CN101297106A - Engine controller, controller of engine and hydraulic pump, and engine, hydraulic pump and controller of generator motor - Google Patents

Engine controller, controller of engine and hydraulic pump, and engine, hydraulic pump and controller of generator motor Download PDF

Info

Publication number
CN101297106A
CN101297106A CNA2006800402925A CN200680040292A CN101297106A CN 101297106 A CN101297106 A CN 101297106A CN A2006800402925 A CNA2006800402925 A CN A2006800402925A CN 200680040292 A CN200680040292 A CN 200680040292A CN 101297106 A CN101297106 A CN 101297106A
Authority
CN
China
Prior art keywords
torque
engine
generator motor
target
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CNA2006800402925A
Other languages
Chinese (zh)
Other versions
CN101297106B (en
Inventor
森永淳
河口正
井上宏昭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2005314898A external-priority patent/JP4407619B2/en
Priority claimed from JP2006036738A external-priority patent/JP4740761B2/en
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Priority claimed from PCT/JP2006/321562 external-priority patent/WO2007049767A1/en
Publication of CN101297106A publication Critical patent/CN101297106A/en
Application granted granted Critical
Publication of CN101297106B publication Critical patent/CN101297106B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Operation Control Of Excavators (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Control Of Positive-Displacement Pumps (AREA)

Abstract

A working machine is operated as intended by an operator with good response and with enhanced engine efficiency, pump efficiency, and the like. A first engine target speed of rotation ncom1 conforming to a current pump target delivery flow rate Qsum is set, and when a decision is made that the current pump target delivery flow rate Qsum is higher than a predetermined flow rate (e.g. 10 (L/min)), a decision is made that operating means (41-44) are switched from nonoperating state to operating state, and a speed of rotation nM (e.g. 1400 rpm) higher than the engine idle speed of rotation nL is set as a second engine target speed of rotation ncom2. If the second engine target speed of rotation ncom2 is higher than the first engine target speed of rotation ncom1, engine speed of rotation is controlled to attain the second engine target speed of rotation ncom2.

