JP2007247230A - ハイブリッド建設機械 - Google Patents
ハイブリッド建設機械 Download PDFInfo
- Publication number
- JP2007247230A JP2007247230A JP2006070920A JP2006070920A JP2007247230A JP 2007247230 A JP2007247230 A JP 2007247230A JP 2006070920 A JP2006070920 A JP 2006070920A JP 2006070920 A JP2006070920 A JP 2006070920A JP 2007247230 A JP2007247230 A JP 2007247230A
- Authority
- JP
- Japan
- Prior art keywords
- power
- hydraulic pump
- electric actuator
- hydraulic
- output
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/46—Series type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/44—Drive Train control parameters related to combustion engines
- B60L2240/441—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/48—Drive Train control parameters related to transmissions
- B60L2240/486—Operating parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/16—Ratio selector position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/081—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/20—Off-Road Vehicles
- B60Y2200/25—Track vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Sustainable Energy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
【解決手段】エンジン10の出力軸に油圧ポンプ12と発電電動機13とをパラレルに接続し、バッテリ17によって旋回電動機18を駆動するとともに発電電動機13に電動機作用を行わせてエンジン10をアシストするハイブリッドショベルにおいて、油圧ポンプ12及び旋回電動機18それぞれの消費動力を検出し、この検出された消費動力の和が、油圧ポンプ12及び旋回電動機18に供給可能な動力の和として設定された総供給動力を超えないように油圧ポンプ12及び旋回電動機18の出力を制御するように構成した。
【選択図】図1
Description
実施形態にかかるハイブリッドショベルのブロック構成を図1に示す。
(I) エンジン回転数とバッテリ充電状態という二つの要素によって決まる実際システム最大動力(Pemax+Pbmax)に基づいて総供給動力Pmaxを設定し、
(II) 実際システム最大動力(Pemax+Pbmax)と、対応油圧ショベルの最大動力Pimaxのうち低い方を選択する
構成としたから、(I)により、実際システム最大動力が低下している状況でのバッテリ17への悪影響を回避できる。いいかえれば、バッテリ17を保護しながら作業を継続することができる。
第2実施形態のブロック構成は第1実施形態と同じのため図示省略する。
第3実施形態においては、操作量ではなく操作パターンに応じてポンプ最大出力及び旋回電動機最大出力を決定するように構成されている。
(1) 上記各実施形態では、電動アクチュエータとして旋回電動機を用いるショベルを例にとったが、旋回電動機以外の電動アクチュエータを用いるショベルにも適用することができる。この場合、電動アクチュエータが複数あるときは、この複数の電動アクチュエータのトータルの出力をポンプ出力とともに制御することとなる。
2 上部旋回体
3 作業アタッチメント
4 ブーム
5 アーム
6 バケット
7 油圧アクチュエータとしてのブームシリンダ
8 同アームシリンダ
9 同バケットシリンダ
15,16 同走行モータ
10 エンジン
12 油圧ポンプ
13 発電電動機
17 バッテリ(蓄電装置)
18 旋回電動機
19 発電電動機制御器
20 旋回電動機制御器
21 コントローラ(制御手段)
22 総供給動力設定部
23 ポンプ出力制御部
24 旋回電動機出力制御部
25 ポンプ圧センサ
26〜30 油圧アクチュエータ操作部
32 旋回操作部
31 レギュレータ
33 エンジン回転数センサ
34 バッテリ状態監視装置
Claims (6)
- エンジンと、このエンジンの出力軸に連結された油圧ポンプと、この油圧ポンプによって駆動される油圧アクチュエータと、エンジンの出力軸に連結されて発電機作用と電動機作用を行う発電電動機と、電動アクチュエータと、上記各アクチュエータを操作する操作手段と、上記発電電動機及び電動アクチュエータに対して電力の授受を行う蓄電装置と、上記油圧ポンプ及び電動アクチュエータの出力を制御する制御手段とを備え、この制御手段は、上記油圧ポンプ及び電動アクチュエータそれぞれの消費動力を検出し、この検出された消費動力の和が、上記油圧ポンプ及び電動アクチュエータに供給可能な動力の和として設定された総供給動力を超えないように上記油圧ポンプ及び電動アクチュエータの出力を制御するように構成されたことを特徴とするハイブリッド建設機械。
