WO2016194941A1 - 作業機械 - Google Patents
作業機械 Download PDFInfo
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- WO2016194941A1 WO2016194941A1 PCT/JP2016/066167 JP2016066167W WO2016194941A1 WO 2016194941 A1 WO2016194941 A1 WO 2016194941A1 JP 2016066167 W JP2016066167 W JP 2016066167W WO 2016194941 A1 WO2016194941 A1 WO 2016194941A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/28—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the electric energy storing means, e.g. batteries or capacitors
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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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/24—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
- B60K6/485—Motor-assist type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/15—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with additional electric power supply
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
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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
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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
- E02F9/2004—Control mechanisms, e.g. control levers
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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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2066—Control of propulsion units of the type combustion engines
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/06—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving electric generators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D45/00—Electrical control not provided for in groups F02D41/00 - F02D43/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0677—Engine power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/081—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
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- B60W2710/242—Energy storage means for electrical energy
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/24—Energy storage means
- B60W2710/242—Energy storage means for electrical energy
- B60W2710/248—Current for loading or unloading
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Definitions
- the present invention relates to a work machine to which a hybrid system that drives a hydraulic pump by an engine and a motor generator is applied.
- hybrid work machine In a work machine to which this type of hybrid system is applied, a so-called hybrid work machine, when the load on the hydraulic pump is large, the power of the power storage device is used to assist the engine power by operating the motor generator.
- a technique for charging a power storage device by regeneratively driving a motor generator with an engine is known.
- an engine control means for controlling the power of the engine and a motor power generation control means for controlling the operation of the motor generator are provided.
- the engine control means reduces the rotational speed. Accordingly, the engine is operated with a droop characteristic in which the torque increases at a constant rate, and the motor power generation control means performs control so that the actual rotational speed matches the target rotational speed by giving the target rotational speed.
- a hybrid construction machine that operates a motor generator under control is known (for example, see Patent Document 1).
- the motor power generation control means sets the rotation speed corresponding to the region where the engine operating characteristics (rotation speed-torque characteristics) are low in fuel consumption and low exhaust to the target speed.
- the number is given to the motor generator, and the motor generator is mainly operated by rotational speed control.
- the engine generates torque corresponding to the controlled rotational speed according to the droop characteristic by the engine control means, so that even if the load on the vehicle body changes, the rotational speed and torque of the engine are always reduced. Can be kept within the region.
- the droop characteristic is a simple method for obtaining the necessary power while keeping the engine speed substantially constant, and reduces the amount of fuel injected into each cylinder of the engine as the engine speed increases.
- the fuel injection amount there is no strict correspondence between the fuel injection amount and the engine torque.
- an engine has a variation in a fuel injection state, a combustion state, and a torque generated as a result of each device constituting the engine, such as an engine cylinder, or each engine itself.
- the torque also varies depending on engine operating conditions such as fuel properties, temperature, and atmospheric pressure. Therefore, due to these torque variations, in the conventional hybrid construction machine disclosed in Patent Document 1, even if the engine speed is controlled by the motor generator based on the droop characteristic, the engine torque does not exceed the droop characteristic. There are cases where it does not follow.
- the remaining power (SOC) of the power storage device decreases, the target charge amount for charging the power storage device is calculated, and the torque corresponding to the calculated target charge amount is increased
- the motor generator is regeneratively driven in order to maintain the calculated target rotational speed. Since the energy generated in this manner is charged in the power storage device, a charge amount exceeding the target charge amount is charged in the power storage device.
- the motor generator is driven by power to maintain the target rotational speed, which is not intended due to a deviation from the original droop characteristic. Discharge occurs.
- the target rotational speed is maintained by regenerative driving or powering driving of the motor generator, making it difficult to appropriately manage the remaining amount of power storage.
- the present invention has been made based on such a state of the prior art, and an object of the present invention is to provide a work machine capable of appropriately managing the remaining amount of power stored in the power storage device.
- the present invention provides torque transmission between an engine, a hydraulic pump driven by the engine, a hydraulic working unit driven by pressure oil discharged from the hydraulic pump, and the engine.
- the engine with a droop characteristic in which the torque of the engine increases at a predetermined slope in response to a decrease in the engine speed.
- a controller that operates the power storage device, and the controller is configured to calculate the remaining amount of electricity stored in the electricity storage device, and based on the remaining amount of electricity calculated in the remaining electricity storage unit.
- a charge / discharge request calculation unit that calculates a charge / discharge request value for maintaining the output power within a predetermined range, a target rotation number calculation unit that calculates a target rotation number command value of the motor generator, and the target rotation
- a motor generator control unit that controls the motor generator in accordance with a target rotational speed command value calculated by the calculation unit, and at least one of the remaining power calculation unit and the motor generator control unit is:
- the actual charge / discharge value of the power storage device is calculated, and the target rotation number calculation unit calculates a target rotation number correction value from a difference between the charge / discharge request value and the actual charge / discharge value, and the target rotation number command It is characterized by correcting the value.
- FIG. 1 is a diagram illustrating a configuration of a hybrid excavator according to a first embodiment of the present invention. It is a figure which shows the control regarding the target rotation speed calculation of the vehicle body controller of FIG.
- FIG. 5 is a graph for obtaining a target rotational speed from target engine power by the vehicle body controller, where (a) shows the relationship between the rotational speed and torque, and (b) shows the relationship between the target engine power and the target rotational speed. It is a graph which shows the setting method of the upper limit of the limit process of the correction
- the first embodiment of the work machine according to the present invention is applied to, for example, a hybrid excavator 1 (hereinafter referred to as a hydraulic excavator for convenience) 1 shown in FIG.
- the excavator 1 includes a traveling body 2, a revolving body 3 provided on the traveling body 2 via a revolving frame (not shown) so as to be able to swivel, and attached to the front of the revolving body 3 and rotated in the vertical direction. And an articulated front work machine 4 that performs excavation and other work.
- the traveling body 2 includes a track frame 6, a swing electric motor 7 (see FIG. 2) that is provided on the track frame 6 and swings the swing body 3, and a sprocket (drive) that is attached to one end of the track frame 6 along the front-rear direction.
- Wheel) 8 a traveling motor 9 for rotating the sprocket 8
- an idler (idling wheel) 10 attached to the other end of the track frame 6 along the front-rear direction, and an endless winding around the outer periphery of the sprocket 8 and the idler 10.
- Footwear 11 The traveling body 2 is configured such that when the sprocket 8 is driven to rotate, the footwear 11 rotates and slides on the ground, so that the vehicle body moves.
- the revolving structure 3 includes an operator cab 13 provided at the front, a counterweight 14 provided at the rear for maintaining the weight balance of the vehicle body, and an engine room provided at the rear for accommodating an engine 15 (see FIG. 2) described later. 16 and an actuator drive control system 17 (see FIG. 2) for controlling the drive of actuators such as a swing motor 7, a traveling motor 9, a boom cylinder 4a, an arm cylinder 4b, and a bucket cylinder 4c described later.
- actuators such as a swing motor 7, a traveling motor 9, a boom cylinder 4a, an arm cylinder 4b, and a bucket cylinder 4c described later.
- the front working machine 4 is a hydraulic working device that is driven by the pressure oil discharged from the hydraulic pump 21, and has a boom 4A whose base end is rotatably attached to the revolving body 3 and pivots in the vertical direction, and a tip of the boom 4A.