Description

The control gear of the control gear of the control gear of motor, motor and oil hydraulic pump and motor, oil hydraulic pump and generator motor
Technical field
The present invention relates to the control gear of control gear, motor and oil hydraulic pump of motor and the control gear of motor, oil hydraulic pump and generator motor, relate in particular to the control gear that under situation, uses by Engine driven Hydraulic Pump.
Background technique
In the building machinery of hydraulic shovel, bulldozer, dump car, wheel loader etc., the diesel motor is installed.
With reference to Fig. 1 the formation of present building machinery 1 is described roughly,, drives oil hydraulic pump 3 as driving source with diesel motor 2 as shown in Figure 1.Oil hydraulic pump 3 uses the variable capacity type oil hydraulic pumps, and the tilt angle by changing its swash plate 3a etc. change capacity q (cc/rev).Press pressure oil that PRP, flow Q (cc/min) gush out to supply with each hydraulic actuator 31～36 of oil hydraulic cylinder 31 etc. to big arm by oil hydraulic pump 3 with ejection by operating valve 21～26.Each operating valve 21～26 moves by the operation of each operating stem 41,42.By to each hydraulic actuator 31～36 supply pressure oil, and drive each hydraulic actuator 31～36, body, upper rotating body are moved thereby advance in working machine, bottom that the big arm, forearm, the scraper bowl that are being connected with each hydraulic actuator 31～36 are constituted.At building machinery 1 duration of work, the advance load of body, upper rotating body of working machine, bottom constantly changes according to digging soil property, the road gradient of advancing etc.According to this, change the load (to call oily machine load in the following text) of hydraulic machine (oil hydraulic pump 3), promptly act on the load of motor 2.
Output P (horsepower to diesel motor 2; Kw) control is undertaken by the fuel quantity of adjusting to in-cylinder injection.This adjustment is undertaken by the speed regulator on the fuel-injection pump that is installed on motor 14.As speed regulator 4, use the speed regulator of control mode at full speed usually, it adjusts engine speed n and fuel injection amount (torque T) according to load, to keep the target engine speed that is configured by the fuel dial plate.That is, speed regulator 4 increase and decrease fuel injection amounts are to eliminate the poor of rotating speed of target and engine speed.
Fig. 2 represents the moment of torsion line chart of motor 1, and transverse axis is represented engine speed n (rpm; Rev/min), the longitudinal axis is represented torque T (Nm).
Fig. 2 is illustrated in the performance that can be exported by the regional motor 2 of Maximum Torque line R regulation.Speed regulator 4 control motors 2 make torque T surpass Maximum Torque line R but do not reach the exhaust boundary, and make engine speed n surpass high idle speed rotation speed n H but do not reach rotation.Output (horsepower) P of the rated point V motor 2 on Maximum Torque line R is maximum.The horsepower that J represents to absorb by oil hydraulic pump 3 is for waiting horsepower curve that waits of horsepower.
When setting the maximum target rotating speed by the fuel dial plate, speed regulator 4 carries out speed governing regulating the most at a high speed of binding rated point V and high idle speed rotation speed n H on the line Fe.
Along with the load increase of oil hydraulic pump 3, the match point of the output of motor 2 and pump absorbed horsepower balance is being regulated on the line Fe to rated point V side shifting the most at a high speed.When match point moved to rated point V side, engine speed n reduced gradually, and n is a rated speed in rated point V engine speed.
Like this, when engine speed n being fixed on when carrying out operation under roughly certain high rotating speed, just there are specific fuel consumption big (bad), problem that pump efficiency is low.In addition, so-called specific fuel consumption (to call combustion expense in the following text) is meant the consumption of the fuel of every output 1kw, is an index of the efficient of motor 2.So-called pump efficiency is meant the efficient with the oil hydraulic pump 3 of volumetric efficiency, torque efficiency regulation.
Among Fig. 2, M represents to wait combustion expense curve.The lowest point M1 combustion expense of taking curve M in combustion is minimum, and the combustion expense is along with increasing laterally from combustion expense smallest point M1.
By as can be known, regulate line Fe and be equivalent to waiting the bigger zone of combustion expense on the combustion expense curve M with Fig. 2.Therefore, according to present controlling method, combustion takes big (bad), and is very undesirable aspect engine efficiency.
On the other hand, we know that under the situation of the oil hydraulic pump 3 that adopts variable capacity type, usually, if be that PRP is pressed in identical ejection, then pump capacity q (swash plate tilt angle) is big more, and volumetric efficiency, torque efficiency are high more, and pump efficiency is high more.
In addition, from following (1) formula as can be known, if identical by the flow Q of the pressure oil of oil hydraulic pump 3 ejection, then the rotating speed of motor 2 is low more, and pump capacity q is increased.Therefore, make motor 2 low speedization more, can improve pump efficiency more.
Q＝n·q …(1)
Therefore, in order to improve the pump efficiency of oil hydraulic pump 3, as long as make motor 2 in the low low-speed region work of rotation speed n.
But, as shown in Figure 2, regulate the high rotary area that line Fe is equivalent to motor 2.So,, have the low problem of pump efficiency according to present controlling method.
In addition, when motor 2 was worked on the adjusting line, one became high load, and engine speed just descends, and therefore just might cause engine shutdown.
Make the controlling method of engine speed almost fixed for not acting on such load, put down in writing the controlling method that engine speed is changed according to bar operation amount and load in the patent documentation 1.
That is, this patent documentation 1 is set by combustion and is taken the target engine operation line L0 of smallest point as shown in Figure 2.
And, according to operation amount of each operating stem 41,42,43,44 etc., computing oil hydraulic pump 3 required rotating speeds, and computing and the required rotating speed of corresponding first motor of the required rotating speed of this pump.In addition, according to the operation amount of each operating stem 41,42,43,44 etc., the required horsepower of computing motor, and required horsepower of required rotating speed of corresponding second motor of computing and this motor.At this, the required rotating speed of second motor is as the engine speed computing on the target engine operation line L0 of Fig. 2.And control engine speed and Engine torque are to obtain a side's big in the required rotating speed of these first and second motors engine target rotating speed.
As shown in Figure 2, when along the rotating speed of target engine operation line L0 control motor 2, combustion expense, engine efficiency, pump efficiency improve.Even this is because exporting identical horsepower, obtaining under the identical situation that requires flow, with mate and compare regulating some pt1 on the line Fe, point on identical J such as line such as horsepower such as grade, be some pt2 on the target engine operation line L0 mate a side from height rotation, low moment of torsion to low rotation, high goes through torque conversion, pump capacity q is big, near the cause that turns round the combustion expense smallest point M1 that waits on the combustion expense curve M.In addition, because motor 2 is in low rotary area work, thereby the noise raising increases the weight of engine friction, pump no load losses etc.
In addition, in the field of building machinery, developing building machinery, and applying for a lot by the hybrid mode of the auxiliary driving force of generator motor Engine torque.
In patent documentation 2, with reference to Fig. 2, along controlling motor 2 with the corresponding adjusting line of the setting rotating speed Fe0 that sets by the fuel dial plate.Obtain and regulate the corresponding rotating speed of target nr of some A that line Fe0 and target engine operation line L0 intersect, under the deviation of engine target rotation speed n r and current engine speed n is positive situation, the generator motor action that electrifies is used, driving force by the moment of torsion auxiliary engine 2 that produces by generator motor, be under the situation about bearing with deviation, make generator motor play the generating effect, and electric power is stored in the electric storage means.
Patent documentation 1: the spy opens flat 11-2144 communique
Patent documentation 2: the spy opens the 2003-28071 communique
The invention of record is only inferred computing pump 3 current how many rotating speeds of needs and horsepower according to the operation amount of each operating stem 41,42 etc. in the patent documentation 1, calculates the engine target rotating speed corresponding with it.
But, in fact, with the motor output of the current corresponding reality of engine speed, not more than needed sometimes with respect to the absorbed horsepower of current oil hydraulic pump reality.Therefore, even make engine speed rise to the engine target rotating speed, motor output is not more than needed with respect to the power of the absorbed horsepower part of the reality of oil hydraulic pump yet, be used to make the underpower of engine speed rising, so rise sometimes, or rotating speed is risen less than the engine target rotating speed.Consequently, the intention action of the working machine etc. (bottom advance body, upper rotating body) of building machinery 1 not according to the operator takes place sometimes, or inappropriate phenomenon of lagging behind etc. of action.
In addition, in the middle of reality, different work patterns, the engine horsepower, the engine speed difference that need.
For example, if be the work pattern of digging operation, then need to improve the absorbed horsepower of oil hydraulic pump.Relative with it, in the soil-shifting operation or shovel with scraper bowl in the operation etc. of native sand, the absorbed horsepower of oil hydraulic pump also can be low.Like this, if not according to work pattern and suitable limiting engine horsepower just might cause useless energy consumption.
In addition, in the patent documentation 1 described invention, determine the engine target rotating speed according to the load of oil hydraulic pump 3.In Fig. 2, oil hydraulic pump 3 becomes high load more, and the match point more high load side on target engine operation line L0 carries out B → A and moves.
But, as mentioned above, even make engine speed rise to the some A of the height rotation that becomes target at the state of low turning point B coupling from motor 2, also because the absorption moment of torsion of oil hydraulic pump 3 is little at the match point B of low rotation, therefore, at the rising initial stage that engine revolution rises, even make the big-movement of carrying out of each operating stem 41～44 sometimes, working machine etc. (bottom advance body, upper rotating body) also just move extremely lentamente.Therefore, operation response bar 41～44 such as working machine etc. well move, and can bring operational uncomfortable feeling to the operator, cause operating efficiency to reduce.
Relative with it, in the patent documentation 2 described inventions, match point carries out C → A along adjusting line Fe0 and moves.Oil hydraulic pump 3 is high load more, and match point moves to the high load side of regulating on the line Fe0 more.
When the match point C of the low-load side on regulating line Fe0 moved to the match point A of high load side, engine speed n reduced gradually.Because engine speed n descends, thus the output moment that is stored in motor 2 flywheels outwards export, the output of performance is greater than the actual output of motor 2.Therefore, it is good to can be described as responsiveness originally along moving of the match point of regulating line.
But in the patent documentation 2, engine target rotation speed n r is determined by a meaning ground that by the setting of fuel dial plate engine speed n just changes along regulating line Fe0.As on the target engine operation line L0 from a B to the moving an of A, according to the load of oil hydraulic pump 3, engine speed n can not change significantly along target engine operation line L0.Therefore, there are the following problems: short of by the setting of fuel dial plate, motor 2 is not just in low rotary area work, and pump efficiency, combustion take, the noise variation.
Summary of the invention
So the present invention puts in view of the above problems and develops, it can realize the raising of engine efficiency, pump efficiency etc., and, working machine etc. is moved well according to operator's intention responsiveness, and in addition, can also prevent useless energy consumption this moment.
Realize its purpose for solving described problem, a first aspect of the present invention is characterized in that, possesses: oil hydraulic pump, and it is by engine-driving; Hydraulic actuator, it supplies with the pressure oil that is gushed out by described oil hydraulic pump; Operating device, it operates each hydraulic actuator; Feeler mechanism, it detects the operation amount of described operating device; The target flow arithmetical organ, its operation amount according to described operating device comes the target flow of computing oil hydraulic pump; The first rotating speed of target arithmetical organ, it is according to first rotating speed of target of described target flow computing motor; Serviceability decision mechanism, it judges that described operating device switches to serviceability from the state of not operation; The second rotating speed of target setting device, it is being judged to be under the situation that switches to serviceability by described serviceability decision mechanism, and the rotating speed of target of motor is set at second rotating speed of target higher than low idle rotating speed; The rotating speed control mechanism, it controls engine speed, makes it consistent with the high side's of either party the rotating speed of target in described first rotating speed of target and second rotating speed of target.
On the basis of the above-mentioned aspect of a second aspect of the present invention, it is characterized in that, described serviceability decision mechanism, be the threshold value of regulation when following at the operation amount of described operating device, be judged to be and switch to non-operating state, when the operation amount of described operating device is bigger than the threshold value of regulation, is judged to be and switches to serviceability.
On the basis of a third aspect of the present invention aspect above-mentioned, it is characterized in that, described serviceability decision mechanism, be the threshold value of regulation when following at the target flow of described oil hydraulic pump, be judged to be and switch to non-operating state, when the target flow of described oil hydraulic pump is bigger than the threshold value of regulation, is judged to be and switches to serviceability.
A fourth aspect of the present invention is characterized in that, possesses: oil hydraulic pump, and it is by engine-driving; A plurality of hydraulic actuators, it supplies with the pressure oil that is gushed out by described oil hydraulic pump; Operating device, it operates each hydraulic actuator; Feeler mechanism, it detects the operation amount of described operating device; The first rotating speed of target setting device, it sets first rotating speed of target of motor according to the operation amount that is obtained by described feeler mechanism; Mechanism for identifying, it is pressed according to the operation amount of each operating device and the load of oil hydraulic pump, differentiates the work pattern of described a plurality of hydraulic actuators; Horsepower limits value setting device, it sets the horsepower limits value of oil hydraulic pump according to each work pattern; The second rotating speed of target setting device, it sets second rotating speed of target of motor according to the horsepower limits value of described oil hydraulic pump; Capacity control mechanism, the capacity of its control oil hydraulic pump, with obtain with first rotating speed of target and second rotating speed of target in the little side's of either party the corresponding pump absorbing torque of rotating speed of target; The rotating speed control mechanism, it controls engine speed, makes it consistent with the little side's of either party the rotating speed of target in described first rotating speed of target and second rotating speed of target.
A fifth aspect of the present invention is characterized in that, possesses: oil hydraulic pump, and it is by engine-driving; A plurality of hydraulic actuators, it supplies with the pressure oil that is gushed out by described oil hydraulic pump; Operating device, it operates each hydraulic actuator; Feeler mechanism, it detects the operation amount of described operating device; Set the device of engine speed, it is set by the fuel dial plate; The first rotating speed of target setting device, the setting value of its based on fuel dial plate, first rotating speed of target of setting motor; Mechanism for identifying, it is pressed according to the operation amount of each operating device and the load of oil hydraulic pump, differentiates the work pattern of described a plurality of hydraulic actuators; Horsepower limits value setting device, it sets the horsepower limits value of oil hydraulic pump according to each work pattern; The second rotating speed of target setting device, it sets second rotating speed of target of motor according to the horsepower limits value of oil hydraulic pump; Capacity control mechanism, the capacity of its control oil hydraulic pump, with obtain with described first rotating speed of target and second rotating speed of target in the little side's of either party the corresponding pump absorbing torque of rotating speed of target; The rotating speed control mechanism, it controls engine speed, makes it consistent with the little side's of either party the rotating speed of target in described first rotating speed of target and second rotating speed of target.
A sixth aspect of the present invention is characterized in that, possesses: oil hydraulic pump, and it is by engine-driving; Hydraulic actuator, it supplies with the pressure oil that is gushed out by described oil hydraulic pump; Generator motor, the output shaft of itself and described motor links; Electric storage means, it stores the electric power of described generator motor generating, and electric power is supplied with to described generator motor; Arithmetical organ, it is according to the electric power storage state of described electric storage means, the described generator motor of computing require generated energy; Engine target speed setting mechanism, it sets the rotating speed of target of described motor; Maximum Torque line setting device, it sets the Maximum Torque line of the absorbable maximum absorption torque of the described oil hydraulic pump of expression according to the engine target rotating speed; The rotating speed control mechanism, it controls engine speed, so that engine speed is consistent with current engine target rotating speed; Capacity control mechanism, the capacity of its control oil hydraulic pump, with obtain establishing with the corresponding Maximum Torque line of current engine target rotating speed on pump absorbing torque be the pump absorbing torque of the upper limit; Decision mechanism, it is auxiliary or not play Engine torque auxiliary that its judgement makes described generator motor play Engine torque; The generator motor control mechanism, it plays under the auxiliary situation of Engine torque described generator motor being judged to be according to described decision mechanism, it is auxiliary to make described generator motor play Engine torque, described generator motor is play a part under the auxiliary situation of Engine torque being judged to be, make described generator motor measure the generating effect according to described requirement generating.
A seventh aspect of the present invention is characterized in that, possesses: oil hydraulic pump, and it is by engine-driving; Hydraulic actuator, it supplies with the pressure oil that is gushed out by described oil hydraulic pump; Generator motor, the output shaft of itself and described motor links; Electric storage means, it stores the electric power of described generator motor generating, and electric power is supplied with to described generator motor; Arithmetical organ, it is according to the electric power storage state of described electric storage means, the described generator motor of computing require generated energy; Engine target speed setting mechanism, it sets the rotating speed of target of motor; The first Maximum Torque line setting device, it sets the first Maximum Torque line of the absorbable maximum absorption torque of expression oil hydraulic pump according to the engine target rotating speed; The second Maximum Torque line setting device, its relative first Maximum Torque line is set in the low rotary area maximum absorption torque of motor and becomes the second big Maximum Torque line; The rotating speed control mechanism, it controls engine speed, makes engine speed consistent with current engine target rotating speed; Decision mechanism, it is auxiliary or not play Engine torque auxiliary that its judgement makes described generator motor play Engine torque; The pump capacity control mechanism, the capacity of its control oil hydraulic pump, described generator motor is risen under the situation of Engine torque booster action being judged to be by described decision mechanism, select the second Maximum Torque line as the Maximum Torque line, obtain establishing with the corresponding second Maximum Torque line of current engine target rotating speed on pump absorbing torque be the pump absorbing torque of the upper limit, and, described generator motor is risen under the situation of Engine torque booster action being judged to be by described decision mechanism, select the first Maximum Torque line as the Maximum Torque line, obtain establishing with the corresponding first Maximum Torque line of current engine target rotating speed on pump absorbing torque be the pump absorbing torque of the upper limit; The generator motor control mechanism, it plays under the auxiliary situation of Engine torque described generator motor being judged to be by described decision mechanism, it is auxiliary to make described generator motor play Engine torque, described generator motor is play a part under the auxiliary situation of Engine torque being judged to be, make described generator motor measure the generating effect according to described requirement generating.
On the basis of a eighth aspect of the present invention aspect above-mentioned, it is characterized in that, decision mechanism, the absolute value of the deviation of the actual speed of engine target rotating speed and motor for the situation more than the threshold value of regulation under, be judged to be that to make described generator motor play Engine torque auxiliary, the absolute value of the deviation of the actual speed of engine target rotating speed and motor than the little situation of the threshold value of regulation under, be judged to be that not make described generator motor play Engine torque auxiliary.
On the basis of a ninth aspect of the present invention aspect above-mentioned, it is characterized in that possessing: the charge capacity arithmetical organ of the charge capacity of the current electric power storage of the described electric storage means of computing.Described decision mechanism, the charge capacity that calculates by described charge capacity arithmetical organ for the situation below the threshold value of regulation under, be judged to be that not make described generator motor play Engine torque auxiliary.
On the basis of a tenth aspect of the present invention aspect above-mentioned, it is characterized in that possessing: turning motor, it makes the upper rotating body rotation of building machinery; Rotary manipulation mechanism, it is rotated operation to described upper rotating body; Control gear, it is according to the described turning motor of rotary manipulation drive controlling of described rotary manipulation mechanism; The output arithmetical organ, the current output of the described turning motor of its computing; Arithmetical organ, it is according to the electric power storage state of described electric storage means and the drive condition of described turning motor, the described generator motor of computing require generated energy.Described decision mechanism is output as described turning motor current under the situation more than the threshold value of regulation, is judged to be that not make described generator motor play Engine torque auxiliary.
On the basis of a eleventh aspect of the present invention aspect above-mentioned, it is characterized in that, described generator motor control mechanism is controlled the output torque of described generator motor, with under the little situation of current engine speed ratio engine rotating speed of target, on the moment of torsion line chart of motor, add the axle moment of torsion of motor, make engine speed reach the rotating speed that equates with the engine target rotating speed; Under the big situation of current engine speed ratio engine rotating speed of target, on the moment of torsion line chart of motor, absorb the axle moment of torsion of motor, make engine speed reach the rotating speed that equates with the engine target rotating speed.
On the basis of a twelveth aspect of the present invention aspect above-mentioned, it is characterized in that possessing: the moment of torsion control mechanism, when it played the Engine torque booster action at described generator motor, the scope below the upper torque limit value was controlled the moment of torsion of described generator motor; Upper torque limit value setting device along with the charge capacity of described electric storage means is reduced to second specified value littler than this first specified value from first specified value, reduces described upper torque limit value gradually.
On the basis of a thirteenth aspect of the present invention aspect above-mentioned, it is characterized in that possessing: the moment of torsion control mechanism, when it played the Engine torque booster action at described generator motor, the scope below the upper torque limit value was controlled the moment of torsion of described generator motor; Upper torque limit value setting device, along with the charge capacity of described electric storage means is reduced to second specified value littler than this first specified value from first specified value, reduce described upper torque limit value gradually, on the other hand, under the situation that makes the upper torque limit value increase that was once reducing, along with the charge capacity of described electric storage means is increased to four specified value bigger than the 3rd specified value from the 3rd specified value, increase described upper torque limit value gradually.
On the basis of a fourteenth aspect of the present invention aspect above-mentioned, it is characterized in that possessing: the moment of torsion control mechanism, when it played the Engine torque booster action at described generator motor, the scope below the upper torque limit value was controlled the moment of torsion of described generator motor; Upper torque limit value setting device along with the current output of described turning motor is increased to second specified value bigger than this first specified value from first specified value, reduces described upper torque limit value gradually.
On the basis of a fifteenth aspect of the present invention aspect above-mentioned, it is characterized in that possessing: the moment of torsion control mechanism, when it played the Engine torque booster action at described generator motor, the scope below the upper torque limit value was controlled the moment of torsion of described generator motor; Upper torque limit value setting device, along with the current output of described turning motor is increased to second specified value bigger than this first specified value from first specified value, reduce described upper torque limit value gradually, on the other hand, under the situation that makes the upper torque limit value increase that was once reducing, along with the current output of turning motor is reduced to four specified value littler than the 3rd specified value from the 3rd specified value, increase described upper torque limit value gradually.
On the basis of a sixteenth aspect of the present invention aspect above-mentioned, it is characterized in that, the following control of generator motor control mechanism, with described motor after the Engine torque booster action switches to the generating effect, the moment of torsion of the power generation torque that makes described generator motor during from auxiliary the end little by little changes to and the corresponding power generation torque of the required amount of described generator motor.
A seventeenth aspect of the present invention is characterized in that, possesses: oil hydraulic pump, and it is by engine-driving; Hydraulic actuator, it supplies with the pressure oil that is gushed out by described oil hydraulic pump; Generator motor, the output shaft of itself and described motor links; Electric storage means, it stores the electric power of described generator motor generating, and to described generator motor supply capability; Arithmetical organ, it is according to the electric power storage state of described electric storage means, the computing generator motor require generated energy; The rotating speed of target setting device, it sets the rotating speed of target of described motor; The first Maximum Torque line setting device, it sets the first Maximum Torque line of the absorbable maximum absorption torque of expression oil hydraulic pump according to the engine target rotating speed; The second Maximum Torque line setting device, its relative first Maximum Torque line is set in the second Maximum Torque line that the low rotary area Maximum Torque of motor increases; The rotating speed control mechanism, it controls engine speed, so that engine speed is consistent with current engine target rotating speed; Decision mechanism, it is judged to be, and to make described generator motor play Engine torque auxiliary or not play Engine torque auxiliary; The generator motor control mechanism, described generator motor is risen under the situation of Engine torque booster action being judged to be by described decision mechanism, make described generator motor play the Engine torque booster action, described generator motor is risen under the situation of Engine torque booster action being judged to be, make described generator motor measure the generating effect according to described requirement generating.The 3rd pump maximum absorption torque arithmetical organ, CLV ceiling limit value when its computing helps out along with described generator motor reduces to second specified value littler than this first specified value, the 3rd Maximum Torque that the maximum absorption torque of described oil hydraulic pump reduces gradually from first specified value; The pump capacity control mechanism, the capacity of its control oil hydraulic pump, described generator motor is risen under the situation of motor booster action being judged to be by described decision mechanism, attract a little side in the moment of torsion as the upper limit of pump absorbing torque if the 3rd pump that calculates with pump absorbing torque on the corresponding second Maximum Torque line of current engine target rotating speed or by described the 3rd pump maximum absorption torque arithmetical organ is maximum, and, described generator motor is risen under the situation of Engine torque booster action being judged to be by described decision mechanism, obtain establishing with the corresponding first Maximum Torque line of current engine target rotating speed on pump absorbing torque be the pump absorbing torque line of the upper limit.
A eighteenth aspect of the present invention is characterized in that, possesses: oil hydraulic pump, and it is by engine-driving; Hydraulic actuator, it supplies with the pressure oil that is gushed out by described oil hydraulic pump; Generator motor, the output shaft of itself and described motor links; Electric storage means, it stores the electric power of described generator motor generating, and to described generator motor supply capability; Arithmetical organ, it is according to the electric power storage state of described electric storage means, the computing generator motor require generated energy; The rotating speed of target setting device, it sets the rotating speed of target of motor; The first Maximum Torque line setting device, it sets the first Maximum Torque line of the absorbable maximum absorption torque of expression oil hydraulic pump according to the engine target rotating speed; The second Maximum Torque line setting device, its relative first Maximum Torque line is set in the second Maximum Torque line that the low rotary area Maximum Torque of motor increases; The rotating speed control mechanism, it controls engine speed, makes engine speed consistent with current engine target rotating speed; Decision mechanism, it is auxiliary or not play Engine torque auxiliary that its judgement makes described generator motor play Engine torque; The generator motor control mechanism, it plays under the situation of Engine torque booster action described generator motor being judged to be by described decision mechanism, it is auxiliary to make described generator motor play Engine torque, described generator motor is risen under the situation of Engine torque booster action being judged to be, make described generator motor measure the generating effect according to described requirement generating.The 3rd pump maximum absorption torque arithmetical organ, CLV ceiling limit value when its computing helps out along with described generator motor is reduced to second specified value littler than this first specified value, the 3rd Maximum Torque that the maximum absorption torque of described oil hydraulic pump reduces gradually from first specified value; The pump capacity control mechanism, the capacity of its control oil hydraulic pump, described generator motor is risen under the situation of Engine torque booster action being judged to be by described decision mechanism, if attract a little side in the moment of torsion as the upper limit of pump absorbing torque with pump absorbing torque on the corresponding second Maximum Torque line of current engine target rotating speed or by maximum the 3rd pump that attracts the moment of torsion arithmetical organ to calculate of described the 3rd pump is maximum, and, described generator motor is risen under the situation of Engine torque booster action being judged to be by described decision mechanism, obtain establishing with the corresponding first Maximum Torque line of current engine target rotating speed on pump absorbing torque be the pump absorbing torque of the upper limit, in addition, under the situation of the selection of the maximum absorption torque that switches oil hydraulic pump, the maximum pump maximum absorption torque of moment of torsion after switching that attract of pump before switching gradually changes.
On the basis of a nineteenth aspect of the present invention aspect above-mentioned, it is characterized in that, attract with regard to the time constant of moment of torsion when the pump maximum absorption torque after switching changes with regard to the pump before switch is maximum, compare with the maximum little situation of pump maximum absorption torque after torque ratio is switched that attracts of pump before switching, the pump before switching is maximum to be attracted to be set to big value under the big situation of pump maximum absorption torque after torque ratio is switched.
Then, with reference to Figure 10 the effect of the invention formation of the 1st～3 above-mentioned aspect is described in the lump.
As shown in figure 10, when according to engine speed n reduce target torque line L1 control motor 2 that pump absorbing torque Tpcom reduces and oil hydraulic pump 3 time, though can accomplished combustion expense, the raising of engine efficiency, pump efficiency; Reduce noise; Prevent the effect of engine shutdown etc., but have the bad problem of responsiveness of motor 2.Promptly, even for example begin to carry out the digging operation, operating stem 41 grades were fallen from the neutral position, motor 2 rises from low rotation, also owing to the initial stage (transition state) of falling and beginning at bar, the load of oil hydraulic pump 3 sharply rises, so motor output is not more than needed with respect to the power of pump absorbed horsepower part, is used for the underpower of booster engine 2.Therefore, can not make motor 2 rise to rotating speed of target sometimes, or just rise extremely lentamente.
