WO2018061578A1 - Power transmission device for work vehicle - Google Patents

Power transmission device for work vehicle Download PDF

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Publication number
WO2018061578A1
WO2018061578A1 PCT/JP2017/030986 JP2017030986W WO2018061578A1 WO 2018061578 A1 WO2018061578 A1 WO 2018061578A1 JP 2017030986 W JP2017030986 W JP 2017030986W WO 2018061578 A1 WO2018061578 A1 WO 2018061578A1
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WO
WIPO (PCT)
Prior art keywords
generator
voltage
switching element
modulation circuit
command value
Prior art date
Application number
PCT/JP2017/030986
Other languages
French (fr)
Japanese (ja)
Inventor
慎也 伊藤
貞一郎 千葉
尾畑　功治
明浩 永松
Original Assignee
株式会社小松製作所
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Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Publication of WO2018061578A1 publication Critical patent/WO2018061578A1/en

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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
    • 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
    • B60K6/46—Series type
    • 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
    • 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
    • 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
    • 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
    • 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 power transmission device for a work vehicle.
  • a generator such as an alternator is configured to generate a voltage in a coil. For this reason, in the electric power generated by the generator, the phase of the current is delayed with respect to the phase of the voltage, and the power factor is reduced. Due to this power factor decrease, the output of the generator decreases and the transmission efficiency of the power transmission device decreases.
  • the present invention has been made in view of the above, and an object thereof is to provide a power transmission device for a work vehicle capable of suppressing a decrease in transmission efficiency.
  • FIG. 1 is a side view showing a work vehicle according to the present embodiment.
  • FIG. 2 is a side view showing the configuration of the power transmission device of the dump truck and the vicinity thereof.
  • FIG. 3 is a circuit diagram showing an example of one phase modulation circuit.
  • FIG. 4 is a diagram illustrating an operation example of the phase modulation circuit.
  • FIG. 5 is a diagram illustrating an operation example of the phase modulation circuit.
  • FIG. 6 is a diagram illustrating an operation example of the phase modulation circuit.
  • FIG. 7 is a diagram illustrating an operation example of the phase modulation circuit.
  • FIG. 8 is a functional block diagram showing the configuration of the control device.
  • FIG. 9 is a block diagram illustrating an example of information stored in the storage unit.
  • FIG. 9 is a block diagram illustrating an example of information stored in the storage unit.
  • FIG. 17 is a graph showing examples of voltage, current, and power factor generated by the generator and output from the connection portion of the phase modulation circuit when the phase modulation circuit is provided.
  • FIG. 18 is a graph showing an example of DC voltage command value calculation information.
  • FIG. 19 is a graph showing an example of a DC voltage value detected by the voltage sensor.
  • FIG. 20 is a graph showing an example of engine rotation speed command value calculation information.
  • FIG. 21 is a graph showing the relationship between the engine speed command value and time.
  • FIG. 22 is a graph showing the relationship between engine rotation speed and engine torque.
  • the vehicle body 5 includes a cab 8, a power generation device 9, and a control device 30.
  • the cab 8 is disposed at the upper part on the front side of the vehicle body 5.
  • the cab 8 has an accelerator pedal 8a.
  • the accelerator pedal 8a defines the output of the internal combustion engine 11 (see FIG. 2 and the like).
  • the operator operates the dump truck 1 by getting on the cab 8 and operating the accelerator pedal 8a and the like.
  • regulates the output of an internal combustion engine based on the accelerator opening degree command from the outside of a vehicle body, such as dump truck 1 of an unmanned vehicle, without operation of an accelerator pedal may be sufficient.
  • the control device 30 comprehensively controls each part of the dump truck 1.
  • the control device 30 is disposed around the cab 8, for example.
  • the generator 12 is driven by the internal combustion engine 11 to generate electric power.
  • the generator 12 is an alternator.
  • the generator 12 has a stator and a rotor.
  • a coil (armature) is disposed on one of the stator and the rotor, and an electromagnet (field) is disposed on the other.
  • the rotor of the generator 12 is connected to the power transmission shaft 17.
  • the rotor rotates with the rotation of the power transmission shaft 17, and an induced electromotive force and an induced current are generated in the coil by electromagnetic induction.
  • the generator 12 generates a three-phase AC voltage and AC current.
  • the generator 12 includes a rotation sensor 12s that detects a generator rotation speed that is the rotation speed of the rotor.
  • a rotation sensor 12s that detects a generator rotation speed that is the rotation speed of the rotor.
  • the rotational speed of the internal combustion engine 11 and the rotational speed of the generator 12 are the same. For this reason, it is good also as a structure which excluded one of the rotation sensor 11s and the rotation sensor 12s.
  • the detection result of the rotation sensor 11s or the rotation sensor 12s can be used as the rotation speed of the internal combustion engine 11 and the rotation speed of the generator 12.
  • the generator 12 has an excitation device 19.
  • the exciter 19 adjusts the magnetic force of the field-side electromagnet by adjusting the excitation current that flows through the field-side electromagnet, thereby adjusting the amount of power generated by the generator 12.
  • it is not limited to the structure which uses the field side of the generator 12 as an electromagnet, For example, it is good also considering a field side as a permanent magnet.
  • the phase modulation circuit 13 modulates the phase of the current generated by the generator 12.
  • the phase modulation circuit 13 is a magnetic energy regenerative phase modulation circuit.
  • the phase modulation circuit 13 is connected in series between the generator 12 and the rectifier 14.
  • the generator 12 since the generator 12 generates three-phase AC voltage and AC current, three phase modulation circuits 13 are arranged in parallel so as to correspond to the AC voltage and AC current of each phase.
  • the phase modulation circuit 13 will be described later.
  • the three phase modulation circuits 13 include a rectifier 13a that rectifies the AC voltage output from each phase modulation circuit 13, and a voltage sensor that detects a value obtained by adding a DC voltage value for each phase rectified by the rectifier 13a. 13s.
  • the rectifier 13a has the same configuration as the rectifier 14.
  • the electric motor 16 is driven by the electric power output from the inverter 15 to generate a rotational force.
  • the electric motor 16 is a motor.
  • the electric motor 16 includes, for example, a front wheel side motor disposed on the front wheel 6F side and a rear wheel side motor disposed on the rear wheel 6R side.
  • the electric motor 16 is connected to the transmission mechanism 22.
  • the transmission mechanism 22 transmits the rotational force generated by the generator 12 to the wheels 6 (6F, 6R) via the axle 7 (7F, 7R).
  • the electric motor 16 includes a rotation sensor 16s that detects a motor rotation speed.
  • FIG. 3 is an electric circuit diagram showing an example of one phase modulation circuit 13.
  • the phase modulation circuit 13 includes connection portions P1 and P2, four switching elements, a first switching element S1, a second switching element S2, a third switching element S3, and a fourth switching element S4. And a capacitor C.
  • the first switching element S1, the second switching element S2, the third switching element S3, and the fourth switching element S4 are referred to as a switching element S1, a switching element S2, a switching element S3, and a switching element S4, respectively.
  • the connection part P1 is connected to the generator 12.
  • the connection part P2 is connected to the rectifier 14.
  • the switching element S4 and the switching element S1 are connected in series in this order from the connection portion P1 to the connection portion P2 (first portion A1).
  • the emitter terminal of the switching element S4 is connected to the connection part P1.
  • the collector terminal of the switching element S4 is connected to the collector terminal of the switching element S4.
  • the emitter terminal of the switching element S1 is connected to the connection part P2.
  • the switching element S3 and the switching element S2 are connected in series in this order from the connection portion P1 to the connection portion P2 (second portion A2).
  • the collector terminal of the switching element S3 is connected to the connection part P1.
  • the emitter terminal of the switching element S3 is connected to the emitter terminal of the switching element S3.
  • the collector terminal of the switching element S2 is connected to the connection part P2.
  • the capacitor C includes a connection between the switching element S4 and the switching element S1 in the first part A1 (connection part P3) and a connection between the switching element S3 and the switching element S2 in the second part A2 (connection part P4). Connecting.
  • a bridge circuit is configured by the connection relationship between the switching elements S1, S2, S3, S4 and the capacitor C as described above.
  • switching elements S1, S2, S3, and S4 are turned on and off by, for example, switching elements S1 and S3 and switching elements S2 and S4 as a set. Specifically, when switching elements S1 and S3 are turned on, switching elements S2 and S4 are turned off. When switching elements S1 and S3 are turned off, switching elements S2 and S4 are turned on.
  • FIG. 4 shows the operation when the switching elements S1 and S3 are turned on and the switching elements S2 and S4 are turned off, and the voltage at the connection portion P1 is negative.
  • a current flows from the connection part P2 side to the positive electrode side of the capacitor C via the switching element S1
  • the capacitor C is charged.
  • FIG. 5 shows the operation when the switching elements S1 and S3 are turned on and the switching elements S2 and S4 are turned off, and the voltage at the connection portion P1 is positive.
  • a current flows from the connection part P1 side to the negative electrode side of the capacitor C via the switching element S3, and a current flows from the positive electrode side of the capacitor C to the connection part P2 side via the switching element S1. In this case, the capacitor C is discharged.
  • FIG. 6 shows the operation when the switching elements S1 and S3 are turned off and the switching elements S2 and S4 are turned on, and the voltage at the connection portion P1 is positive.
  • a current flows from the connection part P1 side to the positive electrode side of the capacitor C via the switching element S4, and a current flows from the negative electrode side of the capacitor C to the connection part P2 side via the switching element S2. In this case, the capacitor C is charged.
  • FIG. 8 is a functional block diagram showing the configuration of the control device 30.
  • the control device 30 includes an internal combustion engine control unit 31, a generator control unit 32, an electric motor control unit 33, a phase modulation circuit control unit 34, and a storage unit 35.
  • the internal combustion engine control unit 31 controls the operation of the internal combustion engine 11.
  • the generator control unit 32 controls the operation of the generator 12.
  • the electric motor control unit 33 controls the operation of the electric motor 16.
  • the phase modulation circuit control unit 34 controls the operation of the phase modulation circuit 13.
  • the storage unit 35 is, for example, at least one of various types of non-volatile or volatile memories such as RAM (Random Access Memory) and ROM (Read Only Memory), and various disks such as a magnetic disk.
  • the storage unit 35 is used when the control units 31 to 34 execute the control according to the embodiment, and the computer program for causing the control units 31 to 34 to control the dump truck 1 according to the embodiment.
  • FIG. 9 is a block diagram illustrating an example of information stored in the storage unit 35.
  • the storage unit 35 includes, for example, engine rotation speed command value calculation information D1, DC voltage command value calculation information (motor drive speed) D2, output designation value calculation information D3, motor torque command value calculation information D4, Switching command value calculation information D5 is stored.
  • Each of the control units 31 to 34 implements the control according to the embodiment by reading and executing the above-described computer program from the storage unit 35.
  • the generator control unit 32 detects the engine rotation speed of the internal combustion engine 11 detected by the rotation sensor 11s, the motor rotation speed of the electric motor 16 detected by the rotation sensor 16s, and the alternating current output from the phase modulation circuit 13.
  • An excitation current command value is calculated based on the voltage value obtained by converting the voltage into direct current by the rectifier 13 a and detected by the voltage sensor 13 s or the like, and the excitation current command value is output to the generator 12.
  • the electric motor control unit 33 calculates a motor torque command value based on the accelerator opening command value, the engine rotation speed, and the motor rotation speed, and outputs the motor torque command to the electric motor 16.
  • the phase modulation circuit control unit 34 calculates a switching command value based on the rotation speed (generator rotation speed) of the generator 12 detected by the rotation sensor 12s and outputs the switching command value to the phase modulation circuit 13. . Thereby, the phase modulation circuit control unit 34 switches the switching elements S1, S2, S3, and S4 to switch the charging state and the discharging state of the capacitor C, thereby changing the phase of the current supplied from the generator 12 to the motor 16. Modulate.
  • FIG. 11 is a diagram illustrating an example of processing contents performed by the internal combustion engine control unit 31.
  • the internal combustion engine control unit 31 includes an engine rotation speed command value calculation unit 51.
  • the engine speed command value calculation unit 51 receives an accelerator opening command value.
  • the engine rotation speed command value calculation unit 51 calculates an engine rotation speed command value based on the input accelerator opening command value and the engine rotation speed command value calculation information D1 stored in the storage unit 35.
  • the engine speed command value calculation information D1 is data that defines the relationship between the accelerator opening command value and the engine speed command value using a map or the like. In the engine speed command value calculation information D1, the engine speed command value increases as the accelerator opening command value increases.
  • FIG. 12 is a diagram illustrating an example of processing contents performed by the generator control unit 32.
  • the generator control unit 32 includes a DC voltage command value calculation unit 52, a calculation unit 53, and an AVR 54.
  • the DC voltage command value calculation unit 52 receives the engine rotation speed and the motor rotation speed.
  • the DC voltage command value calculation unit 52 uses the DC voltage command value calculation information (map) D2 stored in the storage unit 35 to derive a DC voltage command value from the input engine rotation speed and motor rotation speed, The derived DC voltage command value is output.
  • the DC voltage command value calculation information D2 is data that defines the relationship among the engine rotation speed, the motor rotation speed, and the DC voltage command value with a map or the like.
  • the DC voltage command value calculation information D2 there is a contour relationship in which the DC voltage command value increases with each increase in the engine rotation speed and the motor rotation speed. Regions for four voltage values V1, V2, V3, and V4 are set with contour lines as boundaries. The relationship between the four voltage values is V1> V2> V3> V4.
  • the voltage value to be set is an example, and the change in size can be set arbitrarily.
  • the calculation unit 53 receives the DC voltage command value output from the DC voltage command value calculation unit 52 and the DC voltage value detected by the voltage sensor 13s.
  • the computing unit 53 calculates a voltage value obtained by subtracting the DC voltage value from the DC voltage command value, and outputs the calculation result.
  • the AVR 54 receives a voltage value that is a calculation result output from the calculation unit 53.
  • the AVR 54 outputs an excitation current command value for the excitation current supplied from the excitation device 19 to the generator 12 based on the calculated voltage value.
  • FIG. 13 is a diagram illustrating an example of processing contents performed by the motor control unit 33.
  • the motor control unit 33 includes a motor output command calculation unit 56, an output specified value calculation unit 57, an addition / subtraction unit 58, a limit motor output value calculation unit 59, an output adjustment limiter 60, and a motor.
  • a torque command value calculation unit 61 is a diagram illustrating an example of processing contents performed by the motor control unit 33.
  • the motor output command calculation unit 56 receives an accelerator opening command value and a motor rotation speed.
  • the motor output command calculation unit 56 outputs a motor output command value based on the input accelerator opening command value and the motor rotation speed.
  • the motor output command value defines an equal output line of motor torque command value calculation information D4 used in a motor torque command output unit 61 described later.
  • the output specified value calculation unit 57 receives the engine speed.
  • the designated output value calculation unit 57 uses the input engine rotation speed and the output designation value calculation information D3 stored in the storage unit 35 to calculate the engine output with respect to the engine rotation speed, and outputs the calculated engine output.
  • the output designation value calculation information D3 is data that defines the relationship between the engine rotation speed and the engine torque with a map or the like.
  • the addition / subtraction unit 58 receives the engine rotation speed and the engine rotation speed command value.
  • the addition / subtraction unit 58 outputs an engine rotation speed difference obtained by subtracting the engine rotation speed command value from the input engine rotation speed.