- 上記制御手段は、上記蓄電装置の充電状態及びエンジン回転数を検出し、実際の蓄電装置充電状態及びエンジン回転数によって得られる実際システム最大動力に基づいて総供給動力を設定するように構成されたことを特徴とする請求項1記載のハイブリッド建設機械。
- 上記制御手段は、実際システム最大動力と、同種かつ作業能力が同程度の油圧建設機械の最大動力のうち低い方を総供給動力として選択するように構成されたことを特徴とする請求項2記載のハイブリッド建設機械。
- 電動アクチュエータとして旋回電動機を備え、制御手段は、油圧ポンプの出力を、総供給動力から上記旋回電動機の消費動力を差し引いた値を超えない範囲に制御するように構成されたことを特徴とする請求項1乃至3のいずれか1項に記載のハイブリッド建設機械。
- 複数の油圧アクチュエータを備えるとともに、電動アクチュエータを含む各アクチュエータを操作する操作手段の操作量を検出する操作量検出手段を備え、制御手段は、上記各油圧アクチュエータの操作手段の操作量の和と、上記電動アクチュエータの操作手段の操作量の比に応じて、上記総供給動力を油圧ポンプに対する供給動力と電動アクチュエータに対する供給動力とに配分し、この配分に基づいて油圧ポンプ及び電動アクチュエータの各出力を制御するように構成されたことを特徴とする請求項1乃至3のいずれか1項に記載のハイブリッド建設機械。
- 複数の油圧アクチュエータを備えるとともに、電動アクチュエータを含む各アクチュエータを操作する操作手段の操作量を検出する操作量検出手段を備え、制御手段は、各操作手段の操作パターンに応じて予め設定された配分比に基づいて油圧ポンプ及び電動アクチュエータの各出力を制御するように構成されたことを特徴とする請求項1乃至3のいずれか1項に記載のハイブリッド建設機械。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006070920A JP4524679B2 (ja) | 2006-03-15 | 2006-03-15 | ハイブリッド建設機械 |
US11/677,236 US7669413B2 (en) | 2006-03-15 | 2007-02-21 | Hybrid construction machine |
EP07102875.7A EP1834854B1 (en) | 2006-03-15 | 2007-02-22 | Hybrid construction machine |
CN2007100881019A CN101037869B (zh) | 2006-03-15 | 2007-03-15 | 混合动力建筑机械 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006070920A JP4524679B2 (ja) | 2006-03-15 | 2006-03-15 | ハイブリッド建設機械 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007247230A true JP2007247230A (ja) | 2007-09-27 |
JP4524679B2 JP4524679B2 (ja) | 2010-08-18 |
Family
ID=38119659
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006070920A Active JP4524679B2 (ja) | 2006-03-15 | 2006-03-15 | ハイブリッド建設機械 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7669413B2 (ja) |
EP (1) | EP1834854B1 (ja) |
JP (1) | JP4524679B2 (ja) |
CN (1) | CN101037869B (ja) |
Cited By (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009084673A1 (ja) * | 2007-12-28 | 2009-07-09 | Sumitomo Heavy Industries, Ltd. | ハイブリッド式建設機械 |
JP2009191463A (ja) * | 2008-02-12 | 2009-08-27 | Sumitomo Heavy Ind Ltd | ハイブリッド型建設機械 |
JP2009261096A (ja) * | 2008-04-15 | 2009-11-05 | Sumitomo Heavy Ind Ltd | ハイブリッド式建設機械 |
JP2010047125A (ja) * | 2008-08-21 | 2010-03-04 | Sumitomo (Shi) Construction Machinery Co Ltd | ハイブリッド建設機械の走行制御回路 |
JP2010106513A (ja) * | 2008-10-29 | 2010-05-13 | Kobelco Contstruction Machinery Ltd | ハイブリッド作業機械 |
JP2010106464A (ja) * | 2008-10-28 | 2010-05-13 | Sumitomo Heavy Ind Ltd | ハイブリッド型建設機械 |
JP2010116708A (ja) * | 2008-11-12 | 2010-05-27 | Sumitomo Heavy Ind Ltd | ハイブリッド型建設機械 |
