristic line of Ma —NA is set, and the hydraulic pump absorption torque characteristic line PLa is selected.
- the absorption torque of the hydraulic pump 18 is increased or decreased with the increase or decrease of the engine speed.
- the output torque of the hydraulic pump 18 and the absorption torque of the hydraulic pump 18 are matched (hereinafter, such a state is referred to as “matching”).
- the hydraulic pump absorption torque characteristic line PLb is selected, and as shown in FIG.
- the absorption torque of the hydraulic pump 18 increases and decreases as the engine speed increases and decreases, and the output torque point Mb Engine 17 Output torque and the absorption torque of the hydraulic pump 18 are matched. In this case, it is preferable to reduce the engine speed at no load from NA to NB in order to reduce noise.
- the economy mode that is, when the work condition determined by the work condition determination unit 41 is the work condition (c), as shown in FIG. 6, the output torque characteristic EL of the engine 17 becomes Output torque point Ms—Mc ”— NC characteristic line is set. Hydraulic pump absorption torque characteristic line PLc is selected. Hydraulic pump 18 absorption torque increases / decreases engine speed.
- the output torque of the engine 17 and the absorption torque of the hydraulic pump 18 are matched at the output torque point Mc on the regulation line Rc set toward the set engine speed NC.
- the output torque point Ma is referred to as “matching point Ma”
- the output torque point Mb is referred to as “matching point Mb”
- the output torque point Mc is referred to as “matching point Mc”.
- the matching target engine speed (the target value of the engine speed that matches the output torque of the engine 17 and the absorption torque of the hydraulic pump 18) is equal to the predetermined time ⁇ t (time t
- the sex line is changed from PLb to PLa via PL, PL_, PL_,..., PL, PL.
- the throttle command control unit 44 receives a work mode command signal from the monitor panel 39, a first throttle signal from a potentiometer 23a attached to the fuel dial 23, and a work condition signal from the work condition determination unit 41. Is to be entered.
- the throttle command control unit 44 determines a second throttle signal based on the input signals, and outputs the determined second throttle signal to the engine controller 22. Now, when the fuel dial is set to the maximum position (FULL position), a first throttle signal "FULL" having a magnitude indicating NA as the set engine speed is input to the throttle command control unit 44. .
- a signal “NA” is output from the throttle command controller 44 to the engine controller 22.
- NB is indicated as the set engine speed.
- a second throttle signal “NB” having a magnitude is also output to the engine controller 22 with the throttle command control unit 44 force.
- the difference ⁇ ⁇ between the set engine speed NA and the set engine speed NB is, as shown in FIG. 5, the engine speed Na corresponding to the matching point Ma and the engine speed corresponding to the matching point Mb. It is set in accordance with the difference ⁇ N from the rotation speed Nb!
- the throttle command controller 44 When switching from the pump absorption torque characteristic line PLa to the hydraulic pump absorption torque characteristic line PLb, the throttle command controller 44 changes the second throttle signal from “NA” to “NB” in synchronization with this switching operation.
- the throttle command control is synchronized with this switching operation.
- the second throttle signal is gradually increased from “NB” to "NA” by the unit 44.
- the engine controller 22 receives a second throttle command signal from a throttle command control unit 44. Further, the engine output torque characteristic shown in FIG. 3 is mapped and stored in the engine controller 22. In the engine controller 22, based on a strong engine output torque characteristic map, a second throttle command signal, an actual engine speed signal from the speed sensor 25, a fuel injection characteristic map (not shown), and the like. Then, the current fuel injection amount to be injected into the fuel injection device 21 is obtained, and a drive signal ⁇ FF '' that satisfies the obtained fuel injection amount is output to the fuel injection device 21! /
- the engine / hydraulic pump control device 40 includes an engine control that controls the engine 17 using devices including the throttle command control unit 44, the engine controller 22, and the fuel injection device 21.
- a hydraulic pump control device which comprises a device 40a and controls the absorption torque of the hydraulic pump 18 by means of a device including a pump absorption torque command control unit 42, a control current command control unit 43, and an electromagnetic proportional control valve 28 It corresponds to “bump control means.” 40b is configured.
