CN105829615A - Construction Machine, Hybrid Hydraulic Shovel, And Method For Controlling Output Torque Of Motor Generator - Google Patents
Construction Machine, Hybrid Hydraulic Shovel, And Method For Controlling Output Torque Of Motor Generator Download PDFInfo
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- CN105829615A CN105829615A CN201680000400.XA CN201680000400A CN105829615A CN 105829615 A CN105829615 A CN 105829615A CN 201680000400 A CN201680000400 A CN 201680000400A CN 105829615 A CN105829615 A CN 105829615A
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- speed
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- command speed
- action bars
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- 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
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
A construction machine provided with an undercarriage, a revolving superstructure provided in a revolvable manner on the undercarriage and driven by a revolution motor generator (19), and a working implement provided on the revolving superstructure is further provided with a revolution speed detecting means (38) for detecting the actual revolution speed of the revolving superstructure, a lever command speed computing means (31) for computing a lever command speed from the manipulated variable (21) of a revolution lever for the revolving operation of the revolving superstructure, a torque command value computing means (34) for computing a torque command value on the basis of a command speed based on the computed lever command speed, a command value output means (35) for outputting the command torque to the revolution motor generator (19) on the basis of the torque command value computed by the torque command value computing means (34) and the revolution speed detected by the revolution speed detecting means (38), and a command value output regulating means (36) for regulating the output of the torque command value from the command value output means (35) under a predetermined condition.
Description
Technical field
The present invention relates to the output method for controlling torque of a kind of building machinery, hybrid power hydraulic excavator and motor generator.
Background technology
The most known is by motor generator driving rotating bodies, is driven the electronic rotation excavator (for example, referring to patent documentation 1) of other equipment or the mixed motivity type of driving body by hydraulic actuator.
According to electronic rotation excavator, owing to being the spinning movement being carried out rotary body by motor generator, even if making rotary body rotate while the large arm being hydraulically operated and forearm are carried out lifting operations, the action of rotary body does not interferes with the lifting operations of large arm and forearm yet.Therefore, compared with carrying out hydraulically powered situation with to rotary body, it is possible to making the loss of control valve etc. reduce, energy efficiency is good.
When utilizing such electronic rotation excavator that rotary speed is controlled, action bars signal according to rotation process bar calculates action bars command speed, relatively action bars command speed and actual speed, carries out acceleration and deceleration by the torque output corresponding with the torque instruction value tried to achieve from this deviation.
Specifically, calculate acceleration command speed according to the action bars signal of rotation process bar, so that it becomes the suitableeest acceleration (jerk value) from action bars command speed.Further, relative to the acceleration command speed calculated, the feedforward torque instruction value of the steady velocity deviation reducing rotary speed is calculated, carries out the control (for example, referring to patent documentation 2) of rotary speed.
Prior art literature
Patent documentation
Patent documentation 1: International Publication 2005/111322
Patent documentation 2: International Publication 2006/054581
Summary of the invention
The technical task that invention is to be solved
But, in electronic rotation excavator, there is scraper bowl laterally contact to excavate wall, while carrying out the situation of digging operation.In this case, rotation process bar is operated, while carrying out the operation of large arm, forearm, scraper bowl.
In this case, although rotation process bar is operated by operator, but rotary body self is owing to receiving the counteracting force excavating wall, so rotary speed maintains substantially 0.
In this condition, being neutral owing to rotation process bar is operated by operator, counteracting force is more than the output torque of rotation motor, it may occur that rotary body is pushed back the action of the opposition side excavating wall, can send this problem of vibration in there is the time before stopping.
It is an object of the invention to provide the output method for controlling torque of a kind of building machinery, hybrid power hydraulic excavator and motor generator, even if carry out the horizontal excavation of rotation process and equipment operation simultaneously, vibration also will not be produced when rotating and stopping.
For solving the technical scheme of technical task
The building machinery of the present invention is to have lower traveling body；Described lower traveling body the upper rotating body driven by motor generator can be rotationally mounted to；It is arranged on the building machinery of the equipment of described upper rotating body,
Described building machinery has:
Detect the rotary speed testing agency of the actual rotation speed of described upper rotating body；
Operational ton according to the rotation process bar that described upper rotating body carries out rotation process calculates the action bars command speed of action bars command speed and calculates mechanism；
According to command speed based on the action bars command speed calculated, the torque instruction value of calculating torque command value calculates mechanism；
The torque instruction value that mechanism calculates, and the rotary speed detected by described rotary speed testing agency is calculated, to the command value output mechanism of described motor generator output torque instruction value according to by described torque instruction value；
Command value export-restriction mechanism, its in the actual rotation speed of the described rotary body detected by described rotary speed testing agency less than first threshold, and,
Calculated the deviation between action bars command speed and the actual rotation speed detected by described rotary speed testing agency that mechanism calculates by described action bars command speed and be more than Second Threshold, and,
When being calculated the action bars command speed that calculates of mechanism less than predetermined value by described action bars command speed,
Limit the output of the torque instruction value from described command value output mechanism.
