WO2010150382A1 - ハイブリッド型作業機械及び作業機械の制御方法 - Google Patents
ハイブリッド型作業機械及び作業機械の制御方法 Download PDFInfo
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- WO2010150382A1 WO2010150382A1 PCT/JP2009/061613 JP2009061613W WO2010150382A1 WO 2010150382 A1 WO2010150382 A1 WO 2010150382A1 JP 2009061613 W JP2009061613 W JP 2009061613W WO 2010150382 A1 WO2010150382 A1 WO 2010150382A1
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Classifications
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- 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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- B60W30/1882—Controlling power parameters of the driveline, e.g. determining the required power characterised by the working point of the engine, e.g. by using engine output chart
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- 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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
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Definitions
- the present invention relates to a work machine, and more particularly, to a hybrid work machine that performs work efficiently using a combination of two power sources.
- a hybrid type work machine that operates efficiently by combining the power of an internal combustion engine and the power of an electric motor has been developed and used. 2. Description of the Related Art As a hybrid work machine, one that takes a so-called parallel drive mode is known.
- a hydraulic pump and a power machine that performs a generator action and a motor action are connected in parallel to an internal combustion engine (engine) as a common power source.
- the hydraulic actuator is driven by the hydraulic pump, and the power storage device is charged by the generator action of the power machine.
- the power is operated from the power storage device as an electric motor to assist the engine.
- a motor there is a case where a dual-purpose machine (referred to as a motor generator or a generator motor) that performs both a generator action and a motor action is used as one unit, but separate generators and motors may be used in combination. .
- the power for driving the hydraulic pump includes the output of the engine and the output of the motor generator that assists the engine. Therefore, it is necessary to appropriately distribute the output of the engine and the output of the motor generator in consideration of the state of the engine and the state of the power storage device for driving the motor generator.
- the pump required power is obtained, and the generator motor power distribution to be generated by the generator motor for engine assist is determined according to the pump required power, and the target engine speed and the actual engine speed are determined. It has been proposed to correct the power distribution so that the above deviation is eliminated (see, for example, Patent Document 1).
- the power used for assist operation can be increased even if the engine speed is increased to the target speed by assisting the generator motor. Is not stored in the power storage device, and the engine speed cannot be returned to the target speed quickly without being able to assist the engine sufficiently.
- the present invention has been made in view of the above-described problems, and an object thereof is to appropriately distribute engine output and motor generator output in a hybrid work construction machine.
- a hydraulic generator that converts engine output into hydraulic pressure and supplies it to a hydraulic drive unit, and both an electric motor and a generator connected to the engine
- a motor generator that functions as a power storage unit that supplies electric power to the motor generator to function as a motor, and an electric drive unit that is driven by power from the power storage unit and generates regenerative power and supplies the regenerative power to the power storage unit
- a hybrid type work machine having a control unit for controlling the operation of the motor generator, wherein the control unit is configured to output an upper limit value of the engine based on a deviation between the target engine speed and the actual engine speed. Is provided, and output values of the motor generator, the hydraulic drive unit, and the electric drive unit are determined based on the corrected output upper limit value of the engine.
- the control unit corrects the output lower limit value of the motor generator based on a deviation between the target rotational speed and the actual rotational speed of the engine, and corrects the corrected output lower limit of the motor generator.
- the output values of the motor generator, the hydraulic drive unit, and the electric drive unit may be determined based on the values. Further, the control unit may correct the output lower limit value of the motor generator in consideration of the discharge capability of the battery. Furthermore, the control unit may determine the output of the hydraulic drive unit based on the discharge capability of the battery.
- a hydraulic generator that converts engine output into hydraulic pressure and supplies the hydraulic drive unit
- a motor generator that is connected to the engine and functions as both a motor and a generator
- the motor generator An electric storage unit that supplies electric power to the electric machine to function as an electric motor, an electric drive unit that is driven by electric power from the electric accumulator and generates regenerative electric power and supplies the electric accumulator, and a control that controls the operation of the electric motor generator
- the control unit corrects the output lower limit value of the motor generator based on the deviation between the target engine speed and the actual engine speed of the engine, and the corrected motor generator
- a hybrid work machine is provided, wherein output values of the motor generator, the hydraulic drive unit, and the electric drive unit are determined based on an output lower limit value of the machine.
- control unit may correct the output lower limit value of the motor generator in consideration of the discharge capacity of the battery. Further, the control unit may determine the output of the hydraulic drive unit in consideration of the discharge capability of the battery.
- a method for controlling a work machine that performs an operation by driving a hydraulic generator by an engine, wherein an increase rate of an output of the internal combustion engine is set to a predetermined value, The output upper limit value of the internal combustion engine obtained from the predetermined value of the rate of increase is compared with the required power obtained from the hydraulic output required for the hydraulic pressure generator, and the required power exceeds the output upper limit value.
- a method for controlling a working machine wherein the output of the engine is controlled to be equal to or lower than the output upper limit value.
- the electric motor may be driven by electric power from the power storage device and regenerative electric power from the working motor generator.
- the engine output control may be performed every predetermined time, and the output upper limit value of the engine may be calculated by adding a predetermined ratio value to the previous engine output. Further, when the output upper limit value is obtained, the engine speed may be further taken into consideration.
- the output of the engine and the output of the motor generator can be appropriately distributed in the hybrid work machine. As a result, it is possible to avoid an excessive output request to the engine and an engine stall due to an engine overload. In addition, the engine speed can be quickly increased to the target speed.
- Fig. 1 is a side view of a hybrid excavator.
- An upper swing body 3 is mounted on the lower traveling body 1 of the power shovel via a swing mechanism 2.
- a boom 4 extends from the upper swing body 3, and an arm 5 is connected to the tip of the boom 4. Further, the bucket 6 is connected to the tip of the arm 5.
- the boom 4, the arm 5, and the bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.
- the upper swing body 3 is mounted with a cabin 10 and a power source (not shown).
- FIG. 2 is a block diagram showing the configuration of the drive system of the power shovel shown in FIG.
- the mechanical power system is indicated by a double line
- the high-pressure hydraulic line is indicated by a solid line
- the pilot line is indicated by a broken line
- the electric drive / control system is indicated by a one-dot chain line.
- the engine 11 as a mechanical drive unit and the motor generator 12 as an assist drive unit are both connected to an input shaft of a speed reducer 13 as a booster.
- a main pump 14 and a pilot pump 15 are connected to the output shaft of the speed reducer 13.
- a control valve 17 is connected to the main pump 14 via a high pressure hydraulic line 16.
- the control valve 17 is a control device that controls the hydraulic system. Connected to the control valve 17 are hydraulic motors 1A (for right) and 1B (for left), a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 for the lower traveling body 1 via a high-pressure hydraulic line.
- a battery 19 as a battery is connected to the motor generator 12 via an inverter 18.
- a turning motor 21 is connected to the battery 19 via an inverter 20.
- the turning electric motor 21 is an electric load in the power shovel.
- a resolver 22, a mechanical brake 23, and a turning speed reducer 24 are connected to the rotating shaft 21 ⁇ / b> A of the turning electric motor 21.
- An operation device 26 is connected to the pilot pump 15 via a pilot line 25.
- a control valve 17 and a pressure sensor 29 as a lever operation detection unit are connected to the operating device 26 via hydraulic lines 27 and 28, respectively.
- the pressure sensor 29 is connected to a controller 30 that performs electric system drive control.
- the power shovel having the above configuration is a hybrid work machine that uses the engine 11, the motor generator 12, and the turning electric motor 21 as power sources. These power sources are mounted on the upper swing body 3 shown in FIG. Hereinafter, each part will be described.
- the engine 11 is an internal combustion engine constituted by, for example, a diesel engine, and its output shaft is connected to one input shaft of the speed reducer 13. The engine 11 is always operated during operation of the work machine.
- the motor generator 12 may be an electric motor capable of both power running operation and regenerative operation.
- a motor generator that is AC driven by an inverter 20 is shown as the motor generator 12.
- the motor generator 12 can be constituted by, for example, an IPM (Interior / Permanent / Magnet) motor in which a magnet is embedded in a rotor.
- IPM Interior / Permanent / Magnet
- the rotating shaft of the motor generator 12 is connected to the other input shaft of the speed reducer 13.
- Reduction gear 13 has two input shafts and one output shaft.
- the drive shaft of the engine 11 and the drive shaft of the motor generator 12 are connected to the two input shafts, respectively. Further, the drive shaft of the main pump 14 is connected to the output shaft.
- the motor generator 12 performs a power running operation, and the driving force of the motor generator 12 is transmitted to the main pump 14 via the output shaft of the speed reducer 13. Thereby, the drive of the engine 11 is assisted.
- the load on the engine 11 is small, the driving force of the engine 11 is transmitted to the motor generator 12 via the speed reducer 13 so that the motor generator 12 generates power by regenerative operation. Switching between the power running operation and the regenerative operation of the motor generator 12 is performed by the controller 30 according to the load of the engine 11 and the like.
- the main pump 14 is a hydraulic pump that generates hydraulic pressure to be supplied to the control valve 17.
- the hydraulic pressure generated by the main pump 14 is supplied to drive each of the hydraulic motors 1 ⁇ / b> A and 1 ⁇ / b> B, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 that are hydraulic loads via the control valve 17.
- the pilot pump 15 is a pump that generates a pilot pressure necessary for the hydraulic operation system.
- the control valve 17 inputs the hydraulic pressure supplied to each of the hydraulic motors 1A, 1B, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 for the lower traveling body 1 connected via a high-pressure hydraulic line. It is a hydraulic control device which controls these hydraulically by controlling according to the above.
- the inverter 18 is provided between the motor generator 12 and the power storage unit 19 as described above, and controls the operation of the motor generator 12 based on a command from the controller 30. Thus, when the inverter 18 is operating and controlling the power running of the motor generator 12, the necessary power is supplied from the battery 19 to the motor generator 12. Further, when the regeneration of the motor generator 12 is being controlled for operation, the power storage unit 19 is charged with the electric power generated by the motor generator 12.
- a power storage unit 19 including a battery (capacitor) is disposed between the inverter 18 and the inverter 20.
- the inverter 20 is provided between the turning electric motor 21 and the power storage unit 19 as described above, and controls the operation of the turning electric motor 21 based on a command from the controller 30.
- the turning electric motor 21 is in a power running operation, necessary electric power is supplied from the power storage unit 19 to the turning electric motor 21. Further, when the turning electric motor 21 is performing a regenerative operation, the electric power generated by the turning electric motor 21 is charged in the power storage unit 19.
- the turning electric motor 21 may be an electric motor capable of both power running operation and regenerative operation, and is provided for driving the turning mechanism 2 of the upper turning body 3.
- the rotational force of the rotational driving force of the turning electric motor 21 is amplified by the speed reducer 24, and the upper turning body 3 rotates while being controlled for acceleration and deceleration. Further, due to the inertial rotation of the upper swing body 3, the number of rotations is increased by the speed reducer 24 and transmitted to the turning electric motor 21, and regenerative power can be generated.
- the turning electric motor 21 an electric motor driven by the inverter 20 by a PWM (Pulse WidthulModulation) control signal is shown.
