CN105974318A - Working machine - Google Patents
Working machine Download PDFInfo
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- CN105974318A CN105974318A CN201610139905.6A CN201610139905A CN105974318A CN 105974318 A CN105974318 A CN 105974318A CN 201610139905 A CN201610139905 A CN 201610139905A CN 105974318 A CN105974318 A CN 105974318A
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- voltage
- electrical storage
- storage device
- value
- electric current
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
- G01R31/3842—Arrangements for monitoring battery or accumulator variables, e.g. SoC combining voltage and current measurements
Abstract
The invention provides a working machine which can calculate the charging state of an electrical storage device in high precision when the tracking of voltage changed relative to the electric current delays. The electric loading is driven by the electic power outputted by the electrical storage device. A measuring device measures the voltage and electric current of the electrical storage device. According to the tracking delay amount of the voltage changed relative to the electric current flowing through the electrical storage device, a control device correct a measuring result of the measuring device and calculates a corrected value, and the charging state of the electrical storage device can be calculated according to the corrected value.
Description
Technical field
The application advocates priority based on Japanese patent application filed in 13 days March in 2015 the 2015-050256th.
The full content of this Japanese publication is by with reference to being applied in this specification.
The present invention relates to a kind of work mechanism driving electric loading with the discharged power from electrical storage device.
Background technology
The hybrid shoveling being equipped with capacitor, motor generator and slewing motor is had disclosed in following patent documentation 1
Machine.Motor generator and slewing motor are carried out the driven by power of sufficient power from capacitor.By the electric power sent by motor generator and
Capacitor is charged by the regenerated electric power from slewing motor.The main pump of hydraulic system is driven with motor generator by engine
Dynamic.
Voltage according to capacitor and the charged state (SOC) of charging and discharging currents calculable capacitor.According to hydraulic system
Output required value, the output required value of slewing motor and the charged state of capacitor, obtaining should be from the electric power of capacitor output
The electric power maybe should being charged, the power that should export from engine.Maybe should should be charged from the electric power of capacitor output obtaining
Electric power time, owing to considering the charged state of capacitor, therefore can prevent overdischarge or the overcharge of capacitor.
Patent documentation 1: International Publication the 2010/113223rd
In order to prevent overcharge or the overdischarge of the electrical storage device such as capacitor, secondary cell, it is desirable to precision is measured well
Charged state.Generally, when calculating charged state, utilize voltage between terminals, charging and discharging currents and inside according to electrical storage device
The open-circuit voltage that ohm gauge calculates.Generally, the voltage between terminals under the state not flowing through charging and discharging currents is mated with open-circuit voltage.
Delay is produced sometimes relative to following of curent change voltage.For example, during lithium rechargeable battery, due to work
Property material in lithium ion diffusional resistance and cause voltage follow generation postpone.Especially, voltage follower at low ambient temperatures
Postpone quantitative change big.Imagine and affect highly significant because of what voltage follower delay produced in the work mechanism that cold district uses.?
During voltage follower postpones to produce, the precision of the charged state calculated according to voltage between terminals is relatively low.
Summary of the invention
Even if it is an object of the invention to provide one generation voltage follower to postpone also to be able to obtain electric power storage dress accurately
The work mechanism of the charged state put.
A viewpoint according to the present invention, it is provided that a kind of work mechanism, it has:
Electrical storage device；
Electric loading, the driven by power exported from described electrical storage device；
Measuring instrument, measures voltage and the electric current of described electrical storage device；And
Control device, according to the voltage follower retardation of the change relative to the electric current flowing through described electrical storage device, correction
The measurement result of described measuring instrument and calculate corrected value, and according to the charging shape of electrical storage device described in described correction value
State.
The effect of invention
Due to the measurement result according to voltage follower retardation correcting measuring apparatus, therefore, it is possible to improve the charging shape calculated
The precision of state.
Accompanying drawing explanation
Figure 1A is mounted in the electrical storage device equivalent circuit diagram to electric loading of work mechanism based on embodiment, Tu1BShi
Control the functional block diagram of the calculating charged state of device.
Fig. 2 A～Fig. 2 D is the electric current representing the process for correction process portion and charged state calculating part are described respectively
The curve chart of the time change of the corrected value of measured value, the measured value of voltage, the value of calculation of open-circuit voltage and open-circuit voltage.
Fig. 3 A is the electrical storage device based on another embodiment equivalent circuit diagram to electric loading, and Fig. 3 B is the meter controlling device
Calculate the functional block diagram of charged state.
Fig. 4 is the functional block diagram of the calculating charged state controlling device based on another embodiment.
Fig. 5 A～Fig. 5 D is the electric current representing the process for correction process portion and charged state calculating part are described respectively
The curve chart of the time change of the corrected value of measured value, the measured value of voltage, the corrected value of electric current and open-circuit voltage.
Fig. 6 A and Fig. 6 B is mounted in the calculating charged state controlling device of work mechanism based on another embodiment
Functional block diagram.
Fig. 7 is the functional block diagram of the calculating charged state controlling device based on another embodiment.