According to the present invention, if the actual rotation speed of rotary body is less than first threshold, action bars command speed is more than Second Threshold, although rotation process bar is operated with the deviation of actual rotation speed, but owing to rotary body is in non-rotating state, it is possible to differentiate and carrying out horizontal digging operation.It addition, if action bars command speed is less than predetermined value, operator can differentiate that horizontal digging operation stops.Command value export-restriction mechanism is by limiting the output of the torque instruction value from command value output mechanism, it is possible to prevent output and the torque instruction value of the direction equidirectional of the counteracting force acting on equipment, it is possible to prevent the generation of the vibration of rotary body.
The hybrid power hydraulic excavator of the present invention has: lower traveling body；Described lower traveling body, and the upper rotating body driven by motor generator can be rotatably mounted to；Equipment, this equipment is installed on described upper rotating body, has and can swingingly be installed on the large arm of described upper rotating body, can swingingly be installed on the forearm of described large arm and can swingingly be installed on the scraper bowl of described forearm,
Described motor generator carries out electric power with electric storage means or generator motor and gives and accepts,
Described large arm, described forearm and described scraper bowl are hydraulically driven,
Described hybrid power hydraulic excavator has:
Detect the rotary speed testing agency of the actual rotation speed of described upper rotating body；
The action bars command speed calculated action bars command speed by carrying out the operational ton of the rotation process bar of the rotation process of described upper rotating body calculates mechanism；
According to command speed based on the action bars command speed calculated, the torque instruction value of calculating torque command value calculates mechanism；
The torque instruction value that mechanism calculates and the rotary speed detected by described rotary speed testing agency is calculated, to the command value output mechanism of described motor generator output torque instruction value according to by described torque instruction value；
Command value export-restriction mechanism, its in the actual rotation speed of the described rotary body detected by described rotary speed testing agency less than first threshold, and,
The deviation being calculated mechanism the action bars command speed calculated and the actual rotation speed detected by described rotary speed testing agency by described action bars command speed is more than Second Threshold, and,
When being calculated the action bars command speed that calculates of mechanism less than predetermined value by described action bars command speed,
Limit the output of the torque instruction value from described command value output mechanism.
According to the present invention it is possible to obtain the effect as foregoing teachings and effect.
The output method for controlling torque of the motor generator of the present invention is implemented on building machinery, and this building machinery has lower traveling body；Described lower traveling body the upper rotating body driven by motor generator can be rotationally mounted to；It is arranged on the equipment of described upper rotating body,
The controlling organization of described building machinery is implemented:
Detect the step of the actual rotation speed of described upper rotating body；
Operational ton according to the rotation process bar that described upper rotating body carries out rotation process calculates the step of action bars command speed；
Step according to the action bars command speed calculating torque command value calculated；
According to the torque instruction value calculated and the actual rotation speed of described upper rotating body detected, to the step of described motor generator output torque instruction value；
In the actual rotation speed detected less than first threshold, and,
The action bars command speed calculated is more than Second Threshold with the deviation of the actual rotation speed detected, and,
When the action bars command speed calculated is less than predetermined value, restriction is to the step of the output of the torque instruction value of described motor generator.
According to the present invention it is possible to obtain the effect as foregoing teachings and effect.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the structure of the building machinery representing embodiments of the present invention.
Fig. 2 is to represent the block diagram of the structure of the drivetrain of building machinery in described embodiment.
Fig. 3 is the functional block diagram of Rotation Controllers in described embodiment.
Fig. 4 illustrates that the chart of the acceleration command speed calculating part in described embodiment.
Fig. 5 illustrates that the flow chart of the effect of described embodiment.
Fig. 6 illustrates that the axonometric chart of the effect of described embodiment.
Fig. 7 illustrates that the chart of the effect of described embodiment.
Detailed description of the invention
Hereinafter, with reference to the accompanying drawings embodiments of the present invention are illustrated.
[1] overall structure
Fig. 1 represents the electronic rotation excavator 1 of the mixed motivity type of the Work machine being denoted as embodiments of the present invention, and electronic rotation excavator 1 has lower traveling body 2, upper rotating body 3, equipment 5.
Lower traveling body 2, although not shown, it has track frame；It is arranged on a pair mobile devices 2A at the vehicle-width direction two ends orthogonal with the travel direction of track frame.Mobile devices 2A has the driving wheel being arranged on track frame and the crawler belt 2B being wound on idle pulley, by driving driving wheel, makes electronic rotation excavator 1 forward-reverse on the bearing of trend of crawler belt 2B.
Upper rotating body 3 can be rotationally mounted on the track frame of lower traveling body 2 by rotating circle, and this upper rotating body 3 will be described in detail later, and it is driven by motor generator.
Travel direction front left in upper rotating body 3 is provided with Drive Section 4, is being provided with equipment 5 with this adjacent front, center of Drive Section 4.On the rear portion with Drive Section 4 and equipment 5 opposition side of upper rotating body 3, counterweight 3A is installed.The installation purpose of counterweight 3A is to keep the electronic rotation excavator 1 weight balancing when digging operation.
The inside of Drive Section 4 is taken for operator and is operated electronic rotation excavator 1.Inside Drive Section 4, although the most not shown, it is provided with operator's seat, is provided with action bars on the both sides of operator's seat.It addition, be provided with travel board on the ground of Drive Section 4.
Equipment 5 has large arm 6, forearm 7 and scraper bowl 8, and makes the large arm cylinder 6A of this each component actuation, forearm cylinder 7A and scraper bowl cylinder 8A.
