CN101725163A - 混合动力工作机 - Google Patents

混合动力工作机 Download PDF

Info

Publication number
CN101725163A
CN101725163A CN200910207920A CN200910207920A CN101725163A CN 101725163 A CN101725163 A CN 101725163A CN 200910207920 A CN200910207920 A CN 200910207920A CN 200910207920 A CN200910207920 A CN 200910207920A CN 101725163 A CN101725163 A CN 101725163A
Authority
CN
China
Prior art keywords
storage device
mentioned
electrical storage
generator
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
CN200910207920A
Other languages
English (en)
Other versions
CN101725163B (zh
Inventor
鹿儿岛昌之
小见山昌之
下村启介
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.)
Kobelco Construction Machinery Co Ltd
Original Assignee
Kobelco Construction Machinery Co 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
Application filed by Kobelco Construction Machinery Co Ltd filed Critical Kobelco Construction Machinery Co Ltd
Publication of CN101725163A publication Critical patent/CN101725163A/zh
Application granted granted Critical
Publication of CN101725163B publication Critical patent/CN101725163B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/50—Control strategies for responding to system failures, e.g. for fault diagnosis, failsafe operation or limp mode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/46—Series type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/20—Energy regeneration from auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/02—Dynamic electric resistor braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/2075—Control of propulsion units of the hybrid type
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B60W2050/0297—Control Giving priority to different actuators or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/17—Construction vehicles, e.g. graders, excavators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B60Y2200/412—Excavators
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mining & Mineral Resources (AREA)
  • Structural Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

本发明涉及混合动力工作机，在将发动机作为动力源对发电电动机和液压泵进行驱动，并且通过发电电动机的发电力对电池进行充电，通过发电电动机和电池对旋转电动机进行驱动的混合动力挖掘机中，以电压传感器对直流母线电压进行检测，通过故障检测电源检测电池是否不能使用。当电池不能使用时，进行一边将直流母线电压保持在系统的通常工作电压以上，一边将旋转电动机的消耗电力抑制在发电电动机的发电电力以下的紧急避难控制。