- the arm 4B is rotatably attached to the arm 4B
- the bucket 4C is rotatably attached to the tip of the arm 4B.
- the front work machine 4 connects the revolving body 3 and the boom 4A and connects the boom cylinder 4a that rotates the boom 4A by expansion and contraction, and the arm cylinder that connects the boom 4A and the arm 4B and rotates the arm 4B by expansion and contraction.
- Each operation of the boom 4A, the arm 4B, the bucket 4C, and the swing body 3 is instructed by hydraulic operation signals (control pilot pressure) of operation lever devices 24A and 24B described later.
- the operation of the traveling body 2 is instructed by a hydraulic operation signal (control pilot pressure) of an operation pedal device for traveling described later.
- the actuator drive control system 17 includes an engine 15, a hydraulic pump 21 driven by the engine 15, a direction switching valve 22 that controls the flow of pressure oil discharged from the hydraulic pump 21, and a pilot pressure.
- a pilot pump (not shown) that supplies hydraulic oil as oil to the direction switching valve 22, a hydraulic oil tank 23 that stores hydraulic oil supplied to the hydraulic pump 21 and the pilot pump, and an actuator 4a provided in the cab 13
- the operation lever devices 24A and 24B equipped with the operation levers 24A1 and 24B1 that are gripped and operated by the operator in the cab 13 and the desired operation of the traveling body 2 provided in the cab 13 are possible.
- An operation pedal device (not shown) equipped with an operation pedal (not shown) that can be operated by an operator in the cab 13 is depressed. And not), and an operating lever device 24A, 24B and operating pedal device connects the inlet side, the shuttle valve block 25 which is connected to the outlet side pressure receiving chamber below the directional control valve 22.
- the engine 15 has an electronic governor 15A that adjusts the amount of fuel injected into each internal cylinder.
- the hydraulic pump 21 is composed of, for example, a variable displacement hydraulic pump, and includes a swash plate (not shown) and a positive control type regulator 21A that controls the flow rate of pressure oil discharged by adjusting the inclination angle of the swash plate. .
- the regulator 21 ⁇ / b> A is connected to the shuttle valve block 25, and the operation amount (required flow rate) of the operation levers 24 ⁇ / b> A ⁇ b> 1 and 24 ⁇ / b> B ⁇ b> 2 that are operation members of the operation lever devices 24 ⁇ / b> A and 24 ⁇ / b> B and the operation pedal device increases.
- the discharge flow rate of the hydraulic pump 21 is increased by increasing the inclination angle (capacity) of the swash plate of the hydraulic pump 21 as the hydraulic operation signal received via the pressure increases.
- the regulator 21A reduces the tilt angle (capacity) of the hydraulic pump 21 as the discharge pressure of the hydraulic pump 21 increases, and controls the absorption torque of the hydraulic pump 21 so as not to exceed a preset maximum torque. Torque limiting control function.
- the direction switching valve 22 is composed of, for example, an open center type spool valve installed in the center bypass line, and constitutes a hydraulic circuit between the hydraulic pump 21 and the actuators 4a to 4c. Although not shown, the direction switching valve 22 is operated by a spool for controlling the flow rate and direction of the pressure oil discharged from the hydraulic pump 21 and a control pilot pressure from the shuttle valve block 25 by a stroke in a housing having an outer shell. And a pressure receiving portion for changing the stroke amount of the spool.
- the operation lever devices 24A and 24B and the operation pedal device reduce the primary pressure generated by the pressure oil discharged from the pilot pump to the secondary pressure according to the operation opening degree of the pressure reducing valve (remote control valve) provided in each device.
- a control pilot pressure (hydraulic operation signal) is generated.
- the control pilot pressure is sent to the pressure receiving chamber of the direction switching valve 22 to switch the direction switching valve 22 from the neutral position.
- the shuttle valve block 25 has the highest pressure among the hydraulic operation signals other than the hydraulic operation signal instructing the turning operation among the hydraulic operation signals generated by the operation lever devices 24A and 24B and the hydraulic operation signal generated by the operation pedal device.
- a high hydraulic operation signal is selected and output to the regulator 21A.
- the actuator drive control system 17 is disposed on the drive shaft (rotary shaft) of the engine 15 and transmits torque to and from the engine 15 to assist the power of the engine 15 and generate electric power (MG). 31, a swing motor (MG) 7 that drives the swing body 3, inverters 32 and 33 that control the operation of the motor generator 31 and the swing motor 7, and the motor generator 31 and the swing motor via the inverters 32 and 33. 7 includes a battery 34 as a power storage device that exchanges power with the battery 7 and a battery controller 35 that controls the operation of the battery 34.
- the actuator drive control system 17 includes a target rotation speed setting unit 36 that sets a target rotation speed of the engine 15, a rotation speed sensor 37 as a rotation speed detection device that detects the rotation speed of the engine 15, and a rotation speed sensor 37. And an engine controller 38 that is connected to the electronic governor 15A and controls the operation of the engine 15; and a pressure sensor 39A as an operation amount detection device that detects a control pilot pressure reduced by the operation lever devices 24A and 24B and the operation pedal device.
- a discharge pressure sensor 40 serving as a discharge pressure detecting device that is provided between the hydraulic pump 21 and the direction switching valve 22 and detects the discharge pressure of the pressure oil discharged from the hydraulic pump 21, inverters 32 and 33, and a battery controller 35, the target rotational speed setting unit 36, the engine controller 38, and the pressure sensor Sa 39A, is connected to 39B and a vehicle body controller 41 for controlling the vehicle overall operation at the input and output of various signals between the respective devices.
- the motor generator 31 is connected to the rotating shafts of the engine 15 and the hydraulic pump 21, and has a regenerative drive function as a generator that converts the power (kinetic energy) of the engine 15 into electric power (electric energy) and outputs it to the inverter 32. And a power running drive function as an electric motor that is driven by the electric power supplied from the inverter 32 and assists the power of the engine 15 to drive the hydraulic pump 21.
- the swing electric motor 7 has a regenerative drive function that converts the braking power of the swing body 3 into electric power and outputs it to the inverter 33.
- the inverter 32 converts AC power generated by the motor generator 31 into DC power and outputs it to the battery 34.
- the motor generator control unit converts DC power from the battery 34 into AC power and supplies the AC power to the motor generator 31.
- the inverter 33 converts the AC power generated by the swing motor 7 into DC power and outputs it to the battery 34, and the power drive that drives the swing body 3 by the swing motor 7.
- the function operates, it is a swing motor controller that converts DC power from the battery 34 into AC power and supplies the AC power to the swing motor 7.
- the battery 34 receives a control command from the battery controller 35 and supplies the DC power to the inverters 32 and 33 for discharging, or accumulates and charges the DC power supplied from the inverters 32 and 33 for electric driving.
- the electric energy regenerated by the generator 31 and the electric energy regenerated by the swing motor 7 are stored.
- the battery controller 35 detects the voltage and current of the battery 34, estimates the amount of electrical energy stored in the battery 34, the so-called remaining power (SOC), and outputs the remaining power calculation unit to the vehicle body controller 41. Prepare.
- the battery controller 35 calculates the remaining amount of electricity stored in the battery 34 in the range of 0 to 100% based on the voltage output from the battery 34 and the integrated value (power) of the voltage and current.
- the target rotational speed setting unit 36 is a target rotational speed setting dial (engine control dial) for setting the target rotational speed of the engine 15.