- the turning electric motor 21 can be constituted by, for example, a magnet-embedded IPM motor. Thereby, since a larger induced electromotive force can be generated, the electric power generated by the turning electric motor 21 during regeneration can be increased.
- the charge / discharge control of the power storage unit 19 is performed in the state of charge of the battery in the power storage unit 19, the operating state of the motor generator 12 (powering operation or regenerative operation), and the operating state of the turning motor 21 (powering operation or regenerative operation). Based on the controller 30.
- the resolver 22 is a sensor that detects the rotation position and rotation angle of the rotating shaft 21A of the turning electric motor 21.
- the resolver 22 is mechanically connected to the turning electric motor 21 to detect a difference between the rotation position of the rotation shaft 21A before the rotation of the turning electric motor 21 and the rotation position after the left rotation or the right rotation.
- the rotation angle and the rotation direction of the rotation shaft 21A are detected.
- the rotation angle and the rotation direction of the turning mechanism 2 are derived.
- the mechanical brake 23 is a braking device that generates a mechanical braking force, and mechanically stops the rotating shaft 21A of the turning electric motor 21. This mechanical brake 23 is switched between braking and release by an electromagnetic switch. This switching is performed by the controller 30.
- the turning speed reducer 24 is a speed reducer that mechanically transmits to the turning mechanism 2 by reducing the rotational speed of the rotating shaft 21A of the turning electric motor 21.
- the rotational force of the turning electric motor 21 can be increased and transmitted to the turning body as a larger rotational force.
- the number of rotations generated in the revolving structure can be increased, and more rotational motion can be generated in the turning electric motor 21.
- the turning mechanism 2 can turn in a state where the mechanical brake 23 of the turning electric motor 21 is released, whereby the upper turning body 3 is turned leftward or rightward.
- the operating device 26 is an input device for the driver of the power shovel to operate the turning electric motor 21, the lower traveling body 1, the boom 4, the arm 5, and the bucket 6, and includes levers 26A and 26B and a pedal 26C. .
- the lever 26 ⁇ / b> A is a lever for operating the turning electric motor 21 and the arm 5, and is provided in the vicinity of the driver seat of the upper turning body 3.
- the lever 26B is a lever for operating the boom 4 and the bucket 6, and is provided in the vicinity of the driver's seat.
- the pedals 26C are a pair of pedals for operating the lower traveling body 1, and are provided under the feet of the driver's seat.
- the operating device 26 converts the hydraulic pressure (primary hydraulic pressure) supplied through the pilot line 25 into hydraulic pressure (secondary hydraulic pressure) corresponding to the operation amount of the driver and outputs the converted hydraulic pressure.
- the secondary hydraulic pressure output from the operating device 26 is supplied to the control valve 17 through the hydraulic line 27 and detected by the pressure sensor 29.
- One hydraulic line 27 is used for operating the hydraulic motors 1A and 1B (i.e., two in total), and two hydraulic lines 27 are used for operating the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 respectively (i.e., two). In reality, there are eight in total, but for convenience of explanation, they are collectively shown as one.
- the pressure sensor 29 as the lever operation detection unit, a change in hydraulic pressure in the hydraulic line 28 due to the operation of the lever 26A is detected by the pressure sensor 29.
- the pressure sensor 29 outputs an electrical signal representing the hydraulic pressure in the hydraulic line 28.
- This electrical signal is input to the controller 30.
- the operation amount of the lever 26A can be accurately grasped.
- the pressure sensor is used as the lever operation detection unit.
- a sensor that reads the operation amount of the lever 26A as it is using an electrical signal may be used.
- the controller 30 is a control device that performs drive control of the power shovel, and includes a speed command conversion unit 31, a drive control device 32, and a turning drive control device 40.
- the controller 30 includes a processing unit including a CPU (Central Processing Unit) and an internal memory.
- the speed command conversion unit 31, the drive control device 32, and the turning drive control device 40 are realized when the CPU of the controller 30 executes a drive control program stored in an internal memory.
- the speed command conversion unit 31 is an arithmetic processing unit that converts a signal input from the pressure sensor 29 into a speed command. Thereby, the operation amount of the lever 26A is converted into a speed command (rad / s) for rotating the turning electric motor 21. This speed command is input to the drive control device 32 and the turning drive control device 40.
- FIG. 3 is a diagram showing a model of the power system of the power shovel described above.
- the engine 50 corresponds to the engine 11 described above
- the assist motor 52 corresponds to the motor generator 12 having both functions of the motor and the generator.
- the hydraulic load 54 corresponds to a component driven by hydraulic pressure, and includes the above-described boom cylinder 7, arm cylinder 8, packet cylinder 9, and hydraulic motors 1A and 1B. However, when considered as a load for generating hydraulic pressure, the hydraulic load 54 corresponds to the main pump 14 as a hydraulic pump for generating hydraulic pressure.
- the electric load 56 corresponds to a component driven by electric power such as an electric motor or an electric actuator, and includes the turning electric motor 21 described above.
- the battery 58 is a battery provided in the power storage unit 19 described above. In this embodiment, a capacitor (electric double layer capacitor) is used as the battery 58.
- the hydraulic load 54 is supplied with hydraulic pressure generated by a hydraulic pump that generates hydraulic pressure (the main pump 14 described above).
- the engine 50 is driven by supplying power to the hydraulic pump. That is, the power generated by the engine 50 is converted into hydraulic pressure by the hydraulic pump and supplied to the hydraulic load 54.
- an assist motor 52 is also connected to the hydraulic pump, and the power generated by the assist motor 52 can be supplied to the hydraulic pump for driving. That is, the electric power supplied to the assist motor 52 is converted into power by the assist motor 52, and the power is converted into hydraulic pressure by the hydraulic motor and supplied to the hydraulic load 54. At this time, the assist motor 52 operates as an electric motor.
- the electric load 56 is supplied with power from the battery 58 of the power storage unit 19 and driven. A case where the electric load 56 is driven is referred to as a power running operation.
- the electric load 56 is capable of generating regenerative power, such as an electric motor / generator, and the generated regenerative power is supplied to the power storage unit and stored in the battery 58 or supplied to the assist motor 52. Power to drive the assist motor 52.
- the battery 58 is charged by the regenerative power from the electric load 56 as described above. Further, when the assist motor 52 receives power from the engine 50 and functions as a generator, the battery 58 can be charged by supplying the electric power generated by the assist motor 52 to the power storage unit 19. The electric power generated by the assist motor 52 can be directly supplied to the electric load 56 to drive the electric load 56.
- the assist motor 52 when the engine 50 is assisted to generate hydraulic pressure and supply power to the hydraulic load 54, electric power is output as power.
- the output polarity of the assist motor 52 at this time is (+).
- the assist motor 52 when the assist motor 52 is driven by the driving force of the engine 50 to generate power, power is input to the assist motor 52. Accordingly, the output polarity of the assist motor 52 at this time is ( ⁇ ).
- the output polarity is (+).
- regenerative power or power generated by the assist motor 52 may be supplied from the electric load 56 and charged.
- the output polarity of the battery 58 is ( ⁇ ).
- the output polarity when the power is supplied and driven that is, the power running operation is (+)
- the output polarity when the regenerative power is generated is ( ⁇ ). It becomes.
- the output polarity of the assist motor 52 and the electric load 56 which are components related to electric power, is considered in consideration of the operation state of the battery 58 of the charging unit 19 and the output state thereof. It is necessary to determine the operating conditions by adjusting appropriately. In particular, the distribution of the output to the hydraulic load 54 and the output to the electric load 56 can be controlled while adjusting the output polarity of the assist motor 52 so that the battery 58 is always properly charged. is important.
- the inputs related to control are the following seven variables.
- the actual engine speed Nengact is a variable indicating the actual engine speed of the engine 50.
- the engine 50 is always driven during operation of the power shovel, and the actual engine speed Nact is detected.
- Hydraulic load demand output Phydreq The hydraulic load request output Phydreq is a variable indicating the power required by the hydraulic load 54, and corresponds to, for example, the operation amount of the operation lever when the driver operates the power shovel.
- the electrical load request output Pelcreq is a variable indicating the power required by the electrical load 56, and corresponds to, for example, the operation amount of the operation lever when the driver operates the power shovel.
- Battery voltage Vact is a variable indicating the output voltage of the battery 58.
- a capacitor capacitor is used as the battery. Since the charge amount of the capacitor is proportional to the square of the voltage across the terminals of the capacitor, the state of charge of the battery 58 (that is, the charge rate SOC) can be known by detecting the output voltage.
- Engine actual output Pengact is an actual measurement value indicating the actual output of the engine 50, and is obtained from the product of the rotational speed of the engine 50 and the torque.
- Target engine speed Nengref The engine 50 is driven and controlled so that it is always driven at a preset fixed rotation speed. This predetermined fixed rotational speed is the engine target rotational speed Nengref.
- the assist motor actual rotational speed Nasact is a variable indicating the actual rotational speed of the assist motor 52. Since the assist motor 52 is connected to the engine 50, the assist motor 52 is always driven during operation of the power shovel, and the assist motor actual rotation number Nasact is detected.
- Assist motor output command Pasmref This is a value for instructing the output of the assist motor 52.
- the assist motor 52 functions as an electric motor to assist the engine 50 to supply power to the hydraulic load 54, or the assist motor 52 functions as a generator to supply electric power to the electric load 56. Whether to supply or charge the battery 58 is instructed.
- the drive control device 32 included in the controller 30 includes the actual engine speed Nact, the negative hydraulic pressure demand output Phydreq, the electrical load demand output Pelcreq, the battery voltage Vact, the actual engine output Pelcact, the target engine speed Nengref, and the assist motor actual speed.
- the hydraulic load actual output Phydout, the electric load actual output Pelcout, and the assist motor output command Pasmref are controlled based on the rotation speed Nasact.
- the drive control device 32 is referred to as a control unit 60.
- FIG. 5 is a functional block diagram of the control unit 60 included in the controller 30 for performing control according to the first embodiment of the present invention. An overview of the control function of the control unit 60 will be described with reference to FIG.
- the control unit 60 includes an output condition calculation unit 60a and a power distribution unit 60-8.
- the output condition calculation unit 60a includes blocks 60-1 to 60-12, and calculates upper and lower limit values that are output conditions of the engine 50 and the battery 58.
- the actual engine speed Nact input to the output condition calculation unit 60a of the control unit 60 is input to the block 60-1.
- the block 60-1 determines the upper limit value Pengmax1 and the lower limit value Pengmin of the output at the input actual engine speed Nact, and inputs them to the block 60-8 which is a power distribution unit.
- the block 60-1 has a map or conversion table showing an upper limit value and a lower limit value in the relationship between the rotational speed of the engine 50 and the output. Refer to this map or conversion table.
- the upper limit value Pengmax and the lower limit value Pengmin of the output at the actual engine speed Nact input are determined.
- the map or conversion table is created in advance and stored in the memory of the controller 30. Note that the upper limit value Pengmax1 and the lower limit value Pengmin may be obtained by substituting the actual engine speed Nact into an expression representing the upper limit value and the lower limit value without using a map or a conversion table.
- the hydraulic load request output Phydreq and the electrical load request output Pelcreq input to the control unit 60 are input to the block 60-8 which is a power distribution unit.
