CN105517870A

CN105517870A - Utility vehicle, and control method for same

Info

Publication number: CN105517870A
Application number: CN201580001066.5A
Authority: CN
Inventors: 竃门光彦; 有松伸也; 今井智贵
Original assignee: Komatsu Ltd
Current assignee: Komatsu Ltd
Priority date: 2015-09-01
Filing date: 2015-09-01
Publication date: 2016-04-20
Also published as: JP6062116B2; JPWO2016024640A1; DE112015000143T5; KR101705744B1; WO2016024640A1; US20170058490A1

Abstract

This utility vehicle comprises: an engine, a hydraulic pump, a hydraulic actuator, a power generator motor, an electric actuator, an exhaust treatment device, a reducing agent tank, a stored amount detection unit, an engine control unit, and an actuator control unit. The hydraulic pump is driven by the engine. The hydraulic actuator is driven by hydraulic oil discharged from the hydraulic pump. The generator motor is driven by the engine. The electric actuator is driven by electric power generated by the generator motor. The exhaust gas treatment device purifies the exhaust gas from the engine. The reducing agent tank stores a reducing agent that is to be supplied to the exhaust gas treatment device. The stored amount detection unit detects the stored amount of the reducing agent within the reducing agent tank. The engine control unit controls the output limit to reduce the output of the engine if the stored amount drops below a first threshold value. The electric actuator control unit limits the output of the electric actuator while output limit control is being performed.

Description

Working truck and control method thereof

Technical field

The present invention relates to working truck and control method thereof.

Background technology

There is following working truck, the hydraulic actuator that this working truck has driving engine, Hydraulic Pump driven by the engine and driven by the working oil of discharging from Hydraulic Pump.Hydraulic actuator is such as hydraulic actuating cylinder, drives the equipment with large arm and forearm etc.In working truck as above, Hydraulic Pump is controlled, in order to avoid the absorption torque of Hydraulic Pump exceedes the Driving Torque of driving engine.

On the other hand, there is following working truck, this working truck has the exhaust gas treatment device using deoxidation compound to carry out the exhaust of purifying engine.In working truck as above, deoxidation compound is stored in deoxidation compound tank, but when the storage capacity of deoxidation compound in deoxidation compound tank reduces, the process that likely can not suitably be exhausted.Therefore, such as, in the working truck of patent documentation 1, when the storage capacity of deoxidation compound is fewer than specified amount, carry out making the output of driving engine reduce and make the control that the absorption torque of Hydraulic Pump reduces.Thus, operator's supply deoxidation compound can be impelled.

At first technical literature

Patent documentation

Patent documentation 1: Japanese Unexamined Patent Publication 2015-71973 publication

Summary of the invention

The problem that invention will solve

In recent years, the working truck of following mixed motivity type is developed, the working truck of this mixed motivity type has Hydraulic Pump and hydraulic actuator, and the power-actuated electric actuator that there is electrical generator motor driven by the engine and generated by electrical generator motor.Such as, the hydraulic excavator of mixed motivity type has: for driving the hydraulic actuating cylinder of equipment and the electro-motor for making swivel rotate.

In the working truck of mixed motivity type as above, when carrying out the control that the output of driving engine is reduced when the storage capacity of deoxidation compound decreases, wish the action guaranteeing hydraulic efficiency equipment and electrical equipment both sides as far as possible efficiently.But, for the absorption torque reduction only making Hydraulic Pump as in the past, even if the action of electrical equipment easily can be guaranteed, because electrical equipment uses the major part of driving engine to export, thus be also difficult to the action guaranteeing hydraulic efficiency equipment.

Problem of the present invention is: in the working truck of mixed motivity type, when the storage capacity of deoxidation compound decreases, although make the output of driving engine reduce, still can guarantee the action of hydraulic efficiency equipment and electrical equipment both sides as far as possible efficiently.

For solving the scheme of problem

The working truck of a scheme of the present invention has: driving engine, Hydraulic Pump, hydraulic actuator, electrical generator motor, electric actuator, exhaust gas treatment device, deoxidation compound tank, storage capacity test section, engine control section and actuator control part.Hydraulic Pump is by engine drive.Hydraulic actuator is driven by the working oil of discharging from Hydraulic Pump.Electrical generator motor is by engine drive.The driven by power that electric actuator is generated by electrical generator motor.The exhaust of exhaust gas treatment device purifying engine.The deoxidation compound to exhaust gas treatment device supply is deposited in deoxidation compound tank storage.Storage capacity test section detects the storage capacity of the deoxidation compound in deoxidation compound tank.When storage capacity is below first threshold, the export-restriction that engine control section carries out the output reducing driving engine controls.In the execution that export-restriction controls, the output of electric actuator control part restriction electric actuator.

In the working truck of this programme, when storage capacity is below first threshold, reduce the output of driving engine, and, the output of restriction electric actuator.Therefore, compared with the not confined situation of the output of electric actuator, can guarantee that the output of the driving engine being assigned to Hydraulic Pump is larger.Thus, in the working truck of mixed motivity type, the action of hydraulic efficiency equipment and electrical equipment both sides can be guaranteed efficiently when the storage capacity of deoxidation compound decreases.

Working truck still can have output calculating part, absorb torque determination portion and pump control part.Exporting calculating part also can in storage capacity in time below first threshold, calculates the output of the electrical generator motor needed for the driving of electric actuator.Absorb torque determination portion and also based on the output of the output of driving engine after reducing and the electrical generator motor needed for the driving of electric actuator, the absorption torque of Hydraulic Pump can be determined.Pump control part also can with determined absorption direct torque Hydraulic Pump.

In this case, when storage capacity is below first threshold, based on the output of the output of driving engine after reducing and electrical generator motor needed for the driving of electric actuator, determine the absorption torque of Hydraulic Pump.At this, the Driving Torque of the Hydraulic Pump needed for the driving of hydraulic actuator changes significantly according to the load putting on equipment.Therefore, estimate accurately export-restriction control in should distribute to Hydraulic Pump torque this and be not easy.