The cardinal extremity of large arm 6 is connected to upper rotating body 3 actionablely, by making each front end be connected to large arm cylinder 6A flexible of upper rotating body 3 and large arm 6, it is possible to make large arm 6 knee-action.
The cardinal extremity of forearm 7 is connected to the front end of large arm 6 actionablely, by making each front end be connected to forearm cylinder 7A flexible of large arm 6 and forearm 7, it is possible to make forearm 7 knee-action.
The cardinal extremity of scraper bowl 8 is connected to the front end of forearm 7 actionablely, by making each front end be connected to scraper bowl cylinder 8A flexible of forearm 7 and scraper bowl 8, it is possible to make scraper bowl 8 action.
Large arm cylinder 6A, forearm cylinder 7A and scraper bowl cylinder 8A are the hydraulic cylinders driven by the working oil discharged from hydraulic pump.
It should be noted that in the present embodiment, although drive upper rotating body 3 by motor generator, but the invention is not restricted to this.I.e., it is also possible to be to drive the large arm 6 of electronic rotation excavator 1, forearm 7, scraper bowl 8 and the mixed motivity type of any one of lower traveling body 2 or the electronic rotation excavator of electrically driven type by motor generator.
What Fig. 2 represented is the overall structure of the drivetrain of electronic rotation excavator 1.Additionally, in the following description, using the center of rotation of upper rotating body 3 as initial point, using the travel direction of lower traveling body 2 as fore-and-aft direction, the direction orthogonal with travel direction is illustrated as left and right directions.
Electronic rotation excavator 1 by: as the source of driving electromotor 11, driven by electromotor 11 and generate electricity generator motor 13, store the electric storage means 17 of electric power, inverter 13I, 17I, transformator 17C, hydraulic pump 12, action bars 20L, 20R, hydraulic control valve 14, engine controller 11A, pump controller 14A, hybrid controller 16, complex display 23 are constituted.The rotary dynamoelectric generator 19 being supplied to the electric power generated electricity by generator motor 13 or the electric power that discharges from electric storage means 17 and drive is combined, and upper rotating body 3 is rotated by rotary dynamoelectric generator 19.
Electromotor 11 is driven by the control instruction from engine controller 11A, drives hydraulic pump 12 and generator motor 13.
Hydraulic-driven cording has hydraulic control valve 14, aforementioned large arm cylinder 6A, forearm cylinder 7A, scraper bowl cylinder 8A and driving motors 15, and they are driven by hydraulic pump 12 as hydraulic power source.Hydraulic control valve 14 is driven by the guide's hydraulic pressure (PPC pressure) generated according to the operation of action bars 20L, 20R.Hydraulic pump 12 is the capacity-variable type with the volume-variable such as swash plate, axletree mechanism, there is the swash plate detection sensor of the swash plate angle of detection hydraulic pump 12, the swash plate angle front pump controller 14A of detection, by the control instruction from pump controller 14A, control the output flow of hydraulic pump 12 changeably.
Motorized motions cording has generator motor 13, hybrid controller 16, electric storage means 17, rotary dynamoelectric generator 19 and inverter 13I, 19I, transformator 17C.
Hybrid controller 16 has input unit, output unit, calculating part and storage part.
In the input unit of hybrid controller 16, receive the rotation process instruction of upper rotating body 3, and receive the positional information of rotary dynamoelectric generator 19, inverter 13I, 19I, the voltage between the system that transformator 17C is connected etc. is mainly by the information being arranged on acquired by the sensor of motorized motions system.
In the output unit of hybrid controller 16, send instruction to inverter 13I, 19I and transformator 17C.Inverter 13I, 19I, transformator 17C is connected by electric lines of force respectively, instruction according to hybrid controller 16, the electric power carrying out inverter 13I and generator motor 13 is given and accepted, and inverter 19I gives and accepts with the electric power of rotary dynamoelectric generator 19, and transformator 17C gives and accepts with the electric power of electric storage means 17.
The calculating part of hybrid controller 16 calculates rotating speed and the driving instruction of rotary dynamoelectric generator described later 19 of rotary dynamoelectric generator 19.
The storage part storage of hybrid controller 16 drives relevant characteristic to rotary dynamoelectric generator 19.
Rotary dynamoelectric generator 19 is power-actuated motor generator of origin self power generation electromotor 13, electric storage means 17, when the braking of upper rotating body 3, brake force is converted to electric power by rotary dynamoelectric generator 19, supplies electric power to generator motor 13 and electric storage means 17.
The sensors such as rotary transformer 24, the position of rotation of detection rotary dynamoelectric generator 19 are installed on rotary dynamoelectric generator 19, export to hybrid controller 16.Additionally, to the electric power of rotary dynamoelectric generator 19 conveying, calculated by the rotating speed of the voltage between system, electric current or rotary dynamoelectric generator 19.
These drivetrains, it is possible to operate by the operator left action bars 20L, right action bars 20R to being arranged in Drive Section 4 and driven.
Specifically, if right action bars 20R to be carried out the operation of fore-and-aft direction, it is possible to carry out the decline of large arm 6, lifting operations.If right action bars 20R being carried out the operation of left and right directions, it is possible to carry out the dredge operation of scraper bowl 8, unloading operation.If left action bars 20L being carried out the operation of fore-and-aft direction, it is possible to carry out the unloading operation of forearm 7, dredge operation.If left action bars 20L to be carried out the operation of left and right directions, it is possible to make upper rotating body 3 rotate in the lateral direction.
When carrying out the rotation process of upper rotating body 3, if operating left action bars 20L in the lateral direction, the PPC instruction that PPC pressure test section 21 detects is received by pump controller 14A and hybrid controller 16.
Hybrid controller 16 rotates instruction to inverter 19I output.Inverter 19I supplies electric power to rotary dynamoelectric generator 19, drives rotary dynamoelectric generator 19.
It addition, action bars 20L, the operation of 20R is, PPC presses former state input hydraulic pressure control valve 14, regulates the working oil from hydraulic pump 12, drives each hydraulic cylinder 6A, 7A, 8A, driving motors 15.
It addition, be provided with choke valve graduated disc 22 and complex display 23 in the Drive Section 4 of upper rotating body 3.
Choke valve graduated disc 22, by above operation, exports the control instruction to engine controller 11A, and the output carrying out electromotor 11 controls.
Complex display 23 has operating portion 23A and display part 23B.Additionally, as complex display 23, it is also possible to it is directly to touch the touch-sensitive display that display part carries out operating.
Operating portion 23A has multiple operation button independent of display, carries out the switching of display state and the input of job instruction.
The states such as the fuel residual of display part 23B display electromotor 11 and coolant water temperature, and show generator motor 13, electric storage means 17, the state of temperature etc. of rotary dynamoelectric generator 19.
[2] structure of the calculating part 18 of hybrid controller 16
What Fig. 3 represented is the functional block diagram of the calculating part 18 of the hybrid controller 16 of embodiments of the present invention.The calculating part 18 of hybrid controller 16 has action bars command speed calculating part 31, acceleration command speed calculating part 32, control of the reactive force command speed calculating part 33, torque instruction value calculating part 34, command value output unit 35, command value export-restriction portion 36.
Additionally, hybrid controller 16 connects the position of rotation test section 38 of the position of rotation of the rotary speed test section 37 of the rotary speed of the upper rotating body 3 having detection to utilize rotary dynamoelectric generator 19 to carry out, detection rotary dynamoelectric generator 19 and the output Torque test portion 39 of the output torque of detection rotary dynamoelectric generator 19, the detected value of the output torque of the feedback actual rotation speed of upper rotating body 3, actual position of rotation and rotary dynamoelectric generator 19.The rotary speed that rotary speed test section 37 is carried out, and the position of rotation of rotary dynamoelectric generator 19 that position of rotation test section 38 is carried out obtains by the detected value of sensor as aforementioned 24 (with reference to Fig. 2).It addition, the output torque of rotary dynamoelectric generator 19 can be by, voltage, the rotating speed of rotary dynamoelectric generator 19 or be assigned to the electric current of rotary dynamoelectric generator 19 and try to achieve between aforesaid system.Additionally, in the following description, the operation of the left and right of the left action bars 20L of the operation as upper rotating body 3 is illustrated as the operation of rotation process bar 20L.
Action bars command speed calculating part 31 calculates action bars command speed according to the action bars operational ton of the rotation process bar 20L that PPC pressure test section 21 detects.Action bars command speed calculating part 31 has the form making action bars operational ton corresponding with action bars command speed, according to this form, action bars command speed is calculated and is exported.
The acceleration command speed of the acceleration comprising upper rotating body 3 or the gradient of deceleration, according to the action bars command speed calculated by action bars command speed calculating part 31, is calculated by acceleration command speed calculating part 32.Specifically, as shown in Figure 4, acceleration command speed calculating part 32 accepts the input (accepting to be changed to from Vi the input of the action bars operational order of 0 during deceleration) of action bars command speed Vi of rotation process bar 20L when accelerating, calculate acceleration (deceleration) G so that it is predetermined acceleration Ga (being deceleration Gb during deceleration) is front becomes certain jerk value Ja reaching.When action bars command speed Vi is transfused to (during deceleration, the input of action bars command speed is changed to 0 from Vi), in order to not make the speed of upper rotating body 3 drastically accelerate (deceleration), utilize the jerk value Ja of the gradient becoming acceleration (when slowing down, utilize the gradient calculation jerk value Jb of deceleration) calculate acceleration Ga (being deceleration Gb during deceleration), accelerate (deceleration) smoothly to carry out, calculate acceleration command speed Vo and export.Additionally, acceleration command speed calculating part 32, under the rotary speed below first threshold described later i.e. lower-speed state, in the action bars command speed as exception in the case of Vi is to 0, action bars command speed as acceleration command speed and is exported.Further, Exception handling is released when rotary speed is far smaller than first threshold (rotating before will stopping).
Control of the reactive force command speed calculating part 33 (initial point) on the basis of the current location of rotary dynamoelectric generator 19, calculates the control of the reactive force command speed of the position control carrying out upper rotating body 3.Specifically, the origin position of rotary dynamoelectric generator 19 is calculated by output torque, the action bars command speed calculated and the acceleration command speed of the rotary dynamoelectric generator 19 that actual rotation speed that control of the reactive force command speed calculating part 33 detects according to position of rotation test section 38 the current location of rotary dynamoelectric generator 19, rotary speed test section 37 detect, output Torque test portion 39 detect.
Control of the reactive force command speed calculating part 33 at the action bars operational order relative to rotation process bar 20L to rotating in the case of different directions rotates from actual, deduct the origin position of the rotary dynamoelectric generator 19 calculated and the residual quantity of the current location of rotary dynamoelectric generator 19, apply gain by the residual quantity to position and calculate control of the reactive force command speed.Rotation when the control of the reactive force command speed calculated is stopped with respect to external force, action bars command speed, become to send and make rotary dynamoelectric generator 19 not reversely rotate, the command speed of the torque lock of the position of fixing upper rotating body 3.
Torque instruction value calculating part 34 calculates feedforward torque instruction value (hereinafter referred to as FF torque instruction value) by the acceleration G calculated by acceleration command speed calculating part 32 and predetermined inertia values.Additionally, in the case of torque instruction value calculating part 34 is by the output of command value export-restriction portion 36 described later torque-limiting command value, FF torque instruction value is calculated as zero.
Torque instruction value, according to the torque instruction value calculated by torque instruction value calculating part 34, is exported rotary dynamoelectric generator 19 by command value output unit 35.Specifically, command value output unit 35 using add acceleration command speed and the control of the reactive force command speed calculated value as command speed, deduct from command speed and the residual quantity of the actual rotation speed detected by rotary speed test section 37, carry out torque transfer, as velocity deviation torque instruction value.
Then, command value output unit 35 plus the velocity deviation torque instruction value after torque transfer, exports rotary dynamoelectric generator 19 as torque instruction value in the FF torque instruction value that torque instruction value calculating part 34 calculates.
Command value export-restriction portion 36 under certain conditions, limits the output of the torque instruction value from command value output unit 35.
By command value export-restriction portion 36, the output of torque instruction value is limited, need to meet following all conditions.
Condition 1: the actual rotation speed that rotary speed test section 37 detects is less than first threshold.
Condition 2: operator set it to neutral gear position in the case of the angle of inclination of rotation process bar 20L is less than predetermined angular, and make the rotation of upper rotating body 3 stop.
Condition 3: the acceleration command speed that acceleration command speed calculating part 32 calculates is less than the 3rd threshold value.
Condition 4: the command speed that the acceleration command speed calculated and control of the reactive force command speed are added is more than Second Threshold (carrying out the situation of digging operation under the state having External Force Acting in the direction of rotation of scraper bowl 8) with the deviation of actual rotation speed.
In this present embodiment, Second Threshold is defined as, more than the rotating speed set by first threshold, setting the 3rd threshold value according to rotating speed more than the Second Threshold of first threshold.
According to each condition of above-mentioned setting, make the following judgment.By using condition 1 and 2 as decision condition, it is possible to judgement situation is that the rotary speed of rotary body is relatively low, operator also have a mind to stop the rotation.By using condition 3 as decision condition, it is possible to judgement state is that acceleration command speed is low, and rotary speed is low.By with condition 4 as decision condition, it is possible to judge to rotate command speed and the actual rotation speed situation different due to external force.
By the restrictive condition above-mentioned condition 1～4 exported as FF torque instruction, the speed of rotation is low and is applied with counteracting force, it is to avoid the output that rotary body occurs when less desirable direction action is output to less desirable FF torque.It should be noted that the condition 3 not necessarily condition in restrictive condition, in above-mentioned decision condition.
Additionally, even if command value export-restriction portion 36 is when the acceleration command speed that the control of the reactive force command speed that control of the reactive force command speed calculating part 33 calculates calculates less than acceleration command speed calculating part 32, FF torque instruction value is set to 0, limits the output of the torque instruction value from command value output unit 35.
On the other hand, FF torque instruction value is not set to the condition of 0 by command value export-restriction portion 36 is following several situation.
Condition 5: do not have External Force Acting on scraper bowl 8, actual rotation speed is the most different with acceleration command speed.
Condition 6: the velocity deviation torque tried to achieve from the deviation of command speed Yu actual rotation speed and FF torque instruction value are the same direction absolute value of acceleration command speed (absolute value of actual rotation speed >).
In the case of meeting these conditions, even if meeting condition 1 to condition 3, FF torque instruction value is not set to 0 by command value export-restriction portion 36, is exported to command value output unit 35 former state by the FF torque instruction value calculated.
[3] effect (the output method for controlling torque of motor generator) of embodiment
Then, according to the flow chart shown in Fig. 5, the effect of present embodiment is illustrated.
First, PPC pressure test section 21 detects the operational ton (step S1) of rotation process bar 20L, exports action bars command speed calculating part 31 as action bars operational ton.
Action bars command speed calculating part 31, according to action bars operational ton, calculates action bars command speed (step S2), exports to acceleration command speed calculating part 32.
Acceleration command speed calculating part 32, according to the action bars command speed calculated, calculates acceleration command speed (step S3).
Acceleration G and inertia values that torque instruction value calculating part 34 is calculated by acceleration command speed calculate FF torque instruction value (step S4).
Control of the reactive force command speed calculating part 33 calculates the origin position of rotary dynamoelectric generator 19, deducts the residual quantity with actual position of rotation and applies gain, is integrated and calculates counteracting force command speed (step S5).
Command value export-restriction portion 36 judges that whether the actual rotation speed of aforesaid condition 1 is less than first threshold (step S6).
In the case of eligible 1 (step S6 is yes), command value export-restriction portion 36 judges that whether the action bars command speed of second condition is as 0, it is determined that whether operator have a mind to stop the rotation (step S7) of upper rotating body 3.
In the case of meeting second condition (step S7 is yes), command value export-restriction portion 36 judges that the acceleration command speed of third condition is whether below the 3rd threshold value (step S8).
In the case of meeting third condition (step S8 is yes), command value export-restriction portion 36 judges whether the command speed that the acceleration command speed of fourth condition is added with control of the reactive force command speed is more than Second Threshold (step S9).In the case of meeting fourth condition (step S9 is yes), FF torque instruction value is set as 0, and exports (step S11) to command value output unit 35.
On the other hand, judge that whether control of the reactive force command speed is more than acceleration command speed (step S10) not meeting first condition to (S6～S9: no) command value export-restriction portion 36 in the case of any one of fourth condition (S6～S9).In the case of incongruent (step S10: no), torque instruction value calculating part 34 exports based on FF torque determined by acceleration G and inertia values to command value output unit 35.(step S12).
In the case of command value export-restriction portion 36 meets the judgement (step S10 is yes) of step S10, FF torque instruction value is set as 0 by torque instruction value calculating part 34, exports (step S11) to command value output unit 35.
FF torque instruction value, velocity deviation torque instruction value are added by command value output unit 35, export rotary dynamoelectric generator 19 (step S13) as torque instruction value.
[4] effect of embodiment
According to present embodiment, it is possible to obtain following effect.
As shown in Figure 6, it is assumed that operator make the left surface of scraper bowl 8 contact excavation wall W carry out digging operation.Operator operate scraper bowl action bars, make digging force F1 act on lower section, the most to the left operation rotation process bar 20L.In this condition, owing on scraper bowl 8, effect has from the counteracting force F2 excavating wall W, although the output of acceleration command speed is certain value, the actual rotation speed of upper rotating body 3 substantially 0.
In moment t1 (with reference to Fig. 7), when rotation process bar 20L is operated to neutral gear position by operator, acceleration command speed the most to the left, according to action bars command speed, keeps down before rotating the acceleration command speed before will stopping and sending instruction.According to the acceleration command speed rotated before stopping, being more than the output torque of rotary dynamoelectric generator 19 from the counteracting force F2 excavating wall W, therefore, upper rotating body 3 right direction rotates.At this moment, owing to FF torque instruction value F3 is to rotating right direction output, so cogging is big, rotary dynamoelectric generator 19 vibrates, and makes velocity deviation torque become big according to control of the reactive force command speed afterwards, balances with counteracting force F2, and upper rotating body 3 stops.
This situation is confirmed by the chart shown in Fig. 7.Additionally, on the longitudinal axis of chart, using upper side as the left side of the direction of rotation of Fig. 6, using lower side as the right side of direction of rotation.Operator operate rotation process bar 20L, it is being pushed against excavating the state of wall W from scraper bowl 8, during by rotation process bar 20L operation to neutral gear position, owing to actual rotation speed is low, therefore acceleration command speed is with the form of copy operation bar command speed, front minimizing will be stopped in rotation, according to acceleration command speed slowly close to 0 before rotation will stop based on action bars command speed.
Comparison embodiment before not having the countermeasure in command value export-restriction portion 36 is illustrated.Equipment 5 is pushed against when excavating wall W when operating rotation process bar 20L, due to output torque and the counteracting force F2 equilibrium of rotary dynamoelectric generator 19, so the actual rotation speed of upper rotating body 3 does not increases.In moment t1, when rotation process bar 20L is operated neutral gear position by operator, by the counteracting force F2 from excavation wall W, upper rotating body 3 is rotated to being pushed against the opposite direction in direction (negative direction).
Now, observe the output torque from command value output unit 35, when making rotation process bar 20L be positioned at neutral gear position, although output torque can drastically reduce, but this is because velocity deviation torque drastically reduces while acceleration command speed reduces and the output of FF torque right direction causes.When FF torque instruction value F3 is output, to the direction drastically reduced of the output torque promoting command value output unit 35 output, torque instruction value exports rotary dynamoelectric generator 19, promotes the rotation of right direction.Afterwards, along with the rising of control of the reactive force, when entering moment t2, the output torque left direction of command value output unit 35 output exports torque and stops, to maintain location.
On the other hand, in present embodiment after implementing countermeasure, as shown by a dashed line in fig 7, aforesaid in the case of meeting condition 1 to all conditions, by FF torque instruction value is set to 0, owing to command value output unit 35 does not export FF torque instruction value, the minimizing of the output torque of rotary dynamoelectric generator 19 can be reduced, thereby, it is possible to the change of the actual rotation speed of suppression upper rotating body 3, reduce vibration and occur.
Additionally, in the case of control of the reactive force command speed exceedes acceleration command speed, owing to FF torque instruction value is set as 0, so according to control of the reactive force command speed, torque instruction is worth to preferentially, by resisting the torque instruction value in counteracting force F2 direction, it is possible to stop upper rotating body 3 rapidly.
[5] deformation of embodiment
Additionally, this invention is not limited to the restriction content in aforementioned embodiments, also comprise deformation shown below.
In said embodiment, there is control of the reactive force command speed calculating part 33, in the case of the acceleration command speed that the control of the reactive force command speed calculated at control of the reactive force command speed calculating part 33 calculates more than acceleration command speed calculating part 32, command value export-restriction portion 36 limits FF torque instruction value.But, the invention is not restricted to this, it is also possible to the size of control of the reactive force command speed and acceleration command speed is not judged.
In said embodiment, the acceleration calculated according to acceleration command speed calculating part 32, calculate FF torque instruction value.But the invention is not restricted to this, it is also possible to calculate acceleration and FF torque instruction value by additive method.
It addition, concrete structure and shape, such as rotating mechanism during the enforcement of the present invention are to utilize based on motor generator and hydraulically powered rotating mechanism etc., as long as can reach in the range of the purpose of the present invention, it is possible to use other structures.
Description of reference numerals
1 electronic rotation excavator
2 lower traveling bodies
2A mobile devices
2B crawler belt
3 upper rotating body
4 Drive Sections
5 equipments
6 large arm
6A large arm cylinder
7 forearms
7A forearm cylinder
8 scraper bowls
8A scraper bowl cylinder
11 electromotors
11A engine controller
12 hydraulic pumps
13 generator motors
13I inverter
14 hydraulic control valves
14A pump controller
15 driving motors
16 hybrid controllers
17 electric storage means
17C transformator
18 calculating parts
19 rotary dynamoelectric generator
19I inverter
20L rotation process bar
The right action bars of 20R
21PPC presses test section
22 choke valve graduated discs
23 complex displays
23A operating portion
23B display part
24 sensors
31 action bars command speed calculating parts
32 acceleration command speed calculating parts
33 control of the reactive force command speed calculating parts
34 torque instruction value calculating parts
35 command value output units
36 command value export-restriction portions
37 rotary speed test sections
38 position of rotation test sections
39 output Torque test portions
3A counterweight
W excavates wall
Claims (6)
1. a building machinery, it is characterised in that
Described building machinery is for having lower traveling body；Described lower traveling body the upper rotating body driven by motor generator can be rotationally mounted to；It is arranged on the building machinery of the equipment of described upper rotating body,
Described building machinery has:
Detect the rotary speed testing agency of the actual rotation speed of described upper rotating body；
Operational ton according to the rotation process bar that described upper rotating body carries out rotation process calculates the action bars command speed of action bars command speed and calculates mechanism；
According to command speed based on the action bars command speed calculated, the torque instruction value of calculating torque command value calculates mechanism；
The torque instruction value that mechanism calculates, and the rotary speed detected by described rotary speed testing agency is calculated, to the command value output mechanism of described motor generator output torque instruction value according to by described torque instruction value；
Command value export-restriction mechanism, its in the actual rotation speed of the described rotary body detected by described rotary speed testing agency less than first threshold, and,
Calculated the deviation between action bars command speed and the actual rotation speed detected by described rotary speed testing agency that mechanism calculates by described action bars command speed and be more than Second Threshold, and,
When being calculated the action bars command speed that calculates of mechanism less than predetermined value by described action bars command speed,
Limit the output of the torque instruction value from described command value output mechanism.
2. building machinery as claimed in claim 1, it is characterised in that
Described command value export-restriction mechanism by described action bars command speed calculate action bars command speed that mechanism calculates be 0 time, the output of torque-limiting command value.
3. the building machinery as described in claim 1 or claim 2, it is characterised in that
Having acceleration command speed and calculate mechanism, it calculates, based on by described action bars command speed, the action bars command speed that mechanism calculates, and calculates the acceleration command speed of the acceleration comprising described upper rotating body or the gradient of deceleration,
Described command value export-restriction mechanism when being calculated acceleration command speed that mechanism calculates less than three threshold values by acceleration command speed,
Limit the output of the torque instruction value from described command value output mechanism.
4. building machinery as claimed in claim 3, it is characterised in that
Having control of the reactive force command speed and calculate mechanism, it is on the basis of the current location of described motor generator, calculates the control of the reactive force command speed of the position control carrying out described rotary body,
Described command value export-restriction mechanism being calculated control of the reactive force command speed that mechanism calculates less than when being calculated, by described acceleration command speed, the acceleration command speed that mechanism calculates by described control of the reactive force command speed,
Limit the output of torque instruction value from described command value export-restriction mechanism.
5. a hybrid power hydraulic excavator, it is characterised in that
Have: lower traveling body；Described lower traveling body, and the upper rotating body driven by motor generator can be rotatably mounted to；Equipment, this equipment is installed on described upper rotating body, has and can swingingly be installed on the large arm of described upper rotating body, can swingingly be installed on the forearm of described large arm and can swingingly be installed on the scraper bowl of described forearm,
Described motor generator carries out electric power with electric storage means or generator motor and gives and accepts,
Described large arm, described forearm and described scraper bowl are hydraulically driven,
Described hybrid power hydraulic excavator has:
Detect the rotary speed testing agency of the actual rotation speed of described upper rotating body；
The action bars command speed calculated action bars command speed by carrying out the operational ton of the rotation process bar of the rotation process of described upper rotating body calculates mechanism；
According to command speed based on the action bars command speed calculated, the torque instruction value of calculating torque command value calculates mechanism；
The torque instruction value that mechanism calculates and the rotary speed detected by described rotary speed testing agency is calculated, to the command value output mechanism of described motor generator output torque instruction value according to by described torque instruction value；
Command value export-restriction mechanism, its in the actual rotation speed of the described rotary body detected by described rotary speed testing agency less than first threshold, and,
The deviation being calculated mechanism the action bars command speed calculated and the actual rotation speed detected by described rotary speed testing agency by described action bars command speed is more than Second Threshold, and,
When being calculated the action bars command speed that calculates of mechanism less than predetermined value by described action bars command speed,
Limit the output of the torque instruction value from described command value output mechanism.
6. the output method for controlling torque of a motor generator, it is characterised in that
Described output method for controlling torque is implemented on building machinery, and this building machinery has lower traveling body；Described lower traveling body the upper rotating body driven by motor generator can be rotationally mounted to；It is arranged on the equipment of described upper rotating body,
The controlling organization of described building machinery is implemented:
Detect the step of the actual rotation speed of described upper rotating body；
Operational ton according to the rotation process bar that described upper rotating body carries out rotation process calculates the step of action bars command speed；
Step according to the action bars command speed calculating torque command value calculated；
According to the torque instruction value calculated and the actual rotation speed of described upper rotating body detected, to the step of described motor generator output torque instruction value；
In the actual rotation speed detected less than first threshold, and,
The action bars command speed calculated is more than Second Threshold with the deviation of the actual rotation speed detected, and,
When the action bars command speed calculated is less than predetermined value, restriction is to the step of the output of the torque instruction value of described motor generator.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2016/051622 WO2016088904A1 (en) | 2016-01-20 | 2016-01-20 | Construction machine, hybrid hydraulic shovel, and method for controlling output torque of motor generator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105829615A true CN105829615A (en) | 2016-08-03 |
Family
ID=56091837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680000400.XA Pending CN105829615A (en) | 2016-01-20 | 2016-01-20 | Construction Machine, Hybrid Hydraulic Shovel, And Method For Controlling Output Torque Of Motor Generator |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US20170204589A1 (en) |
| JP (1) | JP5970625B1 (en) |
| KR (1) | KR20170087822A (en) |
| CN (1) | CN105829615A (en) |
| DE (1) | DE112016000002T5 (en) |
| WO (1) | WO2016088904A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111148905A (en) * | 2018-09-05 | 2020-05-12 | 株式会社日立建机Tierra | Hydraulic drive device for electric hydraulic construction machine |
| CN114688004A (en) * | 2022-03-16 | 2022-07-01 | 三一重机有限公司 | Flow distribution method and device and working machine |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3378734B1 (en) * | 2016-02-29 | 2020-04-01 | NSK Ltd. | Electric power steering apparatus |
| EP3301062B1 (en) * | 2016-10-03 | 2021-11-03 | National Oilwell Varco Norway AS | System arranged on a marine vessel or platform, such as for providing heave compensation and hoisting |
| JP2020084460A (en) | 2018-11-19 | 2020-06-04 | 株式会社小松製作所 | System and method for automatically controlling work machine including work unit |
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| JP3942948B2 (en) * | 2002-05-09 | 2007-07-11 | 株式会社神戸製鋼所 | Swing control device for work machine |
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| JP6119154B2 (en) * | 2012-09-19 | 2017-04-26 | コベルコ建機株式会社 | Swing control device for work machine |
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2016
- 2016-01-20 US US15/108,651 patent/US20170204589A1/en not_active Abandoned
- 2016-01-20 CN CN201680000400.XA patent/CN105829615A/en active Pending
- 2016-01-20 DE DE112016000002.2T patent/DE112016000002T5/en not_active Withdrawn
- 2016-01-20 JP JP2016515571A patent/JP5970625B1/en active Active
- 2016-01-20 WO PCT/JP2016/051622 patent/WO2016088904A1/en active Application Filing
- 2016-01-20 KR KR1020167012233A patent/KR20170087822A/en not_active Application Discontinuation
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| US20070277986A1 (en) * | 2004-11-17 | 2007-12-06 | Komatsu Ltd | Swing Control Device And Construction Machinery |
| CN101250888A (en) * | 2007-02-21 | 2008-08-27 | 神钢建设机械株式会社 | Rotation control device and working machine therewith |
| JP2008231903A (en) * | 2007-02-21 | 2008-10-02 | Kobelco Contstruction Machinery Ltd | Revolving controller and working machine equipped with it |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111148905A (en) * | 2018-09-05 | 2020-05-12 | 株式会社日立建机Tierra | Hydraulic drive device for electric hydraulic construction machine |
| CN111148905B (en) * | 2018-09-05 | 2021-08-27 | 株式会社日立建机Tierra | Hydraulic drive device for electric hydraulic construction machine |
| CN114688004A (en) * | 2022-03-16 | 2022-07-01 | 三一重机有限公司 | Flow distribution method and device and working machine |
| CN114688004B (en) * | 2022-03-16 | 2023-10-27 | 三一重机有限公司 | Flow distribution method and device and working machine |
Also Published As
| Publication number | Publication date |
|---|---|
| US20170204589A1 (en) | 2017-07-20 |
| JP5970625B1 (en) | 2016-08-17 |
| KR20170087822A (en) | 2017-07-31 |
| WO2016088904A1 (en) | 2016-06-09 |
| DE112016000002T5 (en) | 2016-07-28 |
| JPWO2016088904A1 (en) | 2017-04-27 |
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