- the engine controller 38 inputs the target rotational speed of the engine 15 and the actual rotational speed (actual rotational speed) of the engine 15 from the vehicle body controller 41 and the rotational speed sensor 37, respectively, and calculates a deviation between the target rotational speed and the actual rotational speed. To do.
- the engine controller 38 calculates a target fuel injection amount based on the calculated deviation, and outputs a control command corresponding to the target fuel injection amount to the electronic governor 15A.
- the electronic governor 15A operates according to a control command input from the engine controller 38, and injects fuel corresponding to the target fuel injection amount into each cylinder of the engine 15 and supplies it.
- the operation of the engine 15 is control for generating torque of the engine 15 so that the actual rotational speed of the engine 15 is maintained at the target rotational speed.
- the engine controller 38 functions as an engine control unit, and operates the engine 15 with a governor characteristic in which the torque of the engine 15 increases with a predetermined inclination in response to a decrease in the rotational speed of the engine 15, that is, a droop characteristic.
- the engine controller 38 performs droop control according to the droop characteristic as operation control of the engine 15.
- the target fuel injection amount to each cylinder of the engine 15 becomes 0 when the actual rotational speed of the engine 15 coincides with the rotational speed at the time of no load, and the actual rotational speed decreases below the target rotational speed. Accordingly, the torque of the engine 15 increases until reaching the maximum torque determined by the specifications of the engine 15.
- the target rotational speed is set by the operation of the target rotational speed setting unit 36 by the operator according to the work content or the like.
- the actual rotational speed varies according to the droop characteristic according to the load of the hydraulic pump 21 from the rotational speed at the time of no load to the rotational speed at which the maximum torque is generated.
- the vehicle body controller 41 includes a control arithmetic circuit (not shown) that performs a calculation related to a control command output to each device, and performs, for example, the following control on the motor generator 31 and the swing motor 7.
- the pressure sensor 39A is connected to a pilot oil passage that guides a hydraulic operation signal that instructs a turning operation in the left-right direction among the hydraulic operation signals generated by the operation lever device 24A.
- the hydraulic operation signal at is detected.
- the vehicle body controller 41 inputs a detection signal (electrical signal) of the pressure sensor 39A, and performs drive control of the turning electric motor 7 in accordance with the hydraulic operation signal detected by the pressure sensor 39A.
- the vehicle body controller 41 controls the operation of the inverter 33 to perform power running control for driving the turning motor 7 as an electric motor. .
- the swing motor 7 is operated by the electric power supplied from the inverter 33, so that the swing body 3 turns left at a speed corresponding to the hydraulic operation signal.
- the vehicle body controller 41 controls the operation of the inverter 33 to drive the turning motor 7 as an electric motor. I do.
- the swing motor 7 is operated by the electric power supplied from the inverter 33, so that the swing body 3 turns right at a speed corresponding to the hydraulic operation signal.
- the vehicle body controller 41 controls the operation of the inverter 33 and controls the operation of the turning motor 7 as a generator during braking of the turning operation of the turning body 3, thereby turning the turning motor 7. 7 recovers electrical energy. And the vehicle body controller 41 accumulate
- the vehicle body controller 41 sends power to the inverter 32 when the absorption power of the hydraulic pump 21, that is, the load on the hydraulic pump 21 is large and the remaining amount of power stored in the battery 34 managed by the battery controller 35 is greater than or equal to a predetermined amount.
- power running control is performed in which the electric power of the battery 34 is supplied to operate the motor generator 31 as an electric motor.
- the motor generator 31 assists the power of the engine 15, and the hydraulic pump 21 is driven by the engine 15 and the motor generator 31. Accordingly, the discharging operation by the battery 34 is performed, and the remaining amount of power stored in the battery 34 is reduced.
- the vehicle body controller 41 includes a charge request or discharge request (electric power) for the battery 34, that is, a charge / discharge request calculation unit 41 ⁇ / b> A that calculates a charge / discharge request value, and a target rotational speed command value for the motor generator 31. And a target rotational speed calculation unit 41B.
- the charge / discharge request calculation unit 41A calculates the remaining amount of power calculated by the remaining charge calculation unit of the battery controller 35 when the reference value of the remaining charge of the battery 34 is set to, for example, 50% of the storage capacity. Is greater than the reference value, the required discharge amount is calculated according to the difference from the reference value.
- the charge / discharge request calculation unit 41A calculates a charge request amount according to the difference from the reference value.
- the discharge request is positive
- the charge request is negative
- the discharge request and the charge request are expressed as one power.
- the target rotation number calculation unit 41B includes a target rotation number reference value calculation unit 42 and a target rotation number correction value calculation unit 43.
- the target rotational speed reference value calculation unit 42 calculates and outputs a rotational speed having the same value as the target rotational speed set by the target rotational speed setting unit 36 as a target rotational speed reference value.
- the calculation by the target rotational speed reference value calculation unit 42 is the same as the case where the output from the power rate limiter unit 42A in the second embodiment to be described later is fixed to the engine maximum output P1.
- the actual charge / discharge amount of the battery 34 is based on the output (charge / discharge amount) from the inverter 32 of the motor generator 31 with respect to the charge / discharge request amount (power) output by the charge / discharge request calculation unit 41 ⁇ / b> A. Can be estimated.
- the battery controller 35 also calculates the charge / discharge amount of the battery 34.
- the target rotation speed correction value calculation unit 43 performs the charge / discharge amount output from the inverter 32 with respect to the charge / discharge request amount calculated by the charge / discharge request calculation unit 41A, or the charge / discharge amount calculated by the battery controller 35.
- the difference between the charge / discharge request amount and the actual charge / discharge amount is calculated, and the correction rotation speed of the motor generator 31, that is, the target rotation speed correction value is calculated according to the magnitude of the difference. Is calculated.
- the target rotation speed correction value calculation section 43 includes a PI control section 43A, a rotation speed rate limiter section 43B, and a rotation speed limiter section 43C.
- the PI control unit 43A uses PI (proportional / integral) control based on a predetermined gain as calculation of the corrected rotation speed, calculates the difference between the charge / discharge request amount and the actual charge / discharge amount, and then responds to this difference. Perform PI control.
- the PI control unit 43A calculates the target rotational speed correction value of the motor generator 31 so that the charge / discharge request amount matches the actual charge / discharge amount.
- the PI control unit 43A calculates a negative target rotational speed correction value corresponding to the magnitude of the difference, and when the difference is negative ( ⁇ ), A positive target rotational speed correction value corresponding to the magnitude of the difference is calculated.
- the rotational speed rate limiter 43B has a predetermined rate of change of the target rotational speed correction value calculated before obtaining the target rotational speed correction value with respect to the target rotational speed correction value calculated by the PI control section 43A.
- the rotation rate rate limiter process is performed, and the rate of change of the obtained target rotation number correction value is limited to a target rotation number correction value corresponding to the upper limit value or lower limit value. .
- the rotational speed limiter unit 43C has a predetermined rotational speed limit value after the rotational speed rate limiter process is performed by the rotational speed rate limiter unit 43B.
- the upper limit value or the lower limit value (the upper limit of the negative target rotational correction value).
- limiter processing is performed with the target rotational speed correction value as the upper limit value or lower limit value.
- the upper limit value and the lower limit value to be subjected to limiter processing by the rotation speed limiter 43C are determined from the minimum value of the maximum rotation speed allowed by the engine 15, the hydraulic pump 21, and the motor generator 31.