  • the limit motor output value calculation unit 59 receives the engine output output from the output designation value calculation unit 57 and the engine rotation speed difference output from the addition / subtraction unit 58.
  • the limit motor output value calculation unit 59 obtains an output addition from the input engine speed difference, and calculates a limit motor output value from the output addition and the engine output.
  • the limit motor output value calculation unit 59 outputs the calculated limit motor output value.
  • the limit motor output value is the maximum value of the motor output value that can be allowed with respect to the engine rotation speed.
  • the output adjustment limiter 60 receives the motor output command value output from the motor output command calculation unit 56 and the limit motor output value output from the limit motor output value calculation unit 59.
  • the output adjustment limiter 60 compares the input output command value with the limited motor output value and outputs a small value. When the output command value is larger than the limit motor output value, the limit motor output value is output as the motor output command value. When the input output command value is smaller than the limit motor output value, the output adjustment limiter 60 outputs the input output command value as a motor output command value.
  • the motor torque command value calculation unit 61 receives the adjustment output command value output from the output adjustment limiter 60 and the motor rotation speed.
  • the motor torque command value calculation unit 61 calculates and calculates a motor torque command value based on the input adjustment output command value and motor rotation speed, and the motor torque command value calculation information D4 stored in the storage unit 35. Outputs the motor torque command value.
  • the motor torque command value calculation information D4 is data that defines the relationship between the motor rotation speed and the motor torque command value.
  • the motor torque command value calculation information D4 has a relationship in which the motor output command, which is a relationship between the rotation speed of the motor and the motor torque command, increases as the motor output command value increases.
  • FIG. 15 is a graph showing changes in the accelerator opening.
  • the vertical axis in FIG. 15 indicates the magnitude (relative value) of the accelerator opening, and the horizontal axis in FIG. 15 indicates time.
  • the accelerator opening 101 when the phase modulation circuit 13 is not provided and the accelerator opening 102 when the phase modulation circuit 13 is provided are set to a constant value and the same value. The case will be described. A case where the sizes of the internal combustion engine 11 and the generator 12 are the same in the case where the phase modulation circuit 13 is not provided and in the case where the phase modulation circuit 13 is provided will be described.
  • FIG. 16 is a graph showing comparative examples of voltage, current, and power factor generated by the generator 12 when the phase modulation circuit 13 is not provided.
  • FIG. 16A shows the voltage
  • FIG. 16B shows the current
  • FIG. 16C shows the power factor.
  • the power factor is a value represented by active power / (active power ⁇ 2 + reactive power ⁇ 2) ⁇ 1/2.
  • “voltage” and “current” refer to an effective voltage and an effective current, respectively.
  • FIG. 16D shows a graph of the DC voltage value output from the generator 12 and detected by the voltage sensor 13s. 16A to 16D, the horizontal axis represents time, and the vertical axis represents voltage magnitude (relative value), current magnitude (relative value), power factor, and DC voltage magnitude, respectively. It shows.
  • the phase modulation circuit 13 when the phase modulation circuit 13 is not provided, the electric power generated in the generator 12 changes to the voltage phase due to the reactance of the coil provided in the generator 12. On the other hand, the phase of the current is delayed by the phase ⁇ . For this reason, as shown in FIG.16 (c), the value of a power factor becomes a value smaller than one. In this case, the DC voltage detected by the voltage sensor 13s becomes V P.
  • FIG. 17 is a graph showing examples of voltage, current, and power factor generated by the generator 12 and output from the connection portion P2 of the phase modulation circuit 13 when the phase modulation circuit 13 is provided.
  • FIG. 17B shows the voltage
  • FIG. 17C shows the current
  • FIG. 17D shows the power factor.
  • the overlapping voltage V acout output from the phase modulation circuit 13 a voltage V acin output from the generator 12, the voltage V C output from the capacitor C of the phase modulation circuit 13, a It shows. 17 for each of the voltage a voltage V acout at (b) the dotted line shows the voltage V acin solid, the voltage V C by the one-dot chain line.
  • FIG. 17A shows a timing chart showing the ON / OFF timings of the switching elements S1 and S3 of the phase modulation circuit 13 and the ON / OFF timings of the switching elements S2 and S4.
  • FIG. 17E shows a graph of the DC voltage value output from the phase modulation circuit 13 and detected by the voltage sensor 13s.
  • the horizontal axis represents time
  • the vertical axis represents ON / OFF position, voltage magnitude (relative value), current magnitude (relative value), and power factor.
  • the magnitude of the DC voltage is the magnitude of the DC voltage.
  • the phase modulation circuit control unit 34 controls the timing of charging and discharging of the capacitor C by switching the switching elements S1, S2, S3, and S4 of the phase modulation circuit 13 on and off.
  • Output voltage V acin of the generator 12 becomes an output voltage V acout from the phase modulation circuit 13, a value obtained by adding the voltage V C output from the capacitor C.
  • the phase of the voltage V acin is equal to the phase of the current output from the phase modulation circuit 13.
  • the DC voltage value output from the phase modulation circuit 13 becomes V Q.
  • the DC voltage value V Q is a value larger than the DC voltage value V P when the phase modulation circuit 13 is not provided.
  • 22 (a) and 22 (b) are graphs showing the relationship between the engine rotation speed and the engine torque, and are graphs showing an example of output command value calculation information.
  • 22A and 22B the vertical axis represents engine torque, and the horizontal axis in FIG. 22 represents engine rotation speed.
  • Output lines 111 in FIGS. 22A and 22B are output lines when the phase modulation circuit 13 is not provided.
  • Output lines 112 in FIGS. 22A and 22B are output lines when the phase modulation circuit 13 is provided.
  • the control device 30 adjusts the timing of switching between the charged state and the discharged state of the capacitor C according to the frequency of the voltage and current, that is, the rotational speed of the generator 12. Therefore, the phase delay can be flexibly improved in accordance with the fluctuation of the engine speed of the internal combustion engine 11. Thereby, the fall of the power factor of the generator 12 can be suppressed more reliably.
  • the power transmission device 10 since the power transmission device 10 according to the present embodiment has a value corresponding to the accelerator opening, the phase delay can be flexibly improved in accordance with fluctuations in the engine rotation speed of the internal combustion engine 11 based on the operation of the operator. Is possible. Thereby, the fall of the power factor of the generator 12 can be suppressed more reliably.
  • the phase modulation circuit 13 has four switching elements S1, S2, S3, and S4.
  • the phase modulation circuit 13 includes a first part A1 in which a switching element S4 and a switching element S1 are connected in series in this order from the generator 12 side to the electric motor 16 side, and in parallel with the first part A1.
  • a second portion A2 in which the switching element S3 and the switching element S2 are connected in series in this order from the generator 12 side toward the electric motor 16 side.
  • the capacitor C has a positive electrode side connected to a portion between the switching element S4 and the switching element S1 in the first portion A1, and a negative electrode side connected to a portion between the switching element S3 and the switching element S2 in the second portion A2. Is done. Thereby, the charging state and discharging state of the capacitor C can be efficiently switched.
  • the generator 12 includes an excitation device 19 that adjusts the amount of generated electric power.
  • the control device 30 calculates a DC voltage command value based on the engine speed of the internal combustion engine 11 and the DC voltage command value calculation information D2, and calculates the calculated DC voltage command value and the voltage output from the phase modulation circuit 13.
  • the excitation device 19 is controlled based on the difference from the detected value converted into a DC voltage by the rectifier 13a. Thereby, the electric power generated in the generator 12 can be appropriately adjusted by the excitation device 19.
  • the DC voltage command value calculation information D2 includes a voltage value V1 that is a detection result by the voltage sensor 13s and a voltage input from the generator 12 to the phase modulation circuit 13 as a rectifier. Since it is set based on the difference from the voltage value V2, which is a comparison value when converted to a DC voltage by 13a, the power generated in the generator 12 can be more appropriately adjusted by the excitation device 19.
  • the power transmission device 10 further includes a variable displacement hydraulic pump 18 that drives a predetermined hydraulic actuator by the driving force of the internal combustion engine 11.
  • a variable displacement hydraulic pump 18 that drives a predetermined hydraulic actuator by the driving force of the internal combustion engine 11.
  • the output efficiency of the generator 12 is improved as compared with the configuration in which the phase modulation circuit 13 is not provided. For this reason, the motive power generated in the internal combustion engine 11 can be efficiently used for applications such as the hydraulic pump 18.
  • the dump truck 1 includes a vehicle body 5, a traveling device 4 provided in the vehicle body 5, and a power transmission device 10 provided in the vehicle body 5 and generating power for driving the traveling device 4.
  • a dump truck for a mine travels a long distance when transporting a load from loading to discharging of the transported material. At this time, the vehicle is often driven in a state where the speed of the vehicle is stable. Under such circumstances, the power transmission device 10 is provided with the phase modulation circuit 13, so that a further effect can be obtained.
  • one switching element may be provided on at least one of the positive electrode side and the negative electrode side of the capacitor C.
  • Engine rotation speed command value calculation unit 52 ... DC voltage command value calculation unit 53 ... Calculation unit 54 ... AVR 56 ... Motor output command calculation unit, 57 ... Output specified value calculation unit, 58 ... Addition / subtraction unit, 59 ... Limit motor output value calculation unit, 60 ... Output adjustment limiter, 61 ... Motor torque command value calculation unit, 62 ... Switching command value Calculation unit.

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Abstract

This power transmission device for a work vehicle comprises: a generator which generates electric power using the power of an internal combustion engine; an electric motor which generates drive power using the electric power generated by the generator; a travel device which travels using the drive power generated by the electric motor; a phase-modulation circuit which has capacitors that are connected in series between the generator and the electric motor and switching elements that are connected to the positive electrode side and the negative electrode side of the capacitors; and a control device which modulates the phase of the current to be supplied to the electric motor from the generator by switching the switching elements and switching between the charged state and the discharged state of the capacitors.

Description

作業車両の動力伝達装置Power transmission device for work vehicle
　本発明は、作業車両の動力伝達装置に関する。 The present invention relates to a power transmission device for a work vehicle.
　土木作業現場又は鉱山の採石現場では、ダンプトラック等の作業車両が稼働する。ダンプトラックは、例えばエンジンの動力を走行装置に伝達する動力伝達装置を有する。このような動力伝達装置は、例えばエンジンの動力によりオルタネータ等の発電機を駆動し、発電機で発電された電力で電動機を駆動し、電動機の駆動力で走行装置を走行させる。 Work vehicles such as dump trucks operate at civil engineering work sites or quarrying sites in mines. The dump truck has, for example, a power transmission device that transmits engine power to the traveling device. Such a power transmission device, for example, drives a generator such as an alternator with the power of the engine, drives the electric motor with the electric power generated by the generator, and causes the traveling device to run with the driving force of the electric motor.
米国特許第８３８６１３１号明細書US Pat. No. 8,386,131
　オルタネータ等の発電機は、コイルにおいて電圧を発生する構成である。このため、発電機で生じた電力においては、電圧の位相に対して電流の位相が遅れた状態となり、力率の低下が発生する。この力率低下により、発電機の出力が減少し、動力伝達装置の伝達効率が低下する。 A generator such as an alternator is configured to generate a voltage in a coil. For this reason, in the electric power generated by the generator, the phase of the current is delayed with respect to the phase of the voltage, and the power factor is reduced. Due to this power factor decrease, the output of the generator decreases and the transmission efficiency of the power transmission device decreases.
　本発明は、上記に鑑みてなされたものであり、伝達効率の低下を抑制することが可能な作業車両の動力伝達装置を提供することを目的とする。 The present invention has been made in view of the above, and an object thereof is to provide a power transmission device for a work vehicle capable of suppressing a decrease in transmission efficiency.
　本発明の態様に従えば、内燃機関の動力により電力を発生させる発電機と、前記発電機で発生した電力により駆動力を発生する電動機と、前記電動機で発生した駆動力により走行する走行装置と、前記発電機と前記電動機との間に直列に接続されるコンデンサと、前記コンデンサの正極側及び負極側にそれぞれ接続されるスイッチング素子とを有する位相変調回路と、前記スイッチング素子を切り替えて前記コンデンサの帯電状態と放電状態とを切り替えることで前記発電機から前記電動機に供給される電流の位相を変調する制御装置とを備える作業車両の動力伝達装置が提供される。 According to an aspect of the present invention, a generator that generates electric power by the power of an internal combustion engine, an electric motor that generates a driving force by the electric power generated by the generator, and a traveling device that travels by the driving force generated by the electric motor; A phase modulation circuit having a capacitor connected in series between the generator and the motor, and a switching element connected to each of a positive electrode side and a negative electrode side of the capacitor, and switching the switching element to switch the capacitor There is provided a power transmission device for a work vehicle including a control device that modulates a phase of a current supplied from the generator to the electric motor by switching between a charged state and a discharged state.
　本発明によれば、伝達効率の低下を抑制することが可能な作業車両の動力伝達装置を提供することができる。 According to the present invention, it is possible to provide a power transmission device for a work vehicle that can suppress a decrease in transmission efficiency.
図１は、本実施形態に係る作業車両を示す側面図である。FIG. 1 is a side view showing a work vehicle according to the present embodiment. 図２は、ダンプトラックの動力伝達装置及びその近傍の構成を示す側面図である。FIG. 2 is a side view showing the configuration of the power transmission device of the dump truck and the vicinity thereof. 図３は、１つの位相変調回路の一例を示す回路図である。FIG. 3 is a circuit diagram showing an example of one phase modulation circuit. 図４は、位相変調回路の動作例を示す図である。FIG. 4 is a diagram illustrating an operation example of the phase modulation circuit. 図５は、位相変調回路の動作例を示す図である。FIG. 5 is a diagram illustrating an operation example of the phase modulation circuit. 図６は、位相変調回路の動作例を示す図である。FIG. 6 is a diagram illustrating an operation example of the phase modulation circuit. 図７は、位相変調回路の動作例を示す図である。FIG. 7 is a diagram illustrating an operation example of the phase modulation circuit. 図８は、制御装置の構成を示す機能ブロック図である。FIG. 8 is a functional block diagram showing the configuration of the control device. 図９は、記憶部に記憶される情報の一例を示すブロック図である。FIG. 9 is a block diagram illustrating an example of information stored in the storage unit. 図１０は、制御装置の全体的な制御体系の一例を示すブロック図である。FIG. 10 is a block diagram illustrating an example of the overall control system of the control device. 図１１は、内燃機関制御部による処理内容の一例を示す図である。FIG. 11 is a diagram illustrating an example of processing contents performed by the internal combustion engine control unit. 図１２は、発電機制御部による処理内容の一例を示す図である。FIG. 12 is a diagram illustrating an example of processing contents by the generator control unit. 図１３は、電動機制御部による処理内容の一例を示す図である。FIG. 13 is a diagram illustrating an example of processing contents performed by the motor control unit. 図１４は、位相変調回路制御部による処理内容の一例を示す図である。FIG. 14 is a diagram illustrating an example of processing contents performed by the phase modulation circuit control unit. 図１５は、アクセル開度の変化を示すグラフである。FIG. 15 is a graph showing changes in the accelerator opening. 図１６は、位相変調回路が設けられない場合において、発電機で発生した電圧、電流及び力率の比較例をそれぞれ示すグラフである。FIG. 16 is a graph showing comparative examples of voltage, current, and power factor generated in the generator when no phase modulation circuit is provided. 図１７は、位相変調回路が設けられる場合において、発電機で発生し、位相変調回路の接続部から出力される電圧、電流及び力率の実施例をそれぞれ示すグラフである。FIG. 17 is a graph showing examples of voltage, current, and power factor generated by the generator and output from the connection portion of the phase modulation circuit when the phase modulation circuit is provided. 図１８は、直流電圧指令値算出情報の一例を示すグラフである。FIG. 18 is a graph showing an example of DC voltage command value calculation information. 図１９は、電圧センサで検出される直流電圧値の一例を示すグラフである。FIG. 19 is a graph showing an example of a DC voltage value detected by the voltage sensor. 図２０は、エンジン回転速度指令値算出情報の一例を示すグラフである。FIG. 20 is a graph showing an example of engine rotation speed command value calculation information. 図２１は、エンジン回転速度指令値と時刻との関係を示すグラフである。FIG. 21 is a graph showing the relationship between the engine speed command value and time. 図２２は、エンジン回転速度とエンジントルクとの関係を示すグラフである。FIG. 22 is a graph showing the relationship between engine rotation speed and engine torque.