By contrast, the output of the electrical generator motor needed for the driving of electric actuator, compared with the Driving Torque of the Hydraulic Pump needed for the driving of hydraulic actuator, can estimate accurately.Therefore, first the output of the electrical generator motor needed for driving of electric actuator is calculated, determine the absorption torque of Hydraulic Pump based on its result of calculation, thus the output of the electrical generator motor needed for driving and the absorption torque of Hydraulic Pump of electric actuator can be determined efficiently.Thus, in the working truck of mixed motivity type, when the storage capacity of deoxidation compound decreases, the action of hydraulic efficiency equipment and electrical equipment both sides can be guaranteed as far as possible efficiently.

Time below the Second Threshold that storage capacity is fewer than first threshold, electric actuator control part also can make electric actuator stop.In this case, operator's supply deoxidation compound can be impelled.

Working truck can also have the power control unit be electrically connected with electrical generator motor and electric actuator.When storage capacity is below Second Threshold and meets the system stop condition of regulation, electric actuator control part also can make power control unit stop.In this case, operator's supply deoxidation compound can be impelled.

The responsiveness that system stop condition also can comprise electric actuator has been reduced to specified speed.In this case, under the state that can stop at electric actuator or roughly stop, power control unit is stopped.Thus, power control unit in the action of electric actuator can be avoided to stop.

It is 0 that system stop condition still can comprise the torque instruction value exported to electrical generator motor.In this case, power control unit in the process of being undertaken generating electricity by electrical generator motor can be avoided to stop.Thus, the electric power that generates because of electrical generator motor after the stopping of power control unit can be avoided and cause power control unit damaged.

When storage capacity is below Second Threshold, electric actuator control part also can make the torque instruction value of electric actuator be 0.Thus, electric actuator can be made to stop.

Engine control section also can when usual larger than first threshold of storage capacity, according to the output of the first motor torque curve controlled driving engine.Engine control section also can in export-restriction controls, according to lower than the first motor torque curve, to the second motor torque curve controlled driving engine that the output of driving engine specifies output.In this case, by changing motor torque curve, the output of driving engine can be reduced in export-restriction controls.

Electric actuator control part also can reduce the upper limit of the Driving Torque of electric actuator in export-restriction controls.Thus, the output of electric actuator can be reduced in export-restriction controls.

Working truck also can also have: driving body and can be supported on the swivel of driving body rotatably.Electric actuator also can be the electro-motor that swivel is rotated.In this case, compared with the load putting on hydraulic actuator, the variation putting on the load of electro-motor is little.Therefore, the output of the electrical generator motor needed for driving of electric actuator can be calculated accurately.

The control method of the working truck of other schemes of the present invention has following step.In a first step, the storage capacity of the deoxidation compound in deoxidation compound tank is detected.In the second step, when storage capacity is below first threshold, carry out export-restriction control, this export-restriction controls the signal exporting the output reducing driving engine.In third step, in the execution that export-restriction controls, the signal of the output of export-restriction electric actuator.

In the control method of the working truck of this programme, when storage capacity is below first threshold, reduces the output of driving engine, and limit the output of electric actuator.Therefore, compared with the not confined situation of the output of electric actuator, can guarantee that the output of the driving engine being assigned to Hydraulic Pump is larger.Thus, in the working truck of mixed motivity type, the action of hydraulic efficiency equipment and electrical equipment both sides can be guaranteed efficiently when the storage capacity of deoxidation compound decreases.

The control method of working truck also can also have following step.In the 4th step, calculate the output of the electrical generator motor needed for driving of electric actuator.In the 5th step, based on the output of the output of driving engine after reducing and electrical generator motor needed for the driving of electric actuator, determine the absorption torque of Hydraulic Pump.In the 6th step, export the command signal of the absorption torque representing determined Hydraulic Pump.

In this case, first the output of the electrical generator motor needed for driving of electric actuator is calculated, based on the absorption torque of its result of calculation determination Hydraulic Pump, thus the output of the electrical generator motor needed for driving and the absorption torque of Hydraulic Pump of electric actuator can be determined efficiently.Thus, in the working truck of mixed motivity type, the action of hydraulic efficiency equipment and electrical equipment both sides can be guaranteed as far as possible efficiently when the storage capacity of deoxidation compound decreases.

The control method of working truck also can also have following step.In the 7th step, time below the Second Threshold that storage capacity is less than first threshold, export halt instruction to electric actuator.In the 8th step, halt instruction export after, the responsiveness of electric actuator be reduced to specified speed and to electrical generator motor export torque instruction value be 0 time, the danger signal of output power control setup.

In this case, power control unit in the action of electric actuator can be avoided to stop.In addition, power control unit in the process of being undertaken generating electricity by electrical generator motor can be avoided to stop.Thus, the electric power that generates because of electrical generator motor after power control unit stops can be prevented and cause power control unit.

The effect of invention

According to the present invention, in the working truck of mixed motivity type, when the storage capacity of deoxidation compound decreases, although make the output of driving engine reduce, still can guarantee the action of hydraulic efficiency equipment and electrical equipment both sides as far as possible efficiently.

Accompanying drawing explanation

Fig. 1 is the block diagram of the working truck of embodiment.

Fig. 2 is the schematic diagram representing the electric equipment system of working truck and the structure of hydraulic efficiency equipment system.

Fig. 3 is the schematic diagram of the structure of the exhaust-gas treatment system representing working truck.

Fig. 4 is the schematic diagram of the structure of the control system representing working truck.

Fig. 5 is the figure of the example representing motor torque curve.

Fig. 6 is the figure that pump when representing composition operation absorbs an example of torque line.

Fig. 7 is the diagram of circuit of the process represented in export-restriction control.

Fig. 8 represents that the motor torque in export-restriction control reduces the figure of an example of curve.

Fig. 9 is the figure of the distribution of the engine output torque representing embodiment and comparative example.

Detailed description of the invention

Hereinafter, with reference to the accompanying drawings of the working truck of embodiment.Fig. 1 is the block diagram of the working truck 100 of embodiment.In the present embodiment, working truck 100 is hydraulic excavators.Working truck 100 has vehicle body 1 and equipment 4.

Vehicle body 1 has driving body 2 and swivel 3.Driving body 2 has a pair mobile devices 2a, 2b.Each mobile devices 2a, 2b have crawler belt 2d, 2e.Mobile devices 2a, 2b by driving crawler belt 2d, 2e, thus make working truck 100 travel.