Description

混合动力工作机
技术领域
本发明涉及一并使用发送机动力和电力的混合动力工作机(HybridWorking Machine)。
背景技术
以挖掘机(shovel)为例对背景技术进行说明。
挖掘机如图4所示是在履带式的下部行驶体1上以围绕纵轴O自由旋转的方式搭载上部旋转体2，在该上部旋转体2上安装工作附属装置A而构成。
该工作附属装置A构成为包括：起伏自由的吊杆(boom)3；在该吊杆3的前端安装的臂4；在该臂4的前端安装的铲斗5；作为对它们进行驱动的液压传动装置的吊杆、臂、铲斗各自的缸6、7、8。
而且，作为使上部旋转体2旋转的旋转用传动装置，在液压挖掘机的情况下使用旋转液压马达，在混合动力挖掘机的情况下使用旋转电动机。
在混合动力挖掘机中，采用如下结构，将发动机作为动力源对液压泵和发电机进行驱动，通过液压泵对液压传动装置进行驱动，另一方面，通过发电机、和以该发电机的输出被充电的蓄电装置对旋转电动机进行驱动(参照日本专利申请特开2000-283107号公报，日本专利申请特开平10-42587号公报)。
在该混合动力挖掘机中，存在蓄电装置由于例如继电器故障等而发生故障，不再能作为电源使用的可能性。
在该情况下，在现有技术中，由于
(i)作为发电机输出的蓄电场所的、并且是旋转电动机的电源的一个消失，导致连结发电机(发电机逆变器)和旋转电动机(旋转电动机逆变器)的直流母线电压变得不稳定，
(ii)发电机的发电力不足以维持旋转电动机的消耗电力，
(iii)发动机负载变大，导致液压泵的输出下降，所以存在旋转、液压这两个工作均不能稳定地进行的问题。
发明内容
本发明的目的在于提供一种即使在蓄电装置不能使用时也能够确保稳定的旋转和液压这两个工作的混合动力工作机。
本发明的混合动力工作机具备：作为动力源的发动机；由上述发动机驱动的、作为液压传动装置的液压源的液压泵和发电机；对上述发电机发电的发电电力进行充电的蓄电装置；由上述发电机和蓄电装置驱动的、作为旋转体的驱动源的旋转电动机；对上述蓄电装置不能使用的情况进行检测的蓄电装置故障检测单元；以及对上述发电机和旋转电动机进行控制的控制单元。进而，该控制单元构成为在通过上述蓄电装置故障检测单元检测出蓄电装置不能使用时，一边将直流母线电压保持为系统的通常工作电压以上，一边进行将上述旋转电动机的消耗电力抑制在发电机的发电电力以下的紧急避难控制。
根据本发明，在蓄电装置不能使用时，由于一边将直流母线电压保持为系统的通常工作电压，一边抑制旋转电动机的消耗电力，所以能够确保稳定的旋转和液压这两个工作。
可是，只要蓄电装置正常的话，旋转减速时产生的再生电力就被蓄电在蓄电装置中，但当蓄电装置不能够被使用时，再生电力的接受装置消失，存在不能够正常地发挥再生制动作用的问题。
在该情况下，本发明优选在上述结构中设置有：在旋转电动机的再生工作时，对再生电力进行消耗的再生电阻；以及对该再生电阻进行控制的再生电阻控制单元。这是因为使在旋转减速时产生的再生电力在再生电阻消耗，能够使再生制动作用正常地发挥。
此外，本发明优选构成为在上述任意一种结构中，具备对直流母线的电压进行检测的母线电压检测单元，蓄电装置故障检测单元在起动时，在蓄电装置与上述直流母线连接的状态下在通过上述母线电压检测单元检测出的母线电压是设定值以下时，判断为蓄电装置不能够使用。
在该情况下，由于通过直接表示蓄电装置的状态的直流母线电压检测出蓄电装置不能够使用的情况，所以不仅是蓄电装置主体的故障，其它原因导致的蓄电装置不能够使用的情况也能够被可靠地检测。
附图说明
图1是本发明的实施方式的混合动力挖掘机的框结构图。
图2是表示同挖掘机的控制切换流程的流程图。
图3是表示同挖掘机的紧急避难控制的流程的流程图。
图4是挖掘机的概略侧面图。
具体实施方式
在实施方式中作为应用对象将挖掘机作为例子。
图1表示驱动系统和控制系统的框结构。
如图所示，在作为动力源的发动机1上，连接有以一台发挥发电机作用和电动机作用这两方的发电电动机2、和液压泵3，通过发动机1对它们进行驱动。
在液压泵3上，经由包含未图示的控制阀的液压回路4连接有吊杆缸等其它的液压传动装置(一律赋予附图标记5)，通过从液压泵3供给的压力油驱动液压传动装置5。
另一方面，在发电电动机2上，经由构成控制单元的发电电动机逆变器6和旋转电动机逆变器7连接有旋转电动机8，并且在连结两个逆变器6、7的直流母线9a、9b上经由电池连接电路10连接有电池(蓄电装置)11，将发电电动机2和电池10作为电源驱动旋转电动机8。
此外，在直流母线9a、9b上，消耗旋转减速时的再生电力而发挥再生制动作用的再生电阻电路12与电池11并联连接。13是对该再生电阻电路12的再生电阻进行控制的再生电阻控制单元。
再有，在电池(主电源)11之外，作为辅助电源，设置成为控制系统或起动马达等的电气元件、工作灯等的电源的辅助电池(省略图示)。
此外，在图1中，为了将旋转电动机8的驱动电路和电池电路与其它电路区别，以粗线表示。
在该混合动力挖掘机中，在上述基本结构之外，还设置有：检测直流母线电压的电压传感器14、故障检测单元15、构成控制单元的发电电动机控制单元16、以及旋转电动机控制单元17。
故障检测单元15基于在系统起动时(键开关导通时)以电压传感器14检测出的直流母线电压是否在正常时的电池电压(例如150V)以上，判定电池11是否故障(不能使用)，在判断为不能使用时，向发电电动机控制单元16和旋转电动机控制单元17发送故障信号，进行规定的控制。
通过图2、3的流程图对该控制内容进行说明。
图2表示在通常控制和紧急避难控制之间切换电池控制的流程，图3表示紧急避难控制的流程。
在图2的控制切换流程中，当通过键开关导通而系统起动时，在步骤S1，电池11通过电池连接电路16与直流母线9a、9b连接，并且在步骤S2、S3，判断检测出的电压是否是表示电池正常的正常值(例如150V)。
这里，即使在从电池连接起经过设定时间，检测电压也是正常值以下时，判断为电池故障，切换至紧急避难控制(步骤S4、S5)。
另一方面，在检测电压是正常值以上(在步骤S2为“是”)时，判断为电池正常，转移至通常控制(步骤S6)。
在图3的紧急避难控制流程中，当通过起动马达，发动机1起动时，在步骤S11判断直流母线电压是否是第一设定值以上。
第一设定值指的是发电电动机2的电动势程度的值，当在这里为“是”时，在步骤S12通过发电电动机逆变器6进行发电电动机2的扭矩设定，开始发电电动机2的发电工作。
在该情况下，以将直流母线电压保持在电池正常时的系统整体的通常工作电压(第二设定值。例如300V)以上的方式进行发电电动机2的扭矩设定/控制。
接着在步骤S13，判断直流母线电压是否达到了第二设定值以上。
当在这里为“是”时，通过旋转电动机控制单元17，旋转电动机8起动，对应于未图示的旋转操作控制杆的操作量，并且以发电电动机2的发电力≥旋转电动机8的消耗电力的方式，一边对旋转电动机8的速度或功率(速度×扭矩)进行限制，一边进行速度控制(步骤S15)。
通过上述控制，在不能使用电池11的状态下，一边将直流母线电压保持在系统整体的通常工作电压以上，一边将旋转电动机8的消耗电力抑制在发电电动机2的发电电力以下，能够使旋转电动机8和液压传动装置5在所需要最小限度的动力下稳定工作。
此外，在旋转减速时在旋转电动机8产生的再生电力，经由旋转电动机逆变器7向再生电阻电路12发送，在这里被消耗。由此，能够确保与电池正常时同样的再生制动作用。
可是，在上述实施方式中，例示了利用发动机1对发电电动机2和液压泵3同时进行驱动的所谓并行方式的混合动力结构，但本发明在采用以发动机对发电机进行驱动，以该发电机的发电电力对旋转电动机和泵用电动机进行驱动的所谓串行方式的混合动力结构的情况下也能够应用，能够得到与上述相同的效果。
此外，在上述实施方式中使用了发挥发电机作用和电动机作用的发电电动机2，但将发电机和电动机分离的装置作为动力装置使用也可。
进而，本发明不限于混合动力挖掘机，也能够在转用挖掘机而构成的破碎机或解体机等中作为动力装置应用。
尽管参照附图中的实施方式对本发明进行了说明，但只要不脱离本发明的技术方案的范围，能够有各种替换方案和等价方案。

Claims (3)

1.一种混合动力工作机，其中，具备：
作为动力源的发动机；
由上述发动机驱动的、作为液压传动装置的液压源的液压泵和发电机；
对上述发电机发电的发电电力进行充电的蓄电装置；
由上述发电机和蓄电装置驱动的、作为旋转体的驱动源的旋转电动机；
对上述蓄电装置不能使用的情况进行检测的蓄电装置故障检测单元；以及
对上述发电机和旋转电动机进行控制的控制单元，
其中，该控制单元构成为在通过上述蓄电装置故障检测单元检测出蓄电装置不能使用时，一边将直流母线电压保持为系统的通常工作电压以上，一边进行将上述旋转电动机的消耗电力抑制在发电机的发电电力以下的紧急避难控制。
2.根据权利要求1所述的混合动力工作机，其中，还具备：
在上述旋转电动机的再生工作时，对再生电力进行消耗的再生电阻；以及
对该再生电阻进行控制的再生电阻控制单元。
3.根据权利要求1所述的混合动力工作机，其中，还具备：对上述直流母线的电压进行检测的母线电压检测单元，该蓄电装置故障检测单元在起动时，在蓄电装置与上述直流母线连接的状态下在通过上述母线电压检测单元检测出母线电压是设定值以下时，判断为蓄电装置不能够使用。
CN200910207920XA 2008-10-29 2009-10-29 混合动力工作机 Expired - Fee Related CN101725163B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2008-278785 2008-10-29
JP2008278785A JP4609567B2 (ja) 2008-10-29 2008-10-29 ハイブリッド作業機械

Publications (2)

Publication Number Publication Date
CN101725163A true CN101725163A (zh) 2010-06-09
CN101725163B CN101725163B (zh) 2012-07-11

Family

ID=41651450

Family Applications (1)

Application Number Title Priority Date Filing Date
CN200910207920XA Expired - Fee Related CN101725163B (zh) 2008-10-29 2009-10-29 混合动力工作机

Country Status (4)

Country Link
US (1) US8286740B2 (zh)
EP (1) EP2181905B1 (zh)
JP (1) JP4609567B2 (zh)
CN (1) CN101725163B (zh)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102094433A (zh) * 2010-12-10 2011-06-15 广西大学 一种混合驱动可控挖掘机构
CN102251545A (zh) * 2011-04-28 2011-11-23 上海三一重机有限公司 一种电动挖掘机的电气控制系统
CN102490583A (zh) * 2012-01-05 2012-06-13 三一汽车起重机械有限公司 用于液压系统的混合动力系统和工程机械
CN102826000A (zh) * 2012-08-17 2012-12-19 三一集团有限公司 车辆混合动力系统及集装箱堆高机
CN103119227A (zh) * 2010-09-24 2013-05-22 神钢建设机械株式会社 工程机械
CN103339328A (zh) * 2011-01-26 2013-10-02 神钢建设机械株式会社 混合动力工程机械
CN103348065A (zh) * 2011-02-03 2013-10-09 日立建机株式会社 混合动力式工程机械
CN103443363A (zh) * 2011-03-22 2013-12-11 日立建机株式会社 混合动力式工程机械及用于该工程机械的辅助控制装置
CN103863088A (zh) * 2012-12-15 2014-06-18 陈梦企 串联式双动力工程机械驱动系统
CN110945188A (zh) * 2017-08-31 2020-03-31 川崎重工业株式会社 电磁阀识别装置及具备该电磁阀识别装置的控制单元
CN113525345A (zh) * 2021-07-30 2021-10-22 三一汽车起重机械有限公司 一种混合动力工程机械跛行控制方法、装置及起重机

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5703587B2 (ja) 2010-04-14 2015-04-22 コベルコ建機株式会社 ハイブリッド作業機械
JP5699598B2 (ja) * 2010-12-28 2015-04-15 コベルコ建機株式会社 建設機械
JP5747533B2 (ja) * 2011-02-02 2015-07-15 コベルコ建機株式会社 旋回式作業機械
EP2743409B1 (en) * 2011-08-09 2017-04-26 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Slew drive device
JP5778570B2 (ja) * 2011-12-20 2015-09-16 日立建機株式会社 建設機械
JP5928065B2 (ja) * 2012-03-27 2016-06-01 コベルコ建機株式会社 制御装置及びこれを備えた建設機械
BR112014029266A2 (pt) * 2012-06-08 2017-06-27 Volvo Constr Equip Ab aparelho e método para controlar um sistema de máquina de construção híbrida em série
JP6019956B2 (ja) * 2012-09-06 2016-11-02 コベルコ建機株式会社 ハイブリッド建設機械の動力制御装置
CN102877495B (zh) * 2012-09-11 2014-12-03 华南理工大学 一种挖掘机动臂势能回收混合动力系统
WO2014047564A1 (en) 2012-09-21 2014-03-27 Harnischfeger Technologies, Inc. Energy management system for machinery performing a predictable work cycle
JP6009339B2 (ja) * 2012-12-11 2016-10-19 ナブテスコ株式会社 ハイブリッド式建設機械の制御装置
JP6036344B2 (ja) * 2013-01-30 2016-11-30 コベルコ建機株式会社 ハイブリッド建設機械
KR101767798B1 (ko) * 2013-06-26 2017-08-11 히다찌 겐끼 가부시키가이샤 하이브리드식 작업 기계
US9528331B1 (en) * 2013-07-02 2016-12-27 Abe B Erdman, Jr. Pipe fitting assembly apparatus
US10125556B1 (en) 2013-07-02 2018-11-13 Abe B Erdman, Jr. Pipe fitting assembly apparatus
JP6197527B2 (ja) * 2013-09-24 2017-09-20 コベルコ建機株式会社 ハイブリッド建設機械
CN105940162B (zh) 2014-03-31 2019-08-16 住友建机株式会社 挖土机
WO2016060132A1 (ja) * 2014-10-14 2016-04-21 日立建機株式会社 ハイブリッド式建設機械
JP6539440B2 (ja) * 2014-12-01 2019-07-03 日立建機株式会社 ハイブリッド式作業機械のエンジン始動制御装置
RU2020116580A (ru) 2015-05-28 2020-06-04 ДЖОЙ ГЛОБАЛ ЛОНГВЬЮ ОПЕРЕЙШНЗ ЭлЭлСи Горная машина и система аккумулирования энергии для нее
JP7134914B2 (ja) * 2019-04-26 2022-09-12 株式会社クボタ 作業装置及びこの作業装置を備えた作業機
WO2019208814A1 (ja) 2018-04-27 2019-10-31 株式会社クボタ 作業装置及びこの作業装置を備えた作業機
EP3787183A4 (en) * 2018-04-27 2022-01-26 Kubota Corporation WORKING DEVICE AND WORKING MACHINE WITH IT
JP7134913B2 (ja) * 2019-04-26 2022-09-12 株式会社クボタ 作業装置及びこの作業装置を備えた作業機
JP7134912B2 (ja) * 2019-04-26 2022-09-12 株式会社クボタ 作業装置及びこの作業装置を備えた作業機
CN111021459A (zh) * 2019-12-31 2020-04-17 三一重机有限公司 一种并联式混合动力挖掘机控制系统及其控制方法
WO2023118988A1 (en) * 2021-12-23 2023-06-29 Cummins Inc. Control system for hybrid electric vehicle

Family Cites Families (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH076217B2 (ja) * 1987-10-09 1995-01-30 日立建機株式会社 全旋回式作業機
US5016721A (en) * 1987-10-09 1991-05-21 Hitachi Construction Machinery Co., Ltd. Full-turn type working machine
JPH1042587A (ja) 1996-07-22 1998-02-13 Daikin Ind Ltd 油圧駆動装置
US6170588B1 (en) * 1997-06-03 2001-01-09 Hitachi Construction Machinery Co., Ltd. Revolving construction machine
JP3877901B2 (ja) 1999-03-31 2007-02-07 コベルコ建機株式会社 ショベル
JP3681923B2 (ja) * 1999-06-18 2005-08-10 株式会社クボタ 旋回作業機
JP2001003398A (ja) * 1999-06-25 2001-01-09 Kobe Steel Ltd ハイブリッド建設機械
JP3859982B2 (ja) 2001-04-27 2006-12-20 株式会社神戸製鋼所 ハイブリッド建設機械の電力制御装置
US6735486B2 (en) * 2001-05-01 2004-05-11 Altec Industries Side load detection and protection system for rotatable equipment
US6711838B2 (en) * 2002-07-29 2004-03-30 Caterpillar Inc Method and apparatus for determining machine location
US6843004B2 (en) * 2003-01-15 2005-01-18 Robert G. Loeb Heavy equipment safety device
KR100693978B1 (ko) * 2004-11-19 2007-03-12 가부시끼 가이샤 구보다 선회 작업기
US7689330B2 (en) 2004-12-01 2010-03-30 Ise Corporation Method of controlling engine stop-start operation for heavy-duty hybrid-electric and hybrid-hydraulic vehicles
US7689331B2 (en) 2004-12-01 2010-03-30 Ise Corporation Method of controlling engine stop-start operation for heavy-duty hybrid-electric and hybrid-hydraulic vehicles
JP4974210B2 (ja) * 2006-02-23 2012-07-11 キャタピラー エス エー アール エル ハイブリッド式作業機械の回生・力行機能故障防止装置
JP4524679B2 (ja) * 2006-03-15 2010-08-18 コベルコ建機株式会社 ハイブリッド建設機械
US7658250B2 (en) 2006-09-29 2010-02-09 Caterpillar Inc. Energy storage and recovery for a tracked machine
JP5125048B2 (ja) * 2006-09-29 2013-01-23 コベルコ建機株式会社 作業機械の旋回制御装置
JP2008121659A (ja) 2006-10-20 2008-05-29 Kobelco Contstruction Machinery Ltd ハイブリッド作業機械
JP5055948B2 (ja) 2006-10-20 2012-10-24 コベルコ建機株式会社 ハイブリッド作業機械
EP2275606B1 (en) * 2007-02-21 2018-04-11 Kobelco Construction Machinery Co., Ltd. Rotation control device and working machine therewith
EP2287406B1 (en) * 2008-05-29 2018-05-09 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Swivel drive controller and construction machine including the same
CN104763014A (zh) * 2008-11-10 2015-07-08 住友重机械工业株式会社 混合式施工机械的控制方法
EP2447423B1 (en) * 2009-06-25 2018-11-21 Hitachi Construction Machinery Co., Ltd. Rotation control device for working machine
US8798876B2 (en) * 2009-06-25 2014-08-05 Sumitomo Heavy Industries, Ltd. Hybrid working machine and controlling method thereof

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103119227A (zh) * 2010-09-24 2013-05-22 神钢建设机械株式会社 工程机械
CN102094433B (zh) * 2010-12-10 2012-02-08 广西大学 一种混合驱动可控挖掘机构
CN102094433A (zh) * 2010-12-10 2011-06-15 广西大学 一种混合驱动可控挖掘机构
CN103339328B (zh) * 2011-01-26 2015-08-19 神钢建设机械株式会社 混合动力工程机械
CN103339328A (zh) * 2011-01-26 2013-10-02 神钢建设机械株式会社 混合动力工程机械
CN103348065A (zh) * 2011-02-03 2013-10-09 日立建机株式会社 混合动力式工程机械
CN103348065B (zh) * 2011-02-03 2015-10-14 日立建机株式会社 混合动力式工程机械
CN103443363A (zh) * 2011-03-22 2013-12-11 日立建机株式会社 混合动力式工程机械及用于该工程机械的辅助控制装置
CN103443363B (zh) * 2011-03-22 2015-10-14 日立建机株式会社 混合动力式工程机械及用于该工程机械的辅助控制装置
CN102251545B (zh) * 2011-04-28 2013-12-18 上海三一重机有限公司 一种电动挖掘机的电气控制系统
CN102251545A (zh) * 2011-04-28 2011-11-23 上海三一重机有限公司 一种电动挖掘机的电气控制系统
CN102490583B (zh) * 2012-01-05 2014-01-15 三一汽车起重机械有限公司 用于液压系统的混合动力系统和工程机械
CN102490583A (zh) * 2012-01-05 2012-06-13 三一汽车起重机械有限公司 用于液压系统的混合动力系统和工程机械
CN102826000A (zh) * 2012-08-17 2012-12-19 三一集团有限公司 车辆混合动力系统及集装箱堆高机
CN102826000B (zh) * 2012-08-17 2016-04-06 湖南三一港口设备有限公司 车辆混合动力系统及集装箱堆高机
CN103863088A (zh) * 2012-12-15 2014-06-18 陈梦企 串联式双动力工程机械驱动系统
CN110945188A (zh) * 2017-08-31 2020-03-31 川崎重工业株式会社 电磁阀识别装置及具备该电磁阀识别装置的控制单元
CN113525345A (zh) * 2021-07-30 2021-10-22 三一汽车起重机械有限公司 一种混合动力工程机械跛行控制方法、装置及起重机

Also Published As

Publication number Publication date
EP2181905A3 (en) 2011-03-09
JP4609567B2 (ja) 2011-01-12
US20100102763A1 (en) 2010-04-29
EP2181905B1 (en) 2017-04-19
CN101725163B (zh) 2012-07-11
JP2010106513A (ja) 2010-05-13
EP2181905A2 (en) 2010-05-05
US8286740B2 (en) 2012-10-16

Similar Documents

Publication Publication Date Title
CN101725163B (zh) 混合动力工作机
US9008875B2 (en) Hybrid working machine and servo control system
KR101256483B1 (ko) 하이브리드형 작업기계
KR101988052B1 (ko) 하이브리드 건설기계용 전원 공급 장치 및 그 방법
EP1953030A1 (en) Controller for inverter
JP6466409B2 (ja) ショベル
JP5674086B2 (ja) ハイブリッド型建設機械
JP2008038503A (ja) ハイブリッド型作業機械
JP3358903B2 (ja) 燃料電池の電力供給装置
JP2009197514A (ja) 電気駆動式作業機械
JP4979529B2 (ja) バッテリ駆動建設機械
JP4767272B2 (ja) 電気駆動式作業機械
WO2011058699A1 (ja) 電源システム
WO2020017348A1 (ja) 建設機械
KR101776965B1 (ko) 하이브리드 전원 장치 및 그 제어 방법
JP2011047210A (ja) ハイブリッド型掘削機械
CN211106979U (zh) 一种供电控制装置及汽车
JP5307692B2 (ja) リフティングマグネット式自走機械
KR20130049902A (ko) 전기 굴삭기
JP2016217087A (ja) 建設機械
JP4058216B2 (ja) 作業機の電力供給装置
CN103023426A (zh) 电机驱动器及驱动方法
JP6315544B2 (ja) ショベル
JP2023023994A (ja) 作業用車両
JP2006136072A (ja) ハイブリッド式建設機械のバッテリ充電装置

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: 20120711

Termination date: 20211029

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