About this point, the present invention sets the first engine target rotation speed n com1 that is suitable for current pump target ejection flow Qsum according to the current target ejection flow Qsum of the operation amount computing oil hydraulic pump 3 of the operating device 41～44 of each hydraulic actuator 31～36 of operation.On the other hand, be judged to be operating device and switch to serviceability from the state of not operation.In a second aspect of the present invention, be judged to be the operation amount of operating device 41～44 than the big situation of the threshold value of regulation under, operating device 41～44 switches to serviceability from the state of not operation.In a third aspect of the present invention, be judged to be current pump target ejection flow Qsum than under the big situation of the flow (for example 10 (L/min)) of regulation, operating device 41～44 switches to serviceability from non-operating state.And, switching to from non-operating state under the situation of serviceability in decision mechanism 41～44, the rotation speed n M that ratio engine low idle rotation speed n L is big (for example 1400rpm) sets as the second engine target rotation speed n com2.
If the second engine target rotation speed n com2 is more than the first engine target rotation speed n com1, then control engine speed, to obtain the second engine target rotation speed n com2.
Therefore, for example, under the situation that begins to carry out the digging operation was fallen operating stem 41 grades by the neutral position after, before the load of oil hydraulic pump 3 sharply rises, engine speed is risen, and Engine torque rises, and therefore produces the power more than needed that is used for booster engine 2.Therefore, can make motor 2 rise to rotating speed of target rapidly, thereby improve the responsiveness of motor 2 from low rotation territory.
Then, in the invention aspect the above-mentioned the 4th and the 5th, according to the operation amount of the operating device 41～44 of operating each hydraulic actuator 31～36, obtain current pump target ejection flow Qsum, set the first engine target rotation speed n com1 that is suitable for this pump target ejection flow Qsum.
On the other hand, according to the work pattern of a plurality of hydraulic actuators 21～26, set the export-restriction value Pplimit of oil hydraulic pump 3, and set corresponding trimotor rotating speed of target ncom3.
The establishing method of the first engine target rotating speed of the present invention is arbitrarily.In the invention of second aspect, the based on fuel dial plate is set the rotating speed of motor 2, can set the first rotating speed of target ncom1 of motor 2 according to this fuel dial plate setting value.
If trimotor rotating speed of target ncom3 is below the first engine target rotation speed n com1, then control engine speed to obtain trimotor rotating speed of target ncom3, control oil hydraulic pump 3 is to obtain the corresponding pump absorbing torque with trimotor rotating speed of target ncom3.Therefore, pump absorbing torque can be set for suitable value, can suppress the useless energy consumption outside required.
Figure 12, if transverse axis is time t, as an example, the situation of carrying out operation by the order of work pattern (7), work pattern (6), work pattern (3), work pattern (11), work pattern (12), work pattern (2), the operation amount of representing each operating stem 41,42 respectively, the time variation of promptly big arm signal Lbo, big arm signal Lar, scraper bowl signal Lbk, swingle signal Lsw, the time variation of pump absorbing torque Tp, the time of engine speed n change.
According to the present invention, confirm to carry out under the situation of operation with a series of work pattern shown in Figure 12, pump absorbing torque can be set at suitable value, and can suppress the useless energy consumption outside required.
According to the invention of the 6th aspect, as shown in figure 16, can be by requiring generated energy operational part 120 to require generated energy Tgencom according to the electric power storage state computing generator motor 11 of electric storage means 12.
And, can have or not detection unit 90 judgements to make 11 Engine torque booster actions of generator motor (result of determination T) by auxiliary, or not play Engine torque booster action (result of determination F).
And, having or not detection unit 90 to be judged to be to make under the situation of 11 Engine torque booster actions of generator motor (result of determination T) by auxiliary, generator motor command value switching part 187 switches to the T side, promptly regulate processing division 97 sides, thereby make 11 Engine torque booster actions of generator motor.Relative with it, having or not detection unit 90 to be judged to be not make under the situation of 11 Engine torque booster actions of generator motor (result of determination F) by auxiliary, generator motor command value switching part 187 switches to the F side, releasing is to the control of the rotating speed of generator motor 11, do not play the Engine torque booster action, and, generator motor command value switching part 287 switches to the F side, promptly require generated energy operational part 120 sides, make generator motor 11 play the generating effect, to obtain and to require the corresponding generated energy of generated energy Tgencom by what require that generated energy operational part 120 calculates.
Like this, invention according to the 6th aspect, necessity according to the Engine torque booster action plays the Engine torque booster action or does not play the Engine torque booster action, undertaken and require the corresponding generating of generated energy by generator motor 11, therefore, the charge capacity that can stably keep electric storage means 12 is the state of frequent target, and the operability that can keep working machine, upper rotating body is through the high level of being everlasting.
According to the invention of the 7th aspect, as shown in figure 16, can be by requiring generated energy operational part 120 to require generated energy Tgencom according to the electric power storage state computing generator motor 11 of electric storage means 12.
The first Maximum Torque line 66a that represents oil hydraulic pump 3 absorbable maximum absorption torques by the first pump target torque operational part 66 according to the engine target speed setting.
Be set in the second Maximum Torque line 85a that the low rotary area maximum absorption torque of motor increases by the second pump target torque operational part, the 85 relative first Maximum Torque line 66a.
And, have or not detection unit 90 judgements to make 11 Engine torque booster actions of generator motor (result of determination T) or do not play Engine torque booster action (result of determination F) by auxiliary.
And, having or not detection unit 90 to be judged to be to make under the situation of 11 Engine torque booster actions of generator motor (result of determination T) by auxiliary, the capacity of control oil hydraulic pump 3, so that pump absorbing torque command value switching part 88 switches to the T side, promptly the second pump target absorbs torque calculation unit 85 sides, selection is as the second Maximum Torque line 85a of Maximum Torque line, obtain with the corresponding second Maximum Torque line 85a of current engine target rotating speed on pump absorbing torque as the pump absorbing torque of the upper limit.Relative with it, having or not detection unit 90 to be judged to be not make under the situation of 11 Engine torque booster actions of generator motor (result of determination F) by auxiliary, the capacity of control oil hydraulic pump 3, so that pump absorbing torque command value switching part 88 switches to the F side, promptly the first pump target absorbs torque calculation unit 66 sides, select the first Maximum Torque line 65a as the Maximum Torque line, obtain with the corresponding first Maximum Torque line 65a of current engine target rotating speed on pump absorbing torque as the pump absorbing torque of the upper limit.
In addition, having or not detection unit 90 to be judged to be to make under the situation of 11 Engine torque booster actions of generator motor (result of determination T) by auxiliary, generator motor command value switching part 187 switches to the T side, promptly regulates processing division 97 sides, makes 11 Engine torque booster actions of generator motor.Relative with it, having or not detection unit 90 to be judged to be not make under the situation of 11 Engine torque booster actions of generator motor (result of determination F) by auxiliary, generator motor command value switching part 187 switches to the F side, remove the rotating speed control of generator motor 11, do not play the Engine torque booster action, simultaneously, generator motor command value switching part 287 switches to the T side, promptly require generated energy operational part 120 sides, make 11 Engine torque booster actions of generator motor make 11 Engine torque booster actions of generator motor, to obtain and to require the corresponding generated energy of generated energy Tgencom by what require that generated energy operational part 120 calculates.Like this, the invention of second aspect is the same with the invention of first aspect, necessity according to the Engine torque booster action plays the Engine torque booster action or does not play the Engine torque booster action, undertaken and require the corresponding generating of generated energy by generator motor 11, therefore, the charge capacity that can stably keep electric storage means 12 is the state of frequent target, and the operability that can keep working machine, upper rotating body is through the high level of being everlasting.
And, in the invention aspect the 7th, the capacity of control oil hydraulic pump 3, so that 11 Engine torque booster actions of generator motor, obtain the relative first Maximum Torque line 66a simultaneously, so that maximum to attract the pump absorbing torque on the second Maximum Torque line 85a that moment of torsion increases is the pump absorbing torque of the upper limit at the low rotary area of motor, therefore, the absorption moment of torsion of the oil hydraulic pump 3 in stage in the early stage in the time of can increasing motor and rise.So, with respect to the action of operating stem, working machine to begin action fast, thereby can suppress the decline of operating efficiency, can alleviate the uncomfortable feeling that the operation feeling to the operator causes.For example, when not making 11 Engine torque booster actions of generator motor, but when controlling, might cause motor 2 excess loads according to the second Maximum Torque line L2.Promptly; when not playing the Engine torque booster action; but when the capacity of oil hydraulic pump 3 being controlled according to the second Maximum Torque line 85a; oil hydraulic pump 3 will absorb the above moment of torsion of motor monomer output; sometimes not only can not increase engine speed; and because the load height causes engine speed to descend the worst situation even shutdown.Like this, in the control example 2, for carrying, can guarantee to control according to the second Maximum Torque line 85a with 11 Engine torque booster actions of generator motor.
In the invention of eight aspect, as shown in figure 17, relative deviation Δ genspd is provided with threshold value, has judged whether the Engine torque booster action, so control is stable.That is,, when playing the Engine torque booster action immediately, just become the result who has continued the Engine torque booster action with near the engine speed the engine target rotating speed, cause energy loss when having had deviation if relative deviation is not provided with threshold value.This is because playing the source of the energy of Engine torque booster action is exactly the energy of motor 2 originally, so when playing the Engine torque booster action, energy loss increases the amount of the efficient of generator motor 11.Usually, when generator motor 11 with little torque drive, when generating, efficient is bad.
According to the invention of the 9th aspect, as shown in figure 17, the magnitude of voltage BATTvolt of electric storage means 12, promptly,, be judged to be and do not make 11 Engine torque booster actions of generator motor under the situation below the threshold value BC1 of regulation at electric storage means, supplemental characteristic assistflag becomes F.Especially, under the situation of electronic rotary system, do spinning movement, need the electric power storage energy in order to make upper rotating body.For example, when charge capacity excessively reduces, can make a very bad impression to verticity.Cross when low at the charge capacity of electric storage means 12, do not play the Engine torque booster action, thus, can avoid because of charge capacity reduce verticity is caused bad.
Invention according to the tenth aspect, as shown in figure 17, the current output SWGpow of turning motor 103 for the situation more than the threshold value SC1 of regulation under, be judged to be and do not make 11 Engine torque booster actions of generator motor, forbidden the Engine torque booster action, on the other hand, not only consider the electric power storage state (magnitude of voltage BATTvolt) of electric storage means 12, and the drive condition (rotary load electric current SWGcurr) of consideration turning motor 6, computing generator motor 11 require generated energy Tgencom, generator motor 11 requires generated energy Tgencom to generate electricity according to this, and the electric power of generating is supplied with to turning motor.Therefore, can make upper rotating body be rotated action with not reducing verticity.
Invention according to the tenth one side, at deviation delta genspd to meet under the situation about just increasing to more than a certain degree, generator motor speed value (generator motor rotating speed of target) Ngencom that comes self-regulation processing division 97 is to 100 outputs of electricity generation and electromotion machine controller, electricity generation and electromotion machine controller 100 is accepted it, rotating speed control generator motor 11, make generator motor 11 play the generating effect, to obtain generator motor rotating speed of target Ngencom.Promptly, under the little situation of current engine speed ratio engine rotating speed of target, make generator motor 11 play the generating effect, the output torque of control generator motor 11, so that on the torque wire of motor 2, add the axle moment of torsion of motor 2, engine speed is risen, reach the rotating speed that equates with the engine target rotating speed.
In addition, bear under the situation about increasing to more than a certain degree to meet at deviation delta genspd, generator motor speed value (generator motor rotating speed of target) Ngencom that comes self-regulation processing division 97 is to 100 outputs of electricity generation and electromotion machine controller, electricity generation and electromotion machine controller 100 is accepted it, rotating speed control generator motor 11, make generator motor 11 play the generating effect, to obtain generator motor rotating speed of target Ngencom.Promptly, under the big situation of current engine speed ratio engine rotating speed of target, make generator motor 11 play the generating effect, the output torque of control generator motor 11, so that on the torque wire of motor, add the axle moment of torsion of motor 2, thereby engine speed is descended, reach and the equal rotating speed of engine target rotating speed.
Invention according to the 12 aspect, as shown in figure 18, before the state from the Engine torque booster action switches to and requires the state of the corresponding generating effect of generated energy, CLV ceiling limit value (torque range) GENtrqlimit that makes the moment of torsion that generator motor 11 can export becomes the minimizing of the charge capacity (magnitude of voltage BATTvolt) with electric storage means 12 and the value that reduces gradually, therefore, the power generation torque of the generator motor 11 when the state of Engine torque booster action switches to the state that requires the corresponding generating effect of generated energy changes smooth-going, when carrying out this switching, can avoid engine speed to descend.
Invention according to the 13 aspect, as shown in figure 18, the upper torque limit value of generator motor 11 (generator motor 11 torque ranges) GENtrqlimit is as along with the magnitude of voltage BATTvolt of electric storage means 12 reduces to than the second little specified value BD2 of the first specified value BD1 and the value that reduces is gradually obtained and exported from the first specified value BD1, on the other hand, under the situation that the upper torque limit value GENtrqlimit that once reducing is increased, the upper torque limit value of generator motor 11 (generator motor 11 torque ranges) GENtrqlimit is as along with the magnitude of voltage BATTvolt of electric storage means 12 is increased to than the 4th big specified value BD4 of the 3rd specified value and the value that increases is gradually obtained and exported from the 3rd specified value.Like this, the side that generator motor torque range GENtrqlimit is changed has hysteresis, can stably control thus.
Invention according to the 14 aspect, as shown in figure 18, before the state from the Engine torque booster action switches to and requires the state of the corresponding generating effect of generated energy, CLV ceiling limit value (torque range) GENtrqlimit of the moment of torsion that generator motor 11 can export is become along with the increase of the current output SWGpow of turning motor 103 and the value that reduces gradually, therefore, the power generation torque of the generator motor 11 when the state of Engine torque booster action switches to the state that requires the corresponding generating effect of generated energy changes smooth-going.Therefore, when carrying out this switching, can avoid engine speed to descend.
Invention according to the 15 aspect, as shown in figure 18,103 current output SWGpow are increased to the second specified value SD2 bigger than the first specified value SD1 from the first specified value SD1 along with turning motor, obtain output as the value that upper torque limit value (the generator motor 11 torque ranges) GENtrqlimit of generator motor 11 reduces gradually.On the other hand, under the situation that the upper torque limit value GENtrqlimit that once reducing is increased, the upper torque limit value of generator motor 11 (generator motor 11 torque ranges) GENtrqlimit is as along with the current output SWGpow of turning motor 103 is reduced to than the 4th little specified value SD4 of the 3rd specified value SD3 and the value that increases is gradually obtained and exported from the 3rd specified value SD3.Like this, the side that generator motor torque range GENtrqlimit is changed has hysteresis, can stably control thus.
Invention according to the 16 aspect, as shown in figure 19, after the state from the Engine torque booster action switches to and requires the state of the corresponding generating effect of generated energy, implement following control, the moment of torsion of the power generation torque that makes generator motor 11 during from auxiliary the end taper to generator motor 11 require the corresponding power generation torque of generated energy, therefore, the power generation torque of the generator motor 11 when the state of Engine torque booster action switches to the state that requires the corresponding generating effect of generated energy changes smooth-going.Therefore when carrying out this switching, can avoid engine speed to descend.
Invention according to the 17 aspect, as shown in figure 16, in the 3rd pump maximum absorption torque operational part 106, be provided with the 3rd Maximum Torque line L3, the 3rd Maximum Torque line L3 is along with the upper torque limit value Tgencom2 of generator motor 11 reduces, and maximum absorption torque (the 3rd pump maximum absorption torque) Tpcommax reduces gradually.Invention according to the 12 aspect, the capacity of control oil hydraulic pump 3, so that along with the upper torque limit value of generator motor 11 reduces, the maximum absorption torque of oil hydraulic pump 3 reduces gradually, therefore, when the state from the Engine torque booster action switches to and requires the state of the corresponding generating effect of generated energy, the absorption moment of torsion of oil hydraulic pump 3 descends along with the decline of the auxiliary force of motor 2, the variation of the axle moment of torsion of motor 2 is smooth-going, so can avoid causing the engine speed bad Acceleration along with the decline of the auxiliary force of motor 2.
Invention according to the tenth eight aspect, as shown in figure 16, not directly from (for example switching preceding Maximum Torque line, the 3rd target torque line L3) the pump maximum absorption torque on (the 3rd pump maximum absorption torque Tpcommax), pump maximum absorption torque (the first pump maximum absorption torque Tpcom1) on the Maximum Torque line (the first Maximum Torque line L1) after switching switches, but from (for example switching preceding Maximum Torque line, the 3rd target torque line L3) the pump maximum absorption torque on (the 3rd pump maximum absorption torque Tpcommax), transit time t the pump maximum absorption torque (the first pump maximum absorption torque Tpcom1) on the Maximum Torque line (the first Maximum Torque line L1) after the switching gradually change smooth-goingly.Thus, can avoid because of at the state that plays the Engine torque booster action with play and load rapid change, the engine speed of the output shaft of the motor 2 that the rapid change of pump absorbing torque when requiring to switch between the state of the corresponding generating effect of generated energy causes descend.
According to the invention of the 19 aspect on the basis of the invention of the tenth eight aspect, attract for the timeconstant of moment of torsion when the pump maximum absorption torque after switching changes for the pump before switch is maximum, compare with the maximum little situation of pump maximum absorption torque after torque ratio is switched that attracts of pump before switching, the pump before switching is maximum to be attracted to be set to big value under the big situation of pump maximum absorption torque after torque ratio is switched.This is because when timeconstant is set at big value without exception, switch to from little state under the situation of big state at the pump maximum absorption torque, the time constant of pump maximum absorption torque variation greatly, so the heavy-footed cause of working machine.
Description of drawings
Fig. 1 is the pie graph that is used to implement the 1st embodiment;
Fig. 2 is the moment of torsion line chart for illustrating that present technology is used;
Fig. 3 is the pie graph that is used to implement the 2nd embodiment.
Fig. 4 is the 1st embodiment's a control block diagram;
Fig. 5 is the 2nd embodiment's a control block diagram;
Fig. 6 is the common control block diagram of the 1st embodiment and the 2nd embodiment;
Fig. 7 is the 2nd embodiment's a control block diagram;
Fig. 8 is the 2nd embodiment's a control block diagram;
Fig. 9-the 1st is the moment of torsion line chart that illustrates that the 2nd embodiment uses;
Fig. 9-the 2nd is the moment of torsion line chart that illustrates that the 2nd embodiment uses;
Fig. 9-the 3rd is the moment of torsion line chart that illustrates that the 2nd embodiment uses;
Figure 10 is the moment of torsion line chart for illustrating that the 1st embodiment uses;
Figure 11 is the figure of explanation and the corresponding pump export-restriction of each work pattern value;
The figure that the time of each parameter when Figure 12 is the operation of explanation building machinery changes;
Figure 13-the 1st illustrates when motor quickens at the figure that does not adjust the action under the disposing condition;
Figure 13-the 2nd illustrates when motor quickens at the figure that adjusts the action under the disposing condition;
Figure 14-the 1st, when engine retard is described at the figure that does not adjust the action under the disposing condition;
Figure 14-the 2nd, when engine retard is described at the figure that adjusts the action under the disposing condition;
Figure 15 is the 3rd embodiment's a pie graph, is the figure of formation that expression is equipped with the building machinery 1 of electronic rotary system;
Figure 16 is the control block diagram of the contents processing that undertaken by controller 6 of expression;
Figure 17 is the control block diagram of the contents processing that undertaken by controller 6 of expression;
Figure 18 is the control block diagram of the contents processing that undertaken by controller 6 of expression;
Figure 19 is the control block diagram of the contents processing that undertaken by controller 6 of expression;
Symbol description
2 motors
3 oil hydraulic pumps
2 motors
3 oil hydraulic pumps
5 pump control valves
6 controllers
11 generator motors
31～36 hydraulic actuators
41～44 operating stem
103 turning motors
Embodiment
Below, with reference to the description of drawings embodiments of the invention.
In addition, in the present embodiment, suppose the situation that the diesel motor installed on the building machinery of hydraulic shovel etc. and oil hydraulic pump are controlled is described.
Fig. 3 represents that the integral body of the building machinery 1 of present embodiment constitutes.Building machinery 1 hypothesis hydraulic shovel.
Building machinery 1 possesses upper rotating body and the bottom body of advancing, the bottom advance body by about crawler belt constitute.The working machine that is made of big arm, forearm, scraper bowl is installed on vehicle body.Big arm moves with oil hydraulic cylinder 31 by big arm; Forearm moves by forearm oil hydraulic cylinder 32; Scraper bowl moves by scraper bowl oil hydraulic cylinder 33.In addition, left crawler belt, right-hand track chiain advance with fluid pressure motor 36, right lateral to advance with fluid pressure motor 35 rotations by left lateral respectively.
Drive pivoted axle machinery by the driving of rotating, and make the upper rotating body rotation by pivoted axle small gear, pivoted axle annulus etc. with fluid pressure motor 34.
Motor 2 is the diesel motor, its output (horsepower; Kw) control is undertaken by the fuel quantity of adjusting to in-cylinder injection.This adjustment is undertaken by the speed regulator on the fuel-injection pump that is installed on motor 24.
Controller 6, as hereinafter described, speed regulator 4 outputs are used to make engine speed to become the rotate instruction value of rotating speed of target ncom relatively, and speed regulator 4 increase and decrease fuel injection amounts are to obtain rotating speed of target ncom on target torque line L1.
The output shaft of motor 2 links by the live axle of PTO axle and generator motor 11.Generator motor 11 effect of generating electricity and electromotive action.That is, generator motor 11 both can be used as motor (motor) and had moved, and also can be used as generator and moved.In addition, generator motor 11 also has the function as 2 the starter motor of piloting engine.When opening starter switch, the generator motor 11 action usefulness that electrifies makes the output shaft of motor 2 (for example, rotate, thereby pilot engine 2 for 400～500rpm) time in low rotation.
Generator motor 11 is by the control of transducer 13 moments of torsion.Transducer 13, as hereinafter described, according to generator motor command value GENcom by controller 6 outputs, moment of torsion control generator motor 11.
Transducer 13 is electrically connected with electric storage means 12 by direct current supply line.In addition, controller 6 is that power supply moves with storage battery 12.
Storage battery 12 is made of storage and storage battery etc., and generator motor 11 plays the electric power (charging) that stores generating under the situation of generating effect.In addition, storage battery 12 will be supplied to transducer 13 with the electric power that storage battery 12 stores.In specification of the present invention, as static, also contain the storage battery of the storage that stores electric power and excide battery, Ni-MH battery, lithium ion battery etc., be called " electric storage means ".
The output shaft of motor 2 links the live axle that oil hydraulic pump 3 is arranged by PTO axle 10, drives oil hydraulic pump 3 by the engine output shaft rotation.Oil hydraulic pump 3 is the oil hydraulic pump of variable capacity type, by changing the tilt angle varied capacity q (cc/rev) of swash plate 3a.
The pressure oil of pressing PRp, flow Q (cc/min) to gush out with ejection by oil hydraulic pump 3 advances with operating valve 25, left lateral to advance with operating valve 26 to supply with operating valve 24, right lateral with operating valve 23, rotation with operating valve 22, scraper bowl with operating valve 21, forearm to big arm respectively.The pump ejection presses PRp to detect by hydrostatic sensor 7, and the hydraulic pressure testing signal is input to controller 6.
Advance with operating valve 25, left lateral to advance with the next pressure oil of operating valve 26 outputs to advance with oil hydraulic cylinder 35, left lateral to advance with oil hydraulic cylinder 36 to supply with oil hydraulic cylinder 34, right lateral with oil hydraulic cylinder 33, rotation with oil hydraulic cylinder 32, scraper bowl with oil hydraulic cylinder 31, forearm to big arm respectively with operating valve 24, right lateral with operating valve 23, rotation with operating valve 22, scraper bowl with operating valve 21, forearm from big arm.Thus, driving big arm respectively advances with oil hydraulic cylinder 35, left lateral to advance with oil hydraulic cylinder 36, thereby big arm, forearm, scraper bowl, upper rotating body, the left crawler belt of bottom solid of rotation, right-hand track chiain are moved with oil hydraulic cylinder 34, right lateral with oil hydraulic cylinder 33, rotation with oil hydraulic cylinder 32, scraper bowl with oil hydraulic cylinder 31, forearm.
Be respectively equipped with the operation rotation in right side, the left side in the place ahead of the operating seat of building machinery 1 and rotate with left operating stem 42, simultaneously, be provided with and advance with right operating stem 43, advance with left operating stem 44 with right operating stem 41, operation.
The operation rotation is with the operating stem of right operating stem 41 for being used to big arm, scraper bowl are moved, when big arm, scraper bowl are moved, with the corresponding speed of operation amount big arm, scraper bowl are moved.
On operating stem 41, be provided with the sensor 45 of detecting operation direction, operation amount.Sensor 45 will represent that the direction of operating of operating stem 41, the bar signal of operation amount are input to controller 6.Under the situation that the direction that operating stem 41 moves big arm is operated, according to fascinate direction, the amount of fascinating of the neutral position of relative operating stem 41, represent that the big armed lever signal Lb0 of the operation amount that operation amount, big arm that big arm makes progress are downward is input to controller 6.In addition, under the situation that the direction that operating stem 41 moves scraper bowl is operated, according to fascinate direction, the amount of fascinating of the neutral position of relative operating stem 41, the expression scraper bowl digs to be cut the scraper bowl bar signal Lbk that operation amount, scraper bowl dump operation amount and is input to controller 6.
Under the situation that the direction that operating stem 41 moves big arm is operated, with the corresponding control of the amount of fascinating of operating stem 41 press (PPC pressures) PRbo be added to big arm with the corresponding control mouth 21a of direction (arm is upward to, arm downward direction greatly greatly) that fascinates of the bar in each control of operating valve 21 mouthful.
Equally, under the situation that the direction that operating stem 41 moves scraper bowl is operated, press (PPC pressures) PRbk to be added to the corresponding control of the amount of fascinating of operating stem 41 and control bar in the mouth corresponding control mouth 23a of direction (scraper bowl digging direction, scraper bowl dump direction) that fascinates with each of operating valve 23 with scraper bowl.
Operation rotation is with the operating stem of operating stem 42 for being used to forearm, upper rotating body are moved, and when forearm, upper rotating body are moved, with the speed of corresponding operation amount forearm, upper rotating body moved.
Operating stem 42 is provided with the sensor 46 of detecting operation direction, operation amount.Sensor 46 will represent that the direction of operating of operating stem 42, the bar signal of operation amount are input to controller 6.Operating stem 42 shows that according to true dip direction, the scale that fascinates of the neutral position of relative operating stem 42 the forearm bar signal Lar that forearm digging operation amount, forearm dump operation amount is input to controller 6 under the situation of direction that forearm is moved operation.In addition, operating stem 42 shows that according to true dip direction, the scale that fascinates of the neutral position of relative operating stem 42 the swingle signal Lsw of right rotation operation amount, anticlockwise operation amount is input to controller 6 under the situation of direction that upper rotating body is moved operation.
Under the situation that the direction that operating stem 42 moves forearm is operated, press (PPC pressures) PRar to be added to the corresponding control of the amount of fascinating of operating stem 42 and control a mouth king-rod corresponding control mouth 22a of direction (forearm digging direction, forearm dump direction) that fascinates with each of operating valve 22 with forearm.
Equally, under the situation that the direction that operating stem 42 moves upper rotating body is operated, press (PPC pressures) PRar to be added to rotating with the corresponding control of the amount of fascinating of operating stem 42 and control a mouth king-rod corresponding control mouth 24a of direction (right rotation direction, anticlockwise direction) that fascinates with each of operating valve 24.
Advance with right operating stem 43, advancing to be respectively with left operating stem 44 is used to operating stem that right-hand track chiain, left crawler belt are moved, when according to direction of operating crawler belt being moved, with the speed of corresponding operation amount crawler belt is moved.
The control of the amount of fascinating of corresponding operating stem 43 presses (PPC pressure) PRcr to be added to the control mouth 25a that right lateral advances to use operating valve 25.
Control and press PRcr to detect, and will represent that the control pressure PRcr that advances of right lateral input is input to controller 6 by hydrostatic sensor 9.
Equally, the control of the amount of fascinating of corresponding operating stem 44 presses (PPC pressures) PRcl to be added to the control mouth 26a that left lateral advances usefulness operating valve 26.
Control presses PRcl to detect by hydrostatic sensor 9, and will represent that the left lateral of left lateral input advances to control to press PRcl to be input to controller 6.
Each operating valve 21～26 is a flow direction control valve, with the corresponding direction of the direction of operating of corresponding operating stem 41～44, guiding valve is moved, simultaneously, guiding valve is moved, so that oil circuit is only opened and the corresponding opening area of the operation amount of operating stem 41～44.
Pump control valve 5 moves by the control electric current pc-epc by controller 6 outputs, and by servopiston pump control valve 5 is changed.
The tilt angle of the swash plate 3a of pump control valve 5 control oil hydraulic pumps 3 is so that PRp (kg/cm is pressed in the ejection of oil hydraulic pump 3 2) and the capacity q (cc/rev) of oil hydraulic pump 3 long-pending be no more than and control the corresponding pump absorbing torque Tp of electric current pc-epc com.
On generator motor 11, set up the current actual speed GENspd (rpm) that detects generator motor 11, i.e. the turn-sensitive device 14 of the actual speed of motor 2.Expression is input to controller 6 by the signal of the actual speed GENspd that turn-sensitive device 14 detects.
In addition, in electric storage means 12, be provided with the voltage transducer 15 that detects electric storage means 12.Expression is input to controller 6 by the signal of the voltage BATTvolt that voltage transducer 15 detects.
6 pairs of speed regulators of controller, 4 output rotate instruction values, the increase and decrease fuel injection amount, the rotating speed of adjustment motor 2 is to obtain and the corresponding rotating speed of target of the load of current oil hydraulic pump 3.