JP2010159648A (ja) * | 2009-01-06 | 2010-07-22 | Kobelco Contstruction Machinery Ltd | ハイブリッド作業機械の動力源装置 |
JP2011012481A (ja) * | 2009-07-03 | 2011-01-20 | Sumitomo Heavy Ind Ltd | ハイブリッド型作業機械及びその効率係数の算出方法 |
WO2011105415A1 (ja) * | 2010-02-25 | 2011-09-01 | ナブテスコ株式会社 | ハイブリッド建設機械の制御装置 |
WO2013024868A1 (ja) | 2011-08-16 | 2013-02-21 | 日立建機株式会社 | 作業車両 |
JP2013189758A (ja) * | 2012-03-12 | 2013-09-26 | Sumitomo Heavy Ind Ltd | ショベル |
EP2826920A1 (en) | 2013-07-18 | 2015-01-21 | Kobelco Construction Machinery Co., Ltd. | Hybrid construction machine |
JP2015214808A (ja) * | 2014-05-08 | 2015-12-03 | 住友建機株式会社 | 建設機械 |
WO2015199249A1 (ja) * | 2015-08-18 | 2015-12-30 | 株式会社小松製作所 | 作業車両及びその制御方法 |
WO2016024640A1 (ja) * | 2015-09-01 | 2016-02-18 | 株式会社小松製作所 | 作業車両及びその制御方法 |
KR101656765B1 (ko) * | 2015-08-18 | 2016-09-12 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 작업 차량 및 그 제어 방법 |
JP5997361B2 (ja) * | 2013-03-06 | 2016-09-28 | 日立建機株式会社 | 建設機械 |
JP2016172999A (ja) * | 2015-03-17 | 2016-09-29 | 住友重機械工業株式会社 | 建設機械 |
JP2017053212A (ja) * | 2016-12-13 | 2017-03-16 | 株式会社小松製作所 | 作業車両及びその制御方法 |
CN113737884A (zh) * | 2021-08-09 | 2021-12-03 | 潍柴动力股份有限公司 | 一种装载机控制方法、装置、电子设备及存储介质 |
Families Citing this family (61)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5055948B2 (ja) * | 2006-10-20 | 2012-10-24 | コベルコ建機株式会社 | ハイブリッド作業機械 |
JP5174809B2 (ja) * | 2007-03-29 | 2013-04-03 | 株式会社小松製作所 | 作業機械 |
JP5156312B2 (ja) * | 2007-09-19 | 2013-03-06 | 株式会社小松製作所 | エンジンの制御装置 |
WO2009082010A1 (ja) * | 2007-12-26 | 2009-07-02 | Sumitomo Heavy Industries, Ltd. | ハイブリッド型建設機械及びハイブリッド型建設機械の制御方法 |
JP5186690B2 (ja) * | 2008-03-21 | 2013-04-17 | 株式会社小松製作所 | ハイブリッド建設機械における蓄電装置の劣化状態判定方法および装置 |
WO2009119705A1 (ja) * | 2008-03-26 | 2009-10-01 | カヤバ工業株式会社 | ハイブリッド建設機械の制御装置 |
US7980073B2 (en) * | 2008-05-08 | 2011-07-19 | Caterpillar Inc. | Hybrid system for a powertrain and hydraulic system |
CN102076943B (zh) * | 2008-06-27 | 2013-08-14 | 住友重机械工业株式会社 | 混合式施工机械 |
US8818648B2 (en) * | 2008-12-01 | 2014-08-26 | Sumitomo Heavy Industries, Ltd. | Hybrid construction machine |
CN102282376B (zh) * | 2009-01-16 | 2014-12-10 | 住友重机械工业株式会社 | 混合式工作机械及其控制方法 |
JP5220679B2 (ja) * | 2009-04-20 | 2013-06-26 | 住友重機械工業株式会社 | ハイブリッド型作業機械及びハイブリッド型作業機械の制御方法 |
KR101334234B1 (ko) * | 2009-06-19 | 2013-11-29 | 스미도모쥬기가이고교 가부시키가이샤 | 하이브리드형 건설기계 및 하이브리드형 건설기계의 제어방법 |
US8798876B2 (en) * | 2009-06-25 | 2014-08-05 | Sumitomo Heavy Industries, Ltd. | Hybrid working machine and controlling method thereof |
