WO2016108293A1 - 作業機械の機関制御装置、作業機械及び作業機械の機関制御方法 - Google Patents
作業機械の機関制御装置、作業機械及び作業機械の機関制御方法 Download PDFInfo
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- WO2016108293A1 WO2016108293A1 PCT/JP2016/051629 JP2016051629W WO2016108293A1 WO 2016108293 A1 WO2016108293 A1 WO 2016108293A1 JP 2016051629 W JP2016051629 W JP 2016051629W WO 2016108293 A1 WO2016108293 A1 WO 2016108293A1
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- Prior art keywords
- internal combustion
- combustion engine
- work machine
- engine
- output
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Definitions
- the present invention relates to a technique for controlling an engine that is provided in a work machine and serves as a power source.
- the work machine includes, for example, an internal combustion engine as a power source that generates power for traveling or power for operating the work machine.
- an internal combustion engine and a generator motor are combined to use the power generated by the internal combustion engine as power for a work machine, and the generator motor is driven by the internal combustion engine.
- the generator motor is driven by the internal combustion engine.
- the rotational speed of the internal combustion engine may increase.
- the rotational speed of the internal combustion engine may increase due to the load variation. . If the operator of the work machine cannot tolerate this increase in rotational speed, the operator may feel uncomfortable.
- An aspect of the present invention aims to suppress an increase in the rotational speed of an internal combustion engine when an operation that involves turning of the turning body is performed in a work machine having the turning body.
- a swing body a work machine attached to the swing body, a hydraulic actuator for operating the work machine, a hydraulic pump for operating the hydraulic actuator, and driving and loading the hydraulic pump
- the control device for controlling the internal combustion engine of the work machine having an internal combustion engine whose rotational speed varies according to the condition, a determination unit that determines whether a condition that the work by the work machine is unnecessary is satisfied, and the condition Is established, the relief time control for determining the target rotational speed of the internal combustion engine based on the horsepower absorbed by the hydraulic pump when the hydraulic oil discharged from the hydraulic pump is relieved is enabled,
- An engine control device for a work machine is provided that includes an engine control unit that invalidates the relief control when the condition is not satisfied.
- the condition is at least when diagnosing the work machine and when the revolving structure of the work machine has
- an engine control device for a work machine that is one of turning locks in which turning is fixed.
- the engine control device for a work machine according to the first or second aspect, wherein the hydraulic actuator is a hydraulic cylinder.
- the work machine includes: a generator motor driven by the internal combustion engine; And a power storage device that stores electric power generated by the generator motor and supplies the stored electric power to the generator motor.
- a work machine including an engine control device for a work machine according to any one of the first to fourth aspects.
- a swing body a work machine attached to the swing body, a hydraulic actuator for operating the work machine, a hydraulic pump for operating the hydraulic actuator, and driving and loading the hydraulic pump
- controlling the internal combustion engine of the work machine having an internal combustion engine whose rotational speed varies according to the condition it is determined whether a condition that the work by the work machine is unnecessary is satisfied, and the condition is satisfied.
- the relief time control for determining the target target rotational speed of the internal combustion engine based on the horsepower absorbed by the hydraulic pump is enabled, and the condition is satisfied. If not, there is provided an engine control method for a work machine including disabling the relief control.
- the aspect of the present invention can suppress an increase in the rotational speed of the internal combustion engine when an operation involving turning of the turning body is performed in a work machine having the turning body.
- FIG. 1 is a perspective view showing a hydraulic excavator 1 that is a work machine according to an embodiment.
- the excavator 1 includes a vehicle body 2 and a work machine 3.
- the vehicle main body 2 includes a lower traveling body 4 and an upper swing body 5.
- the lower traveling body 4 includes a pair of traveling devices 4a and 4a.
- Each traveling device 4a, 4a has crawler belts 4b, 4b, respectively.
- Each traveling device 4 a, 4 a has a traveling motor 21.
- the traveling motor 21 shown in FIG. 1 drives the left crawler belt 4b.
- the hydraulic excavator 1 also has a traveling motor that drives the right crawler belt 4b.
- the traveling motor that drives the left crawler belt 4b is referred to as a left traveling motor
- the traveling motor that drives the right crawler belt 4b is referred to as a right traveling motor.
- the right traveling motor and the left traveling motor drive or turn the hydraulic excavator 1 by driving the crawler belts 4b and 4b, respectively.
- the upper turning body 5 which is an example of the turning body is provided on the lower traveling body 4 so as to be turnable.
- the excavator 1 is turned by a turning motor for turning the upper turning body 5.
- the swing motor may be an electric motor that converts electric power into rotational force, a hydraulic motor that converts hydraulic oil pressure (hydraulic pressure) into rotational force, or a combination of a hydraulic motor and an electric motor. It may be.
- the turning motor is an electric motor.
- the upper swing body 5 has a cab 6. Further, the upper swing body 5 includes a fuel tank 7, a hydraulic oil tank 8, an engine room 9, and a counterweight 10.
- the fuel tank 7 stores fuel for driving the engine.
- the hydraulic oil tank 8 stores hydraulic oil discharged from the hydraulic pump to hydraulic actuators such as the boom cylinder 14, the arm cylinder 15 and the bucket cylinder 16, and the travel motor 21.
- the engine room 9 houses an engine serving as a power source for the hydraulic excavator and devices such as a hydraulic pump that supplies hydraulic oil to the hydraulic device.
- the counterweight 10 is disposed behind the engine room 9.
- a handrail 5T is attached to the upper part of the upper swing body 5.
- the work machine 3 is attached to the front center position of the upper swing body 5.
- the work machine 3 includes a boom 11, an arm 12, a bucket 13, a boom cylinder 14, an arm cylinder 15, and a bucket cylinder 16.
- the base end portion of the boom 11 is pin-coupled to the upper swing body 5. With such a structure, the boom 11 operates with respect to the upper swing body 5.
- the boom 11 is pin-coupled with the arm 12. More specifically, the distal end portion of the boom 11 and the proximal end portion of the arm 12 are pin-coupled. The tip of the arm 12 and the bucket 13 are pin-coupled. With such a structure, the arm 12 operates with respect to the boom 11. Further, the bucket 13 operates with respect to the arm 12.
- the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16 are hydraulic cylinders that are driven by hydraulic oil discharged from a hydraulic pump.
- the boom cylinder 14 operates the boom 11.
- the arm cylinder 15 operates the arm 12.
- the bucket cylinder 16 operates the bucket 13.
- the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16 that are hydraulic actuators operate the work machine 3.
- FIG. 2 is a schematic diagram illustrating a drive system of the hydraulic excavator 1 according to the embodiment.
- the excavator 1 is discharged from the internal combustion engine 17, the generator motor 19 that is driven by the internal combustion engine 17 to generate power, the power storage device 22 that stores power, and the power generated by the generator motor 19 or the power storage device 22.
- This is a hybrid work machine combined with an electric motor that is supplied with electric power to be driven.
- the excavator 1 causes the upper swing body 5 to swing with an electric motor 24 (hereinafter, referred to as a swing motor 24 as appropriate).
- the excavator 1 may be a work machine that does not have the generator motor 19 other than the hybrid work machine.
- the hydraulic excavator 1 includes an internal combustion engine 17, a hydraulic pump 18, a generator motor 19, and a turning motor 24.
- the internal combustion engine 17 is a power source of the excavator 1.
- the internal combustion engine 17 is a diesel engine.
- the generator motor 19 is connected to the output shaft 17S of the internal combustion engine 17. With such a structure, the generator motor 19 is driven by the internal combustion engine 17 to generate electric power.
- the generator motor 19 is driven by the power supplied from the power storage device 22 to assist the internal combustion engine 17 when the power generated by the internal combustion engine 17 is insufficient.
- the internal combustion engine 17 is a diesel engine, but is not limited thereto.
- the generator motor 19 is, for example, an SR (switched reluctance) motor, but is not limited thereto.