Fig. 8 A～Fig. 8 D is the electric current representing the process for correction process portion and charged state calculating part are described respectively
The curve chart of the time change of the corrected value of measured value, the measured value of voltage, the corrected value of voltage and open-circuit voltage.
Fig. 9 is the side view of the hybrid earth mover shown in the example as work mechanism based on embodiment.
Figure 10 is the functional block diagram controlling device of hybrid earth mover.
Figure 11 is the sequential chart of the discharge and recharge action representing electrical storage device and the relation on the opportunity calculating charged state.
The explanation of symbol
10-electrical storage device, 11-type of voltage step-up/down converter, 12-electric loading, 13-inverter, 14-motor generator, 15-smooths
Capacitor 16-engine, 17-slewing motor, 18-power inverter, 20-measuring instrument, 20A-current sensor, 20V-voltage
Sensor, 21-temperature sensor, 30-controls device, 31-voltage measurement portion, 32-current measurement portion, 33-correction process portion,
34-charged state calculating part, 35-Temperature measuring section, 37-memorizer, 40-exports required value calculating part, and 41-engine speed is measured
Portion, 42-output distribution determines portion, 43-electrical storage device charge/discharge control unit, 44-engine control portion, 51-lower running body, 52-
Upper rotation, 53-swing arm, 54-dipper, 55-scraper bowl, 56-swing arm cylinder, 57-dipper cylinder, 58-scraper bowl cylinder, 60-hydraulic system
Main pump, 63-action bars, 331-current correction portion, 333-voltage correction portion, Dc-control information, the measured value of I-electric current, Ic-electricity
The corrected value of stream, Iv-virtual current, Ne-engine speed, Poe-electric power exports, and Pom-machinery exports, and Prq-exports required value,
Ri-internal resistance value, SOC-charged state, the temperature of T-electrical storage device, the measured value of V-voltage, the corrected value of Vc-voltage,
The value of calculation of Voc1-open-circuit voltage, the corrected value of Voc2-open-circuit voltage, Vv-virtual voltage.
Detailed description of the invention
Figure 1A is the equivalent circuit diagram that the electrical storage device 10 representing and being equipped on work mechanism arrives electric loading 12.Represent with Voc
The open-circuit voltage of electrical storage device 10, represents the value of internal resistance with Ri.Electrical storage device 10 is connected to via type of voltage step-up/down converter 11
Electric loading 12.Smoothing capacity device 15 is connected to electric loading 12 side by side.Electrical storage device 10 can use lithium rechargeable battery, lithium
Ionistor, lead battery and Ni-MH battery etc..
Voltage between terminals and the charging and discharging currents of electrical storage device 10 measured by measuring instrument 20.Survey can be used as measuring instrument 20
The voltage sensor 20V of the voltage between terminals of amount electrical storage device 10, and measure the current sensor 20A of charging and discharging currents.Measure
The measurement result of instrument 20 is imported into control device 30.
Type of voltage step-up/down converter 11 includes be serially connected 2 switch elements and the connection being inserted between switch element
Inducer between point and electrical storage device 10.Switch element can use IGBT etc..Each switch element connects backflow diode.
Control device 30 is by controlling the conducting of switch element, cut-off, thus controls charging current and the discharge current of electrical storage device 10.
Electric loading 12 can be to include inverter 13 and the structure of slewing motor 17.Slewing motor 17 is filled by electric power storage
Put 10 driven by power supplied via type of voltage step-up/down converter 11 and inverter 13.On the contrary, generated again by slewing motor 17
Raw electric power is converted into direct current power by inverter 13.Control device 30 while considering charged state SOC of electrical storage device 10,
Control type of voltage step-up/down converter 11 and inverter 13.
Figure 1B illustrates the functional block diagram of the calculating charged state controlling device 30.Each function passes through CPU
(CPU) computer program performing to be stored in the memorizer 37 controlled in device 30 is realized or is realized by electronic circuit.
Voltage measurement portion 31 exports the survey of the voltage between terminals of electrical storage device 10 according to the measurement result of voltage sensor 20V
Value V.The measurement of the electric current of electrical storage device 10 is flow through according to the measurement result of current sensor 20A, output in current measurement portion 32
Value I.In this manual, discharge current is being defined as just, is being defined as bearing by charging current.In memorizer 37, storage has correction letter
Internal resistance value Ri of the current time of breath Dc and electrical storage device 10.Internal resistance value Ri can utilize known method to survey
Amount.
Correction process portion 33 is according to the measured value V of voltage, the measured value I of electric current and control information Dc, the survey of correction voltage
The measured value I of value V or electric current and calculate corrected value.
Charged state calculating part 34 is according to the measured value not being corrected in the measured value V of voltage and the measured value I of electric current, logical
Corrected value that overcorrect process portion 33 obtains and internal resistance value Ri calculate charged state SOC of electrical storage device 10.