　以下、本発明に係る作業車両の実施形態を図面に基づいて説明する。なお、この実施形態によりこの発明が限定されるものではない。また、下記実施形態における構成要素には、当業者が置換可能かつ容易なもの、あるいは実質的に同一のものが含まれる。以下に説明する実施形態の構成要素は、適宜組み合わせることができる。また、一部の構成要素を用いない場合もある。 Hereinafter, an embodiment of a work vehicle according to the present invention will be described with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same. The components of the embodiments described below can be combined as appropriate. Some components may not be used.
　［作業車両］
　図１は、本実施形態に係る作業車両１を示す側面図である。本実施形態において、作業車両１は、例えば、鉱山の採掘現場において、土砂や砕石等の積荷を運搬するダンプトラックである。以下の説明においては、作業車両１をダンプトラック１と表記する。なお、本実施形態において、ダンプトラック１は、キャブ（運転室）８に搭乗した運転者（オペレータ）に操作される有人ダンプトラックであるが、これに限定されない。さらに、本実施形態において、ダンプトラック１は、例えばリジッド式のダンプトラック１であるが、アーティキュレート式のダンプトラックに適用されてもよくこれに限定されない。 [Work vehicle]
FIG. 1 is a side view showing a work vehicle 1 according to the present embodiment. In the present embodiment, the work vehicle 1 is, for example, a dump truck that transports loads such as earth and sand and crushed stone at a mining site. In the following description, the work vehicle 1 is referred to as a dump truck 1. In the present embodiment, the dump truck 1 is a manned dump truck operated by a driver (operator) who has boarded the cab (operator's cab) 8, but is not limited thereto. Further, in the present embodiment, the dump truck 1 is a rigid dump truck 1, for example, but may be applied to an articulated dump truck, and is not limited thereto.
　ダンプトラック１は、車両本体２と、車両本体２に設けられるベッセル３とを備える。車両本体２は、走行装置４と、走行装置４に支持された車体５とを有する。走行装置４は、車輪６と、車輪６を回転可能に支持する車軸７とを有する。車輪６は、前輪６Ｆと後輪６Ｒとを含む。車軸７は、前輪６Ｆを回転可能に支持する車軸７Ｆと、後輪６Ｒを回転可能に支持する車軸７Ｒとを含む。 The dump truck 1 includes a vehicle body 2 and a vessel 3 provided on the vehicle body 2. The vehicle body 2 includes a traveling device 4 and a vehicle body 5 supported by the traveling device 4. The traveling device 4 includes a wheel 6 and an axle 7 that rotatably supports the wheel 6. Wheel 6 includes a front wheel 6F and a rear wheel 6R. The axle 7 includes an axle 7F that rotatably supports the front wheel 6F, and an axle 7R that rotatably supports the rear wheel 6R.
　ベッセル３は、積荷が積載される構造物である。ベッセル３は、昇降装置により、車両本体２に対して上下に昇降可能である。昇降装置は、ベッセル３と車体５との間に配置された図示しない油圧シリンダ（ホイストシリンダ）のようなアクチュエータを含む。昇降装置によりベッセル３が上昇することによって、ベッセル３の積荷が排出される。 The vessel 3 is a structure on which a load is loaded. The vessel 3 can be moved up and down with respect to the vehicle body 2 by a lifting device. The lifting device includes an actuator such as a hydraulic cylinder (a hoist cylinder) (not shown) disposed between the vessel 3 and the vehicle body 5. By raising the vessel 3 by the lifting device, the load of the vessel 3 is discharged.
　車体５は、キャブ８と、動力発生装置９と、制御装置３０とを有する。キャブ８は、車体５の前側の上部に配置される。キャブ８は、アクセルペダル８ａを有する。アクセルペダル８ａは、内燃機関１１（図２等参照）の出力を規定する。オペレータは、キャブ８に搭乗して、アクセルペダル８ａ等を操作することにより、ダンプトラック１を操作する。なお、無人車両のダンプトラック１等、アクセルペダルの操作によらず車体の外からのアクセル開度指令に基づき内燃機関の出力を規定する構成であってもよい。制御装置３０は、ダンプトラック１の各部を統括的に制御する。制御装置３０は、例えばキャブ８の周辺に配置される。 The vehicle body 5 includes a cab 8, a power generation device 9, and a control device 30. The cab 8 is disposed at the upper part on the front side of the vehicle body 5. The cab 8 has an accelerator pedal 8a. The accelerator pedal 8a defines the output of the internal combustion engine 11 (see FIG. 2 and the like). The operator operates the dump truck 1 by getting on the cab 8 and operating the accelerator pedal 8a and the like. In addition, the structure which prescribe | regulates the output of an internal combustion engine based on the accelerator opening degree command from the outside of a vehicle body, such as dump truck 1 of an unmanned vehicle, without operation of an accelerator pedal may be sufficient. The control device 30 comprehensively controls each part of the dump truck 1. The control device 30 is disposed around the cab 8, for example.
　動力発生装置９は、電気駆動方式により動力を発生させて走行装置４を駆動する。図２は、ダンプトラック１の動力発生装置９の構成を示す図である。図２に示すように、動力発生装置９は、内燃機関１１と、動力伝達装置１０とを有する。動力伝達装置１０の詳細な構成については、後述する。 The power generating device 9 drives the traveling device 4 by generating power by an electric drive system. FIG. 2 is a diagram illustrating a configuration of the power generation device 9 of the dump truck 1. As shown in FIG. 2, the power generation device 9 includes an internal combustion engine 11 and a power transmission device 10. The detailed configuration of the power transmission device 10 will be described later.
　内燃機関１１は、ダンプトラック１の動力源である。本実施形態において、内燃機関１１は、ディーゼルエンジンである。内燃機関１１は、動力伝達シャフト１７に連結されている。内燃機関１１は、燃料の供給量に応じた回転速度で動力伝達シャフト１７を回転させる。動力伝達シャフト１７には、後述する動力伝達装置１０の発電機１２及び油圧ポンプ１８が連結されている。油圧ポンプ１８は、油圧機器に作動油を供給する。油圧機器はベッセル３を昇降する図示しない油圧シリンダを含む。本実施形態において、油圧ポンプ１８は、例えば、斜板式油圧ポンプのような可変容量型油圧ポンプが用いられる。油圧ポンプ１８は、入力部が動力伝達シャフト１７に連結されており、この構成により内燃機関１１によって駆動される。内燃機関１１は、エンジン回転速度を検出する回転センサ１１ｓを有する。 The internal combustion engine 11 is a power source for the dump truck 1. In the present embodiment, the internal combustion engine 11 is a diesel engine. The internal combustion engine 11 is connected to the power transmission shaft 17. The internal combustion engine 11 rotates the power transmission shaft 17 at a rotation speed corresponding to the amount of fuel supplied. The power transmission shaft 17 is connected to a generator 12 and a hydraulic pump 18 of the power transmission device 10 to be described later. The hydraulic pump 18 supplies hydraulic oil to the hydraulic equipment. The hydraulic equipment includes a hydraulic cylinder (not shown) that moves up and down the vessel 3. In the present embodiment, for example, a variable displacement hydraulic pump such as a swash plate hydraulic pump is used as the hydraulic pump 18. The hydraulic pump 18 has an input connected to the power transmission shaft 17 and is driven by the internal combustion engine 11 with this configuration. The internal combustion engine 11 has a rotation sensor 11s that detects the engine rotation speed.
　［動力伝達装置］
　次に、動力伝達装置１０の構成を説明する。動力伝達装置１０は、内燃機関１１の動力を走行装置４に伝達する。動力伝達装置１０は、発電機１２と、位相変調回路１３と、整流器１４と、インバータ１５と、電動機１６とを有する。 [Power transmission device]
Next, the configuration of the power transmission device 10 will be described. The power transmission device 10 transmits the power of the internal combustion engine 11 to the traveling device 4. The power transmission device 10 includes a generator 12, a phase modulation circuit 13, a rectifier 14, an inverter 15, and an electric motor 16.
　発電機１２は、内燃機関１１により駆動されて電力を発生する。本実施形態において、発電機１２は、オルタネータである。発電機１２は、ステータ及びロータを有する。発電機１２は、ステータ及びロータの一方にコイル（電機子）が配置され、他方に電磁石（界磁）が配置される。発電機１２のロータは、動力伝達シャフト１７に連結されている。発電機１２は、動力伝達シャフト１７の回転に伴ってロータが回転し、電磁誘導によりコイルに誘導起電力及び誘導電流が生じるようになっている。本実施形態において、発電機１２は、三相の交流電圧及び交流電流を発生させる。発電機１２は、ロータの回転速度である発電機回転速度を検出する回転センサ１２ｓを有する。本実施形態においては、発電機１２のロータが動力伝達シャフト１７に連結されているため、内燃機関１１の回転速度と発電機１２の回転速度とは同一である。このため、回転センサ１１ｓ及び回転センサ１２ｓの一方を省いた構成としてもよい。この場合、回転センサ１１ｓ又は回転センサ１２ｓの検出結果を、内燃機関１１の回転速度及び発電機１２の回転速度として用いることができる。なお、内燃機関１１と発電機１２とがＰＴＯ等を介して連結される場合、内燃機関１１の回転速度と発電機１２の回転速度とは、ＰＴＯ等のギア比等に基づく比例関係になる。この場合、内燃機関１１の回転速度及び発電機１２の回転速度は、回転センサ１１ｓ又は回転センサ１２ｓの検出結果とギア比とに基づいて算出可能である。 The generator 12 is driven by the internal combustion engine 11 to generate electric power. In the present embodiment, the generator 12 is an alternator. The generator 12 has a stator and a rotor. In the generator 12, a coil (armature) is disposed on one of the stator and the rotor, and an electromagnet (field) is disposed on the other. The rotor of the generator 12 is connected to the power transmission shaft 17. In the generator 12, the rotor rotates with the rotation of the power transmission shaft 17, and an induced electromotive force and an induced current are generated in the coil by electromagnetic induction. In the present embodiment, the generator 12 generates a three-phase AC voltage and AC current. The generator 12 includes a rotation sensor 12s that detects a generator rotation speed that is the rotation speed of the rotor. In the present embodiment, since the rotor of the generator 12 is connected to the power transmission shaft 17, the rotational speed of the internal combustion engine 11 and the rotational speed of the generator 12 are the same. For this reason, it is good also as a structure which excluded one of the rotation sensor 11s and the rotation sensor 12s. In this case, the detection result of the rotation sensor 11s or the rotation sensor 12s can be used as the rotation speed of the internal combustion engine 11 and the rotation speed of the generator 12. When the internal combustion engine 11 and the generator 12 are connected via a PTO or the like, the rotational speed of the internal combustion engine 11 and the rotational speed of the generator 12 have a proportional relationship based on a gear ratio of the PTO or the like. In this case, the rotation speed of the internal combustion engine 11 and the rotation speed of the generator 12 can be calculated based on the detection result of the rotation sensor 11s or the rotation sensor 12s and the gear ratio.
　発電機１２は、励磁装置１９を有する。励磁装置１９は、界磁側の電磁石に流す励磁電流を調整することにより、界磁側の電磁石の磁力を調整し、これにより発電機１２における発電量を調整する。なお、発電機１２の界磁側を電磁石とする構成に限定するものではなく、例えば界磁側を永久磁石としてもよい。 The generator 12 has an excitation device 19. The exciter 19 adjusts the magnetic force of the field-side electromagnet by adjusting the excitation current that flows through the field-side electromagnet, thereby adjusting the amount of power generated by the generator 12. In addition, it is not limited to the structure which uses the field side of the generator 12 as an electromagnet, For example, it is good also considering a field side as a permanent magnet.
　位相変調回路１３は、発電機１２によって生じた電流の位相を変調する。本実施形態において、位相変調回路１３は、磁気エネルギー回生位相変調回路である。位相変調回路１３は、発電機１２と整流器１４との間に直列に接続される。本実施形態において、発電機１２が三相の交流電圧及び交流電流を発生させるため、位相変調回路１３は、各相の交流電圧及び交流電流に対応するように、３つ並列に配置される。位相変調回路１３については、後述する。なお、３つの位相変調回路１３は、各位相変調回路１３から出力される交流電圧を整流する整流器１３ａと、整流器１３ａにより整流された各相についての直流電圧値を加算した値を検出する電圧センサ１３ｓとを有する。整流器１３ａは、整流器１４と同等の構成が用いられる。 The phase modulation circuit 13 modulates the phase of the current generated by the generator 12. In the present embodiment, the phase modulation circuit 13 is a magnetic energy regenerative phase modulation circuit. The phase modulation circuit 13 is connected in series between the generator 12 and the rectifier 14. In the present embodiment, since the generator 12 generates three-phase AC voltage and AC current, three phase modulation circuits 13 are arranged in parallel so as to correspond to the AC voltage and AC current of each phase. The phase modulation circuit 13 will be described later. The three phase modulation circuits 13 include a rectifier 13a that rectifies the AC voltage output from each phase modulation circuit 13, and a voltage sensor that detects a value obtained by adding a DC voltage value for each phase rectified by the rectifier 13a. 13s. The rectifier 13a has the same configuration as the rectifier 14.
　整流器１４は、位相変調回路１３から出力された交流電圧を整流し、直流電圧を出力する。整流器１４とインバータ１５との間には、平滑コンデンサ２０が設けられる。平滑コンデンサ２０は、整流器１４から出力された直流電流を平滑化する。また、整流器１４とインバータ１５との間には、リターダ２１等の負荷機器を配置することができる。リターダ２１は、ダンプトラック１の制動時に運動エネルギーを吸収する。 The rectifier 14 rectifies the AC voltage output from the phase modulation circuit 13 and outputs a DC voltage. A smoothing capacitor 20 is provided between the rectifier 14 and the inverter 15. The smoothing capacitor 20 smoothes the direct current output from the rectifier 14. Further, a load device such as the retarder 21 can be arranged between the rectifier 14 and the inverter 15. The retarder 21 absorbs kinetic energy when the dump truck 1 is braked.
　インバータ１５は、整流器１４から出力され、平滑コンデンサ２０により平滑された直流電圧を交流電圧に変換して出力する。インバータ１５は、前輪６Ｆ側に交流電圧を出力する前輪側出力部と、後輪６Ｒ側に交流電圧を出力する後輪側出力部とを有する。前輪側出力部及び後輪側出力部は、発電機１２及び電動機１６に対応して三相の交流電圧を出力可能となるように、それぞれ三相に対応する部分が並列に設けられている。 The inverter 15 converts the DC voltage output from the rectifier 14 and smoothed by the smoothing capacitor 20 into an AC voltage and outputs the AC voltage. The inverter 15 includes a front wheel side output unit that outputs an AC voltage to the front wheel 6F side, and a rear wheel side output unit that outputs an AC voltage to the rear wheel 6R side. The front wheel side output unit and the rear wheel side output unit are provided in parallel with portions corresponding to three phases so as to be able to output a three-phase AC voltage corresponding to the generator 12 and the electric motor 16.
　電動機１６は、インバータ１５から出力される電力により駆動されて回転力を発生させる。本実施形態において、電動機１６は、モータである。電動機１６は、例えば前輪６Ｆ側に配置される前輪側電動機と、後輪６Ｒ側に配置される後輪側電動機とを有する。電動機１６は、伝達機構２２に接続される。伝達機構２２は、発電機１２で発生した回転力を車軸７（７Ｆ、７Ｒ）を介して車輪６（６Ｆ、６Ｒ）に伝達する。電動機１６は、モータ回転速度を検出する回転センサ１６ｓを有する。 The electric motor 16 is driven by the electric power output from the inverter 15 to generate a rotational force. In the present embodiment, the electric motor 16 is a motor. The electric motor 16 includes, for example, a front wheel side motor disposed on the front wheel 6F side and a rear wheel side motor disposed on the rear wheel 6R side. The electric motor 16 is connected to the transmission mechanism 22. The transmission mechanism 22 transmits the rotational force generated by the generator 12 to the wheels 6 (6F, 6R) via the axle 7 (7F, 7R). The electric motor 16 includes a rotation sensor 16s that detects a motor rotation speed.
　次に、位相変調回路１３について説明する。図３は、１つの位相変調回路１３の一例を示す電気回路図である。図３に示すように、位相変調回路１３は、接続部Ｐ１、Ｐ２と、４つのスイッチング素子である第１スイッチング素子Ｓ１、第２スイッチング素子Ｓ２、第３スイッチング素子Ｓ３、第４スイッチング素子Ｓ４と、コンデンサＣと、を有する。以下、第１スイッチング素子Ｓ１、第２スイッチング素子Ｓ２、第３スイッチング素子Ｓ３、第４スイッチング素子Ｓ４については、それぞれ、スイッチング素子Ｓ１、スイッチング素子Ｓ２、スイッチング素子Ｓ３、スイッチング素子Ｓ４と表記する。接続部Ｐ１は、発電機１２に接続される。接続部Ｐ２は、整流器１４に接続される。 Next, the phase modulation circuit 13 will be described. FIG. 3 is an electric circuit diagram showing an example of one phase modulation circuit 13. As shown in FIG. 3, the phase modulation circuit 13 includes connection portions P1 and P2, four switching elements, a first switching element S1, a second switching element S2, a third switching element S3, and a fourth switching element S4. And a capacitor C. Hereinafter, the first switching element S1, the second switching element S2, the third switching element S3, and the fourth switching element S4 are referred to as a switching element S1, a switching element S2, a switching element S3, and a switching element S4, respectively. The connection part P1 is connected to the generator 12. The connection part P2 is connected to the rectifier 14.
　スイッチング素子Ｓ１、Ｓ２、Ｓ３、Ｓ４は、例えばＭＯＳＦＥＴ（metal-oxide-semiconductor　field-effect　transistor）又はＩＧＢＴ（Insulated　Gate　Bipolar　Transistor）等のスイッチング素子である。スイッチング素子Ｓ１、Ｓ２、Ｓ３、Ｓ４としては、上記に限定するものではなく、他の種類のスイッチであってもよい。以降はスイッチング素子にＩＧＢＴを用いた実施形態で説明を行う。 Switching elements S1, S2, S3, and S4 are switching elements such as a MOSFET (metal-oxide-semiconductor field-effect transistor) or an IGBT (Insulated Gate Bipolar Transistor). The switching elements S1, S2, S3, and S4 are not limited to the above, and may be other types of switches. Hereinafter, description will be made in an embodiment using an IGBT as a switching element.
　スイッチング素子Ｓ４とスイッチング素子Ｓ１とは、接続部Ｐ１から接続部Ｐ２に向けてこの順に直列に接続される（第１部分Ａ１）。スイッチング素子Ｓ４のエミッタ端子は接続部Ｐ１に接続される。スイッチング素子Ｓ４のコレクタ端子はスイッチング素子Ｓ１のコレクタ端子が接続される。スイッチング素子Ｓ１のエミッタ端子は接続部Ｐ２に接続される。スイッチング素子Ｓ３とスイッチング素子Ｓ２とは、接続部Ｐ１から接続部Ｐ２に向けてこの順に直列に接続される（第２部分Ａ２）。スイッチング素子Ｓ３のコレクタ端子は接続部Ｐ１に接続される。スイッチング素子Ｓ３のエミッタ端子はスイッチング素子Ｓ２のエミッタ端子が接続される。スイッチング素子Ｓ２のコレクタ端子は接続部Ｐ２に接続される。また、２つのスイッチング素子Ｓ４、Ｓ１と、２つのスイッチング素子Ｓ３、Ｓ２とは、並列に接続される。コンデンサＣは、第１部分Ａ１のうちスイッチング素子Ｓ４とスイッチング素子Ｓ１との間（接続部Ｐ３）と、第２部分Ａ２のうちスイッチング素子Ｓ３とスイッチング素子Ｓ２との間（接続部Ｐ４）とを接続する。上記の様なスイッチング素子Ｓ１、Ｓ２、Ｓ３、Ｓ４およびコンデンサＣに接続関係によりブリッジ回路を構成する。 The switching element S4 and the switching element S1 are connected in series in this order from the connection portion P1 to the connection portion P2 (first portion A1). The emitter terminal of the switching element S4 is connected to the connection part P1. The collector terminal of the switching element S4 is connected to the collector terminal of the switching element S4. The emitter terminal of the switching element S1 is connected to the connection part P2. The switching element S3 and the switching element S2 are connected in series in this order from the connection portion P1 to the connection portion P2 (second portion A2). The collector terminal of the switching element S3 is connected to the connection part P1. The emitter terminal of the switching element S3 is connected to the emitter terminal of the switching element S3. The collector terminal of the switching element S2 is connected to the connection part P2. Also, the two switching elements S4 and S1 and the two switching elements S3 and S2 are connected in parallel. The capacitor C includes a connection between the switching element S4 and the switching element S1 in the first part A1 (connection part P3) and a connection between the switching element S3 and the switching element S2 in the second part A2 (connection part P4). Connecting. A bridge circuit is configured by the connection relationship between the switching elements S1, S2, S3, S4 and the capacitor C as described above.
　図４から図７は、位相変調回路１３の動作例を示す図である。本実施形態において、スイッチング素子Ｓ１、Ｓ２、Ｓ３、Ｓ４のＯＮ、ＯＦＦは、例えばスイッチング素子Ｓ１、Ｓ３と、スイッチング素子Ｓ２、Ｓ４と、をそれぞれ組にして行う。具体的には、スイッチング素子Ｓ１、Ｓ３をＯＮにする場合には、スイッチング素子Ｓ２、Ｓ４をＯＦＦにする。また、スイッチング素子Ｓ１、Ｓ３をＯＦＦにする場合には、スイッチング素子Ｓ２、Ｓ４をＯＮにする。 4 to 7 are diagrams showing an operation example of the phase modulation circuit 13. In the present embodiment, the switching elements S1, S2, S3, and S4 are turned on and off by, for example, switching elements S1 and S3 and switching elements S2 and S4 as a set. Specifically, when switching elements S1 and S3 are turned on, switching elements S2 and S4 are turned off. When switching elements S1 and S3 are turned off, switching elements S2 and S4 are turned on.
　図４は、スイッチング素子Ｓ１、Ｓ３をＯＮにし、スイッチング素子Ｓ２、Ｓ４をＯＦＦにした場合であって、接続部Ｐ１の電圧が負である場合の動作を示す。図４に示す場合、接続部Ｐ２側からスイッチング素子Ｓ１を介してコンデンサＣの正極側に電流が流れ、コンデンサＣの負極側からスイッチング素子Ｓ３を介して接続部Ｐ１側に電流が流れる。この場合、コンデンサＣは帯電する。 FIG. 4 shows the operation when the switching elements S1 and S3 are turned on and the switching elements S2 and S4 are turned off, and the voltage at the connection portion P1 is negative. In the case shown in FIG. 4, a current flows from the connection part P2 side to the positive electrode side of the capacitor C via the switching element S1, and a current flows from the negative electrode side of the capacitor C to the connection part P1 side via the switching element S3. In this case, the capacitor C is charged.
　図５は、スイッチング素子Ｓ１、Ｓ３をＯＮにし、スイッチング素子Ｓ２、Ｓ４をＯＦＦにした場合であって、接続部Ｐ１の電圧が正である場合の動作を示す。図５に示す場合、接続部Ｐ１側からスイッチング素子Ｓ３を介してコンデンサＣの負極側に電流が流れ、コンデンサＣの正極側からスイッチング素子Ｓ１を介して接続部Ｐ２側に電流が流れる。この場合、コンデンサＣは放電する。 FIG. 5 shows the operation when the switching elements S1 and S3 are turned on and the switching elements S2 and S4 are turned off, and the voltage at the connection portion P1 is positive. In the case shown in FIG. 5, a current flows from the connection part P1 side to the negative electrode side of the capacitor C via the switching element S3, and a current flows from the positive electrode side of the capacitor C to the connection part P2 side via the switching element S1. In this case, the capacitor C is discharged.
　図６は、スイッチング素子Ｓ１、Ｓ３をＯＦＦにし、スイッチング素子Ｓ２、Ｓ４をＯＮにした場合であって、接続部Ｐ１の電圧が正である場合の動作を示す。図６に示す場合、接続部Ｐ１側からスイッチング素子Ｓ４を介してコンデンサＣの正極側に電流が流れ、コンデンサＣの負極側からスイッチング素子Ｓ２を介して接続部Ｐ２側に電流が流れる。この場合、コンデンサＣは帯電する。 FIG. 6 shows the operation when the switching elements S1 and S3 are turned off and the switching elements S2 and S4 are turned on, and the voltage at the connection portion P1 is positive. In the case shown in FIG. 6, a current flows from the connection part P1 side to the positive electrode side of the capacitor C via the switching element S4, and a current flows from the negative electrode side of the capacitor C to the connection part P2 side via the switching element S2. In this case, the capacitor C is charged.
　図７は、スイッチング素子Ｓ１、Ｓ３をＯＦＦにし、スイッチング素子Ｓ２、Ｓ４をＯＮにした場合であって、接続部Ｐ１の電圧が負である場合の動作を示す。図７に示す場合、接続部Ｐ２側からスイッチング素子Ｓ２を介してコンデンサＣの負極側に電流が流れ、コンデンサＣの正極側からスイッチング素子Ｓ４を介して接続部Ｐ１側に電流が流れる。この場合、コンデンサＣは放電する。 FIG. 7 shows the operation when the switching elements S1 and S3 are turned off and the switching elements S2 and S4 are turned on, and the voltage at the connection portion P1 is negative. In the case shown in FIG. 7, a current flows from the connection part P2 side to the negative electrode side of the capacitor C via the switching element S2, and a current flows from the positive electrode side of the capacitor C to the connection part P1 side via the switching element S4. In this case, the capacitor C is discharged.
　図８は、制御装置３０の構成を示す機能ブロック図である。図８に示すように、制御装置３０は、内燃機関制御部３１と、発電機制御部３２と、電動機制御部３３と、位相変調回路制御部３４と、記憶部３５とを有する。内燃機関制御部３１は、内燃機関１１の動作を制御する。発電機制御部３２は、発電機１２の動作を制御する。電動機制御部３３は、電動機１６の動作を制御する。位相変調回路制御部３４は、位相変調回路１３の動作を制御する。 FIG. 8 is a functional block diagram showing the configuration of the control device 30. As shown in FIG. 8, the control device 30 includes an internal combustion engine control unit 31, a generator control unit 32, an electric motor control unit 33, a phase modulation circuit control unit 34, and a storage unit 35. The internal combustion engine control unit 31 controls the operation of the internal combustion engine 11. The generator control unit 32 controls the operation of the generator 12. The electric motor control unit 33 controls the operation of the electric motor 16. The phase modulation circuit control unit 34 controls the operation of the phase modulation circuit 13.
　記憶部３５は、例えば、ＲＡＭ（Random　Access　Memory）、ＲＯＭ（Read　Only　Memory）等の不揮発性又は揮発性の各種メモリ、磁気ディスク等の各種ディスクの少なくとも１つが用いられる。記憶部３５は、実施形態に係るダンプトラック１の制御を各制御部３１～３４に実行させるためのコンピュータプログラム、及び各制御部３１～３４が実施形態に係る制御を実行する際に使用される情報を記憶する。図９は、記憶部３５に記憶される情報の一例を示すブロック図である。記憶部３５には、例えば、エンジン回転速度指令値算出情報Ｄ１と、直流電圧指令値算出情報（電動機の駆動速度）Ｄ２と、出力指定値算出情報Ｄ３と、モータトルク指令値算出情報Ｄ４と、スイッチング指令値算出情報Ｄ５とが記憶される。各制御部３１～３４は、記憶部３５から前述したコンピュータプログラムを読み込んで実行することにより、実施形態に係る制御を実現する。 The storage unit 35 is, for example, at least one of various types of non-volatile or volatile memories such as RAM (Random Access Memory) and ROM (Read Only Memory), and various disks such as a magnetic disk. The storage unit 35 is used when the control units 31 to 34 execute the control according to the embodiment, and the computer program for causing the control units 31 to 34 to control the dump truck 1 according to the embodiment. Store information. FIG. 9 is a block diagram illustrating an example of information stored in the storage unit 35. The storage unit 35 includes, for example, engine rotation speed command value calculation information D1, DC voltage command value calculation information (motor drive speed) D2, output designation value calculation information D3, motor torque command value calculation information D4, Switching command value calculation information D5 is stored. Each of the control units 31 to 34 implements the control according to the embodiment by reading and executing the above-described computer program from the storage unit 35.
　図１０は、制御装置３０の全体的な制御体系の一例を示すブロック図である。図１０に示すように、内燃機関制御部３１は、アクセル開度指令値に基づいてエンジン回転速度指令値を算出し、エンジン回転速度指令値を内燃機関１１に出力する。 FIG. 10 is a block diagram illustrating an example of the overall control system of the control device 30. As shown in FIG. 10, the internal combustion engine control unit 31 calculates an engine rotation speed command value based on the accelerator opening command value, and outputs the engine rotation speed command value to the internal combustion engine 11.
　発電機制御部３２は、例えば回転センサ１１ｓ等で検出される内燃機関１１のエンジン回転速度と、回転センサ１６ｓ等で検出される電動機１６のモータ回転速度と、位相変調回路１３から出力された交流電圧を整流器１３ａで直流に変換した電圧値であって電圧センサ１３ｓ等で検出された直流電圧値とに基づいて、励磁電流指令値を算出し、励磁電流指令値を発電機１２に出力する。 For example, the generator control unit 32 detects the engine rotation speed of the internal combustion engine 11 detected by the rotation sensor 11s, the motor rotation speed of the electric motor 16 detected by the rotation sensor 16s, and the alternating current output from the phase modulation circuit 13. An excitation current command value is calculated based on the voltage value obtained by converting the voltage into direct current by the rectifier 13 a and detected by the voltage sensor 13 s or the like, and the excitation current command value is output to the generator 12.
　電動機制御部３３は、アクセル開度指令値と、エンジン回転速度と、モータ回転速度とに基づいて、モータトルク指令値を算出し、モータトルク指令を電動機１６に出力する。 The electric motor control unit 33 calculates a motor torque command value based on the accelerator opening command value, the engine rotation speed, and the motor rotation speed, and outputs the motor torque command to the electric motor 16.
　位相変調回路制御部３４は、回転センサ１２ｓ等で検出される発電機１２の回転速度（発電機回転速度）に基づいて、スイッチング指令値を算出し、スイッチング指令値を位相変調回路１３に出力する。これにより、位相変調回路制御部３４は、スイッチング素子Ｓ１、Ｓ２、Ｓ３、Ｓ４を切り替えてコンデンサＣの帯電状態と放電状態とを切り替えることで発電機１２から電動機１６に供給される電流の位相を変調する。 The phase modulation circuit control unit 34 calculates a switching command value based on the rotation speed (generator rotation speed) of the generator 12 detected by the rotation sensor 12s and outputs the switching command value to the phase modulation circuit 13. . Thereby, the phase modulation circuit control unit 34 switches the switching elements S1, S2, S3, and S4 to switch the charging state and the discharging state of the capacitor C, thereby changing the phase of the current supplied from the generator 12 to the motor 16. Modulate.
　図１１は、内燃機関制御部３１による処理内容の一例を示す図である。図１１に示すように、内燃機関制御部３１は、エンジン回転速度指令値算出部５１を有する。エンジン回転速度指令値算出部５１は、アクセル開度指令値が入力される。エンジン回転速度指令値算出部５１は、入力されたアクセル開度指令値と、記憶部３５に記憶されるエンジン回転速度指令値算出情報Ｄ１とに基づいて、エンジン回転速度指令値を算出する。エンジン回転速度指令値算出情報Ｄ１は、アクセル開度指令値とエンジン回転速度指令値との関係をマップ等で規定するデータである。エンジン回転速度指令値算出情報Ｄ１においては、アクセル開度指令値の増加に従い、エンジン回転速度指令値が増加する関係となっている。 FIG. 11 is a diagram illustrating an example of processing contents performed by the internal combustion engine control unit 31. As shown in FIG. 11, the internal combustion engine control unit 31 includes an engine rotation speed command value calculation unit 51. The engine speed command value calculation unit 51 receives an accelerator opening command value. The engine rotation speed command value calculation unit 51 calculates an engine rotation speed command value based on the input accelerator opening command value and the engine rotation speed command value calculation information D1 stored in the storage unit 35. The engine speed command value calculation information D1 is data that defines the relationship between the accelerator opening command value and the engine speed command value using a map or the like. In the engine speed command value calculation information D1, the engine speed command value increases as the accelerator opening command value increases.
　図１２は、発電機制御部３２による処理内容の一例を示す図である。図１２に示すように、発電機制御部３２は、直流電圧指令値算出部５２と、演算部５３と、ＡＶＲ５４とを有する。直流電圧指令値算出部５２は、エンジン回転速度と、モータ回転速度とが入力される。直流電圧指令値算出部５２は、記憶部３５に記憶される直流電圧指令値算出情報（マップ）Ｄ２を使用して、入力されたエンジン回転速度及びモータ回転速度から直流電圧指令値を導出し、導出した直流電圧指令値を出力する。直流電圧指令値算出情報Ｄ２は、エンジン回転速度と、モータ回転速度と、直流電圧指令値との関係をマップ等で規定するデータである。直流電圧指令値算出情報Ｄ２においては、エンジン回転速度及びモータ回転速度のそれぞれの増加に対して直流電圧指令値が増加する等高線上の関係となっている。それぞれ４つの電圧値Ｖ１、Ｖ２、Ｖ３、Ｖ４についての領域が等高線を境界として設定されている。４つの電圧値の大小関係は、Ｖ１＞Ｖ２＞Ｖ３＞Ｖ４である。設定される電圧値は一例で大きさの変化は任意に設定することが出来る。 FIG. 12 is a diagram illustrating an example of processing contents performed by the generator control unit 32. As shown in FIG. 12, the generator control unit 32 includes a DC voltage command value calculation unit 52, a calculation unit 53, and an AVR 54. The DC voltage command value calculation unit 52 receives the engine rotation speed and the motor rotation speed. The DC voltage command value calculation unit 52 uses the DC voltage command value calculation information (map) D2 stored in the storage unit 35 to derive a DC voltage command value from the input engine rotation speed and motor rotation speed, The derived DC voltage command value is output. The DC voltage command value calculation information D2 is data that defines the relationship among the engine rotation speed, the motor rotation speed, and the DC voltage command value with a map or the like. In the DC voltage command value calculation information D2, there is a contour relationship in which the DC voltage command value increases with each increase in the engine rotation speed and the motor rotation speed. Regions for four voltage values V1, V2, V3, and V4 are set with contour lines as boundaries. The relationship between the four voltage values is V1> V2> V3> V4. The voltage value to be set is an example, and the change in size can be set arbitrarily.
　演算部５３は、直流電圧指令値算出部５２から出力された直流電圧指令値と、電圧センサ１３ｓで検出された直流電圧値とが入力される。演算部５３は、直流電圧指令値から直流電圧値を減算した電圧値を算出し、算出結果を出力する。ＡＶＲ５４は、演算部５３から出力された算出結果である電圧値が入力される。ＡＶＲ５４は、算出結果の電圧値に基づいて、励磁装置１９から発電機１２に供給される励磁電流についての励磁電流指令値を出力する。 The calculation unit 53 receives the DC voltage command value output from the DC voltage command value calculation unit 52 and the DC voltage value detected by the voltage sensor 13s. The computing unit 53 calculates a voltage value obtained by subtracting the DC voltage value from the DC voltage command value, and outputs the calculation result. The AVR 54 receives a voltage value that is a calculation result output from the calculation unit 53. The AVR 54 outputs an excitation current command value for the excitation current supplied from the excitation device 19 to the generator 12 based on the calculated voltage value.
　図１３は、電動機制御部３３による処理内容の一例を示す図である。図１３に示すように、電動機制御部３３は、モータ出力指令演算部５６と、出力指定値算出部５７と、加減算部５８と、制限モータ出力値算出部５９と、出力調整リミッター６０と、モータトルク指令値算出部６１とを有する。 FIG. 13 is a diagram illustrating an example of processing contents performed by the motor control unit 33. As shown in FIG. 13, the motor control unit 33 includes a motor output command calculation unit 56, an output specified value calculation unit 57, an addition / subtraction unit 58, a limit motor output value calculation unit 59, an output adjustment limiter 60, and a motor. A torque command value calculation unit 61.
　モータ出力指令演算部５６は、アクセル開度指令値と、モータ回転速度とが入力される。モータ出力指令演算部５６は、入力されたアクセル開度指令値とモータ回転速度とに基づいてモータ出力指令値を出力する。モータ出力指令値は、後述のモータトルク指令出力部６１で用いられるモータトルク指令値算出情報Ｄ４の等出力線を規定する。 The motor output command calculation unit 56 receives an accelerator opening command value and a motor rotation speed. The motor output command calculation unit 56 outputs a motor output command value based on the input accelerator opening command value and the motor rotation speed. The motor output command value defines an equal output line of motor torque command value calculation information D4 used in a motor torque command output unit 61 described later.
　出力指定値算出部５７は、エンジン回転速度が入力される。出力指定値算出部５７は、入力されたエンジン回転速度と、記憶部３５に記憶される出力指定値算出情報Ｄ３を使用し、エンジン回転速度に対するエンジン出力を算出し、算出したエンジン出力を出力する。出力指定値算出情報Ｄ３は、エンジン回転速度とエンジントルクとの関係をマップ等で規定するデータである。 The output specified value calculation unit 57 receives the engine speed. The designated output value calculation unit 57 uses the input engine rotation speed and the output designation value calculation information D3 stored in the storage unit 35 to calculate the engine output with respect to the engine rotation speed, and outputs the calculated engine output. . The output designation value calculation information D3 is data that defines the relationship between the engine rotation speed and the engine torque with a map or the like.
　加減算部５８は、エンジン回転速度と、エンジン回転速度指令値とが入力される。加減算部５８は、入力されたエンジン回転速度からエンジン回転速度指令値を減算したエンジン回転速度差を出力する。制限モータ出力値算出部５９は、出力指定値算出部５７から出力されたエンジン出力と、加減算部５８から出力されたエンジン回転速度差とが入力される。制限モータ出力値算出部５９は、入力されたエンジン回転速度差から出力加算分を求め、出力加算分とエンジン出力より制限モータ出力値を算出する。制限モータ出力値算出部５９は、算出した制限モータ出力値を出力する。制限モータ出力値は、エンジン回転速度に対して許容できるモータ出力値の最大値である。 The addition / subtraction unit 58 receives the engine rotation speed and the engine rotation speed command value. The addition / subtraction unit 58 outputs an engine rotation speed difference obtained by subtracting the engine rotation speed command value from the input engine rotation speed. The limit motor output value calculation unit 59 receives the engine output output from the output designation value calculation unit 57 and the engine rotation speed difference output from the addition / subtraction unit 58. The limit motor output value calculation unit 59 obtains an output addition from the input engine speed difference, and calculates a limit motor output value from the output addition and the engine output. The limit motor output value calculation unit 59 outputs the calculated limit motor output value. The limit motor output value is the maximum value of the motor output value that can be allowed with respect to the engine rotation speed.
　出力調整リミッター６０は、モータ出力指令演算部５６から出力されたモータ出力指令値と、制限モータ出力値算出部５９から出力された制限モータ出力値とが入力される。出力調整リミッター６０は、入力された出力指令値と制限モータ出力値とを比較し小さい値を出力する。出力指令値が制限モータ出力値よりも大きい場合には、制限モータ出力値をモータ出力指令値として出力する。出力調整リミッター６０は、入力された出力指令値が制限モータ出力値よりも小さい場合、入力された出力指令値をモータ出力指令値として出力する。 The output adjustment limiter 60 receives the motor output command value output from the motor output command calculation unit 56 and the limit motor output value output from the limit motor output value calculation unit 59. The output adjustment limiter 60 compares the input output command value with the limited motor output value and outputs a small value. When the output command value is larger than the limit motor output value, the limit motor output value is output as the motor output command value. When the input output command value is smaller than the limit motor output value, the output adjustment limiter 60 outputs the input output command value as a motor output command value.
　モータトルク指令値算出部６１は、出力調整リミッター６０から出力された調整出力指令値と、モータ回転速度とが入力される。モータトルク指令値算出部６１は、入力された調整出力指令値及びモータ回転速度と、記憶部３５に記憶されるモータトルク指令値算出情報Ｄ４とに基づいてモータトルク指令値を算出し、算出したモータトルク指令値を出力する。モータトルク指令値算出情報Ｄ４は、モータ回転速度と、モータトルク指令値との関係を規定するデータである。モータトルク指令値算出情報Ｄ４は、モータ出力指令値の増加に対してモータの回転速度とモータトルク指令の乗算の関係になるモータ出力指令が増加する関係となっている。これは、出力調整リミッター６０からアクセル開度指令値に基づく出力指令値が入力される場合においては、アクセル開度指令値の増加に基づきモータ出力指令値が大きくなる関係にあることと対応する。モータトルク指令値算出情報Ｄ４においては、入力されたモータ出力指令値及びモータ回転速度に基づいて、モータトルク指令値が決定される。 The motor torque command value calculation unit 61 receives the adjustment output command value output from the output adjustment limiter 60 and the motor rotation speed. The motor torque command value calculation unit 61 calculates and calculates a motor torque command value based on the input adjustment output command value and motor rotation speed, and the motor torque command value calculation information D4 stored in the storage unit 35. Outputs the motor torque command value. The motor torque command value calculation information D4 is data that defines the relationship between the motor rotation speed and the motor torque command value. The motor torque command value calculation information D4 has a relationship in which the motor output command, which is a relationship between the rotation speed of the motor and the motor torque command, increases as the motor output command value increases. This corresponds to the fact that, when an output command value based on the accelerator opening command value is input from the output adjustment limiter 60, the motor output command value increases as the accelerator opening command value increases. In the motor torque command value calculation information D4, the motor torque command value is determined based on the input motor output command value and the motor rotation speed.
　図１４は、位相変調回路制御部３４による処理内容の一例を示す図である。図１４に示すように、位相変調回路制御部３４は、スイッチング指令値算出部６２を有する。スイッチング指令値算出部６２は、発電機回転速度が入力される。スイッチング指令値算出部６２は、入力された発電機回転速度と、記憶部３５に記憶されるスイッチング指令値算出情報Ｄ５とに基づいて、スイッチング指令値を算出する。スイッチング指令値算出情報Ｄ５は、発電機回転速度、すなわち、発電機１２で発生する電圧及び電流の周波数と、スイッチング指令値との関係を規定するデータである。スイッチング指令値算出部６２は、発電機１２の回転速度に基づいてスイッチング素子Ｓ１、Ｓ２、Ｓ３、Ｓ４のオンとオフとのタイミングが調整される。スイッチング素子Ｓ１、Ｓ２、Ｓ３、Ｓ４のオンとオフとのタイミングの調整により、位相変調回路１３のコンデンサＣの帯電状態と放電状態とが切り替えられる。 FIG. 14 is a diagram illustrating an example of processing contents performed by the phase modulation circuit control unit 34. As shown in FIG. 14, the phase modulation circuit control unit 34 includes a switching command value calculation unit 62. The switching command value calculation unit 62 receives the generator rotational speed. The switching command value calculation unit 62 calculates a switching command value based on the input generator rotation speed and the switching command value calculation information D5 stored in the storage unit 35. The switching command value calculation information D5 is data that defines the relationship between the generator rotation speed, that is, the frequency of the voltage and current generated in the generator 12, and the switching command value. The switching command value calculation unit 62 adjusts the timing of turning on and off the switching elements S1, S2, S3, and S4 based on the rotational speed of the generator 12. The charging state and the discharging state of the capacitor C of the phase modulation circuit 13 are switched by adjusting the timing of turning on and off the switching elements S1, S2, S3, and S4.
　次に、発電機１２から出力される電圧及び電流について、位相変調回路１３が設けられない場合と、位相変調回路１３が設けられる場合とを比較して説明する。図１５は、アクセル開度の変化を示すグラフである。図１５の縦軸はアクセル開度の大きさ（相対値）を示し、図１５の横軸は時刻を示す。以下、図１５に示すように、位相変調回路１３が設けられない場合のアクセル開度１０１と、位相変調回路１３が設けられる場合のアクセル開度１０２とを一定値とし、かつ同一の値とした場合について説明する。また、位相変調回路１３が設けられない場合と、位相変調回路１３が設けられる場合とで、内燃機関１１及び発電機１２のサイズが同一である場合について説明する。 Next, the voltage and current output from the generator 12 will be described by comparing the case where the phase modulation circuit 13 is not provided with the case where the phase modulation circuit 13 is provided. FIG. 15 is a graph showing changes in the accelerator opening. The vertical axis in FIG. 15 indicates the magnitude (relative value) of the accelerator opening, and the horizontal axis in FIG. 15 indicates time. Hereinafter, as shown in FIG. 15, the accelerator opening 101 when the phase modulation circuit 13 is not provided and the accelerator opening 102 when the phase modulation circuit 13 is provided are set to a constant value and the same value. The case will be described. A case where the sizes of the internal combustion engine 11 and the generator 12 are the same in the case where the phase modulation circuit 13 is not provided and in the case where the phase modulation circuit 13 is provided will be described.
　図１６は、位相変調回路１３が設けられない場合において、発電機１２で発生する電圧、電流、力率の比較例をそれぞれ示すグラフである。図１６（ａ）は電圧を示し、図１６（ｂ）は電流を示し、図１６（ｃ）は力率を示す。なお、力率は、有効電力／（有効電力^２＋無効電力＾２）＾１/２で表される値である。本実施形態において「電圧」「電流」と記載する場合は、それぞれ有効電圧及び有効電流を意味する。また、図１６（ｄ）として、発電機１２から出力され電圧センサ１３ｓで検出される直流電圧値のグラフを示している。図１６（ａ）～（ｄ）の各グラフの横軸は時刻を示し、縦軸はそれぞれ電圧の大きさ（相対値）、電流の大きさ（相対値）、力率、及び直流電圧の大きさを示す。 FIG. 16 is a graph showing comparative examples of voltage, current, and power factor generated by the generator 12 when the phase modulation circuit 13 is not provided. FIG. 16A shows the voltage, FIG. 16B shows the current, and FIG. 16C shows the power factor. The power factor is a value represented by active power / (active power ^ 2 + reactive power ^ 2) ^ 1/2. In this embodiment, “voltage” and “current” refer to an effective voltage and an effective current, respectively. FIG. 16D shows a graph of the DC voltage value output from the generator 12 and detected by the voltage sensor 13s. 16A to 16D, the horizontal axis represents time, and the vertical axis represents voltage magnitude (relative value), current magnitude (relative value), power factor, and DC voltage magnitude, respectively. It shows.
　図１６（ａ）及び（ｂ）に示すように、位相変調回路１３が設けられない場合、発電機１２で発生した電力は、発電機１２に設けられるコイルのリアクタンスの影響により、電圧の位相に対して電流の位相が位相αだけ遅れる。このため、図１６（ｃ）に示すように、力率の値が１よりも小さい値となる。この場合、電圧センサ１３ｓで検出される直流電圧値はＶＰとなる。 As shown in FIGS. 16A and 16B, when the phase modulation circuit 13 is not provided, the electric power generated in the generator 12 changes to the voltage phase due to the reactance of the coil provided in the generator 12. On the other hand, the phase of the current is delayed by the phase α. For this reason, as shown in FIG.16 (c), the value of a power factor becomes a value smaller than one. In this case, the DC voltage detected by the voltage sensor 13s becomes V P.
　図１７は、位相変調回路１３が設けられる場合において、発電機１２で発生し、位相変調回路１３の接続部Ｐ２から出力される電圧、電流及び力率の実施例をそれぞれ示すグラフである。図１７（ｂ）は、電圧を示し、図１７（ｃ）は電流を示し、図１７（ｄ）は力率を示す。図１７（ｂ）では、位相変調回路１３から出力される電圧Ｖａｃｏｕｔと、発電機１２から出力される電圧Ｖａｃｉｎと、位相変調回路１３のコンデンサＣから出力される電圧ＶＣと、を重ねて示している。図１７（ｂ）にてそれぞれの電圧について電圧Ｖａｃｏｕｔを点線、電圧Ｖａｃｉｎを実線、電圧ＶＣを一点鎖線で示す。また、図１７（ａ）として、位相変調回路１３のスイッチング素子Ｓ１、Ｓ３のＯＮ、ＯＦＦのタイミングと、スイッチング素子Ｓ２、Ｓ４のＯＮ、ＯＦＦのタイミングとを表すタイミングチャートを示している。また、図１７（ｅ）として、位相変調回路１３から出力され電圧センサ１３ｓで検出される直流電圧値のグラフを示している。図１７（ａ）～（ｅ）の各グラフの横軸は時刻を示し、縦軸はそれぞれＯＮ／ＯＦＦの位置、電圧の大きさ（相対値）、電流の大きさ（相対値）、力率、及び直流電圧の大きさを示す。 FIG. 17 is a graph showing examples of voltage, current, and power factor generated by the generator 12 and output from the connection portion P2 of the phase modulation circuit 13 when the phase modulation circuit 13 is provided. FIG. 17B shows the voltage, FIG. 17C shows the current, and FIG. 17D shows the power factor. In FIG. 17 (b), the overlapping voltage V acout output from the phase modulation circuit 13, a voltage V acin output from the generator 12, the voltage V C output from the capacitor C of the phase modulation circuit 13, a It shows. 17 for each of the voltage a voltage V acout at (b) the dotted line shows the voltage V acin solid, the voltage V C by the one-dot chain line. FIG. 17A shows a timing chart showing the ON / OFF timings of the switching elements S1 and S3 of the phase modulation circuit 13 and the ON / OFF timings of the switching elements S2 and S4. FIG. 17E shows a graph of the DC voltage value output from the phase modulation circuit 13 and detected by the voltage sensor 13s. In each graph of FIGS. 17A to 17E, the horizontal axis represents time, and the vertical axis represents ON / OFF position, voltage magnitude (relative value), current magnitude (relative value), and power factor. , And the magnitude of the DC voltage.
　位相変調回路１３が設けられる場合、例えば、図１７（ａ）の区間（１）で示される時刻では、発電機１２で発生した電圧の値が最小値（負の値）となった場合、位相変調回路制御部３４は、スイッチング素子Ｓ１、Ｓ３をＯＮにし、スイッチング素子Ｓ２、Ｓ４をＯＦＦにする。この場合、位相変調回路１３の接続部Ｐ１の電圧が負であるため、コンデンサＣが帯電する。 When the phase modulation circuit 13 is provided, for example, at the time indicated by the section (1) in FIG. 17A, when the value of the voltage generated in the generator 12 becomes the minimum value (negative value), the phase The modulation circuit control unit 34 turns on the switching elements S1 and S3 and turns off the switching elements S2 and S4. In this case, since the voltage at the connection portion P1 of the phase modulation circuit 13 is negative, the capacitor C is charged.
　その後、区間（２）に示すように、電圧の値が徐々に増加して正に切り替わるタイミングまで、位相変調回路制御部３４は、スイッチング素子Ｓ１、Ｓ３がＯＮ、スイッチング素子Ｓ２、Ｓ４がＯＦＦの状態を維持する。この場合、位相変調回路１３の接続部Ｐ１の電圧が正であるため、位相変調回路１３のコンデンサＣが放電する。 Thereafter, as shown in the section (2), until the voltage value gradually increases and switches to positive, the phase modulation circuit control unit 34 turns on the switching elements S1 and S3 and turns off the switching elements S2 and S4. Maintain state. In this case, since the voltage at the connection portion P1 of the phase modulation circuit 13 is positive, the capacitor C of the phase modulation circuit 13 is discharged.
　その後、区間（３）に示すように、電圧の値が最大値（正の値）となるタイミングで、位相変調回路制御部３４は、スイッチング素子Ｓ１、Ｓ３をＯＦＦに切り替え、スイッチング素子Ｓ２、Ｓ４をＯＮに切り替える。この場合、位相変調回路１３の接続部Ｐ１の電圧が正であるため、コンデンサＣが帯電する。 Thereafter, as shown in the section (3), at the timing when the voltage value becomes the maximum value (positive value), the phase modulation circuit control unit 34 switches the switching elements S1 and S3 to OFF and the switching elements S2 and S4. To ON. In this case, since the voltage at the connection portion P1 of the phase modulation circuit 13 is positive, the capacitor C is charged.
　その後、区間（４）に示すように、電圧の値が徐々に増加して負に切り替わるタイミングまで、位相変調回路制御部３４は、スイッチング素子Ｓ１、Ｓ３がＯＦＦ、スイッチング素子Ｓ２、Ｓ４がＯＮの状態を維持する。この場合、位相変調回路１３の接続部Ｐ１の電圧が負であるため、位相変調回路１３のコンデンサＣが放電する。 Thereafter, as shown in the section (4), until the voltage value gradually increases and switches to negative, the phase modulation circuit control unit 34 turns off the switching elements S1 and S3 and turns on the switching elements S2 and S4. Maintain state. In this case, since the voltage at the connection portion P1 of the phase modulation circuit 13 is negative, the capacitor C of the phase modulation circuit 13 is discharged.
　このように、位相変調回路制御部３４が位相変調回路１３のスイッチング素子Ｓ１、Ｓ２、Ｓ３、Ｓ４のＯＮとＯＦＦとを切り替えることにより、コンデンサＣの帯電と放電とのタイミングを制御する。発電機１２の出力電圧Ｖａｃｉｎは、位相変調回路１３からの出力電圧Ｖａｃｏｕｔと、コンデンサＣから出力される電圧ＶＣを加算した値となる。この電圧Ｖａｃｉｎの位相は、位相変調回路１３から出力される電流の位相と等しくなる。これにより、位相変調回路１３から出力される電力において電圧と電流との位相が等しくなるため、力率は１になる。図１７（ｅ）に示すように、位相変調回路１３から出力される直流電圧値はＶＱとなる。この直流電圧値ＶＱは、位相変調回路１３が設けられない場合の直流電圧値ＶＰよりも大きな値である。 In this manner, the phase modulation circuit control unit 34 controls the timing of charging and discharging of the capacitor C by switching the switching elements S1, S2, S3, and S4 of the phase modulation circuit 13 on and off. Output voltage V acin of the generator 12 becomes an output voltage V acout from the phase modulation circuit 13, a value obtained by adding the voltage V C output from the capacitor C. The phase of the voltage V acin is equal to the phase of the current output from the phase modulation circuit 13. Thereby, in the electric power output from the phase modulation circuit 13, the phase of the voltage and the current becomes equal, so that the power factor becomes 1. As shown in FIG. 17 (e), the DC voltage value output from the phase modulation circuit 13 becomes V Q. The DC voltage value V Q is a value larger than the DC voltage value V P when the phase modulation circuit 13 is not provided.
　このように、位相変調回路１３が設けられることにより、発電機１２の力率が改善される。力率の改善により、動力伝達装置１０は、内燃機関１１及び発電機１２のサイズが同一であり、アクセル開度を同一とする場合、位相変調回路１３が設けられることにより、位相変調回路１３が設けられない構成に比べて、発電機１２の出力が高められることになる。このため、動力伝達装置１０の伝達効率が向上することになる。 Thus, by providing the phase modulation circuit 13, the power factor of the generator 12 is improved. By improving the power factor, in the power transmission device 10, when the internal combustion engine 11 and the generator 12 are the same size and the accelerator opening is the same, the phase modulation circuit 13 is provided by providing the phase modulation circuit 13. The output of the generator 12 is increased as compared with the configuration in which the generator 12 is not provided. For this reason, the transmission efficiency of the power transmission device 10 is improved.
　この場合、本実施形態における動力伝達装置１０では、位相変調回路１３が設けられない構成に比べて、電圧センサ１３ｓで検出され演算部５３に入力される直流電圧値が大きい値となる。したがって、エンジン回転速度（又はモータ回転速度）の値がそれほど大きくなくても、電圧センサ１３ｓで検出される直流電圧値は大きくなる。そこで、直流電圧指令値算出部５２から出力される直流電圧指令値が位相変調回路１３による電圧の上昇を予め見込んだ値となるように、直流電圧指令算出情報Ｄ２を設定することができる。 In this case, in the power transmission device 10 according to the present embodiment, the DC voltage value detected by the voltage sensor 13s and input to the calculation unit 53 is larger than that in the configuration in which the phase modulation circuit 13 is not provided. Therefore, even if the value of the engine rotation speed (or motor rotation speed) is not so large, the DC voltage value detected by the voltage sensor 13s is large. Therefore, the DC voltage command calculation information D2 can be set so that the DC voltage command value output from the DC voltage command value calculation unit 52 is a value that anticipates a voltage increase by the phase modulation circuit 13 in advance.
　図１８は、直流電圧指令値算出情報の一例を示すグラフである。図１８（ａ）は、位相変調回路１３が設けられない場合の直流電圧指令値算出情報１０３を示すグラフである。図１８（ｂ）は、位相変調回路１３が設けられる場合の直流電圧指令値算出情報１０４を示すグラフである。なお、図１８（ｂ）に示す直流電圧指令値算出情報１０４は、上記の直流電圧指令値算出情報Ｄ２と同一であってもよい。図１８（ａ）及び（ｂ）に示すように、直流電圧指令値算出情報１０３、１０４は、横軸をエンジン回転速度とし、縦軸をモータ回転速度とするグラフにおいて、対応する直流電圧指令値を示す領域が設定されたものである。 FIG. 18 is a graph showing an example of DC voltage command value calculation information. FIG. 18A is a graph showing the DC voltage command value calculation information 103 when the phase modulation circuit 13 is not provided. FIG. 18B is a graph showing the DC voltage command value calculation information 104 when the phase modulation circuit 13 is provided. Note that the DC voltage command value calculation information 104 shown in FIG. 18B may be the same as the DC voltage command value calculation information D2. As shown in FIGS. 18 (a) and 18 (b), the DC voltage command value calculation information 103, 104 has a corresponding DC voltage command value in a graph in which the horizontal axis is the engine rotation speed and the vertical axis is the motor rotation speed. Is set.
　図１８（ａ）及び（ｂ）に示す直流電圧指令値算出情報１０３、１０４では、それぞれ４つの電圧値Ｖ１、Ｖ２、Ｖ３、Ｖ４についての領域が等高線を境界として設定されている。４つの電圧値の大小関係は、Ｖ１＞Ｖ２＞Ｖ３＞Ｖ４である。例えば、エンジン回転速度及びモータ回転速度が小さい場合、直流電圧指令値は、最も小さい値である電圧値Ｖ４に設定される。また、エンジン回転速度及びモータ回転速度の一方または双方が大きくなりいずれかの回転速度が所定値を超えると、直流電圧指令値は、電圧値Ｖ４よりも大きい電圧値Ｖ３に設定される。同様にエンジン回転速度及びモータ回転速度の一方または双方が大きくなりいずれかの回転数が所定の回転速度を超えると電圧値Ｖ３より大きい電圧値Ｖ２、電圧値Ｖ２より大きい電圧値Ｖ１と設定される。 In the DC voltage command value calculation information 103 and 104 shown in FIGS. 18A and 18B, regions for four voltage values V1, V2, V3, and V4 are set with contour lines as boundaries. The relationship between the four voltage values is V1> V2> V3> V4. For example, when the engine rotation speed and the motor rotation speed are small, the DC voltage command value is set to the voltage value V4 that is the smallest value. Further, when one or both of the engine rotation speed and the motor rotation speed increase and one of the rotation speeds exceeds a predetermined value, the DC voltage command value is set to a voltage value V3 larger than the voltage value V4. Similarly, when one or both of the engine rotation speed and the motor rotation speed increase and any one of the rotation speeds exceeds a predetermined rotation speed, a voltage value V2 greater than the voltage value V3 and a voltage value V1 greater than the voltage value V2 are set. .