In addition, controller 6 outputs to transducer 13 with generator motor command value GENcom, makes generator motor 11 play generating effect or electromotive action.When the command value GENcom that is used to make generator motor 11 to move as generator by 6 pairs of transducers of controller 13 output, the part of the output torque that is produced by motor 2 is delivered to the live axle of generator motor 11 by engine output shaft, absorb the moment of torsion of motor 2, thereby generate electricity.And the alternating electromotive force that is produced by generator motor 11 is transformed into direct current power by transducer 13, by direct current supply line electric power is stored into electric storage means 12 (charging) then.
In addition, when 6 pairs of transducers of controller 13 output was used to make the command value GENcom that generator motor 11 works as motor, transducer 13 was controlled to generator motor 11 and moves as motor.That is, by electric storage means 12 output powers (discharge), the direct current power that is stored in the electric storage means 12 is transformed into alternating electromotive force supply generator motor 11 by transducer 13, makes the live axle of generator motor 11 be rotated action.Produce moments of torsion by generator motor 11 thus, this moment of torsion is delivered to engine output shaft by the live axle of generator motor 11, is added on the output torque of motor 2 (output of auxiliary engine 2).Output torque on this superposition is absorbed by oil hydraulic pump 3.
The generated energy of generator motor 11 (absorption moment of torsion), electrokinetic momentum (auxiliary materials; The generation torque capacity) content according to above-mentioned generator motor command value GENcom changes.
Fig. 1 represents the other configuration example of building machinery 1.
Fig. 1 compares as can be known with Fig. 3, in configuration example shown in Figure 1, omitted the PTO axle 10 among Fig. 3, generator motor 11, electric storage means 12, transducer 13, turn-sensitive device 14, voltage transducer 15, become generator motor 11 formation of action that do not electrify with, generating effect.
Below, the control content of being carried out by controller 6 is described.
(the 1st embodiment)
At first, the 1st embodiment is described.
The 1st embodiment is a prerequisite with configuration example shown in Figure 1.Fig. 4, Fig. 6 are the control block diagrams of the contents processing that undertaken by controller 6 of expression.
As shown in Figure 4, hydraulic actuator target flow operational part 50 advances control according to big armed lever signal Lbo, forearm bar signal Lar, scraper bowl bar signal Lbk, swingle signal Lsw, right lateral presses PRcr, left lateral to advance control to press PRcl, calculates corresponding big arm and advances target flow Qcr with oil hydraulic cylinder 35, target flow Qcl that left lateral advance use oil hydraulic cylinder 35 with target flow Qar, the scraper bowl of oil hydraulic cylinder 32 with the target flow Qbk of oil hydraulic cylinder 33, target flow Qsw, the right lateral that rotates with oil hydraulic cylinder 34 with target flow Qbo, the forearm of oil hydraulic cylinder 31.
The operation amount of each hydraulic actuator and the function relation 51a of target flow, 52a, 53a, 54a, 55a, 56a are stored in the storage device with the form of data sheet.
Operation amount that big arm target flow operational part 51 makes progress according to function relation 51a computing and current big arm or the downward corresponding big arm target flow Qbo of operation amount Lbo of arm greatly.
Forearm target flow operational part 52 is according to the operation amount of function relation 52a computing and current forearm digging direction or the corresponding forearm target flow of the operation amount Lar Qar that forearm dumps direction.
Scraper bowl target flow operational part 53 is according to the operation amount of function relation 53a computing and current scraper bowl digging direction or the corresponding scraper bowl target flow of the operation amount Lbk Qbk that scraper bowl dumps direction.
Rolling target flow operational part 54 is according to the operation amount of function relation 54a computing and current right rotation direction or the corresponding rolling target flow of the operation amount Lsw Qsw of anticlockwise direction.
Right lateral advances target flow operational part 55 and advances control according to function relation 55a computing and current right lateral and press the corresponding right lateral of PRcr to advance target flow Qcr.
Left lateral advances target flow operational part 56 and advances control according to function relation 56a computing and current left lateral and press the corresponding left lateral of PRcl to advance target flow Qcl.
In addition, aspect calculation process, make progress operation amount, forearm digging operation amount, scraper bowl digging operation amount, right rotation operation amount of big arm handled as the operation amount that is just meeting; The big downward operation amount of arm, forearm dump that operation amount, scraper bowl dump operation amount, the anticlockwise operation amount is handled as the negative operation amount that meets.
The sum total of each hydraulic actuator target flow Qbo that pump target ejection flow operational part 60 will be calculated by hydraulic actuator target flow operational part 50, Qar, Qbk, Qsw, Qcr, Qcl is carried out the following processing of obtaining as pump target ejection flow Qsum.
Qsum＝Qbo+Qar+Qbk+Qsw+Qcr+Qcl…(2)
At this, with the summation of the target flow of each hydraulic actuator as pump target ejection flow, but also can be with target flow maximum among Qbo, Qar, Qbk, Qsw, Qcr, the Qcl as oil hydraulic pump 3 targets ejection flow.
First engine target rotating speed operational part 61 computings and the corresponding first engine target rotation speed n com1 of pump target ejection flow Qsum.
The first engine target rotation speed n com1 is stored in the storage device with the data sheet form with the function relation 61a that the increase of pump target ejection flow Qsum increases.Com1 is as follows for this first engine target rotation speed n, and establishing transformation constant is α, when oil hydraulic pump 3 is moved with maximum capacity qmax, as can the jet pump target minimum engine speed input of ejection flow Qsum give.
ncom1＝Qsum/qmax·α…(3)
The first engine target rotating speed operational part 6 is according to function relation 61a, promptly above-mentioned (3) formula, computing and the current corresponding first engine target rotation speed n com1 of pump target ejection flow Qsum.
Detection unit 62 judges that current pump target ejection flow Qsum is whether big than the flow of regulation (if, 10 (L/min)).At this, the flow set that becomes the regulation of threshold value becomes to be used to the flow of judging whether each operating stem 41～44 is operated from the neutral position.
The second engine target speed setting portion 68 is that current pump target ejection flow Qsum is below the flow (if 10 (L/min)) of regulation in the result of determination of detection unit 62, be that result of determination is under the situation of NO, set second engine target and change near the rotation speed n J (if 1000rpm) of low idle rotation speed n L that ncom2 is a motor 2.Relative with it, bigger at current pump target ejection flow Qsum than the flow (if 10 (L/min)) of regulation, be that result of determination is under the situation of YES, setting second engine target commentaries on classics ncom2 is the big rotation speed n M (if 1400rpm) of low idle rotation speed n L of ratio engine 2.
Maximum value selection portion 64 is selected the high side's of the either party among the first engine target rotation speed n com1, second engine target commentaries on classics ncom2 engine target rotation speed n com12.
Pump export-restriction operational part 70 shown in Figure 4, specifically as shown in Figure 6.In addition, below, judged result TRUE is economized slightly T, simultaneously, judged result FALSE is economized slightly F.
The work pattern of judging a plurality of hydraulic actuators 21～26 is the operator scheme (1) of " operation of advancing ", the export-restriction value Pplimit of oil hydraulic pump 3 is set at Pplimit1, to be suitable for the work pattern of this " operation of advancing ".
Pump export-restriction operational part 70 is according to output (horsepower) the limits value Pplimit of the work pattern computing oil hydraulic pump 3 of a plurality of hydraulic actuators 21～26.
As the export-restriction value of oil hydraulic pump 3, computing Pplimit1, Pplimit3, Pplimit4, Pplimit5, Pplimit6 in advance.The size of the export-restriction value of oil hydraulic pump 3 shown on moment of torsion line chart shown in Figure 11, is set the value that the order according to Pplimit1, Pplimit2, Pplimit3, Pplimit4, Pplimit5, Pplimit6 reduces successively for.
Promptly, right lateral advance control press Prcr than the pressure Kc of regulation big or left lateral advance control press Prcl than the big situation of the pressure Kc of regulation under (the judgement T of step 71), the work pattern of a plurality of hydraulic actuators 21～26 is judged as the operator scheme (1) of " operation of advancing ", the export-restriction value Pplimit of oil hydraulic pump 3 is set at Pplimit1, to be suitable for the work pattern of this " operation of advancing ".
Below, same, following judgement is carried out in each step 72～79.
That is, step 72 judges that right rotation operation amount Lsw is whether big than the operation amount Ksw of regulation, whether anticlockwise operation amount Lsw is littler than the operation amount-Ksw of regulation.
Step 73 judges whether the downward operation amount Lbo of big arm is littler than the operation amount-Kbo of regulation.
Step 74 is judged and is made progress big arm whether the operation amount Kbo big and small arms digging operation amount La than regulation is bigger than the operation amount Ka of regulation for operation amount Lbo; Judge whether scraper bowl digging operation amount Lbk is bigger than the operation amount Kbk of regulation; Judge whether scraper bowl dumps operation amount Lbk littler than the operation amount-Kbk of regulation.
Step 75 judges whether forearm digging operation amount La is bigger than the operation amount Ka of regulation.
Step 76 judges whether scraper bowl digging operation amount Lbk is bigger than the operation amount Kbk of regulation.
Step 77 judges whether the ejection pressure PRp of oil hydraulic pump 3 is littler than the pressure Kp1 of regulation.
Step 78 judges whether forearm digging operation amount La is littler than the operation amount-Ka of regulation.
Step 79 judges whether scraper bowl dumps operation amount Lbk littler than the operation amount-Kbk of regulation.
Step 80 judges whether the ejection pressure PRp of oil hydraulic pump 3 is bigger than the pressure Kp2 of regulation.
Step 81 judges whether the ejection pressure PRp of oil hydraulic pump 3 is bigger than the pressure Kp3 of regulation.
Under the situation that is judged as T that is judged as T, step 73 that is judged as F, step 72 of step 71, judge the work pattern (2) of the work pattern of a plurality of hydraulic actuators 21～26 downwards for " rotary manipulation and big arm are operated ", the export-restriction value Pplimit of oil hydraulic pump 3 is set at Pplimit6, to be suitable for this work pattern.
Under the situation that is judged as T that is judged as F, step 74 that is judged as T, step 73 that is judged as F, step 72 of step 71, judge the work pattern (3) of the work pattern of a plurality of hydraulic actuators 21～26 for " the working machine operation beyond rotary manipulation and big arm are downward ", the export-restriction value Pplimit of oil hydraulic pump 3 is set at Pplimit1, to be suitable for this work pattern.
Under the situation that is judged as F that is judged as F, step 74 that is judged as T, step 73 that is judged as F, step 72 of step 71, judge the work pattern (4) of the work pattern of a plurality of hydraulic actuators 21～26 for " the independent operation of rotary manipulation ", the export-restriction value Pplimit of oil hydraulic pump 3 is set at Pplimit6, to be suitable for this work pattern.
Under the situation that is judged as T that is judged as T, step 77 that is judged as T, step 76 that is judged as F, step 75 that is judged as F, step 72 of step 71, judge the work pattern (5) of the work pattern of a plurality of hydraulic actuators 21～26 for " forearm digging operation and scraper bowl digging operate in load hour (operation of sand if shovel buries) ", the export-restriction value Pplimit of oil hydraulic pump 3 is set at Pplimit2, to be suitable for this work pattern.
Under the situation that is judged as F that is judged as T, step 77 that is judged as T, step 76 that is judged as F, step 75 that is judged as F, step 72 of step 71, the work pattern of judging a plurality of hydraulic actuators 21～26 is the work pattern (6) of " forearm digging operation and scraper bowl digging operate in load when big (if digging operation that forearm and scraper bowl are operated simultaneously) ", the export-restriction value Pplimit of oil hydraulic pump 3 is set at Pplimit1, to be suitable for this work pattern.
Under the situation that is judged as F that is judged as T, step 76 that is judged as F, step 75 that is judged as F, step 72 of step 71, judge the work pattern (7) of the work pattern of a plurality of hydraulic actuators 21～26 for " forearm digging operation ", the export-restriction value Pplimit of oil hydraulic pump 3 is set at Pplimit1, to be suitable for this work pattern.
Under the situation that is judged as T that is judged as T, step 80 that is judged as T, step 79 that is judged as F, step 78 that is judged as F, step 75 that is judged as F, step 72 of step 71, judge the work pattern (8) of the work pattern of a plurality of hydraulic actuators 21～26 for " when forearm casting operation and scraper bowl casting operational load are big (if forearm and scraper bowl carry out the native sand operation of unloading of casting operation simultaneously) ", the export-restriction value Pplimit of oil hydraulic pump 3 is set at Pplimit3, to be suitable for this work pattern.
Under the situation that is judged as F that is judged as T, step 80 that is judged as T, step 79 that is judged as F, step 78 that is judged as F, step 75 that is judged as F, step 72 of step 71, the work pattern of judging a plurality of hydraulic actuators 21～26 for " forearm casting operation and scraper bowl casting operational load hour (if; the operation that forearm and scraper bowl are returned simultaneously) " work pattern (9), the export-restriction value Pplimit of oil hydraulic pump 3 is set at Pplimit5, to be suitable for this work pattern.
Under the situation that is judged as T that is judged as F, step 81 that is judged as T, step 79 that is judged as F, step 78 that is judged as F, step 75 that is judged as F, step 72 of step 71, the work pattern of judging a plurality of hydraulic actuators 21～26 is the work pattern (10) of when big " the independent casting of forearm load (if forearm carries out the native sand operation of unloading of casting operation) ", the export-restriction value Pplimit of oil hydraulic pump 3 is set at Pplimit3, to be suitable for this work pattern.
Under the situation that is judged as F that is judged as F, step 81 that is judged as T, step 79 that is judged as F, step 78 that is judged as F, step 75 that is judged as F, step 72 of step 71, judge the work pattern (11) of the work pattern of a plurality of hydraulic actuators 21～26 aloft for " the independent casting load of forearm hour (if making forearm return operation) ", the export-restriction value Pplimit of oil hydraulic pump 3 is set at Pplimit5, to be suitable for this work pattern.
Under the situation that is judged as F that is judged as F, step 78 that is judged as F, step 75 that is judged as F, step 72 of step 71, the work pattern of judging a plurality of hydraulic actuators 21～26 is the work pattern (12) of " other operation) ", the export-restriction value Pplimit of oil hydraulic pump 3 is set at Pplimit1, to be suitable for this work pattern.
The corresponding trimotor rotating speed of target of output (horsepower) the limits value Pplimit ncom of 63 computings of trimotor target operational part and the oil hydraulic pump 3 that calculates by pump export-restriction operational part 70.
In storage device, store the function relation 63a that trimotor rotating speed of target ncom increases with the increase of the export-restriction value Pplimit of oil hydraulic pump 3 with the form of data sheet.
Trimotor target operational part 63 is according to the work pattern of function relation 63a computing and current a plurality of hydraulic actuators 21～26, the i.e. corresponding trimotor rotating speed of target of the export-restriction value Pplimit ncom3 of oil hydraulic pump 3.
Minimum value selection portion 65 is selected the low side's of the engine target rotation speed n com2 that selected by maximum value selection portion 64 and the either party among the trimotor rotating speed of target ncom3 engine target rotation speed n com.
4 outputs of 6 pairs of speed regulators of controller are used to make engine speed n to reach the rotate instruction value of rotating speed of target ncom, and speed regulator 4 increase and decrease fuel injection amounts are to obtain engine target rotation speed n com on target torque line L1 shown in Figure 10.
The target of 66 computings of pump absorbing torque operational part and the corresponding oil hydraulic pump 3 of engine target rotation speed n com absorbs torque T pcom.
The target that stores oil hydraulic pump 3 with the form of data sheet in storage device absorbs the relation function 66a that torque T pcom increases with the increase of engine target rotation speed n com.This relation function 66a be with moment of torsion line chart shown in Figure 10 on the corresponding curve of target torque line L1.
Figure 10 is the same with Fig. 2, the moment of torsion line chart of expression motor 2, and transverse axis is represented engine speed n (rpm; Rev/min); The longitudinal axis is represented torque T (Nm).Function 66a is with corresponding with the target torque line L1 on the moment of torsion line chart shown in Figure 10.
Pump absorbing torque operational part 66 absorbs torque T pcom according to the target of function 66a computing and the current corresponding oil hydraulic pump 3 of engine target rotation speed n com.
Calculating control current operator portion 67 calculates and the corresponding control electric current of pump target absorption torque T pcom pc-epc.
In storage device, store control electric current pc-epc and absorb the function relation 67a that the increase of torque T pcom increases with pump 3 targets with the form of data sheet.
Pump absorbing torque operational part 66 is according to function 67a computing and the current corresponding control of pump target absorption torque T pcom.
Electric current pc-epc are controlled in 5 outputs of 6 pairs of pump control valves of controller, and by servopiston pump control valve 5 are changed.The swash plate 3a of control valve 5PC control oil hydraulic pump 3 is so that PRp (kg/cm is pressed in the ejection of oil hydraulic pump 3 2) and the capacity q (cc/rev) of oil hydraulic pump 3 long-pending be no more than corresponding pump absorbing torque Tp with electric current pc-epc.
Then, merge, the 1st embodiment's effect is described with reference to Figure 10.
As shown in figure 10; when target torque line L1 control motor 2 that diminishes according to minimizing pump absorbing torque Tpcom and oil hydraulic pump 3 along with engine speed n; though can accomplished engine efficiency, the raising of pump efficiency; reduce noise; the effect that prevents to shut down etc., but there is the bad problem of responsiveness of motor 2.Promptly, for example begin to carry out the digging operation, even bar 41 grades were fallen from the neutral position, motor 2 is risen from low rotation, but in the initial stage (transition state) of the bar that begins to fall since the load of oil hydraulic pump 3 sharply rise, therefore motor is exported relative pump absorbed horsepower part does not have to have more than needed yet, and is used for the underpower of booster engine 2.Therefore, motor 2 rising fall short rotating speeds, or just rising extremely lentamente sometimes.
About this point, in this 1st embodiment, be suitable for the first engine target rotation speed n com1 of current pump target ejection flow Qsum in setting, on the other hand, judge current pump target ejection flow Qsum than the flow of regulation (if under the big situation of 10 (L/min), the rotation speed n M (if 1400rpm) that ratio engine low idle rotation speed n L is big sets as the second engine target rotation speed n com2.And, if the second engine target rotation speed n com2 is more than the first engine target rotation speed n com1, then control engine speed to obtain the second engine target rotation speed n com2.Control oil hydraulic pump 3 in addition, to obtain corresponding pump absorbing torque with the second engine target rotation speed n com2.
So, for example begin to carry out the digging operation, under the situation that bar 41 grades were fallen from the neutral position, before the load of oil hydraulic pump 3 sharply rises, the rotating speed of motor is risen, because the Engine torque rising, so produce the power more than needed that is used for booster engine 2.Therefore, can make motor 2 promptly rise to rotating speed of target, thereby improve the responsiveness of motor 2 from low rotary area.
In addition, in this 1st embodiment, be suitable for the first engine target rotation speed n com1 of current pump target ejection flow Qsum in setting, on the other hand, set the export-restriction value Pplimit of oil hydraulic pump 3 according to the work pattern of a plurality of hydraulic actuators 21～26, and set corresponding therewith trimotor rotating speed of target ncom3.If trimotor rotating speed of target ncom3 is below the first engine target rotation speed n com1, then control engine speed to obtain trimotor rotating speed of target ncom3, control oil hydraulic pump 3 in addition, to obtain corresponding pump absorbing torque with trimotor rotating speed of target ncom3.Therefore, pump absorbing torque can be determined aptly, the useless energy consumption outside the needs can be suppressed.
It is time t that Figure 12 establishes transverse axis, as an example, undertaken under the situation of operation by the order of work pattern (7), work pattern (5), work pattern (3), work pattern (11), work pattern (12), work pattern (2), the operation amount of representing each operating stem 41,42 respectively, the time of promptly big armed lever signal Lbo, forearm bar signal Lar, scraper bowl bar signal Lbk, swingle signal Lsw changes; The time of pump absorbing torque Tp changes; The time of engine speed n changes
According to this 1st embodiment, carrying out under the situation of operation according to a series of work pattern shown in Figure 12, the value that pump absorbing torque can be defined as suiting, affirmation can suppress the useless energy consumption outside required.
As implied above, present embodiment is according to the current target ejection flow Qsum of the operation amount computing oil hydraulic pump 3 of the operating device 41～44 of each hydraulic actuator 31～36 of operation, setting is suitable for the first engine target rotation speed n com1 of its current pump target ejection flow Qsum, simultaneously, on the other hand under current flow (if 10 (L/mins)) situation of pump target ejection flow Qsum than regulation, decision mechanism 41～44 switches to serviceability from non-operating state, under the situation of carrying out this judgement, the big rotation speed n M (if 1400rpm) of ratio engine idle running low rotation speed nL sets as the second engine target rotation speed n com2.
But, operating device 41～44 does not limit therewith from the judgement that non-operating state has switched to serviceability, the operation amount of operating device 41～44 than the big situation of the threshold value of regulation under, also can decision mechanism 41～44 have switched to serviceability from non-operating state.
In addition, present embodiment as mentioned above, according to the current oil hydraulic pump 3 of the operation amount computing of operating device 41～44 of each hydraulic actuator 31～36 of operation target ejection flow Qsum, set the first engine target rotation speed n com1 that is suitable for this pump target ejection flow Qsum.
But the establishing method of first rotating speed of target of present embodiment is arbitrarily.For example, the same with the method for present technical order, can the based on fuel dial plate set the rotating speed of motor 2, can set the first engine target rotation speed n com1 of motor 2 according to the setting value of this fuel dial plate.
(the 2nd embodiment)
Then, the 2nd embodiment is described.
The formation of the 2nd embodiment's building machinery 1 is a prerequisite with configuration example shown in Figure 3, compare with the configuration example of Fig. 1, added PTO axle 10, generator motor 11, electric storage means 12, transducer 13, turn-sensitive device 14, voltage transducer 15, generator motor 11 electrifies, and action is used, the generating effect.
Fig. 5, Fig. 6, Fig. 7, Fig. 8 are the control block diagrams of the contents processing that undertaken by controller 6 of expression.
Fig. 5 is the figure corresponding with Fig. 4 of the 1st embodiment, omits its explanation with the part that Fig. 4 repeats.
As Fig. 5, shown in Figure 6, this 2nd embodiment is identical with the 1st embodiment, when minimum value selection portion 65 is selected engine target rotation speed n com, below, be transformed into control block diagram shown in Figure 7, carry out the processing of following explanation.
Below, handle in the basic enterprising row operation that engine speed, engine target rotating speed has been transformed into generator motor rotating speed, generator motor rotating speed of target respectively, but in the following description, also generator motor rotating speed, generator motor rotating speed of target can be replaced as engine speed, engine target rotating speed respectively and carry out same calculation process.
Generator motor target twiddle operation portion 96 is by the rotating speed of target Ngencom of following formula computing and the current corresponding generator motor 11 of engine target rotation speed n com.
Ngencom＝ncom×K2…(4)
But K2 is the reduction speed ratio of PTO axle 10.
The current voltage BATTvolt of auxiliary current actual speed GENspd that has or not the generator motor 11 that detection unit 90 detects according to rotating speed of target Ngencom and turn-sensitive device 14 by generator motor 11 and the electric storage means 12 that detected by voltage transducer 15 judges whether auxiliary engine 2 (having or not auxiliary) of generator motor 11.
Assist to have or not detection unit 90, specifically shown in Figure 8.
At first, the deviation delta genspd by deviation operational part 91 computing generator motor rotating speed of target Ngencom and generator motor actual speed GENspd.
Then, first detection unit 92 is judged under the deviation delta genspd of generator motor rotating speed of target Ngencom and generator motor actual speed GENspd is situation more than the first threshold Δ GC1, make the generator motor 11 action usefulness that electrifies, auxiliary sign assist flag is made as T.Judgement is under the deviation delta genspd of generator motor rotating speed of target Ngencom and generator motor actual speed GENspd is situation below the second threshold value Δ GC2 littler than first threshold Δ GC1, do not make generator motor 11 electrify action usefulness (still, play the generating effect as required and electric power be stored in the electric storage means 12), auxiliary sign assist flag is made as F.
In addition, judgement the deviation delta genspd of generator motor rotating speed of target Ngencom and generator motor actual speed GENspd be than the situation below the 4th big threshold value Δ GC4 of the threshold value of the 3rd threshold value Δ GC3 under, do not make generator motor 11 play the generating effect (still, play the generating effect as required and electric power be stored in the electric storage means 12), auxiliary sign assist flag is made as F.
Like this, why just increase to when above to a certain degree to meet as rotating speed deviation delta genspd, generator motor 11 is electrified move with auxiliary engine 2, be under current engine speed and the inconsistent situation of rotating speed of target, engine speed is risen to the engine target rotating speed.
In addition, why meet negative increasing to when above to a certain degree as rotating speed deviation delta genspd, make generator motor 11 play the generating effect and contrary auxiliary engine 2, be for when engine speed is slowed down, generator motor 11 plays the generating effect, engine speed is descended, simultaneously, the energy of regenerative motor 2.
In addition, between the first threshold Δ GC1 and the second threshold value Δ GC2, have hysteresis, and between the 3rd threshold value Δ GC3 and the 4th threshold value Δ GC4, have hysteresis, can prevent the periodic variation of controlling thus.
The 3rd detection unit 93 belongs to the scope BC1～BC4 of regulation (under the situation in the BC2～BC3) at the voltage BATTvolt of electric storage means 12, auxiliary sign assist flagt is made as T, being positioned under the extraneous situation of regulation, auxiliary sign assist flag is made as F.
In magnitude of voltage BATTvolt, set first threshold BC1, the second threshold value BC2, the 3rd threshold value BC3, the 4th threshold value BC4.Order by first threshold BC1, the second threshold value BC2, the 3rd threshold value BC3, the 4th threshold value BC4 increases.
When the magnitude of voltage BATTvolt of electric storage means 12 is the 3rd threshold value BC3 when following, auxiliary sign assist flag is made as T; When the magnitude of voltage BATTvolt of electric storage means 12 is the 4th threshold value BC4 when above, auxiliary sign assist flag is made as F.In addition, when the magnitude of voltage BATTvolt of electric storage means 12 is second threshold value BC2 when above, assist is made as T with auxiliary sign; When the magnitude of voltage BATTvolt of electric storage means 12 is first threshold BC1 when following, auxiliary sign assist flag is made as F.
Like this, why only the scope BC1～BC4 that is included into regulation at the magnitude of voltage BATTvolt of electric storage means 12 (helps out within the BC2～BC3) time, be because do not help out when low voltage outside predetermined range, high voltage, overcharge and the baneful influence of discharge etc. fully thereby avoid electric storage means 12 caused.
In addition, by between the first threshold BC1 and the second threshold value BC2, having hysteresis, and between the 3rd threshold value BC3 and the 4th threshold value BC4, have hysteresis, thereby prevent the cyclically-varying controlled.
" with " in the circuit 94, be under the situation of T at the auxiliary sign assist flagd that obtains by first detection unit 92 with by the auxiliary sign assist flagd that second detection unit 92 obtains, the content of auxiliary sign assist flagd is made as T the most at last; Under the situation outside it, the content of auxiliary sign assist flagd is made as F the most at last.
Auxiliary sign detection unit 95 judges whether from the content of the assist flagd that assists the auxiliary sign that 90 outputs of no marks detection unit are arranged be T.
Whether generator motor command value switching part 87 is T (F) according to the result of determination of auxiliary sign detection unit 95, and the content that ought to be input to the generator motor command value GENcom of speed regulator 13 switches to rotating speed of target or target torque.
Generator motor 11 utilizes rotating speed control or moment of torsion control to be carried out control by transducer device 13.
At this, the control of so-called rotating speed is meant the following control of carrying out, and promptly adjusts the rotating speed of generator motor 11, giving rotating speed of target as generator motor command value GENcom, thereby obtains rotating speed of target.The control of so-called in addition moment of torsion is meant the following control of carrying out, and promptly adjusts the moment of torsion of generator motor 11, giving target torque as generator motor command value GENcom, thereby obtains target torque.
Regulate the rotating speed of target of processing division 97 computings and output generator motor 11.In addition, the target torque of 68 computings of generator motor torque calculation unit and output generator motor 11.
That is, regulate the generator motor rotating speed of target Ngencom that processing division 97 obtains by generator motor rotating speed of target operational part 96 relatively, output is regulated rotational speed N gencom after the processing according to characteristic 97a.But, be not the generator motor rotating speed of target Ngencom of initial value output by 96 inputs of generator motor rotating speed of target operational part, but increase, and reach the generator motor rotating speed of target Ngencom that imports by generator motor rotating speed of target operational part 96 along with time t makes rotating speed gradually.
With reference to Figure 13,14, the situation of not regulating processing illustrates the effect of having carried out regulating disposing condition relatively.
Figure 13-1, Figure 13-2, Figure 14-1, Figure 14-2 are identical with Fig. 2, Figure 10, and it is engine speed n that transverse axis is established in expression, establish the moment of torsion line chart that the longitudinal axis is a torque T.
Figure 13-the 1st illustrates the action diagram of regulating the speed regulator 4 of disposing condition when motor quickens; Figure 13-the 2nd illustrates the action diagram of regulating the speed regulator 4 of disposing condition when motor quickens.
Figure 14-the 1st illustrates the action diagram of not regulating the speed regulator 4 under the disposing condition when engine retard; Figure 14-the 2nd illustrates the action diagram of regulating the speed regulator 4 under the disposing condition when engine retard.When using mechanical governors as speed regulator 4, the problem that exists the engine speed of the rotating ratio reality of speed regulator 4 appointments to lag behind.
Shown in Figure 13-1,13-2, when supposing that load at oil hydraulic pump 3 is big, the situation that motor 2 is quickened to high rotary side by the match point P0 of low rotation.
In Figure 13-1, Figure 13-2, the corresponding Engine torque of P2, Engine torque add that the moment of torsion behind the moment of torsion of slave part becomes the full moment of torsion P3 that merges motor 2 and generator motor 11.The corresponding pump absorbing torque of P1, pump absorbing torque add the corresponding full moment of torsion P3 of the moment of torsion behind the acceleration moment of torsion.
Shown in Figure 13-1, under the situation of not regulating processing, produce the corresponding auxiliary torque of deviation with engine target rotating speed and actual engine speed.Under the big situation of deviation, corresponding with this big deviation, increase the auxiliary torque that generator motor 11 produces.Therefore, compare with the action of speed regulator 4, motor 2 quickens fast, compares with the rotating speed of speed regulator 4 appointments, and actual speed increases.When motor 2 quickens when fast, the adjustment by speed regulator 4 reduces fuel injection amount, thereby reduces Engine torque.Therefore, though by generator motor 11 auxiliary engines 2, motor 2 becomes surface friction drag on the contrary, and the acceleration of motor 2 can not improve.Therefore, when reducing fuel injection amount, reduce Engine torque, and motor 2 becomes loss, motor 2 acceleration, thereby the result who causes energy loss and motor 2 fully not to quicken.
Relative with it, shown in Figure 13-2,, the engine target rotating speed is regulated processing regulating under the situation of processing, reduce the deviation of engine target rotating speed and actual engine speed, according to this, produce little auxiliary torque by generator motor 11.Therefore, the acceleration of motor 2 is followed in the action of speed regulator 4, makes the rotating speed of speed regulator 4 appointments consistent with actual speed.
Therefore, can reduce energy loss and abundant booster engine 2.
Then, the situation that motor 2 is slowed down is described.
Shown in Figure 14-1, Figure 14-2, when supposing that load at oil hydraulic pump 3 is big, the situation that motor 2 is slowed down to low rotary side from the match point P0 of height rotation.
In Figure 14-1, Figure 14-2, the corresponding Engine torque of P2, Engine torque adds that the moment of torsion behind the regenerative torque becomes the full moment of torsion P3 that merges motor 2 and generator motor 11.The corresponding pump absorbing torque of P1, the corresponding full moment of torsion P3 of the moment of torsion after making deceleration torque and pump absorbing torque merging.