- S1 to S7 It is determined whether or not the working machine operating levers 13, 14 and the traveling operating levers 15, 15 are in a neutral state (Sl). When the work implement operation levers 13, 14 and the travel operation levers 15, 15 are in the neutral state, it is determined that the work condition (b) is satisfied (S2). When it is determined that the work implement operation levers 13 and 14 and the travel operation levers 15 and 15 are not in the neutral state, the travel operation is performed and it is determined whether or not the power is applied (S3). If it is determined that the traveling operation has been performed! /, It is determined that the work condition (a) is satisfied (S4). If it is determined that the traveling operation has not been performed, it is determined whether the work mode is the heavy excavation mode or not (S5).
- the work mode is the heavy excavation mode, it is determined whether or not the swing operation of the upper swing body 4 has been performed (S6).
- the work mode is not the heavy excavation mode, that is, when it is determined that the work mode is the economy mode, it is determined that the work condition (c) is satisfied (S7).
- step S8 to S9 If it is determined in step S6 that the swing operation of the upper swing body 4 has not been performed, it is determined whether or not the arm 8 and the packet 9 are operated (S8). . When it is determined that the arm 8 and the packet 9 are not operated, it is determined that the operation condition (b) is satisfied (S2). When the arm 8 and the packet 9 are operated, the discharge pressure (load pressure) P of the hydraulic pump 18 is equal to or higher than the predetermined pressure Pr, and the operation amount S of the lever operation related to the operation of the arm 8 and the packet 9 is reduced. It is determined whether it is equal to or more than the predetermined amount Sr (S9). If P ⁇ Pr and S ⁇ Sr, it is determined that the work condition (a) is satisfied (S4). If P is less than Pr and S is less than Sr, it is determined that the working condition (b) is satisfied (S2).
- step S6 the swing operation of the upper swing body 4 is performed. If it is determined that the boom 7 is being lowered, it is determined whether or not the boom 7 is being lowered (S10). If the operation of lowering the boom 7 is performed, it is determined that the working condition (b) is satisfied (S2). O If the operation of lowering the boom 7 is not performed, the operation of raising the boom 7 is performed. It is determined whether or not the force is applied (S11). When the raising operation of the boom 7 is not performed, it is determined that the operation condition (b) is satisfied (S2). When the raising operation of the boom 7 is performed, it is determined that the operation condition (a) is satisfied (S4).
- step S7 when it is determined that the current working condition is the working condition (c), as shown in FIG. (Partial load operation), the regulation line Rc is set, the hydraulic pump absorption torque characteristic line PLc is set, and the output torque of the engine 17 and the hydraulic pump at the matching point Mc where the fuel consumption rate is lower than the Mc point in the figure.
- the engine torque is matched with the engine torque at point M in the figure, and the engine 17 is operated in a region with good fuel efficiency while maintaining the same horsepower.
- matching can also be performed at the Mc "point in FIG. 6 in the working condition (c).
- the matching point is used. Match with Mc.
- the excavator 1 works in a fixed position.
- the work condition determining unit 41 determines that the work condition is the work condition (b).
- the engine 17 operates based on the set engine speed NB.
- the hydraulic pump 18 is driven based on the hydraulic pump absorption torque characteristic line PLb.
- the engine 17 is operated on the regulation line Rb in accordance with the magnitude of the load, and as the pump load pressure increases, the fuel consumption rate becomes substantially minimum.
- the output torque of the engine 17 and the absorption torque of the hydraulic pump 18 are matched, and wasteful fuel consumption as a total amount is reduced.
- the discharge pressure of the hydraulic pump 18 is detected at time t
- the determination unit 41 determines that the work condition is the work condition (a). Based on this determination result, the hydraulic pump absorption torque characteristic line is switched by modulating from PLb to PLa, and is switched by modulating the set engine speed to NB force NA in synchronization with this switching operation. .
- the output torque of the engine 17 and the absorption torque of the hydraulic pump 18 are matched at the matching point Ma, and the hydraulic pump 18 absorbs the engine horsepower at the matching point Ma, so that the excavation of earth and sand is performed. Operation and turning 'boom raising operation is performed with high efficiency.
