JP2001011897A - Turning drive device for construction machine - Google Patents
Turning drive device for construction machineInfo
- Publication number
- JP2001011897A JP2001011897A JP11185204A JP18520499A JP2001011897A JP 2001011897 A JP2001011897 A JP 2001011897A JP 11185204 A JP11185204 A JP 11185204A JP 18520499 A JP18520499 A JP 18520499A JP 2001011897 A JP2001011897 A JP 2001011897A
- Authority
- JP
- Japan
- Prior art keywords
- turning
- motor
- electric motor
- generator
- drive device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、電動機をアクチュ
エータとする建設機械の旋回駆動装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a turning drive for a construction machine using an electric motor as an actuator.
【０００２】[0002]
【従来の技術】従来、建設機械の分野では、出力に対す
る機器の小型軽量さにより、油圧アクチュエータが広く
用いられていた。しかしながら、油圧アクチュエータは
電気アクチュエータに比べてエネルギー効率が悪い。例
えば、油圧アクチュエータの作動方向、出力及び速度を
制御する場合、油圧ポンプの吐出油を制御弁でその方
向、圧力及び流量を制御する。従って、油圧エネルギー
を制御弁で絞り捨てる部分が多く、エネルギー損失が大
きい。2. Description of the Related Art Conventionally, in the field of construction machinery, hydraulic actuators have been widely used due to their small size and light weight with respect to output. However, hydraulic actuators are less energy efficient than electric actuators. For example, when controlling the operation direction, output, and speed of a hydraulic actuator, the control valve controls the direction, pressure, and flow rate of hydraulic oil discharged from a hydraulic pump. Therefore, there are many portions where hydraulic energy is throttled and discarded by the control valve, resulting in a large energy loss.
【０００３】特に、建設機械の旋回動作の場合、例えば
ショベルのブーム上昇動作等と同時に行われることが多
く、エネルギー効率の面からも独立したアクチュエータ
で制御することが好ましい。そこで、建設機械における
動作や目的に応じて、油圧アクチュエータと電気アクチ
ュエータを併用する、いわゆるハイブリッド建設機械が
提案されている。[0003] In particular, in the case of a turning operation of a construction machine, it is often performed simultaneously with, for example, a boom raising operation of a shovel or the like. Therefore, a so-called hybrid construction machine using both a hydraulic actuator and an electric actuator in accordance with the operation and purpose of the construction machine has been proposed.
【０００４】一般に、電動機等の電気アクチュエータの
動作特性と油圧アクチュエータの動作特性とは必ずしも
一致しない。Generally, the operating characteristics of an electric actuator such as an electric motor do not always match the operating characteristics of a hydraulic actuator.
【０００５】電動機をアクチュエータとする場合、中立
位置に対する操作レバーの方向に応じて電動機の回転方
向が切り替えられ、また操作レバーの操作量に応じて回
転数（又はトルク）が制御される。回転数制御では、常
にシステムの持つ最大トルクが指令される。また、トル
ク制御では、中立位置では電動機のトルクが０であり、
駆動力も制動力も発生していないフリー状態にある。上
部旋回体に制動をかける場合、旋回方向とは逆に操作レ
バーを操作し、電動機に逆方向のトルクを発生させる。When an electric motor is used as an actuator, the rotation direction of the electric motor is switched according to the direction of the operation lever with respect to the neutral position, and the number of revolutions (or torque) is controlled according to the operation amount of the operation lever. In rotation speed control, the maximum torque of the system is always commanded. In the torque control, the torque of the motor is 0 at the neutral position,
It is in a free state where neither driving force nor braking force is generated. When braking the upper revolving superstructure, the operation lever is operated in the opposite direction to the revolving direction to generate torque in the electric motor in the reverse direction.
【０００６】一方、油圧モータをアクチュエータとする
場合、中立位置に対する操作レバーの方向に応じて油圧
モータの回転方向が切り替えられ、また操作レバーの操
作量に応じて吐出油の流量が制御され、油圧モータの回
転数が制御される。また、操作レバーを戻すと制動力が
働き、中立位置では油圧モータは回転せず、油圧モータ
の最大トルクで制動ロックされる。On the other hand, when the hydraulic motor is used as an actuator, the rotation direction of the hydraulic motor is switched in accordance with the direction of the operation lever with respect to the neutral position, and the flow rate of the discharge oil is controlled in accordance with the operation amount of the operation lever. The number of rotations of the motor is controlled. When the operating lever is returned, a braking force is applied, and the hydraulic motor does not rotate in the neutral position, but is locked by the maximum torque of the hydraulic motor.
【０００７】[0007]
【発明が解決しようとする課題】しかしながら、油圧ア
クチュエータと電気アクチュエータを併用したハイブリ
ッド建設機械であっても、従来の油圧アクチュエータに
よる建設機械の操作に慣れたユーザにとってはその動作
特性が同一又は近似していることが望ましい。例えば、
高速で旋回している上部旋回体に制動をかける場合、電
動機の制動トルクが小さいと制動距離が長くなる。その
ため、従来の油圧アクチュエータによる場合と比較し
て、停止位置よりもかなり手前から制動をかけなければ
ならず、正確な位置に停止することが困難となり、また
動作サイクルタイムが長くなると言う問題点を有してい
た。However, even a hybrid construction machine using both a hydraulic actuator and an electric actuator has the same or similar operating characteristics for a user who is accustomed to operating a construction machine using a conventional hydraulic actuator. Is desirable. For example,
When braking the upper revolving superstructure that is turning at high speed, the braking distance becomes longer if the braking torque of the electric motor is small. Therefore, as compared with the conventional hydraulic actuator, braking must be applied considerably before the stop position, making it difficult to stop at an accurate position and increasing the operation cycle time. Had.
【０００８】また、本質的に電動機等の電気アクチュエ
ータは、油圧アクチュエータと比較して、出力に対する
小型軽量さの点でやや劣るが、制動トルクの大きな電動
機を使用すると、電動機自体のサイズがさらに大きくな
り、建設機械、特に自走式のものに搭載するには適さな
いと言う問題点を有していた。Although an electric actuator such as a motor is essentially inferior in terms of small size and light weight with respect to output as compared with a hydraulic actuator, the use of a motor having a large braking torque further increases the size of the motor itself. In other words, there is a problem that it is not suitable for mounting on construction machines, especially self-propelled ones.
【０００９】本発明は、上記従来例の問題点を解決する
ためになされたものであり、小型の電動機をアクチュエ
ータとして使用しつつ、所望する動作特性が得られる建
設機械の旋回駆動装置を提供することを目的としてい
る。SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the prior art, and provides a turning drive device for a construction machine that can obtain desired operating characteristics while using a small motor as an actuator. It is intended to be.
【００１０】[0010]
【課題を解決するための手段】上記目的を達成するた
め、本発明の建設機械の旋回駆動装置は、電動機をアク
チュエータとして、下部走行体に対して上部旋回体を旋
回駆動するものであって、旋回加速時には電動機を電動
機特性で使用し、旋回減速時には電動機を発電機特性で
使用し、旋回加速時と旋回減速時で異なったトルク特性
を使用することを特徴とする。In order to achieve the above object, a turning drive device for a construction machine according to the present invention drives an upper turning body with respect to a lower running body by using an electric motor as an actuator. It is characterized in that an electric motor is used with a motor characteristic during turning acceleration, a motor is used with a generator characteristic during turning deceleration, and different torque characteristics are used during turning acceleration and turning deceleration.
【００１１】上記構成において、電動機を発電機特性で
使用する場合において、電動機の吸収トルクの最大値を
回転数に関係なく一定値に制御することが好ましい。In the above configuration, when the motor is used with a generator characteristic, it is preferable to control the maximum value of the absorption torque of the motor to a constant value irrespective of the rotation speed.
【００１２】また、旋回加速時における前記所定回転数
以上の領域では、電動機を弱め界磁制御することが好ま
しい。It is preferable that the electric motor be weakened and subjected to field control in a region where the rotation speed is equal to or higher than the predetermined rotation speed.
【００１３】さらに、旋回減速時において、電動機を回
生制動することが好ましい。Further, it is preferable that the electric motor be regeneratively braked at the time of turning deceleration.
【００１４】[0014]
【発明の実施の形態】本発明の建設機械の旋回駆動装置
について、その一実施形態であるショベルを例にして説
明する。本実施形態のショベルの構成を図１に示す。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A swing drive device for a construction machine according to the present invention will be described by taking a shovel as an embodiment as an example. FIG. 1 shows the configuration of the shovel of the present embodiment.
【００１５】図１において、下部走行体１０は、一対の
クローラ１１及びクローラフレーム１２（図では片側の
みを示す）、各クローラ１１を独立して駆動制御する一
対の油圧モータ１３，１４（図２参照）及びその減速機
構等で構成されている。In FIG. 1, a lower traveling body 10 comprises a pair of crawlers 11 and a crawler frame 12 (only one side is shown in the figure), and a pair of hydraulic motors 13 and 14 (FIG. 2) for independently controlling the driving of each crawler 11. ) And its speed reduction mechanism.
【００１６】上部旋回体２０は、旋回フレーム２１と、
旋回フレーム２１上に設けられた駆動源としてのエンジ
ン２２と、エンジン２２により駆動される発電機２３
と、発電機により発生された電力を蓄えるためのバッテ
リ２４と、発電機２３又はバッテリ２４からの電力によ
り駆動される駆動源としての電動機２５と、電動機２５
の回転を減速する減速機構を含み電動機２５の駆動力に
より下部走行体１０に対して上部旋回体２０（旋回フレ
ーム２１）を旋回駆動させるための旋回機構２６等で構
成されている。The upper swing body 20 includes a swing frame 21 and
An engine 22 provided as a drive source provided on the turning frame 21, and a generator 23 driven by the engine 22
A battery 24 for storing power generated by the generator, a motor 25 as a drive source driven by power from the generator 23 or the battery 24, and a motor 25.
And a revolving mechanism 26 for revolving the upper revolving unit 20 (the revolving frame 21) with respect to the lower traveling unit 10 by the driving force of the electric motor 25.
【００１７】また、上部旋回体２０には、起伏可能なブ
ーム３１と、ブーム３１を駆動するためのブームシリン
ダ３２と、ブーム３１の先端部近傍に回転自在に軸支さ
れたアーム３３と、アーム３３を駆動するためのアーム
シリンダ３４と、アーム３３の先端に回転可能に軸支さ
れたバケット３５と、バケット３５を駆動するためのバ
ケットシリンダ３６等で構成されたショベル機構３０が
搭載されている。さらに、上部旋回体２０の旋回フレー
ム２１上には、ブームシリンダ３２、アークシリンダ３
４、バケットシリンダ３６を駆動制御するための油圧ポ
ンプ４１及び各シリンダごとに設けられた油圧制御弁４
２（図２参照）等で構成された油圧制御機構４０が搭載
されている。The upper swing body 20 includes a boom 31 which can be raised and lowered, a boom cylinder 32 for driving the boom 31, an arm 33 which is rotatably supported near the tip of the boom 31, and an arm 33. An excavator mechanism 30 including an arm cylinder 34 for driving the 33, a bucket 35 rotatably supported at the tip of the arm 33, and a bucket cylinder 36 for driving the bucket 35 is mounted. . Further, a boom cylinder 32, an arc cylinder 3
4. A hydraulic pump 41 for controlling the driving of the bucket cylinder 36 and a hydraulic control valve 4 provided for each cylinder
2 (see FIG. 2) and the like are mounted.
【００１８】次に、本実施形態の制御システムのブロッ
ク構成を図２に示す。図２中、太線は機械的駆動系統
を、中線は油圧駆動系統を、細線は電気的駆動系統を示
す。図２に示すように、エンジン２２の駆動力は油圧ポ
ンプ４１に伝達される。油圧制御弁４１は、図示しない
操作手段からの動作指令に応じて、右走行用油圧モータ
１３、左走行用油圧モータ１４、ブームシリンダ３２、
アームシリンダ３４及びバケットシリンダ３６への動作
油の吐出量及び吐出方向を制御する。Next, FIG. 2 shows a block configuration of the control system of the present embodiment. In FIG. 2, a thick line indicates a mechanical drive system, a middle line indicates a hydraulic drive system, and a thin line indicates an electric drive system. As shown in FIG. 2, the driving force of the engine 22 is transmitted to the hydraulic pump 41. The hydraulic control valve 41 responds to an operation command from an operating means (not shown) to drive the right traveling hydraulic motor 13, the left traveling hydraulic motor 14, the boom cylinder 32,
The discharge amount and discharge direction of the operating oil to the arm cylinder 34 and the bucket cylinder 36 are controlled.
【００１９】一方、エンジン２２の駆動力は増速機構２
９を介して発電機２３に伝達される。発電機２３は所定
の交流電力を発生し、発生された交流電力は制御器２７
等により直流に変換され、バッテリ２４に蓄えられる。
一方、制御器２７又はバッテリ２４からの直流電力はイ
ンバータ２８により所定の電圧及び周波数のパルス信号
に変換され、電動機２５に入力される。また、後述する
ように、上部旋回体２０の旋回減速時において電動機２
５を発電機特性で使用する場合、電動機２５により回生
された電力を直流に変換してバッテリ２４に蓄える。On the other hand, the driving force of the engine 22 is
9 to the generator 23. The generator 23 generates predetermined AC power, and the generated AC power is
The direct current is converted into a direct current and stored in the battery 24.
On the other hand, DC power from the controller 27 or the battery 24 is converted into a pulse signal of a predetermined voltage and frequency by the inverter 28 and input to the electric motor 25. As will be described later, the electric motor 2 is turned when the upper swing body 20 is decelerated.
When 5 is used with a generator characteristic, the electric power regenerated by the electric motor 25 is converted into direct current and stored in the battery 24.
【００２０】電動機２５として、希土類永久磁石を回転
子とするＤＣブラシレスモータ（ＩＰＭ：Internal Per
manent Magnetモータとも言う）を用いる。上部旋回体
２０の旋回加速時において電動機２５を電動機特性で使
用する場合、制御器２７及びインバータ２８は、ＤＣブ
ラシレスモータの電機子と界磁位置が常にトルク発生に
有利になるように、回転子の位置を検出し、電機子直流
フィードバック制御を行う。さらに、電機子に流す電流
のタイミングを変化させ、界磁の最も強い回転位置と電
流のピーク位置を少しずらせることによって弱め界磁制
御を行い、回転数の増加に伴ってトルクが減少する領域
でのトルクを増加させている。As the electric motor 25, a DC brushless motor (IPM: Internal Perm) using a rare earth permanent magnet as a rotor is used.
manent Magnet motor). When the electric motor 25 is used with electric motor characteristics during the rotation acceleration of the upper-part turning body 20, the controller 27 and the inverter 28 operate so that the armature and the field position of the DC brushless motor are always advantageous for torque generation. Is detected and armature DC feedback control is performed. Further, the timing of the current flowing through the armature is changed, the field weakening control is performed by slightly shifting the rotational position of the field and the peak position of the current slightly, and in a region where the torque decreases with an increase in the rotational speed. Increases torque.
【００２１】電動機２５の回転数−トルク特性を図３に
示す。図中、破線は磁気飽和がない場合の回転数−トル
ク特性を示し、実線は弱め界磁制御を行った実際の回転
数−トルク特性を示す。電動機出力はトルクと回転数の
積で表されるため、弱め界磁制御を行うことにより、回
転数を高くする（又は同じ回転数でトルクを大きくす
る）ことにより、小型の電動機で大出力を得ることがで
きる。なお、本実施形態では、上部旋回体２０の旋回減
速時において、後述するように電動機２５を発電機特性
で使用する。FIG. 3 shows the rotation speed-torque characteristics of the electric motor 25. In the figure, the broken line shows the rotational speed-torque characteristic when there is no magnetic saturation, and the solid line shows the actual rotational speed-torque characteristic when field weakening control is performed. Since the motor output is represented by the product of the torque and the number of revolutions, a large output can be obtained with a small motor by increasing the number of revolutions (or increasing the torque at the same number of revolutions) by performing field-weakening control. Can be. In the present embodiment, the electric motor 25 is used with a generator characteristic as described later when the upper revolving superstructure 20 is decelerated in turning.
【００２２】次に、本実施形態の旋回駆動装置における
電動機２５の回転数ＮとトルクＴの関係を図４に示す。
図４中、回転数Ｎが正の領域は左旋回、Ｎが負の領域は
右旋回とする。また、第１象限は左旋回加速時に電動機
２５を電動機特性で使用する場合を示し、第４象限は左
旋回減速時に電動機２５を発電機特性で使用する場合を
示す。第３象限は右旋回加速時に電動機２５を電動機特
性で使用する場合を示し、第２象限は右旋回減速時に電
動機２５を発電機特性で使用する場合を示す。Next, FIG. 4 shows the relationship between the rotation speed N of the electric motor 25 and the torque T in the turning drive device of the present embodiment.
In FIG. 4, a region where the rotational speed N is positive is left turning, and a region where N is negative is right turning. The first quadrant shows the case where the electric motor 25 is used with the motor characteristics during left turning acceleration, and the fourth quadrant shows the case where the electric motor 25 is used with the generator characteristics during left turning deceleration. The third quadrant shows the case where the electric motor 25 is used with the characteristics of the motor during the right turning acceleration, and the second quadrant shows the case where the electric motor 25 is used with the characteristics of the generator during the right turning deceleration.
【００２３】図４からわかるように、第１象限及び第３
象限に示す旋回加速時には、所定回転数未満の領域では
電動機２５の出力トルクが一定となり、所定回転数以上
の領域では回転数の増加に応じて出力トルクが減少する
ように制御する。また、第２象限及び第４象限に示す旋
回減速時には、電動機を発電機特性で使用し、電動機の
吸収トルクを回転数に関係なく一定値に制御している。As can be seen from FIG. 4, the first quadrant and the third
At the time of the turning acceleration shown in the quadrant, the output torque of the electric motor 25 is controlled to be constant in a region lower than the predetermined rotation speed, and to be decreased in accordance with an increase in the rotation speed in a region higher than the predetermined rotation speed. Further, at the time of turning deceleration shown in the second and fourth quadrants, the motor is used with a generator characteristic, and the absorption torque of the motor is controlled to a constant value irrespective of the rotation speed.
【００２４】なお、図４中太い実線で描いた特性は、本
実施形態における旋回システムの最大トルクＴ0で制御
する場合を表したものであり、旋回トルクを制御できる
システムであれば、図中矢印で示すように、例えばトル
クＴ1で旋回を開始し、トルクＴ2で減速を開始するよう
に、任意の特性が得られる。The characteristic drawn by a thick solid line in FIG. 4 represents a case where the control is performed with the maximum torque T 0 of the turning system according to the present embodiment. as shown by arrows, for example, to start the turning torque T 1, to start decelerating torque T 2, any characteristics can be obtained.
【００２５】比較のため、従来例のように旋回減速時に
電動機２５を回転数が増加するとトルクが減少する特性
で使用する場合について説明する。電動機２５を電動機
特性で減速する、すなわち電動機に逆方向のトルクを発
生させる場合、図３に示す電動機の回転数−トルク特性
に沿って逆向きに制動する。例えば減速開始時の回転数
がＮａとＮｂの間の場合、減速開始時の回転数Ｎが高い
ほど制動トルクが小さく、制動力が小さい。従って、停
止するまでの時間と制動距離が長くなる。なお、回転数
に対するトルクが一定の領域が広い大出力電動機を使用
すれば、図４の第２象限及び第４象限に示すような旋回
減速時における特性が得られるが、電動機自体が大型と
なり、本発明の目的である電動機の小型化に反すること
となり、適切ではない。For comparison, a case will be described in which the motor 25 is used with a characteristic that the torque decreases as the number of revolutions increases during the turning deceleration as in the conventional example. When the motor 25 is decelerated by the motor characteristics, that is, when the motor generates reverse torque, the motor 25 is braked in the reverse direction according to the rotation speed-torque characteristics of the motor shown in FIG. For example, when the rotation speed at the start of deceleration is between Na and Nb, the higher the rotation speed N at the start of deceleration, the smaller the braking torque and the smaller the braking force. Therefore, the time until the vehicle stops and the braking distance become longer. In addition, if a large output motor having a wide range of constant torque with respect to the rotation speed is used, the characteristics at the time of turning deceleration as shown in the second and fourth quadrants of FIG. 4 can be obtained, but the motor itself becomes large, This is contrary to the object of the present invention, which is to reduce the size of the electric motor, and is not appropriate.
【００２６】本実施形態の旋回駆動装置における電動機
２５を従来例と同様に電動機特性で減速する場合の回転
数ＮとトルクＴの関係を図５に示す。図５中、回転数Ｎ
が正の領域は左旋回、Ｎが負の領域は右旋回とする。ま
た、第１象限は左旋回加速時に電動機２５を電動機特性
で使用する場合を示し、第４象限は左旋回減速時に電動
機２５を電動機特性で使用する場合を示す。第３象限は
右旋回加速時に電動機２５を電動機特性で使用する場合
を示し、第２象限は右旋回減速時に電動機２５を電動機
特性で使用する場合を示す。FIG. 5 shows the relationship between the rotational speed N and the torque T when the electric motor 25 in the turning drive device of the present embodiment is decelerated by electric motor characteristics as in the conventional example. 5, the rotation speed N
Is a left turn, and a negative N is a right turn. The first quadrant shows the case where the electric motor 25 is used with the motor characteristics during left turning acceleration, and the fourth quadrant shows the case where the electric motor 25 is used with the motor characteristics during left turning deceleration. The third quadrant shows the case where the electric motor 25 is used with the motor characteristics during the right turning acceleration, and the second quadrant shows the case where the electric motor 25 is used with the motor characteristics during the right turning deceleration.
【００２７】制動力と制動時間及び制動距離の関係を図
６に示す。図６中、横軸に時間をとり、縦軸に電動機２
５の回転数（角速度ω(rad/s)）及び制動距離（制動開
始から停止までの回転角θ(rad)）をとる。また、ωと
記した曲線は制動力を表し、θと表した曲線は制動距離
を表す。また、各実線は制動力が大きい場合を示す、破
線は制動力が小さい場合を示す。FIG. 6 shows the relationship between the braking force, the braking time and the braking distance. 6, the horizontal axis represents time, and the vertical axis represents the motor 2
The rotation speed (angular velocity ω (rad / s)) and the braking distance (rotation angle θ (rad) from the start to the stop of braking) are taken. The curve denoted by ω represents the braking force, and the curve denoted by θ represents the braking distance. Further, each solid line indicates a case where the braking force is large, and a broken line indicates a case where the braking force is small.
【００２８】次に、電動機２５の電動機特性と発電機特
性の違いについて、直流電動機を例にして説明する。電
源電圧をＥ0、電動機の内部抵抗をＲ、電動機に流れる
電流をｉ、電動機の逆起電力定数をＫ、電動機のロータ
の角速度をωとする。Next, the difference between the motor characteristics and the generator characteristics of the motor 25 will be described using a DC motor as an example. The power supply voltage is E 0 , the internal resistance of the motor is R, the current flowing through the motor is i, the back electromotive force constant of the motor is K, and the angular velocity of the motor rotor is ω.
【００２９】電動機特性で使用する場合、定常状態で
は、Ｅ0＝Ｒｉ＋Ｋω、従って ｉ＝（Ｅ0−Ｋω）／Ｒ ・・・(1) が成り立つ。電流ｉは上記式(1)で表され、角速度ωが
大きくなるほど逆起電力が大きくなり、電流が小さくな
る。なお、電動機のトルクは電流に比例するため、電流
が流れにくい分だけ、制動トルクも小さくなる。In the case of using the motor characteristics, in a steady state, E 0 = Ri + Kω, and therefore i = (E 0 −Kω) / R (1). The current i is expressed by the above equation (1). As the angular velocity ω increases, the back electromotive force increases and the current decreases. Since the torque of the electric motor is proportional to the current, the braking torque is reduced as much as the current hardly flows.
【００３０】一方、発電機特性で使用する場合、定常状
態では、Ｅ0＝Ｒｉ−Ｋω、従って ｉ＝（Ｅ0＋Ｋω）／Ｒ ・・・(2) が成り立つ。電流ｉは上記式(2)で表され、角速度ωが
大きくなるほど逆起電力が大きくなり、電流が大きくな
り、制動トルクも大きくなる。電動機特性の場合フレミ
ングの左手の法則に従い、発電機特性の場合フレミング
の右手の法則に従う。従って、発電機特性では、電動機
特性の場合と比較して力の向きが逆になり、制動力が発
生する。なお、ＤＣブラシレスモータの場合、現在の回
転方向とは逆向きに回転させるタイミングでチョッパを
入力するだけで、回生制動を行う。On the other hand, in the case of using the generator characteristics, in a steady state, E 0 = Ri−Kω, and therefore i = (E 0 + Kω) / R (2). The current i is expressed by the above equation (2). As the angular velocity ω increases, the back electromotive force increases, the current increases, and the braking torque also increases. In the case of motor characteristics, Fleming's left-hand rule is followed, and in the case of generator characteristics, Fleming's right-hand rule is followed. Therefore, in the generator characteristics, the direction of the force is reversed as compared with the case of the motor characteristics, and a braking force is generated. In the case of a DC brushless motor, regenerative braking is performed only by inputting a chopper at a timing when the motor is rotated in a direction opposite to the current rotation direction.
【００３１】以上のように、電動機を発電機特性で使用
する場合に、電流値を大きくすることにより、制動力を
大きくすることができる。しかしながら、電流値が大き
くなると、電動機の効率が低下し内部発熱が大きくな
り、コイルの絶縁破壊等を引き起こす可能性がある。こ
れに対して、建設機械の旋回駆動装置は常時駆動される
ものではなく、また１回の旋回量は最大でも１８０度程
度である。また、電動機による制動時間もせいぜい数秒
程度である。従って、短時間定格で電動機の熱容量を計
算することができ、電動機２５として小型のものを用い
ても特に問題は生じない。As described above, when the electric motor is used with the characteristics of the generator, the braking force can be increased by increasing the current value. However, when the current value increases, the efficiency of the motor decreases, the internal heat generation increases, and there is a possibility of causing dielectric breakdown of the coil and the like. On the other hand, the turning drive device of the construction machine is not always driven, and the turning amount per turn is about 180 degrees at the maximum. Further, the braking time by the electric motor is at most several seconds. Therefore, the heat capacity of the motor can be calculated in a short-time rating, and there is no particular problem even if a small motor is used as the motor 25.
【００３２】なお、上記実施形態はショベルを例にして
説明したが、本発明はこれに限定されるものではなく、
移動式クレーンや定置式クレーン等電動機をアクチュエ
ータとする旋回駆動装置の使用が可能な全ての建設機械
に適用できることは言うまでもない。Although the above embodiment has been described by taking a shovel as an example, the present invention is not limited to this.
Needless to say, the present invention can be applied to all construction machines that can use a swing drive device using a motor as an actuator, such as a mobile crane and a stationary crane.
【００３３】[0033]
【発明の効果】以上説明したように、本発明の建設機械
の旋回駆動装置によれば、電動機をアクチュエータとし
て、下部走行体に対して上部旋回体を旋回駆動するもの
であって、旋回加速時には電動機を電動機特性で使用
し、旋回減速時には電動機を発電機特性で使用し、旋回
加速時と旋回減速時で異なったトルク特性を使用ことを
特徴とする。As described above, according to the turning drive apparatus for a construction machine of the present invention, the upper turning body is driven to turn with respect to the lower running body by using the electric motor as an actuator. It is characterized in that an electric motor is used with electric motor characteristics, a motor is used with a generator characteristic when turning is decelerated, and different torque characteristics are used between turning acceleration and turning deceleration.
【００３４】すなわち、旋回減速の開始時には通常の電
動機特性でなく発電機特性で電動機を使用するので制動
力が大きく、制動開始から停止するまでの時間及び制動
距離を短くすることができる。That is, at the start of turning deceleration, the motor is used not according to the normal motor characteristics but according to the generator characteristics. Therefore, the braking force is large, and the time from the start of braking to the stop and the braking distance can be shortened.
【００３５】また、電動機を発電機特性で使用する場合
において、電動機の吸収トルクの最大値を回転数に関係
なく一定値に制御することにより、制動開始時から一定
で、かつ最大の制動力を得ることができる。When the motor is used with the characteristics of a generator, the maximum value of the absorption torque of the motor is controlled to a constant value regardless of the number of revolutions, so that a constant and maximum braking force is obtained from the start of braking. Obtainable.
【００３６】さらに、旋回加速時における前記所定回転
数以上の領域では、電動機を弱め界磁制御することによ
り、小型電動機でありながら大出力を得ることが可能と
なる。Further, in the region where the rotation speed is equal to or higher than the predetermined rotation speed, the electric motor is weakened and the magnetic field is controlled, so that it is possible to obtain a large output while being a small electric motor.
【００３７】さらに、旋回減速時において電動機を回生
制動することにより、制動時に発生した電力をバッテリ
に蓄えることができ、省エネルギー化を計ることができ
る。Further, by regeneratively braking the electric motor at the time of turning deceleration, the electric power generated at the time of braking can be stored in the battery, and the energy can be saved.
【図１】 本発明の建設機械の旋回駆動装置の一実施形
態であるショベルの構成を示す図である。FIG. 1 is a diagram illustrating a configuration of a shovel that is an embodiment of a turning drive device of a construction machine according to the present invention.
【図２】 上記一実施形態の制御システムのブロック構
成を示す図である。FIG. 2 is a diagram showing a block configuration of a control system of the embodiment.
【図３】 一般的な電動機の回転数−トルク特性を示す
図である。FIG. 3 is a diagram showing a rotation speed-torque characteristic of a general electric motor.
【図４】 上記一実施形態の旋回駆動装置における電動
機の回転数ＮとトルクＴの関係を示す図である。FIG. 4 is a diagram showing a relationship between a rotation speed N and a torque T of an electric motor in the turning drive device of the embodiment.
【図５】 比較例として、上記一実施形態の旋回駆動装
置を従来例と同様の方法で制御した場合の電動機の回転
数ＮとトルクＴの関係を示す図である。FIG. 5 is a diagram showing, as a comparative example, the relationship between the rotational speed N of the electric motor and the torque T when the turning drive device of the embodiment is controlled in the same manner as in the conventional example.