Shown in Figure 14-1, under the situation of not regulating processing, produce the corresponding auxiliary torque of deviation with engine target rotating speed and actual engine speed.Under the big situation of deviation, corresponding with this big deviation, increase the auxiliary torque that generator motor 11 produces.Therefore, compare with the action of speed regulator 4, motor 2 slows down fast, compares with the rotating speed of speed regulator 4 appointments, and actual speed reduces.When motor 2 decelerations are fast, by the adjustment of speed regulator 4, increase fuel injection amount, thereby increase Engine torque.Therefore, motor 2 increases moment of torsion, simultaneously, Yi Bian utilize generator motor 11 generatings, Yi Bian motor 2 is slowed down.Consequently, in the moment of torsion that improves motor 2,,, carry out useless generating, invalidly consume fuel Yi Bian motor 2 is slowed down Yi Bian utilize generator motor 11 to reclaim the engine power that increases.
Relative with it, shown in Figure 14-2,, the engine target rotating speed is regulated processing regulating under the situation of processing, reduce the deviation of engine target rotating speed and actual engine speed, according to this, generator motor 11 produces little regenerative torque.Therefore, the deceleration of motor 2 is followed in the action of speed regulator 4, makes the rotating speed of speed regulator 4 appointments consistent with actual speed.So the moment of torsion of motor 2 is negative, Yi Bian utilize generator motor 11 to reclaim the speed energy of motors 2, Yi Bian motor 2 is slowed down.Therefore, can not cause useless energy loss and motor 2 is slowed down.
The voltage BATTvolt that generator motor operational part 68 is current according to the electric storage means that detected by voltage transducer 15 12, computing and the corresponding target torque Tgencom of voltage BATTvolt.
Store relation function 68a with the data sheet form in storage device, this relation function 68a has the hysteresis that target torque Tgencom reduces along with the rising 68b of the voltage BATTvolt of electric storage means 12, target torque Tgencom increases along with the following 68b of liter of the voltage BATTvolt of electric storage means 12.This relation function 68a is for by adjusting the generated energy of generator motor 11, keeps the magnitude of voltage of electric storage means 12 and set in desirable scope.
The corresponding target torque Tgencom of voltage BATTvolt that generator motor operational part 68 is current according to relation function 68a output and electric storage means 12.
When auxiliary sign detection unit 95 judges that the content of auxiliary sign assist flag is T, generator motor command value switching part 87 switches to regulates processing division 97 sides, output to transducer 13 by the generator motor rotating speed of target Ngencom that regulates processing division 97 outputs as generator motor command value GENcom, rotating speed control generator motor 11, thus make generator motor 11 electrify action with or the generating effect.
In addition, when auxiliary sign detection unit 95 judges that the content of auxiliary sign assist flag is F, generator motor command value switching part 87 switches to generator motor torque calculation unit 68 sides, generator motor target torque Tgencom by 68 outputs of generator motor torque calculation unit outputs to transducer 13 as generator motor command value GENcom, moment of torsion control generator motor 11, thus make generator motor 11 play the generating effect.
Whether pump absorbing torque command value switching part 88 is T (F) according to the result of determination of auxiliary sign detection unit 95, ought to be input to control current operator portion 67, the content that the pump target is absorbed torque T switches to first pump target absorption torque T pcom1 or second pump target absorption torque T pcom2.
The first pump target absorbs torque T pcom1 and carries out computing by first pump target absorption torque calculation unit 66 (formation identical with pump absorbing torque operational part shown in Figure 4).
That is, first pump target absorption torque T pcom1 is transfused to as the torque value on the first target torque line L1 of the moment of torsion line chart of Fig. 9-1.The first target torque line L1 is illustrated with reference to Figure 10, absorbs that torque T pcom1 descends along with the engine target rotation speed n and the target torque line that reduces is set as the target of oil hydraulic pump 3.
The second pump target absorbs torque T pcom2 and carries out computing by second pump target absorption torque calculation unit 85.
That is, the second pump target absorbs the first target torque line L1 of the moment of torsion line chart of torque T pcom2 relative Fig. 9-1, is transfused to as the torque value on the second target torque line L2 that absorbs the moment of torsion increase in low rotary area pump target.
The first pump target that the first pump target absorbs torque calculation unit 66 computings and the corresponding oil hydraulic pump 3 of engine target rotating speed absorbs torque T pcom1.
Store relation function 66a with the data sheet form in storage device, first target that this relation function 66a has oil hydraulic pump 3 absorbs the relation that torque T pcom1 increases along with the increase of engine target rotating speed.This function 66a be with the moment of torsion line chart shown in Fig. 9-1 (Figure 10) on the first target torque line L1 corresponding characteristic curve.
Fig. 9-1 is identical with Figure 10, the moment of torsion line chart of expression motor 2, and transverse axis is represented engine speed n (rpm; Rev/min), the longitudinal axis is represented torque T (Nm).Function 66a is corresponding with the target torque line L1 on the moment of torsion line chart shown in Fig. 9-1.
The first pump target absorbs torque calculation unit 66 according to relation function 66a computing and the current corresponding first pump absorbing torque Tpcom1 of engine target rotating speed.
The second pump target that the second pump target absorbs torque calculation unit 85 computings and the corresponding oil hydraulic pump 3 of generator motor rotating speed GENspd (actual engine speed) absorbs torque T pcom.
In storage device, store function relation 85a with the data sheet form, this function relation 85a, according to generator motor rotating speed GENspd (actual engine speed), second target that changes oil hydraulic pump 3 absorbs torque T pcom.This function 85a be with the moment of torsion line chart shown in Fig. 9-1 on the second target torque line L2 corresponding characteristic curve, compare with the first target torque line L1, have at low rotary area and increase the characteristic that the pump target absorbs moment of torsion.If the second target torque line L2 is the characteristic curve that is equivalent to wait horsepower, then can adopt this characteristic, so that moment of torsion descends with the rising of engine speed.
The second pump target absorbs torque calculation unit 85 according to function relation 85a computing and the current corresponding second pump target absorption of generator motor rotating speed GENspd (actual engine speed) torque T pcom2.
When auxiliary sign detection unit 95 judges that the content of auxiliary sign assist flag is T, pump absorbing torque command value switching part 88 switches to the second pump target and absorbs operational part 85 sides, the second pump target that is absorbed operational part 85 outputs by the second pump target absorbs torque T pcom2 as pump target absorption torque T pcom, outputs to the Screening Treatment portion 89 of back segment.
In addition, when auxiliary sign detection unit 95 judges that the content of auxiliary sign assist flag is F, pump absorbing torque command value switching part 88 switches to the first pump target and absorbs operational part 66 sides, the first pump target that is absorbed operational part 66 outputs by the first pump target absorbs torque T pcom1 as pump target absorption torque T pcom, outputs to the Screening Treatment portion 89 of back segment.
As mentioned above, pump absorbing torque command value switching part 88 switches the target of selecting oil hydraulic pump 3 and absorbs torque T pcom1, Tpcom2, promptly selects target torque line L1, the L2 of Fig. 9-1.
Under the situation after select target torque wire L1, L2 are switched in Screening Treatment portion 89, carry out by the target torque line before switching (if, the second target torque line L2) the pump target on absorbs moment of torsion (the second pump target absorbs torque T pcom2), and the pump target on the target torque line (the first target torque line L1) after switching absorbs the Screening Treatment that moment of torsion (the first pump target absorbs torque T pcom1) changes gradually.
That is, Screening Treatment portion 89 is under the situation of switching select target torque wire L1, L2, and output is carried out target torque value Tpcom after the Screening Treatment according to characteristic 89a.Switching select target torque wire L1, under the situation of L2, not (to suppose from switching preceding target torque line, the second target torque line L2) the pump target on absorbs moment of torsion (the second pump target absorbs torque T pcom2), directly the pump target absorption moment of torsion (the first pump target absorbs torque T pcom1) on the target torque line after switching (first target absorbs moment of torsion L1) switches, but along with time t gradually the pump target on the target torque line (the second target torque line L2) before switch absorb moment of torsion (the second pump target absorbs torque T pcom2), the pump target that reaches on the target torque line (first target absorbs moment of torsion L1) after the switching absorbs moment of torsion (the first pump target absorbs torque T pcom1) smooth-goingly.
Describe with reference to Fig. 9-1, along with the second pump target of the some G of time from the second target torque line L2 absorbs torque T pcom2, the first pump target that absorbs the some H on the moment of torsion L1 to first target absorbs torque T pcom1 and changes gradually.
Thus, the vibration that sharply changes operator and car body are caused because of moment of torsion can be suppressed, the uncomfortable feeling on the operation feeling can be eliminated simultaneously.
Screening Treatment also can be switched to by T in the result of determination of auxiliary sign detection unit 95 under the situation that is switched to T under the situation of F, with result of determination by F to be carried out, and also can only carry out Screening Treatment when either party's switching is carried out.Especially, when the result of determination at auxiliary sign detection unit 95 is switched to F, switched to by the second target torque line L2 under the situation of first target absorption moment of torsion L1 by T, when not carrying out Screening Treatment, moment of torsion sharply descends, and the operator is caused uncomfortable feeling on the operation feeling mostly.Therefore, preferably switch to F by T, switch to by the second target torque line L2 under the situation of first target absorption moment of torsion L1, carry out Screening Treatment in result of determination.
The pump target absorption torque T pcom that is come by Screening Treatment 89 outputs is input to and the identical control current operator portion 67 that constitutes shown in Figure 4.
Control current operator portion's 67 computings and pump target absorb the corresponding control electric current of torque T pcom pc-epc.
In storage device, store control electric current pc-epc and absorb the function relation 67a that the increase of torque T pcom increases with the pump target with the data sheet form.
Control current operator portion 67 is according to function relation 67a computing and the current corresponding control electric current of pump target absorption torque T pcom pc-epc.
Electric current pc-epc are controlled in 5 outputs of 6 pairs of pump control valves of controller, and by servopiston pump control valve 5 are changed.The tilt angle of the swash plate 3a of pump control valve 5PC control oil hydraulic pump 3 is so that PRp (kg/cm is pressed in the ejection of oil hydraulic pump 3 2) and the capacity q (cc/rev) of oil hydraulic pump 3 long-pending be no more than and control the corresponding pump absorbing torque Tpcom of electric current pc-epc.
This 2nd embodiment's effect then, is described.
According to this 2nd embodiment, shown in Fig. 9-1, the target of setting oil hydraulic pump 3 absorbs the first target torque line L1 that moment of torsion reduces along with the decline of engine target rotating speed.In addition, the relative first target torque line L1 is set in low rotary area pump target and absorbs the second target torque line L2 that moment of torsion increases.
And the control engine speed makes it consistent with the engine target rotating speed.Suppose that at the load of judging oil hydraulic pump 3 according to the operation amount of each operating stem 41～44 hour, the engine target speed setting becomes low rotation speed n D; When the load of judging oil hydraulic pump 3 according to the operation amount of each operating stem 41～44 was big, the engine target speed setting became high rotation speed n E.
And whether whether the deviation of rotating speed of judging engine target rotating speed and motor 2 reality more than the threshold value of regulation, promptly by generator motor 11 auxiliary engines 2.
In the deviation of the rotating speed of engine target rotating speed and motor 2 reality not under the situation more than the threshold value of regulation, select the first target torque line L1, the capacity of control oil hydraulic pump 3, with obtain with the corresponding first target torque line L1 of engine target rotating speed on the pump target absorb moment of torsion.
Therefore, when the engine target speed setting is slow-speed of revolution nD, speed regulator 4 with the corresponding adjusting line of engine target rotation speed n D FeD on, with the some D that intersects with the first target torque line L1 as upper limit torque value, the increase and decrease fuel injection amount is so that motor 2 and hydraulic pressure pump absorbing torque keep balance.Under the state of rest, the some D on the first target torque line L1 mates.
In addition, when the engine target speed setting is high rotation speed n E, speed regulator 4 with the corresponding adjusting line of engine target rotation speed n E FeE on, with the some E that intersects with the first target torque line L1 as upper limit torque value, the increase and decrease fuel injection amount is so that motor 2 and hydraulic pressure pump absorbing torque keep balance.Under the state of rest, the some E coupling on the first target torque line L1.
Therefore, the same with comparative example when generator motor 11 does not help out, along target torque line L1 control motor 2, the combustion expense that therefore can be improved, improve pump efficiency and engine efficiency, reduction noise, prevent the effect of engine shutdown etc.
Under the situation more than the threshold value of regulation, generator motor 11 action that electrifies is used in the deviation of the actual speed of engine target rotating speed and motor 2.Generator motor 11 electrify the action usefulness the result be that the moment of torsion shown in Fig. 9-1 dotted line partly is added on the Engine torque.
In addition, under situation about becoming more than the same threshold, select the capacity of second target torque line L2 control oil hydraulic pump 3, thus obtain with the corresponding second target torque line L2 of engine speed on the pump target absorb moment of torsion.
Compare with the 1st embodiment, its 2nd embodiment's control is described.
At this, suppose to begin the situation that the operating stem 41 of digging operation fell from the neutral position.In this case, need make engine speed rise to the match point E. of high-revolving high load from the slow-speed of revolution
Under the 1st embodiment's situation, along the pathway LN1 booster engine 2 of Fig. 9-2.The initial stage that begins in the digging operation, on one side engine speed is risen (during transition), Yi Bian working machine etc. is moved.Under the 1st embodiment's situation, though the responsiveness of motor 2 is better, to the auxiliary of generator motor 11 and second target torque line L2 conversion, so the initial stage when engine revolution rises, the absorption moment of torsion of oil hydraulic pump 3 will not reduce.So, the action of operating stem relatively, the beginning slow movement of working machine causes the decline of operating efficiency, simultaneously, the operator is caused the uncomfortable feeling of operation feeling.
Under auxiliary situation, along pathway LN2 booster engine 2 to the 1st above-mentioned embodiment's additional power generation motor 11.In this case, generator motor 11 helps out, thus compare with the 1st embodiment, the initial stage when engine speed rises, the absorption moment of torsion of oil hydraulic pump 3 increases.Therefore, the relatively action of operating stem, working machine to begin action very fast, thereby can suppress the decline of operating efficiency, can alleviate the uncomfortable feeling of the operation feeling that the operator is caused.Therefore, as the 2nd embodiment's variation, also can implement auxiliary operation to the 1st an above-mentioned embodiment additional power generation motor 11.
Under the 2nd embodiment's situation, along the pathway L3 booster engine 2 of Fig. 9-3.According to the 2nd embodiment, arrive the E point through the some F on the 2nd target torque line L2 by the slow-speed of revolution.That is, after operating handle 41 grades of falling, the hydraulic pressure pump absorbing torque is reached becomes the some F of high moment of torsion, therefore, the action of operating handle relatively, the action of working machine begins comparatively fast.Therefore, in booster engine 2, can make manipulator not lag behind the action of operating stem, and carry out brute force in moment and move.Thus, improve operating efficiency, and can not cause uncomfortable feeling on the operation feeling the operator.In addition,, be transformed into the second target torque line L2, just might cause excess load if generator motor 11 does not help out (removing the oblique line part shown in Fig. 9-3).The 2nd embodiment is a prerequisite with the auxiliary of generator motor 11, can guarantee the conversion to the 2nd target torque line L2.
As mentioned above,, can realize the raising of engine efficiency, pump efficiency etc., and working machine etc. is moved according to operator's intention high responsiveness ground according to the 2nd embodiment.
(the 3rd embodiment)
In the 2nd above-mentioned embodiment, be that prerequisite is illustrated with the hydraulic rotating system that makes the upper rotating body of building machinery 1 be rotated action by hydraulic actuator (fluid pressure motor).Below, be that the 2nd embodiment of prerequisite describes to the electronic rotary system that is rotated action with the upper rotating body that makes building machinery 1 by hydraulic actuator.
Figure 15 is the 3rd embodiment's a pie graph, and expression is equipped with the formation of the building machinery 1 of electronic rotary system.
As shown in Figure 15, identical with the formation of Fig. 3, compare with the 1st embodiment of Fig. 1, increased generator motor 11, electric storage means 12, transducer 13, turn-sensitive device 14, voltage transducer 15.Generator motor 11 electrifies, and action is used, the situation of generating effect is identical, also increased and be used for making upper rotating body be rotated the constituting component of action, i.e. electricity generation and electromotion machine controller 100, current sensor 101, rotation controller 102, turning motor 103, rotation speed sensor 105 by electric actuator (turning motor 103).
Fig. 5, Fig. 6, Figure 16, Figure 17, Figure 18, Figure 19 are the control block diagrams of the contents processing that undertaken by controller 6 of expression.
Figure 16 is expression and the 2nd embodiment's the corresponding control block diagram of Fig. 7, with the part that Fig. 7 repeats, below omits its explanation.
As shown in Figure 16, this 3rd embodiment's controller chassis 2 is compared with the 2nd embodiment's controller chassis 2, has increased maximum torque calculation unit 106, the minimum value selection portion 107 of attracting of auxiliary torque range arithmetic portion the 110, the 3rd pump.Generator motor command value switching part 87 in replacement embodiment's 1 the controller chassis 2 is provided with generator motor command value switching part 187,287.Generator motor torque calculation unit 68 in replacement embodiment's 1 the controller chassis 2 is provided with generated energy operational part 120.
Figure 17 is the skeleton diagram that auxiliary corresponding with Fig. 8 of the 2nd embodiment of expression has or not the inside of detection unit 90 to constitute, to the part that repeats with Fig. 8, below its explanation of omission.
Figure 18 is the skeleton diagram that expression auxiliary torque range arithmetic portion 110 detailed inside constitute.
Figure 19 is the skeleton diagram that expression generated energy operational part 120 detailed inside constitute.
When the explanation present embodiment, the Engine torque booster action is defined.
So-called motor booster action is meant is adjusting speed regulator 4 and fuel-injection pump, when control makes the rotating speed of motor 2 reach a certain rotating speed of target, on engine output shaft, increase moment of torsion by generator motor 11, so that actual engine speed reaches rotating speed of target as quick as thought.At this, so-called " increase moment of torsion " is meant when not only being included in the booster engine rotation, increase the situation of a moment of torsion in order to increase rotating speed as quick as thought, but also be included in geared-down engine when rotation, the meaning of the situation of absorption axes moment of torsion is used in order to reduce rotating speed as quick as thought.
That is, so-called Engine torque booster action is equivalent in the above embodiments 1, makes generator motor 11 electrify action with auxiliary engine 2, makes generator motor 11 play the generating effect, contrary auxiliary engine 2.
The effect of Engine torque booster action, as the 2nd above-mentioned embodiment, when engine revolution is quickened, the responsiveness that motor quickens is good, the operation raising, and, when engine revolution is slowed down, owing to the engine shaft moment of torsion is absorbed engine speed is descended as quick as thought, thus noise and vibration when improving engine speed and slowing down.In addition, when reducing engine speed, the engine shaft moment of torsion is absorbed, and therefore, can reclaim the energy that rotatablely moves that inertia had around engine output shaft, so, the effect that aspect energy efficiency, also can be improved.
Relative with it, so-called " not playing the Engine torque booster action " is to instigate generator motor 11 to play the generating effect, and its energy (electric power) supplied to electric storage means 12, or supplies to turning motor 103 and electronic upper rotating body is moved.
The above control that plays the Engine torque booster action or do not play the Engine torque booster action, as described later, electricity generation and electromotion machine controller 100, rotation controller 102 are carried out according to the instruction that comes self-controller 6.
In addition, as shown in figure 15, in the 3rd embodiment, as the turning motor 103 and the live axle binding of rotating speed regulator 104 of electronic motor, by driving this turning motor 103 rotary driving machines 104, and make upper rotating body be rotated action by swing pinion, rotating ring etc.
Turning motor 103 plays generating effect and electromotive action.That is, turning motor 103 both can be used as motor and had moved, and also can be used as motor and moved.When turning motor 103 moved as motor, upper rotating body was rotated action, and when upper rotating body was stopped the rotation, the moment of torsion of upper rotating body was absorbed, and turning motor 103 moves as motor.
Turning motor 103 is by rotation controller 102 drive controlling.Rotation controller 102 is electrically connected by direct current supply line and is electrically connected with electric storage means 12, simultaneously, is electrically connected with generator motor 100.Electricity generation and electromotion machine controller 100 contain the 2nd embodiment (Fig. 3) transducer 13 function and constitute, rotation controller 102, electricity generation and electromotion machine controller 100 is according to being controlled by the instruction of controller 6 outputs.
To the electric current that turning motor 103 is supplied with, represent that promptly the rotary load electric current SWGcurr of the load of upper rotating body detects by current sensor 101.In current sensor 101 detected rotary load electric current SWGcurr input controllers 6.
This 3rd embodiment, the same as Fig. 5, shown in Figure 6 with the 2nd embodiment, when selecting engine target rotation speed n com by minimum value selection portion 65, below, be transformed into controller chassis shown in Figure 16 2, carry out the processing of following explanation.Below each control example is described.
(control example 1)
This control example 1 is by requiring the electric power storage state of generated energy operational part 120 according to electric storage means 12, computing generator motor 11 require generated energy Tgencom.
And, assist to have or not detection unit 90 judgements to make 11 Engine torque booster actions of generator motor (result of determination T) or do not play Engine torque booster action (result of determination F).
And, having or not detection unit 90 to be judged to be to make under 11 Engine torque booster actions of generator motor (result of determination T) situation by auxiliary, generator motor command value switching part 187 switches to the T side, promptly regulates processing division 97 sides, thereby makes 11 Engine torque booster actions of generator motor.In this case, come generator motor speed value (generator motor rotating speed of target) Ngencom of self-regulation processing division 97 to 100 outputs of electricity generation and electromotion machine controller.Electricity generation and electromotion machine controller 100 is accepted it, rotating speed control generator motor, to obtain generator motor rotating speed of target Ngencom, make generator motor 11 electrify action with or the generating effect, assist thereby play Engine torque.Relative with it, having or not detection unit 90 to be judged to be not make under 11 Engine torque booster actions of generator motor (result of determination F) situation by auxiliary, generator motor command value switching part 187 switches to the F side, contact is to the rotating speed control of generator motor 11, do not play the Engine torque booster action, generator motor command value switching part 287 switches to the F side simultaneously, promptly switch to and require generated energy operational part 120 sides, generator motor 11 plays the generating effect, with obtain and require that generated energy operational part 120 calculates require the corresponding generated energy of generated energy Tgencom.In this case, electricity generation and electromotion machine controller 100 is exported as generator motor torque command value (generator motor target torque) from the generated energy Tgencom that requires that requires generated energy operational part 120.Electricity generation and electromotion machine controller 100 is accepted it, and moment of torsion control generator motor 11 to obtain generator motor target torque Tgencom, makes generator motor 11 play the generating effect.In this case, rotation controller 102 will be supplied with electric storage means 12 by the electric power of generator motor 11 generatings, or directly supply with turning motor 103, thus the control that electronic upper rotating body is moved.
Like this, this control example 1 plays the Engine torque booster action according to the necessity of Engine torque booster action, or do not play the Engine torque booster action and utilize generator motor 11 to carry out and require the corresponding generating of generated energy, therefore, can make the charge capacity of electric storage means 12 often stably maintain the state of target, can make the operability of working machine, especially upper rotating body often maintain high level simultaneously.
(control example 2)
This control example 2 is by requiring generated energy operational part 120 to require generated energy Tgencom according to the electric power storage state computing generator motor 11 of electric storage means 12.
The first pump target absorbs torque calculation unit 66 is represented oil hydraulic pump 3 absorbable maximum absorption torques according to the engine target speed setting the first Maximum Torque line 66a.
The second pump target absorbs the torque calculation unit 85 relative first Maximum Torque line 66a, is set in the second Maximum Torque line 85a that engine low rotation speed zone increases maximum absorption torque.
And, assist to have or not detection unit 90 judgements to make 11 Engine torque booster actions of generator motor (result of determination T) or do not play Engine torque booster action (result of determination F).
In addition, having or not detection unit 90 to be judged to be to make under the situation of 11 Engine torque booster actions of generator motor (result of determination T) by auxiliary, the capacity of control oil hydraulic pump 3, so that pump absorbing torque command value switching part 88 switches to the T side, promptly the second pump target absorbs torque calculation unit 85 sides, select the second Maximum Torque line 85a as the Maximum Torque line, obtain with the corresponding second Maximum Torque line 85a of current engine target rotating speed on pump absorbing torque as the pump absorbing torque of the upper limit.Relative with it, having or not detection unit 90 to be judged to be generator motor 11 is not risen under the situation of Engine torque booster action (result of determination F) by auxiliary, the capacity of control oil hydraulic pump 3, so that pump absorbing torque command value switching part 88 switches to the F side, promptly the first pump target absorbs torque calculation unit 66 sides, select the first Maximum Torque line 66a as the Maximum Torque line, obtain with the corresponding first Maximum Torque line 66a of current engine target rotating speed on pump absorbing torque as the pump absorbing torque of the upper limit.The control of pump capacity is identical with the above embodiments 1, by 6 pairs of pump control valves of controller, 5 output control electric current pc-epc, by servopiston the swash plate 3a of oil hydraulic pump 3 is changed then and carries out.
In addition, having or not detection unit 90 to be judged to be to make under the situation of 11 Engine torque booster actions of generator motor (result of determination T) by auxiliary, generator motor command value switching part 187 switches to the T side, promptly regulates processing division 97 sides, makes 11 Engine torque booster actions of generator motor.In this case, from regulating 97 pairs of electricity generation and electromotion machine controllers of processing division, 100 output generator motor speed value (generator motor rotating speed of target) Ngencom.Electricity generation and electromotion machine controller 100 is accepted it, and rotating speed control generator motor 11 obtaining generator motor rotating speed of target Ngencom, and makes the generator motor 11 action usefulness that electrifies, or plays the generating effect and play the Engine torque booster action.Relative with it, having or not detection unit 90 to be judged to be not make under the situation of 11 Engine torque booster actions of generator motor (result of determination F) by auxiliary, make generator motor 11 play the generating effect, so that generator motor command value switching part 187 switches to the F side, cancellation is to the rotating speed control of generator motor 11, do not play the Engine torque booster action, and, generator motor command value switching part 287 switches to the F side, promptly require generated energy operational part 120 sides, obtain and require the corresponding generated energy of generated energy Tgencom by what require that generated energy operational part 120 calculates.In this case, electricity generation and electromotion machine controller 100 is exported as generator motor torque command value (generator motor target torque) by the generated energy Tgencom that requires that requires 120 computings of generated energy operational part.Electricity generation and electromotion machine controller 100 is accepted it, and moment of torsion control generator motor 11 makes generator motor 11 play the generating effect, to obtain generator motor target torque Tgencom.In this case, rotation controller 102 carries out following control: will be supplied with to electric storage means 12 by the electric power of generator motor 11 generatings, thereby or directly to the turning motor supply electronic upper rotating body be moved.
Like this, this control example 2 is identical with control example 1, undertaken playing the Engine torque booster action by generator motor 11 according to the necessity of Engine torque booster action, or do not play the Engine torque booster action but carry out and require the corresponding generating of generated energy, therefore, can make the charge capacity of electric storage means 12 often stably maintain the state of target, can make the operability of working machine, especially upper rotating body often maintain high level simultaneously.
And, the capacity of control example 2 control oil hydraulic pumps 3, so that on one side by 11 Engine torque booster actions of generator motor, obtaining with the pump absorbing torque of the relative first Maximum Torque line 66a on the second Maximum Torque line 85a that the low rotary area maximum absorption torque of motor increases on one side is the pump absorbing torque of the upper limit, therefore, initial stage that can be when engine revolution rises increases the absorption moment of torsion of oil hydraulic pump 3.Therefore, the action of operating handle relatively, the action of manipulator begins can suppress the decline of operating efficiency soon, and can alleviate the uncomfortable feeling on the operation feeling that causes to the operator.In addition, as described in the 2nd embodiment,, but control, then might cause motor 2 excess loads according to the second Maximum Torque line L2 if do not make generator motor 11 play the auxiliary engine effect.Promptly; when not playing the Engine torque booster action; and during according to the capacity of second Maximum Torque line 85a control oil hydraulic pump 3; oil hydraulic pump 3 absorbs the above moment of torsion of motor unit output, like this, not only can not increase engine speed; and; because high load causes engine speed to descend sometimes, the worst situation is to engine shutdown.Like this, control example 2 is a prerequisite with 11 Engine torque booster actions of generator motor, can guarantee to control according to the second Maximum Torque line 85a.
(control example 3)
In above-mentioned control example 1, the control example 2, specifically, have or not detection unit 90 to carry out judgement shown in Figure 17 by auxiliary.That is, first detection unit 92 the absolute value of the deviation of engine target rotating speed and motor 2 actual speed for the situation more than the threshold value of regulation under, be judged to be and make 11 Engine torque booster actions of generator motor, auxiliary sign assist flag is made as T.Relative with it, under the threshold value following situation of absolute value of the deviation delta genspd of the actual speed GENspd that generator motor rotating speed of target Ngencom and generator motor target are changeed for regulation, be the engine target rotating speed with the deviation of the actual speed of motor 2 for than under the little situation of the threshold value of regulation, be judged to be and do not make 11 Engine torque booster actions of generator motor, establishing auxiliary sign is F.
To meet under the situation more than just increasing to a certain degree, make the generator motor 11 action usefulness that electrifies, auxiliary engine 2 at rotating speed deviation delta genspd.Thus, under current engine speed and the inconsistent situation of rotating speed of target, engine speed rises to the engine target rotating speed rapidly.In addition, to meet under the negative situation that to increase to a certain degree above, make the generator motor 11 action usefulness that electrifies, at rotating speed deviation delta genspd against auxiliary engine 2.Thus, play the generating effect when engine speed is slowed down, engine speed descends rapidly, simultaneously the energy of regenerative motor 2.