- the target rotational speed correction value calculated by the target rotational speed correction value calculation section 43 is added to the target rotational speed reference value calculated by the target rotational speed reference value calculation section 42.
- the value is output to the inverter 32 as a target rotational speed command value.
- the inverter 32 controls the drive of the motor generator 31 based on the target rotation speed command value calculated by the target rotation speed calculation unit 41B, and the actual rotation speed of the motor generator 31 matches the target rotation speed command value. To control.
- an upper limit value and a lower limit value of the target rotational speed correction value are provided in the rotational speed limiter unit 43C, and the target rotational speed command value calculated in the target rotational speed calculation unit 41B is a predetermined rotational speed, That is, the rotational speed limiter process is performed so as not to exceed NaL * .
- the remaining amount of electricity stored in the battery 34 is calculated by the battery controller 35 (step 1, hereinafter referred to as “S1”). Then, the information on the remaining amount of electricity calculated by the battery controller 35 is output to the charge / discharge request calculation unit 41A, and the charge / discharge request amount corresponding to this remaining charge is calculated by the charge / discharge request calculation unit 41A (S2). ).
- the target rotational speed set by the target rotational speed setting unit 36 is read into the target rotational speed reference value calculation unit 42 (S3), and the rotational speed having the same value as the read target rotational speed is the target rotational speed reference value.
- the calculation unit 42 calculates and outputs the target rotation speed reference value (S4).
- the actual charge / discharge amount of the battery 34 is read into the target rotation speed correction value calculation unit 43 via the inverter 32, and the charge / discharge request calculated by the charge / discharge request calculation unit 41A.
- the amount is read into the target rotational speed correction value calculation unit 43 (S5).
- the difference between the required charge / discharge amount and the actual charge / discharge amount is calculated, and PI control according to the difference is performed by the PI control unit 43A, and the target rotation speed correction value is calculated (S6).
- the rate of change is limited by the rotation speed rate limiter 43B for the target rotation speed correction value obtained in S6 (S7).
- the upper limit value and the lower limit value are limited by the rotation speed limiter 43C with respect to the target rotation speed correction value whose rate of change is limited in S7 (S8).
- the target rotation speed reference value calculation unit 42 is out of order, and the target rotation speed reference value calculated by the target rotation speed reference value calculation unit 42 is the hydraulic pressure. Even when the engine speed deviates from the engine power that balances the load power of the pump 21, the target engine speed reference value is calculated using the target engine speed correction value calculated by the target engine speed correction value calculator 43. By performing feedback control, cooperative control for correcting the engine power to the target rotational speed command value that matches the load power can be realized.
- the target rotational speed correction value calculation unit 43 is configured to calculate the target rotational speed correction value of the motor generator 31 regardless of the droop control for the engine 15, the operation control of the engine 15 is controlled from the droop characteristic. Even in the case of deviation, robust control can be realized.
- the charge / discharge request value calculated by the charge / discharge request calculation unit 41A and the actual charge / discharge of the battery 34 calculated by the battery controller 35 or the inverter 32 The target rotational speed correction value calculation unit 43 of the target rotational speed calculation unit 41B calculates a target rotational speed correction value from the difference from the value, and the target rotational speed command value of the motor generator 31 is feedback-controlled and corrected. Therefore, the remaining amount of electricity stored in the battery 34 can be maintained in an appropriate range.
- the target rotational speed correction value calculation unit 43 after PI control is performed by the PI control unit 43A so that the charge / discharge request amount and the actual charge / discharge amount coincide with each other, the target rotational speed correction value is calculated.
- the calculated target rotational speed correction value is processed by the rotational speed rate limiter 43B.
- the rotational speed limiter unit 43C performs the limiter processing. Yes. Therefore, even in the hydraulic excavator 1 in which the fluctuation of the load of the hydraulic pump 21 accompanying the work is large, the upper limit value and the lower limit value of the target rotation speed correction value, that is, the absolute amount is limited to suppress the change in the target rotation speed correction value. As a result, large fluctuations in the rotational speed of the motor generator 31 can be suppressed, and changes in driving of the engine 15 can be suppressed.
- the discharge request from the charge / discharge request calculation unit 41A cannot be followed, an excessive increase in the rotational speed of the motor generator 31 can be prevented, an increase in exhaust gas generated when the drive of the engine 15 is changed can be suppressed, and an excessive amount It is possible to prevent occurrence of overrev and lag down due to the target rotational speed correction value. Therefore, it is possible to prevent damage to the drive systems such as the engine 15, the hydraulic pump 21, and the motor generator 31, and improve the durability of these drive systems. Further, by limiting the target rotational speed correction value by the rotational speed limiter 43C, interference with the feedforward target rotational speed reference value calculation by the target rotational speed reference value calculation section 42 can be suppressed.
- the second embodiment of the present invention differs from the first embodiment described above in that the first embodiment uses the target rotation speed set by the target rotation speed setting unit 36 as shown in FIG. In contrast to the target rotation speed reference value calculation unit 42 that calculates the value, the second embodiment calculates a target rotation speed reference value that calculates the target rotation speed reference value according to the droop characteristic of the engine 15, as shown in FIG. That is, the calculation unit 42a is used.
- the vehicle body controller 41 includes a load power calculation unit 41C for calculating the pump power of the hydraulic pump 21, that is, load power, and the calculated load power value and the charge / discharge request value calculated by the charge / discharge request calculation unit 41A. And a target engine power calculation unit 41D for calculating the target engine power based on the above.
- the load power calculation unit 41C is estimated from the discharge pressure of the hydraulic oil from the hydraulic pump 21 detected by the discharge pressure sensor 40 and the operation amounts of the operation lever devices 24A and 24B detected by the pressure sensors 39A and 39B.
- the output of the hydraulic pump 21 is calculated based on the hydraulic oil pressure.
- the load power calculation unit 41C corrects the output of the hydraulic pump 21 from the hydraulic oil efficiency or pressure loss corresponding to the discharge pressure and discharge flow rate of the hydraulic pump 21, calculates the absorption power of the hydraulic pump 21, and uses this absorption power. Calculated as load power on the engine shaft.
- the target engine power calculation unit 41D calculates the target engine power from the difference between the load power value calculated by the load power calculation unit 41C and the power value corresponding to the charge / discharge request amount calculated by the charge / discharge request calculation unit 41A. Is calculated. Therefore, the target engine power may be negative if the load power is small and the discharge request is large, and may exceed the maximum output of the engine 15 if each of the load power and the charge request is large.
- the target rotation speed reference value calculation unit 42a includes a power rate limiter unit 42A and a droop reference unit 42B.
- the power rate limiter unit 42A has a rate of change of the target engine power calculated by the target engine power calculation unit 41D with respect to the target engine power calculated before calculating the target engine power is a predetermined change rate.
- a power rate limiter process that limits the upper limit value or the lower limit value is performed, and the change rate of the calculated target engine power is limited.
- the power rate limiter unit 42A has an upper limit value or a lower limit value with respect to the rate of change of the target engine power, and the rate of change of the target engine power is leveled based on the upper limit value or the lower limit value. Suppresses the deterioration of fuel consumption and sudden increase in exhaust gas due to sudden changes.
- the droop reference unit 42B refers to the droop characteristic of the engine 15 shown in FIG. 7 based on the target engine power leveled by the power rate limiter unit 42A, and sets the target rotation speed reference value (first target rotation speed). Calculate.