Swivel 3 is positioned on driving body 2.Swivel 3 can be arranged rotatably relative to driving body 2.Rotating machine 32 (with reference to Fig. 2) described later is driven, thus swivel 3 is rotated.Swivel 3 is provided with operator's compartment 5.Swivel 3 has engine room 20.Engine room 20 is configured in the rear of operator's compartment 5.Engine room 20 receives the equipment such as driving engine 21 described later and Hydraulic Pump 25.

Equipment 4 is arranged on swivel 3.Equipment 4 has: large arm 7, forearm 8, flow attachment 9, large arm cylinder 10, forearm cylinder 11 and attachment cylinder 12.The base end part of large arm 7 can link with swivel 3 on action ground.The leading section of large arm 7 can link with the base end part of forearm 8 on action ground.The leading section of forearm 8 can link with flow attachment 9 on action ground.

Large arm cylinder 10, forearm cylinder 11 and attachment cylinder 12 are the hydraulic actuators driven by the working oil of discharging from Hydraulic Pump 25 described later.Large arm cylinder 10 makes large arm 7 action.Forearm cylinder 11 makes forearm 8 action.Attachment cylinder 12 makes flow attachment 9 action.These cylinders 10-12 is driven, thus drives equipment 4.In addition, in the present embodiment, flow attachment 9 is scraper bowls, but also can be other annexes such as crusher or crusher.

Fig. 2 is the schematic diagram representing the electric equipment system of working truck 100 and the structure of hydraulic efficiency equipment system.Driving engine 21 is such as diesel motor.The horsepower output of driving engine 21 is controlled by regulating the fuel quantity to the cylinder injection of driving engine 21.The electronic regulator 23 of command signal to the fuel-injection pump 22 being attached to driving engine 21 according to carrying out self-controller 60 controls, thus carries out this adjustment.As regulating control 23, usually use the regulating control of All Speed Range mode, according to load, engine speed and fuel injection amount are regulated, reach rotating speed of target described later to make engine speed.That is, regulating control 23 pairs of fuel injection amounts increase and decrease, to eliminate the deviation between rotating speed of target and the engine speed of reality.

The actual speed of driving engine 21 is detected by engine speed test section 24.The engine speed detected by engine speed test section 24 is imported into controller 60 as detection signal.The output of driving engine 21 is assigned to hydraulic efficiency equipment system and electric equipment system, drives these equipment.Below, hydraulic efficiency equipment system is described.

Working truck 100 has Hydraulic Pump 25.Hydraulic Pump 25 links with the output shaft of driving engine 21.Output shaft by driving engine 21 rotates and drives Hydraulic Pump 25.Hydraulic Pump 25 is Hydraulic Pumps of variable capacity type.Hydraulic Pump 25 has swash plate 26, and by changing the tilt angle of swash plate 26, the capacity of Hydraulic Pump 25 changes.

Pump control valve 27 carries out action according to the command signal inputted from controller 60, controls Hydraulic Pump 25 via servo piston.The tilt angle of pump control valve 27 pairs of swash plates 26 controls, and to make, the discharge pressure of Hydraulic Pump 25 and the capacity of Hydraulic Pump 25 are long-pending be no more than the pump corresponding with the command value (command current value) of the command signal being input to pump control valve 27 from controller 60 and absorb torque.

The working oil of discharging from Hydraulic Pump 25 is fed into hydraulic actuator 10-14 via operating valve 28.Specifically, working oil is fed into large arm cylinder 10, forearm cylinder 11, attachment cylinder 12, right travel motor 13 and left running motor 14.Large arm cylinder 10, forearm cylinder 11, attachment cylinder 12 are driven, thus large arm 7, forearm 8, flow attachment 9 are worked.In addition, right travel motor 13 and left running motor 14 are driven, thus mobile devices 2a, 2b are worked, and vehicle travels.

The discharge pressure of Hydraulic Pump 25 is detected by discharge pressure test section 29.The discharge pressure of the Hydraulic Pump 25 detected by discharge pressure test section 29 is imported into controller 60 as detection signal.

Operating valve 28 is the flow direction control valves with the multiple control cock corresponding with each hydraulic actuator 10-14.Operating valve 28 controls the flow of the working oil supplied to each hydraulic actuator 10-14.

Then, electric equipment system is described.Working truck 100 has: electrical generator motor 31, rotating machine 32, electrical storage device 33 and power control unit 34.Electrical generator motor 31 links with the output shaft of driving engine 21.Electrical generator motor 31 carries out generating effect and electromotive action according to different situation.

By making electrical generator motor 31 carry out generating effect, electric power is stored in electrical storage device 33.Electrical storage device 33 is such as cond.But electrical storage device 33 is not limited to cond, it also can be the electrical storage device of other kinds.Electrical storage device 33 supplies electric power to rotating machine 32.When electrical generator motor 31 carries out electromotive action, electrical storage device 33 supplies electric power to electrical generator motor 31.

When the output of driving engine 21 is not enough, electrical generator motor 31 carries out electromotive action.Electrical generator motor 31 is supplied to electric power from electrical storage device 33 and is driven, and thus, assists driving engine 21.

Rotating machine 32 is by supplying electric power from electrical storage device 33 or electrical generator motor 31 and driven electro-motor.Rotating machine 32 by the driven by power from electrical storage device 33 or electrical generator motor 31, thus makes above-mentioned swivel 3 rotate.In addition, when swivel 3 slows down, rotating machine 32 carries out regeneration actions.That is, the deceleration energy of rotating machine 32 pairs of swiveies 3 regenerates and generates electricity, and the electric power sent is supplied to electrical storage device 33.

The motor rotation detection portion 35 of the rotating speed detecting rotating machine 32 is provided with at rotating machine 32.The rotating speed of the rotating machine 32 detected by motor rotation detection portion 35 is imported into controller 60.

Power control unit 34 is electrically connected with electrical generator motor 31, rotating machine 32 and electrical storage device 33.The electric power of power control unit 34 subtend electrical generator motor 31, rotating machine 32 and electrical storage device 33 supply controls.Power control unit 34 has: the first changer 36, second changer 37 and booster 38.