- the battery voltage Vact input to the output condition calculation unit 60a of the control unit 60 is input to the block 60-2.
- the current charging rate SOCact of the battery 58 is obtained from the input battery voltage Vact.
- the obtained current charging rate SOCact is output to blocks 60-3, 60-4 and 60-7.
- the charge rate SOC can be easily obtained by calculation from the measured battery voltage (capacitor terminal voltage).
- the block 60-3 determines the maximum value of discharge power that can be discharged (battery output upper limit value Pbatmax11) and the maximum value of charge power that can be currently charged (battery) from the current charge rate SOCact and a predetermined maximum charge / discharge current. An output lower limit value Pbatmin11) is obtained.
- Pbatmax11 the maximum value of discharge power that can be discharged
- Pbatmin11 the maximum value of charge power that can be currently charged
- the map shown in block 60-3 represents the power (charge / discharge maximum current ⁇ capacitor voltage) determined when a maximum charge / discharge current limited by the capacity of the converter or the capacitor flows at a certain charge rate SOC. Since the charging rate SOC is proportional to the square of the charge / discharge voltage (capacitor voltage), the maximum charge power and the maximum discharge power shown in the block 60-3 draw a parabola.
- the block 60-3 refers to the map or the conversion table, and the maximum charging power (battery output upper limit value Pbatmax11) and the maximum discharging power (allowed under a predetermined current at the current charging rate SOCact).
- the battery output lower limit value Pbatmin11) is obtained.
- the determined maximum discharge power (battery output upper limit value Pbatmax11) is output to block 60-5, and the determined maximum charge power (battery output lower limit value Pbatmin11) is output to block 60-6.
- the block 60-4 determines the maximum value of the discharge power that can be discharged (battery output upper limit value Pbatmax12) and the maximum value of the charge power that can be charged from the current charge rate SOCact, the predetermined SOC lower limit value, and the SOC upper limit value.
- a value (battery output lower limit value Pbatmin12) is obtained.
- a map or conversion table to represent is stored.
- the map shown in block 60-4 represents appropriate charge / discharge power at a certain charge rate SOC.
- the lower limit value is a charging rate SOC set to allow a margin so that the charging rate does not become zero. If the charge rate SOC is reduced to zero or a value close to zero, it becomes impossible to discharge immediately when a discharge request is made. Therefore, it is desirable to maintain a state of being charged to some extent. Therefore, a lower limit value (for example, 30%) is provided for the charging rate SOC, and control is performed so that discharging cannot be performed when the charging rate SOC is equal to or lower than the lower limit value.
- the maximum discharge power (the maximum power that can be discharged) is zero (that is, not discharged) at the lower limit value of the charge rate SOC, and there is a margin in the dischargeable power as the charge rate SCO increases. It is getting bigger.
- the maximum discharge power increases linearly from the upper limit value of the charging rate SOC.
- the maximum discharge power is not limited to the linear increase, and may be increased by drawing a parabola. You may set so that it may increase with a pattern.
- the maximum charge power (maximum chargeable power) is zero (that is, not charged) in the upper limit value of the charge rate SOC, and there is a margin in the chargeable power as the charge rate SCO becomes smaller. Enlarge.
- the maximum charging power increases linearly from the upper limit value of the charging rate SOC.
- the maximum charging power is not limited to a linear increase, and may be increased by drawing a parabola. You may set so that it may increase with a pattern.
- the block 60-4 refers to this map or conversion table to determine the maximum discharge power (battery output upper limit value Pbatmax12) and the maximum charge power (battery output lower limit value Pbatmin12) allowed at the current charge rate SOCact. Ask.
- the obtained maximum discharge power (battery output upper limit value Pbatmax12) is output to block 60-5, and the obtained maximum charge power (battery output lower limit value Pbatmin12) is output to block 60-6.
- the block 60-5 includes a power distribution unit with the smaller one of the battery output upper limit value Pbatmax11 supplied from the block 60-3 and the battery output upper limit value Pbatmax12 supplied from the block 60-4 as the battery output upper limit value Pbatmax1. Is output to block 60-8.
- the block 60-5 functions as a minimum value selector.
- the block 60-6 uses the larger one of the battery output lower limit value Pbatmin11 supplied from the block 60-3 and the battery output lower limit value Pbatmin12 supplied from the block 60-4 as the battery output lower limit value Pbatmin1.
- the data is output to the block 60-8 which is a distribution unit.
- the larger battery output lower limit value means the smaller negative value, that is, the value closer to zero. Thereby, it can protect reliably from the excessive charging / discharging exceeding the output capability of the battery 19.
- the block 60-6 functions as a maximum value selector.
- Block 60-7 obtains a battery output target value Pbattgt for making the charging rate SOC close to the target value from the input current charging rate SOCact and a predetermined SOC target value.
- the block 60-7 stores a map or conversion table representing the battery output target value Pbattgt that approaches the SOC target value at the charging rate as shown in FIG.
- the block 60-7 refers to this map or conversion table, and in order to set the charging rate SOC to the optimum target value, the charging power indicating how much charging should be performed or the discharging power indicating how much discharging should be performed Can be requested.
- the output of the vertical axis in the map referenced by the block 60-7 is zero when neither charging nor discharging is performed, the charging side is negative, and the discharging side is positive.
- the current charging rate SOCact is smaller than the target value, the battery 58 should be charged, and the target value of charging power, that is, the battery output target value Pbattgt is shown.
- the battery output target value Pbattgt is a positive value, it represents the target discharge power, and when it is a negative value, it represents the target charge power.
- the battery output target value Pbattgt obtained in block 60-7 is output to block 60-8 which is a power distribution unit.
- Block 60-9 obtains the lower limit value Pasmin and the upper limit value Pasmmax of the output of the assist motor 52 at the input current assist motor actual rotation number Nasact from a map or conversion table prepared in advance. As shown in FIG. 5, this map or conversion table shows the lower limit value and the upper limit value of the output with respect to the rotation speed of the assist motor 52.
- the upper limit value represents the maximum assist (electric) amount when the assist motor 52 assists, and the lower limit value represents the maximum power generation amount when the assist motor 52 generates power.
- the block 60-9 outputs the calculated lower limit value Pasmin and upper limit value Pasmax of the assist motor 52 to the power distribution unit 60-8.
- the functional blocks described below are designed to reduce engine 50 load and prevent engine stall by limiting the output upper limit value Pengmax of the engine 50, particularly when the rotational speed of the engine 50 decreases. It is provided for performing control for quickly returning the number to the engine target speed Nengref.
- Block 60-10 calculates a deviation Nengerr between the input engine target speed Nengref and the actual engine speed Nengact, and outputs the calculated deviation Nengerr to block 60-11.
- the block 60-11 calculates the engine output correction value 1 from the input engine actual output Pengmax and the deviation Nengerr supplied from the block 60-11, and outputs the calculated correction value 1 to the block 60-12.
- the block 60-12 compares the engine output upper limit value Pengmax1 supplied from the block 60-1 with the correction value 1 supplied from the block 60-11, and if the engine output upper limit value Pengmax1 is less than or equal to the correction value 1, The engine output upper limit value Pengmax1 is output as it is to the power distribution unit 60-8 as the engine output upper limit value Pengmax. On the other hand, when the engine output upper limit value Pengmax1 is larger than the correction value 1, the block 60-12 outputs the correction value 1 as the engine output upper limit value Pengmax to the power distribution unit 60-8 instead of the engine output upper limit value Pengmax1. . That is, the block 60-12 limits the engine output upper limit value Pengmax so as not to exceed the correction value 1.
- FIG. 6 is a graph showing the change in the engine output upper limit value Pengmax, the change in the actual engine output Pengact, and the actual engine speed Nengact.
- the load on the engine increases after the time t0, and therefore the actual engine output Pengact increases rapidly.
- the actual engine speed Pengact starts to decrease from the target engine speed Pengref after the time t0.
- the increase in the actual engine output Pengact continues until time t1 after one control cycle, and the actual engine speed Nengact continues to decrease along with this, but the deviation Nengerr from the engine target engine speed Nengref has not yet exceeded the threshold value. .
- the engine output upper limit value Pengmax1 determined in block 60-1 also gradually decreases, and the engine output is suppressed to reduce the actual engine speed Nengact. Trying to raise.
- the engine output upper limit value Pengmax is determined from the engine output upper limit value Pengmax1 determined in the block 60-1.
- a low engine output upper limit value Pengmax2 is set to forcibly reduce the load on the engine. This engine output upper limit value Pengmax2 corresponds to the correction value 1 calculated in block 60-11.
- the deviation Nengerr between the actual engine speed Nengact and the target engine speed Nengref continues to decrease beyond the threshold between time t1 and time t2 (time ta), and at time t2, the actual engine speed.
- the engine output upper limit value Pengmax2 lower than the engine output upper limit value Pengmax1 is forcibly changed from Pengmax1.
- engine output upper limit value Pengmax is changed from engine output upper limit value Pengmax1 to engine output upper limit value Pengmax2 lower than engine output upper limit value Pengmax1.
- the engine output upper limit value Pengmax2 after the change becomes the power.
- the data is input to the distribution unit 60-8.
- the hydraulic load Phydout calculated by the power distribution unit 60-8 is reduced, or the assist output command Pasmref is increased, so that the engine load is forcibly reduced, and the engine speed is reduced. It is prompted to return to the target rotational speed Nengref.
- the engine output upper limit value Pengmax is set to the engine output upper limit value Pengmax2, so that the engine load decreases, so the actual engine speed Nengact starts to increase. As a result, it is possible to avoid a situation in which engine actual rotation speed Nengact continues to decrease and causes engine stall.
- the actual rotational speed recovers within the threshold value, and then, at time t4, the deviation Nengerr between the engine actual rotational speed Nengact and the engine target rotational speed Nengref is less than the threshold value. It is determined that the reduction in the rotational speed has disappeared, the engine output upper limit value Pengmax is set again to the engine output upper limit value Pengmax1, and the normal control is returned to.
- the predetermined value ⁇ P (t1) is calculated by multiplying the deviation Nengerr between the current engine speed Nengact (at time t2) and the engine target speed Nengref by a predetermined gain K1.
- the previous cycle value corresponds to the actual engine output Pengact (t1) at the time t1. Therefore, the engine output upper limit value Pengmax2 (t2) calculated at time t2 is set to a deviation Nengerr between the actual engine speed Nengact and the target engine speed Nengref at time t2 from the actual engine output Pengact (t1) at time t1. This is a value obtained by subtracting ⁇ P (t1), which is a correction value calculated by multiplying the gain K1.
- FIG. 8 is a graph showing the engine output upper limit value Pengmax1 determined by the engine speed.
- the actual engine output Pengact (t1) at time t1 prior to time t2 is a value lower than the engine output upper limit value Pengmax1 (t2) at time t2.
- the engine output upper limit value Pengmax2 (t2) at time t2 is a value obtained by subtracting the correction amount ⁇ P (t1) from the engine actual output Pengact (t1) at the previous time t1, and therefore, from the engine actual output Pengact (t1). The value is even lower.
- the engine output upper limit value Pengmax2 (t2) at the time t2 is set to a value lower than the engine actual output Pengact (t1).