- the target rotation number calculation unit 41B adds the correction rotation number calculated by the target rotation number correction value calculation unit 43 and the first target rotation number calculated by the target rotation number reference value calculation unit 42a,
- the second or third target rotational speed is calculated.
- the second or third target rotational speed is the target rotational speed command value in the first embodiment, and the case where the corrected rotational speed is positive is set as the second target rotational speed, and the corrected rotational speed is negative. Is the third target rotational speed.
- the rotational speed limiter unit 43C of the target rotational speed correction value calculation unit 43 performs the correction rotation.
- An upper limit value or a lower limit value is provided for the magnitude of the number to suppress a rapid increase in the second target rotational speed.
- FIG. 7A shows the engine 15 is driven and controlled according to the droop characteristic in which the torque increases as the rotational speed decreases.
- FIG. 7A shows the maximum torque P1 with the maximum torque at the rotational speed N1, and the rotational speed to which the maximum torque P1 is applied can be adjusted by the operator operating the target rotational speed setting unit 36 according to the work content or the like. This corresponds to the movement of the droop characteristic line A in FIG.
- the engine 15 when the droop characteristic line A shown in FIG. 7A is selected, the engine 15 generates the maximum torque P1 at the rotational speed N1, and the torque for maintaining the rotational speed in the idle state at the rotational speed N0. Generate P0.
- the rotational speed N0 is not a value that exceeds the rotational speed of the engine 15 when there is no load.
- the target engine speed reference value is the engine speed corresponding to the target engine power, as shown in FIG. 7B, when the target engine power increases from P0 to P1, the target engine speed is It decreases from N0 to N1 according to the droop characteristic line A shown in a).
- the target engine power is smaller than P0, the target rotational speed has an upper limit of N0.
- the target engine power is larger than P1 since P1 is the maximum torque in the selected droop characteristic line A, the target rotational speed has N1 as a lower limit.
- the droop reference unit 42B calculates the target engine speed from the target engine power using the map showing the relationship between the target engine power and the target engine speed shown in FIG. 7B, and uses the calculated target engine speed. Calculated as the target rotation speed reference value.
- the target rotational speed reference value calculation unit 42a sets the droop characteristic line set by the target rotational speed setting unit 36 to D based on the relationship between the rotational speed and the torque, as shown in FIG.
- the target engine power is the load power Pp
- the rotation speed Na3 * at the intersection of the droop characteristic line D and the equal power line Tp according to the load power Pp is the target.
- the engine 15 generates load power and the power (electric power) generated by the motor generator 31 becomes 0. Therefore, the actual charge / discharge amount is calculated by the charge / discharge request calculation unit 41A.
- the calculated charge / discharge demand is the same.
- the rotation speed Na1 * at the intersection with D is set as a target rotation speed reference value.
- the number Na2 * is set as the target rotation speed reference value.
- the remaining amount of electricity stored in the battery 34 is calculated by the remaining amount of electricity calculating unit of the battery controller 35 (S1), and the required charge / discharge amount corresponding to the remaining amount of stored electricity is calculated by the charge / discharge request calculating unit 41A ( S2).
- the load power of the hydraulic pump 21 is calculated by the load power calculation unit 41C (S11).
- the difference between the load power calculated in S11 and the charge / discharge request amount calculated in S2 is calculated as target engine power in the target engine power calculation unit 41D (S12).
- the power rate limiter unit 42A limits the rate of change for the calculated target engine power (S13).
- the target rotational speed set by the target rotational speed setting unit 36 is read into the target rotational speed reference value calculation unit 42a (S3), and based on the droop characteristic determined by the read target rotational speed, The number of revolutions that can output the target engine power after being restricted in S13 is calculated by the droop reference unit 42B as the target number of revolutions reference value (S14).
- the actual charge / discharge amount of the battery 34 is read into the target rotational speed correction value calculation unit 43 and the charge / discharge request amount calculated by the charge / discharge request calculation unit 41A. Is read into the target rotational speed correction value calculation unit 43 (S5). Then, PI control according to the difference between the charge / discharge request amount and the actual charge / discharge amount is performed by the PI control unit 43A (S6), and the rate of change is limited by the rotational speed rate limiter unit 43B (S7). ), The upper limit value and the lower limit value are limited by the rotation speed limiter 43C, and the target rotation speed correction value is calculated (S8).
- the droop characteristic line set by the target rotational speed setting unit 36 is D and the target engine power is the load power Pp.
- the load power calculation unit 41C calculates the load power larger than Pph (> Pp) and the true load power Pp
- the droop The rotational speed Na4 * at the intersection of the characteristic line D and the load power Pph is calculated by the target rotational speed reference value calculation unit 42a as the target rotational speed reference value.
- the engine 15 is driven so as to generate the power of the load power Pph. Therefore, the motor generator is generated by the difference between the load power Pph at this time and the true load power Pp, that is, the power of “Pph ⁇ Pp”. 31 is driven as a generator, and the electric power generated by the motor generator 31 is supplied to the battery 34 and charged. If this state continues, since the battery 34 is continuously charged, the remaining amount of electricity stored in the battery 34 calculated by the remaining amount calculation unit of the battery controller 35 increases. When the remaining amount of electricity stored in the battery 34 exceeds a predetermined value, a discharge request is output from the charge / discharge request calculation unit 41A.
- the output of the target engine power calculation unit 41D becomes a value smaller than the load power Pph, and the target rotation speed reference value calculation unit 42a calculates the target rotation speed reference value based on the load power that has become smaller. The Therefore, by repeating this operation, the target value of the engine power gradually converges to the true load power Pp.
- the load power calculation unit 41C calculates the load power smaller than Ppl ( ⁇ Ph) and the true load power Pp
- the droop characteristic line D and the load power Ppl are calculated.
- rotation speed Na5 * of intersection between are calculated by the target engine speed reference value calculating section 42a as the target rotational speed reference value.
- the motor generator 31 drives the difference between the true load power Pp and the load power Ppl, that is, the power of “Pp ⁇ Ppl” as a motor. Electric power required for driving the motor generator 31 is output from the battery 34 and discharged.
- the battery 34 continues to be discharged, so that the remaining amount of power stored in the battery 34 calculated by the remaining power amount calculation unit of the battery controller 35 decreases.
- a charge request is output from the charge / discharge request calculation unit 41A.
- the output of the target engine power calculation unit 41D becomes a value larger than the load power Ppl, and the target rotation speed reference value calculation unit 42a calculates the target rotation speed reference value based on this large load power. The Therefore, by repeating this operation, the target value of the engine power gradually converges to the true load power Pp.
- the target rotation number reference value calculation unit 42a calculates the target rotation number reference value of the engine 15, and the target By controlling the drive of the motor generator 31 by the inverter 32 using the rotation speed reference value as the target rotation speed command value, the target rotation speed reference value can be corrected to an appropriate value.
- the target rotational speed command value is converged earlier by the target engine power calculating section 41D and the target rotational speed reference value calculating section 42a. Can be realized.
- the target rotation speed correction value calculation unit When the target rotational speed correction value is calculated as 0 at 43, the target rotational speed reference value is Na4 * , and the motor generator 31 is driven as a generator with the power of “Pph ⁇ Pp” to charge the battery 34. . Therefore, the actual charge / discharge amount of the motor generator 31 is “ ⁇ (Pph ⁇ Pp)”.