　図１８（ａ）に示す直流電圧指令値算出情報１０３は、等高線の勾配が緩やかであり、４つの領域で比較的大きい電圧値である電圧値Ｖ１、Ｖ２の範囲が高回転速度側に配置されている。これに対して、図１８（ｂ）に示す直流電圧指令値算出情報１０４は、図１８（ａ）に示す直流電圧指令値算出情報１０３に比べて、電圧値Ｖ１、Ｖ２の範囲が低回転速度側に亘って広範囲に設定されている。このように、直流電圧指令値算出情報Ｄ２が電圧上昇を見込んだ値を出力するように設定されることにより、発電機１２で生じる電力が励磁装置１９によって適切に調整されることになる。なお、直流電圧指令値算出情報Ｄ２は、予め実験やシミュレーションを行うことで独自に設定されてもよい。 In the DC voltage command value calculation information 103 shown in FIG. 18A, the contour gradient is gentle, and the ranges of voltage values V1 and V2, which are relatively large voltage values in four regions, are arranged on the high rotation speed side. ing. On the other hand, in the DC voltage command value calculation information 104 shown in FIG. 18B, the range of the voltage values V1 and V2 is lower than the DC voltage command value calculation information 103 shown in FIG. Widely set across the sides. In this way, the DC voltage command value calculation information D2 is set so as to output a value that anticipates a voltage increase, so that the power generated in the generator 12 is appropriately adjusted by the excitation device 19. Note that the DC voltage command value calculation information D2 may be uniquely set by performing an experiment or simulation in advance.
　図１９は、電圧センサ１３ｓで検出される直流電圧値の一例を示すグラフである。図１９の電圧値１０５は、位相変調回路１３が設けられない場合の値である。図１９の電圧値１０６は、位相変調回路１３が設けられる場合の値である。図１９に示すように、位相変調回路１３が設けられる場合においても、位相変調回路１３が設けられない場合と同等の出力を得ることができる。 FIG. 19 is a graph showing an example of a DC voltage value detected by the voltage sensor 13s. The voltage value 105 in FIG. 19 is a value when the phase modulation circuit 13 is not provided. A voltage value 106 in FIG. 19 is a value when the phase modulation circuit 13 is provided. As shown in FIG. 19, even when the phase modulation circuit 13 is provided, an output equivalent to the case where the phase modulation circuit 13 is not provided can be obtained.
　例えば、動力伝達装置１０は、発電機１２のサイズを小さくしても、位相変調回路１３が設けられない構成と同一の出力を得ることができる。また、動力伝達装置１０は、発電機１２及び内燃機関１１のサイズを変更することなく、例えば内燃機関１１で発生した動力を、発電機１２の駆動とは異なる他の用途に利用することにより、内燃機関１１から発電機１２に供給される出力を少なくしても、位相変調回路１３が設けられない構成と同一の出力を得ることができる。 For example, the power transmission device 10 can obtain the same output as the configuration in which the phase modulation circuit 13 is not provided even if the size of the generator 12 is reduced. Further, the power transmission device 10 does not change the sizes of the generator 12 and the internal combustion engine 11, for example, by using the power generated in the internal combustion engine 11 for other purposes different from the driving of the generator 12, Even if the output supplied from the internal combustion engine 11 to the generator 12 is reduced, the same output as the configuration in which the phase modulation circuit 13 is not provided can be obtained.
　また、動力伝達装置１０は、内燃機関１１及び発電機１２のサイズが同一である場合には、エンジン回転速度指令値算出情報Ｄ１のエンジン回転速度を下げた状態で運転しても、位相変調回路１３が設けられない構成と同一の出力を得ることができる。図２０は、エンジン回転速度指令値算出情報の一例を示すグラフである。図２０の縦軸はエンジン回転速度指令値の大きさ（相対値）を示し、図２０の横軸はアクセル開度の大きさ（相対値）を示す。図２０の指令値１０７は、位相変調回路１３が設けられない場合におけるエンジン回転速度指令値を示す。図２０の指令値１０８は、位相変調回路１３が設けられる場合のエンジン回転速度指令値を示す。図２０に示すように、位相変調回路１３が設けられる場合、同一のアクセル開度に対する指令値１０８の大きさが、位相変調回路１３が設けられない場合の指令値１０７よりも小さくなるように設定されている。 Further, when the sizes of the internal combustion engine 11 and the generator 12 are the same, the power transmission device 10 can be operated even when the engine rotation speed of the engine rotation speed command value calculation information D1 is lowered and the phase modulation circuit. The same output as that of the configuration in which 13 is not provided can be obtained. FIG. 20 is a graph showing an example of engine rotation speed command value calculation information. The vertical axis in FIG. 20 indicates the magnitude (relative value) of the engine speed command value, and the horizontal axis in FIG. 20 indicates the magnitude (relative value) of the accelerator opening. A command value 107 in FIG. 20 indicates an engine speed command value when the phase modulation circuit 13 is not provided. A command value 108 in FIG. 20 indicates an engine rotation speed command value when the phase modulation circuit 13 is provided. As shown in FIG. 20, when the phase modulation circuit 13 is provided, the command value 108 for the same accelerator opening is set to be smaller than the command value 107 when the phase modulation circuit 13 is not provided. Has been.
　図２１は、エンジン回転速度指令値と時刻との関係を示すグラフである。図２１の縦軸はエンジン回転速度指令値を示し、図２１の横軸は時刻を示す。図２１のエンジン回転速度指令値１０９は、位相変調回路１３が設けられない場合のエンジン回転速度指令値を示す。図２１のエンジン回転速度指令値１１０は、位相変調回路１３が設けられる場合のエンジン回転速度指令値を示す。上記のように指令値１０８が設定されることにより、位相変調回路１３が設けられる場合のエンジン回転速度指令値１１０は、位相変調回路１３が設けられない場合のエンジン回転速度指令値１０９に比べて小さい値となる。この場合、位相変調回路１３が設けられない場合と同一のアクセル開度指令を受けた場合でも、同一の走行特性を実現することができる。また、内燃機関１１がより低回転で駆動する事になるため、エンジン低回転化による内燃機関１１の燃費の改善を図ることができる。 FIG. 21 is a graph showing the relationship between the engine speed command value and time. The vertical axis in FIG. 21 indicates the engine speed command value, and the horizontal axis in FIG. 21 indicates time. An engine rotation speed command value 109 in FIG. 21 indicates an engine rotation speed command value when the phase modulation circuit 13 is not provided. An engine rotation speed command value 110 in FIG. 21 indicates an engine rotation speed command value when the phase modulation circuit 13 is provided. By setting the command value 108 as described above, the engine speed command value 110 when the phase modulation circuit 13 is provided is compared with the engine speed command value 109 when the phase modulation circuit 13 is not provided. Small value. In this case, even when the same accelerator opening command is received as when the phase modulation circuit 13 is not provided, the same running characteristics can be realized. Further, since the internal combustion engine 11 is driven at a lower rotation, the fuel consumption of the internal combustion engine 11 can be improved by reducing the engine rotation.
　図２２（ａ）及び（ｂ）は、エンジン回転速度とエンジントルクとの関係を示すグラフであり、出力指令値算出情報の一例を示すグラフである。図２２（ａ）及び（ｂ）の縦軸はエンジントルクを示し、図２２の横軸はエンジン回転速度を示す。図２２（ａ）及び（ｂ）の出力線１１１は、位相変調回路１３が設けられない場合の出力線を示す。図２２（ａ）及び（ｂ）の出力線１１２は、位相変調回路１３が設けられる場合の出力線を示す。 22 (a) and 22 (b) are graphs showing the relationship between the engine rotation speed and the engine torque, and are graphs showing an example of output command value calculation information. 22A and 22B, the vertical axis represents engine torque, and the horizontal axis in FIG. 22 represents engine rotation speed. Output lines 111 in FIGS. 22A and 22B are output lines when the phase modulation circuit 13 is not provided. Output lines 112 in FIGS. 22A and 22B are output lines when the phase modulation circuit 13 is provided.
　図２２（ａ）に示すように、位相変調回路１３が設けられる場合の出力線１１２を低回転側に設定することにより、内燃機関１１及び発電機１２のサイズが同一であり、かつ、アクセル開度指令が同一である場合でも、よりエンジントルクが高出力となる側のモータトルク指令を許容することができる。これにより、直流電圧指令算出情報Ｄ２を変更してエンジン回転速度を低下させた環境とした場合でも、モータ出力値を増加させた状態とすることができる。 As shown in FIG. 22A, by setting the output line 112 when the phase modulation circuit 13 is provided to the low rotation side, the sizes of the internal combustion engine 11 and the generator 12 are the same, and the accelerator is opened. Even when the degree command is the same, the motor torque command on the side where the engine torque becomes higher can be permitted. As a result, even when the DC voltage command calculation information D2 is changed and the engine speed is reduced, the motor output value can be increased.
　図２２（ｂ）は、位相変調回路１３が設けられない場合の出力指令値算出情報と、位相変調回路１３が設けられかつ内燃機関１１を小型化した場合の出力指令値算出情報とを比較して示す図である。図２２（ｂ）に示すように、内燃機関１１を小型化することにより、エンジン出力制限値が低下する。このような場合でも、位相変調回路１３が設けられない場合と同じ発電機１２の出力を実現できる。この場合、内燃機関１１の小型化により、燃費の向上を図ることができる。 FIG. 22B compares the output command value calculation information when the phase modulation circuit 13 is not provided with the output command value calculation information when the phase modulation circuit 13 is provided and the internal combustion engine 11 is downsized. FIG. As shown in FIG. 22B, the engine output limit value is reduced by downsizing the internal combustion engine 11. Even in such a case, the same output of the generator 12 as when the phase modulation circuit 13 is not provided can be realized. In this case, fuel efficiency can be improved by downsizing the internal combustion engine 11.
　以上のように、本実施形態に係る動力伝達装置１０は、内燃機関１１の動力により電力を発生させる発電機１２と、発電機１２で発生した電力により、駆動力を発生する電動機１６と、電動機１６で発生した駆動力により走行する走行装置４と、発電機１２と電動機１６との間に直列に接続されるコンデンサＣと、コンデンサＣの正極側及び負極側にそれぞれ接続されるスイッチング素子Ｓ１、Ｓ２、Ｓ３、Ｓ４とを有する位相変調回路１３と、スイッチング素子Ｓ１、Ｓ２、Ｓ３、Ｓ４を切り替えてコンデンサＣの帯電状態と放電状態とを切り替えることで発電機１２から電動機１６に供給される電流の位相を変調する制御装置３０とを備える。この構成により、発電機１２で発生する電圧の位相に対する電流の位相の遅れを改善することが可能となる。これにより、発電機１２の力率の低下を抑制することができるため、動力伝達装置１０の伝達効率の低下を抑制することができる。 As described above, the power transmission device 10 according to the present embodiment includes the generator 12 that generates electric power by the power of the internal combustion engine 11, the electric motor 16 that generates driving force by the electric power generated by the electric generator 12, and the electric motor. 16, the traveling device 4 that travels by the driving force generated in 16, the capacitor C connected in series between the generator 12 and the motor 16, and the switching element S1 connected to the positive electrode side and the negative electrode side of the capacitor C, The current supplied from the generator 12 to the motor 16 by switching the charging state and the discharging state of the capacitor C by switching the phase modulation circuit 13 having S2, S3, S4 and the switching elements S1, S2, S3, S4. And a control device 30 that modulates the phase. With this configuration, it is possible to improve the phase delay of the current with respect to the phase of the voltage generated in the generator 12. Thereby, since the fall of the power factor of the generator 12 can be suppressed, the fall of the transmission efficiency of the power transmission device 10 can be suppressed.
　また、本実施形態に係る動力伝達装置１０において、制御装置３０は、発電機１２で生じた電圧の位相に対する電流の位相の遅れを補償させるため、発電機１２で発生する電圧の位相に対する電流の位相の遅れを確実に改善することが可能となる。これにより、発電機１２の力率の低下を抑制することができる。 Further, in the power transmission device 10 according to the present embodiment, the control device 30 compensates for the phase delay of the current with respect to the phase of the voltage generated in the generator 12, so that the current with respect to the phase of the voltage generated in the generator 12 is It becomes possible to reliably improve the phase delay. Thereby, the fall of the power factor of the generator 12 can be suppressed.
　また、本実施形態に係る動力伝達装置１０において、制御装置３０は、電圧及び電流の周波数、すなわち、発電機１２の回転速度に応じてコンデンサＣの帯電状態と放電状態とを切り替えるタイミングを調整するため、内燃機関１１のエンジン回転速度の変動に応じて、柔軟に位相遅れを改善することが可能となる。これにより、発電機１２の力率の低下をより確実に抑制することができる。 Further, in the power transmission device 10 according to the present embodiment, the control device 30 adjusts the timing of switching between the charged state and the discharged state of the capacitor C according to the frequency of the voltage and current, that is, the rotational speed of the generator 12. Therefore, the phase delay can be flexibly improved in accordance with the fluctuation of the engine speed of the internal combustion engine 11. Thereby, the fall of the power factor of the generator 12 can be suppressed more reliably.
　また、本実施形態に係る動力伝達装置１０は、アクセル開度に応じた値であるため、オペレータの操作に基づく内燃機関１１のエンジン回転速度の変動に応じて、柔軟に位相遅れを改善することが可能となる。これにより、発電機１２の力率の低下をより確実に抑制することができる。 Moreover, since the power transmission device 10 according to the present embodiment has a value corresponding to the accelerator opening, the phase delay can be flexibly improved in accordance with fluctuations in the engine rotation speed of the internal combustion engine 11 based on the operation of the operator. Is possible. Thereby, the fall of the power factor of the generator 12 can be suppressed more reliably.
　また、本実施形態に係る動力伝達装置１０において、位相変調回路１３は、スイッチング素子Ｓ１、Ｓ２、Ｓ３、Ｓ４の４つのスイッチング素子を有する。位相変調回路１３は、発電機１２側から電動機１６側に向けて、スイッチング素子Ｓ４とスイッチング素子Ｓ１とがこの順で直列に接続された第１部分Ａ１と、第１部分Ａ１に対して並列に設けられ、発電機１２側から電動機１６側に向けて、スイッチング素子Ｓ３とスイッチング素子Ｓ２とがこの順で直列に接続された第２部分Ａ２と、を有する。コンデンサＣは、正極側が第１部分Ａ１のうちスイッチング素子Ｓ４とスイッチング素子Ｓ１との間の部分に接続され、負極側が第２部分Ａ２のうちスイッチング素子Ｓ３とスイッチング素子Ｓ２との間の部分に接続される。これにより、コンデンサＣの帯電状態と放電状態とを効率的に切り替えることができる。 Further, in the power transmission device 10 according to the present embodiment, the phase modulation circuit 13 has four switching elements S1, S2, S3, and S4. The phase modulation circuit 13 includes a first part A1 in which a switching element S4 and a switching element S1 are connected in series in this order from the generator 12 side to the electric motor 16 side, and in parallel with the first part A1. And a second portion A2 in which the switching element S3 and the switching element S2 are connected in series in this order from the generator 12 side toward the electric motor 16 side. The capacitor C has a positive electrode side connected to a portion between the switching element S4 and the switching element S1 in the first portion A1, and a negative electrode side connected to a portion between the switching element S3 and the switching element S2 in the second portion A2. Is done. Thereby, the charging state and discharging state of the capacitor C can be efficiently switched.