- the work condition determining unit 41 determines that the work condition is the work condition (b). Based on the result of this determination, the hydraulic pump absorption torque characteristic line is switched by applying modulation from PLa to PLb, and the set engine speed is switched from NA to NB so as to synchronize with this switching operation. . Due to the powerful switching operation, the output torque of the engine 17 and the absorption torque of the hydraulic pump 18 are matched at the matching point Mb at which the fuel consumption rate becomes substantially minimum, and the engine 17 is rotated while the fuel consumption rate of the engine 17 is substantially minimum. ⁇ Boom lowering operation is performed.
- the work condition determined by the work condition determination unit 41 is the work condition (b)
- the absorption torque of the hydraulic pump 18 are matched, so that even in the above-described work example where the work conditions change every moment, the fuel consumption reduction effect can be reliably obtained.
- the hydraulic pump absorption torque characteristic line (PLa; PLb) is switched, modulation is applied, and the set engine speed (NA; NB) of the engine 17 is switched in synchronization with the powerful switching operation.
- the absorption torque characteristic line force of the hydraulic pump 18 is switched from PLa to PLb
- the set engine speed is reduced from NA to NB, so that even in the above-described work example where the working conditions change every moment. Noise can be reduced.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Positive-Displacement Pumps (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006512983A JP4282718B2 (ja) | 2004-05-07 | 2005-04-28 | 油圧ショベルの油圧駆動装置 |
US11/579,363 US7631495B2 (en) | 2004-05-07 | 2005-04-28 | Hydraulic drive device for work machine |
GB0621251A GB2429795B (en) | 2004-05-07 | 2005-04-28 | Hydraulic drive apparatus of work machine |
CN2005800146464A CN1950614B (zh) | 2004-05-07 | 2005-04-28 | 作业机械的液压驱动装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004-138253 | 2004-05-07 | ||
JP2004138253 | 2004-05-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005108797A1 true WO2005108797A1 (ja) | 2005-11-17 |
Family
ID=35320289
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/008199 WO2005108797A1 (ja) | 2004-05-07 | 2005-04-28 | 作業機械の油圧駆動装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7631495B2 (ja) |
JP (1) | JP4282718B2 (ja) |
KR (1) | KR20070007174A (ja) |
CN (1) | CN1950614B (ja) |
GB (1) | GB2429795B (ja) |
WO (1) | WO2005108797A1 (ja) |
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JP2019178582A (ja) * | 2018-03-30 | 2019-10-17 | 日立建機株式会社 | 作業機械 |
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- 2005-04-28 GB GB0621251A patent/GB2429795B/en not_active Expired - Fee Related
- 2005-04-28 CN CN2005800146464A patent/CN1950614B/zh not_active Expired - Fee Related
- 2005-04-28 JP JP2006512983A patent/JP4282718B2/ja not_active Expired - Fee Related
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Cited By (10)
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---|---|---|---|---|
JP2009132310A (ja) * | 2007-11-30 | 2009-06-18 | Iseki & Co Ltd | 作業車 |
WO2017138070A1 (ja) * | 2016-02-08 | 2017-08-17 | 株式会社小松製作所 | 作業車両および動作制御方法 |
JPWO2017138070A1 (ja) * | 2016-02-08 | 2018-11-29 | 株式会社小松製作所 | 作業車両および動作制御方法 |
US10358798B2 (en) | 2016-02-08 | 2019-07-23 | Komatsu Ltd. | Work vehicle and method of controlling operation |
DE112016000048B4 (de) | 2016-02-08 | 2023-10-19 | Komatsu Ltd. | Arbeitsfahrzeug und Verfahren zum Steuern von Arbeitsvorgängen |
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JP2019178582A (ja) * | 2018-03-30 | 2019-10-17 | 日立建機株式会社 | 作業機械 |
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Also Published As
Publication number | Publication date |
---|---|
US20070227137A1 (en) | 2007-10-04 |
CN1950614A (zh) | 2007-04-18 |
JPWO2005108797A1 (ja) | 2008-03-21 |
KR20070007174A (ko) | 2007-01-12 |
CN1950614B (zh) | 2011-05-11 |
GB2429795B (en) | 2008-06-04 |
GB0621251D0 (en) | 2006-12-13 |
JP4282718B2 (ja) | 2009-06-24 |
US7631495B2 (en) | 2009-12-15 |
GB2429795A (en) | 2007-03-07 |
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