- the charge / discharge request is 0, and the target rotation speed correction value proportional to “Pph ⁇ Pp” (> 0) is obtained by subtracting the actual charge / discharge amount “ ⁇ (Pph ⁇ Pp)”. Since the correction value calculation unit 43 calculates and outputs the target rotation speed command value, the target rotation speed command value is larger than Na4 * . Therefore, the target rotational speed correction value calculated by the target rotational speed correction value calculation unit 43 is feedback-controlled with respect to the target rotational speed reference value calculated by the target rotational speed reference value calculation unit 42a, so that the target Since the rotational speed command value is corrected, the target value of engine power can be converged to the true load power Pp earlier.
- the load power calculation unit 41C calculates the load power larger (Pph) or smaller (Ppl) than the true load power Pp
- the target rotational speed correction value is calculated.
- the target rotational speed command value output from the target rotational speed calculation unit 41B can be corrected earlier. Therefore, since the target value of the engine power can be converged to the true load power Pp more quickly, unnecessary charging / discharging of the battery 34 due to the power estimation error of the engine 15 can be prevented more appropriately and effectively.
- the target engine power is the load power Pp
- the load power Pp is the power exceeding the engine maximum output
- the target rotational speed reference value is Na1 * capable of generating the engine maximum torque.
- the motor generator 31 bears the power that is insufficient for the power of the engine 15 to assist the drive of the engine 15 to achieve the first target rotational speed Na1 * . Therefore, in this case, even if the charge / discharge request amount from the charge / discharge request calculation unit 41A is 0, the battery 34 is discharged and the motor 15 assists the engine 15.
- the motor generator 31 assists the driving of the power Ma.
- the engine power is calculated, and the rotational speed Na2 * at the intersection of the equal power line T2 and the droop characteristic line D according to the target engine power Pe2 is calculated as the target rotational speed reference value.
- the droop characteristic line set by the target speed setting unit 36 and referenced by the droop reference unit 42B is D
- the droop characteristic depends on the environment during operation of the engine 15 and the like. Assume that the line changes from D to Dp or Dm.
- the droop characteristic line Dp can obtain a larger engine torque at the same engine speed than the ideal droop characteristic line D, and the droop characteristic line Dm can be obtained at the same engine speed compared to the droop characteristic line D. Small engine torque.
- the rotation speed Na1 * at the intersection of the droop characteristic line D calculated by the target rotation speed reference value calculation unit 42a and the equal power line T1 according to the target engine power Pe1 is the target rotation speed command value (first target rotation speed).
- the engine 15 is driven (operated) with the torque E1 by controlling the motor generator 31 via the inverter 32 with the target rotational speed command value.
- the engine 15 is operated at a torque E1H corresponding to the target rotational speed Na1 * , and generates a power larger than the target engine power Pe1. Therefore, the motor generator 31 generates power exceeding the required charge amount Pr, and the battery 34 is overcharged.
- the correction rotation number is a positive value (positive target rotation) by PI control by the PI control unit 43A of the target rotation number correction value calculation unit 43. Number correction value), that is, an operation for suppressing the required charging amount. Therefore, by this calculation, the output of the target rotation speed calculation unit 41B becomes a second target rotation speed larger than the target rotation speed reference value Na1 * obtained by the target rotation speed reference value calculation unit 42a.
- the engine 15 is operated at the torque E1p lower than the torque E1H, and generates the target engine power Pe1. Can be made equal to the required charge amount Pr.
- the operation is performed at the first target rotational speed Na1 * obtained by the target rotational speed reference value calculation unit 42a. Then, the engine torque is reduced to become torque E1L, and the motor generator 31 does not function as a generator for the required charging amount Pr, and is driven as an electric motor to assist the engine 15 to achieve the first target rotational speed.
- the correction rotation number is a positive value (positive target rotation) by PI control by the PI control unit 43A of the target rotation number correction value calculation unit 43. Number correction value), that is, an operation for suppressing the required charging amount. Therefore, by this calculation, the output of the target rotation speed calculation unit 41B becomes a second target rotation speed larger than the first target rotation speed Na1 * obtained by the target rotation speed reference value calculation unit 42a.
- the engine 15 is operated at a torque E1m higher than the torque E1L, and generates the target engine power Pe1.
- the actual charge amount can be matched with the charge request amount Pr.
- the engine when the load power is Pp and the required discharge amount is Pa, when the actual droop characteristic line is Dp, the engine is operated at the first target rotational speed Na2 * obtained by the target rotational speed reference value calculation unit 42a.
- the torque of the engine 15 becomes E2H, and the motor generator 31 does not function as a motor with respect to the required discharge amount Pa, and is driven as a generator to charge the battery 34.
- the positive target rotation number correction value that is, the required discharge amount is set by PI control by the PI control unit 43A of the target rotation number correction value calculation unit 43. Calculation to increase. Therefore, by this calculation, the output of the target rotation speed calculation unit 41B becomes a second target rotation speed larger than the first target rotation speed Na2 * obtained by the target rotation speed reference value calculation unit 42a.
- the engine 15 is operated at the torque E2p lower than the torque E2H, and the target engine power Pe2 is generated.
- the discharge amount can be made equal to the required discharge amount Pp.
- the engine when the load power is Pp and the required discharge amount is Pa, and the actual droop characteristic line is Dm, the engine is operated at the first target rotational speed Na2 * obtained by the target rotational speed reference value calculation unit 42a.
- the engine 15 does not output torque, and the engine 15 enters a motoring state in which the motor 15 is rotated by the motor generator 31.
- the correction rotation number is a negative value (negative target rotation number) by PI control by the PI control unit 43A of the target rotation number correction value calculation unit 43.
- Correction value that is, a calculation for suppressing the required discharge amount. Therefore, by this calculation, the output of the target rotation speed calculation unit 41B becomes a third target rotation speed smaller than the first target rotation speed Na2 * obtained by the target rotation speed reference value calculation unit 42a.
- the engine 15 is operated at the torque E2m, generates the target engine power Pe2, and the actual discharge amount is reduced.
- the required discharge amount Pp can be matched.
- the engine 15 when the load power is Pp and the charge / discharge request amount is 0, and the actual droop characteristic line is Dp, the engine 15 is the intersection of the equal power line Tp and the droop characteristic line Dp according to the load power Pp, that is, It is operated with a torque E3p. In this case, when the actual droop characteristic line is Dm, the engine 15 is operated at the intersection of the equal power line Tp according to the load power Pp and the droop characteristic line Dm, that is, the torque E3m.
- the load power calculation unit 41C cannot calculate the load power, but the charge / discharge request calculation unit 41A calculates it.
- the target rotation number is calculated by the target rotation number calculation unit 41B using the required charge / discharge amount.
- the target rotational speed of the motor generator 31 does not change immediately, so that the motor generator 31 is powered to keep the engine torque constant and the rotational speed of the hydraulic pump 21 does not decrease. To do.
- the motor generator 31 is powered to discharge the battery 34, so that the correction is performed by PI control by the PI control unit 43A of the target rotation speed correction value calculation unit 43.
- the number of rotations decreases, and the third target number of rotations also decreases.
- the remaining amount of power stored in the battery 34 gradually decreases, the amount of charge requested from the charge / discharge request calculation unit 41A increases, and the target rotation speed reference value calculation unit 42a.
- the first target rotational speed calculated in (1) also decreases. As a result, the rotational speed of the engine 15 is reduced, and a larger engine torque is generated.
- the motor generator 31 is regenerated so that the engine torque is constant and the rotational speed of the hydraulic pump 21 is not increased. To do.
- the motor generator 31 is regenerated and the battery 34 is charged, so correction is performed by PI control by the PI control unit 43A of the target rotation speed correction value calculation unit 43.
- the rotation speed increases, and the third target rotation speed also increases.
- the battery 34 is charged, the remaining amount of electricity stored in the battery 34 gradually increases, the amount of charge requested from the charge / discharge request calculation unit 41A decreases, and the target rotation speed reference value calculation unit 42a.
- the first target rotational speed calculated in (1) also increases. As a result, the rotational speed of the engine 15 increases and the engine torque is suppressed.
- the PI control by the PI control unit 43A of the target rotation speed correction value calculation unit 43 allows The calculation of the target engine power by the target engine power calculation unit 41D can be substituted by the charge / discharge request amount calculated by the charge / discharge request calculation unit 41A, and the actual charge / discharge amount is output from the charge / discharge request calculation unit 41A. It is possible to match the required charge / discharge amount.
- the engine torque can be increased or decreased according to the load power, even if the load power calculated by the load power calculation unit 41C deviates from the actual value, the engine power can be appropriately and quickly adjusted. It becomes possible to control. As a result, almost the same operation as the hydraulic excavator 1 can be ensured, and the operability can be ensured without giving the operator a sense of incongruity, so that the workability of the hydraulic excavator 1 can be prevented from being lowered.
- the target rotational speed of the motor generator 31 changes, so that load power calculated by the load power calculation unit 41C is used.
- the power amount and frequency of charging or discharging of the battery 34 tend to increase, and the fuel consumption of the engine 15 may be reduced, or the life of the battery 34 may be reduced.
- the target engine power calculation unit 41D calculates the sum of the load power and the charge / discharge request amount and calculates it in a feedforward manner.
- the engine power is controlled to an appropriate operating point before the target rotational speed correction value becomes large. That is, the target rotational speed correction value calculated by the target rotational speed correction value calculation unit 43 increases when the difference between the actual charge / discharge amount of the battery 34 and the required charge / discharge amount increases.
- the discharge from the battery 34 or the charge is excessive, and the life of the battery 34 has a correlation with the charge / discharge amount. Therefore, only when one of the pressure sensors 39A, 39B and the discharge pressure sensor 40 fails, the fuel consumption of the engine 15 and the life of the battery 34 are reduced by switching the charge / discharge request amount to the target engine power. Can be prevented as much as possible.
- the third embodiment of the present invention differs from the above-described second embodiment in that the second embodiment has a target engine power based on the load power calculated by the load power calculation unit 41C as shown in FIG.
- the third embodiment is a target engine power calculation unit 41Da that calculates the target engine power from an arbitrary constant, as shown in FIG.
- the constant used in the target engine power calculation unit 41Da is used as a substitute signal for the load power calculated by the load power calculation unit 41C according to the second embodiment. From the minimum value to the maximum value of the load power Is set in the range.
- the target engine power calculation unit 41Da calculates the target rotational speed command value so that the engine power matches the actual value of the load power in the steady state. Therefore, in the third embodiment, the target rotation speed command value can be calculated without using the load power information calculated by the load power calculation unit 41C. Therefore, even if the load power calculated by the load power calculation unit 41C deviates from the actual load power value (true value), the target rotational speed command value can be calculated and the engine power can be appropriately set. Can be controlled.
- the remaining amount of electricity stored in the battery 34 is calculated (S1), and the required charge / discharge amount corresponding to the remaining amount of electricity stored is calculated (S2).
- the target engine power calculation unit 41Da reads a predetermined constant (S21), and the target engine power is calculated from the difference between this constant and the charge / discharge request amount calculated in S2 (S12). . Thereafter, the rate of change is limited for the target engine power (S13).
- the target rotational speed set by the target rotational speed setting unit 36 is read (S3), and the target rotational speed reference value is calculated based on the droop characteristic determined by the target rotational speed (S14).
- the actual charge / discharge amount of the battery 34 and the charge / discharge request amount calculated in S2 are read (S5).
- the PI control (S6) according to the difference from the charge / discharge amount, the change rate restriction (S7), the upper limit value and the lower limit value are restricted, and the target rotational speed correction value is calculated (S8).
- the target rotational speed command value is calculated by adding the target rotational speed reference value obtained in S14 and the target rotational speed correction value obtained in S8 (S9).
- the load power during work of the hydraulic excavator 1 changes with time.
- the constant used in the target engine power calculation unit 41Da is fixed to a constant value, for example, the PC value, the target engine power value calculated from the actual value (true value) of the load power, and the target engine Deviation occurs between the target engine power value calculated by the power calculation unit 41Da.
- the target engine power calculated by the target engine power calculation unit 41Da is a constant PC.
- the difference between the true value of the load power and the constant PC is output to the motor generator 31.
- the battery 34 functions as an electric motor and the battery 34 is discharged. If the output to the motor generator 31 is negative, the battery 34 is charged by functioning as a generator.
- the period in which the battery 34 can be used properly that is, the life, has a correlation with the charge / discharge amount of the battery 34. Therefore, in order to prevent a decrease in the life of the battery 34, the true value of the load power and the engine It is desirable to resolve the difference from power early.
- the target rotation speed correction value calculation unit 43 In order to make the engine power coincide with the true value of the load power at an early stage, it is necessary to increase the correction amount of the target rotation speed correction value by the target rotation speed correction value calculation unit 43. In order to increase this correction amount, (1) increase the gain at the time of PI control in the PI control unit 43A, (2) increase the rate of change in the rotation rate rate limiter unit 43B, and (3) the rotation rate limiter. This can be realized by performing at least one of increasing the upper limit value and the lower limit value in the unit 43C.
- Target rotation speed correction value calculation that performs calculation in consideration of the feedforward function by the target rotation speed reference value calculation unit 42a that performs calculation based on the charge / discharge request amount output from the calculation unit 41A and the actual charge / discharge amount.
- the target rotation speed reference value calculated by the target rotation speed correction value calculation section 43 is set as the target rotation speed reference value calculated by the target rotation speed reference value calculation section 42a.
- the corrected target rotational speed command value may be periodically increased and decreased, that is, changed like vibration.
- the gain and the rotation speed rate during PI control in the PI control section 43A of the target rotation speed correction value calculation section 43 are detected. Neither the rate of change in the limiter unit 43B nor the upper limit value and the lower limit value in the rotation speed limiter unit 43C are changed to normal design values. At least one of the pressure sensors 39A, 39B and the discharge pressure sensor 40 has a failure, etc. Only when an abnormality is detected, the amount of correction of the target rotational speed correction value by the target rotational speed correction value calculation unit 43 is an abnormality such as a failure of at least one of the pressure sensors 39A, 39B and the discharge pressure sensor 40.
- the gain at the time of PI control in the PI control unit 43A is increased, or the rotation rate rate limiter unit 4 is set so as to be larger than the case where it is not detected. Or by increasing the rate of change in B, and or by increasing the upper limit value and the lower limit value of a rotational speed limiter portion 43C. As a result, since the periodic change in the target rotational speed command value can be prevented, the life of the battery 34 can be prevented from being reduced.
- the target rotational speed correction value calculation unit 43 is processed in the order of the PI control unit 43A, the rotational speed rate limiter 43B, and the rotational speed limiter 43C.
- the rotational speed rate limiter 43B is used.
- the order of the rotation speed limiter 43C may be changed, or the rotation speed rate limiter 43B and the rotation speed limiter 43C may be eliminated in a timely manner.
- the power rate limiter unit 42A of the target rotation speed reference value calculation unit 42a in the second and third embodiments may be eliminated in a timely manner.
- the slope of the droop characteristic line is a dimension of (Nm / rpm). Therefore, the change amount (kW / S) of the target engine power in the power rate limiter unit 42A of the target rotation speed reference value calculation unit 42a and the rotation rate rate limiter unit 43B of the target rotation speed correction value calculation unit 43
- the physical meaning of the amount of change (rpm / s) can be designed to the same extent.
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Abstract
Description
本発明に係る作業機械の第1実施形態は、例えば、図1に示すハイブリッド油圧ショベル(以下、便宜的に油圧ショベルと呼ぶ)1に適用される。油圧ショベル1は、走行体2と、走行体2上に旋回フレーム(図示せず)を介して旋回可能に設けた旋回体3と、旋回体3の前方に取り付けられ上下方向に回動して掘削等の作業を行う多関節型のフロント作業機4とを備える。
圧力センサ39Aは、操作レバー装置24Aが生成した油圧操作信号のうち左右方向の旋回操作を指示する油圧操作信号を導くパイロット油路に接続され、このパイロット油路における油圧操作信号を検出する。車体コントローラ41は、圧力センサ39Aの検出信号(電気信号)を入力し、圧力センサ39Aにて検出された油圧操作信号に応じて、旋回電動機7の駆動制御を行う。
車体コントローラ41は、旋回体3の旋回動作の制動時に、インバータ33の動作を制御して旋回電動機7を発電機として動作させる発電制御を行うことにより、旋回電動機7から電気エネルギを回収する。そして、車体コントローラ41は、回収した電気エネルギをバッテリ34に蓄積することにより、バッテリ34の蓄電残量が上昇する。
車体コントローラ41は、油圧ポンプ21の吸収動力、すなわち油圧ポンプ21の負荷が低く、かつバッテリコントローラ35にて管理されるバッテリ34の蓄電残量が少ないときに、インバータ32に対して、電動発電機31を発電機として動作させる発電制御を行う。これにより、電動発電機31が余剰の電力を発生させることにより、バッテリ34による充電動作が行われ、バッテリ34の蓄電残量が上昇する。
本発明の第2実施形態が前述した第1実施形態と異なるのは、第1実施形態は、図3に示すように、目標回転数設定部36にて設定した目標回転数を目標回転数基準値として演算する目標回転数基準値演算部42に対して、第2実施形態は、図6に示すように、エンジン15のドループ特性に応じた目標回転数基準値を演算する目標回転数基準値演算部42aとしたことである。
本発明の第3実施形態が前述した第2実施形態と異なるのは、第2実施形態は、図6に示すように、負荷動力演算部41Cにて演算された負荷動力に基づいて目標エンジン動力を演算する目標エンジン動力演算部41Dに対して、第3実施形態は、図13に示すように、任意の定数から目標エンジン動力を演算する目標エンジン動力演算部41Daとしたことである。
なお、本発明は前述した実施形態に限定されるものではなく、様々な変形態様が含まれる。例えば、前述した実施形態は、本発明を分りやすく説明するために説明したものであり、本発明は、必ずしも説明した全ての構成を備えるものに限定されるものではない。
4 フロント作業機(油圧作業装置)
15 エンジン
21 油圧ポンプ
24A,24B 操作レバー装置(操作装置)
31 電動発電機
32 インバータ(電動発電機制御部)
34 バッテリ(蓄電装置)
35 バッテリコントローラ(蓄電残量演算部)
38 エンジンコントローラ(コントローラ)
39A,39B 圧力センサ(操作量検出装置)
40 吐出圧センサ(吐出圧検出装置)
41 車体コントローラ(コントローラ)
41A 充放電要求演算部
41B 目標回転数演算部
41C 負荷動力演算部
41D,41Da 目標エンジン動力演算部
Claims (8)
- エンジンと、
前記エンジンにて駆動する油圧ポンプと、
前記油圧ポンプが吐出する圧油で駆動する油圧作業部と、
前記エンジンとの間でトルクの伝達を行う電動発電機と、
前記電動発電機との間で電力を授受する蓄電装置と、
前記エンジンの回転数の低下に対応して前記エンジンのトルクが所定の傾きで増加するドループ特性で前記エンジンを動作させるコントローラと、を備え、
前記コントローラは、
前記蓄電装置の蓄電残量を演算する蓄電残量演算部と、
前記蓄電残量演算部にて演算した蓄電残量に基づき、前記蓄電装置が出力する電力を、所定の範囲に保つための充放電要求値を演算する充放電要求演算部と、
前記電動発電機の目標回転数指令値を演算する目標回転数演算部と、
前記目標回転数演算部にて演算した目標回転数指令値に応じて前記電動発電機を制御する電動発電機制御部と、を有し、
前記蓄電残量演算部および前記電動発電機制御部の少なくとも一方は、前記蓄電装置の実充放電値を演算し、
前記目標回転数演算部は、前記充放電要求値と、前記実充放電値との差から目標回転数補正値を算出して前記目標回転数指令値を補正する
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記目標回転数演算部は、前記目標回転数補正値の変化率の上限値を有している
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記目標回転数演算部は、前記目標回転数補正値の上限値および下限値を有している
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記コントローラは、前記充放電要求値に基づき、前記エンジンの目標エンジン動力を演算する目標エンジン動力演算部を有し、
前記目標回転数演算部は、
前記エンジンの回転数とトルクとの関係を示すドループ特性線と、前記目標エンジン動力に従う等動力線との交点の回転数を、前記電動発電機の第1の目標回転数として演算し、
前記実充電値が前記充電要求値より大きい、あるいは前記実放電値が前記放電要求値より小さい場合に、前記第1の目標回転数より大きな第2の目標回転数を前記目標回転数指令値として演算し、
前記実充電値が前記充電要求値より小さい、あるいは前記実放電値が前記放電要求値より大きい場合に、前記第1の目標回転数より小さな第3の目標回転数を前記目標回転数指令値として演算する
ことを特徴とする作業機械。 - 請求項4に記載の作業機械において、
前記コントローラは、前記エンジンの負荷動力を演算する負荷動力演算部を有し、
前記目標エンジン動力演算部は、前記充放電要求値および前記負荷動力値に基づき、前記目標エンジン動力を演算する
ことを特徴とする作業機械。 - 請求項4に記載の作業機械において、
前記目標回転数演算部は、前記目標エンジン動力の変化率の上限値を有している
ことを特徴とする作業機械。 - 請求項5に記載の作業機械において、
前記油圧作業部を操作するための操作装置と、
前記油圧ポンプの吐出圧を検出する吐出圧検出装置と、
前記操作装置の操作量を検出する操作量検出装置とを備え、
前記目標エンジン動力演算部は、前記吐出圧検出装置および前記操作量検出装置の少なくとも一方の検出値に異常が生じた場合に、前記充放電要求値に基づき、前記目標エンジン動力を演算する
ことを特徴とする作業機械。 - 請求項7に記載の作業機械において、
前記目標回転数演算部は、前記吐出圧検出装置および前記操作量検出装置の少なくとも一方の検出値に異常が生じた場合に、前記検出値に異常が生じない場合よりも、前記目標回転数補正値を大きくする
ことを特徴とする作業機械。
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CN107249951A (zh) | 2017-10-13 |
EP3305617A4 (en) | 2019-02-20 |
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