　また、本実施形態に係る動力伝達装置１０において、発電機１２は、生成される電力量を調整する励磁装置１９を有する。制御装置３０は、内燃機関１１のエンジン回転速度と直流電圧指令値算出情報Ｄ２とに基づいて直流電圧指令値を算出し、算出した直流電圧指令値と、位相変調回路１３から出力された電圧を整流器１３ａにより直流電圧に変換した検出値との差に基づいて、励磁装置１９を制御する。これにより、発電機１２で生じる電力が励磁装置１９によって適切に調整することができる。 Moreover, in the power transmission device 10 according to the present embodiment, the generator 12 includes an excitation device 19 that adjusts the amount of generated electric power. The control device 30 calculates a DC voltage command value based on the engine speed of the internal combustion engine 11 and the DC voltage command value calculation information D2, and calculates the calculated DC voltage command value and the voltage output from the phase modulation circuit 13. The excitation device 19 is controlled based on the difference from the detected value converted into a DC voltage by the rectifier 13a. Thereby, the electric power generated in the generator 12 can be appropriately adjusted by the excitation device 19.
　また、本実施形態に係る動力伝達装置１０において、直流電圧指令値算出情報Ｄ２は、電圧センサ１３ｓによる検出結果である電圧値Ｖ１と、発電機１２から位相変調回路１３に入力される電圧を整流器１３ａにより直流電圧に変換した場合の比較値である電圧値Ｖ２との差に基づいて設定されるため、発電機１２で生じる電力が励磁装置１９によってより適切に調整することができる。 Further, in the power transmission device 10 according to the present embodiment, the DC voltage command value calculation information D2 includes a voltage value V1 that is a detection result by the voltage sensor 13s and a voltage input from the generator 12 to the phase modulation circuit 13 as a rectifier. Since it is set based on the difference from the voltage value V2, which is a comparison value when converted to a DC voltage by 13a, the power generated in the generator 12 can be more appropriately adjusted by the excitation device 19.
　また、本実施形態に係る動力伝達装置１０は、内燃機関１１の駆動力により所定の油圧アクチュエータを駆動する可変容量型の油圧ポンプ１８をさらに備える。本実施形態に係る動力伝達装置１０は、位相変調回路１３が設けられない構成に比べて、発電機１２の出力効率が高められることになる。このため、内燃機関１１で発生した動力を、油圧ポンプ１８等の用途に効率的に利用することができる。 The power transmission device 10 according to this embodiment further includes a variable displacement hydraulic pump 18 that drives a predetermined hydraulic actuator by the driving force of the internal combustion engine 11. In the power transmission device 10 according to the present embodiment, the output efficiency of the generator 12 is improved as compared with the configuration in which the phase modulation circuit 13 is not provided. For this reason, the motive power generated in the internal combustion engine 11 can be efficiently used for applications such as the hydraulic pump 18.
　また、本実施形態に係るダンプトラック１は、車体５と、車体５に設けられる走行装置４と、車体５に設けられ、走行装置４を駆動する動力を発生させる動力伝達装置１０とを備えるため、動力の伝達効率に優れ、または燃費の面で優れたダンプトラック１を得ることができる。一般的に、鉱山用のダンプトラックは搬送物の積込から排出までの積載物搬送時には長距離を走行する。この時、車両の速度が安定した状況で走行されることが多くなる。このような状況で、動力伝達装置１０に位相変調回路１３が設けられることにより、一層効果を得ることができる。 Further, the dump truck 1 according to the present embodiment includes a vehicle body 5, a traveling device 4 provided in the vehicle body 5, and a power transmission device 10 provided in the vehicle body 5 and generating power for driving the traveling device 4. Thus, it is possible to obtain the dump truck 1 which is excellent in power transmission efficiency or excellent in fuel efficiency. In general, a dump truck for a mine travels a long distance when transporting a load from loading to discharging of the transported material. At this time, the vehicle is often driven in a state where the speed of the vehicle is stable. Under such circumstances, the power transmission device 10 is provided with the phase modulation circuit 13, so that a further effect can be obtained.
　以上、実施形態を説明したが、前述した内容により実施形態が限定されるものではない。また、前述した構成要素には、当業者が容易に想定できるもの、実質的に同一のもの、いわゆる均等の範囲のものが含まれる。さらに、前述した構成要素は適宜組み合わせることが可能である。さらに、実施形態の要旨を逸脱しない範囲で構成要素の種々の省略、置換又は変更を行うことができる。 As mentioned above, although embodiment was described, embodiment is not limited by the content mentioned above. In addition, the above-described constituent elements include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those in a so-called equivalent range. Furthermore, the above-described components can be appropriately combined. Furthermore, various omissions, substitutions, or changes of the components can be made without departing from the scope of the embodiment.
　例えば、上記実施形態では、コンデンサＣの正極側及び負極側に、スイッチング素子が２つずつ、合計４つ設けられた構成が記載されていたが、これに限定するものではない。例えば、コンデンサＣの正極側及び負極側の少なくとも一方においてスイッチング素子が１つであってもよい。また、コンデンサＣの正極側及び負極側の少なくとも一方においてスイッチング素子が３つ以上であってもよい。 For example, in the above embodiment, a configuration in which a total of four switching elements are provided on each of the positive electrode side and the negative electrode side of the capacitor C is described, but the present invention is not limited to this. For example, one switching element may be provided on at least one of the positive electrode side and the negative electrode side of the capacitor C. Further, there may be three or more switching elements on at least one of the positive electrode side and the negative electrode side of the capacitor C.
　Ａ１…第１部分、Ａ２…第２部分、Ｃ…コンデンサ、Ｄ１…エンジン回転速度指令値算出情報、Ｄ２…直流電圧指令値算出情報、Ｄ３…出力指定値算出情報、Ｄ４…モータトルク指令値算出情報、Ｄ５…スイッチング指令値算出情報、Ｓ１…第１スイッチング素子（スイッチング素子）、Ｓ２…第２スイッチング素子（スイッチング素子）、Ｓ３…第３スイッチング素子（スイッチング素子）、Ｓ４…第４スイッチング素子（スイッチング素子）
Ｖ１，Ｖ２，Ｖ３，Ｖ４…電圧値、１…ダンプトラック（作業車両）、２…車両本体、３…ベッセル、４…走行装置、５…車体、６…車輪、７，７Ｒ，７Ｆ…車軸、８…キャブ、８ａ…アクセルペダル、１０…動力伝達装置、１１…内燃機関、１１ｓ，１２ｓ，１６ｓ…回転センサ、１２…発電機、１３…位相変調回路、１３ａ，１４…整流器、１３ｓ…電圧センサ、１５…インバータ、１６…電動機、１７…動力伝達シャフト、１８…油圧ポンプ、１９…励磁装置、２０…平滑コンデンサ、２２…伝達機構、３０…制御装置、３１…内燃機関制御部、３２…発電機制御部、３３…電動機制御部、３４…位相変調回路制御部、３５…記憶部、５１…エンジン回転速度指令値算出部、５２…直流電圧指令値算出部、５３…演算部、５４…ＡＶＲ、５６…モータ出力指令演算部、５７…出力指定値算出部、５８…加減算部、５９…制限モータ出力値算出部、６０…出力調整リミッター、６１…モータトルク指令値算出部、６２…スイッチング指令値算出部。 A1 ... first part, A2 ... second part, C ... capacitor, D1 ... engine rotation speed command value calculation information, D2 ... DC voltage command value calculation information, D3 ... output specified value calculation information, D4 ... motor torque command value calculation Information, D5: Switching command value calculation information, S1: First switching element (switching element), S2: Second switching element (switching element), S3: Third switching element (switching element), S4: Fourth switching element ( Switching element)
V1, V2, V3, V4 ... voltage value, 1 ... dump truck (work vehicle), 2 ... vehicle body, 3 ... vessel, 4 ... traveling device, 5 ... vehicle body, 6 ... wheel, 7, 7R, 7F ... axle, DESCRIPTION OF SYMBOLS 8 ... Cab, 8a ... Accelerator pedal, 10 ... Power transmission device, 11 ... Internal combustion engine, 11s, 12s, 16s ... Rotation sensor, 12 ... Generator, 13 ... Phase modulation circuit, 13a, 14 ... Rectifier, 13s ... Voltage sensor DESCRIPTION OF SYMBOLS 15 ... Inverter, 16 ... Electric motor, 17 ... Power transmission shaft, 18 ... Hydraulic pump, 19 ... Excitation device, 20 ... Smoothing capacitor, 22 ... Transmission mechanism, 30 ... Control device, 31 ... Internal combustion engine control part, 32 ... Power generation Machine control unit 33 ... Motor control unit 34 ... Phase modulation circuit control unit 35 ... Storage unit 51 ... Engine rotation speed command value calculation unit 52 ... DC voltage command value calculation unit 53 ... Calculation unit 54 ... AVR 56 ... Motor output command calculation unit, 57 ... Output specified value calculation unit, 58 ... Addition / subtraction unit, 59 ... Limit motor output value calculation unit, 60 ... Output adjustment limiter, 61 ... Motor torque command value calculation unit, 62 ... Switching command value Calculation unit.

Claims (8)

  1. 　内燃機関の動力により電力を発生させる発電機と、
    　前記発電機で発生した電力により駆動力を発生する電動機と、
    　前記電動機で発生した駆動力により走行する走行装置と、
    　前記発電機と前記電動機との間に直列に接続されるコンデンサと、前記コンデンサの正極側及び負極側にそれぞれ接続されるスイッチング素子とを有する位相変調回路と、
    　前記スイッチング素子を切り替えて前記コンデンサの帯電状態と放電状態とを切り替えることで前記発電機から前記電動機に供給される電流の位相を変調する制御装置と
    　を備える作業車両の動力伝達装置。     A generator for generating electric power by the power of the internal combustion engine;
    An electric motor that generates a driving force by the electric power generated by the generator;
    A traveling device that travels by the driving force generated by the electric motor;
    A phase modulation circuit having a capacitor connected in series between the generator and the motor, and a switching element connected to each of a positive electrode side and a negative electrode side of the capacitor;
    A power transmission device for a work vehicle, comprising: a control device that modulates a phase of a current supplied from the generator to the motor by switching the switching element to switch between a charged state and a discharged state of the capacitor.
  2. 　前記制御装置は、前記発電機で生じた電圧の位相に対する前記電流の位相の遅れを補償させる
    　請求項１に記載の作業車両の動力伝達装置。     The power transmission device for a work vehicle according to claim 1, wherein the control device compensates for a phase delay of the current with respect to a phase of a voltage generated in the generator.
  3. 　前記制御装置は、前記電圧及び前記電流の周波数に応じて前記コンデンサの帯電状態と放電状態とを切り替えるタイミングを調整する
    　請求項２に記載の作業車両の動力伝達装置。     The power transmission device for a work vehicle according to claim 2, wherein the control device adjusts a timing for switching between a charged state and a discharged state of the capacitor according to the frequency of the voltage and the current.
  4. 　前記電流の周波数は、アクセル開度に応じた値である
    　請求項３に記載の作業車両の動力伝達装置。     The power transmission device for a work vehicle according to claim 3, wherein the frequency of the current is a value corresponding to an accelerator opening.
  5. 　前記位相変調回路は、第１スイッチング素子、第２スイッチング素子、第３スイッチング素子及び第４スイッチング素子の４つの前記スイッチング素子を有し、
    　前記位相変調回路は、
    　前記発電機側から前記電動機側に向けて、前記第４スイッチング素子と前記第１スイッチング素子とがこの順で直列に接続された第１部分と、
    　前記第１部分に対して並列に設けられ、前記発電機側から前記電動機側に向けて、前記第３スイッチング素子と前記第２スイッチング素子とがこの順で直列に接続された第２部分と、を有し、
    　前記コンデンサは、正極側が前記第１部分のうち前記第４スイッチング素子と前記第１スイッチング素子との間の部分に接続され、負極側が前記第２部分のうち前記第３スイッチング素子と前記第２スイッチング素子との間の部分に接続される
    　請求項１から請求項４のいずれか一項に記載の作業車両の動力伝達装置。     The phase modulation circuit includes the four switching elements of a first switching element, a second switching element, a third switching element, and a fourth switching element,
    The phase modulation circuit includes:
    A first portion in which the fourth switching element and the first switching element are connected in series in this order from the generator side toward the motor side;
    A second part provided in parallel to the first part, wherein the third switching element and the second switching element are connected in series in this order from the generator side toward the motor side; Have
    The capacitor has a positive electrode side connected to a portion between the fourth switching element and the first switching element in the first portion, and a negative electrode side connected to the third switching element and the second switching in the second portion. The power transmission device for a work vehicle according to any one of claims 1 to 4, wherein the power transmission device is connected to a portion between the device and the element.
  6. 　前記発電機は、生成される電力量を調整する励磁装置を有し、
    　前記制御装置は、前記内燃機関の駆動速度と前記電動機の駆動速度とに基づいて直流電圧指令値を算出し、算出した前記直流電圧指令値と、前記位相変調回路から出力された電圧を整流器により直流電圧に変換した検出値との差に基づいて、前記励磁装置を制御する
    　請求項１から請求項５のいずれか一項に記載の作業車両の動力伝達装置。     The generator has an excitation device that adjusts the amount of power generated;
    The control device calculates a DC voltage command value based on the driving speed of the internal combustion engine and the driving speed of the electric motor, and the calculated DC voltage command value and the voltage output from the phase modulation circuit by a rectifier The power transmission device for a work vehicle according to any one of claims 1 to 5, wherein the excitation device is controlled based on a difference from a detection value converted into a DC voltage.
  7. 　前記電動機の駆動速度は、前記検出値と、前記発電機から前記位相変調回路に入力される電圧を前記整流器により直流電圧に変換した場合の比較値との差に基づいて設定される
    　請求項６に記載の作業車両の動力伝達装置。     The drive speed of the electric motor is set based on a difference between the detected value and a comparison value when a voltage input from the generator to the phase modulation circuit is converted into a DC voltage by the rectifier. A power transmission device for a work vehicle according to claim 1.
  8. 　前記内燃機関の駆動力により所定の油圧アクチュエータを駆動する可変容量型の油圧ポンプをさらに備える
    　請求項１から請求項７のいずれか一項に記載の作業車両の動力伝達装置。     The power transmission device for a work vehicle according to any one of claims 1 to 7, further comprising a variable displacement hydraulic pump that drives a predetermined hydraulic actuator by a driving force of the internal combustion engine.
PCT/JP2017/030986 2016-09-30 2017-08-29 Power transmission device for work vehicle WO2018061578A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006141162A (en) * 2004-11-12 2006-06-01 Fuji Electric Device Technology Co Ltd Apparatus for interconnecting generated power
WO2010046962A1 (en) * 2008-10-20 2010-04-29 株式会社ＭＥＲＳＴｅｃｈ Prime mover system
JP2013166482A (en) * 2012-02-15 2013-08-29 Hitachi Constr Mach Co Ltd Hybrid work vehicle
JP2015101290A (en) * 2013-11-27 2015-06-04 日立建機株式会社 Industrial vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006141162A (en) * 2004-11-12 2006-06-01 Fuji Electric Device Technology Co Ltd Apparatus for interconnecting generated power
WO2010046962A1 (en) * 2008-10-20 2010-04-29 株式会社ＭＥＲＳＴｅｃｈ Prime mover system
JP2013166482A (en) * 2012-02-15 2013-08-29 Hitachi Constr Mach Co Ltd Hybrid work vehicle
JP2015101290A (en) * 2013-11-27 2015-06-04 日立建機株式会社 Industrial vehicle

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