With reference to Fig. 2 A～Fig. 2 D, the process in correction process portion 33 and charged state calculating part 34 (Figure 1A) is illustrated.With
Under, to from for make work mechanism electric loading 12 (Figure 1A) action (revolution action) drive electric current rise to drive electric current
The period calculating charged state after decline illustrates.The time change of the measured value I of electric current shown in Fig. 2 A, shown in Fig. 2 B
The time change of the measured value V of voltage, the time change of the value of calculation Voc1 of the open-circuit voltage of electrical storage device 10 shown in Fig. 2 C,
The time change of the corrected value Voc2 of open-circuit voltage shown in Fig. 2 D.
When moment t1 carries out the operation of revolution action, discharge current rises, and electric power is fed into electric loading 12 (Figure 1A).
When moment t3 stops the operation of revolution action, discharge current declines, and stops supplying electric power to electric loading 12.Before moment t1 and
The measured value I of the electric current that moment t3 is later is 0.In other words, do not supply electric power to electric loading 12, the most not by the regeneration of electric loading 12
Power charge.The measured value I of the electric current of the period from moment t1 to t3 is I1.
Produce relative to the measured value V of the change voltage of electric current and follow delay.Produce when voltage follower postpones in explanation
Before process, in order to compare, the example not producing voltage follower delay is illustrated.Dotted line is used in the curve chart of Fig. 2 B
Represent that change relative to the measured value I of electric current does not produces the measured value V's of voltage when following delay of the measured value V of voltage
Change.Cause, due to the internal resistance of electrical storage device 10, the electricity being equivalent to variation delta I of the measured value I of electric current at moment t1
Pressure drop, therefore the measured value V of voltage declines Δ V.Period discharge current at moment t1 to t3 flows, and thus voltage is over time
Through and decline.Decline at moment t3 discharge current, thus cause because of internal resistance voltage drop to disappear, the therefore survey of voltage
Value V rises Δ V.Represent open-circuit voltage during moment t1 with Vocb, represent open-circuit voltage during moment t3 with Voca.
Variation delta V of the measured value V of voltage is represented by the following formula.
Δ V=-Δ I Ri ... (1)
Wherein, if the negative sign on the right of equal sign refers to that discharge current increases, then voltage drop.
Generally, the value of calculation Voc1 of open-circuit voltage is represented by the following formula.
Voc1=V+I × Ri ... (2)
When not producing voltage follower delay, it is represented by dashed line in the curve chart of Fig. 2 C, as the value of calculation of open-circuit voltage
Voc1 obtains correct open-circuit voltage.
It practice, the measured value V of the change voltage relative to the measured value I of electric current produces and follows delay.The curve of Fig. 2 B
The change of the measured value V of voltage when generation voltage follower indicated by the solid line postpones in figure.When moment t1 electric current rises, voltage
Measured value V drastically change unlike dotted line, but postpone the change represented in such as dotted line, as represented in solid line lentamente
Change.Represent that voltage follower postpones the moment released with t2.In the same manner, the moment t3 declined from electric current starts to produce voltage follower
Postpone.Represent that voltage follower postpones the moment released with t4.In the curve chart of Fig. 2 C, generation voltage follower indicated by the solid line postpones
Time the value of calculation Voc1 of open-circuit voltage that obtains.Producing the open circuit electricity of the period (t1～t2, t3～t4) that voltage follower postpones
The value of calculation Voc1 of pressure is from the correct open-circuit voltage deviation being represented by dashed line.Therefore, according to the value of calculation Voc1 of open-circuit voltage
And the charged state calculated also produces the error that the deviation of the value of calculation Voc1 due to open-circuit voltage causes.
The measured value I of the electric current that moment t3 is later is 0, the value of calculation Voc1 of the open-circuit voltage therefore obtained from formula (2) with
The measured value V of voltage is equal.When not producing voltage follower delay, the measured value V of the voltage being represented by dashed line that moment t3 is later
Represent correct open-circuit voltage Voca.But, produce voltage follower when postponing, the electricity that period of moment t3 to t4 is indicated by the solid line
The measured value V of pressure is inconsistent with open-circuit voltage Voca.Therefore, the value of calculation Voc1 of open-circuit voltage and correct open-circuit voltage Voca
The most inconsistent.As a result, the charged state calculated according to the value of calculation Voc1 of open-circuit voltage produces error.
Embodiment described below can reduce the error of the value of calculation of charged state.First, to correction process
The process in portion 33 (Figure 1B) illustrates.In embodiment, according to the voltage follower retardation shown in Fig. 2 B, the measured value of voltage
The measured value I of V or electric current is corrected by correction process portion 33 (Figure 1B).Here, " voltage follower retardation " refers to not produce
The measured value (value being represented by dashed line in the curve chart of Fig. 2 B) of voltage when voltage follower postpones and the measurement of actual voltage
The difference of value V (value indicated by the solid line in the curve chart of Fig. 2 B).
Represent the corrected value of the measured value V of voltage with Vc, represent the corrected value of the measured value I of electric current with Ic.Charged state
Calculating part 34 utilizes the corrected value Voc2 of this correction value open-circuit voltage.The corrected value Voc2 of open-circuit voltage is with following arbitrary
Formula is obtained.