US9151019B2 (en) * | 2009-09-15 | 2015-10-06 | Sumitomo Heavy Industries, Ltd. | Hybrid type construction machine |
JP4941539B2 (ja) | 2009-11-17 | 2012-05-30 | 株式会社豊田自動織機 | 荷役車両の駆動制御装置 |
CN101718107B (zh) * | 2009-11-24 | 2011-09-21 | 哈尔滨工业大学 | 基于cpr网络混合动力全液压挖掘机的液压系统 |
CN102666169A (zh) * | 2010-01-18 | 2012-09-12 | 日立建机株式会社 | 作业用车辆的驱动控制装置 |
JP5227981B2 (ja) * | 2010-01-22 | 2013-07-03 | 日立建機株式会社 | ハイブリッド式作業機械 |
CN102741483B (zh) * | 2010-01-28 | 2015-03-25 | 日立建机株式会社 | 液压作业机 |
JP5647154B2 (ja) * | 2010-01-29 | 2014-12-24 | 住友重機械工業株式会社 | ハイブリッド式建設機械 |
JP5511425B2 (ja) * | 2010-02-12 | 2014-06-04 | カヤバ工業株式会社 | ハイブリッド建設機械の制御装置 |
US8362629B2 (en) * | 2010-03-23 | 2013-01-29 | Bucyrus International Inc. | Energy management system for heavy equipment |
JP5323753B2 (ja) * | 2010-03-26 | 2013-10-23 | カヤバ工業株式会社 | 建設機械の制御装置 |
JP5703587B2 (ja) | 2010-04-14 | 2015-04-22 | コベルコ建機株式会社 | ハイブリッド作業機械 |
JP5298069B2 (ja) * | 2010-05-20 | 2013-09-25 | 株式会社小松製作所 | 電動アクチュエータの制御装置 |
JP5204150B2 (ja) * | 2010-05-21 | 2013-06-05 | 日立建機株式会社 | ハイブリッド式建設機械 |
JP5758994B2 (ja) * | 2010-06-28 | 2015-08-05 | ボルボ コンストラクション イクイップメント アーベー | ハイブリッド式掘削機の制御システム |
JP5594748B2 (ja) * | 2010-10-15 | 2014-09-24 | 日立建機株式会社 | ハイブリッド建設機械 |
CN101973271B (zh) * | 2010-10-28 | 2013-12-11 | 湖南山河智能机械股份有限公司 | 混合动力挖掘机驱动及能量回收系统 |
US9071054B2 (en) * | 2010-12-27 | 2015-06-30 | Volvo Construction Equipment Ab | Device and method for controlling power according to a load of a hybrid excavator |
CN102155160A (zh) * | 2011-01-29 | 2011-08-17 | 湖南山河智能机械股份有限公司 | 一种混合动力旋挖钻机 |
CN102650303A (zh) * | 2011-02-24 | 2012-08-29 | 中联重科股份有限公司 | 混凝土泵送设备的动力驱动装置和混凝土泵送设备 |
CN102071718B (zh) * | 2011-03-01 | 2012-11-14 | 山河智能装备股份有限公司 | 挖掘机能量回收系统 |
JP5509433B2 (ja) * | 2011-03-22 | 2014-06-04 | 日立建機株式会社 | ハイブリッド式建設機械及びこれに用いる補助制御装置 |
JP5562893B2 (ja) * | 2011-03-31 | 2014-07-30 | 住友建機株式会社 | ショベル |
US9067501B2 (en) * | 2011-04-01 | 2015-06-30 | Caterpillar Inc. | System and method for adjusting balance of operation of hydraulic and electric actuators |
US20120253610A1 (en) * | 2011-04-01 | 2012-10-04 | Anders Jonathan W | System and method for controlling power in machine having hydraulic and electric power sources |
EP2711470B1 (en) * | 2011-05-18 | 2016-12-28 | Hitachi Construction Machinery Co., Ltd. | Work machine |
JP5653844B2 (ja) * | 2011-06-07 | 2015-01-14 | 住友建機株式会社 | ショベル |
JP5992410B2 (ja) * | 2011-06-14 | 2016-09-14 | 住友建機株式会社 | ハイブリッド型作業機械及びその制御方法 |
US8606448B2 (en) | 2011-06-29 | 2013-12-10 | Caterpillar Inc. | System and method for managing power in machine having electric and/or hydraulic devices |