First changer 36 is connected with electrical generator motor 31.Second changer 37 is connected with the first changer 36, and rotating machine 32 is connected with the second changer 37.Booster 38 is connected with between the first changer 36 and the second changer 37.Booster 38 is connected with electrical storage device 33 via contactless switch 39.

Circuit ON between electrical storage device 33 and booster 38 is become "on" position by contactless switch 39 when usual.Circuit disconnects according to the instruction carrying out self-controller 60 when exception and becomes dissengaged positions by contactless switch 39.

Time in the power charge will sent by electrical generator motor 31 to electrical storage device 33, the alternating current produced by electrical generator motor 31 is converted to direct current (DC) by the first changer 36.When supplying electric power from electrical storage device 33 to electrical generator motor 31, the direct current (DC) stored by electrical storage device 33 is converted to alternating current by the first changer 36.

Time in the power charge will sent by rotating machine 32 to electrical storage device 33, the alternating current produced by rotating machine 32 is converted to direct current (DC) by the second changer 37.When supplying electric power from electrical storage device 33 to rotating machine 32, the direct current (DC) stored by electrical storage device 33 is converted to alternating current by the second changer 37.

Booster 38 is controlled by controller 60, thus controls the output power exported from booster 38.When electrical generator motor 31 carries out electromotive action, booster 38 makes the boost in voltage of the electric power supplied to electrical generator motor 31 via the first changer 36 from electrical storage device 33.When rotating machine 32 is by driving, booster 38 makes the boost in voltage of the electric power supplied to rotating machine 32 via the second changer 37 from electrical storage device 33.In addition, time in the power charge will sent by electrical generator motor 31 or rotating machine 32 to electrical storage device 33, booster 38 makes the voltage supplied to electrical storage device 33 reduce.

Voltage detection department 41 is provided with between booster 38 and first, second changer 36,37.The size of voltage detection department 41 to the voltage after being boosted by booster 38 detects.The voltage that voltage detection department 41 detects is imported into controller 60.

Second changer 37 is provided with current detecting part 42.The electric current of current detecting part 42 subtend second changer 37 input detects.The electric current inputted to the second changer 37 detected by current detecting part 42 is imported into controller 60.

Electrical storage device 33 is provided with storage voltage test section 43.Storage voltage test section 43 detects the voltage being stored in the electric power of electrical storage device 33.The voltage being stored in the electric power of electrical storage device 33 detected by storage voltage test section 43 is imported into controller 60.Controller 60, according to the voltage of electric power being stored in electrical storage device 33, monitors the charge volume of electrical storage device 33.

As shown in Figure 2, working truck 100 has equipment operating portion 15.In order to make equipment 4 work by operator's operation element device operating portion 15.Equipment operating portion 15 such as comprises control lever.The operational ton of equipment operating portion 15 is imported into controller 60.Specifically, operational ton for operating the equipment operating portion 15 of large arm 7 is (following, be called " large arm operational ton "), (following for the operational ton operating the equipment operating portion 15 of forearm 8, be called " forearm operational ton ") and the operational ton (hereinafter referred to as " accessory operation amount ") of equipment operating portion 15 for operation task annex 9 be imported into controller 60.

Aforesaid operations valve 28 is correspondingly controlled with the operational ton of equipment operating portion 15.The operational ton of operating valve 28 and equipment operating portion 15 correspondingly, changes the aperture area of the control cock corresponding with each hydraulic actuating cylinder 10-12 of equipment 4.Consequently, each hydraulic actuating cylinder 10-12 carries out work with the speed corresponding to the operational ton of equipment operating portion 15.

Working truck 100 has mobility operation portion 16.Operated by operator to make right travel motor 13 and left running motor 14 work and travel operating portion 16.Mobility operation portion 16 such as comprises control lever or operating pedal.According to the direction of operating in mobility operation portion 16, any one in right travel motor 13 and left running motor 14 is driven.The operational ton in mobility operation portion 16 is imported into controller 60.Specifically, operational ton for operating the mobility operation portion 16 of right travel motor 13 is (following, be called " right travel operational ton ") and be imported into controller 60 for the operational ton (hereinafter referred to as " left lateral sails operational ton ") in the mobility operation portion 16 operating left running motor 14.

The operational ton in operating valve 28 and mobility operation portion 16 correspondingly, changes the aperture area with the running motor 13 of left and right, 14 corresponding control cock.Thus, the running motor 13,14 of left and right carries out work with the speed corresponding to the operational ton in mobility operation portion 16.

Such as, corresponding to the operational ton of equipment operating portion 15 and the operational ton in mobility operation portion 16 pilot pressure also can put on the pilot port of operating valve 28.Thus, the aperture area of each control cock of operating valve 28 and each operational ton are correspondingly changed.Or operating valve 28 also can by controller 60 electrical control.In this case, the command signal corresponding to the operational ton of equipment operating portion 15 and the operational ton in mobility operation portion 16 is input to operating valve 28 by controller 60.

Working truck 100 has rotary manipulation portion 17.Rotary manipulation portion 17 is operated by operator in order to make rotating machine 32 work.Rotary manipulation portion 17 such as comprises control lever.According to the direction of operating in rotary manipulation portion 17, the hand of rotation of rotating machine 32 is switched.The operational ton in rotary manipulation portion 17 is imported into controller 60.Correspondingly, the electric power that subtend rotating machine 32 supplies controls the operational ton in controller 60 and rotary manipulation portion 17.Thus, swivel 3 rotates with the speed corresponding to the operational ton in rotary manipulation portion 17.

Working truck 100 has read out instrument 18.Read out instrument 18 shows the information of the working trucks such as engine speed 100.Working truck 100 has input media 19.Input media 19 is devices of various settings of setting for inputting work pattern described later etc., working truck 100.In addition, also read out instrument 18 and input media 19 can be set integratedly by the monitor unit of touch-screen type.

Then, the exhaust-gas treatment system of working truck 100 is described.Fig. 3 is the schematic diagram of the exhaust-gas treatment system representing working truck 100.As shown in Figure 3, working truck 100 has first row Flash Gas Compression Skid System 45 and second row Flash Gas Compression Skid System 46.First row Flash Gas Compression Skid System 45 is such as diesel particulate filter device.First row Flash Gas Compression Skid System 45 is connected with driving engine 21, the particulate material (ParticulateMatter in purifying exhaust gas; PM).