【図６】 上記一実施形態の制御方法と従来の制御方法
による制動時間及び制動距離の違いを示す図である。FIG. 6 is a diagram showing a difference in a braking time and a braking distance between the control method of the embodiment and a conventional control method.
１０：下部走行体 １１：クローラ １２：クローラフレーム １３：右走行用油圧モータ １４：左走行用油圧モータ ２０：上部旋回体 ２１：旋回フレーム ２２：エンジン ２３：発電機 ２４：バッテリ ２５：電動機 ２６：旋回機構 ２７：制御器 ２８：インバータ ２９：増速機構 ３０：ショベル機構 ３１：ブーム ３２：ブームシリンダ ３３：アーム ３４：アームシリンダ ３５：バケット ３６：バケットシリンダ ４０：油圧制御機構 ４１：油圧ポンプ ４２：油圧制御弁 10: Lower traveling body 11: Crawler 12: Crawler frame 13: Right traveling hydraulic motor 14: Left traveling hydraulic motor 20: Upper revolving body 21: Revolving frame 22: Engine 23: Generator 24: Battery 25: Electric motor 26: Turning mechanism 27: Controller 28: Inverter 29: Speed increasing mechanism 30: Shovel mechanism 31: Boom 32: Boom cylinder 33: Arm 34: Arm cylinder 35: Bucket 36: Bucket cylinder 40: Hydraulic control mechanism 41: Hydraulic pump 42: Hydraulic control valve
───────────────────────────────────────────────────── フロントページの続き Ｆターム(参考） 2D003 AA01 AB02 AB07 BA02 BA05 BB01 CA02 CA10 DA04 2D015 DA04 3F333 AA01 AB02 AE08 BB23 DA07 DB10 FA18 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2D003 AA01 AB02 AB07 BA02 BA05 BB01 CA02 CA10 DA04 2D015 DA04 3F333 AA01 AB02 AE08 BB23 DA07 DB10 FA18
Claims (4)
行体に対して上部旋回体を旋回駆動する建設機械の旋回
駆動装置であって、旋回加速時には電動機を電動機特性
で使用し、旋回減速時には電動機を発電機特性で使用
し、旋回加速時と旋回減速時で異なったトルク特性を使
用することを特徴とする建設機械の旋回駆動装置。1. A turning drive device for a construction machine that turns an upper revolving structure with respect to a lower traveling structure using an electric motor as an actuator, wherein the electric motor is used with a motor characteristic during turning acceleration, and a motor is generated during turning deceleration. A swing drive device for a construction machine, wherein the swing drive device uses different torque characteristics during turning acceleration and turning deceleration.
いて、電動機の吸収トルクの最大値を回転数に関係なく
一定値に制御することを特徴とする請求項１記載の建設
機械の旋回駆動装置。2. The turning drive device for a construction machine according to claim 1, wherein when the motor is used with a generator characteristic, the maximum value of the absorption torque of the motor is controlled to a constant value irrespective of the rotation speed. .
の領域では、電動機を弱め界磁制御することを特徴とす
る請求項１又は２記載の建設機械の旋回駆動装置。3. The turning drive device for a construction machine according to claim 1, wherein the electric motor is subjected to field weakening control in a region where the rotation speed is equal to or higher than the predetermined rotation speed.
ることを特徴とする請求項１から３のいずれかに記載の
建設機械の旋回駆動装置。4. The turning drive device for a construction machine according to claim 1, wherein the motor is regeneratively braked during turning deceleration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18520499A JP3877909B2 (en) | 1999-06-30 | 1999-06-30 | Swivel drive device for construction machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18520499A JP3877909B2 (en) | 1999-06-30 | 1999-06-30 | Swivel drive device for construction machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2001011897A true JP2001011897A (en) | 2001-01-16 |
| JP3877909B2 JP3877909B2 (en) | 2007-02-07 |
Family
ID=16166702
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18520499A Expired - Lifetime JP3877909B2 (en) | 1999-06-30 | 1999-06-30 | Swivel drive device for construction machinery |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3877909B2 (en) |
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| JP2012244730A (en) * | 2011-05-18 | 2012-12-10 | Komatsu Ltd | Control device for electric motor and method of controlling the same |
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| JP2018123833A (en) * | 2017-01-30 | 2018-08-09 | 永興電機工業株式会社 | On-board power unit |
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