- the generator motor 19 has the rotor 19R directly coupled to the output shaft 17S of the internal combustion engine 17, but is not limited to such a structure.
- the rotor 19R and the output shaft 17S of the internal combustion engine 17 may be connected via a PTO (Power Take Off).
- the rotor 19R of the generator motor 19 may be coupled to a transmission means such as a speed reducer connected to the output shaft 17S of the internal combustion engine 17 and may be driven by the internal combustion engine 17.
- a combination of the internal combustion engine 17 and the generator motor 19 is a power source of the excavator 1.
- a combination of the internal combustion engine 17 and the generator motor 19 is appropriately referred to as an engine 36.
- the engine 36 is a hybrid engine in which the internal combustion engine 17 and the generator motor 19 are combined to generate power required by the hydraulic excavator 1 that is a work machine.
- the hydraulic pump 18 is operated by supplying hydraulic oil to the hydraulic actuator.
- a variable displacement hydraulic pump such as a swash plate hydraulic pump is used as the hydraulic pump 18.
- the input part 18 ⁇ / b> I of the hydraulic pump 18 is connected to a power transmission shaft 19 ⁇ / b> S connected to the rotor of the generator motor 19. With such a structure, the hydraulic pump 18 is driven by the internal combustion engine 17.
- 2nd piping 18TS which guides hydraulic fluid to relief valve 18r has branched from the 1st piping 18T connected to the discharge port from which hydraulic pump 18 discharges hydraulic fluid.
- a relief valve 18r is attached to the second pipe 18TS.
- the relief valve 18r opens to release hydraulic oil when a predetermined pressure is reached.
- the relief valve 18r suppresses an excessive increase in the pressure of the hydraulic system that the drive system 1PS of the excavator 1 has.
- the hydraulic system includes a hydraulic pump 18, a boom cylinder 14, an arm cylinder 15, a bucket cylinder 16, a traveling motor 21, and a control valve 20.
- the drive system 1PS includes a power storage device 22 and a swing motor control device 24I as an electric drive system for driving the swing motor 24.
- the power storage device 22 is a capacitor, more specifically, an electric double layer capacitor, but is not limited thereto, and may be a secondary battery such as a nickel metal hydride battery, a lithium ion battery, and a lead storage battery. Good.
- the turning motor control device 24I is, for example, an inverter.
- the electric power generated by the generator motor 19 or the electric power discharged from the power storage device 22 is supplied to the turning motor 24 through the power cable to turn the upper turning body 5 shown in FIG. That is, the turning motor 24 turns the upper turning body 5 by performing a power running operation with electric power supplied (generated) from the generator motor 19 or electric power supplied (discharged) from the power storage device 22.
- the swing motor 24 regenerates when the upper swing body 5 decelerates to supply (charge) electric power to the power storage device 22.
- the generator motor 19 supplies (charges) the electric power generated by itself to the power storage device 22. That is, the power storage device 22 can also store the power generated by the generator motor 19.
- the generator motor 19 is driven by the internal combustion engine 17 to generate electric power, or is driven by the electric power supplied from the power storage device 22 to drive the internal combustion engine 17.
- the hybrid controller 23 controls the generator motor 19 via the generator motor controller 19I. That is, the hybrid controller 23 generates a control signal for driving the generator motor 19 and supplies it to the generator motor controller 19I.
- the generator motor control device 19I generates power (regeneration) in the generator motor 19 or generates power (powering) in the generator motor 19 based on the control signal.
- the generator motor control device 19I is, for example, an inverter.
- the generator motor 19 is provided with a rotation sensor 25m.
- the rotation sensor 25m detects the rotation speed of the generator motor 19, that is, the rotation number of the rotor 19R per unit time.
- the rotation sensor 25m converts the detected rotation speed into an electrical signal and outputs it to the hybrid controller 23.
- the hybrid controller 23 acquires the rotational speed of the generator motor 19 detected by the rotation sensor 25m, and uses it to control the operating state of the generator motor 19 and the internal combustion engine 17.
- a resolver or a rotary encoder is used as the rotation sensor 25m.
- the rotational speed of the generator motor 19 and the rotational speed of the internal combustion engine 17 are the same rotational speed.
- the rotation sensor 25m may detect the rotation speed of the rotor 19R of the generator motor 19, and the hybrid controller 23 may convert the rotation speed into a rotation speed.
- the rotation speed of the generator motor 19 can be substituted with the value detected by the rotation speed detection sensor 17n of the internal combustion engine 17.
- the turning motor 24 is provided with a rotation sensor 25m.
- the rotation sensor 25m detects the rotation speed of the turning motor 24.
- the rotation sensor 25m converts the detected rotation speed into an electrical signal and outputs it to the hybrid controller 23.
- an embedded magnet synchronous motor is used as the turning motor 24.
- a resolver or a rotary encoder is used as the rotation sensor 25m.
- the hybrid controller 23 acquires a signal of a detection value by a temperature sensor such as a thermistor or a thermocouple provided in the generator motor 19, the swing motor 24, the power storage device 22, the swing motor control device 24I, and a later-described generator motor control device 19I. . Based on the acquired temperature, the hybrid controller 23 manages the temperature of each device such as the power storage device 22, and performs charge / discharge control of the power storage device 22, power generation control by the generator motor 19 / auxiliary control of the internal combustion engine 17, and turning Power running control / regenerative control of the motor 24 is executed. Further, the hybrid controller 23 executes the engine control method according to the embodiment.
- a temperature sensor such as a thermistor or a thermocouple provided in the generator motor 19, the swing motor 24, the power storage device 22, the swing motor control device 24I, and a later-described generator motor control device 19I.
- the hybrid controller 23 manages the temperature of each device such as the power storage device 22, and performs charge / discharge control of the power storage device
- the power storage device 22 is connected to the transformer 22C.
- the transformer 22C is connected to the generator motor controller 19I and the turning motor controller 24I.
- the transformer 22C exchanges DC power with the generator motor control device 19I and the swing motor control device 24I.
- the hybrid controller 23 exchanges DC power between the transformer 22C, the generator motor control device 19I, and the swing motor control device 24I, and also exchanges DC power between the transformer 22C and the power storage device 22.
- the drive system 1PS has operation levers 26R, 26L and travel levers 39L, 39R provided at left and right positions with respect to an operator seating position in the cab 6 provided in the vehicle main body 2 shown in FIG.
- the operation levers 26 ⁇ / b> R and 26 ⁇ / b> L are devices that operate the work machine 3 and travel the hydraulic excavator 1.
- the operation levers 26R and 26L operate the work implement 3 and the upper swing body 5 according to respective operations.
- the travel levers 39L and 39R drive at least one of the pair of travel motors 21 and 21 included in the travel devices 4a and 4a according to the respective operations.
- Pilot oil pressure is generated based on the operation amounts of the operation levers 26R, 26L and the travel levers 39L, 39R.
- the pilot hydraulic pressure is supplied to a control valve described later.
- the control valve drives the spool of the work machine 3 according to the pilot hydraulic pressure.
- hydraulic oil is supplied to the boom cylinder 14, arm cylinder 15, and bucket cylinder 16.
- the boom 11 is lowered and raised according to the operation before and after the operation lever 26R, and the bucket 13 is excavated and dumped according to the left and right operations of the operation lever 26R.
- the dumping / digging operation of the arm 12 is performed by the front / rear operation of the operation lever 26L.
- the crawler belt of the left traveling device 4a is rotated in the forward direction and the reverse direction by the forward / backward operation of the traveling lever 39L, and the crawler belt of the right traveling device 4a is rotated in the forward direction and the backward direction by the forward / backward operation of the traveling lever 39R. To do.
- the lever operation amount detection unit 27 includes a pressure sensor 27S.
- the pressure sensor 27S detects pilot oil pressure generated in response to the operation of the operation levers 26L and 26R.
- the pressure sensor 27S outputs a voltage corresponding to the detected pilot hydraulic pressure.
- the lever operation amount detector 27 calculates the lever operation amount by converting the voltage output from the pressure sensor 27S into the operation amount.
- the lever operation amount detector 27 outputs the lever operation amount as an electrical signal to at least one of the pump controller 33 and the hybrid controller 23.
- the lever operation amount detection unit 27 includes an electric detection device such as a potentiometer.
- the lever operation amount detection unit 27 calculates the lever operation amount by converting the voltage generated by the electric detection device in accordance with the lever operation amount into the lever operation amount.
- the turning motor 24 is driven in the left and right turning directions by the left and right operation of the operation lever 26L.
- the travel motor 21 is driven by the travel levers 39L, 39R.
- the fuel adjustment dial 28 is provided in the cab 6 shown in FIG.
- the fuel adjustment dial 28 is appropriately referred to as a throttle dial 28.
- the throttle dial 28 sets the fuel supply amount to the internal combustion engine 17.
- a set value (also referred to as a command value) of the throttle dial 28 is converted into an electric signal and output to an internal combustion engine control device (hereinafter also referred to as an engine controller) 30.
- the engine controller 30 acquires sensor output values such as the rotational speed and water temperature of the internal combustion engine 17 from sensors 17C that detect the state of the internal combustion engine 17. Then, the engine controller 30 grasps the state of the internal combustion engine 17 from the acquired output values of the sensors 17C, and controls the output of the internal combustion engine 17 by adjusting the fuel injection amount to the internal combustion engine 17.
- the engine controller 30 includes a computer having a processor such as a CPU and a memory.
- the engine controller 30 generates a control command signal for controlling the operation of the internal combustion engine 17 based on the set value of the throttle dial 28.
- the engine controller 30 transmits the generated control signal to the common rail control unit 32.
- the common rail control unit 32 that has received this control signal adjusts the fuel injection amount for the internal combustion engine 17. That is, in the embodiment, the internal combustion engine 17 is a diesel engine capable of electronic control by a common rail type.
- the engine controller 30 can cause the internal combustion engine 17 to generate a target output by controlling the fuel injection amount to the internal combustion engine 17 via the common rail control unit 32.
- the engine controller 30 can also freely set a torque that can be output at the rotational speed of the internal combustion engine 17 at a certain moment.
- the hybrid controller 23 and the pump controller 33 receive the set value of the throttle dial 28 from the engine controller 30.
- the internal combustion engine 17 includes a rotation speed detection sensor 17n.
- the rotational speed detection sensor 17n detects the rotational speed of the output shaft 17S of the internal combustion engine 17, that is, the rotational speed of the output shaft 17S per unit time.
- the engine controller 30 and the pump controller 33 acquire the rotational speed of the internal combustion engine 17 detected by the rotational speed detection sensor 17n and use it to control the operating state of the internal combustion engine 17.
- the rotational speed detection sensor 17n may detect the rotational speed of the internal combustion engine 17, and the engine controller 30 and the pump controller 33 may convert the rotational speed into the rotational speed.
- the actual rotation speed of the internal combustion engine 17 can be substituted with a value detected by the rotation sensor 25 m of the generator motor 19.
- the pump controller 33 controls the flow rate of hydraulic oil discharged from the hydraulic pump 18.
- the pump controller 33 includes a computer having a processor such as a CPU and a memory.
- the pump controller 33 receives signals transmitted from the engine controller 30 and the lever operation amount detection unit 27.
- the pump controller 33 generates a control command signal for adjusting the flow rate of the hydraulic oil discharged from the hydraulic pump 18.
- the pump controller 33 changes the flow rate of the hydraulic oil discharged from the hydraulic pump 18 by changing the swash plate angle of the hydraulic pump 18 using the generated control signal.
- the pump controller 33 receives a signal from a swash plate angle sensor 18 a that detects the swash plate angle of the hydraulic pump 18.
- the pump controller 33 can calculate the pump capacity of the hydraulic pump 18.
- a pump pressure detection unit 20 a for detecting a discharge pressure of the hydraulic pump 18 (hereinafter, appropriately referred to as pump discharge pressure) is provided. The detected pump discharge pressure is converted into an electrical signal and input to the pump controller 33.
- the engine controller 30, the pump controller 33, and the hybrid controller 23 are connected by, for example, an in-vehicle LAN (Local Area Network) 35 such as a CAN (Controller Area Network).
- an in-vehicle LAN Local Area Network
- CAN Controller Area Network
- At least the engine controller 30 controls the operating state of the internal combustion engine 17.
- the engine controller 30 controls the operating state of the internal combustion engine 17 also using information generated by at least one of the pump controller 33 and the hybrid controller 23.
- at least one of the engine controller 30, the pump controller 33, and the hybrid controller 23 functions as an engine control device (hereinafter, referred to as an engine control device as appropriate) of the work machine. That is, at least one of these implements the engine control method for the work machine according to the embodiment (hereinafter referred to as the engine control method as appropriate) to control the operating state of the engine 36.
- the engine controller 30, the pump controller 33, and the hybrid controller 23 are not distinguished from each other, they may be referred to as an engine control device.
- the engine controller 30 realizes the function of the engine control device.
- Rotation lock switch 37 is connected to hybrid controller 23.
- the turning lock switch 37 is a switch for operating the turning brake.
- the turning brake is a mechanical brake for fixing the upper turning body 5 and preventing the upper turning body 5 from turning.
- the hybrid controller 23 commands the operation of the turning brake.
- the turning brake fixes the upper turning body 5 and when the turning lock switch 37 is turned OFF.
- the hybrid controller 23 instructs the release of the turning brake, the turning brake releases the fixation of the upper turning body 5. .
- a monitor 38 is connected to the in-vehicle LAN 35.
- the monitor 38 has a display unit 38M and an operation unit 38SW, and information on the state of the hydraulic excavator 1, for example, the rotational speed of the internal combustion engine 17, the coolant temperature of the internal combustion engine 17, and the operating oil discharged by the hydraulic pump 18 The temperature and the temperature of the power storage device 22 are displayed.
- the operation unit 38SW is a mechanism for switching the operation mode of the excavator 1 and displaying various menus for selection. Examples of the operation mode of the excavator 1 include a diagnosis mode for diagnosing the state of the excavator 1.
- the diagnosis mode is a mode in which, for example, the states of the engine 36 and the hydraulic pump 18 included in the excavator 1 are diagnosed to determine whether or not these are normal.
- the operation mode of the hydraulic excavator 1 is not limited to those exemplified in the embodiment, and there are various other operation modes.
- the operation mode of the excavator 1 may be switched by, for example, an operation mode switching switch installed in the cab 6 of the excavator 1 shown in FIG. 1 other than the operation unit 38SW of the monitor 38.
- FIG. 3 is a diagram illustrating an example of a torque diagram used for controlling the engine 36 according to the embodiment.
- the torque diagram is used to control the engine 36, more specifically the internal combustion engine 17.
- the torque diagram shows the relationship between the torque T (N ⁇ m) of the output shaft 17S of the internal combustion engine 17 and the rotational speed n (rpm: rev / min) of the output shaft 17S.
- the rotational speed n of the output shaft 17S of the internal combustion engine 17 is equal to the rotational speed of the rotor 19R of the generator motor 19.
- the rotation speed n means at least one of the rotation speed of the output shaft 17S of the internal combustion engine 17 and the rotation speed of the rotor 19R of the generator motor 19.
- the output of the internal combustion engine 17 and the output when the generator motor 19 operates as a motor are horsepower, and the unit is power.
- the generator motor 19 operates as a generator, the output is electric power, and the unit is power.
- the torque diagram includes a maximum torque line TL, a limit line VL, a pump absorption torque line PL, a matching route ML, and an output instruction line IL.
- the maximum torque line TL indicates the maximum output that can be generated by the internal combustion engine 17 during operation of the excavator 1 shown in FIG.
- the maximum torque line TL indicates the relationship between the rotational speed n of the internal combustion engine 17 and the torque T that can be generated by the internal combustion engine 17 at each rotational speed n.
- the torque diagram is used for controlling the internal combustion engine 17.
- the engine controller 30 stores a torque diagram in a storage unit and uses it for controlling the internal combustion engine 17.
- At least one of the hybrid controller 23 and the pump controller 33 may also store a torque diagram in the storage unit.
- the torque T of the internal combustion engine 17 indicated by the maximum torque line TL is determined in consideration of the durability of the internal combustion engine 17 and the exhaust smoke limit. For this reason, the internal combustion engine 17 can generate a torque larger than the torque T corresponding to the maximum torque line TL.
- the engine control device for example, the engine controller 30 controls the internal combustion engine 17 so that the torque T of the internal combustion engine 17 does not exceed the maximum torque line TL.
- the intersection Pcnt is referred to as a rated point.
- the output of the internal combustion engine 17 at the rated point Pcnt is referred to as the rated output.
- the maximum torque line TL is determined from the exhaust smoke limit as described above.
- the limit line VL is determined based on the maximum rotation speed. Therefore, the rated output is the maximum output of the internal combustion engine 17 determined based on the exhaust smoke limit and the maximum rotation speed of the internal combustion engine 17.
- the limit line VL limits the rotational speed n of the internal combustion engine 17. That is, the rotational speed n of the internal combustion engine 17 is controlled by an engine control device such as the engine controller 30 so as not to exceed the limit line VL.
- the limit line VL defines the maximum rotational speed of the internal combustion engine 17.
- the engine control device for example, the engine controller 30, controls the maximum rotation speed of the internal combustion engine 17 so as not to exceed the rotation speed defined by the limit line VL.
- the pump absorption torque line PL indicates the maximum torque that can be absorbed by the hydraulic pump 18 shown in FIG. 2 with respect to the rotational speed n of the internal combustion engine 17.
- the internal combustion engine 17 balances the output of the internal combustion engine 17 and the load of the hydraulic pump 18 on the matching route ML.
- FIG. 3 shows a matching route MLa and a matching route MLb.
- the matching route MLb is closer to the maximum torque line TL than the matching route MLa.
- the matching route MLb is set so that when the internal combustion engine 17 operates at a predetermined output, for example, if the output is the same, the rotational speed n is lower than the matching route MLa. In this way, when the internal combustion engine 17 generates the same torque T, the matching route MLb can operate the internal combustion engine 17 at a lower rotational speed n, so that loss due to internal friction of the internal combustion engine 17 can be reduced. .
- the matching route ML may be set so as to pass through a point where the fuel consumption rate is good.
- the matching route MLb is set to be 80% or more and 95% or less of the torque T determined by the maximum torque line TL in the range until the internal combustion engine 17 generates the maximum torque T.
- the torque T increases as the rotational speed n of the internal combustion engine 17 increases.
- the matching route ML and the limit line TL intersect in a region between the rotational speed ntmax at the maximum torque point Pmax defined by the limit line TL and the rotational speed ncnt at the rated output point Pcnt. At the maximum torque point Pmax, the torque T generated by the internal combustion engine 1 is maximum.
- the output instruction line IL indicates the target of the rotational speed n and torque T of the internal combustion engine 17. That is, the internal combustion engine 17 is controlled to have the rotational speed n and the torque T obtained from the output instruction line IL.
- the output instruction line IL corresponds to a second relationship indicating the relationship between the torque T of the internal combustion engine 17 and the rotation speed n, which is used to define the magnitude of the power generated by the internal combustion engine 17.
- the output instruction line IL is a horsepower generated in the internal combustion engine 17, that is, an output command value (hereinafter, referred to as an output command value as appropriate).
- the engine control device for example, the engine controller 30 controls the torque T and the rotational speed n of the internal combustion engine 17 so as to be the torque T and the rotational speed n on the output instruction line IL corresponding to the output command value.
- the torque T and the rotation speed n of the internal combustion engine 17 are controlled to be values on the output command line ILe.
- the torque diagram includes a plurality of output instruction lines IL.
- a value between adjacent output instruction lines IL is obtained by interpolation, for example.
- the output instruction line IL is an equal horsepower line.
- the constant horsepower line is a line in which the relationship between the torque T and the rotational speed n is determined so that the output of the internal combustion engine 17 is constant.
- the output instruction line IL is not limited to the equal horsepower line, and may be an arbitrary line defined by the throttle line set by the throttle dial 28 or the like.
- the internal combustion engine 17 is controlled to have the torque T and the rotation speed nm of the matching point MP.
- Matching point MP is an intersection of matching route ML indicated by a solid line in FIG. 3, output instruction line ILe indicated by a solid line in FIG. 3, and pump absorption torque line PL indicated by a solid line.
- the matching point MP is a point where the output of the internal combustion engine 17 and the load of the hydraulic pump 18 are balanced.
- the output instruction line ILe indicated by a solid line corresponds to the output target of the internal combustion engine 17 and the target output of the internal combustion engine 17 absorbed by the hydraulic pump 18 at the matching point MP.
- Pump absorption torque line PL moves to a position indicated by a dotted line.
- the output instruction line ILp corresponds to the output at this time.
- the pump absorption torque line PL intersects with the output instruction line ILp at the rotation speed nm at the matching point MPa.
- An output instruction line ILe passing through the matching point MPa is obtained by adding the power generation output Wga absorbed by the generator motor 19 to the output instruction line ILp.
- an example is shown in which the output of the internal combustion engine 17 and the load of the hydraulic pump 18 are balanced at a matching point MPa that is an intersection of the matching route ML1, the output instruction line ILe, and the pump absorption torque line PL. .
- the present invention is not limited to this example, and the output of the internal combustion engine 17 and the load of the hydraulic pump 18 are balanced at the matching point MPb that is the intersection of the matching route MLb, the output instruction line ILe, and the pump absorption torque line PL. May be.
- the engine 36 that is, the internal combustion engine 17 and the generator motor 19 are configured such that the maximum torque line TL, the limit line VL, the pump absorption torque line PL, the matching route ML, and the output instruction line IL included in the torque diagram. And is controlled based on.
- the control of the engine 36, more specifically the internal combustion engine 17, when the hydraulic oil is relieved that is, when the hydraulic oil discharged from the hydraulic pump 18 is relieved from the relief valve 18r will be described.
- the work implement relief operation is an operation in which at least one of the boom cylinder 14, the arm cylinder 15 and the bucket cylinder 16 of the work implement 3 is at the stroke end and further moves at least one of the operation levers 26R and 26L in the same direction. is there.
- the pressure of the hydraulic oil in the pipe through which the hydraulic oil flows increases, and the hydraulic oil is in a state of relief.
- the pressure of the hydraulic oil is detected by the pump pressure detector 20a shown in FIG.
- the output command value increases by the amount of output that drives the generator motor 19.
- the target rotational speed nmt targeted by the internal combustion engine 17 increases.
- the target rotation speed nmt is a rotation speed determined from the intersection of the output command value of the internal combustion engine 17 that is the sum of the pump absorption torque that is the torque absorbed by the hydraulic pump 18 and the power generation output Wga and the matching route ML.
- the internal combustion engine 17 is set to the target rotational speed nmt when the generator motor 19 generates the maximum generated power Wgmax at the time of hydraulic oil relief. Is fixed at the target rotational speed nmr.
- this control is referred to as “relief time control” as appropriate.
- the target rotational speed nmt is determined by the horsepower required when the generator motor 19 generates the maximum electric power and the horsepower absorbed by the hydraulic pump 18 when the hydraulic oil discharged by the hydraulic pump 18 is relieved. To be determined.
- FIG. 4 is a diagram for explaining the relief control.
- the output instruction line ILe in FIG. 4 is an output instruction line when the internal combustion engine 17 is operated alone.
- an output command value given to the internal combustion engine 17 is indicated by an output instruction line ILe.
- the horsepower Wp determined by the output instruction line ILe is the horsepower absorbed by the hydraulic pump 18.
- the output command value given to the internal combustion engine 17 when the internal combustion engine 17 drives the hydraulic pump 18 while the generator motor 19 is generating power is indicated by an output instruction line ILg.
- the output instruction line ILg during power generation is larger than the output instruction line ILe during non-power generation by the power generation output Wga. That is, the internal combustion engine 17 generates a larger output during power generation than during non-power generation.
- the output command value given to the internal combustion engine 17 by the engine controller 30 is indicated by an output instruction line ILr.
- the output instruction line ILr is an output command value given to the internal combustion engine 17 when the internal combustion engine 17 drives the hydraulic pump 18 in a state where the generator motor 19 generates the maximum power, that is, the maximum power generation output Wgmax.
- the horsepower determined by the output instruction line ILr is a value obtained by adding the horsepower corresponding to the maximum power generation output Wgmax to the horsepower Wp absorbed by the hydraulic pump 18, that is, the horsepower having the same power as the maximum power generation output Wgmax.
- the maximum power generation output Wgmax is a fixed value and is stored in the storage unit of the engine controller 30.
- the horsepower Wp absorbed by the hydraulic pump 18 is a value determined by the driving conditions of the hydraulic pump 18.
- the horsepower Wp absorbed by the hydraulic pump 18 is not a fixed value, but varies depending on the driving conditions of the hydraulic pump 18.
- the horsepower Wp absorbed by the hydraulic pump 18 the maximum horsepower that can be absorbed by the hydraulic pump 18, that is, the maximum absorption horsepower Wpmax may be used.
- the maximum absorption horsepower Wpmax is uniquely determined and is a fixed value. When the maximum absorption horsepower Wpmax is used for the control at the time of relief, the maximum absorption horsepower Wpmax is stored in the storage unit of the engine controller 30.
- the engine controller 30 includes the horsepower required when the generator motor 19 generates the maximum power, that is, the horsepower corresponding to the maximum power output Wgmax, and the hydraulic pressure.
- the target rotation speed nmr is determined based on the horsepower Wp absorbed by the pump 18. More specifically, the engine controller 30 adds the horsepower Wp absorbed by the hydraulic pump 18 and the maximum power generation output Wgmax to obtain an output instruction line ILr corresponding to the output instruction value, and outputs the output instruction line ILr and the matching route ML.
- the rotation speed at the intersection point is set as the target rotation speed nmr.
- the matching route ML coincides with the maximum torque line TL in a range larger than the rotational speed n at which the internal combustion engine 17 generates the maximum torque T.
- the rotational speed n of the internal combustion engine 17 is matched with the target rotational speed nmt which is the rotational speed at which the sum of the output command value and the output of the internal combustion engine 1, that is, the sum of the target pump absorption horsepower and the power generation output Wga.
- the rotational speed n of the internal combustion engine 17 becomes equal to or higher than the target rotational speed nmt, the pump absorption horsepower increases along the pump absorption torque line PL, and the output required for the internal combustion engine 17 is larger than the output command value for the internal combustion engine 17. Become. Since the internal combustion engine 17 consumes rotational energy as much as the required output is insufficient, the rotational speed n decreases.
- the internal combustion engine 17 operates at the target rotational speed nmr.
- the internal combustion engine 17 is given an output command value indicated by the output instruction line ILg.
- the engine controller 30 operates the internal combustion engine 17 at the target rotational speed nmr, the rotational speed n of the internal combustion engine 17 does not change even when the generator motor 19 starts generating power during the relief of hydraulic oil. For this reason, the service person can diagnose the hydraulic excavator 1, more specifically, the internal combustion engine 17 and the hydraulic pump 18 in a reliable and accurate manner.
- FIG. 5 is a view for explaining the operation of the internal combustion engine 17 when the relief time control is executed during the relief of the hydraulic oil.
- the internal combustion engine 17 When the internal combustion engine 17 is operating at the matching point MPa that is the intersection of the matching route MLa and the output instruction line ILe, when the relief control is started by the relief of the hydraulic oil, the internal combustion engine 17 operates at the matching point MPr. To do.
- the matching point MPr is determined by the target rotation speed nmr at the intersection of the output instruction line ILr used in the relief control and the matching route ML, and the torque T obtained from the output instruction line ILe at the target rotation speed nmr.
- the internal combustion engine 17 that was operating at the matching point MPa operates at the matching point MPr when the relief control is started. For this reason, in the internal combustion engine 17, when the control at the time of relief is started, the target rotation speed increases from nma to nmr.
- the matching route MLb is closer to the maximum torque line TL than the matching route MLa.
- the internal combustion engine 17 operating at the matching point MPb operates at the matching point MPr when the relief control is started. For this reason, in the internal combustion engine 17, when the control at the time of relief is started, the target rotation speed increases from nmb to nmr.
- the target rotational speed nmb is lower than the target rotational speed nma at the matching point MPa. Therefore, when the internal combustion engine 17 is controlled by the matching route MLb, the magnitude of the increase in the rotational speed n of the internal combustion engine 17 when the relief time control is started is controlled by the matching route MLa. Larger than the case. As a result, when the control at the time of relief is started when the internal combustion engine 17 is controlled by the matching route MLb, the increase in the rotational speed n of the internal combustion engine 17 is large, and the operator of the hydraulic excavator 1 feels uncomfortable.
- the engine controller 30 disables relief control during work including turning of the upper-part turning body 5. More specifically, when the turning lock switch 37 shown in FIG. 2 is OFF, the upper turning body 5 may turn, so that the engine controller 30 can control the upper turning body 5 when the turning lock switch 37 is ON. Relief time control is made valid when the turning is locked, which is the case where the turning is fixed. Then, the engine controller 30 invalidates the control at the time of relief, assuming that there is a possibility that the upper-part turning body 5 turns when the turning lock switch 37 is OFF.
- the engine controller 30 enables the relief control even when diagnosing the excavator 1. By doing so, the intention to execute the relief control when diagnosing the hydraulic excavator 1, and suppressing the increase in the rotational speed n of the internal combustion engine 17 during work involving the turning of the upper swing body 5, Can be made compatible.
- the control at the time of relief is executed in the excavator 1 when the condition that the rotational speed n of the internal combustion engine 17 is a constant value is satisfied, for example, when the condition that the work by the work machine is unnecessary is satisfied.
- the condition for setting the rotational speed n of the internal combustion engine 17 to a constant value is hereinafter referred to as a constant speed condition as appropriate.
- the condition that the work by the work machine is unnecessary is also included in the constant speed condition. In the following, the condition that the work by the work machine is unnecessary is appropriately referred to as a work unnecessary condition.
- the relief time control is executed when the constant speed condition is satisfied, for example, when the work unnecessary condition is satisfied and the operation is performed while maintaining the rotation speed n of the internal combustion engine 17 at a constant value.
- the rotation speed n of the internal combustion engine 17 is increased when the generator motor 19 starts generating power during the work machine relief operation. There is a possibility that the rotational speed n of the engine 17 cannot be maintained at a constant value. Further, since the rotation speed n of the internal combustion engine 17 is not maintained at a constant value, the operator feels uncomfortable. This is a particular problem when the excavator 1 is a hybrid work machine.
- the excavator 1 is a hybrid work machine
- the control at the time of relief is started when shifting from down turning to excavation.
- the increase in the speed n may give the operator a sense of incongruity.
- the engine controller 30 wants to maintain the rotation speed n of the internal combustion engine 17 at a constant value when the work unnecessary condition, in this embodiment, the condition that the turning lock switch 37 is ON and the condition that the hydraulic excavator 1 is diagnosed are satisfied. Enable relief control when requested.
- the diagnosis of the hydraulic pump 18 is made effective such as when the control at the time of relief is valid at least if the conditions for diagnosing the hydraulic excavator 1 are satisfied.
- the condition for the relief control may be that one of the conditions for turning on the turning lock switch 37 and the condition for diagnosing the excavator 1 is satisfied.
- FIG. 6 is a diagram illustrating a configuration example of the engine controller 30.
- the engine controller 30 includes a processing unit 30P, a storage unit 30M, and an input / output unit 30IO.
- the processing unit 30P is a CPU (Central Processing Unit), a microprocessor, a microcomputer, or the like.
- the processing unit 30P includes a determination unit 30J, an engine control unit 30C, and a target output calculation unit 30E.
- the processing unit 30P more specifically, the determination unit 30J, the engine control unit 30C, and the target output calculation unit 30E execute the engine control method for the work machine according to the embodiment.
- the determination unit 30J determines whether or not an unnecessary work condition is satisfied, and in the embodiment, whether the excavator 1 is diagnosed or whether the upper revolving unit 5 is fixed to turn or not.
- the engine control unit 30C enables the relief control when at least one of the diagnosis time and the turning lock time is satisfied when the work unnecessary condition is satisfied, in the embodiment.
- the target rotational speed nmt that is the target of the internal combustion engine 17 is determined based on the horsepower that is generated.
- the engine control unit 30C invalidates the control at the time of relief when the work unnecessary condition is not satisfied, and when both the diagnosis and the turning lock are not satisfied in the embodiment.
- the target output calculation unit 30E obtains the target output (target horsepower) of the internal combustion engine 17 and the horsepower absorbed by the hydraulic pump 18.
- processing unit 30P is dedicated hardware, for example, one or a combination of various circuits, a programmed processor (Processor), and an ASIC (Application Specific Integrated Circuit) corresponds to the processing unit 30P.
- a programmed processor Processor
- ASIC Application Specific Integrated Circuit
- the storage unit 30M is, for example, at least one of various types of non-volatile or volatile memories such as RAM (Random Access Memory) and ROM (Read Only Memory), and various disks such as a magnetic disk.
- the storage unit 30M stores a computer program for causing the processing unit 30P to execute the engine control according to the embodiment, and information used when the processing unit 30P executes the engine control according to the embodiment.
- the processing unit 30P implements the engine control according to the embodiment by reading and executing the above-described computer program from the storage unit 30M.
- the input / output unit 30IO is an interface circuit for connecting the engine controller 30 and devices.
- the fuel adjustment dial 28, the rotation speed detection sensor 17n, and the common rail control unit 32 shown in FIG. 2 are connected to the input / output unit 30IO.
- the configuration example of the engine controller 30 has been described in the embodiment, the hybrid controller 23 and the pump controller 33 have the same configuration as the engine controller 30.
- FIG. 7 is a control block diagram of the determination unit 30J included in the engine controller 30.
- the determination unit 30J includes a turning state output unit 50, an operation mode output unit 51, a logical sum calculation unit 52, a logical product calculation unit 53, a maximum value selection unit 54, and a relief determination unit 55.
- the turning state output unit 50 acquires the output Srs of the turning lock switch 37 shown in FIG. When the output Srs is ON, that is, when the turning lock switch 37 is ON, the turning state output unit 50 outputs TRUE to the OR operation unit 52, and when the output Srs is OFF, that is, when the turning lock switch 37 is OFF. FALSE is output to the OR operation unit 52.
- the operation mode output unit 51 acquires the diagnosis mode execution output Sce output from the monitor 38 shown in FIG.
- the operation mode output unit 51 outputs TRUE to the OR operation unit 52 when the diagnosis mode execution output Sce is ON, that is, when diagnosis is performed, and when the diagnosis mode execution output Sce is OFF, that is, when diagnosis is not performed.
- the logical sum calculation unit 52 calculates the logical sum of the output value of the turning state output unit 50 and the output value of the operation mode output unit 51 and outputs the calculation result to the logical product calculation unit 53.
- the OR operation unit 52 outputs FALSE when both the output value of the turning state output unit 50 and the output value of the operation mode output unit 51 are FALSE, and outputs TRUE otherwise.
- the hydraulic oil pressure Pf discharged by one hydraulic pump 18 detected by the pump pressure detection unit 20a shown in FIG. 2 and the hydraulic oil pressure Ps discharged by the other hydraulic pump 18 are displayed. Are entered.
- the maximum value selection unit 54 compares the input pressure Pf and the pressure Ps, and outputs the larger one to the relief determination unit 55 as the determination pressure Pj.
- the hydraulic excavator 1 has two hydraulic pumps 18, 18, but when there are three or more hydraulic pumps 18, the pressure of hydraulic oil discharged from each hydraulic pump 18 is input to the maximum value selection unit 54. Is done. When the number of the hydraulic pumps 18 included in the excavator 1 is one, the maximum value selection unit 54 is not necessary. In this case, the pressure of the hydraulic oil discharged from one hydraulic pump 18 is input to the relief determination unit 55 as the determination pressure Pj.
- the relief determination part 55 determines whether it is a relief state using the 1st threshold value Pc1 and the 2nd threshold value Pc2 larger than the 1st threshold value Pc1.
- the relief determination unit 55 outputs TRUE to the AND operation unit 53 when the determination pressure Pj becomes equal to or higher than the second threshold value Pc2, and the determination pressure Pj becomes equal to or lower than the first threshold value Pc1 while outputting TRUE. Then, FALSE is output to the logical product operation unit 53.
- the AND operation unit 53 outputs a relief control valid flag Fre.
- the logical product operation unit 53 calculates the logical product of the output of the logical sum operation unit 52 and the output of the relief determination unit 55.
- the logical product operation unit 53 sets the relief time control valid flag Fre to TRUE when both the output value of the logical sum operation unit 52 and the output value of the relief determination unit 55 are TRUE, and otherwise controls during the relief time.
- the valid flag Fre is set to FALSE. When the relief control valid flag Fre is TRUE, the relief control is valid, and when the relief control valid flag Fre is FALSE, the relief control is invalid.
- FIG. 8 is a control block diagram of the engine control unit 30C included in the engine controller 30.
- the engine control unit 30C includes an addition / subtraction unit 56, a selection unit 57, a maximum value selection unit 58, and a target rotation speed calculation unit 59.
- the addition / subtraction unit 56 receives a pump absorption horsepower Wp that is a horsepower absorbed by the hydraulic pump 18 and a maximum power generation output Wgmax.
- the maximum power generation output Wgmax is a negative value.
- the pump absorption horsepower Wp is a value determined by the driving conditions of the hydraulic pump 18, and is determined by the target output calculation unit 30E shown in FIG. 6 in the embodiment.
- the addition / subtraction unit 56 subtracts the maximum power generation output Wgmax from the pump absorption horsepower Wp, and outputs the result to the selection unit 57.
- the output of the addition / subtraction unit 56 is a value obtained by adding the absolute value of the maximum power generation output Wgmax to the absolute value of the pump absorption horsepower Wp.
- This value is a horsepower corresponding to the output instruction line ILr shown in FIGS. 4 and 5, and is a horsepower used for relief control.
- a value obtained by adding the absolute value of the pump absorption horsepower Wp and the absolute value of the maximum power generation output Wgmax will be appropriately referred to as a relief control horsepower Wr.
- the selection unit 57 receives the value from the addition / subtraction unit 56 and the minimum output (minimum horsepower) Wmin.
- the minimum output Wmin is 0 [kW] in the embodiment.
- the selection unit 57 outputs one of the two input values to the maximum value selection unit 58 based on the value of the relief time control valid flag Fre. Specifically, the selection unit 57 selects an output from the addition / subtraction unit 56 and outputs the selected value to the maximum value selection unit 58 when the relief time control valid flag Fre is TRUE. The selection unit 57 selects the minimum output Wmin and outputs the selected value to the maximum value selection unit 58 when the relief time control valid flag Fre is FALSE.
- the maximum value selection unit 58 receives the target output (target horsepower) Wet of the internal combustion engine 17 and the value output by the selection unit 57.
- the maximum value selection unit 58 selects the larger one of the target output Wet of the internal combustion engine 17 and the value output by the selection unit 57 and outputs it to the target rotational speed calculation unit 59 as the internal combustion engine control horsepower We.
- the target rotation speed calculation unit 59 obtains and outputs the target rotation speed nmt from the internal combustion engine control horsepower We.
- the target rotational speed nmt is the rotational speed at the intersection of the output instruction line IL corresponding to the internal combustion engine control horsepower We and the matching route ML.
- the target rotation speed nmt obtained by the target rotation speed calculation unit 59 is the target rotation speed nmr used for the relief control.
- the engine controller 30 uses the target rotational speed nmr used for the relief time control, which is obtained based on the relief time control horsepower Wr. To control. That is, the engine controller 30 enables the relief control when the relief control validity flag Fre is TRUE.
- the relief control effective flag Fre is FALSE
- the engine controller 30 does not use the relief control horsepower Wr but uses the target rotational speed nmb obtained by using the target output Wet of the internal combustion engine 17. Control. In other words, the engine controller 30 disables the relief control when the relief control valid flag Fre is FALSE.
- FIG. 9 is a control block diagram of the target output calculation unit 30E of the engine controller 30.
- the target output calculation unit 30E obtains the target output Wet and the pump absorption horsepower Wp of the internal combustion engine 17.
- the target output calculation unit 30E includes a pump output calculation unit 60, a minimum value selection unit 61, and an addition / subtraction unit 62.
- the pump output calculation unit 60 receives the lever operation amount Lipt and the hydraulic oil pressures Pf and Ps discharged from the hydraulic pump 18.
- the lever operation amount Lipt is a value corresponding to the operation state of the operation levers 26R, 26L and the travel levers 39L, 39R shown in FIG.
- the pump output calculation unit 60 determines the current operation pattern based on the operation states of the operation levers 26R and 26L and the travel levers 39L and 39R and the pressures Pf and Ps, and obtains the pump absorption horsepower Wp for each determined operation pattern.
- the pump output calculation unit 60 outputs the obtained pump absorption horsepower Wp to the addition / subtraction unit 62.
- the minimum value selection unit 61 compares the power generation output Wga of the generator motor 19 shown in FIG. 2 with 0 [kW], and outputs the smaller one to the addition / subtraction unit 62. In the embodiment, since the horsepower necessary for driving the generator motor 19 when the generator motor 19 generates power is represented by a negative value, the power generation output Wga is a negative value. For this reason, when the generator motor 19 generates power, the minimum value selection unit 61 outputs the power generation output Wga to the addition / subtraction unit 62.
- the addition / subtraction unit 62 outputs a value obtained by subtracting the power generation output Wga from the pump absorption horsepower Wp as the target output Wet of the internal combustion engine 17. As described above, since the power generation output Wga is a negative value, the adder / subtractor 62 adds the value obtained by adding the absolute value
- the power generation output Wga changes because the voltage between the terminals of the power storage device 22 decreases due to a turning operation for turning the upper turning body 5 or the like.
- the target output Wet of the internal combustion engine 17 also changes. Since the target output Wet of the internal combustion engine 17 corresponds to the load of the internal combustion engine 17 that drives the hydraulic pump 18, the load of the internal combustion engine 17 also changes depending on the power generation output Wga. As shown in FIG. 8, the target rotational speed nmt of the internal combustion engine 17 is determined by the target output Wet of the internal combustion engine 17 when it is not the relief time control.
- the target rotational speed nmt of the internal combustion engine 17 varies according to the power generation output Wga that varies according to the voltage between the terminals of the power storage device 22.
- the rotational speed n of the internal combustion engine 17 is controlled so as to become the target rotational speed nmt, and therefore the rotational speed n of the internal combustion engine 17 varies according to the power generation output Wga.
- the target rotational speed nmt of the internal combustion engine 17 becomes a fixed value by the maximum power generation output Wgmax. Since the target rotational speed nmt does not vary with the power generation output Wga, the rotational speed n of the internal combustion engine 17 also does not vary.
- FIG. 10 is a flowchart illustrating an example of the engine control method for the work machine according to the embodiment.
- the determination unit 30J of the engine controller 30 determines whether or not the diagnosis mode is set. When it is in the diagnosis mode (step S101, Yes), the relief time control valid flag Fre is set to TRUE.
- the engine control unit 30C validates the relief control in response to the relief control validity flag Fre being TRUE.
- the determination unit 30J determines whether or not the turning is locked. When the turning is locked (step S102, Yes), the determination unit 30J sets the relief time control valid flag Fre to TRUE.
- the engine control unit 30C validates the relief control in response to the relief control validity flag Fre being TRUE.
- the determination unit 30J sets the relief control valid flag Fre to FALSE.
- the engine control unit 30C invalidates the relief control in response to the relief control valid flag Fre being FALSE.
- a hybrid work machine in which the generator motor 19 is driven by the internal combustion engine 17 is taken as an example.
- the horsepower and the hydraulic pump 18 that are necessary when the generator motor 19 generates the maximum power are absorbed.
- the target rotation speed is determined based on the horsepower.
- the generator motor 19 is not essential. That is, the engine 36 shown in FIG. 2 may not have the generator motor 19.
- the engine controller 30 determines the target rotational speed nmt based on the horsepower Wp absorbed by the hydraulic pump 18 when the hydraulic oil discharged from the hydraulic pump 18 is relieved.
- the engine controller 30 obtains an output instruction line ILr that is an output instruction value from the horsepower Wp absorbed by the hydraulic pump 18, and determines the rotation speed at the intersection of the output instruction line ILr and the matching route ML as the target rotation speed nmr.
- the excavator 1 including the internal combustion engine 17 is an example of a work machine, but the work machine to which the embodiment can be applied is not limited thereto.
- the work machine may be a wheel loader, a bulldozer, a dump truck, or the like.
- the type of engine mounted on the work machine is not limited.
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Abstract
Description
図1は、実施形態に係る作業機械である油圧ショベル1を示す斜視図である。油圧ショベル1は、車両本体2と作業機3とを有する。車両本体2は、下部走行体4と上部旋回体5とを有する。下部走行体4は、一対の走行装置4a,4aを有する。各走行装置4a,4aは、それぞれ履帯4b、4bを有する。各走行装置4a,4aは、走行モータ21を有する。図1に示される走行モータ21は、左側の履帯4bを駆動する。図1には記載されていないが、油圧ショベル1は、右側の履帯4bを駆動する走行モータも有している。左側の履帯4bを駆動する走行モータを左走行モータ、右側の履帯4bを駆動する走行モータを右走行モータと称する。右走行モータと左走行モータとは、それぞれ履帯4b、4bを駆動することによって、油圧ショベル1を走行又は旋回させる。
図2は、実施形態に係る油圧ショベル1の駆動システムを示す概略図である。実施形態において、油圧ショベル1は、内燃機関17と、内燃機関17によって駆動されて発電する発電電動機19と、電力を蓄える蓄電装置22と、発電電動機19が発電した電力又は蓄電装置22から放電される電力が供給されて駆動する電動機とが組み合わせられたハイブリッド作業機械である。より詳細には、油圧ショベル1は、上部旋回体5を電動機24(以下、適宜旋回モータ24と称する)で旋回させる。実施形態において、油圧ショベル1はハイブリッド作業機械以外、例えば発電電動機19を有さない作業機械であってもよい。
図3は、実施形態に係る機関36の制御に用いられるトルク線図の一例を示す図である。トルク線図は、機関36、より詳細には内燃機関17の制御に用いられる。トルク線図は、内燃機関17の出力シャフト17SのトルクT(N×m)と、出力シャフト17Sの回転速度n(rpm:rev/min)との関係を示している。実施形態において、内燃機関17の出力シャフト17Sに発電電動機19のロータ19Rが連結されているので、内燃機関17の出力シャフト17Sの回転速度nは、発電電動機19のロータ19Rの回転速度に等しい。以下において、回転速度nというときには、内燃機関17の出力シャフト17Sの回転速度及び発電電動機19のロータ19Rの回転速度のうち、少なくとも一方をいうものとする。実施形態において、内燃機関17の出力、発電電動機19が電動機として動作する場合の出力は馬力であり、単位は仕事率である。発電電動機19が発電機として動作する場合の出力は電力であり、単位は仕事率である。
油圧ショベル1が工場から出荷される前の性能確認時、及びサービスマン等による故障診断時等は、診断モードを用いて内燃機関17及び油圧ポンプ18に異常が発生しているか否か判定される。より詳細には、診断モードは、診断モードに入ってから作業機リリーフ操作を行って内燃機関17の回転速度nを増速させるとともに油圧ポンプ18の吸収トルク及び吐出流量を増加させる。診断モードでは、この状態で、作動油のリリーフ中における内燃機関17の回転速度nが判定値内で安定するか否かによって、内燃機関17及び油圧ポンプ18に異常が発生しているか否かが判定される。このため、通常時、すなわち異常がない場合は、作動油のリリーフ時における内燃機関17の回転速度nが一定になる必要がある。作業機リリーフ操作とは、作業機3のブームシリンダ14、アームシリンダ15及びバケットシリンダ16のうち少なくとも1つがストロークエンドにある状態で、さらに同じ方向に操作レバー26R,26Lの少なくとも一方を動かす操作である。この操作により、作動油が流れる配管内における作動油の圧力が上昇し、作動油がリリーフする状態となる。作動油の圧力は、図2に示されるポンプ圧検出部20aが検出する。
図6は、エンジンコントローラ30の構成例を示す図である。エンジンコントローラ30は、処理部30Pと、記憶部30Mと、入出力部30IOとを有する。処理部30Pは、CPU(Central Processing Unit)、マイクロプロセッサ(microprocessor)、マイクロコンピュータ(microcomputer)等である。
図7は、エンジンコントローラ30が有する判定部30Jの制御ブロック図である。判定部30Jは、旋回状態出力部50と、運転モード出力部51と、論理和演算部52と、論理積演算部53と、最大値選択部54と、リリーフ判定部55と、を含む。
図10は、実施形態に係る作業機械の機関制御方法の一例を示すフローチャートである。ステップS101において、エンジンコントローラ30の判定部30Jは、診断モードであるか否かを判定する。診断モードである場合(ステップS101,Yes)、リリーフ時制御有効フラグFreをTRUEとする。ステップS103において、機関制御部30Cは、リリーフ時制御有効フラグFreがTRUEであることを受けて、リリーフ時制御を有効にする。診断モードでない場合(ステップS101,No)、ステップS102において、判定部30Jは旋回ロック時であるか否かを判定する。旋回ロック時である場合(ステップS102,Yes)、判定部30Jは、リリーフ時制御有効フラグFreをTRUEとする。ステップS103において、機関制御部30Cは、リリーフ時制御有効フラグFreがTRUEであることを受けて、リリーフ時制御を有効にする。
5 上部旋回体
17 内燃機関
18 油圧ポンプ
18r リリーフ弁
19 発電電動機
20 コントロールバルブ
20a ポンプ圧検出部
22 蓄電装置
23 ハイブリッドコントローラ
26L,26R 操作レバー
30 エンジンコントローラ
30C 機関制御部
30E 目標出力演算部
30M 記憶部
30P 処理部
30IO 入出力部
30J 判定部
33 ポンプコントローラ
36 機関
37 旋回ロックスイッチ
38 モニタ
50 旋回状態出力部
51 運転モード出力部
52 論理和演算部
53 論理積演算部
54 最大値選択部
55 リリーフ判定部
56 加減算部
57 選択部
58 最大値選択部
59 目標回転速度演算部
Claims (6)
- 旋回体、前記旋回体に取り付けられた作業機、前記作業機を動作させる油圧アクチュエータ、前記油圧アクチュエータを動作させる油圧ポンプ及び前記油圧ポンプを駆動するとともに負荷に応じて回転速度が変動する内燃機関を有する作業機械の前記内燃機関を制御する制御装置において、
前記作業機による作業が不要である条件が成立したか否かを判定する判定部と、
前記条件が成立した場合、前記油圧ポンプが吐出する作動油がリリーフされる場合の前記油圧ポンプが吸収する馬力に基づいて前記内燃機関の目標とする目標回転速度を決定するリリーフ時制御を有効とし、前記条件が成立しない場合、前記リリーフ時制御を無効とする機関制御部と、
を含む、作業機械の機関制御装置。 - 前記条件は、少なくとも前記作業機械を診断する場合である診断時及び前記作業機械が有する旋回体の旋回を固定する場合である旋回ロック時のいずれか一方である、請求項1に記載の作業機械の機関制御装置。
- 前記油圧アクチュエータは、油圧シリンダである、請求項1又は請求項2に記載の作業機械の機関制御装置。
- 前記作業機械は、前記内燃機関によって駆動される発電電動機と、
前記発電電動機が発生した電力を蓄電し、蓄電した電力を前記発電電動機に供給する蓄電装置と、
を含む、請求項1から請求項3のいずれか1項に記載の作業機械の機関制御装置。 - 請求項1から請求項4のいずれか1項に記載の作業機械の機関制御装置を含む、作業機械。
- 旋回体、前記旋回体に取り付けられた作業機、前記作業機を動作させる油圧アクチュエータ、前記油圧アクチュエータを動作させる油圧ポンプ及び前記油圧ポンプを駆動するとともに負荷に応じて回転速度が変動する内燃機関を有する作業機械の前記内燃機関を制御するにあたり、
前記作業機による作業が不要である条件が成立したか否かを判定することと、
前記条件が成立した場合、前記油圧ポンプが吐出する作動油がリリーフされる場合の前記油圧ポンプが吸収する馬力に基づいて前記内燃機関の目標とする目標回転速度を決定するリリーフ時制御を有効とし、前記条件が成立しない場合、前記リリーフ時制御を無効とすることと、
を含む、作業機械の機関制御方法。
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US15/118,997 US10144409B2 (en) | 2016-01-20 | 2016-01-20 | Engine control device of work machine, work machine, and engine control method of work machine |
KR1020167022309A KR101840247B1 (ko) | 2016-01-20 | 2016-01-20 | 작업 기계의 기관 제어 장치, 작업 기계 및 작업 기계의 기관 제어 방법 |
DE112016000010.3T DE112016000010B4 (de) | 2016-01-20 | 2016-01-20 | Motor-Steuervorrichtung von Arbeitsmaschine, Arbeitsmaschine und Motorsteuerverfahren von Arbeitsmaschine |
CN201680000190.4A CN105723033B (zh) | 2016-01-20 | 2016-01-20 | 作业机械、其动力机械控制装置、及其动力机械控制方法 |
PCT/JP2016/051629 WO2016108293A1 (ja) | 2016-01-20 | 2016-01-20 | 作業機械の機関制御装置、作業機械及び作業機械の機関制御方法 |
JP2016503873A JP5957628B1 (ja) | 2016-01-20 | 2016-01-20 | 作業機械の機関制御装置、作業機械及び作業機械の機関制御方法 |
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WO2019050532A1 (en) * | 2017-09-08 | 2019-03-14 | Cummins Inc. | HYDRAULIC SYSTEM FOR ENGINE STARTER AND GENERATOR |
EP3685049B1 (en) * | 2017-09-21 | 2023-11-15 | Volvo Construction Equipment AB | Time-based power boost control system |
CN107882101B (zh) * | 2017-11-01 | 2019-11-19 | 广西柳工机械股份有限公司 | 挖掘机主泵溢流识别方法 |
CN111148905B (zh) * | 2018-09-05 | 2021-08-27 | 株式会社日立建机Tierra | 电动式液压工程机械的液压驱动装置 |
CN112455415B (zh) * | 2019-08-19 | 2022-11-04 | 长城汽车股份有限公司 | 混合动力汽车的能量流的计算方法及计算装置 |
JP7236365B2 (ja) * | 2019-09-20 | 2023-03-09 | 日立建機株式会社 | 建設機械 |
CN111733908B (zh) * | 2020-06-29 | 2022-05-24 | 徐州工业职业技术学院 | 一种基于双飞轮的挖掘机动臂串联式混合动力*** |
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