As above, this control example 3 judges that relative deviation is provided with threshold value and whether plays the Engine torque booster action, and therefore control is stable.That is,, play the Engine torque booster action immediately, then become the result who plays the Engine torque booster action continuously with engine speed and cause energy loss near the engine target rotating speed with the deviation that exists if relative deviation is not provided with threshold value.This is because playing the energy of Engine torque booster action was exactly the energy of motor 2 originally, and therefore, when playing the Engine torque booster action, energy loss increases the amount of the efficient of generator motor 11 certainly.Usually, generator motor 11 is with little torque drive, when generating electricity, and efficient is lower.
(control example 4)
In above-mentioned control example 1, the control example 2, specifically, assist to have or not detection unit 90 to carry out judgement shown in Figure 17.Second detection unit 93 is at the magnitude of voltage BATTvolt of electric storage means 12, and promptly charge capacity is judged to be and makes not 11 Engine torque booster actions of generator motor under the situation below the threshold value of regulation, and auxiliary sign assist flag is made as F.Like this, when the charge capacity of electric storage means 12 hangs down,, therefore can avoid the overdischarge of electric storage means 12, can avoid the life-span of electric storage means 12 to descend owing to do not play the Engine torque booster action.Especially the 3rd embodiment is a prerequisite with electronic rotary system, therefore in order to make upper rotating body be rotated action, needs the electric power storage energy, if charge capacity reduces excessively, then will cause ill effect to verticity.When the charge capacity of electric storage means 12 hangs down,, therefore can avoid causing verticity bad because of charge capacity descends owing to do not play the Engine torque booster action.
(control example 5)
In above-mentioned control example 1, the control example 2, specifically, assist to have or not detection unit 90 to carry out judgement shown in Figure 17.I.e. rotation output operational part 95 by following formula (5), utilizes the current output SWGpom of the magnitude of voltage BATTvolt computing turning motor 103 of rotary load electric current SWGcurr and electric storage means 12.
SWGcurr＝SWGcurr×BATTvolt×Kswg…(5)
Kswg is a constant.
And, the 3rd detection unit 96 the current output SWGpom of turning motor 103 for the situation more than the threshold value SC1 of regulation under, be judged to be and do not make 11 Engine torque booster actions of generator motor, auxiliary sign assist flag is made as F.In addition, turning motor 103 current output SWGpom be than the situation below the little threshold value SC2 of threshold value SC1 of regulation under, be judged to be and make 11 Engine torque booster actions of generator motor, auxiliary sign assist flag is made as T.Like this, owing between threshold value SC1 and threshold value SC2, have hysteresis, so can prevent the periodic variation controlled.
The auxiliary sign assist flag that "AND" circuit 94 obtains at the auxiliary sign assist flag that obtains by first detection unit 92 with by second detection unit 93 and be under the situation of T by the auxiliary sign assist flag that the 3rd detection unit 96 obtains.Indicate that the most at last assist flag content is made as T, arbitrary be under the situation of F, indicate that the most at last assist flag content is made as F.
On the other hand, as shown in figure 19, by require generated energy operational part 120 according to the magnitude of voltage BATTvolt of electric storage means 12, be electric storage means 12 electric power storage state and rotary load electric current SWGcurr, be the drive condition of turning motor 103, computing generator motor 11 require generated energy Tgencom.
Under the situation of electronic rotary system, be rotated action in order to make upper rotating body, need electric flux.In order to be rotated action, only the stored energy in the electric storage means 12 is not enough, must make generator motor 11 play the generating effect, and electric power is supplied with to turning motor 103 with making the high output of upper rotating body.Require generated energy operational part 120, not only considering the electric power storage state (magnitude of voltage BATTvolt) of electric storage means 12, and considering the drive condition (rotary load electric current SWGcurr) of turning motor 11.
According to this control example 5, the current output SWGpow of turning motor 103 for the situation more than the threshold value SC1 of regulation under, be judged to be and do not make 11 Engine torque booster actions of generator motor, forbidden the Engine torque booster action, on the other hand, not only consider the electric power storage state (magnitude of voltage BATTvolt) of electric storage means 12, and the drive condition (rotary load electric current SWGcurr) of consideration turning motor 6, that comes computing generator motor 11 requires generated energy Tgencom, utilize generator motor 11 to carry out requiring the corresponding generating of generated energy Tgencom with this, the electric power of generating is supplied with to turning motor 103.Therefore, can make upper rotating body be rotated action with not reducing verticity.
(control device 6)
As mentioned above, at rotating speed deviation delta genspd to meet under the situation more than just increasing to a certain degree, generator motor speed value (generator motor rotating speed of target) Ngencom that comes self-regulation processing division 97 is to 100 outputs of electricity generation and electromotion machine controller, electricity generation and electromotion machine controller 100 is accepted it, rotating speed control generator motor 11, make the generator motor 11 action usefulness that electrifies, to obtain generator motor rotating speed of target Ngencom.Promptly under the little situation of current engine speed ratio engine rotating speed of target, the output torque of control generator motor 11, generator motor 11 action that electrifies is used, the axle moment of torsion of the motor 2 on the moment of torsion line chart of auxiliary engine 2, thereby engine speed is risen, reach and the equal rotating speed of engine target rotating speed.
In addition, at rotating speed deviation delta genspd to meet under the negative situation more than increasing to a certain degree, generator motor speed value (generator motor rotating speed of target) Ngencom that comes self-regulation processing division 97 is to 100 outputs of electricity generation and electromotion machine controller, electricity generation and electromotion machine controller 100 is accepted it, rotating speed control generator motor 11, make generator motor 11 play the generating effect, to obtain generator motor rotating speed of target Ngencom.Promptly, under the big situation of current engine speed ratio engine rotating speed of target, the output torque of control generator motor 11, make generator motor 11 play the generating effect, on the moment of torsion line chart of motor, absorb the axle moment of torsion of motor 2, engine speed is descended, reach and the equal rotating speed of engine target rotating speed.
(control device 7)
As mentioned above, judge electric storage means 12 magnitude of voltage BATTvolt, be that charge capacity is under the following situation of the threshold value BC1 of regulation, the auxiliary detection unit 90 that has or not judges that generator motor 11 does not play Engine torque booster action (result of determination F), generator motor command value switching part 287 switches to the F side, promptly requires generated energy operational part 120 sides, make generator motor 11 play the generating effect, with obtain with by the corresponding generated energy of generated energy Tgencom that requires generated energy operational part 120 to calculate.
But, opposite at this, when the charge capacity of electric storage means 12 reaches below a certain threshold value, forbidden the Engine torque booster action immediately, and switch to when requiring the state of the corresponding generating effect of generated energy from the state of Engine torque booster action, anxious sometimes load is added on the output shaft of motor 2.Therefore, motor 2 can not be tackled rapid load sometimes, has little time output torque, thereby causes engine speed sharply to descend.The rapid decline of engine speed causes the output of working machine to descend, and is unfavorable aspect operating efficiency.
Therefore, this control example 7 switches at the state from the Engine torque booster action before the state of the corresponding generating effect that requires generated energy, and the moment of torsion that generator motor 11 can be exported according to the charge capacity (magnitude of voltage BATTvolt) of electric storage means 12 reduces gradually and becomes little value.Specifically, as shown in figure 18, the operational part 111 of auxiliary torque range arithmetic portion 110 is along with the magnitude of voltage BATTvolt of electric storage means 12 reduces to the second specified value BD2 littler than the first specified value BD1 from the first specified value BD1, and the upper torque limit value of generator motor 11 (generator motor torque range) GENtrplimit obtains, also exports as the value that reduces gradually.
Make 11 Engine torque booster actions of generator motor (result of determination T) being judged to be, generator motor command value switching part 287 switches to the T side, be under the situation of Engine torque auxiliary range operational part 110 sides, from the generator motor torque range GENtrqlimit of auxiliary torque scope 110 limits value, to 100 outputs of electricity generation and electromotion machine controller as generator motor torque command value (generator motor target torque) Tgencom.
Be judged to be under the situation of Engine torque booster action, generator motor 11 moves under speed controlling, to obtain rotating speed of target.Generator motor torque command value (generator motor target torque) Tgencom of generator motor 11 carries out computing with the result of speed controlling ring.
Electricity generation and electromotion machine controller 100 control generator motors 11, generator motor 11 is helped out, so that generator motor torque command value (generator motor target torque) Tgencom that is calculated by the speed controlling ring is no more than the generator motor torque range GENtrqlimit that is calculated by auxiliary torque range arithmetic portion 110.The i.e. moment of torsion of the scope inner control generator motor 11 below upper torque limit value GENtrqlimit.And, when the magnitude of voltage BATTvolt of electric storage means 12 becomes below the threshold value BC1 of regulation, generator motor command value switching part 287 switches to the F side, when promptly requiring generated energy operational part 120 sides, make generator motor 11 play the generating effect, with obtain with by the corresponding generated energy of generated energy Tgencom that requires generated energy operational part 120 to calculate.In this case, from generated energy operational part 120 require generated energy Tgencom as generator motor torque command value (generator motor target torque), relatively electricity generation and electromotion machine controller 100 outputs.Electricity generation and electromotion machine controller 100 is accepted it, and moment of torsion control generator motor 11 makes generator motor 11 play the generating effect, to obtain generator motor target torque Tgencom.Like this, this control example 7 is before switching to from Engine torque booster action state and requiring the state of the corresponding generating effect of generated energy, CLV ceiling limit value (torque range) GENtrqlimit that makes the moment of torsion that generator motor 11 can export is as the value that diminishes gradually with the minimizing of the charge capacity (magnitude of voltage BATTvolt) of electric storage means 12, therefore, the power generation torque that switches to the generator motor 11 when requiring the state of the corresponding generating effect of generated energy from Engine torque booster action state changes smooth-going, when carrying out this switching, can avoid engine speed to descend.
(control device 8)
This control example 8 is carried out following control by the operational part 111 of the auxiliary torque range arithmetic portion 110 in the above-mentioned control example 7.That is, the upper torque limit value of generator motor 11 (generator motor torque range) GENtrqlimit is obtained and is exported as being reduced to the value that reduces gradually than the second little specified value BD2 of the first specified value BD1 along with the magnitude of voltage BATTvolt of electric storage means 12 from the first specified value BD1.On the other hand, under the situation that the upper torque limit value GENtrqlimit that once reducing is increased, the upper torque limit value of generator motor 11 (generator motor torque range) GENtrqlimit is as along with the magnitude of voltage BATTvolt of electric storage means 12 is increased to than the 4th big specified value BD4 of the 3rd specified value BD3 and the value that increases is gradually obtained and exported from the 3rd specified value BD3.
Like this, have hysteresis by the side that generator motor torque range GENtrqlimit is changed, thereby can stably control.
(control device 9)
As mentioned above, assist and have or not detection unit 90 to rotate the current output SWGpow of purpose 103 in judgement under the situation more than the threshold value SC1 of regulation, be judged to be and do not make 11 Engine torque booster actions of generator motor (result of determination F), generator motor command value switching part 287 switches to the F side, promptly require generated energy operational part 120 sides, make generator motor 11 play the generating effect, with obtain and require that generated energy operational part 120 calculates require the corresponding generated energy of generated energy Tgencom.
At this, identical with control example 7, when turning motor 103 current output SWGpow reach the threshold value SC1 of regulation when following, forbidden the Engine torque booster action immediately, when the state from the Engine torque booster action switched to and requires the state of the corresponding generating effect of generated energy, anxious sometimes load was added on the output shaft of motor 2.Therefore, motor 2 can not be tackled anxious load sometimes, and the output of moment of torsion is unable to catch up with, and causes engine speed sharply to descend.The rapid decline of engine speed causes the output of working machine to descend, and is unfavorable aspect operating efficiency.
This control example 9 is the same with control example 7, the state from the Engine torque booster action switch to require the state of the corresponding generating effect of generated energy before, make the CLV ceiling limit value (torque range) of the moment of torsion that generator motor 11 can export become the value that diminishes gradually along with the increase of the current output SWGpow of turning motor 11.
Specifically, as shown in figure 18, (SWGpow=SWGcurr * BATTvolt * Kswg) obtains the current output SWGpow of turning motor 103 to the rotation of auxiliary torque range arithmetic portion 110 output operational part 112 according to above-mentioned (5) formula, then, the upper torque limit value of generator motor 11 (generator motor torque range) GENtrqlimit is obtained and is exported by operational part 113 as being increased to the value that reduces gradually than the first second big specified value SD2 of value SD1 that stipulates with turning motor 103 current output SWGpow from the first value SD1 that stipulates.
By minimum value selection portion 114 select the upper torque limit value GENtrqlimit that obtains by operational part 111 and the upper torque limit value GENtrqlimit that obtains by operational part 113 in a little side's value, as final upper torque limit value (generator motor torque range GENtrqlimit), by 110 outputs of auxiliary torque range arithmetic portion.
Judge and make 11 Engine torque booster actions of generator motor (result of determination T), switch to the T side at generator motor command value switching part 287, be under the situation of auxiliary torque range arithmetic portion 110 sides, the generator motor torque range GENtrqlimit that is calculated by auxiliary torque range arithmetic portion 110 is as the limits value of generator motor torque command value (generator motor target torque) Tgencom, to 100 outputs of electricity generation and electromotion machine controller.
Under the situation that has been judged to be the Engine torque booster action, move under generator motor 11 speed controlling, to obtain rotating speed of target.Generator motor torque command value (generator motor target torque) Tgencom of generator motor 11 carries out computing with the result of speed controlling ring.
Electricity generation and electromotion machine controller 100 control generator motors 11, generator motor 11 is helped out, so that generator motor torque command value (generator motor target torque) Tgencom that is calculated by the speed controlling ring is no more than the generator motor torque range GENtrqlimit that is calculated by auxiliary torque range arithmetic portion 110.The i.e. moment of torsion of the scope inner control generator motor 11 below upper torque limit value GENtrqlimit.
And, 103 current output SWGpow become more than the threshold value SC1 of regulation when turning motor, generator motor command value switching part 287 switches to the F side, when promptly requiring generated energy operational part 120 sides, make generator motor 11 play the generating effect, with obtain with by the corresponding generated energy of generated energy Tgencom that requires generated energy operational part 120 to calculate.In this case, require generated energy Tgencom as generator motor torque command value (generator motor target torque), electricity generation and electromotion machine controller 100 outputs relatively from what require generated energy operational part 120.Electricity generation and electromotion machine controller 100 is accepted it, and moment of torsion control generator motor 11 makes generator motor 11 play the generating effect, to obtain generator motor target torque Tgencom.Like this, this control example 9 is before switching to from Engine torque booster action state and requiring the state of the corresponding generating effect of generated energy, CLV ceiling limit value (torque range) GENtrqlimit of the moment of torsion that generator motor 11 can export is become with the increase of the current output SWGpow of turning motor 103 and the value that diminishes gradually, therefore, the power generation torque that switches to the generator motor 11 when requiring the state of the corresponding generating effect of generated energy from Engine torque booster action state changes smooth-going, when carrying out this switching, can avoid engine speed to descend.
(control device 10)
This control example 10 is carried out following control by the operational part 113 of the auxiliary torque range arithmetic portion 110 in the above-mentioned control example 9.That is, the upper torque limit value of generator motor 11 (generator motor torque range) GENtrqlimit is as being obtained and export along with turning motor 103 current output SWGpow being increased to the value that reduces gradually than the second big specified value SD2 of the first specified value SD1 from the first specified value SD1.On the other hand, under the situation that the upper torque limit value GENtrqlimit that once reducing is increased, the upper torque limit value of generator motor 11 (generator motor torque range) GENtrqlimit is as along with the current output SWGpowt of turning motor 103 is reduced to than the 4th little specified value SD4 of the 3rd specified value SD3 and the value that increases is gradually obtained and exported from the 3rd specified value SD3.
Like this, have hysteresis by the side that generator motor torque range GENtrqlimit is changed, thereby can stably control.
(control example 11)
As mentioned above, under the situation below the threshold value BC1 that the auxiliary magnitude of voltage BATTvolt that has or not detection unit 90 to judge electric storage means 12 is a regulation, or judge that the current output SWGpow of turning motor 103 are under the above situation of the threshold value SC1 of regulation, judge and do not make 11 Engine torque booster actions of generator motor (result of determination F), generator motor command value switching part 287 switches to the F side, promptly require generated energy operational part 120 sides, make generator motor 11 play the generating effect, to obtain and to require the corresponding generated energy of generated energy Tgencom by what require that generated energy operational part 120 calculates.
At this, below the magnitude of voltage BATTvolt of electric storage means 12 arrives the threshold value BC1 of regulation or turning motor 103 current output SWGpow reach the threshold value SC1 of regulation when above, forbidden the Engine torque booster action immediately, when the state from the Engine torque booster action switched at once and requires the state of the corresponding generating effect of generated energy, anxious sometimes load was added on the output shaft of motor 2.Therefore, motor 2 can not be tackled rapid load sometimes, and the output of moment of torsion has little time, and causes engine speed sharply to descend.The rapid decline of engine speed causes the output of working machine to descend, and is unfavorable aspect operating efficiency.
This control example 11 replaces the enforcement of control example 7, control example 8, control example 9 control examples 10, or merge the enforcement of these control examples, after the state from the Engine torque booster action switches to and requires the state of the corresponding generating effect of generated energy, the moment of torsion of power generation torque by making generator motor 11 during from auxiliary the end tapers to the control that requires the corresponding power generation torque of generated energy with generator motor 11, thereby avoids the rapid decline of the engine speed when switching.
Specifically, as shown in figure 19, along with the magnitude of voltage BATTvolt of electric storage means 12 reduces to the second specified value BE2 littler than the first specified value BE1 from the first specified value BE1, require generating output P as the value that requires the corresponding generating output of generated energy Pmax that is increased to gradually from zero output with generator motor 11, obtain and export by the operational part 121 of the operational part 120 that requires to generate electricity.At this, under the situation that the requirement generating output P that once increasing is reduced, require generating output P as along with the magnitude of voltage BATTvolt of electric storage means 12 is increased to than the 4th big specified value BE4 of the 3rd specified value BE3 and the value that reduces is gradually obtained and exported from the 3rd specified value BE3.
Like this, make a side who requires generating output P to change have hysteresis, thereby can stably control.
On the other hand, rotation output operational part 122 utilizes the magnitude of voltage BATTvolt of rotary load electric current SWGcurr and electric storage means 12, and (SWGcurr=SWGcurr * BATTvolt * Kswg) obtains the current output SWGpow of turning motor 103 according to above-mentioned (5) formula.Then, 103 current output SWGpow are increased to the second specified value SE2 bigger than the first specified value SE1 from the first specified value SE1 along with turning motor, require generating output P to export the value of Pmax, obtain and export by operational part 123 as the corresponding generating of generated energy that requires that is increased to gradually from zero output with generator motor 11.At this, under the situation that the requirement generating output P that once increasing is reduced, require generating output P as along with the current output SWGpow of turning motor 103 reduces to than the 4th little specified value SE4 of the 3rd specified value SE3 and the value that reduces is gradually obtained and exported from the 3rd specified value SE3.
Like this, make a side who requires generating output P to change have hysteresis, thereby can stably control.
Select requirement generating output P that obtains by operational part 121 and the value of exporting the big side among the P by the requirement generating that operational part 123 is obtained by maximum value selection portion 124, requirement generating output Pgencom as final is added to generator motor requirement power generation torque operational part 125.Require power generation torque operational part 125 to utilize generator motor rotating speed GENspd and the output Pgencom that requires to generate electricity,, obtain generator motor requirement power generation torque Tgenvom according to following formula (6).
Tgencom＝Pgencom÷GENspd×Kgen …(6)
Kgen is a constant.
By requiring the operational part 120 that generates electricity, final output make the generator motor that obtains according to following formula require power generation torque Tgencom, be generator motor 11 power generation torque from zero moment of torsion be increased to gradually with generator motor require the corresponding power generation torque of generated energy require power generation torque Tgencom.
Below the magnitude of voltage BATTvolt of electric storage means 12 reaches the threshold value BC1 of regulation or turning motor 103 current output SWGpow reach the threshold value SC1 of regulation when above, generator motor command value switching part 287 switches to the F side, promptly requires generated energy operational part 120 sides.
After carrying out this switching, as mentioned above, the power generation torque that makes generator motor 11 from zero moment of torsion be increased to gradually with generator motor 11 require requiring power generation torque, promptly requiring generated energy Tgencom of the corresponding power generation torque of generated energy, as generator motor torque command value (generator motor target torque), electricity generation and electromotion machine controller 100 outputs relatively.Electricity generation and electromotion machine controller 100 is accepted it, and moment of torsion control generator motor 11 makes generator motor 11 play the generating effect, to obtain generator motor target torque Tgencom.
Like this, this control example 11 is after the state from the Engine torque booster action switches to and requires the state of the corresponding generating effect of generated energy, the power generation torque of having implemented to make generator motor 11 is increased to the control that requires the corresponding power generation torque of generated energy with generator motor 11 gradually from zero moment of torsion, therefore, the power generation torque of the generator motor 11 when the state from the Engine torque booster action switches to and require the state of the corresponding generating effect of generated energy changes smooth-going, when carrying out this switching, can avoid engine speed to descend.
(control example 12)
7,8,9,10 pairs of controls that reduce the torque range value of generator motor 11 in playing the Engine torque booster action gradually of control example are illustrated.
364 still, when in playing the Engine torque booster action, making the control that the upper torque limit value (torque range value) of generator motor 11 reduces gradually, the power of auxiliary engine 2 reduces gradually, but, when the state from the Engine torque booster action switched to and requires the state of the corresponding generating effect of generated energy, the acceleration of motor 2 was bad.
So, this control example 12 is by the capacity of control oil hydraulic pump 3, so that the maximum absorption torque of oil hydraulic pump 3 is along with the minimizing of upper torque limit value and the minimizing gradually of generator motor 11, thus, the absorption moment of torsion that makes oil hydraulic pump 3 descends with the decline of the auxiliary force of motor 2, thus the engine speed bad Acceleration of avoiding the decline with the auxiliary force of motor 2 to cause.
That is, as shown in figure 16, from the generator motor torque range GENtrqlimit of auxiliary torque range arithmetic portion 110 upper torque limit value Tgencom2 as generator motor 11,106 outputs of relative the 3rd pump maximum absorption torque operational part.Generator motor torque range GENtrqlimit minimizing along with generator motor 11, the 3rd Maximum Torque line L3 that the maximum absorption torque of oil hydraulic pump 3 (the 3rd pump maximum absorption torque) Tpcommax reduces gradually, as the function relation 106a of generator motor torque range GENtrqlimit and the 3rd pump maximum absorption torque Tpcommax, be stored in the 3rd pump maximum absorption torque operational part 106 with the data sheet form.The 3rd pump maximum absorption torque operational part 106 is according to the maximum torque T gencom that attracts of corresponding the 3rd pump of the generator motor torque range GENtrqlimit of function relation 106a computing and current generator motor 11.
On the other hand, the first pump maximum absorption torque (the first pump target absorbs moment of torsion) Tpcom1 absorbs torque calculation unit 66 by the first pump target and carries out computing according to relation function 66a as the value on the first Maximum Torque line (the first target torque line) L1.
In addition, the second pump maximum absorption torque (the second pump target absorbs moment of torsion) Tpcom2 absorbs torque calculation unit 85 by the second pump target and carries out computing according to function relation 85a as the value on the second Maximum Torque line (the second target torque line) L2.
Minimum value selection portion 107 is selected the pump maximum absorption torque value of the arbitrary little side among the 3rd current pump maximum absorption torque Tpcommax and the current second pump maximum absorption torque Tpcom2, outputs to the T side terminal of pump absorbing torque command value switching part 88.
At the F side terminal of pump absorbing torque command value switching part 88, add the first current pump maximum absorption torque Tpcom.
When auxiliary sign detection unit 95 judges that the content of auxiliary sign assist flag is T, pump absorbing torque command value switching part 88 switches to minimum value selection portion 107 sides, absorb the second current pump maximum absorption torque Tpcom2 of torque calculation unit 85 outputs and absorb the medium and small side's of the 3rd current pump maximum absorption torque Tpcommax of torque calculation unit 106 outputs value by the second pump target, output to the Screening Treatment portion 89 of back segment as pump maximum absorption torque Tpcom by the 3rd pump target.
In addition, when auxiliary sign detection unit 95 judges that the content of auxiliary sign assist flag is F, pump absorbing torque command value switching part 88 switches to the first pump target and absorbs torque calculation unit 66 sides, the first current pump maximum absorption torque Tpcom1 that absorbs torque calculation unit 66 outputs by the first pump target outputs to the Screening Treatment portion 89 of back segment as pump maximum absorption torque Tpcom.Below, carry out above-mentioned Screening Treatment by Screening Treatment portion 89, output to pump control valve 5 from the control electric current pc-epc that controls current operator portion 67, adjust the swash plate 3a of oil hydraulic pump 3.Promptly, play generating and do the time spent, no matter the size of the 3rd pump maximum absorption torque Tpcommax that is determined by the 3rd Maximum Torque line L3 how, the first pump maximum absorption torque Tpcom1 that selection is determined by the first Maximum Torque line L1, and with the upper limit Tpcom of this first pump maximum absorption torque Tpcom1 as pump absorbing torque, the capacity of control oil hydraulic pump 3.On the other hand, when playing the Engine torque booster action, select the little side among the 3rd definite pump maximum absorption torque Tpcommax of second definite pump maximum absorption torque Tpcom2 of the second Maximum Torque line L2 and the 3rd Maximum Torque line L3, and pump maximum absorption torque that will this little side is as the upper limit Tpcom of pump absorbing torque, the capacity of control oil hydraulic pump 3.
Like this, according to this control example, the capacity of control oil hydraulic pump 3, so that the maximum absorption torque of oil hydraulic pump 3 is along with the minimizing of upper torque limit value and the minimizing gradually of generator motor 11, therefore, when the state from the Engine torque booster action switches to and requires the state of the corresponding generating effect of generated energy, the absorption moment of torsion of oil hydraulic pump 3 descends along with the decline of the auxiliary force of motor 2, so the variation of the axle moment of torsion of motor 2 is smooth-going, the engine speed bad Acceleration that can avoid the decline with the auxiliary force of motor 2 to cause.
(control example 13)
As mentioned above, at the state that plays the Engine torque booster action with play and when requiring to switch between the state of the corresponding generating effect of generated energy, being chosen between the second pump maximum absorption torque Tpcom2 or the 3rd pump maximum absorption torque Tpcommax and the first pump maximum absorption torque Tpcom1 of the maximum absorption torque of oil hydraulic pump 3 switched.Therefore, when switching, because of the rapid change of pump absorbing torque, pump sprays the variation of flow and causes the unequal of working machine speed, might cause operational uncomfortable feeling to the operator.
Therefore, in this control example, under the situation of switching the maximum absorption torque of selecting oil hydraulic pump 3, carry out from switching the control of the variation of the pump maximum absorption torque after switching gradually of preceding pump maximum absorption torque, so when switching, can prevent the rapid variation of pump ejection flow, can avoid the unequal of working machine speed, the operational uncomfortable feeling that the operator is caused.
Promptly, as shown in figure 16, when being chosen in of Maximum Torque line switched between the second Maximum Torque line L2 or the 3rd Maximum Torque line L3, the first Maximum Torque line L1, Screening Treatment portion 89 changes maximum torque Tpcom according to the maximum torque Tpcom characteristic 89a that changes of t in time gradually.Characteristic 89a has the curve corresponding with timeconstant.Thus, not can from the Maximum Torque line before switching (if, the 3rd Maximum Torque line L3) the pump maximum absorption torque on (the 3rd pump Maximum Torque Tpcommax) the directly pump maximum absorption torque (the first pump Maximum Torque Tpcom1) on the Maximum Torque line (the first Maximum Torque line L1) after the switching switches, but the pump maximum absorption torque (the 3rd pump Maximum Torque Tpcommax) on the Maximum Torque line before switch (if, the 3rd Maximum Torque line L3) along with time t gradually the pump maximum absorption torque (the first pump Maximum Torque Tpcom1) on the Maximum Torque line (the first Maximum Torque line L1) after switching change smooth-goingly.Action on the moment of torsion line chart is with reference to Fig. 9-1, with above-mentioned identical.
Thus, can avoid at the state that plays the Engine torque booster action and play and effect motor speed that the variation of the rapid change of pump absorbing torque when requiring to switch between the state of the corresponding generating effect of generated energy, pump ejection flow causes unequal, the operator is caused operational uncomfortable feeling.
Above-mentioned Screening Treatment also can the result of determination of auxiliary sign detection unit 95 for the situation that switches to F from T under, carry out under with the situation of result of determination for the both sides of the situation that switches to T from F.Also can handle at the laggard row filter of the switching of only carrying out the either party.
(control example 14)
In the above-mentioned control example 13, attract with regard to the time constant of moment of torsion when the pump maximum absorption torque after switching changes with regard to the pump before switch is maximum, compare with the maximum little situation of pump maximum absorption torque after torque ratio is switched that attracts of pump before switching, preferably maximum attraction of the pump before switching is set to big value under the big situation of pump maximum absorption torque after torque ratio is switched.
This is because when timeconstant is set at big value without exception, switches to from little state under the situation of big state at the pump maximum absorption torque, because the time constant that the pump maximum absorption torque changes greatly, so the heavy-footed cause of working machine.
As above, the control gear of the control gear of the control gear of motor of the present invention, motor and oil hydraulic pump and motor, oil hydraulic pump and generator motor, especially useful to the situation of Work machine that comprises any building machinery by Engine driven Hydraulic Pump, control.