Second row Flash Gas Compression Skid System 46 is connected with first row Flash Gas Compression Skid System 45 via mixing pipe arrangement 47.Second row Flash Gas Compression Skid System 46 is such as selective catalytic reduction device.Second row Flash Gas Compression Skid System 46 uses the deoxidation compounds such as urea water, by the oxides of nitrogen (NOx) in catalyst cleaning exhaust.Exhaust after being purified by first row Flash Gas Compression Skid System 45 and second row Flash Gas Compression Skid System 46, is discharged to the outside of working truck 100 by the freeing pipe 48 shown in Fig. 1.

At mixing pipe arrangement 47, injection of reducing agent injection device 49 is installed.Injection of reducing agent is mapped in mixing pipe arrangement 47 by injection of reducing agent injection device 49.Injection of reducing agent injection device 49 is connected with deoxidation compound pump 51 and deoxidation compound tank 52 via deoxidation compound flexible pipe 50.Deoxidation compound tank 52 stores deoxidation compound.Deoxidation compound pump 51 is smoked deoxidation compound from deoxidation compound tank 52 and is transported to injection of reducing agent injection device 49.

Deoxidation compound tank 52 is provided with storage capacity test section 53.Storage capacity test section 53 detects the storage capacity of the deoxidation compound in deoxidation compound tank 52.The storage capacity of the deoxidation compound detected is input to controller 60 by storage capacity test section 53.

Then, the control performed by controller 60 is described.Fig. 4 is the schematic diagram of the structure of the control system representing working truck 100.As shown in Figure 4, controller 60 is realized by the computing machine with operational parts 61 such as the storage parts such as RAM, ROM 62 and CPU.Controller 60 is programmed to control driving engine 21, hydraulic efficiency equipment system and electric equipment system.Controller 60 also can be realized by multiple computing machine.As shown in Figure 4, controller 60 has: engine control section 63, pump control part 64 and electric actuator control part 65.

Engine control section 63 carries out the control of driving engine 21 based on motor torque curve P1, the E1 shown in Fig. 5.Motor torque curve P1, E1 represent the higher limit of the torque that driving engine 21 and rotating speed correspondingly can export.That is, motor torque curve P1, E1 specify the relation between the higher limit of the Driving Torque of engine speed and driving engine 21.Motor torque curve P1, E1 are stored in storage part 62.

Engine control section 63, according to the operational ton in the operational ton of equipment operating portion 15, the operational ton in mobility operation portion 16 and rotary manipulation portion 17, determines the rotating speed of target of driving engine 21.The operational ton of equipment operating portion 15 is totals of above-mentioned large arm operational ton, forearm operational ton and accessory operation amount.The operational ton in mobility operation portion 16 is totals that left lateral sails operational ton and right travel operational ton.Engine control section 63 such as with the total of the operational ton in the operational ton of equipment operating portion 15, the operational ton in mobility operation portion 16 and rotary manipulation portion 17 correspondingly, determine the rotating speed of target of driving engine 21.Regulating control 23 controls the output of driving engine 21, is no more than motor torque curve and the rotating speed of the reality of driving engine 21 reaches rotating speed of target to make the Driving Torque of driving engine 21.

In Figure 5, P1 represents the first motor torque curve.Specified or the maximum power output of the first motor torque curve P1 and driving engine 21 is suitable.First motor torque curve P1 has maximum torque point Pt and rated point Pp.On the first motor torque curve P1, at maximum torque point Pt place, the Driving Torque of driving engine 21 is maximum.In addition, on the first motor torque curve P1, at rated point Pp place, the horsepower output of driving engine 21 is maximum.

On the first motor torque curve P1, in the scope of engine speed from low idling speed NLi till the engine speed Nt at maximum torque point Pt place, along with the increase of engine speed, the Driving Torque of driving engine 21 increases.In the scope of engine speed from Nt till the engine speed Np at rated point Pp place, along with the increase of engine speed, the Driving Torque of driving engine 21 reduces.

On the first motor torque curve P1, exceeding the region of rated point Pp, the adjustment line Rm that the Driving Torque of driving engine 21 sharply reduces because of the increase of engine speed is prescribed.Adjustment line Rm is the line be connected with the maximum engine rotation speed NHi under no load condition by rated point Pp.

Engine control section 63 selects motor torque curve according to set work pattern.By setting work pattern by operator's input device 19.Work pattern comprises P pattern and E pattern.

P pattern is the work pattern that the Driving Torque of driving engine 21 is large, workability is excellent.In P pattern, the first motor torque curve P1 shown in Fig. 5 is selected.E pattern is the work pattern that the Driving Torque of driving engine 21 is less than P pattern, specific consumption of fuel is excellent.In E pattern, the second motor torque curve E1 shown in Fig. 5 is selected.On the second motor torque curve E1, the Driving Torque of driving engine 21 is less than the Driving Torque of the first motor torque curve P1.In addition, multiple E patterns that the Driving Torque of driving engine 21 can be selected periodically to reduce can be also configured to.

Pump control part 64 based on Fig. 5 Lp1, Le1 shown in pump absorb torque line, the upper limit of the absorption torque of hydraulic control pump 25.Lp1 is that the pump corresponding with the first motor torque curve P1 absorbs torque line.Le1 is that the pump corresponding with the second motor torque curve E1 absorbs torque line.Pump absorb torque line Lp1, Le1 pair and correspond to engine speed Hydraulic Pump 25 absorption torque higher limit between relation specify.Pump absorbs torque line Lp1, Le1 and is stored in storage part 62.

In P pattern, the capacity of pump control part 64 hydraulic control pump 25, mates with the upper limit of the absorption torque of Hydraulic Pump 25 with the upper limit of the matching point Mp1 place engine output torque making the rotating speed of target N1 at driving engine 21.Similarly, in E pattern, the capacity of pump control part 64 hydraulic control pump 25, mates with the upper limit of the absorption torque of Hydraulic Pump 25 with the upper limit of the matching point Me1 place engine output torque making the rotating speed of target N1 at driving engine 21.

In addition, pump absorption torque line Lp1, Le1 shown in Fig. 5 illustrate and do not use the electric actuator such as rotating machine 32 and electrical generator motor 31 and only use pump during hydraulic actuator to absorb torque line.

Electric actuator control part 65 controls rotating machine 32 and electrical generator motor 31 by controlling power control unit 34.Electric actuator control part 65 controls rotating machine 32 based on the operational ton in rotary manipulation portion 17.Electric actuator control part 65 controls electrical generator motor 31 based on the voltage etc. of the engine speed of reality, rotating speed of target, electrical storage device 33.

Such as, electric actuator control part 65, when the voltage etc. based on the engine speed of reality, rotating speed of target, electrical storage device 33 is judged to be that the output of driving engine 21 is not enough, carries out electromotive action by making electrical generator motor 31 and carrys out auxiliary engine 21.In addition, electric actuator control part 65, when the voltage etc. based on the engine speed of reality, rotating speed of target, electrical storage device 33 is judged to be that the output of driving engine 21 is not enough, by making electrical generator motor 31 carry out generating effect, charges to electrical storage device 33.

When being controlled so as to make electrical generator motor 31 carry out generating effect, electric actuator control part 65, based on the voltage of electrical storage device 33, determines the torque instruction value of electrical generator motor 31.Electric actuator control part 65 determines the torque instruction value of electrical generator motor 31, is maintained in specialized range to make the voltage of cond.Electric actuator control part 65 pairs of electrical generator motors 31 control, and reach torque instruction value with the torque of the reality making electrical generator motor 31.

Electric actuator control part 65 is according to the operational ton determination target rotational speed in rotary manipulation portion 17.Such as, electric actuator control part 65 correspondingly makes target rotational speed increase with the increase of the operational ton in rotary manipulation portion 17.Electric actuator control part 65 determines making rotating machine 32 reach the torque instruction value of the rotating machine 32 of target rotational speed from the rotative speed of reality.Electric actuator control part 65 pairs of rotating machines 32 control, and reach torque instruction value to make the torque of rotating machine 32.

When electrical generator motor 31 carries out generating effect, a part for engine output torque is for driving electrical generator motor 31.Therefore, hydraulic efficiency equipment system and electric equipment system simultaneously by operate composition operation time, controller 60 performs energy management engine output torque being distributed to hydraulic efficiency equipment system and electric equipment system.Do not perform that export-restriction described later controls usual time energy management in, consider to be assigned to the engine output torque of the driving of electrical generator motor 31, determine the upper limit of the absorption torque of Hydraulic Pump 25.

Specifically, as shown in Figure 4, controller 60 has output calculating part 66.Export the output that calculating part 66 calculates the electrical generator motor 31 needed for driving of rotating machine 32.Such as, calculating part 66 calculates rotating machine 32 electric power needed for driving according to the Driving Torque of rotating machine 32 is exported.And, in order to obtain the electric power that this calculates, exporting calculating part 66 and determining the electric energy obtained from electrical storage device 33 and the electric energy produced by the generating effect of electrical generator motor 31.The electric energy obtained from electrical storage device 33 and the ratio of electric energy produced by the generating effect of electrical generator motor 31, correspondingly determined with the electric energy being stored in electrical storage device 33.The electric energy that output calculating part 66 produces according to the generating effect by electrical generator motor 31 carrys out horsepower output needed for calculation engine 21, horsepower output needed for this driving engine 21, determine the engine output torque Thb (hereinafter referred to as " electrical generator torque Thb ") of the driving distributing to electrical generator motor 31.

As shown in Figure 4, controller 60 has absorption torque determination portion 67.Absorb torque determination portion 67 based on electrical generator torque Thb, determine the absorption torque of Hydraulic Pump 25.Specifically, as shown in Figure 6, the upper limit of the absorption torque of the Hydraulic Pump 25 when the value Tp2 obtained deducting electrical generator torque Thb from the upper limit Tp1 absorbing the pump determined of torque line Lp1 based on said pump and absorb torque is defined as composition operation.

In addition, in figure 6, pump when Lp2 is composition operation absorbs torque line, and the upper limit that contrast said pump absorbs the absorption torque of torque line Lp1 low electrical generator torque Thb specifies.The increase and decrease that pump during composition operation absorbs torque line Lp2 and electrical generator torque Thb is correspondingly changed.

Electric equipment system and hydraulic efficiency equipment system simultaneously by operate composition operation time, perform above such energy management.Thus, the absorption torque of Hydraulic Pump 25 and the total of electrical generator torque are controlled as and are no more than engine output torque.

In the working truck 100 of present embodiment, controller 60 performs and controls with the export-restriction of the storage capacity correspondingly output of limiting engine 21 of the deoxidation compound in deoxidation compound tank 52.Below, control to be described in detail to export-restriction.

Fig. 7 is the diagram of circuit of the process represented in export-restriction control.As shown in Figure 7, in step sl, the storage capacity A of the deoxidation compound in deoxidation compound tank 52 is detected.In step s 2, storage capacity A is judged whether as below threshold value a1.In addition, storage capacity A and threshold value a1 is such as the ratio maximum storage amount of deoxidation compound tank 52 being set to the residual quantity of the deoxidation compound of 100%.But storage capacity A and threshold value a1 is not limited to the ratio of residual quantity, it also can be the volume of residual deoxidation compound.About threshold value a2-a4 described later too.

When storage capacity A is below threshold value a1, send the first warning in step s3.Controller 60 shows the first warning in read out instrument 18.First warning is such as the display of the message etc. of informing the reduction of storage capacity to operator.

Then, in step s 4 which, storage capacity A is judged whether as below threshold value a2.Threshold value a2 is less than threshold value a1.When storage capacity A is below threshold value a2, send the second warning in step s 5.Controller 60 shows the second warning in read out instrument 18.If the second warning reduces further storage capacity, export-restriction is performed the display that this situation carries out the message of predicting etc.

Then, in step s 6, storage capacity A is judged whether as below threshold value a3.Threshold value a3 is less than threshold value a2.When storage capacity A is below threshold value a3, in the step s 7, the export-restriction of the first level is performed.

In the export-restriction of the first level, engine control section 63 reduces engine output torque.Specifically, as shown in Figure 8, engine control section 63 to regulating control 23 output instruction signal, to reduce curve D 1 according to motor torque the controlling output of driving engine 21.Motor torque reduces the upper limit that curve D 1 contrasts the low Driving Torque of motor torque curve P1, E1 when storage capacity A is greater than threshold value a3 usual and specifies.In other words, the upper limit that motor torque reduces the low Driving Torque of motor torque curve P1, E1 that curve D 1 contrast operation person can select specifies.Motor torque reduces curve D 1 at least in the engine speed range of more than maximum torque point Pt, and the upper limit of the Driving Torque that motor torque curve P1, E1 when contrasting usual are low specifies.

In addition, in the export-restriction of the first level, electric actuator control part 65 to the second changer 37 output instruction signal, to limit the output of rotating machine 32.Specifically, electric actuator control part 65 reduces the upper limit of the torque of rotating machine 32.Such as, electric actuator control part 65 reduces the upper limit of the torque instruction value of rotating machine 32.Thus, rotative speed is compared the target rotational speed corresponding to the operational ton in rotary manipulation portion 17 and reduces.

In the export-restriction of the first level, absorb output and the electrical generator torque Thb of the driving engine 21 that torque determination portion 67 reduces based on the export-restriction by the first level, determine the absorption torque of Hydraulic Pump 25.Specifically, as shown in Figure 9, in the export-restriction of the first level, engine output torque is reduced to Te ' from higher limit Te time usual.Absorb torque determination portion 67 by deducting electrical generator torque Thb ' from the engine output torque Te ' after reduction, thus determine the absorption torque Tp ' of the Hydraulic Pump 25 in the export-restriction of the first level.The command signal of the absorption torque Tp ' representing determined Hydraulic Pump 25 is outputted to pump control valve 27 by pump control part 64.Thus, by determined absorption torque Tp ' hydraulic control pump 25.

In addition, the electrical generator torque Thb ' in the export-restriction of the first level with above-mentioned usual time electrical generator torque Thb in the same manner as calculate by exporting calculating part 66.In addition, as mentioned above when the export-restriction of the first level, the torque instruction value of rotating machine 32 is lowered, and therefore, the electrical generator torque Thb ' in the export-restriction of the first level is less than electrical generator torque Thb time usual.

Then, in step s 8, storage capacity A is judged whether as below threshold value a4.Threshold value a4 is less than threshold value a3.When storage capacity A is below threshold value a4, in step s 9, the export-restriction of the second level is performed.

In the export-restriction of the second level, compared with the export-restriction of the first level, engine control section 63 reduces engine output torque further.Specifically, as shown in Figure 8, engine control section 63 reduces according to motor torque the output that curve D 2 controls driving engine 21.The upper limit that motor torque reduction curve D 2 contrasts the low Driving Torque of motor torque reduction curve D 1 specifies.In addition, motor torque reduces curve D 2 by the ceiling restriction of engine speed at Nd.

In addition, in the export-restriction of the second level, electric actuator control part 65 makes rotating machine 32 stop.Specifically, electric actuator control part 65 makes the torque instruction value of rotating machine 32 be 0.

Then, in step slo, electric actuator control part 65 determines whether the system stop condition meeting regulation.When the system stop condition of satisfied regulation, in step s 11, electric actuator control part 65 exports halt instruction to power control unit 34.Thus, the whole system of electric equipment system stops.

Specifically, system stop condition is that following two conditions are all satisfied.

The responsiveness of (condition 1) rotating machine 32 is reduced to below specified speed.

The torque instruction value that (condition 2) exports to electrical generator motor 31 is 0.

Therefore, the export-restriction by the second level reduce driving engine Driving Torque and after sending the halt instruction of rotating machine 32, when the responsiveness of rotating machine 32 is reduced to below specified speed and the generating undertaken by electrical generator motor 31 stops, the whole system of electric equipment system stops.

Then, in step s 12, judge that the duration T of storage capacity A as the state of below threshold value a4 is whether as more than specific time threshold value t1.When duration T is more than time threshold t1, in step s 13, the export-restriction of the 3rd level is performed.

In the export-restriction of the 3rd level, as shown in Figure 8, engine control section 63 reduces according to motor torque the output that curve D 3 controls driving engine 21.Reduce in curve D 3 at motor torque, engine speed is limited in low idling speed NLi.

In the working truck 100 of present embodiment described above, when the storage capacity A of deoxidation compound is below threshold value a3, carry out the export-restriction of the first level.In the export-restriction of the first level, as shown in Figure 9, based on the engine output torque Te ' after reduction and electrical generator torque Thb ', the absorption torque Tp ' of Hydraulic Pump 25 is determined.At this, the Driving Torque of the Hydraulic Pump 25 needed for the driving of hydraulic actuator 10-14, the load according to putting on equipment 4 changes significantly.Therefore, estimate accurately export-restriction control in should distribute to Hydraulic Pump 25 torque this and be not easy.

Such as, in the comparative example shown in Fig. 9, by deducting the absorption torque Tp of Hydraulic Pump 25 from the engine output torque Te ' after reducing " determine the Driving Torque Thb of electrical generator motor 31 ".In this case, be actually than presumed value Tp in the absorption torque of Hydraulic Pump 25 " little Tp " ' time, the engine output torque suitable with the part of hatch in Fig. 9 (Tp "-Tp " ') is not absorbed by Hydraulic Pump 25, and not for the driving of electrical generator motor 31, be therefore wasted.

By contrast, in the working truck 100 of present embodiment, first calculating generator torque Thb ', based on its result of calculation, calculates the absorption torque Tp ' of Hydraulic Pump 25.Electrical generator torque Thb ' can calculate accurately according to the current value etc. of rotating machine 32.Therefore, the absorption torque Tp ' of electrical generator torque Thb ' and Hydraulic Pump 25 can be determined efficiently.Thus, in the working truck 100 of mixed motivity type, when the storage capacity of deoxidation compound decreases, the action of hydraulic efficiency equipment and electrical equipment both sides can be guaranteed as far as possible efficiently.