- the changed engine output upper limit value Pengmax2 is input to the power distribution unit 60-8.
- the hydraulic load Phydout calculated by the power distribution unit 60-8 is reduced or the assist output command Pasmref is increased, thereby forcibly reducing the engine load and prompting the return of the engine speed. ing.
- the correction amount ⁇ P (t1) is a value calculated by multiplying the deviation Nengerr between the actual engine speed Nengact and the target engine speed Nengref at time t2 by a predetermined gain K1, and therefore the actual engine speed at time t2.
- the magnitude of the deviation Nengerr between the number Nengact and the target engine speed Nengref is reflected. That is, the extent to which the actual engine speed Nengact is lower than the engine target speed Nengref is reflected in the correction amount ⁇ P (t1). Therefore, the engine output upper limit value Pengmax2 (t2) at time t2 is the actual engine speed. It is determined based on the degree to which Nengact is lower than the engine target speed Nengref.
- the calculation of the engine output upper limit value Pengmax2 (t) shown in FIG. 7 is performed in block 60-11 shown in FIG.
- the engine output upper limit value Pengmax2 (a value smaller than the engine output upper limit value Pengmax1 determined in block 60-1) supplied from the block 60-11 is set as the engine output upper limit value Pengmax.
- the data is output to the distribution unit 60-8.
- the block 60-8 as the power distribution unit includes the engine output upper limit value Pengmax as the engine output limit value, the engine output lower limit value Pengmin, the assist motor output upper limit value Pasmmax as the assist motor output limit value, and the assist.
- the motor output lower limit value Pasmin, the battery output upper limit value Pbatmax1 as the battery discharge limit value, the battery output lower limit value Pbatmin1 as the battery charge limit value, and the battery output target value Pbatgtt are input.
- the block 60-8 determines the hydraulic load actual output Phydout, the electric load actual output Pelcout, and the assist motor output command Pasmref based on these input values, and outputs them to each part of the controller 30.
- the controller 30 controls the hydraulic pressure supplied to the hydraulic load 54 based on the actual hydraulic load output Phydout, controls the power supplied to the electric load 56 based on the actual electrical load Pelcout, and outputs the assist motor output command Pasmref. Based on this, the assist amount of the engine 50 by the assist motor 52 or the power generation amount by the assist motor 52 is controlled.
- the output upper limit value Pengmax of the engine 50 is decreased to reduce the load of the engine 50 and promote the return of the rotation speed. .
- This is particularly effective when the amount of power stored in the battery 58 of the power storage unit 19 is small and the load on the engine 50 cannot be reduced by the assist of the assist motor 52 as will be described later.
- the engine output upper limit value Pengmax2 when the engine output upper limit value Pengmax2 is calculated, the actual engine output Pengact (actually measured value) in the previous cycle is used. However, the actual engine output value cannot be obtained. In this case, as shown in FIG. 9, the assumed engine output calculated by the power distribution unit 60-8 can be used in place of the actual engine output Pengact (actually measured value) in the previous cycle.
- FIG. 10 is a functional block diagram of the control unit 60 included in the controller 30 for performing control according to the first embodiment of the present invention. 10, parts that are the same as the parts shown in FIG. 5 are given the same reference numerals, and descriptions thereof will be omitted.
- the assist motor 52 assists the engine 50 in order to reduce the load on the engine 50.
- blocks 60-13, 60-14, and 60-15 are provided.
- the block 60-13 corrects the assist motor output command Pasmref calculated by the power distribution unit 60-8, and the assist motor output lower limit value Pasmin2 that is larger than the assist motor output lower limit value Pasmin1 determined in the block 60-9. Is a functional block for determining
- Block 60-14 is a functional block for limiting the assist motor output lower limit value Pasmin2 so that the assist motor output lower limit value Pasmin2 determined in block 60-13 does not become larger than the battery output upper limit value Pbatmax1 determined in block 60-5. is there.
- Block 60-15 is a functional block for setting the assist motor output lower limit value Pasmin 2 supplied from the block 60-14 as the assist motor output lower limit value Pasmin supplied to the power distribution unit.
- the power distribution unit 60-8 can calculate the assist motor output command Pasmref having a value larger than the value calculated based on the assist motor output lower limit value Pasmin1 determined in the block 60-9.
- FIG. 11 is a graph showing the change in the assist motor output lower limit value Pasmin1, the change in the assist motor output command Pasmref, and the change in the actual engine speed Nengact.
- the graph of FIG. 11 is a graph in the case where the load on the engine increases after the time t0. Since the engine load is large at the time t1, the assist motor output command is assist (plus). However, since sufficient assistance is not performed, the engine is overloaded and the engine speed is decreasing. Therefore, if the actual engine speed Nengact continues to decrease as it is, the engine may lose the load and cause engine stall.
- the assist motor output lower limit value Pasmin is determined as the assist motor output lower limit value determined in block 60-9.
- the assist motor output lower limit value Pasmin2 is set lower than Pasmin1, and the load on the engine is forcibly reduced by the assist motor.
- the assist motor output lower limit value Pasmin2 corresponds to the correction value 2 calculated in block 60-13.
- the deviation Nengerr between the actual engine speed Nengact and the target engine speed Nengref continues to decrease beyond the threshold between time t1 and time t2 (time ta), and at time t2, the actual engine speed.
- the assist motor output lower limit value Pasmin1 is forcibly changed to an assist motor output lower limit value Pasmin2 that is much higher than the assist motor output lower limit value Pasmin1. That is, at time t2, the assist motor output lower limit value Pasmin is changed from the assist motor output lower limit value Pasmin1 to an assist motor output lower limit value Pasmin2 higher than the assist motor output lower limit value Pasmin1.
- the load on the engine 50 is increased.
- the engine 50 is forcibly reduced or the assist motor 52 is changed from the power generation operation to the assist operation to assist the engine 50, and the engine speed is urged to return to the engine target speed Nengref.
- the assist motor output lower limit value Pasmin is set to the assist motor output lower limit value Pasmmin2 between time t2 and time t3, the load on the engine 50 is reduced and the assist motor 52 assists. Nengact turns up. As a result, it is possible to avoid a situation in which engine actual rotation speed Nengact continues to decrease and causes engine stall. At time tb, the actual rotational speed recovers within the threshold value. After that, at time t4, the deviation Nengerr between the engine actual rotational speed Nengact and the engine target rotational speed Nengact is less than the threshold value. It is determined that the number has disappeared, the assist motor output lower limit value Pasmin is set to the assist motor output lower limit value Pasmin1 again, and the normal control is resumed.
- the predetermined value ⁇ P (t1) is calculated by multiplying the deviation Nengerr between the actual engine speed Nengact (at time t2) and the engine target speed Nengref by a predetermined gain K2, as shown in FIG. .
- the assist motor output lower limit value Pasmin2 (t2) calculated at time t2 is set to a predetermined value for the difference Nengerr between the actual engine speed Nengact and the target engine speed Nengref at time t2 to the assist motor output command Pasmref at time t1.
- FIG. 13 is a graph showing the assist motor output upper limit value Pasmax1 and the assist motor output lower limit value Pasmin1 determined by the assist motor speed, and the assist motor output lower limit value Pasmin1 (t2) determined at time t2 and at time t1.
- the relationship between the assist motor output command Pasmref (t1) and the engine output upper limit Pengmax2 (t2) calculated at time t2 is shown.
- the assist motor output command Pasmref (t1) at time t1 prior to time t2 is a value higher than the assist motor output lower limit value Pasmin1 (t2) at time t2.
- the assist motor output lower limit value Pasmin2 (t2) at time t2 is a value obtained by adding the correction amount ⁇ P (t1) to the assist motor output command Pasmref (t1) at the previous time t1, the assist motor output command Pasmref ( It becomes a value higher than t1).
- the correction amount ⁇ P (t1) is a value calculated by multiplying the deviation Nengerr between the actual engine speed Nengact and the target engine speed Nengref at time t2 by a predetermined gain K2, and therefore the actual engine speed at time t2.
- the magnitude of the deviation Nengerr between the number Nengact and the target engine speed Nengref is reflected. That is, the degree to which the actual engine speed Nengact is lower than the engine target speed Nengref is reflected in the correction amount ⁇ P (t1). Therefore, the assist motor output command Pasmref2 (t2) at time t2 is the actual engine speed. It is determined based on the degree to which Nengact is lower than the engine target speed Nengref.
- the calculation of the assist motor output lower limit value Pasmin2 shown in FIG. 12 is performed in block 60-13 shown in FIG.
- the assist motor output lower limit value Pasmin2 calculated in block 60-13 is supplied to block 60-14.
- the block 60-14 limits the assist motor output lower limit value Pasmin2 so that the assist motor output lower limit value Pasmin2 calculated in the block 60-13 does not become larger than the battery output upper limit value Pbatmax1 determined in the block 60-5.
- the assist motor output lower limit value Pasmin2 calculated in block 60-13 indicates the maximum power generation amount of the assist motor 52 for suppressing the power generation operation of the assist motor 52 and reducing the load on the engine 50, or The minimum value of the output of the assist motor 52 for assisting the assist motor 52 is shown.
- the assist operation of the assist motor 52 is performed by supplying electric power from the battery 58.
- the battery output upper limit value Pbatmax1 is determined as the maximum battery discharge amount, so that the block 60-14 outputs the assist motor output output from the block 60-13.
- the lower limit value Pasmin 2 is limited by the battery output upper limit value Pbatmax 1 output from the block 60-5, thereby controlling the condition so as to supply the assist motor 52 with the power allowable for the battery 58.
- the assist motor output lower limit value Pasmin2 (a value larger than the assist motor output lower limit value Pasmin1 determined in block 60-9) supplied from block 60-14 is set as the assist motor output lower limit value Pasmin. And output to the power distribution unit 60-8.
- the block 60-8 as the power distribution unit includes the engine output upper limit value Pengmax as the engine output limit value, the engine output lower limit value Pengmin, the assist motor output upper limit value Pasmmax as the assist motor output limit value, and the assist.
- the assist motor output lower limit value Pasmin as the motor power generation limit value, the battery output upper limit value Pbatmax1 as the battery discharge limit value, the battery output lower limit value Pbatmin1 as the battery charge limit value, and the battery output target value Pbatgtt are input.
- the block 60-8 determines the hydraulic load actual output Phydout, the electric load actual output Pelcout, and the assist motor output command Pasmref based on these input values, and outputs them to each part of the controller 30.
- the controller 30 controls the hydraulic pressure supplied to the hydraulic load 54 based on the actual hydraulic load output Phydout, controls the power supplied to the electric load 56 based on the actual electrical load Pelcout, and outputs the assist motor output command Pasmref. Based on this, the assist amount of the engine 50 by the assist motor 52 or the power generation amount by the assist motor 52 is controlled.
- the engine 50 when the rotational speed of the engine 50 continues to decrease, the engine 50 is rotated by the assist motor 52 by assisting the engine 50 by increasing the output lower limit value Pasmin of the assist motor 52. It encourages the return of numbers.