Claims (19)

1, a kind of control gear of motor is characterized in that, possesses:
Oil hydraulic pump, it is by engine-driving;
Hydraulic actuator, it supplies with the pressure oil that is gushed out by described oil hydraulic pump;
Operating device, it operates each hydraulic actuator;
Feeler mechanism, it detects the operation amount of described operating device;
The target flow arithmetical organ, its operation amount according to described operating device comes the target flow of computing oil hydraulic pump;
The first rotating speed of target arithmetical organ, it comes first rotating speed of target of computing motor according to described target flow;
Serviceability decision mechanism, it judges that described operating device switches to serviceability from the state of not operation;
The second rotating speed of target setting device, it is being judged to be under the situation that switches to serviceability by described serviceability decision mechanism, and the rotating speed of target of motor is set at second rotating speed of target higher than low idle rotating speed;
The rotating speed control mechanism, it controls engine speed, with consistent with an any high side's the rotating speed of target in described first rotating speed of target and described second rotating speed of target.
2, the control gear of motor as claimed in claim 1 is characterized in that, described serviceability decision mechanism,
Be the threshold value of regulation when following at the operation amount of described operating device, be judged to be and switch to non-operating state, when the operation amount of described operating device is bigger than the threshold value of regulation, is judged to be and switches to serviceability.
3, the control gear of motor as claimed in claim 1 is characterized in that, described serviceability decision mechanism,
Be the threshold value of regulation when following at the target flow of described oil hydraulic pump, be judged to be and switch to non-operating state, when the target flow of described oil hydraulic pump is bigger than the threshold value of regulation, is judged to be and switches to serviceability.
4, the control gear of a kind of motor and oil hydraulic pump is characterized in that, possesses:
Oil hydraulic pump, it is by engine-driving;
A plurality of hydraulic actuators, it supplies with the pressure oil that is gushed out by described oil hydraulic pump;
Operating device, it operates each hydraulic actuator;
Feeler mechanism, it detects the operation amount of described operating device;
The first rotating speed of target setting device, it sets first rotating speed of target of motor according to the operation amount that is obtained by described feeler mechanism;
Mechanism for identifying, it presses the work pattern of differentiating described a plurality of hydraulic actuators by the operation amount of each operating device and the load of oil hydraulic pump;
Horsepower limits value setting device, it sets the horsepower limits value of oil hydraulic pump according to each work pattern;
The second rotating speed of target setting device, it sets second rotating speed of target of motor according to the horsepower limits value of described oil hydraulic pump;
Capacity control mechanism, the capacity of its control oil hydraulic pump, with obtain with first rotating speed of target and second rotating speed of target in an arbitrarily small side's the corresponding pump absorbing torque of rotating speed of target;
The rotating speed control mechanism, it controls engine speed, with consistent with an arbitrarily small side's the rotating speed of target in described first rotating speed of target and described second rotating speed of target.
5, the control gear of a kind of motor and oil hydraulic pump is characterized in that, possesses:
Oil hydraulic pump, it is by engine-driving;
A plurality of hydraulic actuators, it supplies with the pressure oil that is gushed out by described oil hydraulic pump;
Operating device, it operates each hydraulic actuator;
Feeler mechanism, it detects the operation amount of described operating device;
Set the mechanism of engine speed by the fuel dial plate;
The first rotating speed of target setting device, the setting value of its based on fuel dial plate, first rotating speed of target of setting motor;
Mechanism for identifying, it is pressed by the operation amount of each operating device and the load of oil hydraulic pump, differentiates the work pattern of described a plurality of hydraulic actuators;
Horsepower limits value setting device, it sets the horsepower limits value of oil hydraulic pump according to each work pattern;
The second rotating speed of target setting device, it sets second rotating speed of target of motor according to the horsepower limits value of oil hydraulic pump;
Capacity control mechanism, the capacity of its control oil hydraulic pump, with obtain with described first rotating speed of target and described second rotating speed of target in an arbitrarily small side's the corresponding pump absorbing torque of rotating speed of target;
The rotating speed control mechanism, it controls engine speed, with consistent with an arbitrarily small side's the rotating speed of target in described first rotating speed of target and second rotating speed of target.
6, the control gear of a kind of motor, oil hydraulic pump and generator motor is characterized in that, possesses:
Oil hydraulic pump, it is by engine-driving;
Hydraulic actuator, it supplies with the pressure oil that is gushed out by described oil hydraulic pump;
Generator motor, the output shaft of itself and described motor links;
Electric storage means, it stores the electric power of described generator motor generating, and electric power is supplied with to described generator motor;
Arithmetical organ, it is according to the electric power storage state of described electric storage means, the described generator motor of computing require generated energy;
Engine target speed setting mechanism, it sets the rotating speed of target of described motor;
Maximum Torque line setting device, it sets the Maximum Torque line of the absorbable maximum absorption torque of the described oil hydraulic pump of expression according to the engine target rotating speed;
The rotating speed control mechanism, it controls engine speed, so that engine speed is consistent with current engine target rotating speed;
Capacity control mechanism, the capacity of its control oil hydraulic pump, with obtain with the corresponding Maximum Torque line of current engine target rotating speed on pump absorbing torque be made as the pump absorbing torque of the upper limit;
Decision mechanism, its judgement makes described generator motor play the Engine torque booster action or does not play the Engine torque booster action;
The generator motor control mechanism, it plays under the situation of Engine torque booster action described generator motor being judged to be according to described decision mechanism, it is auxiliary to make described generator motor play Engine torque, described generator motor is risen under the situation of Engine torque booster action being judged to be, according to the described generated energy that requires, make described generator motor play the generating effect.
7, the control gear of a kind of motor, oil hydraulic pump and generator motor is characterized in that, possesses:
Oil hydraulic pump, it is by engine-driving;
Hydraulic actuator, it supplies with the pressure oil that is gushed out by described oil hydraulic pump;
Generator motor, the output shaft of itself and described motor links;
Electric storage means, it stores the electric power of described generator motor generating, and electric power is supplied with to described generator motor;
Arithmetical organ, it is according to the electric power storage state of described electric storage means, the described generator motor of computing require generated energy;
Engine target speed setting mechanism, it sets the rotating speed of target of motor;
The first Maximum Torque line setting device, it sets the first Maximum Torque line of the absorbable maximum absorption torque of expression oil hydraulic pump according to the engine target rotating speed;
The second Maximum Torque line setting device, its relative first Maximum Torque line is set in the low rotary area maximum absorption torque of motor and becomes the second big Maximum Torque line;
The rotating speed control mechanism, it controls engine speed, makes engine speed consistent with current engine target rotating speed;
Decision mechanism, it is auxiliary or not play Engine torque auxiliary that its judgement makes described generator motor play Engine torque;
The pump capacity control mechanism, the capacity of its control oil hydraulic pump, described generator motor is risen under the situation of Engine torque booster action being judged to be by described decision mechanism, select the second Maximum Torque line as the Maximum Torque line, obtain to be made as the pump absorbing torque of the upper limit with the pump absorbing torque on the corresponding second Maximum Torque line of current engine target rotating speed, and, the capacity of control oil hydraulic pump, described generator motor is risen under the situation of Engine torque booster action being judged to be by described decision mechanism, select the first Maximum Torque line as the Maximum Torque line, obtain with the corresponding first Maximum Torque line of current engine target rotating speed on pump absorbing torque be made as the pump absorbing torque of the upper limit;
The generator motor control mechanism, it plays under the auxiliary situation of Engine torque described generator motor being judged to be by described decision mechanism, it is auxiliary to make described generator motor play Engine torque, described generator motor is play a part under the auxiliary situation of Engine torque being judged to be, according to the described generated energy that requires, make described generator motor play the generating effect.
8, as the control gear of claim 6 or 7 described motors, oil hydraulic pump and generator motor, it is characterized in that,
Decision mechanism,
The absolute value of the deviation of the actual speed of engine target rotating speed and motor for the situation more than the threshold value of regulation under, be judged to be that to make described generator motor play Engine torque auxiliary, the absolute value of the deviation of the actual speed of engine target rotating speed and motor than the little situation of the threshold value of regulation under, be judged to be that not make described generator motor play Engine torque auxiliary.
9, the control gear of motor as claimed in claim 8, oil hydraulic pump and generator motor is characterized in that,
The charge capacity arithmetical organ that possesses the charge capacity of the current electric power storage of the described electric storage means of computing,
Described decision mechanism
The charge capacity that calculates by described charge capacity arithmetical organ for the situation below the threshold value of regulation under, be judged to be that not make described generator motor play Engine torque auxiliary.
10, the control gear of motor as claimed in claim 8, oil hydraulic pump and generator motor is characterized in that, possesses:
Turning motor, it makes the upper rotating body rotation of building machinery;
Rotary manipulation mechanism, it is rotated operation to described upper rotating body;
Control mechanism, its rotary manipulation according to described rotary manipulation mechanism comes the described turning motor of drive controlling;
The output arithmetical organ, the current output of the described turning motor of its computing;
Arithmetical organ, it is according to the electric power storage state of described electric storage means and the drive condition of described turning motor, the described generator motor of computing require generated energy,
Described decision mechanism,
Be output as described turning motor current under the situation more than the threshold value of regulation, be judged to be that not make described generator motor play Engine torque auxiliary.
11, as the control gear of claim 6 or 7 described motors, oil hydraulic pump and generator motor, it is characterized in that,
Described generator motor control mechanism is controlled the output torque of described generator motor, with under the little situation of current engine speed ratio engine rotating speed of target, on the moment of torsion line chart of motor, add the axle moment of torsion of motor, make engine speed reach the rotating speed that equates with the engine target rotating speed, and described generator motor control mechanism is controlled the output torque of described generator motor, with under the big situation of current engine speed ratio engine rotating speed of target, on the moment of torsion line chart of motor, absorb the axle moment of torsion of motor, make engine speed reach the rotating speed that equates with the engine target rotating speed.
12, as the control gear of claim 6 or 7 described motors, oil hydraulic pump and generator motor, it is characterized in that possessing:
The moment of torsion control mechanism, when it played the Engine torque booster action at described generator motor, the scope below the upper torque limit value was controlled the moment of torsion of described generator motor;
Upper torque limit value setting device, its charge capacity along with described electric storage means is reduced to second specified value littler than this first specified value from first specified value, reduces described upper torque limit value gradually.
13, as the control gear of claim 6 or 7 described motors, oil hydraulic pump and generator motor, it is characterized in that possessing:
The moment of torsion control mechanism, when it played the Engine torque booster action at described generator motor, the scope below the upper torque limit value was controlled the moment of torsion of described generator motor;
Upper torque limit value setting device, its charge capacity along with described electric storage means is reduced to second specified value littler than this first specified value from first specified value, reduce described upper torque limit value gradually, on the other hand, under the situation that makes the upper torque limit value increase that was once reducing, along with the charge capacity of described electric storage means is increased to four specified value bigger than the 3rd specified value from the 3rd specified value, increase described upper torque limit value gradually.
14, the control gear of motor as claimed in claim 10, oil hydraulic pump and generator motor is characterized in that, possesses:
The moment of torsion control mechanism, when it played the Engine torque booster action at described generator motor, the scope below the upper torque limit value was controlled the moment of torsion of described generator motor;
Upper torque limit value setting device, its current output along with described turning motor is increased to second specified value bigger than this first specified value from first specified value, reduces described upper torque limit value gradually.
15, the control gear of motor as claimed in claim 10, oil hydraulic pump and generator motor is characterized in that, possesses:
The moment of torsion control mechanism, when it played the Engine torque booster action at described generator motor, the scope below the upper torque limit value was controlled the moment of torsion of described generator motor;
Upper torque limit value setting device, its current output along with described turning motor is increased to second specified value bigger than this first specified value from first specified value, reduce described upper torque limit value gradually, on the other hand, under the situation that makes the upper torque limit value increase that was once reducing, along with the current output of turning motor is reduced to four specified value littler than the 3rd specified value from the 3rd specified value, increase described upper torque limit value gradually.
16, the control gear of motor as claimed in claim 6, oil hydraulic pump and generator motor is characterized in that,
The following control of generator motor control mechanism,
With described motor after the Engine torque booster action switches to the generating effect, the moment of torsion of the power generation torque that makes described generator motor during from auxiliary the end little by little change to described generator motor require the corresponding power generation torque of generated energy.
17, the control gear of a kind of motor, oil hydraulic pump and generator motor is characterized in that, possesses:
Oil hydraulic pump, it is by engine-driving;
Hydraulic actuator, it supplies with the pressure oil that is gushed out by described oil hydraulic pump;
Generator motor, the output shaft of itself and described motor links;
Electric storage means, it stores the electric power of described generator motor generating, and to described generator motor supply capability;
Arithmetical organ, it is according to the electric power storage state of described electric storage means, the computing generator motor require generated energy;
Engine target speed setting mechanism, it sets the rotating speed of target of described motor;
The first Maximum Torque line setting device, it sets the first Maximum Torque line of the absorbable maximum absorption torque of expression oil hydraulic pump according to the engine target rotating speed;
The second Maximum Torque line setting device, its relative first Maximum Torque line is set in the second Maximum Torque line that the low rotary area maximum absorption torque of motor increases;
The rotating speed control mechanism, it controls engine speed, so that engine speed is consistent with current engine target rotating speed;
Decision mechanism, its judgement makes described generator motor play the Engine torque booster action or does not play the Engine torque booster action;
The generator motor control mechanism, described generator motor is risen under the situation of Engine torque booster action being judged to be by described decision mechanism, make described generator motor play the Engine torque booster action, described generator motor is risen under the situation of Engine torque booster action being judged to be, make described generator motor play the generating effect according to the described generated energy that requires.
The 3rd pump maximum absorption torque arithmetical organ, upper torque limit value when its computing helps out along with described generator motor reduces to second specified value littler than this first specified value, the 3rd Maximum Torque that the maximum absorption torque of described oil hydraulic pump reduces gradually from first specified value;
The pump capacity control mechanism, the capacity of its control oil hydraulic pump, described generator motor is risen under the situation of motor booster action being judged to be by described decision mechanism, the 3rd pump that will calculate with pump absorbing torque on the corresponding second Maximum Torque line of current engine target rotating speed or by described the 3rd pump maximum absorption torque arithmetical organ is maximum to attract a little side in the moment of torsion as the upper limit of pump absorbing torque, and, described generator motor is risen under the situation of Engine torque booster action being judged to be by described decision mechanism, obtain with the corresponding first Maximum Torque line of current engine target rotating speed on pump absorbing torque be made as the pump absorbing torque line of the upper limit.
18, the control gear of a kind of motor, oil hydraulic pump and generator motor is characterized in that, possesses:
Oil hydraulic pump, it is by engine-driving;
Hydraulic actuator, it supplies with the pressure oil that is gushed out by described oil hydraulic pump;
Generator motor, the output shaft of itself and described motor links;
Electric storage means, it stores the electric power of described generator motor generating, and to described generator motor supply capability;
Arithmetical organ, it is according to the electric power storage state of described electric storage means, the computing generator motor require generated energy;
The rotating speed of target setting device, it sets the rotating speed of target of motor;
The first Maximum Torque line setting device, it sets the first Maximum Torque line of the absorbable maximum absorption torque of expression oil hydraulic pump according to the engine target rotating speed;
The second Maximum Torque line setting device, its relative first Maximum Torque line is set in the second Maximum Torque line that the low rotary area maximum absorption torque of motor increases;
The rotating speed control mechanism, it controls engine speed, makes engine speed consistent with current engine target rotating speed;
Decision mechanism, it is auxiliary or not play Engine torque auxiliary that its judgement makes described generator motor play Engine torque;
The generator motor control mechanism, it plays under the situation of Engine torque booster action described generator motor being judged to be by described decision mechanism, it is auxiliary to make described generator motor play Engine torque, described generator motor is risen under the situation of Engine torque booster action being judged to be, make described generator motor play the generating effect according to the described generated energy that requires.
The 3rd pump maximum absorption torque arithmetical organ, CLV ceiling limit value when its computing helps out along with described generator motor is reduced to second specified value littler than this first specified value, the 3rd Maximum Torque that the maximum absorption torque of described oil hydraulic pump reduces gradually from first specified value;
The pump capacity control mechanism, the capacity of its control oil hydraulic pump, described generator motor is risen under the situation of Engine torque booster action being judged to be by described decision mechanism, to attract a little side in the moment of torsion as the upper limit of pump absorbing torque with pump absorbing torque on the corresponding second Maximum Torque line of current engine target rotating speed or by maximum the 3rd pump that attracts the moment of torsion arithmetical organ to calculate of described the 3rd pump is maximum, and, the capacity of pump capacity control mechanism control oil hydraulic pump, described generator motor is risen under the situation of Engine torque booster action being judged to be by described decision mechanism, obtain to be the pump absorbing torque of the upper limit with the pump absorbing torque on the corresponding first Maximum Torque line of current engine target rotating speed, in addition, under the situation of the selection of the maximum absorption torque that switches oil hydraulic pump, the maximum pump maximum absorption torque of moment of torsion after switching that attract of pump before switching gradually changes.
19, the control gear of motor as claimed in claim 18, oil hydraulic pump and generator motor is characterized in that,
Time constant when attracting the pump maximum absorption torque of moment of torsion after switching to change about the pump before switch is maximum, compare with the maximum little situation of pump maximum absorption torque after torque ratio is switched that attracts of pump before switching, the pump before switching is maximum to be attracted to be set to bigger value under the big situation of pump maximum absorption torque after torque ratio is switched.
CN2006800402925A 2005-10-28 2006-10-27 Engine controller, controller of engine and hydraulic pump, and engine, hydraulic pump and controller of generator motor Expired - Fee Related CN101297106B (en)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
JP2005314897A JP4732126B2 (en) 2005-10-28 2005-10-28 Engine control device
JP314898/2005 2005-10-28
JP314897/2005 2005-10-28
JP2005314898A JP4407619B2 (en) 2005-10-28 2005-10-28 Engine and hydraulic pump control device
JP2006036738A JP4740761B2 (en) 2006-02-14 2006-02-14 Engine, hydraulic pump and generator motor controller
JP036738/2006 2006-02-14
PCT/JP2006/321562 WO2007049767A1 (en) 2005-10-28 2006-10-27 Engine controller, controller of engine and hydraulic pump, and engine, hydraulic pump and controller of generator motor