US8909434B2 (en) | 2011-06-29 | 2014-12-09 | Caterpillar, Inc. | System and method for controlling power in machine having electric and/or hydraulic devices |
EP2770119B1 (en) * | 2011-10-19 | 2021-09-22 | Hitachi Construction Machinery Co., Ltd. | Hybrid-driven hydraulic work machine |
WO2013082331A1 (en) * | 2011-11-29 | 2013-06-06 | Vanguard Equipment, Inc. | Auxiliary flow valve system and method for managing load flow requirements for auxiliary functions on a tractor hydraulic system |
WO2013094616A1 (ja) * | 2011-12-22 | 2013-06-27 | 日立建機株式会社 | 作業機械 |
JP5897046B2 (ja) * | 2012-02-10 | 2016-03-30 | 住友重機械工業株式会社 | ショベル |
JP5928065B2 (ja) * | 2012-03-27 | 2016-06-01 | コベルコ建機株式会社 | 制御装置及びこれを備えた建設機械 |
JP6019956B2 (ja) * | 2012-09-06 | 2016-11-02 | コベルコ建機株式会社 | ハイブリッド建設機械の動力制御装置 |
EP2951359B1 (en) | 2013-01-30 | 2017-10-04 | Parker Hannifin Corporation | Hydraulic hybrid swing drive system for excavators |
CN103362171B (zh) * | 2013-07-29 | 2015-04-29 | 哈尔滨工业大学 | 切换控制的液压混合动力挖掘机液压系统 |
WO2014185117A1 (ja) | 2014-02-26 | 2014-11-20 | 株式会社小松製作所 | 作業車両 |
CN105940162B (zh) * | 2014-03-31 | 2019-08-16 | 住友建机株式会社 | 挖土机 |
US10458095B2 (en) * | 2015-01-07 | 2019-10-29 | Volvo Construction Equipment Ab | Control method for controlling an excavator and excavator comprising a control unit implementing such a control method |
KR20170117151A (ko) | 2015-03-25 | 2017-10-20 | 가부시키가이샤 케이씨엠 | 하이브리드식 작업 차량 |
US11511642B2 (en) | 2019-04-05 | 2022-11-29 | Oshkosh Corporation | Electric concrete vehicle systems and methods |
WO2021072123A1 (en) | 2019-10-11 | 2021-04-15 | Oshkosh Corporation | Operational modes for hybrid fire fighting vehicle |
GB2592237B (en) * | 2020-02-20 | 2022-07-20 | Terex Gb Ltd | Material processing apparatus with hybrid power system |
US11739500B2 (en) * | 2020-07-29 | 2023-08-29 | Caterpilalr SARL | Machine configuration and control system enabling interchangeable power sources |
US11725363B2 (en) | 2020-07-29 | 2023-08-15 | Caterpillar Sarl | Machine configuration and control system enabling interchangeable power sources |
CN113323069B (zh) * | 2021-06-04 | 2022-11-29 | 三一重机有限公司 | 一种适用于电动挖掘机的动力系统及其控制方法 |
CN115653031A (zh) * | 2022-12-27 | 2023-01-31 | 徐州徐工矿业机械有限公司 | 一种大型正铲式矿用挖掘机动力系统 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1997013929A1 (fr) * | 1995-10-09 | 1997-04-17 | Shin Caterpillar Mitsubishi Ltd. | Systeme de commande d'engins de chantier |
JP2001012274A (ja) * | 1999-06-30 | 2001-01-16 | Kobe Steel Ltd | 作業機械の駆動装置 |