- the assist motor output lower limit value Pasmin2 is limited so that the assist motor output lower limit value Pasmin does not become larger than the battery output upper limit value Pbatmax1, the assist motor 52 assists the engine 50 while checking the state of charge of the battery 58. You are in control. Therefore, when the amount of power stored in the battery 58 of the power storage unit 19 is small and the assist motor 52 cannot be assisted, the engine output control according to this embodiment is not performed.
- FIG. 14 is a functional block diagram of the control unit 60 included in the controller 30 for performing control according to the third embodiment of the present invention. 14, parts that are the same as the parts shown in FIGS. 5 and 10 are given the same reference numerals, and descriptions thereof will be omitted.
- 3rd Embodiment combines the above-mentioned 1st Embodiment and 2nd Embodiment. That is, when the rotational speed of the engine 50 continues to decrease, the load on the engine 50 is reduced by limiting the engine output upper limit value Pengmax as in the first embodiment, and as in the second embodiment. By setting the assist motor output lower limit value Pasmin high, the load on the engine 50 is reduced, and as a result, control is performed so that the rotational speed of the engine 50 is increased and returned to the target rotational speed.
- FIG. 14 Each functional block shown in FIG. 14 is the same as the functional block shown in FIG. 5 and FIG.
- FIG. 15 is a flowchart of processing performed in the control unit 60.
- step S1 the engine output upper limit value Pengmax and the engine output upper limit value Pengmin of the current engine 50 are determined from the actual engine speed Nact indicating the current speed of the engine 50 using a map or a conversion table. This process is performed by block 60-1. At this time, if the engine output upper limit value Pengmax and the engine output upper limit value Pengmin are set in a range where the fuel efficiency of the engine 50 is good in the map or the conversion table, the energy saving effect of the engine 50 can be obtained.
- step S2 a battery output upper limit value Pbatmax1 and a battery output lower limit value Pbatmin1 are determined from the current battery voltage Vact. This process is performed by blocks 60-2 to 60-6.
- the block 60-2 obtains the current charging rate SOCact by calculation from the current battery voltage Vact.
- the block 60-3 determines the battery output upper limit value Pbatmax11 and the battery output lower limit value Pbatmin11 from the predetermined maximum charging current and maximum discharging current from the current charging rate SOCact using the map or the conversion table.
- the block 60-4 determines the battery output upper limit value Pbatmax12 and the battery output lower limit value Pbatmin12 which are not lower than the SOC lower limit value and not higher than the SOC upper limit value from the current charging rate SOCact using the map or the conversion table. .
- the block 60-5 determines the smaller one of the battery output upper limit value Pbatmax11 and the battery output upper limit value Pbatmax12 as the battery output upper limit value Pbatmax1.
- the battery output upper limit value Pbatmax1 indicates the maximum discharge power
- the battery output lower limit value Pbatmin1 indicates the maximum charge power.
- the block 60-6 determines the larger one of the battery output lower limit value Pbatmin11 and the battery output lower limit value Pbatmin12 as the battery output lower limit value Pbatmin1.
- step S3 a lower limit value Pasmin1 and an upper limit value Pasmax of the output of the assist motor 52 at the current actual assist motor actual rotation number Nasact are obtained from a map or conversion table prepared in advance. As shown in FIG. 5, this map or conversion table shows the lower limit value and the upper limit value of the output with respect to the rotation speed of the assist motor 52. This process is performed at block 60-9. The block 60-9 outputs the obtained lower limit value Pasmin1 and upper limit value Pasmmax of the assist motor 52 to the power distribution unit 60-8.
- step S4 a deviation Nengerr between the target engine speed Nengref and the actual engine speed Nengact is calculated. This process is performed at block 60-10. The calculated deviation Nengerr is supplied to block 60-11 and block 60-13.
- an engine output upper limit value Pengmax2 is calculated.
- the engine output upper limit value Pengmax2 is calculated by the block 60-11 by the calculation method shown in FIG. That is, the block 60-11 calculates the engine output upper limit value Pengmax2 as the engine output correction value 1 from the input engine actual output Pengmax and the deviation Nengerr supplied from the block 60-11, and calculates the calculated engine output upper limit value.
- Pengmax2 is output to block 60-12.
- the block 60-12 compares the engine output upper limit value Pengmax1 supplied from the block 60-1 with the engine output upper limit value Pengmax2 supplied from the block 60-11, and the engine output upper limit value Pengmax1 is equal to or less than the engine output upper limit value Pengmax2.
- the engine output upper limit value Pengmax1 is output as it is to the power distribution unit 60-8 as the engine output upper limit value Pengmax.
- the block 60-12 sets the engine output upper limit value Pengmax2 as the engine output upper limit value Pengmax instead of the engine output upper limit value Pengmax1, and the power distribution unit 60- 8 is output. That is, the block 60-12 limits the engine output upper limit value Pengmax so as not to exceed the engine output upper limit value Pengmax2.
- step S6 the assist motor output lower limit value Pasmin2 is calculated, and the calculated assist motor output lower limit value Pasmin2 is supplied to the power distribution unit 60-8 as the assist motor output lower limit value Pasmin.
- the assist motor output lower limit value Pasmin2 is calculated by the block 60-13 by the calculation method shown in FIG. That is, the block 60-13 corrects the assist motor output command Pasmref calculated by the power distribution unit 60-8, and the assist motor output lower limit that is larger than the assist motor output lower limit Pasmin1 determined in the block 60-9.
- the value Pasmin2 is calculated.
- the calculated assist motor output lower limit value Pasmin2 is supplied to the block 60-14.
- the block 60-14 limits the assist motor output lower limit value Pasmin2 so that the assist motor output lower limit value Pasmin2 calculated in the block 60-13 does not become larger than the battery output upper limit value Pbatmax1 determined in the block 60-5.
- the limited assist motor output lower limit value Pasmin 2 is supplied to the block 60-15, set as the assist motor output lower limit value Pasmin, and supplied to the power distribution unit 60-8.
- step S7 the battery output target value Pbattgt is determined from the current charging rate SOCact. This process is performed by block 60-7.
- step S8 the actual electric load output Pelcout is determined based on the limit values of the required output of the engine 50 and the battery 58.
- the processing in step S8 is performed in block 60-8 which is a power distribution unit. This process will be described later.
- step S ⁇ b> 9 the hydraulic load actual output Phydout is determined based on the limit values of the required output of the engine 50 and the battery 58.
- step S9 is performed in block 60-8 which is a power distribution unit. This process will be described later.
- step S10 the battery output Pbatout is determined based on the calculated outputs of the engine 50, the electric load 56, and the battery 58.
- the battery output Pbatout is charging / discharging power to the battery 58.
- the processing in step S10 is performed in block 60-8 which is a power distribution unit. This process will be described later.
- step S11 an assist motor output command Pasmref is determined based on a comparison between the actual electric load output Pelcout and the battery output Pbatout.
- the processing in step S11 is performed in block 60-8 which is a power distribution unit. This process will be described later.
- step S11 When the process in step S11 is completed, the process in the control unit 60 is terminated.
- the hydraulic load actual output Phydout, the electric load actual output Pelcout, and the assist motor output command Pasmref are determined.
- FIG. 16 is a flowchart of the process in step S8.
- step S8-1 an electric load output upper limit Pelcmax that is the maximum power that can be supplied to the electric load 56 is calculated. That is, the electric load output upper limit Pelcmax is the maximum power that can be supplied during the power running operation of the electric load 56, and the power during the power running operation is set as a positive value.
- the electric load output upper limit Pelcmax is limited by the engine output upper limit Pengmax2. The smaller of the engine output upper limit value Pengmax and the assist motor output lower limit value Pasmin2 limited by the assist motor output lower limit value Pasmin2, and the sum of the battery output upper limit value Pbatmax1.
- the assist motor 52 has an assist motor output lower limit value Pasmin1 as the maximum power generation amount determined by the rotational speed Nasact at that time. This is determined by block 60-9 in FIG. Therefore, when the engine output upper limit value Pengmax, which is the power supplied from the engine 50 to the assist motor 52, exceeds the assist motor output lower limit value Pasmin1, it is necessary to limit the power generation of the assist motor 52 to the assist motor output lower limit value Pasmin1 or less. is there.
- FIG. 17 is a diagram illustrating a calculation model of the above-described electric load output upper limit Pelcmax.
- step S8-2 the electric load request output Pelcreq and the electric load output upper limit Pelcmax are compared, and it is determined whether or not the electric load request output Pelcreq is less than or equal to the electric load output upper limit Pelcmax.
- step S8-2 If it is determined in step S8-2 that the electrical load required output Pelcreq is greater than the electrical load output upper limit Pelcmax (No in step S8-2), the process proceeds to step S8-3.
- step S8-3 the value of the electric load actual output Pelcout is made equal to the value of the electric load output upper limit Pelcmax, and then the process ends. That is, when the power required by the electric load 56 is larger than the maximum value of power that can be supplied by the assist motor 52 and the battery 58, only the maximum power that can be supplied by the assist motor 52 and the battery 58 is supplied to the electric load 56. And an upper limit is set for the power supplied to the electric load.
- step S8-2 when it is determined in step S8-2 that the electric load required output Pelcreq is equal to or less than the electric load output upper limit Pelcmax (Yes in step S8-2), the process proceeds to step S8-4.
- step S8-4 the maximum power during the regenerative operation of the electric load 56 is calculated.
- the maximum power during the regenerative operation is calculated as the electric load output lower limit value Pelcmin.
- the electric load output lower limit value Pelcmin is obtained by adding the battery output lower limit value Pbatmin1 to the larger one of the value obtained by subtracting the hydraulic load output request Phydreq from the engine output lower limit value Pengmin and the assist motor output upper limit value Pasmmax.
- FIG. 18 is a diagram showing a calculation model of the above-described electric load output lower limit Pelcmin.
- the assist motor 52 compensates for the difference by the assist operation of the assist motor 52.
- the engine 50 can be assisted by consuming electric power.
- the assist motor 52 has an assist motor output upper limit value Pasmmax which is a maximum output determined by the rotation speed Nasact at that time.
- the assist motor output upper limit value Pasmmax is determined in block 60-9 of FIG.
- step S4-8 the smaller one of the value obtained by subtracting the engine output lower limit value Pengmin from the hydraulic load request output Phydreq and the assist motor output upper limit value Pasmmax is selected as the maximum power that can be consumed by the assist motor 52. Yes.
- step S8-5 the electric load request output Pelcreq and the electric load output lower limit value Pelcmin are compared, and it is determined whether or not the electric load request output Pelcreq is greater than or equal to the electric load output lower limit value Pelcmin.
- step S8-5 If it is determined in step S8-5 that the electrical load required output Pelcreq is smaller than the electrical load output lower limit Pelcmin (No in step S8-5), the process proceeds to step S8-6.
- step S8-6 the value of the electric load actual output Pelcout is made equal to the value of the electric load output lower limit value Pelcmin, and then the process ends. That is, when the power regenerated by the electric load 56 is greater than the sum of the maximum power that can be consumed by the assist motor 52 and the maximum power that can be stored in the battery 58, the power that is regenerated by the electric load 56 can be consumed by the assist motor 52.
- An upper limit is set so as not to exceed the sum of the power and the maximum power that can be stored in the battery 58.
- step S8-5 if it is determined in step S8-5 that the electric load required output Pelcreq is equal to or greater than the electric load output lower limit Pelcmin (Yes in step S8-5), the process proceeds to step S8-7.
- step S8-7 the value of the electric load actual output Pelcout is made equal to the value of the electric load request Pelcreq, and then the process is terminated. That is, when the electric power regenerated by the electric load 56 is equal to or less than the sum of the maximum electric power that can be consumed by the assist motor 52 and the maximum electric power that can be stored in the battery 58, the electric power that is regenerated by the electric load 56 is set to be output as it is. Yes.
- the electric load 56 can be stably controlled by considering the engine output upper and lower limit values Pengmax and Pengmin and the battery output upper and lower limit values Pbatmax and Pbatmin in calculating the value of the actual electric load output Pelcout. .
- FIG. 19 is a flowchart of the process in step S9.
- step S9-1 the hydraulic load output upper limit value Phydmax, which is the maximum power that can be supplied to the hydraulic load 54, is calculated.
- the hydraulic load output upper limit value Phydmax is calculated by adding the smaller one of the value obtained by subtracting the electric load output Pelecout from the battery output upper limit value Pbatmax1 and the assist motor output upper limit value Pasmmax to the engine output upper limit value Pengmax.
- the assist motor 52 has an assist motor output upper limit value Pasmmax as a maximum output determined by the rotation speed Pasmact at that time. When assisting the engine 50, the assist motor 52 cannot be assisted beyond the assist motor output upper limit value Pasmmax.
- step S9-1 when the value obtained by subtracting the electric load output Pelecout from the battery output upper limit value Pbatmax1 is larger than the assist motor output upper limit value Pasmmax, the assist motor output upper limit value Pasmmax is adopted, and the assist motor 52 Limit the amount of assistance.
- the assist motor output upper limit value Pasmmax is a value determined in block 60-9 of FIG.
- FIG. 20 is a diagram showing a calculation model of the hydraulic load output upper limit value Phydmax.
- the electric load actual output Pelcout has polarity, and takes positive and negative values, similarly to the electric load output upper and lower limit values Pelecmax and Pelecmin.
- the electric load actual output Pelcout is a positive value, it means that electric power is supplied during the power running operation of the electric load 56, and the power that can be supplied to the hydraulic load 54 is obtained by subtracting the electric power supplied to the electric load 56. .
- the electric load actual output Pelcout is a negative value
- step S9-2 the hydraulic load request output Phydreq is compared with the hydraulic load output upper limit Phydmax, and it is determined whether the hydraulic load request output Phydreq is equal to or less than the hydraulic load output upper limit Phydmax.
- step S9-2 If it is determined in step S9-2 that the hydraulic load request output Phydreq is not less than or equal to the hydraulic load output upper limit Phydmax, that is, the hydraulic load request output Phydreq is greater than the hydraulic load output upper limit Phydmax (No in step S9-2) ), The process proceeds to step S9-3.
- step S9-3 the value of the hydraulic load actual output Phydout is made equal to the hydraulic load output upper limit Phydmax, and then the process ends. That is, when the power required by the hydraulic load 54 is greater than the sum of the maximum power that can be output from the engine 50 and the maximum power that can be output from the assist motor 52, the power that is supplied to the hydraulic load 54 can be the maximum power that can be output from the engine 50.
- the upper limit is set as the sum of the maximum power that can be output from the assist motor 52.
- step S9-2 determines whether the hydraulic load request output Phydreq is equal to or less than the hydraulic load output upper limit value Phydmax (Yes in step S9-2).
- step S9-4 the value of the hydraulic load output Phydout is made equal to the value of the hydraulic load request output Phydreq, and then the process ends. That is, when the power required by the hydraulic load 54 is equal to or less than the sum of the maximum power that can be output from the engine 50 and the maximum power that can be output from the assist motor 52, the power required by the hydraulic load 54 is set to be supplied as it is. ing.
- the hydraulic load 54 can be stably controlled by considering the engine output upper limit value Pengmax and the battery output upper limit value Pbatmax1 in the calculation of the value of the hydraulic load actual output Phydout.
- FIG. 21 is a flowchart of the process in step S10.
- the battery output upper limit value Pbatmax2 indicates the maximum discharge power
- the battery output lower limit value Pbatmin2 indicates the maximum charge power.
- a battery control output upper limit value Pbatmax2 that is electric power that can be discharged by the battery 58 is calculated in the state of the output to the electric load 56 and the output to the hydraulic load 54 determined as described above.
- the battery control output upper limit value Pbatmax2 is calculated by subtracting the engine output lower limit value Pengmin from the sum of the electric load actual output Pelcout and the hydraulic load output Phydout.
- FIG. 22 is a diagram showing a calculation model of the battery control output upper limit value Pbatmax2.
- the battery control output upper limit value Pbatmax2 is the sum of the power that can be consumed by the electric load 56 and the power that can be consumed by assisting the hydraulic system by the assist motor 52.
- step S10-2 the battery output upper limit value Pbatmax1 determined in step S2 is compared with the battery control output upper limit value Pbatmax2, and it is determined whether or not the battery control output upper limit value Pbatmax2 is greater than or equal to the battery output upper limit value Pbatmax1. judge.
- step S10-2 If it is determined in step S10-2 that the battery control output upper limit value Pbatmax2 is equal to or greater than the battery output upper limit value Pbatmax1 (Yes in step S10-2), the process proceeds to step S10-3. In step S10-3, the battery output upper limit value Pbatmax is set equal to the battery output upper limit value Pbatmax1. Thereafter, the process proceeds to step S10-5.
- step S10-2 when it is determined in step S10-2 that the battery control output upper limit value Pbatmax2 is not equal to or greater than the battery output upper limit value Pbatmax1, that is, the battery control output upper limit value Pbatmax2 is smaller than the battery output upper limit value Pbatmax1 (in step S10-2). No), the process proceeds to step S10-4. In step S10-4, the battery output upper limit value Pbatmax is set equal to the battery control output upper limit value Pbatmax2. Thereafter, the process proceeds to step S10-5.
- step S10-5 the battery target output Pbattgt is compared with the battery output upper limit value Pbatmax, and it is determined whether or not the battery target output Pbatgtgt is equal to or less than the battery output upper limit value Pbatmax.
- step S10-5 When it is determined in step S10-5 that the battery target output Pbatgt is not less than or equal to the battery output upper limit value Pbatmax, that is, the battery target output Pbatgt is greater than the battery output upper limit value Pbatmax (No in step S10-5), the process is performed in step S10. Proceed to -6. In step S10-6, the value of the battery output Pbatout is made equal to the value of the battery output upper limit value Pbatmax, and then the process ends.
- the battery output upper and lower limit values Pbatmax2 and Pbatmin2 are obtained based on the actual electric load output Pelcout and the actual hydraulic load output Phydout. Thereby, since the maximum value of the output (charge / discharge power) of the battery 58 according to the actual load request can be obtained, the battery 58 can be charged / discharged corresponding to the actual work situation.
- the battery output upper and lower limit values obtained based on the electric load actual output Pelcout and the hydraulic load actual output Phydout are compared with the maximum power that can be charged and discharged according to the current state of charge of the battery 58, Determine the battery requirement limit. Thereby, it is possible to prevent an excessive load from being applied to the battery 58.
- the battery request limit value and the battery target output are compared so that the battery output Pbatout of the battery 58 falls within the range of the battery request limit value, and when the battery target output is outside the range of the battery request limit value, The battery target output is corrected. Thereby, it is possible to more reliably prevent an excessive load from being applied to the battery 58.
- FIG. 23 is a graph showing the value of the battery output Pbatout determined by the process of step S10-6 in a graph showing the relationship between the battery charge rate (SOC) and the battery output.
- the graph of FIG. 23 shows the battery output upper limit value Pbatmax1 determined by the block 60-5 shown in FIG.
- the battery output upper limit value Pbatmax1 is a smaller value of the battery output upper limit value Pbatmax11 and the battery output upper limit value Pbatmax12, and corresponds to a portion where a two-dot chain line is drawn in the figure. 23 also shows Pbatmin1 determined in block 60-6 shown in FIG.
- the battery output lower limit value Pbatmin1 is a larger value (closer to zero) of the battery output lower limit value Pbatmin11 and the battery output lower limit value Pbatmin12, and corresponds to a portion where a two-dot chain line is drawn in the figure.
- Actual battery output Pbatout is determined so as to enter a region below Pbatmax1 indicated by a two-dot chain line on the plus side indicating discharge. On the other hand, the actual battery output Pbatout is determined so as to enter the region above Pbatmin1 indicated by a two-dot chain line on the minus side indicating charging.
- the battery output target value Pbattgt referred to in the block 60-7 is also shown in the graph shown in FIG.
- the current charging rate of the battery 58 In consideration of SOCact, the actual discharge power or charge power of the battery 58 is determined as the battery output Pbatout.
- step S10-6 since the battery target output Pbattgt at the current charging rate SOCact of the battery 58 exceeds the battery output control upper limit value Pbatmax, the target discharge power is the upper limit of the discharge power. The value is exceeded. In this case, the battery target output Pbatgt should not be set as the battery output Pbatout. Therefore, the actual battery output Pbatout is set to the battery output control upper limit value Pbatmax.
- step S10-2 and step S10-4 described above since the battery control output upper limit value Pbatmax2 is smaller than the battery output upper limit value Pbatmax1, the value of the battery output upper limit value Pbatmax is equal to the value of the battery control output upper limit value Pbatmax2. Is set. Therefore, in the example shown in FIG. 23, the battery output upper limit value Pbatmax, that is, the battery control output upper limit value Pbatmax2 is finally set as the actual battery output Pbatout.
- step S10-7 a battery control output lower limit value Pbatmin2, which is power that can be charged by the battery 58, is calculated in the state of the output to the electric load 56 and the output to the hydraulic load 54 determined as described above.
- the battery control output lower limit value Pbatmin2 is calculated by subtracting the engine output upper limit value Pengmax from the sum of the electric load actual output Pelcout and the hydraulic load output Phydout.
- FIG. 24 is a diagram showing a calculation model of the battery control output lower limit value Pbatmin2.
- the battery control output lower limit Pbatmin2 is the sum of the regenerative power of the electric load 56 and the power generated by the assist motor 52.
- step S10-8 the battery output lower limit value Pbatmin1 is compared with the battery control output lower limit value Pbatmin2, and it is determined whether or not the battery control output lower limit value Pbatmin2 is equal to or less than the battery output lower limit value Pbatmin1.
- step S10-8 If it is determined in step S10-8 that the battery control output lower limit value Pbatmin2 is equal to or less than the battery output lower limit value Pbatmin1 (Yes in step S10-8), the process proceeds to step S10-9. In step S10-9, the value of the battery output lower limit value Pbatmin is made equal to the value of the battery output lower limit value Pbatmin1. Thereafter, the processing proceeds to step S10-11.
- step S10-8 when it is determined in step S10-8 that the battery control output lower limit value Pbatmin2 is not less than or equal to the battery output lower limit value Pbatmin1, that is, the battery control output lower limit value Pbatmin2 is greater than the battery output lower limit value Pbatmin1 (No in step S10-8). ), The process proceeds to step S10-10. In step S10-10, the value of the battery output lower limit value Pbatmin is made equal to the value of the battery control output lower limit value Pbatmin2. Thereafter, the processing proceeds to step S10-11.