Voc2=Vc+I × Ri ... (3)
Voc2=V+Ic × Ri ... (4)
In formula (3), the measured value V of voltage is corrected, and in formula (4), the measured value I of electric current is corrected.
The corrected value Vc of voltage can be prolonged by the voltage follower measured between moment t1～t2 shown in Fig. 2 C in advance
Amount and the voltage follower retardation from moment t3 to t4 are obtained late.Represent the time change of measured voltage follower retardation
Information be stored in memorizer 37 as control information Dc (Figure 1B).Control information Dc can be with the change by elapsed time Yu electric current
Change amount Δ I (with reference to the curve chart of Fig. 2 A) expresses as the functional expression of variable.It addition, control information Dc can with this function
Numerical tabular corresponding to formula represents, it is also possible to represent with the time constant of the change of voltage follower retardation.
Can make be represented by dashed line in the corrected value Vc and Fig. 2 B of voltage not produce between terminal when voltage follower postpones
Voltage is consistent.Now, voltage follower retardation substantially obtains compensation.Without necessarily making in the corrected value Vc and Fig. 2 B of voltage by void
It is completely the same that what line represented does not produces voltage between terminals when voltage follower postpones.Can be with corrected value Vc identified below, i.e. voltage
Corrected value Vc and Fig. 2 B in the difference not producing voltage between terminals when voltage follower postpones that is represented by dashed line less than voltage
Measured value V and the difference of voltage between terminals not produced when voltage follower postpones.Now, it is impossible to voltage follower is fully compensated and postpones
Amount, but the error of charged state can be reduced compared with the situation that use measured value V obtains charged state.
In above-mentioned functional expression and numerical tabular, as variable in addition to including variation delta I of elapsed time and electric current, also
The old oil α representing the impairment grade of electrical storage device can be included.Voltage follower retardation has ratio with variation delta I of electric current
During example relation, the functional expression only about 1 representative variation delta I or numerical tabular can be prepared in advance.
The corrected value Ic of electric current identically with the corrected value Vc of voltage, can be according to the voltage follower retardation measured in advance
Obtain.
In formula (3), the measured value V of voltage is replaced to use corrected value Vc to calculate open-circuit voltage.In formula (4), replace electric current
Measured value I and use corrected value Ic calculate open-circuit voltage.Corrected value Vc and Ic is to compensate in the way of voltage follower postpones by school
Just, it is therefore contemplated that use formula (3) and formula (4) in any one open-circuit voltage obtained corrected value Voc2 as shown in Figure 2 D
Represent ballpark open-circuit voltage.
Then, the process to charged state calculating part 34 (Figure 1B) illustrates.Charged state calculating part 34 (Figure 1B) root
According to the corrected value Voc2 of open-circuit voltage, calculate the charged state of electrical storage device 10 (Figure 1A).It is electric double layer at electrical storage device 10
In the case of capacitor, rated limit value Vmax of the voltage of electrical storage device 10 represents, when specified lower limit Vmin represents,
Charged state SOC is represented with following formula.
SOC=(Voc22-Vmin2)/(Vmax2-Vmin2)……(5)
In the case of electrical storage device 10 is secondary cell, charged state SOC and open-circuit voltage have certain relation.Can
To use the function representing this relation to calculate charged state SOC from the corrected value Voc2 of open-circuit voltage.This function can use letter
Numerical expression is defined, it is possible to use numerical tabular is defined.
Do not carry out the measured value V of voltage or the timing of the measured value I of electric current, as shown in the curve chart of Fig. 2 C, it is impossible to
The period of moment t3 to t4 calculates correct open-circuit voltage.In order to calculate correct open-circuit voltage, it is necessary to after waiting until that electric current declines
Voltage follower could perform the calculating of open-circuit voltage and process till the instant t4 of quarter till postponing to release.If postponing to solve at voltage follower
Except electric current starts flowing before, then cannot calculate correct open-circuit voltage.
In above-described embodiment, as shown in Figure 2 D, the period of undissolved moment t3 to the t4 of voltage follower delay can also be asked
Go out correct open-circuit voltage.Therefore, it is possible to improve the reliability of the value of calculation of charged state SOC.
In Fig. 2 A～Fig. 2 D, the voltage follower to the rising of discharge current and when declining postpones to be illustrated, but is filling
Electricity electric current also produces voltage follower when rising and decline to postpone.Electricity during by preparing the rising with charging current in advance and declining
Pressure is followed and is postponed corresponding control information Dc, it is possible to postpone the undissolved phase at voltage follower identically with the situation of discharge current
Between obtain correct open-circuit voltage.
When variation delta I (Fig. 2 A) of the measured value I of electric current is less, variation delta V (Fig. 2 B) of the measured value V of voltage is also
Less.Therefore, the difference of value of calculation Voc1 (Fig. 2 C) and the corrected value Voc2 of open-circuit voltage (Fig. 2 D) of open-circuit voltage is the most less.Should
When difference is sufficiently small, the correction process in process portion 33 (Figure 1B) can not be corrected.Such as, the variable quantity of the measured value I of electric current
When Δ I is below a certain threshold value, can not be corrected processing.