JP2002339911A (ja) * | 2001-05-15 | 2002-11-27 | Shin Caterpillar Mitsubishi Ltd | 流体圧回路の制御システム |
JP2003329012A (ja) * | 2002-05-15 | 2003-11-19 | Komatsu Ltd | 建設機械 |
JP2003328397A (ja) * | 2002-05-08 | 2003-11-19 | Hitachi Constr Mach Co Ltd | ハイブリッド建設機械 |
JP2004216522A (ja) * | 2003-01-16 | 2004-08-05 | Hitachi Ltd | マニピュレータの水平又は垂直移動の制御装置及び方法 |
JP2005194978A (ja) * | 2004-01-09 | 2005-07-21 | Kobelco Contstruction Machinery Ltd | 作業機械 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6666022B1 (en) * | 1999-06-28 | 2003-12-23 | Kobelco Construction Machinery Co., Ltd. | Drive device of working machine |
JP3922549B2 (ja) * | 2002-07-10 | 2007-05-30 | スズキ株式会社 | 車両の制御装置 |
JP4179465B2 (ja) * | 2002-07-31 | 2008-11-12 | 株式会社小松製作所 | 建設機械 |
JP4047110B2 (ja) * | 2002-09-11 | 2008-02-13 | 株式会社小松製作所 | 建設機械 |
JP3845400B2 (ja) * | 2003-08-18 | 2006-11-15 | 本田技研工業株式会社 | ハイブリッド車両 |
JP2005237178A (ja) * | 2004-02-23 | 2005-09-02 | Kobelco Contstruction Machinery Ltd | 作業機械の動力源装置 |
-
2006
- 2006-03-15 JP JP2006070920A patent/JP4524679B2/ja active Active
-
2007
- 2007-02-21 US US11/677,236 patent/US7669413B2/en active Active
- 2007-02-22 EP EP07102875.7A patent/EP1834854B1/en active Active
- 2007-03-15 CN CN2007100881019A patent/CN101037869B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1997013929A1 (fr) * | 1995-10-09 | 1997-04-17 | Shin Caterpillar Mitsubishi Ltd. | Systeme de commande d'engins de chantier |
JP2001012274A (ja) * | 1999-06-30 | 2001-01-16 | Kobe Steel Ltd | 作業機械の駆動装置 |
JP2002339911A (ja) * | 2001-05-15 | 2002-11-27 | Shin Caterpillar Mitsubishi Ltd | 流体圧回路の制御システム |
JP2003328397A (ja) * | 2002-05-08 | 2003-11-19 | Hitachi Constr Mach Co Ltd | ハイブリッド建設機械 |
JP2003329012A (ja) * | 2002-05-15 | 2003-11-19 | Komatsu Ltd | 建設機械 |
JP2004216522A (ja) * | 2003-01-16 | 2004-08-05 | Hitachi Ltd | マニピュレータの水平又は垂直移動の制御装置及び方法 |
JP2005194978A (ja) * | 2004-01-09 | 2005-07-21 | Kobelco Contstruction Machinery Ltd | 作業機械 |
Cited By (41)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8285434B2 (en) | 2007-12-28 | 2012-10-09 | Sumitomo Heavy Industries, Ltd. | Hybrid-type construction machine having an output condition calculating unit to calculate output conditions of an engine and an electric storage device |
KR101268849B1 (ko) | 2007-12-28 | 2013-05-29 | 스미토모 겐키 가부시키가이샤 | 하이브리드식 건설기계 |
WO2009084673A1 (ja) * | 2007-12-28 | 2009-07-09 | Sumitomo Heavy Industries, Ltd. | ハイブリッド式建設機械 |
JP5154578B2 (ja) * | 2007-12-28 | 2013-02-27 | 住友重機械工業株式会社 | ハイブリッド式建設機械 |
JP2009191463A (ja) * | 2008-02-12 | 2009-08-27 | Sumitomo Heavy Ind Ltd | ハイブリッド型建設機械 |