- step S10-11 the battery target output Pbattgt is compared with the battery output lower limit value Pbatmin to determine whether or not the battery target output Pbatttgt is equal to or greater than the battery output lower limit value Pbatmin.
- step S10-11 If it is determined in step S10-11 that the battery target output Pbatgt is greater than or equal to the battery output lower limit value Pbatmin (Yes in step S10-11), the process proceeds to step S10-12.
- step S10-12 the value of the battery output Pbatout is made equal to the value of the battery target output Pbatgtgt, and then the process is terminated.
- FIG. 25 is a graph showing the value of the battery output Pbatout determined by the process of step S10-12 in a graph showing the relationship between the battery charge rate (SOC) and the battery output.
- the battery output upper limit value Pbatmax1 is equal to or less than the battery control output upper limit value Pbatmax2, the value of the battery control output upper limit value Pbatmax1 is changed to the battery by the processing of Step S10-2 and Step S10-3. It is set as the output upper limit value Pbatmax. Further, since the battery control output lower limit value Pbatmin2 is equal to or less than the battery output lower limit value Pbatmin1, the value of the battery output lower limit value Pbatmin1 is set as the battery output lower limit value Pbatmin by the processes in steps S10-8 and S10-9.
- the battery target output Pbattgt at the current charging rate SOCact of the battery 58 is not less than the battery output lower limit Pbatmin and not more than the battery output upper limit value Pbatmax, the battery target output Pbattgt can be set as the actual battery output Pbatout. is there. Therefore, the value of the battery target output Pbattgt is set as the battery output Pbatout by the process of step S10-12.
- step S10-11 when it is determined in step S10-11 that the battery target output Pbatgt is not equal to or greater than the battery output lower limit value Pbatmin, that is, the battery target output Pbatgt is smaller than the battery output lower limit value Pbatmin (No in step S10-11), the processing is performed. Proceed to step S10-13. In step S10-13, the value of the battery output Pbatout is made equal to the value of the battery output lower limit value Pbatmin, and then the process ends.
- FIG. 26 is a graph showing the value of the battery output Pbatout determined by the process of step S10-12 in a graph showing the relationship between the battery charge rate (SOC) and the battery output.
- the value of the battery output lower limit value Pbatmin1 is changed to the battery output lower limit value by the processing in steps S10-8 and S10-9.
- the battery target output Pbattgt at the current charging rate SOCact of the battery 58 is less than the battery output lower limit Pbatmin, the target charging power exceeds the maximum charging power of the battery, and the battery target output Pbattgt is the actual battery output. Should not be set as Pbatout. Accordingly, the value of the battery output lower limit value Pbatmin, that is, the value of the battery output lower limit value Pbatmin1 is set as the battery output Pbatout by the process of step S10-13.
- the battery output upper and lower limit values Pbatmax2 and Pbatmin2 are obtained based on the actual electric load output Pelcout and the actual hydraulic load output Phydout. Thereby, since the maximum value of the output (charge / discharge power) of the battery 58 according to the actual load request can be obtained, the battery 58 can be charged / discharged corresponding to the actual work situation.
- FIG. 27 is a flowchart of the process in step S11.
- an assist motor output command Pasmref for instructing the operation of the assist motor 52 is calculated in step S11-1, and then the process ends.
- the assist motor output command Pasmref is calculated by subtracting the electric load actual output Pelcout from the battery output Pbatout.
- FIG. 28 is a diagram showing a calculation model of the assist motor output command Pasmref.
- the output of the assist motor 52 corresponds to the power obtained by subtracting the power consumed by the electric load 56 from the power discharged from the battery 58.
- the output of the electric load 56 has polarity, and the polarity is positive when the electric load 56 actually consumes power.
- the electric load output which is the power consumed by the electric load 56
- the assist motor 52 functions as an electric motor.
- the value obtained by subtracting the electrical load output which is the power consumed by the electrical load 56, from the power discharged from the battery 58
- the power from the engine 50 is supplied to the assist motor 52, and the assist motor 52 generates power. Functions as a machine.
- the assist motor 52 generates a negative amount of electric power, and the electric power is supplied to the electric load 56.
- the assist motor 52 functions as an electric motor to assist the engine 50. That is, the assist motor 52 is controlled based on an electrical comparison between the actual electric load Pelcout, which is the output setting value of the electric drive unit, and the battery output Pbatout, which is the capacitor output setting value.
- a hybrid excavator that is an example of a hybrid work machine to which the present embodiment is applied includes a hydraulic generator, a motor generator, a capacitor, an electric drive unit, and a control unit.
- the hydraulic pressure generator corresponds to the main pump 14 that is a hydraulic motor, converts the output of the engine 50 into hydraulic pressure, and supplies the hydraulic pressure to the hydraulic drive unit.
- the motor generator 12 corresponds to the assist motor 52, is connected to the engine 50, and functions as both the motor and the generator.
- the accumulator corresponds to the battery 58 and supplies electric power to the motor generator 12 to function as an electric motor.
- the electric drive unit is driven by electric power from the electric storage device and the motor generator, generates regenerative electric power, and supplies it to at least one of the electric storage device and the motor generator.
- the controller 60 corrects the output upper limit value Pengmax of the engine 50 based on the deviation Nengerr between the target speed Nengref and the actual speed Nengact of the engine 50, and the motor generator 12 based on the corrected engine output upper limit value Pengmax.
- the output command Pasmref, the actual output Phydout of the hydraulic load 54, and the actual output Pelcout of the electric load are calculated.
- the output upper limit value Pengmax of the engine 50 is corrected so as to be forcibly reduced, so that the actual engine speed Nengact of the engine 50 can be quickly made the target engine speed Nengref. It is possible to restore the engine to the engine and to prevent the engine stall.
- control unit 60 corrects the output lower limit value Pasmin of the motor generator 52 based on the deviation Nengerr between the target engine speed Nengref and the actual engine speed Nengact of the engine 50, and the corrected output lower limit value Pasmin of the motor generator 52.
- the output command Pasmref of the motor generator 12, the actual output Phydout of the hydraulic load 54, and the actual output Pelcout of the electric load can be calculated based on the above.
- the output lower limit value of the assist motor 52 so that the load on the engine 50 by the assist motor 52 is reduced or the assist motor 52 assists the engine 50.
- the operation and output of the motor generator can be controlled in consideration of the capacitor output set value, the electric load request value, the engine output set value, and the hydraulic load request value. It is possible to use the engine and the battery as the power source in an appropriate output range. In addition, the regenerative power from the electric load can be efficiently used, and the charge rate (SOC) of the battery can be efficiently maintained near the target value.
- the engine output required by a hydraulic generator such as a hydraulic motor or a hydraulic pump (that is, the hydraulic pressure required by the hydraulic operating unit) may increase rapidly, and the increase rate of the output required by the hydraulic generator may increase.
- the engine output increase rate may be exceeded. In other words, an excessive amount of fuel may be supplied to the engine in an attempt to increase the engine output rapidly.
- FIG. 29 is a functional block diagram of a control unit included in a controller for performing control according to the fourth embodiment of the present invention. 29, parts that are the same as the parts shown in FIG. 5 are given the same reference numerals, and descriptions thereof will be omitted.
- the process for determining the output upper limit value is repeated every unit time, and how much the engine output can be increased at the present time point, that is, how much the amount of fuel supplied to the engine is increased. This is a process for determining whether or not it is good.
- the control unit 60 stores table information or map information 60-1 indicating an upper limit value of output with respect to the engine speed.
- the control unit 60 refers to the map information 60-1 to obtain the output upper limit value Pengmax1 at the current actual engine speed Nact.
- the obtained output upper limit value Pengmax1 is input to a block 60-13 functioning as a comparator.
- the previous value of the actual engine output Pengact is input to the control unit 60.
- the control unit 60 inputs the output upper limit value Pengmax3 obtained by adding the engine output increment limit Penginc to the previous value of the engine actual output Pengact to the block 60-13.
- the increment limit Penginc is set to a value that can increase the output of the engine while maintaining the operating condition of the engine in an appropriate range. That is, even if the output required for the engine increases rapidly, the output limit value is used to limit the increase in the amount of fuel supplied to the engine by limiting the increase in output per unit time.
- the block 60-13 compares the input output upper limit value Pengmax1 and the output upper limit value Pengmax3, and outputs the smaller value to the block 60-12 as the engine output upper limit value Pengmax4.
- the block 60-12 compares the engine output upper limit value Pengmax4 supplied from the block 60-13 with the engine output upper limit value Pengmax2 (correction value 1) supplied from the block 60-11, and the engine output upper limit value Pengmax4 is When the output upper limit value Pengmax2 or less, the engine output upper limit value Pengmax4 is output as it is to the power distribution unit 60-8 as the engine output upper limit value Pengmax.
- the block 60-12 uses the engine output upper limit value Pengmax2 as the engine output upper limit value Pengmax instead of the engine output upper limit value Pengmax4 as the power distribution unit 60-. 8 is output. That is, the block 60-12 limits the engine output upper limit value Pengmax so as not to exceed the engine output upper limit value Pengmax4.
- FIG. 30 is a flowchart of the above process. This process is performed every short unit time, for example, every 0.1 second.
- FIG. 31 is a graph showing an example of engine output transition when the process shown in FIG. 30 is repeated every unit time.
- step S1-11 the engine output upper limit value Pengmax3 is calculated by adding the increment limit Penginc to the previous value of the actual engine output Pengact.
- step S1-12 it is determined whether or not the engine output upper limit value Pengmax1 obtained from the actual engine speed Nact is greater than the engine output upper limit value Pengmax3.
- step S1-13 processing for setting Pengmax1 as Pengmax4 is performed.
- step S1-14 processing for setting Pengmax3 as Pengmax4 is performed.
- the processing up to step S1-3 or step S1-4 is processing for determining the engine output upper limit value Pengmax4.
- the engine output upper limit value Pengmax4 determined in this way corresponds to the engine output allowed after a unit time in the current engine output when the engine speed is constant, and is obtained by the engine speed. The value is limited by the maximum value of.
- Pengmax4 has a constant value corresponding to the engine speed because the engine speed is constant, and is a straight line parallel to the horizontal axis in FIG. Since Pengmax3 is obtained by adding the increment limit Penginc to the engine output, it becomes a curve indicated by ⁇ in FIG.
- the engine output upper limit value Pengmax4 is the smaller one of Pengmax3 indicated by a curve indicated by ⁇ and Pengmax1 indicated by a straight line parallel to the horizontal axis.
- Pengmax3 indicated by a curve indicated by ⁇ is a convex curve
- the peak portion of the Pengmax3 cut by Pengmax1 indicated by a straight line parallel to the horizontal axis corresponds to the engine output upper limit value Pengmax4.
- step S1-15 it is determined whether the engine output upper limit value Pengmax4 is larger than the engine output upper limit value Pengmax2.
- step S1-16 processing for setting Pengmax4 as Pengmax is performed.
- step S1-17 processing for setting Pengmax2 as Pengmax is performed.
- the processing from step S1-15 to S1-16 or step S1-17 is processing for determining the engine output upper limit value Pengmax.
- step S1-18 it is determined whether or not the hydraulic load request output Phydreq is larger than the engine output upper limit value Pengmax determined as described above.
- step S1-19 the hydraulic load output command Phydout is made equal to the hydraulic load request output Phydreq. That is, since the requested output does not exceed the upper limit value, the engine output may be set so that the requested output is obtained, and the hydraulic load output command Phydout is made equal to the hydraulic load requested output Phydreq. .
- step S1-20 the hydraulic load output command Phydout is made equal to the engine output upper limit value Pengmax. That is, since the required output exceeds the upper limit value, the hydraulic load output command Phydout is made equal to the engine output upper limit value Pengmax so that the engine output does not exceed the upper limit value.
- step S1-18 to step S-16 or step S1-17 corresponds to the processing for determining the hydraulic load output command Phydout.
- the hydraulic load output command Phydout is equal to the engine output Pengact that is the actual output of the engine 10. More specifically, since the increase limit Penginc is added to the engine actual output Pengact at time t1 to calculate Pengmax at time t2, the engine actual output is output until time t5 when Pengact does not change rapidly.
- the engine output upper limit value Pengmax1 continues to be smaller than the engine output upper limit value Pengmax3, so the engine output upper limit value Pengmax continues to be Pengmax1.
- the engine output upper limit value Pengmax3 is smaller than the engine output upper limit value Pengmax1, so the engine output upper limit value Pengmax is Pengmax3.
- the curve connecting the stars in FIG. 31 corresponds to the hydraulic load output command Phydout and represents the actual output of the engine.
- the hatched portion is a portion where the hydraulic load request output Phydreq is limited by the engine output limit value Pengmax, and a rapid increase in engine output is suppressed in order to properly maintain the operating conditions of the engine 10. Part.
- the sudden load compensation function described in the fourth embodiment includes the configuration shown in FIG. 5 used in the first embodiment, the configuration shown in FIG. 10 used in the description of the second embodiment, and the third embodiment. 14 may be provided in the configuration of FIG.
- a hybrid excavator has been described as an example of a hybrid work machine.
- the present invention can also be applied to a work machine such as a truck or a wheel loader.
- the present invention can be applied to a hybrid work machine that performs work efficiently by using two power sources in combination.
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Abstract
Description
エンジン実回転数Nengactは、エンジン50の実際の回転数を示す変数である。エンジン50はパワーショベルの運転時には常に駆動されており、エンジン実回転数Nactが検出されている。
油圧負荷要求出力Phydreqは、油圧負荷54が必要とする動力を示す変数であり、例えばパワーショベルを運転者が操作する際の操作レバーの操作量に相当する。
電気負荷要求出力Pelcreqは、電気負荷56が必要とする電力を示す変数であり、例えばパワーショベルを運転者が操作する際の操作レバーの操作量に相当する。
バッテリ電圧Vactは、バッテリ58の出力電圧を示す変数である。本実施形態ではバッテリとしてキャパシタ蓄電器を用いている。キャパシタの充電量は、キャパシタの端子間電圧の二乗に比例するから、出力電圧を検出することでバッテリ58の充電状態(すなわち、充電率SOC)を知ることができる。
エンジン実出力Pengactは、エンジン50の実際の出力を示す実測値であり、エンジン50の回転数とトルクとの積から求められる。
エンジン50は常に予め設定された一定の回転数で駆動されるように駆動制御されている。この予め設定された一定の回転数がエンジン目標回転数Nengrefである。
アシストモータ実回転数Nasmactは、アシストモータ52の実際の回転数を示す変数である。アシストモータ52はエンジン50に接続されているため、パワーショベルの運転時には常に駆動されており、アシストモータ実回転数Nasmactが検出されている。
油圧負荷要求出力Phydreqに対して、実際に油圧負荷54に供給する動力である。油圧負荷要求出力Phydreqに対して常に要求された動力を供給すると、同時に駆動されている電気負荷56の要求を満たせなくなったり、バッテリ58の充電率SOCを適当な範囲内に維持できなくなってしまう。このため、実際に油圧負荷54に供給する動力をある程度制限しなくてはならない場合がある。
電気負荷要求出力Pelcreqに対して、実際に電気負荷54に供給する電力である。電気負荷要求出力Pelcreqに対して常に要求された電力を供給すると、同時に駆動されている油圧負荷54の要求を満たせなくなったり、バッテリ58の充電率SOCを適当な範囲内に維持できなくなってしまう。このため、実際に電気負荷56に供給する電力をある程度制限しなくてはならない場合がある。
アシストモータ52の出力を指示する値である。アシストモータ出力指令Pasmrefにより、アシストモータ52が電動機として機能してエンジン50をアシストして油圧負荷54に動力を供給するか、あるいは、アシストモータ52が発電機として機能して電気負荷56に電力を供給するかバッテリ58を充電するか、が指示される。
1A、1B 走行機構
2 旋回機構
3 上部旋回体
4 ブーム
5 アーム
6 バケット
7 ブームシリンダ
8 アームシリンダ
9 バケットシリンダ
10 キャビン
11 エンジン
12 電動発電機(アシストモータ)
13 減速機
14 メインポンプ
15 パイロットポンプ
16 高圧油圧ライン
17 コントロールバルブ
18 インバータ
19 蓄電部
20 インバータ
21 旋回用電動機
23 メカニカルブレーキ
24 旋回減速機
25 パイロットライン
26 操作装置
26A、26B レバー
26C ペダル
27 油圧ライン
28 油圧ライン
29 圧力センサ
30 コントローラ
31 速度指令変換部
32 駆動制御装置
40 旋回駆動制御装置
50 エンジン
52 アシストモータ
54 油圧負荷
56 電気負荷
58 バッテリ
60 制御部
60a 出力条件算出部
60-1~60-7 ブロック
60-8 ブロック(動力分配部)
60-9~60-13 ブロック
Claims (12)
- エンジンの出力を油圧に変換し油圧駆動部に供給する油圧発生機と、
前記エンジンに接続され、電動機及び発電機の両方として機能する電動発電機と、
該電動発電機に電力を供給して電動機として機能させる蓄電器と、
該蓄電器からの電力により駆動され、且つ回生電力を発生して前記蓄電器に供給する電気駆動部と、
前記電動発電機の動作を制御する制御部と
を有するハイブリッド型作業機械であって、
前記制御部は、前記エンジンの目標回転数と実回転数との偏差に基づいて前記エンジンの出力上限値を補正し、補正した前記エンジンの出力上限値に基づいて前記電動発電機と前記油圧駆動部と前記電気駆動部との出力値を決定することを特徴とするハイブリッド型作業機械。 - 請求項1記載のハイブリッド型作業機械であって、
前記制御部は、前記エンジンの目標回転数と実回転数との偏差に基づいて前記電動発電機の出力下限値を補正し、補正した前記電動発電機の出力下限値に基づいて前記電動発電機と前記油圧駆動部と前記電気駆動部との出力値を決定することを特徴とするハイブリッド型作業機械。 - 請求項2記載のハイブリッド型作業機械であって、
前記制御部は、前記蓄電器の放電能力を考慮して前記電動発電機の出力下限値を補正することを特徴とするハイブリッド型作業機械。 - 請求項1乃至3のうちいずれか一項記載のハイブリッド型作業機械であって、
前記制御部は、前記蓄電器の放電能力に基づいて前記油圧駆動部の出力を決定することを特徴とするハイブリッド型作業機械。 - エンジンの出力を油圧に変換し油圧駆動部に供給する油圧発生機と、
前記エンジンに接続され、電動機及び発電機の両方として機能する電動発電機と、
該電動発電機に電力を供給して電動機として機能させる蓄電器と、
該蓄電器からの電力により駆動され、且つ回生電力を発生して前記蓄電器に供給する電気駆動部と、
前記電動発電機の動作を制御する制御部と
を有するハイブリッド型作業機械であって、
前記制御部は、前記エンジンの目標回転数と実回転数との偏差に基づいて前記電動発電機の出力下限値を補正し、補正した前記電動発電機の出力下限値に基づいて前記電動発電機と前記油圧駆動部と前記電気駆動部との出力値を決定することを特徴とするハイブリッド型作業機械。 - 請求項5記載のハイブリッド型作業機械であって、
前記制御部は、前記蓄電器の放電能力を考慮して前記電動発電機の出力下限値を補正することを特徴とするハイブリッド型作業機械。 - 請求項5又は6記載のハイブリッド型作業機械であって、
前記制御部は、前記蓄電器の放電能力を考慮して前記油圧駆動部の出力を決定することを特徴とするハイブリッド型作業機械。 - エンジンにより油圧発生機を駆動して作業を行う作業機械の制御方法であって、
該内燃機関の出力の増加率を所定値に設定し、
該増加率の該所定値から求められる前記内燃機関の出力上限値と、前記油圧発生機に要求される油圧出力から求められた要求動力とを比較し、
前記要求動力が前記出力上限値を超えたときに、前記エンジンの出力が前記出力上限値以下になるように制御する
ことを特徴とする作業機械の制御方法。 - 請求項8記載の作業機械の制御方法であって、
前記要求動力が前記出力上限値を越えたとき、越えた部分の出力を電動機の出力で補うことを特徴とする作業機械の制御方法。 - 請求項9記載の作業機械の制御方法であって、
前記電動機を蓄電装置からの電力と作業用の電動発電機からの回生電力とにより駆動することを特徴とする作業機械の制御方法。 - 請求項8記載の作業機械の制御方法であって、
前記エンジンの出力制御を所定の時間毎に行い、
前記エンジンの出力上限値を、前回のエンジンの出力に所定の割合の値を加えて算出することと特徴とする作業機械の制御方法。 - 請求項11記載の作業機械の制御方法であって、
前記出力上限値を求める際に、さらに前記エンジンの回転数も考慮することを特徴とする作業機械の制御方法。
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KR1020117030781A KR101360608B1 (ko) | 2009-06-25 | 2009-06-25 | 하이브리드형 작업기계 및 작업기계의 제어방법 |
JP2011519438A JP5198661B2 (ja) | 2009-06-25 | 2009-06-25 | ハイブリッド型作業機械及び作業機械の制御方法 |
EP09846514.9A EP2447119A4 (en) | 2009-06-25 | 2009-06-25 | Hybrid working machine and method of controlling working machine |
PCT/JP2009/061613 WO2010150382A1 (ja) | 2009-06-25 | 2009-06-25 | ハイブリッド型作業機械及び作業機械の制御方法 |
US13/379,395 US8798876B2 (en) | 2009-06-25 | 2009-06-25 | Hybrid working machine and controlling method thereof |
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Also Published As
Publication number | Publication date |
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EP2447119A1 (en) | 2012-05-02 |
KR101360608B1 (ko) | 2014-02-10 |
KR20120024833A (ko) | 2012-03-14 |
CN102803036A (zh) | 2012-11-28 |
CN102803036B (zh) | 2016-01-20 |
US20120109472A1 (en) | 2012-05-03 |
JP5198661B2 (ja) | 2013-05-15 |
JPWO2010150382A1 (ja) | 2012-12-06 |
EP2447119A4 (en) | 2018-04-04 |
US8798876B2 (en) | 2014-08-05 |
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