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN2010102336019A Division CN101900043B (en) 2005-10-28 2006-10-27 Control device of engine, control device of engine and hydraulic pump, and control device of engine, hydraulic pump, and generator motor

Publications (2)

Publication Number Publication Date
CN101297106A true CN101297106A (en) 2008-10-29
CN101297106B CN101297106B (en) 2011-08-31

Family

ID=38144517

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2006800402925A Expired - Fee Related CN101297106B (en) 2005-10-28 2006-10-27 Engine controller, controller of engine and hydraulic pump, and engine, hydraulic pump and controller of generator motor

Country Status (2)

Country Link
JP (1) JP4732126B2 (en)
CN (1) CN101297106B (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101988434A (en) * 2009-08-05 2011-03-23 上海派芬自动控制技术有限公司 Method and system for controlling limit load
CN102803036A (en) * 2009-06-25 2012-11-28 住友重机械工业株式会社 Hybrid working machine and method of controlling working machine
CN103370518A (en) * 2011-02-17 2013-10-23 神钢建设机械株式会社 Power source system and hybrid construction machine equipped with same
CN103403268A (en) * 2011-02-22 2013-11-20 日立建机株式会社 Wheel loader
CN105065129A (en) * 2015-07-20 2015-11-18 柳州一健科技有限公司 Engineering machine control method with energy-saving effect
CN105283649A (en) * 2013-12-17 2016-01-27 株式会社小松制作所 Work vehicle and method for controlling same
CN108603359A (en) * 2016-01-28 2018-09-28 住友建机株式会社 Excavator
CN105926705B (en) * 2015-02-26 2020-09-22 神钢建机株式会社 Hybrid construction machine
CN112177780A (en) * 2020-09-30 2021-01-05 重庆红江机械有限责任公司 Electro-hydraulic speed regulator based on speed and position feedback

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101578441B (en) * 2007-01-18 2012-11-21 株式会社小松制作所 Engine control device, and control method thereof
JP4922881B2 (en) * 2007-09-19 2012-04-25 株式会社小松製作所 Engine control device
JP5156312B2 (en) * 2007-09-19 2013-03-06 株式会社小松製作所 Engine control device
WO2011145715A1 (en) 2010-05-20 2011-11-24 株式会社小松製作所 Work vehicle and work vehicle control method
JP5341040B2 (en) * 2010-08-18 2013-11-13 日立建機株式会社 Electric construction machine
JP6247617B2 (en) 2014-09-12 2017-12-13 日立建機株式会社 Construction machinery

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3521981B2 (en) * 1994-11-28 2004-04-26 株式会社小松製作所 Construction machine traction force control device and control method thereof
JP3587957B2 (en) * 1997-06-12 2004-11-10 日立建機株式会社 Engine control device for construction machinery
KR20010053054A (en) * 1999-05-28 2001-06-25 세구치 류이치 Pump capacity control device and valve device
WO2004029434A1 (en) * 2002-09-26 2004-04-08 Hitachi Construction Machinery Co., Ltd. Prime mover controller of construction machine
JP2004150307A (en) * 2002-10-29 2004-05-27 Komatsu Ltd Controller of engine
JP2005086892A (en) * 2003-09-08 2005-03-31 Komatsu Ltd Drive controller for hybrid work machine

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102803036A (en) * 2009-06-25 2012-11-28 住友重机械工业株式会社 Hybrid working machine and method of controlling working machine
CN101988434A (en) * 2009-08-05 2011-03-23 上海派芬自动控制技术有限公司 Method and system for controlling limit load
CN101988434B (en) * 2009-08-05 2014-02-19 派芬自控（上海）股份有限公司 Method and system for controlling limit load
CN103370518B (en) * 2011-02-17 2016-01-20 神钢建设机械株式会社 Power source and possess the hybrid power engineering machinery of this power source
CN103370518A (en) * 2011-02-17 2013-10-23 神钢建设机械株式会社 Power source system and hybrid construction machine equipped with same
CN103403268B (en) * 2011-02-22 2016-03-16 日立建机株式会社 Wheel loader
CN103403268A (en) * 2011-02-22 2013-11-20 日立建机株式会社 Wheel loader
CN105283649A (en) * 2013-12-17 2016-01-27 株式会社小松制作所 Work vehicle and method for controlling same
US9790663B2 (en) 2013-12-17 2017-10-17 Komatsu Ltd. Work vehicle having a work implement
US9815471B2 (en) 2013-12-17 2017-11-14 Komatsu Ltd. Work vehicle and method for controlling same
CN105283649B (en) * 2013-12-17 2018-02-02 株式会社小松制作所 Working truck and its control method
CN105926705B (en) * 2015-02-26 2020-09-22 神钢建机株式会社 Hybrid construction machine
CN105065129A (en) * 2015-07-20 2015-11-18 柳州一健科技有限公司 Engineering machine control method with energy-saving effect
CN108603359A (en) * 2016-01-28 2018-09-28 住友建机株式会社 Excavator
CN112177780A (en) * 2020-09-30 2021-01-05 重庆红江机械有限责任公司 Electro-hydraulic speed regulator based on speed and position feedback
CN112177780B (en) * 2020-09-30 2022-07-19 重庆红江机械有限责任公司 Electro-hydraulic speed regulator based on speed and position feedback

Also Published As

Publication number Publication date
CN101297106B (en) 2011-08-31
JP2007120425A (en) 2007-05-17
JP4732126B2 (en) 2011-07-27

Similar Documents

Publication Publication Date Title
CN101900043B (en) Control device of engine, control device of engine and hydraulic pump, and control device of engine, hydraulic pump, and generator motor
CN101297106B (en) Engine controller, controller of engine and hydraulic pump, and engine, hydraulic pump and controller of generator motor
CN101861455B (en) Engine control device
CN101855434B (en) Engine controller
JP4740761B2 (en) Engine, hydraulic pump and generator motor controller
CN101636542B (en) Construction machine and control method of construction machine
CN104159803B (en) The control device of engineering machinery
CN103958864B (en) Engine control device and construction machine
JP4922881B2 (en) Engine control device
JP2006169974A (en) Control device of traveling work vehicle
JP5332051B2 (en) Engine, hydraulic pump and generator motor controller
JP4407619B2 (en) Engine and hydraulic pump control device
CN104487683B (en) The control method of the control device, Work machine and internal combustion engine of internal combustion engine
WO2020216473A1 (en) Hydraulic circuit architecture with enhanced operating efficiency
JP5250145B2 (en) Engine control device
JP5166806B2 (en) Engine control device
US6447423B1 (en) Method and apparatus for adjusting transmission ratio commands for a continuously variable transmission
WO2022256178A1 (en) System and method for controlling engine operations

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110831

Termination date: 20201027

CF01 Termination of patent right due to non-payment of annual fee