JP2009261096A (ja) * | 2008-04-15 | 2009-11-05 | Sumitomo Heavy Ind Ltd | ハイブリッド式建設機械 |
JP2010047125A (ja) * | 2008-08-21 | 2010-03-04 | Sumitomo (Shi) Construction Machinery Co Ltd | ハイブリッド建設機械の走行制御回路 |
JP2010106464A (ja) * | 2008-10-28 | 2010-05-13 | Sumitomo Heavy Ind Ltd | ハイブリッド型建設機械 |
JP4609567B2 (ja) * | 2008-10-29 | 2011-01-12 | コベルコ建機株式会社 | ハイブリッド作業機械 |
JP2010106513A (ja) * | 2008-10-29 | 2010-05-13 | Kobelco Contstruction Machinery Ltd | ハイブリッド作業機械 |
JP2010116708A (ja) * | 2008-11-12 | 2010-05-27 | Sumitomo Heavy Ind Ltd | ハイブリッド型建設機械 |
JP2010159648A (ja) * | 2009-01-06 | 2010-07-22 | Kobelco Contstruction Machinery Ltd | ハイブリッド作業機械の動力源装置 |
US8468816B2 (en) | 2009-01-06 | 2013-06-25 | Kobelco Construction Machinery Co., Ltd. | Hybrid working machine |
JP2011012481A (ja) * | 2009-07-03 | 2011-01-20 | Sumitomo Heavy Ind Ltd | ハイブリッド型作業機械及びその効率係数の算出方法 |
WO2011105415A1 (ja) * | 2010-02-25 | 2011-09-01 | ナブテスコ株式会社 | ハイブリッド建設機械の制御装置 |
JP2011174312A (ja) * | 2010-02-25 | 2011-09-08 | Nabtesco Corp | ハイブリッド建機の制御装置 |
CN102770605A (zh) * | 2010-02-25 | 2012-11-07 | 纳博特斯克株式会社 | 混合动力建筑机械的控制装置 |
EP2540917A4 (en) * | 2010-02-25 | 2015-05-13 | Nabtesco Corp | CONTROL DEVICE FOR A HYBRID CONSTRUCTION MACHINE |
US8977443B2 (en) | 2010-02-25 | 2015-03-10 | Nabtesco Corporation | Hybrid construction machine control system |
KR101417851B1 (ko) * | 2010-02-25 | 2014-07-09 | 나부테스코 가부시키가이샤 | 하이브리드 건설기계의 제어 장치 |
CN103732466A (zh) * | 2011-08-16 | 2014-04-16 | 日立建机株式会社 | 作业车辆 |
JP2013039875A (ja) * | 2011-08-16 | 2013-02-28 | Hitachi Constr Mach Co Ltd | 作業車両 |
WO2013024868A1 (ja) | 2011-08-16 | 2013-02-21 | 日立建機株式会社 | 作業車両 |
US9249557B2 (en) | 2011-08-16 | 2016-02-02 | Hitachi Construction Machinery Co., Ltd. | Work vehicle |
JP2013189758A (ja) * | 2012-03-12 | 2013-09-26 | Sumitomo Heavy Ind Ltd | ショベル |
JP5997361B2 (ja) * | 2013-03-06 | 2016-09-28 | 日立建機株式会社 | 建設機械 |
EP2826920A1 (en) | 2013-07-18 | 2015-01-21 | Kobelco Construction Machinery Co., Ltd. | Hybrid construction machine |
US9243384B2 (en) | 2013-07-18 | 2016-01-26 | Kobelco Construction Machinery Co., Ltd. | Hybrid construction machine |
JP2015214808A (ja) * | 2014-05-08 | 2015-12-03 | 住友建機株式会社 | 建設機械 |
JP2016172999A (ja) * | 2015-03-17 | 2016-09-29 | 住友重機械工業株式会社 | 建設機械 |
JP5946594B2 (ja) * | 2015-08-18 | 2016-07-06 | 株式会社小松製作所 | 作業車両及びその制御方法 |
CN105452570A (zh) * | 2015-08-18 | 2016-03-30 | 株式会社小松制作所 | 作业车辆及其控制方法 |
KR101656765B1 (ko) * | 2015-08-18 | 2016-09-12 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 작업 차량 및 그 제어 방법 |