Then, with reference to Fig. 3 A and Fig. 3 B, another embodiment is illustrated.Hereinafter, to the enforcement shown in Figure 1A～Fig. 2 D
The difference of example illustrates, and omits the explanation to shared structure.
Electrical storage device 10 shown in Fig. 3 A is to the equivalent circuit diagram of electric loading 12.In embodiment shown in Fig. 3 A, electric power storage fills
Put and temperature sensor 21 is installed in 10.The temperature of electrical storage device 10 is measured in temperature sensor 21, and measurement result is imported into control
Device 30 processed.Embodiment shown in Fig. 3 A is different from the embodiment shown in Figure 1A on this point of being provided with temperature sensor 21.
The functional block diagram of the calculating charged state of device 30 is controlled shown in Fig. 3 B.Temperature measuring section 35 is according to temperature sensing
The measurement result of device 21 calculates temperature T of electrical storage device 10.Functional expression or the numerical tabular of definition control information Dc include as change
Temperature T of amount.Correction process portion 33 except the measured value V according to voltage, electric current measured value I and control information Dc in addition to, also
Corrected value is calculated according to temperature T.
Generally, voltage follower retardation depends on the temperature of electrical storage device 10, along with temperature declines, and voltage follower retardation
Become big.In embodiment shown in Fig. 3 A and Fig. 3 B, obtain the corrected value Vc of voltage or electric current according to temperature T of electrical storage device 10
Corrected value Ic, therefore, especially in cold district use work mechanism in can improve charged state SOC value of calculation can
By property.
When the temperature of electrical storage device 10 is sufficiently high, for example, during room temperature degree, voltage follower retardation is less.Voltage follower
When impact that the result of calculation of charged state SOC is produced by retardation is sufficiently small, it is convenient to omit by correction process portion 33 (figure
3B) the correction process carried out.Such as, when the temperature of electrical storage device 10 is more than a certain threshold value, it is convenient to omit pass through correction process
The correction process that portion 33 (Fig. 3 B) is carried out.
Then, with reference to Fig. 4 and Fig. 5 A～Fig. 5 D, another embodiment is illustrated.Hereinafter, to shown in Figure 1A～Fig. 2 D
Embodiment and Fig. 3 A～Fig. 3 B shown in the difference of embodiment illustrate, and omit the explanation to shared structure.Fig. 4
～in the embodiment shown in Fig. 5 D, use the measured value of electric current as the object for compensating the correction that voltage follower postpones.
The functional block diagram of the calculating charged state of device 30 is controlled shown in Fig. 4.Correction process portion 33 includes current correction
Portion 331.Current correction portion 331 obtains corrected value Ic according to temperature T and the measured value I of control information Dc correcting current.Charging
State computation portion 34 calculates the correction of open-circuit voltage according to the measured value V of voltage, the corrected value Ic of electric current and internal resistance value Ri
Value Voc2.And, calculate charged state SOC according to the corrected value Voc2 of open-circuit voltage.
With reference to Fig. 5 A～Fig. 5 D, the process to current correction portion 331 and charged state calculating part 34 illustrates.Fig. 5 A and
The curve chart of Fig. 5 B is identical with the curve chart of Fig. 2 A and Fig. 2 B.In Fig. 5 C, the time of the corrected value Ic of electric current indicated by the solid line becomes
Change.In order to compare, the measured value I of electric current is represented by dashed line.The time of the corrected value Voc2 of open-circuit voltage shown in Fig. 5 D
Change.
Current correction portion 331 (Fig. 4) overlaps onto by will be equivalent to the virtual current Iv of the size of voltage follower retardation
The measured value I of electric current, thus obtain the corrected value Ic=I+Iv of electric current.The period of moment t1 to t2, negative virtual current Iv quilt
Overlap, the period of moment t3 to t4, positive virtual current Iv is overlapping.Virtual current Iv time change by by elapsed time t,
Variation delta I of temperature T of electrical storage device 10, the old oil α of electrical storage device and electric current carries out determining as the functional expression of variable
Justice.This functional expression is equivalent to control information Dc.This functional expression can be such as following expression.
Iv=α × fi (t, Δ I, T) ... (6)
Wherein, fi (t, Δ I, T) is as the function of variable using variation delta I of elapsed time t, temperature T and electric current.With
Following manner determines function fi, i.e. by making virtual current Iv flow through the internal resistance of electrical storage device 10, and is equivalent to electricity
Pressure follows the voltage drop of retardation.Specifically, function fi can be by measuring the rising of the charging and discharging currents of electrical storage device 10
Or the change of voltage after declining and obtain voltage follower retardation and determine.
As control information Dc, can prepare in advance variation delta I of elapsed time t, temperature T and electric current as variable
Numerical tabular, replace the function fi of formula (6).
Charged state calculating part 34 (Fig. 4) is counted by the corrected value obtained by current correction portion 331 Ic is substituted into formula (4)
Calculate the corrected value Voc2 of open-circuit voltage.By by virtual current Iv import open-circuit voltage corrected value Voc2 calculating formula in, as
Shown in Fig. 5 D, it is possible to avoid impact that voltage follower postpones to obtain the corrected value Voc2 close to actual open-circuit voltage.
The calculating charged state controlling device 30 of work mechanism based on another embodiment it is equipped on shown in Fig. 6 A
Functional block diagram.Hereinafter, the difference from the embodiment shown in Fig. 4 and Fig. 5 A～Fig. 5 D is illustrated, and omits shared
The explanation of structure.
Current correction portion 331 filters by the measured value I of electric current is implemented the time lag of first order corresponding with voltage follower retardation
Ripple processes, thus calculates corrected value Ic.The transmission function representation of time lag of first order filtering is KL/(TLs+1).Wherein, KLIt is gain,
TLIt it is time constant.Gain KLAnd time constant TLDepend on temperature T, and be prepared as control information Dc.The corrected value of electric current
Ic is input to charged state calculating part 34.
As shown in Figure 6B, secondary delay filtering process can be carried out and replace time lag of first order Filtering Processing.Secondary postpones filter
The transmission function representation of ripple is KL/((s/ON)2+(2ZT/ON)s+1).Wherein, KLIt is gain, ONIt is natural angular frequency, ZTIt it is decay
Coefficient.Gain KL, natural angular frequency ONAnd attenuation quotient ZTDepend on temperature T, and be prepared as control information Dc.
The transmission function of definition time lag of first order filtering and secondary delay filtering is determined accordingly with voltage follower retardation
Each parameter.Specifically, the voltage drop being equivalent to voltage follower retardation with the internal resistance by electrical storage device 10 is overlapping
The mode produced determines each parameter of the transmission function of definition time lag of first order filtering and secondary delay filtering.Thus, it is possible to avoid
Impact that voltage follower postpones and obtain the corrected value Voc2 close to actual open-circuit voltage.
Then, with reference to Fig. 7 and Fig. 8 A～Fig. 8 D, another embodiment is illustrated.Hereinafter, to shown in Figure 1A～Fig. 2 D
Embodiment and Fig. 3 A～Fig. 3 B shown in the difference of embodiment illustrate, and omit the explanation to shared structure.Fig. 7
～in the embodiment shown in Fig. 8 D, use the measured value of voltage as the object for compensating the correction that voltage follower postpones.
The functional block diagram of the calculating charged state of device 30 is controlled shown in Fig. 7.Correction process portion 33 includes voltage correction
Portion 333.Voltage correction portion 333 is by variation delta I (Fig. 8 A described later) of measured value I according to electric current, temperature T and correction letter
The measured value V of breath Dc correction voltage, thus obtain corrected value Vc.Charged state calculating part 34 is according to the corrected value Vc of voltage, electricity
The measured value I of stream and internal resistance value Ri calculate the corrected value Voc2 of open-circuit voltage.
With reference to Fig. 8 A～Fig. 8 D, the function in voltage correction portion 333 and charged state calculating part 34 is illustrated.Fig. 8 A and
The curve chart of Fig. 8 B is identical with the curve chart of Fig. 2 A and Fig. 2 B.In Fig. 8 C, the time of the corrected value Vc of voltage indicated by the solid line becomes
Change.In order to compare, the measured value V of voltage is represented by dashed line.The time of the corrected value Voc2 of open-circuit voltage shown in Fig. 8 D
Change.
Voltage correction portion 333 (Fig. 7) is overlapped in by virtual voltage Vv that will be equivalent to the size of voltage follower retardation
The measured value V of voltage, thus obtain the corrected value Vc of voltage.Virtual voltage Vv that the period of moment t1 to t2 is born is overlapping, time
Period positive virtual voltage Vv carving t3 to t4 is overlapping.The time of virtual voltage Vv changes corresponding to voltage follower retardation
Time changes, by by elapsed time t, temperature T of electrical storage device 10, the old oil α of electrical storage device and variation delta I of electric current
Functional expression as variable is defined.This functional expression is equivalent to control information Dc.This functional expression can be such as following expression.
Vv=α × fv (t, Δ I, T) ... (7)
Wherein, fv (t, Δ I, T) is as the function of variable using variation delta I of elapsed time t, temperature T and electric current.Should
Function fv can be determined by the change of the voltage after measuring the rising or falling of charging and discharging currents of electrical storage device 10.
Can prepare in advance and variation delta I of elapsed time t, temperature T and electric current is replaced as the numerical tabular of variable
The function fv of formula (7).
Charged state calculating part 34 calculates open by the corrected value obtained by voltage correction portion 333 Vc is substituted into formula (3)
The corrected value Voc2 of road voltage.The corrected value Vc of voltage is imported the calculating formula of the corrected value Voc2 of open-circuit voltage, thus such as figure
Shown in 8D, impact that voltage follower postpones can be avoided to obtain the corrected value Voc2 close to actual open-circuit voltage.
As the side view of hybrid earth mover of example of work mechanism based on embodiment shown in Fig. 9.Lower running
Upper rotation 52 it is equipped with pivotally on body 51.Upper rotation 52 is equipped with engine 16, motor generator 14, revolution electricity
Motivation 17, electrical storage device 10, control device 30, power inverter 18 and hydraulic system main pump 60.Operated by personnel operates
Bar 63.
Swing arm 53, dipper 54 and scraper bowl 55 it is linked with in upper rotation 52.Swing arm cylinder 56, dipper cylinder 57 and scraper bowl cylinder 58
Drive swing arm 53, dipper 54 and scraper bowl 55 respectively.Motor generator 14 passes through the electric power auxiliary engine 16 from electrical storage device 10,
And by generating electricity from the power of engine 16.By the electric power sent, electrical storage device 10 is charged.
Slewing motor 17 is by making upper rotation 52 turn round from the electric power of electrical storage device 10, and turns round on top
Regenerated electric power is produced when body 52 is braked.By regenerated electric power, electrical storage device 10 is charged.Hydraulic system main pump 60 is by engine
The power drive of 16 and supply working oil to swing arm cylinder 56, dipper cylinder 57 and scraper bowl cylinder 58.Power inverter 18 includes electric power storage
Type of voltage step-up/down converter 11 (Figure 1A), the inverter of motor generator 14 and the slewing motor 17 of the discharge and recharge of device 10 are used
Inverter 13 (Figure 1A).Control device 30 and control power inverter 18 and engine 16.For engine 16 and electrical storage device 10
Hydraulic system main pump 60 plays a role as hydraulic load, and slewing motor 17 plays a role as electric loading 12 (Figure 1A).
The functional block diagram of device 30 is controlled shown in Figure 10.Charged state calculating part 34 calculates the charging shape of electrical storage device 10
State SOC.Charged state calculating part 34 is equivalent to Figure 1B, Fig. 3 B, Fig. 4, Fig. 6 A, Fig. 6 B or illustrated in fig. 7 charged state and calculates
Portion 34.Output required value calculating part 40 calculates relative to hydraulic load (hydraulic system main pump 60) according to the operational ton of action bars 63
And the output required value Prq of electric loading 12 (Figure 1A).The rotating speed Ne of engine 16 is measured in engine speed measurement portion 41.
Output distribution determines according to output required value Prq, engine speed Ne and charged state SOC, portion 42 determines that electric power exports
Poe and machinery output Pom.Specifically, a part of output required value Prq is assigned to electric power output Poe, and by remainder
It is assigned to machinery output Pom.Electrical storage device charge/discharge control unit 43 controls power inverter 18 according to electric power output Poe.
Engine control portion 44 controls engine 16 according to machinery output Pom.
Output distribution determines that portion 42 determines that electric power exports in the way of the overdischarge not producing electrical storage device 10 or overcharge
Poe.As an example, when charged state SOC is close to allowable upper limit value, electric power output Poe can be strengthened.Charged state SOC is close
When allowing lower limit, owing to cannot take out electric power output from electrical storage device 10, therefore electric power output Poe is set to bear.Bear
Electric power output Poe refers to be charged electrical storage device 10.
The sequential chart on the opportunity of the discharge and recharge action of electrical storage device 10 shown in Figure 11 and calculating charged state SOC.Figure 11
Shown in be suitable for the example of electric current cumulative method, described electric current cumulative method is the period flowed in electrical storage device 10 at charging and discharging currents
Add up charging and discharging currents and calculate charged state SOC.
The epimere of Figure 11 illustrates the time change of the measured value I of electric current.Action electrical storage device 10 according to work mechanism
Charging and discharging currents flows, and the period charging and discharging currents being failure to actuate is 0.Decline at moment t10 discharge current.Phase in moment t11 to t12
Between discharge current flowing, the period charge current flows of moment t13 to t14.Rise at moment t15 discharge current.
The time change from upper several 2nd section of measured value V illustrating voltage of Figure 11.In order to compare, it is represented by dashed line
The time not producing voltage when voltage follower postpones changes.During discharge current flowing, the measured value V of voltage is over time
Through and decline, during charge current flows the measured value V of voltage over time through and rise.Charging and discharging currents is drastically
Produce voltage follower immediately after ground, the most discontinuously change to postpone.In Figure 11, moment t10, t11, t12, t13, t14 and
Produce voltage follower after t15 immediately to postpone.The voltage follower produced at moment t10, t12 and t14 that electric current is 0 postpones respectively
Will not release before ensuing electric current starts moment t11, t13, t15 of flowing.
During charging and discharging currents flowing, (t11～t12, t13～t14) periodically calculates charging shape by electric current cumulative method
State SOC.When the moment, t10, t12, t14 charging and discharging currents was 0, the voltage follower that considers as shown in Figure 1A～Fig. 8 D is used to prolong
Slow method calculates charged state SOC.
In example shown in Figure 11, electric current is 0, and before ensuing electric current starts flowing, voltage follower postpones not release.Cause
This, electric current be 0 period cannot use and not consider that the method that voltage follower postpones obtains charged state SOC.As a result, cause only making
The period calculating charged state SOC with electric current cumulative method is the longest.If only using electric current cumulative method to calculate charged state SOC,
Charged state SOC and correct charged state SOC that then the error accumulation and being likely to result in of the measured value of electric current calculates it
Difference becomes big.
When the reliability of the value of calculation of charged state SOC is relatively low, in order to prevent overcharge and overdischarge, preferably will charge shape
The allowable upper limit value of state SOC is set to less than rated limit value, and permission lower limit is set higher than specified lower limit.Thus lead
The utilization rate causing electrical storage device 10 declines.
As shown in figure 11, electric current is the method calculating charged state period of 0 being considered voltage follower delay by use
SOC, it is possible to release the accumulation of the error of charged state SOC caused because using electric current cumulative method.The calculating of charged state SOC
The reliability of value is higher, therefore can be set as by the allowable upper limit value of charged state SOC roughly equal with rated limit value, will permit
Permitted lower limit and be set as roughly equal with specified lower limit.It is thus possible to improve the utilization rate of electrical storage device 10.
Describe the present invention above according to embodiment, but the present invention is not limited to this.Such as, to this area
It is obvious to the skilled person that can carry out various change, improve, combination etc..
Claims (7)
1. a work mechanism, it has:
Electrical storage device；
Electric loading, the driven by power exported from described electrical storage device；
Measuring instrument, measures voltage and the electric current of described electrical storage device；And
Controlling device, according to the voltage follower retardation of the change relative to the electric current flowing through described electrical storage device, correction is described
The measurement result of measuring instrument and calculate corrected value, and according to the charged state of electrical storage device described in described correction value.
Work mechanism the most according to claim 1, wherein,
Described work mechanism has the temperature sensor of the temperature measuring described electrical storage device further,
Described control device is counted always according to the measurement result of measuring instrument described in the temperature correction by described temperature sensor measurement
Calculate described corrected value.
Work mechanism the most according to claim 1 and 2, wherein,
Be stored in described control device for correcting the control information of the measurement result of described measuring instrument, described control device according to
Described control information calculates described corrected value.
4. according to the work mechanism according to any one of claims 1 to 3, wherein,
Described control device by will be equivalent to the virtual current of the size of described voltage follower retardation overlap onto flow through described
The electric current of electrical storage device, thus the described corrected value of calculating current.
5. according to the work mechanism according to any one of claims 1 to 3, wherein,
Described control device overlaps onto described electric power storage by the virtual voltage that will be equivalent to the size of described voltage follower retardation
The voltage of device, thus calculate the described corrected value of voltage.
6. according to the work mechanism according to any one of claims 1 to 3, wherein,
Described control device is by implementing the delay filtering corresponding with described voltage follower retardation to the measured value of described electric current
Process, thus the described corrected value of calculating current.
7. according to the work mechanism according to any one of claim 1～6, wherein,
Described work mechanism has hydraulic load further,
Described control device is according to for the output required value of described electric loading and described hydraulic load and described electrical storage device
Described charged state, controls the charging and discharging currents of described electrical storage device.
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| JP2015050256A JP2016170063A (en) | 2015-03-13 | 2015-03-13 | Work machine |
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| WO2010109956A1 (en) * | 2009-03-27 | 2010-09-30 | 株式会社日立製作所 | Electric storage device |
| CN101939892A (en) * | 2008-02-19 | 2011-01-05 | 丰田自动车株式会社 | Vehicle and method for estimating charged state of secondary battery |
| CN102301561A (en) * | 2009-01-28 | 2011-12-28 | 住友重机械工业株式会社 | Hybrid working machine and electricity storage control apparatus |
| CN102369449A (en) * | 2009-04-01 | 2012-03-07 | 住友重机械工业株式会社 | Hybrid operating machinery |
| CN104345280A (en) * | 2013-07-30 | 2015-02-11 | 住友重机械工业株式会社 | Working machine |
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| JP5126150B2 (en) * | 2009-04-09 | 2013-01-23 | トヨタ自動車株式会社 | Storage capacity estimation device and storage capacity estimation method |
| JP2013208034A (en) * | 2012-03-29 | 2013-10-07 | Honda Motor Co Ltd | Open-circuit voltage estimation device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101939892A (en) * | 2008-02-19 | 2011-01-05 | 丰田自动车株式会社 | Vehicle and method for estimating charged state of secondary battery |
| CN102301561A (en) * | 2009-01-28 | 2011-12-28 | 住友重机械工业株式会社 | Hybrid working machine and electricity storage control apparatus |
| WO2010109956A1 (en) * | 2009-03-27 | 2010-09-30 | 株式会社日立製作所 | Electric storage device |
| CN102369449A (en) * | 2009-04-01 | 2012-03-07 | 住友重机械工业株式会社 | Hybrid operating machinery |
| CN104345280A (en) * | 2013-07-30 | 2015-02-11 | 住友重机械工业株式会社 | Working machine |
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