When the storage capacity A of deoxidation compound is below threshold value a4, carry out the export-restriction of the second level.In the export-restriction of the second level, engine output torque reduces further, and rotating machine 32 stops.Thus, operator's supply deoxidation compound can be impelled further.

In addition, when the storage capacity A of deoxidation compound is below threshold value a4 and meets system stop condition, electric actuator control part 65 makes power control unit 34 stop.Thus, electric equipment system entirety stops, and therefore, can impel operator's supply deoxidation compound further.

The responsiveness that system stop condition comprises rotating machine 32 has been reduced to specified speed.Therefore, under the state that can stop at rotating machine 32 or roughly stop, power control unit 34 is stopped.Thus, power control unit 34 in the action of rotating machine 32 can be avoided to stop.

It is 0 that system stop condition comprises the torque instruction value exported to electrical generator motor 31.Therefore, can avoid stopping carrying out power control unit 34 in the process generated electricity by electrical generator motor 31.Thus, the electric power that generates because of electrical generator motor 31 after power control unit 34 stops can be prevented and cause power control unit 34 damaged.

Above, one embodiment of the present invention is illustrated, but the present invention is not limited to above-mentioned embodiment, various change can be carried out in the scope of main points not departing from invention.

In the above-described embodiment, as working truck 100 exemplified with hydraulic excavator, but the present invention also can be applied to the working truck of other kinds such as wheel type loader.Electric actuator is not limited to rotating machine, also can be the electric actuator beyond the motor travelled, the motor turned to or motor.

System stop condition is not limited to above-mentioned two conditions, also can be other conditions.Or, also can add other conditions on the basis of above-mentioned two conditions.Or, also can omit a condition in above-mentioned two conditions.

Also can omit or change the part process in export-restriction control.Such as, the export-restriction of the 3rd level can also be omitted.

Engine control section 63 also can be performed this situation of process reducing engine output torque and perform as condition by the restriction of the output of rotating machine 32.Storage capacity also can be become this situation of below threshold value and perform as condition by the restriction of the output of rotating machine 32.

Industrial applicibility

Claims

1. a working truck, is characterized in that, has:

Driving engine;

By described engine-driven Hydraulic Pump;

The hydraulic actuator driven by the working oil of discharging from described Hydraulic Pump;

By described engine-driven electrical generator;

The power-actuated electric actuator generated by described electrical generator;

Purify the exhaust gas treatment device of the exhaust of described driving engine;

Store the deoxidation compound tank of the deoxidation compound supplied to described exhaust gas treatment device;

Detect the storage capacity test section of the storage capacity of the deoxidation compound in described deoxidation compound tank;

When described storage capacity is below first threshold, the engine control section that the export-restriction carrying out the output reducing described driving engine controls; And

In the execution that described export-restriction controls, limit the electric actuator control part of the output of described electric actuator.

2. working truck as claimed in claim 1, is characterized in that also having:

Export calculating part, described output calculating part in described storage capacity in time below first threshold, calculates the output of the described electrical generator needed for the driving of described electric actuator;

Absorb torque determination portion, described absorption torque determination portion, based on the output of the output of described driving engine after reducing and the described electrical generator needed for the driving of described electric actuator, determines the absorption torque of described Hydraulic Pump; And

Pump control part, described pump control part is with Hydraulic Pump described in determined described absorption direct torque.

3. working truck as claimed in claim 1 or 2, is characterized in that,

Time below the Second Threshold that described storage capacity is fewer than described first threshold, described electric actuator control part makes described electric actuator stop.

4. working truck as claimed in claim 3, is characterized in that,

Also there is the power control unit be electrically connected with described electrical generator and described electric actuator,

When described storage capacity is below described Second Threshold and meets the system stop condition of regulation, described electric actuator control part makes described power control unit stop.

5. working truck as claimed in claim 4, is characterized in that,

The responsiveness that described system stop condition comprises described electric actuator has been reduced to specified speed.

6. working truck as claimed in claim 5, is characterized in that,

It is 0 that described system stop condition also comprises the torque instruction value exported to described electrical generator.

7. the working truck according to any one of claim 3 ~ 6, is characterized in that,

When described storage capacity is below described Second Threshold, described electric actuator control part makes the torque instruction value exported to described electric actuator be 0.

8. the working truck according to any one of claim 1 ~ 7, is characterized in that,

When usual larger than described first threshold of described storage capacity, described engine control section according to the output of driving engine described in the first motor torque curve controlled,

Described engine control section is in described export-restriction controls, and according to the output of driving engine described in the second motor torque curve controlled, the output of described driving engine is defined as lower than described first motor torque curve by described second motor torque curve.

9. the working truck according to any one of claim 1 ~ 8, is characterized in that,

Described electric actuator control part limits the upper limit of the Driving Torque of described electric actuator in described export-restriction controls.

10. the working truck according to any one of claim 1 ~ 9, is characterized in that,

Also have: driving body and the swivel of described driving body can be supported on rotatably,

Described electric actuator is the electro-motor that described swivel is rotated.

The control method of 11. 1 kinds of working trucks, is characterized in that, has:

Detect the step of the storage capacity of the deoxidation compound in deoxidation compound tank;

When described storage capacity is below first threshold, carry out the step of export-restriction control, this export-restriction controls the signal exporting the output reducing driving engine; And

In the execution that described export-restriction controls, the step of the signal of the output of export-restriction electric actuator.

The control method of 12. working trucks as claimed in claim 11, is characterized in that also having:

Calculate the step of the output of the electrical generator needed for driving of described electric actuator;

Based on the output of the output of described driving engine after reducing and described electrical generator needed for the driving of described electric actuator, determine the step of the absorption torque of Hydraulic Pump; And

Export the step of the command signal of the absorption torque representing determined described Hydraulic Pump.

The control method of 13. working trucks as claimed in claim 12, is characterized in that also having:

Time below the Second Threshold that described storage capacity is less than described first threshold, export the step of halt instruction to described electric actuator; And

After the output of described halt instruction, be reduced to specified speed in the responsiveness of described electric actuator and the torque instruction value exported to described electrical generator is 0 time, export the step of the danger signal of the power control unit of described electrical generator and described electric actuator.