WO2015199249A1 (ja) * | 2015-08-18 | 2015-12-30 | 株式会社小松製作所 | 作業車両及びその制御方法 |
US9540785B1 (en) | 2015-08-18 | 2017-01-10 | Komatsu Ltd. | Working vehicle and working vehicle control method |
DE112015000107B4 (de) * | 2015-08-18 | 2017-11-16 | Komatsu Ltd. | Arbeitsfahrzeug und Arbeitsfahrzeugsteuerungsverfahren |
WO2016024640A1 (ja) * | 2015-09-01 | 2016-02-18 | 株式会社小松製作所 | 作業車両及びその制御方法 |
JP6062116B2 (ja) * | 2015-09-01 | 2017-01-18 | 株式会社小松製作所 | 作業車両及びその制御方法 |
KR101705744B1 (ko) * | 2015-09-01 | 2017-02-10 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 작업 차량 및 그 제어 방법 |
JP2017053212A (ja) * | 2016-12-13 | 2017-03-16 | 株式会社小松製作所 | 作業車両及びその制御方法 |
CN113737884A (zh) * | 2021-08-09 | 2021-12-03 | 潍柴动力股份有限公司 | 一种装载机控制方法、装置、电子设备及存储介质 |
Also Published As
Publication number | Publication date |
---|---|
JP4524679B2 (ja) | 2010-08-18 |
EP1834854B1 (en) | 2017-04-05 |
US20070214782A1 (en) | 2007-09-20 |
CN101037869B (zh) | 2010-12-29 |
US7669413B2 (en) | 2010-03-02 |
EP1834854A3 (en) | 2011-08-03 |
EP1834854A2 (en) | 2007-09-19 |
CN101037869A (zh) | 2007-09-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4524679B2 (ja) | ハイブリッド建設機械 | |
US9290908B2 (en) | Hybrid construction machine | |
JP5401992B2 (ja) | ハイブリッド作業機械の動力源装置 | |
KR101848947B1 (ko) | 하이브리드식 건설 기계 | |
KR101834589B1 (ko) | 선회체를 갖는 건설 기계 | |
JP5356427B2 (ja) | ハイブリッド式建設機械 | |
EP2672023B1 (en) | Slewing-type working machine | |
EP2685010A1 (en) | Shovel and method for controlling shovel | |
JP6592187B2 (ja) | ハイブリッド建設機械 | |
JP5974014B2 (ja) | ハイブリッド駆動式の油圧作業機械 | |
EP2666915A1 (en) | Construction machine having revolving structure | |
EP3037589B1 (en) | Construction machine | |
KR101820619B1 (ko) | 하이브리드 작업 기계 | |
JP6466409B2 (ja) | ショベル | |
JP5764311B2 (ja) | 動力伝達装置 | |
KR101804433B1 (ko) | 건설 기계 | |
JP2015021266A (ja) | ハイブリッド建設機械 | |
US10167613B2 (en) | Hydraulic drive system of construction machine | |
WO2015029854A1 (ja) | 動力制御装置及びこれを備えたハイブリッド建設機械 | |
JP2012233312A (ja) | ハイブリッド作業機械 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20090827 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20090901 |
|
A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20091030 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20100506 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20100519 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130611 Year of fee payment: 3 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 4524679 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |