WO2012035735A1 - 作業機械の駆動制御方法 - Google Patents
作業機械の駆動制御方法 Download PDFInfo
- Publication number
- WO2012035735A1 WO2012035735A1 PCT/JP2011/005087 JP2011005087W WO2012035735A1 WO 2012035735 A1 WO2012035735 A1 WO 2012035735A1 JP 2011005087 W JP2011005087 W JP 2011005087W WO 2012035735 A1 WO2012035735 A1 WO 2012035735A1
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- WIPO (PCT)
- Prior art keywords
- hydraulic
- hydraulic pump
- motor
- hydraulic motor
- command
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
- B66C23/86—Slewing gear hydraulically actuated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/128—Braking systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/225—Control of steering, e.g. for hydraulic motors driving the vehicle tracks
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/002—Hydraulic systems to change the pump delivery
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/22—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by means of valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
Definitions
- the present invention relates to a control method for a drive device used in a work machine, and more particularly to a drive control method for a work machine that drives a structure by a hydraulic motor and an electric motor.
- a hydraulic excavator Used for construction work.
- a hydraulic excavator will be described as an example.
- the excavator is provided with an upper turning body (structure) on the upper part of the lower traveling body, and an engine, a driver's seat, and a bucket are provided at the upper end of the upper turning body.
- An arm, a boom connected to the arm, and the like are provided. Therefore, this upper turning body is a large heavy object.
- the upper swing body is swung at the upper portion of the lower traveling body by operating a remote control valve of the driver's seat at the time of work, and various operations are performed by the bucket at the tip by operating the boom or the like.
- Such a swivel body is swung by a drive device for swiveling drive, and in recent years, a drive device including a hydraulic motor and an electric motor has been proposed as the drive device.
- a hydraulic unit that uses a hydraulic motor as a drive source and an electric unit that uses an electric motor as a drive source are provided.
- the regenerative power is stored in the electric storage device by causing the electric motor to perform a regenerative action during steady turning and deceleration of the drive device.
- a control means of the drive device a required torque is obtained during turning, and when the required torque exceeds a set value, a necessary torque is output from the electric motor.
- the hydraulic unit is assisted by the electric unit, and the necessary torque is generated by adjusting the assist amount of the electric unit while ensuring the necessary maximum torque as a whole.
- the control means is configured to control the output torque of the electric motor in a direction that shortens the relief time by the relief valve provided in the hydraulic motor circuit.
- a differential pressure at both ports of a hydraulic actuator is detected, and a torque command is issued to an electric motor / generator attached to the hydraulic actuator in relation to the differential pressure.
- the revolving body is driven and controlled by the sum of the hydraulic motor and the drive / braking torque of the electric / generator, and the ratio of the output torque of the hydraulic motor is larger during driving compared to during braking.
- a relief valve for controlling the maximum driving pressure when the hydraulic motor is driven / stopped is provided, and the operating pressure during acceleration of the relief valve is higher than the operating pressure during deceleration stop I am doing so.
- the remote control valve is operated quickly and largely in an attempt to turn the upper turning body, which is an inertial body with a large heavy object as described above, at a desired speed.
- Patent Documents 1 to 3 use a relief valve as a hydraulic motor torque adjusting means for torque sharing by the hydraulic motor that drives the revolving structure and the electric motor, the hydraulic pump is used during torque control of the hydraulic motor.
- the surplus flow rate of the hydraulic oil discharged from the tank is discharged from the relief valve to the tank, resulting in energy loss.
- the present invention controls the amount of oil supplied from the hydraulic pump to the hydraulic motor according to the operation amount of the remote control valve, the rotational speed of the hydraulic motor, and the hydraulic oil pressure difference between the suction port and the discharge port of the hydraulic motor.
- An object of the present invention is to provide a drive control method for a work machine that can suppress energy loss.
- the present invention cooperates with a hydraulic motor driven by hydraulic oil supplied via a control valve from a hydraulic pump capable of changing a discharge flow rate by tilt angle control, and the hydraulic motor.
- a drive control method for a work machine that drives a structure with an electric motor, wherein a speed feedback based on an actual number of rotations of the hydraulic motor with respect to a speed command based on an operation amount of a remote control valve that determines an operation amount of the structure
- the “structure” in the specification and claims refers to, for example, a structure that performs a turning motion, a structure that performs a linear motion, and the like.
- the hydraulic oil amount suitable for obtaining the drive torque according to the difference between the operation amount of the remote control valve and the actual rotational speed of the hydraulic motor with the hydraulic motor and the hydraulic oil amount suitable for the actual rotational speed of the hydraulic motor The tilt angle of the hydraulic pump is controlled to discharge.
- the amount of hydraulic oil supplied from the hydraulic pump to the hydraulic motor is required to obtain a driving torque that is suitable for the actual rotational speed and that corresponds to the difference between the operation amount of the remote control valve and the actual rotational speed of the hydraulic motor. Therefore, the energy efficiency can be improved.
- a hydraulic oil amount suitable for the actual rotational speed of the hydraulic motor is supplied.
- Flow compensation may be performed for the tilt command.
- the flow rate compensation is performed so that the required oil amount at the actual rotational speed is obtained in response to the tilting command of the hydraulic pump by the differential pressure feedback control.
- a minor loop that feeds back a change in the tilt command is provided between the tilt command for which the flow rate compensation has been performed and the differential pressure command to which the differential pressure feedback signal has been input so as to perform the boost compensation. May be. In this way, it is possible to improve the stability of the pressure control by lowering the gain in the high frequency region of the tilt command for which the flow rate compensation has been performed by the minor loop feedback control.
- the set pressure of the electromagnetic relief valve provided in the oil passage between the hydraulic pump and the hydraulic motor is controlled to a set pressure that causes the hydraulic oil discharged from the hydraulic pump to escape beyond the set value of the tilt command. You may do it. In this way, when the hydraulic oil discharged by the tilt angle control exceeds the set pressure, it can escape from the electromagnetic relief valve and supply hydraulic oil with a stable pressure to the hydraulic motor.
- the tilt angle of the hydraulic pump may be minimized and the control valve may be set to a neutral position to generate a deceleration resistance in the hydraulic motor.
- the brake torque by an electric motor, the brake torque by an electromagnetic relief valve, etc. correspond. In this way, it is possible to reduce the hydraulic pump loss during deceleration due to reverse lever operation, and to reduce the speed of the hydraulic motor by increasing the torque of the motor or increasing the set pressure of the electromagnetic relief valve on the brake side. Time can be secured.
- the hydraulic motor circuit is circulated so that the entire amount of deceleration energy is recovered to the battery by using an electric motor, the tilt angle of the hydraulic pump is minimized, and the discharge oil is the control valve. You may make it escape to the whole quantity tank via. In this way, almost all of the inertial energy can be efficiently recovered as electric energy by the regenerative action of the electric motor, and wasteful energy consumption by the hydraulic pump can be suppressed.
- the hydraulic pump is tilted so that the drive torque that can be output by the electric motor is excluded from the torque required to accelerate the structure, and the insufficient torque is compensated by the drive torque of the hydraulic motor.
- a command may be issued.
- the torque required for the acceleration of the structure is insufficient except for the drive torque that can be output by the electric motor based on the voltage of the capacitor and the driving torque of the electric motor. Since the drive control is performed while calculating each energy so as to supplement the minute with the drive torque of the hydraulic motor, the utilization efficiency of the stored electric energy can be increased.
- the hydraulic oil amount of the hydraulic motor is supplied from a hydraulic pump whose tilt angle is controlled so as to compensate for the shortage excluding the drive torque of the electric motor, operation with high energy efficiency is possible.
- the second hydraulic pressure driven by hydraulic oil from the second hydraulic pump based on the operation amount of the other second remote control valve A drive control method for a work machine provided with an actuator, wherein a tilt command for controlling a tilt angle of the hydraulic pump is calculated by any one of the drive control methods for the work machine, and the tilt command of the hydraulic pump is calculated.
- the signal based on the operation amount of the second remote control valve is controlled by comparing the signal based on the signal based on the power limit of the hydraulic pump and the signal selected based on the minimum value to control the tilt angle of the hydraulic pump.
- the power limit obtained by subtracting the actual power of the first hydraulic pump from the total power limit of the first pump is defined as the power limit of the second hydraulic pump, and the signal selected based on the minimum value is compared with the signal based on the power limit.
- Two hydraulic pumps It may perform the rotation angle control. In this way, in a work machine equipped with a plurality of hydraulic actuators driven by a plurality of hydraulic pumps, the turning drive of the swinging body is compensated by the hydraulic motor for the shortage that is shared by the drive torque of the electric motor. Therefore, the drive torque of the electric motor can be used as the drive power of the second hydraulic pump, and the energy efficiency is high by making the best use of the stored electrical energy and the power limit of the pump preset in the work machine. I can drive.
- the tilt angle of the hydraulic pump is controlled so that the amount of hydraulic oil for driving the hydraulic motor is optimized in accordance with the operation amount of the remote control valve, the structure for driving the structure with the hydraulic motor is provided. Energy efficiency can be improved.
- FIG. 1 is a hydraulic circuit diagram of a drive control apparatus according to the first embodiment of the present invention.
- FIG. 2 is a system diagram showing a tilt control method of the hydraulic pump in the drive control device shown in FIG.
- FIG. 3 is a diagram schematically showing each command by the tilt control method shown in FIG. 2, (a) is a graph showing the operation amount of the remote control valve, (b) is a graph showing the tilt command of the hydraulic pump. It is.
- FIG. 4 is a control block diagram of the drive control device shown in FIG.
- FIG. 5 is a drive sequence diagram of the revolving structure by the drive control device shown in FIG.
- FIG. 6 is a hydraulic circuit diagram showing another control method in the drive control apparatus shown in FIG.
- FIG. 7 is a hydraulic circuit diagram of the drive control apparatus according to the second embodiment of the present invention.
- an upper swing body of a hydraulic excavator (hereinafter simply referred to as “swivel body”) will be described as an example of a structure of a work machine.
- a turning body (not shown) is driven to turn by the cooperation of a hydraulic motor 2 and an electric motor 3.
- the inertial energy (kinetic energy) of the hydraulic motor 2 is converted into electric energy and recovered by the regenerative function 3. Since the regenerative function for causing the electric motor 3 to perform a regenerative operation as a generator is a known technique, detailed description thereof is omitted.
- a remote control valve 5 is provided for determining the amount of operation such as the turning direction and the turning speed of the revolving structure.
- This remote control valve 5 has a tilting handle 4 that determines the turning direction of the swinging body, and the turning direction, speed, and acceleration of the swinging body are determined by the direction, angle, and speed of tilting the tilting handle 4.
- the remote control valve 5 is provided with a pressure sensor 6 for detecting a secondary pressure corresponding to the operation amount, and the differential pressure between the left and right ports detected by the pressure sensor 6 is used for speed command (rotation). Number command) is input to the control device 7. If the positive signal is forward rotation, the negative signal is reverse rotation.
- the hydraulic motor 2 is driven by hydraulic oil discharged from the hydraulic pump 10 and is connected to a hydraulic motor circuit 11 that sucks and discharges hydraulic oil from the hydraulic pump 10.
- a hydraulic motor circuit 11 oil passages 12 and 13 connected to a suction port and a discharge port of the hydraulic motor 2 are connected via a control valve 14. The suction port and the discharge port of the hydraulic motor 2 are reversed depending on the rotation direction.
- the oil passages 12 and 13 of the hydraulic motor circuit 11 are communicated between the oil passages 12 and 13 when the hydraulic motor 2 is decelerated, thereby avoiding a loss generated on the discharge side of the hydraulic motor 2.
- Relief valves 15 and 16 are provided.
- the electromagnetic relief valves 15 and 16 are provided in the respective directions of the oil passages 12 and 13 because the directions in which the hydraulic oil flows when the hydraulic motor 2 rotates forward and backward are different.
- a relief valve 22 that operates so as to release hydraulic oil to the tank 21 when the pressure during normal use is exceeded, and when oil is circulated in the oil passages 12 and 13.
- a check valve 23 is provided for sucking oil from the tank 21 when the amount is reduced.
- the electromagnetic proportional pressure reducing valves 19 and 20 are installed in the pilot ports 17 and 18 of the swing section of the control valve 14.
- the electromagnetic proportional pressure reducing valves 19 and 20 are guided with the secondary pressure of the remote control valve 5 as the primary pressure, and the controller 7 can control the secondary pressure of the electromagnetic proportional pressure reducing valves 19 and 20. Yes.
- inverse proportional types are used as the electromagnetic proportional pressure reducing valves 19 and 20 in this example.
- pressure sensors 25 and 26 are respectively provided at the suction port and the discharge port of the hydraulic motor 2, and the pressure difference detected by these pressure sensors 25 and 26 is sent to the control device 7 as a differential pressure feedback. Have been entered.
- the generated torque of the hydraulic motor 2 is estimated in the control device 7 based on the differential pressure of the suction and discharge ports of the hydraulic motor 2 (reverse torque in the case of a negative signal).
- the electric motor 3 is connected to the electric storage device 27 that stores electric power for driving the electric motor 3 via the control device 7.
- the battery 27 exchanges electric power with the electric motor 3 via the control device 7, and cooperates with the hydraulic motor 2 when the hydraulic motor 2 accelerates to rotationally drive the swivel body.
- the electric motor 3 is discharged to supply electric power and the hydraulic motor 2 decelerates, regenerative electric power obtained by causing the electric motor 3 to regenerate so as to brake the hydraulic motor 2 is stored.
- the control device 7 issues a rotation command to the electric motor 3 that cooperates with the hydraulic motor 2 when the hydraulic motor 2 is accelerated, and brakes the hydraulic motor 2 when the hydraulic motor 2 is decelerated.
- a regeneration command is given to the electric motor 3.
- the electric motor 3 is provided with a rotation speed sensor 24, and the actual rotation speed detected by the rotation speed sensor 24 is inputted to the control device 7 as speed feedback.
- the acceleration is obtained from the difference between the speed command (rotational speed command) from the remote control valve 5 and the actual rotational speed in the control device 7.
- the hydraulic pump 10 is provided with an electromagnetic proportional pressure reducing valve 41 in the tilt angle adjusting port 40 in order to control the tilt angle, and this electromagnetic proportional pressure reducing valve 41 is controlled by a signal from the control device 7.
- the tilt current of the hydraulic pump 10 is controlled by controlling the solenoid current.
- the electromagnetic proportional pressure reducing valve 41 is a proportional type.
- the tilt angle control of the hydraulic pump 10 by the electromagnetic proportional pressure reducing valve 41 is performed by a control device so that a required amount of hydraulic oil at the actual rotational speed of the hydraulic motor 2 is discharged in response to the speed command of the remote control valve 5. This is performed by a tilt command from 7.
- Specific control by the control device 7 includes speed command (rotation number signal) from the remote control valve 5, differential pressure feedback (torque signal) based on the differential pressure signal of the hydraulic motor 2, and rotation speed signal of the motor 3. Based on the speed feedback (actual rotational speed) based, control is performed so that torque set in the electric motor 3 and the hydraulic motor 2 can be obtained. That is, while the motor 3 is rotated, a tilt command is sent to the electromagnetic proportional pressure reducing valve 41 of the hydraulic pump 10 so as to compensate for the torque shortage of the motor 3, and the hydraulic motor 2 is supplied by the hydraulic oil supplied from the hydraulic pump 10. Can be rotated.
- the control device 7 when it is determined that the remote control valve 5 is operated and acceleration is performed, if electric energy capable of operating the electric motor 3 is accumulated in the battery 27, priority is given to this electric energy.
- the electric motor 3 is driven, and the shortage of torque is compensated for by the hydraulic motor 2 driven by the hydraulic oil supplied from the hydraulic pump 10 controlled as described above.
- the electromagnetic relief valves 15 and 16 are basically not operated, but may be used supplementarily to supplement the pressure control performance by the tilt angle control of the hydraulic pump 10.
- the hydraulic motor 2 in the drive control device 1 has a tilt angle adjustment port of the hydraulic pump 10 so that a deficiency obtained by removing the torque by the electric motor 3 from the turning drive torque based on the operation amount of the remote control valve 5 can be obtained.
- a solenoid current of an electromagnetic proportional pressure reducing valve 41 installed at 40 is driven by hydraulic oil from a hydraulic pump 10 whose tilt angle is controlled by being controlled based on a tilt command from the control device 7.
- the opening degree of the control valve 14 is set so that the pressure loss is minimized. This opening is basically set to the maximum opening.
- the tilt angle of the hydraulic pump 10 by controlling the tilt angle of the hydraulic pump 10, it is possible to change the distribution between the torque by the electric motor 3 and the torque by the hydraulic motor 2. Then, the torque of the electric motor 3 is gradually reduced and at the same time the torque of the hydraulic motor 2 is increased, so that the switching from the electric motor 3 to the hydraulic motor 2 can be performed smoothly without shock. Finally, the tilt angle of the hydraulic pump 10 is set so that the necessary oil amount determined by the rotational speed command from the remote control valve 5 is obtained. Details will be described later.
- the torque distribution between the electric motor 3 and the hydraulic motor 2 is set in advance to a ratio at which the energy utilization rate is the best, and the state change related to the torque of the electric motor 3 and the hydraulic motor 2 (the stored energy of the battery 27 is a predetermined value). The total torque of the electric motor 3 and the hydraulic motor 2 becomes a necessary turning drive torque.
- the remote control valve 5 when it is determined that the remote control valve 5 is operated to decelerate, the regenerative power obtained by converting the inertial energy into electrical energy by causing the motor 3 to perform a regenerative action is stored in the capacitor 27.
- the electromagnetic relief valve 15 or 16 on the brake side is unloaded to circulate the hydraulic oil, the tilt angle of the hydraulic pump 10 is minimized, the control valve 14 is fully closed, and the discharge oil of the hydraulic pump 10 is the control valve. The entire amount is bypassed to the tank via 14 to minimize energy consumption.
- the necessary torque generated by the hydraulic motor 2 is controlled by the amount of hydraulic oil supplied by adjusting the tilt angle of the hydraulic pump 10 so that the electromagnetic relief valve 15 or 16 is not operated in principle.
- the electromagnetic relief valve 15 or 16 on the brake side is unloaded to circulate the hydraulic oil, and in principle, the entire amount of deceleration energy is recovered to the battery 27 using an electric motor.
- the tilt angle control of the hydraulic pump 10 will be described in detail with reference to FIG.
- the control device 7 is not shown.
- the actual rotation speed signal from the rotation speed sensor 24 of the electric motor 3 is input as a speed feedback to the speed command from the remote control valve 5, and the speed control is performed with respect to the signal.
- a differential pressure command is created by removing torque that can be output by the electric motor 3 from the signal.
- a differential pressure signal based on the hydraulic pressure difference between the pressure sensors 25 and 26 provided at the suction port and the discharge port of the hydraulic motor 2 is input as a differential pressure feedback via the control gain 53 to the differential pressure command.
- a signal after performing pressure control 54 on the signal and performing feedback control on the differential pressure command is output to the electromagnetic proportional pressure reducing valve 41 of the hydraulic pump 10 as a tilt command via the control gain 55 to be transmitted to the hydraulic pump. Ten tilt angles are controlled.
- the response of the tilt mechanism provided in the hydraulic pump 10 is generally slow. Therefore, in the system diagram shown in the figure, the response is improved by adding flow rate compensation and pressure increase compensation to the tilt angle control of the hydraulic pump 10.
- the pressure control 54 is performed using the necessary pump oil amount calculated by the control gain 50 based on the actual rotational speed of the hydraulic motor 2 obtained from the signal of the rotational speed sensor 24 provided in the electric motor 3.
- the tilt command in accordance with the latest actual rotational speed is output as the final command.
- this makes it possible to reduce the amount of change in the pressure controller (pressure control 54), improve the responsiveness of the tilting mechanism, and secure a dynamic range.
- a minor loop 56 for feeding back a change in the pump tilt command is provided between the tilt command compensated for the flow rate and the differential pressure command corrected by the differential pressure feedback. That is, a differential operation (D operation) control calculation is performed on the pump tilt command, and a signal after this control calculation is fed back to the differential pressure command corrected by the differential pressure feedback, thereby generating a high frequency signal.
- the gain in the region can be lowered, and the stability of the pressure control is improved.
- the tilt command is smoothed by the pressure increase compensation, thereby improving the stability of the pressure control. As shown in FIG.
- this pressure increase compensation is a pressure change that occurs in the hydraulic oil discharged from the hydraulic pump 10 in response to the pump tilt command (indicated by a dashed line 45 when the pump discharge pressure varies). This is to improve the stability by lowering the gain in the high frequency region of the example of the pump tilt command.
- the flow rate compensation and the pressure increase compensation are performed for the tilt angle control of the hydraulic pump 10 so that a high-speed and stable control characteristic can be obtained.
- the tilt angle of the hydraulic pump 10 in this way, the speed command from the remote control valve 5, the actual rotational speed of the hydraulic motor 2, the pressure difference between the suction port and the discharge port of the hydraulic motor 2, Therefore, the amount of hydraulic oil discharged from the hydraulic pump 10 can be controlled to an appropriate amount, and the hydraulic oil of the hydraulic pump 10 is not discharged from the relief valve 22 during normal operation, thereby improving energy efficiency. Can be planned.
- Fig. 3 (a) shows the relationship between remote control valve operation amount and time, and (b) shows the relationship between pump tilt command and time.
- the tilt angle of the hydraulic pump 10 is adjusted so that the amount of oil discharged is suitable for the actual rotational speed by speed feedback based on the actual rotational speed of the hydraulic motor from the rotational speed sensor 24 provided in the electric motor 3. Control is performed. Therefore, hydraulic oil exceeding the amount of hydraulic oil (solid line 46) suitable for the actual rotational speed is not discharged from the hydraulic pump 10, and operation with high energy efficiency is possible.
- the speed is calculated by the speed command calculation 30 from the tilt direction and the operation amount of the remote control valve 5.
- the required acceleration is calculated by the acceleration calculation 31 from the difference from the speed feedback from the rotational speed sensor 24 provided in the electric motor 3, and the acceleration torque of the acceleration is calculated by the acceleration torque calculation 32.
- the voltage of the battery 27 is detected by the battery voltage detection 33, and the torque that can be output by the motor 3 is calculated by the motor torque calculation 34 based on the voltage and the total torque calculated by the acceleration torque calculation 32.
- the calculated torque that can be output by the electric motor 3 is subtracted from the total torque calculated by the acceleration torque calculation 32, and the subtracted torque is calculated as a torque necessary for the hydraulic motor 2.
- the torque required for the hydraulic motor 2 needs to be limited (for example, when the suction port pressure of the hydraulic motor 2 is to be higher than a certain value)
- the torque required for the hydraulic motor 2 is subtracted from the total torque. Then, the torque to be output by the electric motor 3 may be calculated.
- a differential pressure command calculation 35 is performed on the torque required for the hydraulic motor 2, and the pressure at the suction / discharge port of the hydraulic motor 2 is detected in response to the differential pressure command.
- a tilt command is issued by the pressure control 36, and a tilt angle control 57 is performed.
- the hydraulic motor 2 is driven by being supplied with an amount of hydraulic oil that can output torque equivalent to the torque that can be output by the electric motor 3.
- a current is calculated by a current command calculation 37 so as to output the torque calculated by the motor torque calculation 34, and the current feedback supplied to the motor 3 is compared with the calculation result.
- the power converter 39 is controlled by the current controlled by the current control 38, and the electric motor 3 is driven.
- the driving of the electric motor 3 is detected by the rotation speed sensor 24 and fed back to the calculation result of the speed command calculation 30 as the speed feedback.
- This operation sequence shows the time change of the speed command by the remote control valve 5, the speed feedback of the swinging body, the torque of the electric motor 3, the intake / exhaust differential pressure torque of the hydraulic motor 2, and the total torque by the electric motor 3 and the hydraulic motor 2. Yes.
- the revolving body is turned in one direction at “acceleration” and “constant speed”, and then the remote control valve 5 is returned to neutral.
- the vehicle is decelerated, it is tilted to the other side and the turning body is turned in the opposite direction by “acceleration”, “constant speed”, and “deceleration”.
- the motor 3 When the above-described speed command (upwardly turning) is issued by operating the remote control valve 5, the motor 3 is rotated at a predetermined torque as torque for rotating the revolving body that is an inertial body. Thus, the battery 27 is discharged, and the hydraulic motor 2 is driven so as to compensate for the shortage of torque by the electric motor 3. As a result, the total torque of the electric motor torque and the hydraulic motor torque is driven so as to obtain a large combined torque for accelerating the turning body, which is an inertial body, at the start of turning. That is, at the start of turning the revolving structure in the stopped state, the output of the electric motor 3 is used so that the maximum energy saving effect is obtained, and the shortage is compensated by the hydraulic motor 2.
- the operation is such that a small turning torque is obtained only by the hydraulic motor 2 during constant speed turning, and almost all of the inertial energy is efficiently recovered as electric energy by the regenerative action of the electric motor 3 and stored in the battery 27 during deceleration. .
- the remote control valve 5 is also operated in the opposite direction. However, since the operation is the same as that described above except that the torque is generated in the opposite direction, the description thereof is omitted.
- the hydraulic motor 2 compensates for the shortage of torque that can be generated by the electric motor 3 with respect to the total torque based on the operation amount of the remote control valve 5. Since the hydraulic oil amount for driving the hydraulic motor 2 is adjusted by controlling the tilt angle of the hydraulic pump 10, the electric motor 3 and the hydraulic motor 2 are used for driving the swivel body. Energy efficiency can be improved. Moreover, since the turning control is performed while monitoring the voltage of the battery 27 and calculating the energy that can be supplied to the electric motor 3, the use efficiency of the stored energy can be improved. In addition, the amount of assistance by the electric motor 3 and the turning work time can be shortened, and the pump loss can be reduced.
- the electromagnetic relief valve 15 or 16 is opened to avoid pressure loss that occurs on the discharge side of the hydraulic motor 2, and almost all of the inertial energy of the swinging body is generated by the regenerative action of the electric motor 3. Since it can collect
- the reverse operation is such that the remote control valve 5 is largely tilted in the reverse direction to stop the turning operation quickly.
- a predetermined hydraulic oil amount is discharged from the hydraulic pump 10 according to the operation amount of the remote control valve 5 during the deceleration period by the reverse operation lever. There is a problem that it occurs greatly.
- the same components as those in FIG. 1 are described with the same reference numerals.
- the pump loss can be reduced by setting the pump tilt to the minimum and the control valve 14 to neutral during the deceleration period by the reverse lever operation.
- a brake command is issued from the control device 7 to the electric motor 3 to increase the torque, or the brake force of the hydraulic motor 2 is increased by increasing the set pressure of the electromagnetic relief valve 15 or 16 on the brake side. Controlled.
- the loss by the hydraulic pump 10 can be suppressed and a short deceleration time similar to that of the conventional hydraulic circuit can be maintained.
- FIG. 7 there is a machine that performs a complex operation such as operating a driving body such as a boom in addition to a turning operation of the turning body, such as an upper turning body of a hydraulic excavator.
- a control method in the drive control device 60 of the second embodiment in which a single machine is provided with a plurality of drive bodies in this way will be described with reference to this drawing. In this figure, description of the configuration related to the control device 7 is omitted, and the same configuration as that in FIG.
- a hydraulic motor 2 and an electric motor 3 for turning the turning body are provided, and a boom cylinder 61 for raising or lowering the boom is provided.
- a second hydraulic pump 62 that operates the boom cylinder 61 is provided. Is provided.
- the second hydraulic pump 62 is connected to the boom cylinder 61 via a second control valve 63, and the boom cylinder 61 is raised or lowered by switching the second control valve 63.
- a boom remote control valve 64 for operating the second control valve 63 of the boom cylinder 61 is provided, and the second control valve 63 is switched by the operation of the boom remote control valve 64.
- a merging valve 65 is provided on the downstream side of the control valve 14 described above (in the description of this figure, “first control valve 14”), and the boom remote control valve 64 is raised.
- the hydraulic oil discharged from the first hydraulic pump 10 due to the difference in control pressure between the above-described remote control valve 5 referred to as “swing remote control valve 5” in the description of this figure
- boom remote control valve 64 by switching by operation.
- the tilt angle control of the first hydraulic pump 10 is performed by the Q1A output by the positive control based on the turning remote control pressure signal P10 and the first detected by the pressure sensor 43. This is done by comparing Q1B output by the first pump power limit based on the discharge pressure signal P1 of one hydraulic pump 10 and selecting the minimum value.
- the turning remote control pressure signal P10 shown is a tilt command shown in FIG.
- the power limit is set for the discharge pressure signal P1 of the first hydraulic pump 10, in this example, the total power limit of the two pumps 10 and 62 (power limit determined by the engine output or the like) is set.
- the power limit of the first hydraulic pump 10 is limited.
- the positive control output Q1A and the first pump power limit output Q1B are compared and the minimum value is selected, and the minimum value is selected by this minimum value selected signal.
- the electromagnetic proportional pressure reducing valve 41 of one hydraulic pump 10 is controlled, and tilt angle control is performed.
- the minimum value is selected by comparing Q2A output by the positive control and Q2B output by the second pump power limit, and the second pump discharge amount Q2 is selected.
- the positive control of the second hydraulic pump 62 outputs Q2A based on the boom remote control pressure signal P20 on the rising side of the boom remote control valve 64.
- the second pump power limit output Q2B includes the discharge pressure signal P2 of the second hydraulic pump 62 detected by the pressure sensor 66, the discharge pressure signal P1 of the first hydraulic pump 10, and the first hydraulic pump selected as the minimum value. It is calculated based on the first hydraulic pump 10 discharge amount Q1 signal based on the 10 tilt command.
- the power limit of the second hydraulic pump 62 in this example is a power limit obtained by subtracting the actual power (P1 ⁇ Q1) of the first hydraulic pump 10 from the total power limit of the two pumps 10 and 62. Due to such power limitation, control is performed in a range in which the total output of both pumps 10 and 62 does not exceed the drive capability of the prime mover (not shown) of the machine.
- the signal with the minimum value selected is output as a tilt command to the electromagnetic proportional pressure reducing valve 68 provided in the tilt angle adjusting port 67 of the second hydraulic pump 62, and tilt angle control is performed.
- the revolving body since the revolving body may be driven by driving the hydraulic motor 2 so as to compensate for the shortage of the driving torque by the electric motor 3, the hydraulic pressure is included in the driving power of the hydraulic pumps 10, 62 predetermined for the work machine. Power other than that of the hydraulic pump 10 required for driving the motor 2 can be used as driving power for the second hydraulic pump 62, and a large force can be exerted by the second hydraulic pump 62.
- the hydraulic motor 2 is configured so that the deficiency obtained by removing the drive torque of the electric motor 3 from the torque necessary for driving the revolving structure is compensated by the drive torque of the hydraulic motor 2. 2 is supplied by controlling the tilt angle of the hydraulic pump 10, so that energy loss can be reduced without using a relief valve as torque control means of the hydraulic motor 2. It is possible to improve the fuel efficiency by improving the energy efficiency for driving the revolving structure.
- the inertial energy (rotational energy) of the revolving structure is efficiently recovered as electric energy by the regenerative action of the electric motor 3 at the time of deceleration and stored in the battery 27 for use in the acceleration of the next revolving structure.
- Use efficiency improves, it leads to the improvement of the fuel consumption of the work machine, and the emission of greenhouse gases can be suppressed.
- the motor 3 is driven preferentially using the stored energy of the battery 27 and the shortage is compensated by the hydraulic motor 2, so that quick acceleration and utilization efficiency of the stored energy can be improved. It becomes possible.
- the example in which the electric motor 3 is driven preferentially using the stored energy of the battery 27 and the insufficient torque is compensated by the hydraulic motor 2 has been described.
- the revolving unit may be rotationally driven only by the hydraulic motor 2 without using the electric motor 3, and the configuration is not necessarily limited to the configuration in which the electric motor 3 is used preferentially and the shortage is compensated by the hydraulic motor 2.
- the motor torque command is obtained by subtracting the hydraulic motor torque command from the acceleration torque command required for turning, and the insufficient torque is compensated by the motor 3. You may do it.
- the pressure signal obtained by adding the motor back pressure feedback from the pressure sensor 26 (right side in the figure) provided on the back pressure side of the hydraulic motor 2 to the differential pressure command is used as the relief pressure command of the electromagnetic relief valve 15 on the upstream side of the hydraulic motor. You may make it do. In this way, the control pressure of the electromagnetic relief valve 15 can be prevented from being set smaller than the pressure required for the system.
- the upper swing body of the hydraulic excavator has been described as an example of the structure of the work machine.
- the present invention can also be applied to structures of other work machines such as a swing body of a crane and a traveling body of a wheel loader.
- the present invention is not limited to the above-described embodiment.
- the drive control method for a work machine according to the present invention can be used in a heavy machine such as a hydraulic excavator or a hydraulic crane, and in a work machine in which a drive system is provided with a hydraulic motor and an electric motor.
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Abstract
Description
2 油圧モータ(旋回油圧モータ)
3 電動機
4 傾倒ハンドル
5 リモコン弁(旋回リモコン弁)
6 圧力センサ
7 制御装置
10 油圧ポンプ(第一油圧ポンプ)
11 油圧モータ回路
12,13 油路
14 コントロール弁(第一コントロール弁)
15,16 電磁リリーフ弁
17,18 パイロットポート
19,20 電磁比例減圧弁
21 タンク
22 リリーフ弁
23 チェック弁
24 回転数センサ
25,26 圧力センサ
27 蓄電器
30 速度指令演算
31 加速度演算
32 加速トルク演算
33 蓄電器電圧検出
34 電動機トルク算出
35 差圧指令演算
36 圧力制御
37 電流指令演算
38 電流制御
39 電力変換器
40 傾転角調整ポート
41 電磁比例減圧弁
42 高圧選択
43 圧力センサ
45 ポンプ吐出圧変動時のポンプ傾転指令の例
46 実回転数に適したポンプ傾転指令の例
50 制御ゲイン(速度フィードバック)
51 速度制御
53 制御ゲイン(差圧フィードバック)
54 圧力制御
55 制御ゲイン(傾転指令)
56 マイナーループ
57 傾転角制御
60 駆動制御装置
61 ブームシリンダ
62 第二油圧ポンプ
63 第二コントロール弁
64 ブームリモコン弁
66 圧力センサ
67 傾転角調整ポート
68 電磁比例減圧弁
Claims (8)
- 傾転角制御で吐出流量の変更が可能な油圧ポンプからコントロール弁を介して供給する作動油で駆動する油圧モータと、該油圧モータと協動する電動機とによって構造体を駆動する作業機械の駆動制御方法であって、
前記構造体の動作量を決定するリモコン弁の操作量に基く速度指令に対し、前記油圧モータの実回転数に基く速度フィードバック制御と、前記油圧モータの吸入ポートと排出ポートとにおける作動油圧力差に基く差圧フィードバック制御とを行うことで、前記油圧モータの実回転数における必要量の作動油量を吐出するように傾転指令を生成し、前記油圧ポンプを傾転角制御するようにしたことを特徴とする作業機械の駆動制御方法。 - 前記差圧フィードバック制御を行った信号に対し、前記実回転数に基づく速度信号を制御ゲインを介して加えることで、前記油圧モータの実回転数に適した作動油量を供給するように前記傾転指令に対して流量補償を行うようにした請求項1に記載の作業機械の駆動制御方法。
- 前記流量補償を行った傾転指令と、前記差圧フィードバック信号を入力した差圧指令との間に、前記傾転指令の変化分をフィードバックさせるマイナーループを設けて昇圧補償を行うようにした請求項2に記載の作業機械の駆動制御方法。
- 前記油圧ポンプと油圧モータとの間の油路に設けた電磁リリーフ弁の設定圧を、前記傾転指令の設定値を超えて油圧ポンプから吐出される作動油を逃す設定圧に制御するように制御した請求項2又は3に記載の作業機械の駆動制御方法。
- 前記リモコン弁の逆レバー操作による減速時に、前記油圧ポンプの傾転角を最小にするとともに前記コントロール弁を中立位置に設定し、前記油圧モータに減速抵抗を生じさせるようにした請求項1~4のいずれか1項に記載の作業機械の駆動制御方法。
- 前記油圧モータの減速時は、該油圧モータの回路は循環させて減速エネルギは全量を電動機を用いて蓄電器へ回収し、
前記油圧ポンプの傾転角は最小として、吐出油は前記コントロール弁を介して全量タンクへ逃すようにした請求項1~5のいずれか1項に記載の作業機械の駆動制御方法。 - 前記構造体の初期加速時に、該構造体の加速に要するトルクから電動機で出力可能な駆動トルクを除き、不足分のトルクを前記油圧モータの駆動トルクで補うように前記油圧ポンプの傾転指令を行うようにした請求項1~6のいずれか1項に記載の作業機械の駆動制御方法。
- 前記リモコン弁の操作量に基く油圧ポンプからの作動油で駆動する油圧モータに加えて、他の第二リモコン弁の操作量に基く第二油圧ポンプからの作動油で駆動する第二油圧アクチュエータを備えた作業機械の駆動制御方法であって、
前記油圧ポンプの傾転角制御を行う傾転指令を請求項1~4のいずれか1項に記載の作業機械の駆動制御方法によって算出し、該油圧ポンプの傾転指令に基く信号と該油圧ポンプの動力制限に基く信号とを比較して最小値選択をした信号で前記油圧ポンプの傾転角制御を行い、
前記第二リモコン弁の操作量に基く信号と、二台のポンプの合計動力制限から第一油圧ポンプの実動力を除いた動力制限を前記第二油圧ポンプの動力制限とし、その動力制限に基く信号とを比較して最小値選択をした信号で前記第二油圧ポンプの傾転角制御を行うようにした作業機械の駆動制御方法。
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EP11824752.7A EP2617999B1 (en) | 2010-09-15 | 2011-09-09 | Method for controlling driving of work machine |
US13/823,784 US9309645B2 (en) | 2010-09-15 | 2011-09-09 | Drive control method of operating machine |
CN201180042855.5A CN103080551B (zh) | 2010-09-15 | 2011-09-09 | 作业机械的驱动控制方法 |
KR1020127026105A KR101498345B1 (ko) | 2010-09-15 | 2011-09-09 | 작업 기계의 구동 제어 방법 |
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JP2010206311A JP5542016B2 (ja) | 2010-09-15 | 2010-09-15 | 作業機械の駆動制御方法 |
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Also Published As
Publication number | Publication date |
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EP2617999A4 (en) | 2017-05-17 |
JP5542016B2 (ja) | 2014-07-09 |
EP2617999A1 (en) | 2013-07-24 |
EP2617999B1 (en) | 2018-10-31 |
US9309645B2 (en) | 2016-04-12 |
CN103080551B (zh) | 2015-09-02 |
KR20130004324A (ko) | 2013-01-09 |
JP2012062653A (ja) | 2012-03-29 |
CN103080551A (zh) | 2013-05-01 |
KR101498345B1 (ko) | 2015-03-03 |
US20130213026A1 (en) | 2013-08-22 |
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