JP2010189864A - Hybrid construction machinery - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide hybrid construction machinery which enhances operability during composite operations of swing and the ascent or decent of a boom. <P>SOLUTION: This hybrid construction machinery performs work by using a working element which is mounted on a revolving superstructure revolved by a revolving mechanism driven in a revolving manner by an electric motor. The hybrid construction machinery includes: a first operation detecting section which detects the operation of the working element; a second operation detecting section which detects the operation of the revolving mechanism; and a revolving drive control section which makes the swing speed of the electric motor lower than a swing speed during the nonoperation of the working element when the operation of lifting the working element is detected by the first operation detecting section in the case where the operation of the revolving mechanism is detected by the second operation detecting section, and which makes the swing speed of the electric motor higher than the swing speed during the nonoperation of the working element when the operation of lowering the working element is detected by the first operation detecting section in the case where the operation of the revolving mechanism is detected by the second operation detecting section. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a hybrid construction machine including an electric work element and a hydraulic work element.

Conventionally, in hydraulically driven construction machines, the bucket must come into contact with the dump truck when performing the combined operation of storing the excavated earth and sand in the bucket, raising the boom while turning and loading it on the loading platform of the dump truck. In order to prevent this, the operability has been improved by increasing the amount of oil supplied to the boom cylinder to increase the boom raising speed (for example, Patent Documents 1 and 2).
Japanese Patent Laid-Open No. 08-302751 Japanese Patent Application Laid-Open No. 06-346483

  By the way, in a hybrid construction machine that drives a boom, an arm, and a bucket by hydraulic pressure generated by a driving force of an internal combustion engine or a motor generator and electrically drives a turning mechanism, a composite that raises or lowers the boom while turning. There has been no particular effort to avoid bucket contact during operation.

  Then, an object of this invention is to provide the hybrid type construction machine which improved the operativity at the time of the combined operation of boom raising or boom raising and turning.

  A hybrid construction machine according to one aspect of the present invention includes a working element driven by hydraulic pressure generated by a driving force of an internal combustion engine or a motor generator, and a turning mechanism that is driven to turn by an electric motor. A hybrid construction machine that performs work with the work element mounted on a turning body to be turned, a first operation detecting unit that detects an operation of the work element, and a second operation that detects an operation of the turning mechanism. When the operation of the turning mechanism is detected by the detection unit and the second operation detection unit, if the raising operation of the work element is detected by the first operation detection unit, the turning speed of the electric motor is set to the work When a lowering operation of the work element is detected by the first operation detecting unit when the operation of the turning mechanism is detected by the second operation detecting unit, the rotating speed is lower than the turning speed when the element is not operated. The motor The turning speed than the rotation speed at the time of non-operation of the working element and a turning drive control unit to increase.

  A first drive command characteristic for driving and controlling the electric motor when the work element is not operated; a second drive command characteristic for driving and controlling the electric motor when the work element is raised; and And a characteristic storage unit that stores a third drive command characteristic for driving and controlling the electric motor during a lowering operation, and the turning drive control unit includes the first drive command characteristic stored in the characteristic storage unit, The drive control of the electric motor is performed using the second drive command characteristic or the third drive command characteristic, and the second drive command characteristic is a drive command for an operation amount input to the second operation detection unit. The degree of increase in absolute value is smaller than the degree of increase in absolute value of the drive command with respect to the operation amount input to the second operation detection unit in the first drive command characteristic, and the third drive command characteristic is Second operation The degree of increase in the absolute value of the drive command with respect to the operation amount input to the detection unit is greater than the degree of increase in the absolute value of the drive command with respect to the operation amount input to the second operation detection unit in the first drive command characteristic. May be more.

  Further, the first drive command characteristic, the second drive command characteristic, and the third drive command characteristic are a drive command for determining a speed command or a torque command according to an operation amount for operating the turning mechanism. It may be a characteristic.

  The second drive command characteristic or the third drive command characteristic may be a plurality of drive commands having different degrees of increase in absolute value of the speed command or the torque command with respect to an operation amount for operating the turning mechanism, respectively. And the turning drive control unit drives the electric motor using a drive command characteristic selected by an operator among the plurality of drive command characteristics of the second drive command characteristic or the third drive command characteristic. Control may be performed.

  A hybrid type construction machine according to another aspect of the present invention includes a working element driven by hydraulic pressure generated by a driving force of an internal combustion engine or a motor generator, and a turning mechanism driven to turn by an electric motor, the turning mechanism A hybrid type construction machine that performs work with the work element mounted on the revolving structure that is swung at a first operation detecting unit that detects an operation of the work element, and a second that detects an operation of the turning mechanism. When an operation of the turning mechanism is detected by the operation detection unit and the second operation detection unit, the work element is driven when the first operation detection unit detects a lifting operation of the work element. When the operation of the turning mechanism is detected by the second operation detection unit, the first operation detection unit detects the operation of the swivel mechanism. The lowering operation of the work element is detected. Once, and a flow controller for reducing than the flow rate of the hydraulic fluid flow rates of the hydraulic fluid for driving the working element in the non-operation of the working element.

  In addition, the flow rate control device increases the tilt angle of a hydraulic pump that outputs pressure oil for driving the work element, compared to the tilt angle when the work element is not operated, thereby reducing the work element. The flow rate of the pressure oil for driving is increased more than the flow rate of the pressure oil when the work element is not operated, and the flow rate of the pressure oil returned from the drive unit for driving the work element to the control valve is increased. The flow rate of the pressure oil for driving the work element may be made smaller than the flow rate of the pressure oil when the work element is not operated.

  According to the present invention, it is possible to provide a unique effect that it is possible to provide a hybrid construction machine with improved operability during combined operation of turning and boom raising or lowering.

  Embodiments to which the hybrid type construction machine of the present invention is applied will be described below.

[Embodiment 1]
FIG. 1 is a side view showing the hybrid construction machine of the first embodiment.

  This hybrid construction machine is a construction machine type hybrid construction machine, and an upper swing body 3 is mounted on a lower traveling body 1 via a swing mechanism 2. In addition to the boom 4, the arm 5, and the bucket 6, and the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 for hydraulically driving them, the upper swing body 3 is equipped with a cabin 10 and a power source. Is done.

"overall structure"
FIG. 2 is a block diagram illustrating the configuration of the hybrid construction machine according to the first embodiment. In FIG. 2, the mechanical power system is indicated by a double line, the high-pressure hydraulic line is indicated by a solid line, the pilot line is indicated by a broken line, and the electric drive / control system is indicated by a solid line.

  An engine 11 as a mechanical drive unit and a motor generator 12 as an assist drive unit are both connected to an input shaft of a speed reducer 13 as a booster. A main pump 14 and a pilot pump 15 are connected to the output shaft of the speed reducer 13. A control valve 17 is connected to the main pump 14 via a high pressure hydraulic line 16.

  The control valve 17 is a control device that controls the hydraulic system in the hybrid construction machine of the first embodiment. The control valve 17 includes hydraulic motors 1A (for right) and 1B (for left) for the lower traveling body 1. ), The boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are connected via a high-pressure hydraulic line.

  The motor generator 12 is connected to a battery 19 as a battery via an inverter 18 and a step-up / down converter 100. The inverter 18 and the buck-boost converter 100 are connected by a DC bus 110.

  Further, a turning electric motor 21 as an electric work element is connected to the DC bus 110 via an inverter 20. The DC bus 110 is disposed for transferring power between the battery 19, the motor generator 12, and the turning motor 21.

  The DC bus 110 is provided with a DC bus voltage detector 111 for detecting a voltage value of the DC bus 110 (hereinafter referred to as a DC bus voltage value). The detected DC bus voltage value is input to the controller 30.

  Further, the battery 19 is provided with a battery voltage detector 112 for detecting the battery voltage value and a battery current detector 113 for detecting the battery current value. The battery voltage value and battery current value detected by these are input to the controller 30.

  A resolver 22, a mechanical brake 23, and a turning speed reducer 24 are connected to the rotating shaft 21 </ b> A of the turning electric motor 21. An operation device 26 is connected to the pilot pump 15 through a pilot line 25.

  The operating device 26 includes a lever 26A, a lever 26B, and a pedal 26C. The control valve 17 and the pressure sensor 29 are connected to the lever 26A, the lever 26B, and the pedal 26C via hydraulic lines 27 and 28, respectively. . The pressure sensor 29 is connected to a controller 30 that performs drive control of the electric system of the hybrid construction machine of the first embodiment.

  The hybrid construction machine according to the first embodiment is a hybrid construction machine that uses the engine 11, the motor generator 12, and the turning electric motor 21 as power sources. These power sources are mounted on the upper swing body 3 shown in FIG. Hereinafter, each part will be described.

"Configuration of each part"
The engine 11 is an internal combustion engine composed of, for example, a diesel engine, and its output shaft is connected to one input shaft of the speed reducer 13. The engine 11 is always operated during operation of the hybrid construction machine.

  The motor generator 12 may be an electric motor capable of both electric (assist) operation and power generation operation. Here, a motor generator that is AC driven by an inverter 20 is shown as the motor generator 12. The motor generator 12 can be constituted by, for example, an IPM (Interior Permanent Magnetic) motor in which a magnet is embedded in a rotor. The rotating shaft of the motor generator 12 is connected to the other input shaft of the speed reducer 13.

  The speed reducer 13 has two input shafts and one output shaft. A drive shaft of the engine 11 and a drive shaft of the motor generator 12 are connected to each of the two input shafts. Further, the drive shaft of the main pump 14 is connected to the output shaft. When the load on the engine 11 is large, the motor generator 12 performs an electric driving (assist) operation, and the driving force of the motor generator 12 is transmitted to the main pump 14 via the output shaft of the speed reducer 13. Thereby, driving of the engine 11 is assisted. On the other hand, when the load of the engine 11 is small, the driving force of the engine 11 is transmitted to the motor generator 12 through the speed reducer 13, so that the motor generator 12 generates power by the power generation operation. Switching between the power running operation and the power generation operation of the motor generator 12 is performed by the controller 30 according to the load of the engine 11 and the like.

  The main pump 14 is a pump that generates hydraulic pressure to be supplied to the control valve 17. This hydraulic pressure is supplied to drive each of the hydraulic motors 1 </ b> A and 1 </ b> B, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 via the control valve 17.

  The pilot pump 15 is a pump that generates a pilot pressure necessary for the hydraulic operation system.

  The control valve 17 receives the hydraulic pressure supplied to each of the hydraulic motors 1A, 1B, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 for the lower traveling body 1 connected via a high pressure hydraulic line. It is a hydraulic control device which controls these hydraulically by controlling according to the above.

  The inverter 18 is provided between the motor generator 12 and the buck-boost converter 100 and controls the operation of the motor generator 12 based on a command from the controller 30. As a result, when the inverter 18 controls the power running of the motor generator 12, necessary power is supplied from the battery 19 and the step-up / down converter 100 to the motor generator 12 via the DC bus 110. Further, when the regeneration control of the motor generator 12 is being controlled, the battery 19 is charged with the electric power generated by the motor generator 12 via the DC bus 110 and the step-up / down converter 100.

  The battery 19 is connected to the inverter 18 and the inverter 20 via the step-up / down converter 100. Thereby, when at least one of the electric (assist) operation of the motor generator 12 and the power running operation of the turning electric motor 21 is performed, electric power necessary for the electric (assist) operation or the power running operation is supplied. In addition, when at least one of the power generation operation of the motor generator 12 and the regenerative operation of the turning motor 21 is performed, the electric power generated by the power generation operation or the regenerative operation is stored as electric energy. Is the power source.

  The charge / discharge control of the battery 19 is based on the charge state of the battery 19, the operation state of the motor generator 12 (electric (assist) operation or power generation operation), and the operation state (powering operation or regenerative operation) of the turning motor 21. This is done by the buck-boost converter 100. Switching control between the step-up / step-down operation of the step-up / step-down converter 100 is performed by controlling the DC bus voltage value detected by the DC bus voltage detection unit 111, the battery voltage value detected by the battery voltage detection unit 112, and the battery current detection unit 113. Is performed by the controller 30 based on the battery current value detected by.

  The inverter 20 is provided between the turning electric motor 21 and the step-up / down converter 100, and performs operation control on the turning electric motor 21 based on a command from the controller 30. Thereby, when the inverter is operating and controlling the power running of the turning electric motor 21, necessary electric power is supplied from the battery 19 to the turning electric motor 21 through the step-up / down converter 100. Further, when the turning electric motor 21 is performing a regenerative operation, the battery 19 is charged with the electric power generated by the turning electric motor 21 via the step-up / down converter 100. FIG. 2 shows a configuration including a swing motor (1 unit) and an inverter (1 unit). However, by providing a drive unit other than the magnet mechanism and the swing mechanism unit, a plurality of motors and a plurality of inverters are connected to the DC bus. 110 may be connected.

  The buck-boost converter 100 has one side connected to the motor generator 12 and the turning electric motor 21 via the DC bus 110 and the other side connected to the battery 19, so that the DC bus voltage value is within a certain range. Thus, control for switching between step-up and step-down is performed. When the motor generator 12 performs an electric driving (assist) operation, it is necessary to supply power to the motor generator 12 via the inverter 18, so that the buck-boost converter 100 needs to boost the DC bus voltage value. . On the other hand, when the motor generator 12 performs a power generation operation, it is necessary to charge the generated power to the battery 19 via the inverter 18, and therefore the step-up / down converter 100 needs to step down the DC bus voltage value. .

  For this reason, the step-up / step-down converter 100 performs control for switching between the step-up operation and the step-down operation so that the DC bus voltage value falls within a certain range according to the operating state of the motor generator 12 and the turning electric motor 21.

  The DC bus 110 is disposed between the two inverters 18 and 20 and the step-up / down converter, and is configured to be able to transfer power between the battery 19, the motor generator 12, and the turning electric motor 21. Yes.

  The DC bus voltage detection unit 111 is a voltage detection unit for detecting a DC bus voltage value. The detected DC bus voltage value is input to the controller 30, and is used for switching control between the step-up operation and the step-down operation for keeping the DC bus voltage value within a certain range.

  The battery voltage detection unit 112 is a voltage detection unit for detecting the voltage value of the battery 19 and is used for detecting the state of charge of the battery. The detected battery voltage value is input to the controller 30 and used for switching control between the step-up / step-down operation of the step-up / step-down converter 100.

  The battery current detection unit 113 is a current detection unit for detecting the current value of the battery 19. As the battery current value, a current flowing from the battery 19 to the step-up / down converter 100 is detected as a positive value. The detected battery current value is input to the controller 30 and used for switching control between the step-up / step-down operation of the step-up / down converter 100.

  The turning electric motor 21 may be an electric motor capable of both a power running operation and a regenerative operation, and is an electric work element provided for driving the turning mechanism 2 of the upper turning body 3. During the power running operation, the rotational force of the rotational driving force of the turning electric motor 21 is amplified by the speed reducer 24, and the upper turning body 3 is subjected to acceleration / deceleration control to perform rotational motion. Further, due to the inertial rotation of the upper swing body 3, the number of rotations is increased by the speed reducer 24 and transmitted to the turning electric motor 21, and regenerative power can be generated. Here, as the electric motor 21 for turning, an electric motor driven by an inverter 20 by a PWM (Pulse Width Modulation) control signal is shown. The turning electric motor 21 can be constituted by, for example, a magnet-embedded IPM motor. Thereby, since a larger induced electromotive force can be generated, the electric power generated by the turning electric motor 21 at the time of regeneration can be increased.

  The resolver 22 is a sensor that detects the rotational position and the rotational angle of the rotating shaft 21A of the turning electric motor 21, and is mechanically connected to the turning electric motor 21 to rotate the rotating shaft 21A before the turning electric motor 21 rotates. The rotation angle and the rotation direction of the rotation shaft 21A are detected by detecting the difference between the position and the rotation position after the left rotation or the right rotation. By detecting the rotation angle of the rotation shaft 21A of the turning electric motor 21, the rotation angle and the rotation direction of the turning mechanism 2 are derived. Further, FIG. 2 shows a form in which the resolver 22 is attached, but an inverter control system that does not have an electric motor rotation sensor may be used.

  The mechanical brake 23 is a braking device that generates a mechanical braking force, and mechanically stops the rotating shaft 21 </ b> A of the turning electric motor 21. This mechanical brake 23 is switched between braking and release by an electromagnetic switch. This switching is performed by the controller 30.

  The turning speed reducer 24 is a speed reducer that reduces the rotational speed of the rotating shaft 21 </ b> A of the turning electric motor 21 and mechanically transmits it to the turning mechanism 2. Thereby, in the power running operation, the rotational force of the turning electric motor 21 can be increased and transmitted to the turning body as a larger rotational force. On the contrary, during the regenerative operation, the number of rotations generated in the revolving structure can be increased, and more rotational motion can be generated in the turning electric motor 21.

  The turning mechanism 2 can turn in a state where the mechanical brake 23 of the turning electric motor 21 is released, whereby the upper turning body 3 is turned leftward or rightward.

  The operating device 26 is an operating device for operating the turning electric motor 21, the lower traveling body 1, the boom 4, the arm 5, and the bucket 6. The levers 26A and 26B and the pedal 26C are disposed around the driver's seat in the cabin 10 and are operated by an operator of the hybrid type construction machine.

  The operation device 26 converts the hydraulic pressure (primary hydraulic pressure) supplied through the pilot line 25 into hydraulic pressure (secondary hydraulic pressure) corresponding to the amount of operation of the levers 26A and 26B and the pedal 26C by the operator. Output. The secondary hydraulic pressure output from the operating device 26 is supplied to the control valve 17 through the hydraulic line 27 and detected by the pressure sensor 29.

  The lever 26 </ b> A is a lever for operating the turning electric motor 21 and the arm 5, and the lever 26 </ b> B is a lever for operating the boom 4 and the bucket 6. The pedals 26C are a pair of pedals for operating the lower traveling body 1, and are provided under the feet of the driver's seat.

  When the levers 26A and 26B and the pedal 26C of the operating device 26 are operated, the control valve 17 is driven through the hydraulic line 27, whereby the hydraulic motors 1A and 1B, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 are driven. The lower traveling body 1, the boom 4, the arm 5, and the bucket 6 are driven by controlling the hydraulic pressure inside.

  The hydraulic line 27 supplies hydraulic pressure necessary for driving the hydraulic motors 1A and 1B, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder to the control valve.

  The pressure sensor 29 is a sensor as a first operation detection unit that detects an operation of the boom 4 that is one of the work elements, and a second operation detection unit that detects an operation of the turning mechanism 2. When the lever 26 </ b> A is operated to turn the turning mechanism 2, the pressure sensor 29 detects the operation amount of the turning operation as a change in hydraulic pressure in the hydraulic line 28. Similarly, when the lever 26 </ b> B is operated to raise or lower the boom 4, an operation amount for raising or lowering the boom 4 is detected as a change in hydraulic pressure in the hydraulic line 28.

  The pressure sensor 29 outputs an electrical signal indicating the hydraulic pressure in the hydraulic line 28. Thereby, the operation amount of the lever 26A for turning the turning mechanism 2 input to the operation device 26 and the operation amount of the lever 26B for raising or lowering the boom 4 can be accurately grasped.

  An electric signal representing the operation amount of the turning mechanism 2 and the boom 4 is input to the controller 30 and used for drive control of the turning electric motor 21 and drive control of the boom 4.

  In the first embodiment, a mode in which a pressure sensor as a lever operation detection unit is used will be described. However, an operation amount for turning the turning mechanism 2 input to the lever 26A of the operating device 26 is directly read as an electrical signal. A sensor may be used.

"Controller 30"
The controller 30 is a control device that performs drive control of the hybrid construction machine according to the first embodiment. The speed command conversion unit 31, the drive control device 32, and the turning drive control device 40 include a CPU (Central Processing Unit) and an internal The speed command conversion unit 31, the drive control device 32, and the turning drive control device 40 are configured by an arithmetic processing device including a memory, and the CPU of the controller 30 executes a drive control program stored in the internal memory. Is a device to be realized.

  In addition, since the electrical signal showing the operation amount of the turning mechanism 2 and the boom 4 is input to the controller 30, the controller 30 performs a composite operation in which the turning mechanism 2 and the boom 4 are operated at the same time. Can be detected.

“Speed command converter 31”
The speed command conversion unit 31 is a drive command output unit that converts a signal input from the pressure sensor 29 (a signal indicating an operation amount of the lever 26A) into a speed command and outputs the speed command. Thereby, the operation amount of the lever 26A is converted into a speed command (rad / s) for rotating the turning electric motor 21. This speed command is input to the turning drive control device 40.

  The conversion characteristics used in the speed command conversion unit 31 will be described with reference to FIG.

  In addition, when the speed command conversion unit 31 converts a signal representing the amount of operation of the lever 26A into a speed command, the speed command table is referred to.

"Operation amount / speed command conversion characteristics"
FIG. 3 shows a speed command (speed command for rotating the turning electric motor 21 to turn the upper turning body 3) in the speed command conversion unit 31 of the hybrid construction machine of the first embodiment. It is a figure which shows the conversion characteristic converted into. This conversion characteristic is divided into five areas according to the operation amount of the lever 26A: a dead zone area, a zero speed command area (for left turn and right turn), a left turn drive area, and a right turn drive area. Is done.

  Here, in the control system of the hybrid construction machine of the first embodiment, the rotation direction in which the rotating shaft 21a of the turning electric motor 21 rotates counterclockwise is referred to as “forward rotation”, and represents control in the forward rotation direction. Add a positive sign to the quantity. On the other hand, the rotation direction in which the rotating shaft 21a of the turning electric motor 21 rotates clockwise is referred to as “reverse rotation”, and a negative sign is assigned to the control amount indicating the drive in the reverse rotation direction. Forward rotation corresponds to turning of the upper swing body 3 in the right direction, and reverse rotation corresponds to turning of the upper swing body in the left direction.

"Dead zone area"
As shown in this conversion characteristic, the dead zone region is provided near the neutral point of the lever 26A.

  In a state where the turning electric motor 21 is stopped (that is, in a state where the upper turning body 3 is not turning and is stopped), when the operation amount of the lever 26A is in the dead zone region, the speed command conversion is performed. The speed command is not output from the unit 31, and the drive control of the turning electric motor 21 by the turning drive control device 40 is not performed. At this time, the mechanical brake 23 is brought into a braking state.

  Accordingly, in a state where the upper swing body 3 is not performing the swing operation and is stopped, and the operation amount of the lever 26A is in the dead zone region, the mechanical motor 23 causes the swing electric motor 21 and the upper swing body 3 to be mechanical. Has been stopped.

  On the other hand, when the amount of operation of the lever 26A is set in the dead zone region in a state where the upper swing body 3 is turning (that is, when the operator returns the lever 26A to near neutral in order to stop the turning operation). The speed command converter 31 outputs a zero speed command until the turning of the upper swing body 3 stops (that is, until the turning electric motor 21 stops).

  When a predetermined time (for example, several seconds) elapses after the turning is stopped, the mechanical brake 23 is switched to the braking state, and the zero speed command is not output from the speed command conversion unit 31. Such control is controlled by a main control unit 60 in the turning drive control device 40 described later.

`` Zero speed command area ''
The zero speed command area is provided on both outer sides of the dead zone in the operation direction of the lever 26A. This zero speed command area is a buffer provided to improve operability when switching between a stopped state of the upper swing body 3 in the dead zone area and a turning state in the left and right turning drive area, mainly at the start of turning. It is an area.

  When the operation amount of the lever 26A is within the range of the zero speed command region, the zero speed command is output from the speed command conversion unit 31, and the mechanical brake 23 is released.

  The zero speed command is a speed command for setting the rotational speed of the rotating shaft 21A of the turning electric motor 21 to zero in order to make the turning speed of the upper swing body 3 zero, and will be described later with PI (Proportional Integral In the control, it is used as a target value for bringing the rotation speed of the rotating shaft 21A close to zero.

  Further, at the start of turning, switching of braking (on) / release (off) of the mechanical brake 23 is performed by the turning drive control device 40 in the controller 30 at the boundary between the dead zone region and the zero speed command region.

  Therefore, at the start of turning, the mechanical brake 23 is released while the operation amount of the lever 26A is within the zero speed command region, and the rotating shaft 21A of the turning electric motor 21 is held in a stopped state by the zero speed command. As a result, the upper swing body 3 is held in a stopped state without being driven to rotate.

"Left direction drive area"
The left turn drive region is a region where a speed command for turning the upper swing body 3 in the left direction is output from the speed command conversion unit 31.

  In the hybrid construction machine of the first embodiment, when the left turn operation is input to the lever 26A, the boom 4 is raised or lowered (that is, the combined operation of the turning electric motor 21 and the boom 4). Is performed), the turning electric motor 21 is turned using a speed command characteristic different from that when the boom 4 is not raised or lowered.

  For this reason, the hybrid construction machine of the first embodiment drives the turning electric motor 21 when the boom 4 is raised, the first speed command characteristic (HH) used when the boom 4 is not raised and lowered. A second speed command characteristic (H) for controlling and a third speed command characteristic (HHH) for driving and controlling the turning electric motor 21 when the boom 4 is lowered.

  Here, the first speed command characteristic (HH) is a speed command characteristic used when the boom 4 is not raised and lowered as described above.

  Further, in the second speed command characteristic (H), the degree of increase in the absolute value of the speed command with respect to the operation amount of the lever 26A is smaller than the degree of increase in the absolute value of the speed command in the first speed command characteristic (HH). It is a speed command characteristic set so as to be.

  On the other hand, in the third speed command characteristic (HHH), the degree of increase in the absolute value of the speed command with respect to the operation amount of the lever 26A is larger than the degree of increase in the absolute value of the speed command in the first speed command characteristic (HH). It is a speed command characteristic set so as to be.

  In the hybrid construction machine of the first embodiment, when the second speed command characteristic (H) is selected, the moving speed of the bucket 6 is higher in the component speed in the upward direction than in the component direction in the turning direction. Is set to be high.

  When the third speed command characteristic (HHH) is selected, the moving speed of the bucket 6 is set so that the component speed in the turning direction is higher than the component speed in the descending direction.

  Therefore, in FIG. 3, as the rate of increase in the absolute value of the speed command with respect to the operation amount of the lever 26A increases, the second speed command characteristic (H), the first speed command characteristic (HH), and the third speed This is expressed as a command characteristic (HHH).

  By using such second speed command characteristic (H) and third speed command characteristic (HHH), in the hybrid type construction machine of the first embodiment, when an operation input to the lever 26A is detected, the boom When the ascending operation 4 is detected, the turning speed of the turning electric motor 21 is made lower than the turning speed when the boom 4 is not operated.

  Further, when a lowering operation of the boom 4 is detected when an operation input to the lever 26A is detected, the turning speed of the turning electric motor 21 is made higher than the turning speed when the boom 4 is not operated.

  Thus, when the boom 4 is not operated, the speed command characteristic is changed and the turning drive is performed because the bucket 6 comes into contact with the loading platform of the dump truck during the combined operation of the turning electric motor 21 and the boom 4. This is to prevent this from happening.

  Note that these speed command characteristics are stored in a speed command table, which will be described later, and are selected by the turning drive control device 40.

  The selection of the speed command characteristic will be described later, but regardless of which speed command characteristic is selected, the absolute value of the speed command increases in accordance with the amount of operation of the lever 26A within this leftward turning drive region. It is set to be. Based on this speed command, the drive command is calculated by the turning drive control device 40, and the turning electric motor 21 is driven by this drive command. As a result, the upper turning body 3 is driven to turn leftward.

  In order to limit the turning speed of the upper turning body 3 to a certain value or less, the absolute value of the speed command value in the leftward turning drive region is limited to a predetermined value.

`` Right turn drive area ''
The right direction turning drive region is a region in which a speed command for turning the upper swing body 3 in the right direction is output from the speed command conversion unit 31.

  In the hybrid construction machine of the first embodiment, when the boom 4 is raised or lowered when a rightward turning operation is input to the lever 26A (that is, the combined operation of the turning electric motor 21 and the boom 4). Is performed), the turning electric motor 21 is turned using a speed command characteristic different from that when the boom 4 is not raised or lowered.

  For this reason, the hybrid construction machine of the first embodiment drives the turning electric motor 21 when the boom 4 is raised, the first speed command characteristic (HH) used when the boom 4 is not raised and lowered. A second speed command characteristic (H) for controlling and a third speed command characteristic (HHH) for driving and controlling the turning electric motor 21 when the boom 4 is lowered.

  Here, the first speed command characteristic (HH) is a speed command characteristic used when the boom 4 is not raised and lowered as described above.

  Further, in the second speed command characteristic (H), the degree of increase in the absolute value of the speed command with respect to the operation amount of the lever 26A is smaller than the degree of increase in the absolute value of the speed command in the first speed command characteristic (HH). It is a speed command characteristic set so as to be.

  On the other hand, in the third speed command characteristic (HHH), the degree of increase in the absolute value of the speed command with respect to the operation amount of the lever 26A is larger than the degree of increase in the absolute value of the speed command in the first speed command characteristic (HH). It is a speed command characteristic set so as to be.

  Therefore, in FIG. 3, as the rate of increase in the absolute value of the speed command with respect to the operation amount of the lever 26A increases, the second speed command characteristic (H), the first speed command characteristic (HH), and the third speed This is expressed as a command characteristic (HHH).

  By using such second speed command characteristic (H) and third speed command characteristic (HHH), in the hybrid type construction machine of the first embodiment, when an operation input to the lever 26A is detected, the boom When the ascending operation 4 is detected, the turning speed of the turning electric motor 21 is made lower than the turning speed when the boom 4 is not operated.

  Further, when a lowering operation of the boom 4 is detected when an operation input to the lever 26A is detected, the turning speed of the turning electric motor 21 is made higher than the turning speed when the boom 4 is not operated.

  Thus, when the boom 4 is not operated, the speed command characteristic is changed and the turning drive is performed because the bucket 6 comes into contact with the loading platform of the dump truck during the combined operation of the turning electric motor 21 and the boom 4. This is to prevent this from happening.

  Note that these speed command characteristics are stored in a speed command table, which will be described later, and are selected by the turning drive control device 40.

  Although the selection of the speed command characteristic will be described later, the absolute value of the speed command increases in accordance with the amount of operation of the lever 26A in the rightward turning drive region regardless of which speed command characteristic is selected. It is set to be. Based on this speed command, a drive command is calculated by the turning drive control device 40, and the turning electric motor 21 is driven by this drive command. As a result, the upper turning body 3 is driven to turn rightward.

  Note that the absolute value of the speed command value in the right direction turning drive region is limited to a predetermined value as in the left direction turning drive region.

"Drive control device 32"
The drive control device 32 is a control device for performing operation control of the motor generator 12 (switching between power running operation or regenerative operation) and charge / discharge control of the battery 19. The drive control device 32 controls the operation of the motor generator 12 according to the load state of the engine 11 and the charge state of the battery 19, and performs charge / discharge control of the battery 19 via the inverter 18.

"Swivel drive control device 40"
FIG. 4 is a block diagram illustrating a configuration of a control system of the hybrid construction machine according to the first embodiment.

  The turning drive control device 40 is a control device for performing drive control of the turning electric motor 21 via the inverter 20, and includes a drive command generating unit 50 that generates a drive command for driving the turning electric motor 21, and a main command. A control unit 60 is included.

  The drive command generator 50 receives a speed command output from the speed command converter 31 according to the amount of operation of the lever 26A, and the drive command generator 50 generates a drive command based on the speed command. The drive command output from the drive command generation unit 50 is input to the inverter 20, and the turning electric motor 21 is AC-driven by the inverter 20 using the PWM control signal.

  The main controller 60 is a controller that receives a signal representing the amount of operation of the lever 26 </ b> A from the pressure sensor 29 and performs peripheral processing necessary for control processing of the turning drive control device 40. Specific processing contents of the main control unit 60 will be described each time in related portions.

  The main control unit 60 has an internal memory 60A for storing a speed command table.

  The internal memory 60A stores a first speed command table, a second speed command table, and a third speed command table.

  That is, the internal memory 60A is a speed command table in which a speed command for driving the turning electric motor 21 is associated with an operation amount input to the lever 26A of the operating device 26, and the speed command value with respect to the operation amount is different. It is a table storage unit for storing a plurality of drive command tables.

  Selection of the table is performed by the main control unit 60 in accordance with the operation state of the boom 4 (ascending operation, descending operation, or no operation). This selection process will be described later.

  The speed command table selected by the selection process of the main control unit 60 is referred to when the speed command conversion unit 31 outputs a speed command.

  When the first speed command table is selected by the main control unit 60, the speed command conversion unit 31 refers to the first speed command table and is associated with the operation amount of the lever 26A based on the first speed command characteristics. Output speed command. That is, the first speed command characteristic is selected as the speed command characteristic.

  When the second speed command table is selected by the main control unit 60, the speed command conversion unit 31 refers to the second speed command table and is associated with the operation amount of the lever 26A based on the second speed command characteristic. Output speed command. That is, the second speed command characteristic is selected as the speed command characteristic.

  When the third speed command table is selected by the main control unit 60, the speed command conversion unit 31 refers to the third speed command table and is associated with the operation amount of the lever 26A based on the third speed command characteristic. Output speed command. That is, the third speed command characteristic is selected as the speed command characteristic.

  In this way, three types of speed characteristics are realized in the leftward turning drive region and the rightward turning drive region shown in FIG.

"Drive command generation unit 50"
The drive command generator 50 includes a subtractor 51, a PI controller 52, a torque limiter 53, a torque limiter 54, a subtractor 55, a PI controller 56, a current converter 57, and a turning motion detector 58. A speed command (rad / s) for turning drive corresponding to the operation amount of the lever 26A is input to the subtractor 51 of the drive command generation unit 50.

  The subtractor 51 subtracts the rotational speed (rad / s) of the turning electric motor 21 detected by the turning motion detector 58 from the value of the speed command (hereinafter referred to as speed command value) corresponding to the operation amount of the lever 26A. Output the deviation. This deviation is used in PI control for causing the rotational speed of the turning electric motor 21 to approach the speed command value (target value) in the PI control unit 52 described later.

  Based on the deviation input from the subtractor 51, the PI control unit 52 performs PI control so that the rotation speed of the turning electric motor 21 approaches the speed command value (target value) (that is, this deviation is reduced). And a torque current command necessary for that is calculated. The generated torque current command is input to the torque limiter 53.

  The torque limiter 53 performs a process of limiting the value of the torque current command (hereinafter, torque current command value) according to the operation amount of the lever 26A. This limiting process is performed based on a limiting characteristic in which the allowable value of the torque current command value gradually increases according to the operation amount of the lever 26A. Such limitation of the torque current command value is performed in order to suppress this because the controllability deteriorates when the torque current command value calculated by the PI control unit 52 increases rapidly.

  This limiting characteristic has a characteristic of gradually increasing the allowable value (absolute value) of the torque current command value as the amount of operation of the lever 26A increases. It has the characteristic for restricting. Data representing the limiting characteristic is stored in the internal memory of the main control unit 60, read by the CPU of the main control unit 60, and input to the torque limiting unit 53.

  The torque limiter 54 limits the torque current command value input from the torque limiter 53 so that the torque generated by the torque current command input from the torque limiter 53 is less than or equal to the allowable maximum torque value of the turning electric motor 21. To do. The torque current command value is limited with respect to bidirectional rotation of the upper swing body 3 in the right direction and the left direction in the same manner as the torque limiter 53.

  Here, there are two types of allowable torque values for limiting the torque current command value in the torque limiter 54, a normal value and an emergency value. The normal torque allowable value corresponds to the torque current command value representing the continuous rated torque of the turning electric motor 21, and the emergency torque allowable value is the torque current command value representing the short-time rated torque of the electric rotating motor 21. Correspond.

  The normal and emergency torque allowance values have respective values on the forward rotation side and the reverse rotation side, and switching between normal use and emergency use is performed by the main control unit 60.

  Data representing the characteristics for limiting the torque current command value (torque allowable value data) is stored in the internal memory of the main control unit 60, read by the CPU of the main control unit 60, and the torque limiting unit 54. Is input.

  The subtractor 55 outputs a deviation obtained by subtracting the output value of the current converter 57 from the torque current command value input from the torque limiter 54. This deviation is the torque current that is input via the torque limiter 54 to the drive torque of the turning electric motor 21 that is output from the current converter 57 in a feedback loop that includes a PI controller 56 and a current converter 57 described later. It is used for PI control to approach the torque represented by the command value (target value).

  Based on the deviation input from the subtractor 55, the PI control unit 56 performs PI control so as to reduce this deviation, and generates a voltage command as a final drive command to be sent to the inverter 20. The inverter 20 PWM-drives the turning electric motor 21 based on the voltage command input from the PI control unit 56.

  The current converter 57 detects the motor current of the turning electric motor 21, converts it into a value corresponding to the torque current command, and inputs it to the subtractor 55.

  The turning motion detector 58 detects a change in the rotational position of the turning electric motor 21 detected by the resolver 22 (that is, turning of the upper turning body 3), and the rotation of the turning electric motor 21 from the temporal change in the rotational position. The speed is derived by differential operation. Data representing the derived rotational speed is input to the subtractor 51 and the main control unit 60.

  In the drive command generation unit 50 having such a configuration, a torque current command for driving the turning electric motor 21 is generated based on the speed command input from the speed command conversion unit 31, and the upper swing body 3 is moved to a desired position. It is turned to.

  FIG. 5 is a diagram illustrating a procedure of speed command selection processing in the hybrid type construction machine of the first embodiment. This process is a process executed by the main control unit 60, and is a process repeatedly executed every 5 milliseconds, for example.

  The main control unit 60 starts the selection process (start) with the start of operation of the hybrid construction machine.

  Based on the signal input from the pressure sensor 29, the main control unit 60 determines whether or not the operation amount of the turning operation input to the lever 26A has reached 20% in absolute value (step S1).

  Based on the signal input from the pressure sensor 29, the main control unit 60 determines whether or not there has been an operation input for operating the boom 4 on the lever 26B (step S2). This is because the speed command characteristics to be selected differ between when the boom 4 is not operated and when the boom 4 is operated.

  If the main control unit 60 determines that the boom 4 has been operated (Yes in step S2), whether the operation input for operating the boom 4 is the operation in the upward or downward direction. Is determined (step S3).

  If it is determined in step S3 that the operation is for lowering the boom 4, the main control unit 60 selects the third speed command table from the internal memory 60A (step S4).

  When the third speed command table is selected by the main control unit 60, the speed command conversion unit 31 refers to the third speed command table and is associated with the operation amount of the lever 26A based on the third speed command characteristic. Output speed command. That is, the third speed command characteristic is selected as the speed command characteristic.

  On the other hand, when determining in step S3 that the operation is for raising the boom 4, the main control unit 60 selects the second speed command table from the internal memory 60A (step S5).

  When the second speed command table is selected by the main control unit 60, the speed command conversion unit 31 refers to the second speed command table and is associated with the operation amount of the lever 26A based on the second speed command characteristic. Output speed command. That is, the second speed command characteristic is selected as the speed command characteristic.

  Further, when it is determined in step S2 that there is no operation input for operating the boom 4, the main control unit 60 selects the first speed command table from the internal memory 60A (step S6).

  When the first speed command table is selected by the main control unit 60, the speed command conversion unit 31 refers to the first speed command table and is associated with the operation amount of the lever 26A based on the first speed command characteristics. Output speed command. That is, the first speed command characteristic is selected as the speed command characteristic.

  When step S4, S5, or S6 ends, the procedure returns.

  FIG. 6 is a diagram showing the trajectory and moving speed of the bucket 6 during the combined operation of the turning electric motor 21 and the boom 4 in the hybrid type construction machine according to the first embodiment, and (a) shows the hybrid type. The trajectory when the dump truck is at a higher position than the construction machine, (b) is the component of the moving speed of the bucket 6 when starting the turning operation of the turning mechanism 2 and raising the boom 4 in the case of (a), ( c) is a component of the moving speed of the bucket 6 in the case of starting the turning operation of the turning mechanism 2 and the lowering of the boom 4 in the case of (a), and (d) is in a region where the dump truck is lower than the hybrid construction machine. (E) is the component of the moving speed of the bucket 6 when starting the turning operation of the turning mechanism 2 and the lowering of the boom 4 in the case of (d), and (f) is the turning mechanism in the case of (d). 2 turns The ingredients of the moving speed of the bucket 6 in the case of starting the increase of the work and the boom 4.

  As shown in FIG. 6 (a), when the dump truck is located higher than the bucket 6, the hybrid construction machine performs excavation work at the point A to load the bucket 6 with earth and sand. The turning operation of the turning mechanism 2 and the raising operation of the boom 4 are started. Point B is a point where the earth removal operation of the bucket 6 is performed above the loading platform of the dump truck and the earth and sand are discharged from the bucket 6.

  Here, if the boom 6 passes through a region closer to the dump truck than the broken line that linearly connects the point A and the point B, the bucket 6 may come into contact with the dump truck.

  However, when the turning operation is input to the lever 26A at the point A and the raising operation of the boom 4 is input to the lever 26B, the hybrid construction machine of the first embodiment has the second speed command characteristic (H). By being selected, the turning operation is started at a lower speed than when the operation of the boom 4 is not performed (when the turning operation is performed with the first speed command characteristic (HH)).

  As shown in FIG. 6B, the moving speed of the bucket 6 in this state is higher in the upward component speed than in the turning direction.

  For this reason, as indicated by the solid line, the bucket 6 moves from the point A to the point B through a position higher than the broken line that linearly connects the point A and the point B.

  Accordingly, when the hybrid construction machine is located at a lower position than the dump truck, the bucket 6 comes into contact with the dump truck when the boom is raised and the earth and sand are transported to the dump truck. Can be prevented.

  Further, such prevention of contact can be realized by selection of speed command characteristics, so that operability can be improved.

  When the bucket is returned to the point A again after the earth and sand are loaded on the dump truck at the point B, the turning operation is input to the lever 26A at the point B, and the lowering operation of the boom 4 is input to the lever 26B. Then, when the third speed command characteristic (HHH) is selected, the turning operation is performed at a higher speed than when the boom 4 is not operated (when the turning operation is performed with the first speed command characteristic (HH)). Is started.

  As shown in FIG. 6C, the moving speed of the bucket 6 in this state is higher in the component speed in the turning direction than in the descending direction.

  For this reason, as indicated by the solid line, the bucket 6 moves from the point B to the point A through a position higher than the broken line that connects the point A and the point B linearly.

  As a result, when the hybrid construction machine is at a lower position than the dump truck, the bucket 6 is returned from the dump truck to the work point (point A) by performing a turning operation while lowering the boom 4. 6 can be prevented from contacting the dump truck.

  Further, such prevention of contact can be realized by selection of speed command characteristics, so that operability can be improved.

  On the other hand, as shown in FIG. 6D, when the dump truck is at a position lower than the bucket 6, the hybrid construction machine performs excavation work at the point C and loads the bucket 6 with earth and sand. At C, the turning operation of the turning mechanism 2 and the lowering operation of the boom 4 are started. The point D is a point where the soil is removed from the bucket 6 by performing the soil removal operation of the bucket 6 above the loading platform of the dump truck.

  Here, when the boom 6 passes through a region closer to the dump truck than the broken line that linearly connects the point C and the point D, the bucket 6 may come into contact with the dump truck.

  However, when the turning operation is input to the lever 26A at the point C and the lowering operation of the boom 4 is input to the lever 26B, the hybrid type construction machine of the first embodiment has the third speed command characteristic (HHH). By being selected, the turning operation is started at a higher speed than when the operation of the boom 4 is not performed (when the turning operation is performed with the first speed command characteristic (HH)).

  As shown in FIG. 6E, the moving speed of the bucket 6 in this state is higher in the component speed in the turning direction than in the descending direction.

  For this reason, as indicated by the solid line, the bucket 6 moves from the point C to the point D through a position higher than the broken line that linearly connects the point C and the point D.

  This prevents the bucket 6 from coming into contact with the dump truck when the dump truck is at a lower position than the hybrid construction machine and when the earth and sand are transported to the dump truck by turning the boom while lowering the boom. Can do.

  Further, such prevention of contact can be realized by selection of speed command characteristics, so that operability can be improved.

  Further, when the bucket is returned to the point C after the earth and sand are loaded on the dump truck at the point D, the turning operation is input to the lever 26A at the point D, and the lifting operation of the boom 4 is input to the lever 26B. Then, by selecting the second speed command characteristic (H), the turning operation is performed at a lower speed than when the boom 4 is not operated (when the turning operation is performed with the first speed command characteristic (HH)). Is started.

  As shown in FIG. 6F, the moving speed of the bucket 6 in this state is higher in the upward component speed than in the turning direction.

  For this reason, as indicated by the solid line, the bucket 6 moves from the point C to the point D through a position higher than the broken line that linearly connects the point C and the point D.

  Thereby, when the dump truck is at a lower position than the hybrid construction machine, the bucket 6 is moved when the boom 6 is raised and the bucket 6 is returned from the dump truck to the work point (point C). Contact with the dump truck can be prevented.

  Further, such prevention of contact can be realized by selection of speed command characteristics, so that operability can be improved.

  In the above, in order to facilitate the explanation in an extreme situation, the case where the positional relationship between the hybrid type construction machine and the dump truck is different in the vertical direction has been described. However, the hybrid type construction machine and the dump truck have the same height. Even in the case where the second movement command characteristic (H) or the third speed instruction characteristic (HHH) is selected when the combined operation of the turning operation and the raising operation or the lowering operation of the boom 4 is performed. A turning motion is performed.

  For this reason, it can prevent that the bucket 6 contacts a dump truck similarly to the above-mentioned case.

  In the hybrid type construction machine of the first embodiment, since the collision can be prevented by adjusting the turning speed by selecting the speed command characteristic, the turning speed is adjusted by adjusting the operation amount of the lever 26A and the lever 26B. Compared with the case where it implement | achieves, the operativity of a significant improvement can be aimed at.

  In the above description, the internal memory 60A of the main control unit 60 has a function as a table storage unit. However, the memory storing the speed command table may be an external memory of the main control unit 60.

  In the above description, the PI control is used for calculating the torque current command. However, instead of this, robust control, adaptive control, proportional control, integral control, or the like may be used.

  FIG. 7 is a characteristic diagram showing speed command characteristics in a hybrid construction machine according to a modification of the first embodiment. This modified example is different from the speed command characteristic shown in FIG. 3 in that it has two types of speed command characteristics in which the degree of increase in the absolute value of the speed command with respect to the operation amount is smaller than the second speed command characteristic (H).

  As shown in FIG. 7, in the modification, a medium speed command characteristic (M) and a low speed command characteristic (L) are added.

  The medium speed command characteristic (M) has a smaller degree of increase in the absolute value of the speed command with respect to the manipulated variable than the second speed command characteristic (H), and the low speed command characteristic (L) has an increase rate in absolute value. Even smaller.

  The medium speed command characteristic (M) and the low speed command characteristic (L) are selected by the main control unit 60 by selecting the medium speed command table and the low speed command table stored in the internal memory 60A of the main control unit 60. This is realized by being referred to when the command conversion unit 31 outputs a speed command.

  Such a medium speed command characteristic (M) and a low speed command characteristic (L) are selected when the operator presses a selection button attached to the operation device 26. While the medium speed command characteristic (M) or the low speed command characteristic (L) is selected, the speed command characteristic is selected from the medium speed command characteristic (M) or the low speed command characteristic (L). Fixed in the direction.

  Even when the operator selects such a medium speed command characteristic (M) and a low speed command characteristic (L), the turning speed can be slowed when the boom 4 is raised. Contact with the dump truck can be prevented.

[Embodiment 2]
FIG. 8 is a block diagram showing the configuration of the hybrid construction machine of the second embodiment. The hybrid type construction machine of the second embodiment has a switching valve 200 in the hydraulic pipe 7A on the return side of the boom cylinder 7 instead of changing the speed command characteristic when detecting a composite operation, and Is different from the hybrid construction machine of the second embodiment in that the amount of supplied oil and the amount of returned oil are controlled.

  FIG. 8 shows a pump control valve 14A that controls the tilt angle of the main pump 14, which is omitted in the first embodiment (FIG. 2). The pump control valve 14A is electrically driven by the controller 30, and the tilt angle of the pump 14 is controlled.

  Since the other configuration conforms to the configuration of the hybrid construction machine of the first embodiment, the same components are denoted by the same reference numerals and the description thereof is omitted.

  The switching valve 200 is a switching valve that is inserted on the hydraulic pipe 7A side of the boom cylinder 7 as described above and can adjust the amount of oil that returns to the control valve 17 through the hydraulic pipe 7A. The switching valve 200 is driven and controlled by the controller 30.

  Specifically, the drive control of the pump control valve 14A and the switching valve 200 by the controller 30 is performed as follows.

  The pump control valve 14A increases the tilt angle of the pump 14 when the turning operation and the raising operation of the boom 4 are performed simultaneously (that is, when the combined operation of the turning and the raising of the boom 4 is performed). . As a result, the ascending speed of the boom 4 increases, so that the component speed in the upward direction is higher than the component speed in the turning direction, as in the state shown in FIGS. 6B and 6F. (FIG. 6B) and a state where the component velocity in the upward direction is higher than the component velocity in the turning direction (FIG. 6F).

  On the other hand, when the turning operation and the lowering operation of the boom 4 are performed simultaneously (that is, when the combined operation of the turning and the lowering of the boom 4 is performed), the switching valve 200 is oil that flows through the hydraulic pipe 7A. Reduce the amount. Thereby, since the descending speed of the boom 4 is reduced, the component speed in the turning direction is lower than the component speed in the descending direction as in the state shown in FIGS. 6 (c) and 6 (e). It is possible to create a state (FIG. 6C) and a state where the component velocity in the turning direction is lower than the component velocity in the descending direction (FIG. 6F).

  That is, in the hybrid type construction machine of the second embodiment, the amount of oil supplied to the boom cylinder 7 by the pump control valve 14A and the switching valve 200, instead of changing the speed command characteristic for driving and controlling the turning electric motor 21. By adjusting the amount of return oil, the same operation as that of the hybrid construction machine of the first embodiment described with reference to FIG. 6 is enabled.

  FIG. 9 is a diagram illustrating a procedure of control processing of the pump control valve 14A and the switching valve 200 in the hybrid type construction machine of the second embodiment. This process is a process executed by the controller 30, for example, a process repeatedly executed every 5 milliseconds.

  Based on the signal input from the pressure sensor 29, the controller 30 determines whether or not there has been an operation input for operating the boom 4 on the lever 26B (step S21). This is because the control processing of the pump control valve 14A and the switching valve 200 is different between when the boom 4 is not operated and when the boom 4 is operated.

  When it is determined that the boom 4 has been operated (Yes in Step S21), the controller 30 determines whether or not the turning operation is being performed (Step S22). Whether or not the turning motion is being performed may be determined based on the output of the turning motion detection unit 58, for example.

  When the controller 30 determines that the turning operation is being performed (Yes in step S22), the controller 30 determines whether the operation input for operating the boom 4 is an operation for raising or lowering ( Step S23).

  If the controller 30 determines in step S23 that the operation is for lowering the boom 4, the controller 30 controls the switching valve 200 to the throttle position (step S24). As a result, the amount of return oil from the boom cylinder 7 to the control valve 17 is reduced. This is to lower the lowering speed of the boom.

  On the other hand, if it is determined in step S23 that the operation is for raising the boom 4, the controller 30 controls the pump control valve 14A to increase the tilt angle of the main pump 14 (step S25). This is to increase the boom rising speed.

  If the controller 30 determines in step S22 that the turning operation is not being performed, the controller 30 sets the control positions of the pump control valve 14A and the switching valve 200 to the normal positions (step S26). This is because the combined operation of the turning operation and the boom 4 is not performed, so that the boom 4 can be operated with the normal supply oil amount or return oil amount.

  When step S24, S25, or S26 ends, the procedure returns.

  As described above, in the hybrid type construction machine of the second embodiment, the amount of oil supplied to the boom cylinder 7 by the pump control valve 14A and the switching valve 200, instead of changing the speed command characteristic for driving and controlling the electric motor 21 for turning. By adjusting the amount of return oil, the same operation as the hybrid construction machine of the first embodiment described with reference to FIG. 6 is possible.

  For this reason, it can prevent that the bucket 6 contacts a dump truck similarly to the above-mentioned case.

  In the hybrid type construction machine of the second embodiment, since the collision can be prevented by adjusting the ascending speed and the descending speed of the boom 4 by the switching control of the pump control valve 14A and the switching valve 200, the adjustment of the turning speed is performed by the lever. Compared with the case where it is realized by adjusting the operation amount of 26A and lever 26B, the operability can be greatly improved.

[Embodiment 3]
FIG. 10 is a block diagram illustrating a configuration of a control system of the hybrid type construction machine of the third embodiment.

  The turning drive control device 340 of the third embodiment is different from the turning drive control device 40 of the first embodiment in that speed control by a zero speed command and torque control by a torque current command are performed. For this reason, the turning drive control device 340 of the third embodiment includes a switch unit 359 that is released when torque control is performed.

  Further, the control system of the hybrid type construction machine of the third embodiment includes a drive command converter 331 instead of the speed command converter 31 of the first embodiment.

  Since other configurations are the same as those of the hybrid type construction machine of the first embodiment, the same components are denoted by the same reference numerals, and description thereof is omitted.

  The drive command conversion unit 331 outputs a zero speed command and a torque current command according to the operation amount of the lever 26A. A conversion characteristic for converting the operation amount of the lever 26A into a drive command will be described later with reference to FIG. 11. In the hybrid type construction machine of the third embodiment, the conversion characteristic is a dead zone region depending on the operation amount of the lever 26A. It is divided into five areas: a zero speed command area (for left turn and right turn), a left turn drive area, and a right turn drive area.

  The drive command conversion unit 331 outputs a zero speed command when the operation amount of the lever 26A is in the zero speed command region. If braking torque is required when turning is stopped, a zero speed command is output even in the dead zone. Up to this point, the speed command conversion unit 31 is the same as that of the first embodiment.

  On the other hand, in the left turn drive region and the right turn drive region, the drive command conversion unit 331 outputs a torque current command. When the torque current command is output in this way, the switch unit 359 is released by the main control unit 60.

  In the state in which the switch unit 359 is released, the torque current command output from the drive command conversion unit 331 is sent to the inverter 20 via the PI control unit 52, the torque limiting units 53 and 54, the subtractor 55, and the PI control unit 56. Entered.

  The torque current command output from the inverter 20 is input to the turning electric motor 21 and input to the current conversion unit 57. The output of the current converter 57 is input to the subtractor 55.

  In such a hybrid construction machine of the third embodiment, in the left turn drive region and the right turn drive region, the subtractor 55, the PI control unit 56, the inverter 20, And the feedback loop including the current converter 57 minimizes the deviation between the torque current command value input from the torque limiter 54 to the subtractor 55 and the torque current command value input from the current converter 57 to the subtractor 55. In this way, PI control is performed.

  With the above-described configuration, the turning drive according to the operation amount of the lever 26A is performed using the zero speed command and the torque current command properly.

  FIG. 11 shows a torque current command (a torque current for rotating the turning electric motor 21 for turning the upper turning body 3) as an operation amount of the lever 26A in the drive command conversion unit 331 of the hybrid type construction machine of the third embodiment. It is a figure which shows the conversion characteristic converted into (command). This conversion characteristic is divided into five areas according to the operation amount of the lever 26A: a dead zone area, a zero speed command area (for left turn and right turn), a left turn drive area, and a right turn drive area. Is done.

  As described above, the lever operating amount conversion characteristic in the hybrid type construction machine of the third embodiment is a torque current command in the left direction turning drive region and the right direction turning drive region.

  In the internal memory 60A of the main control unit 60 of the hybrid type construction machine of the third embodiment, three torque command tables including a first torque command table, a second torque command table, and a third torque command table are provided as torque command tables. Is stored. These torque command tables are tables that are referred to when the drive command conversion unit 331 outputs a torque current command in the left turn drive region and the right turn drive region. The second torque command table, the first torque In order of the command table and the third torque command table, a large torque current command is output with an absolute value with respect to the operation amount of the lever 26A.

  That is, the internal memory 60 </ b> A is a table storage unit having a plurality of torque command tables in which torque current commands for driving the turning electric motor 21 are associated with the operation amount input to the lever 26 </ b> A of the operating device 26. The torque command table selection process will be described later. Hereinafter, each region will be described.

"Dead zone area"
The characteristics of the dead zone region are the same as those in the first embodiment. That is, the mechanical brake 23 is brought into a braking state before the start of the turning motion. On the other hand, at the time of braking, a zero speed command is output, and the mechanical brake 23 is switched to a braking state when a predetermined time (for example, several seconds) elapses after the turning is stopped.

"Zero speed command area (judgment area)"
The characteristics of the zero speed command area are the same as those in the first embodiment. That is, when the operation amount of the lever 26A is within the range of the zero speed command region, the zero speed command is output from the drive command conversion unit 331, and the mechanical brake 23 is released.

  Further, in the third embodiment, the zero speed command region is set within the range where the manipulated value is 10% or more and less than 20% in absolute value, and the torque command table for determining the torque current command at the start of turning is selected. It is also a determination area in which a determination for performing is performed. The torque current command is a drive command output from the drive command conversion unit 331 based on the torque command table when the operation amount is 20% or more in absolute value. The torque command table selection process will be described later.

"Left direction drive area"
The left turn drive region is a region in which a torque current command for turning the upper swing body 3 to the left is output from the drive command conversion unit 331.

  In the hybrid type construction machine of the third embodiment, depending on the elapsed time when the operation amount of the lever 26A passes through the zero speed command region as the determination region, the high torque command characteristic, the medium torque command characteristic, or the low torque command characteristic One of the torque command characteristics is selected.

  This torque command characteristic is set so that the absolute value of the torque current command increases in accordance with the amount of operation of the lever 26A within this leftward turning drive region regardless of which torque command characteristic is selected. ing. Based on this torque current command, the turning drive control device 40 calculates a drive command, and the drive motor 21 is driven by this drive command. As a result, the upper swing body 3 is driven to turn leftward.

  When the overspeed is detected by switching the switch 359 in order to limit the turning speed of the upper turning body 3 to a certain value or less, the absolute value of the torque current command value in the leftward turning drive region is a predetermined value. Limited.

`` Right turn drive area ''
The right direction turning drive region is a region in which a torque current command for turning the upper turning body 3 in the right direction is output from the drive command conversion unit 331.

  In the hybrid type construction machine of the third embodiment, depending on the elapsed time when the operation amount of the lever 26A passes through the zero speed command region as the determination region, the high torque command characteristic, the medium torque command characteristic, or the low torque command characteristic One of the torque command characteristics is selected.

  This torque command characteristic is set so that the absolute value of the torque current command increases in accordance with the amount of operation of the lever 26A within the rightward turning drive region regardless of which torque command characteristic is selected. Yes. On the basis of this torque current command, a drive command is calculated by the turning drive control device 40, and the turning electric motor 21 is driven by this drive command. As a result, the upper turning body 3 is driven to turn rightward.

  As in the left turn drive region, when overspeed is detected by switching the switch 359, the absolute value of the torque current command value in the right turn drive region is limited to a predetermined value.

"Torque command table selection process"
In the hybrid type construction machine of the third embodiment, the process of selecting one of the first torque command table, the second torque command table, or the third torque command table is the hybrid type construction machine of the first embodiment. In the machine, this is the same as the process of selecting the first speed command table, the second speed command table, or the third speed command table. That is, in the hybrid type construction machine of the third embodiment, the first torque command table is selected instead of the first speed command table in the procedure shown in FIG. 5, and the second speed command table is selected instead of the second speed command table. A torque command table is selected, and instead of selecting a third speed command table, a third torque command table is selected.

  Thus, the torque command table selected by the selection process of the main control unit 60 is referred to when the drive command conversion unit 331 outputs a torque current command in the left turn drive region and the right turn drive region.

  When the first torque command table is selected by the main control unit 60, the drive command conversion unit 331 refers to the first torque command table and is associated with the operation amount of the lever 26A based on the first torque command characteristics. Output torque current command. That is, the first torque command characteristic is selected as the torque command characteristic.

  When the second torque command table is selected by the main control unit 60, the drive command conversion unit 331 refers to the second torque command table, and is associated with the operation amount of the lever 26A based on the second torque command characteristic. Output torque current command. That is, the second torque command characteristic is selected as the torque command characteristic.

  When the third torque command table is selected by the main control unit 60, the drive command conversion unit 331 refers to the third torque command table and is associated with the operation amount of the lever 26A based on the third torque command characteristic. Output torque current command. That is, the third torque command characteristic is selected as the torque command characteristic.

  The torque command table selection process described above is performed by using the first speed command table, the second speed command table, or the third speed command in the right turn drive area and the left turn drive area of the hybrid construction machine according to the first embodiment. Instead of the process of selecting the table, the process of selecting the first torque command table, the second torque command table, or the third torque command table is performed.

  In the hybrid type construction machine of the third embodiment, the torque command characteristic is used as the drive command instead of changing the speed command characteristic for driving and controlling the turning electric motor 21, and the implementation described with reference to FIG. Similar to the hybrid construction machine of the first embodiment, when the boom 4 is lowered in the combined operation, the torque for driving the turning electric motor 21 is increased and the moving speed of the bucket 6 is the component speed in the turning direction. Is higher than the component velocity in the descending direction. When the boom 4 is raised in the combined operation, the torque for driving the turning electric motor 21 is reduced, and the moving speed of the bucket 6 is higher in the upward component speed than in the turning direction. To be.

  As described above, the hybrid construction machine according to the third embodiment has been described with reference to FIG. 6 by using the torque command characteristic as the drive command instead of changing the speed command characteristic for driving and controlling the turning electric motor 21. The same operation as that of the hybrid construction machine of the first embodiment is possible.

  For this reason, it can prevent that the bucket 6 contacts a dump truck similarly to the above-mentioned case.

  In the above description, the torque command characteristic is linearly changed according to the operation amount of the lever 26A. However, the torque command characteristic is a characteristic that changes in a curve according to the operation amount of the lever 26A. Also good.

  The hybrid construction machine according to the exemplary embodiment of the present invention has been described above, but the present invention is not limited to the specifically disclosed embodiment and departs from the scope of the claims. Various modifications and changes are possible.

1 is a side view illustrating a hybrid type construction machine according to a first embodiment. 1 is a block diagram illustrating a configuration of a hybrid construction machine according to a first embodiment. Conversion that converts the operation amount of the lever 26A into a speed command (speed command for rotating the turning electric motor 21 to turn the upper turning body 3) in the speed command conversion unit 31 of the hybrid type construction machine of the first embodiment. It is a figure which shows a characteristic. FIG. 3 is a block diagram illustrating a configuration of a control system of the hybrid type construction machine of the first embodiment. It is a figure which shows the procedure of the selection process of the speed command in the hybrid type construction machine of Embodiment 1. FIG. It is a figure which decomposes | disassembles and shows the locus | trajectory and moving speed of the bucket 6 at the time of compound operation of the turning electric motor 21 and the boom 4 in the hybrid type construction machine of Embodiment 1, (a) is more than a hybrid type construction machine. The trajectory when the dump truck is at a high position, (b) is the component of the moving speed of the bucket 6 when the turning mechanism 2 and the boom 4 are lifted in the case of (a), and (c) is ( In the case of a), the component of the moving speed of the bucket 6 when starting the turning operation of the turning mechanism 2 and the lowering of the boom 4, (d) is the locus when the dump truck is in a lower region than the hybrid construction machine, (E) is a component of the moving speed of the bucket 6 in the case of (d), and the movement speed of the bucket 6 when the descent of the boom 4 is started, and (f) is a swing operation of the swing mechanism 2 in the case of (d). And The ingredients of the moving speed of the bucket 6 in the case of starting the increase of the beam 4. It is a characteristic view which shows the speed command characteristic in the hybrid type construction machine of the modification of Embodiment 1. FIG. 5 is a block diagram illustrating a configuration of a hybrid construction machine according to a second embodiment. It is a figure which shows the procedure of the control processing of the pump control valve 14A and the switching valve 200 in the hybrid type construction machine of Embodiment 2. FIG. FIG. 6 is a block diagram showing a configuration of a control system of a hybrid type construction machine of a third embodiment. In the drive command conversion unit 331 of the hybrid type construction machine of the third embodiment, the operation amount of the lever 26A is converted into a torque current command (a torque current command for rotating the turning electric motor 21 to turn the upper turning body 3). It is a figure which shows the conversion characteristic to do.

DESCRIPTION OF SYMBOLS 1 Lower traveling body 1A, 1B Traveling mechanism 2 Turning mechanism 3 Upper turning body 4 Boom 5 Arm 6 Bucket 7 Boom cylinder 8 Arm cylinder 9 Bucket cylinder 10 Cabin 11 Engine 12 Motor generator 13 Reduction gear 14 Main pump 14A Pump control valve 15 Pilot pump 16 High pressure hydraulic line 17 Control valve 18 Inverter 19 Battery 20 Inverter 21 Electric motor for turning 22 Resolver 23 Mechanical brake 24 Turning reduction gear 25 Pilot line 26 Operating device 26A, 26B Lever 26C Pedal 27 Hydraulic line 28 Hydraulic line 29 Pressure sensor 30 Controller 31 Speed command conversion unit 32 Drive control device 40 Turning drive control device 50 Drive command generation unit 51 Subtractor 52 PI control unit 53 Torque limiting unit 54 Torque limiter 55 Subtractor 56 PI controller 57 Current converter 58 Turning operation detector 60 Main controller 200 Switching valve 331 Drive command converter 340 Swing drive controller 359 Switch unit

Claims (6)

The work element mounted on a swivel body swung by the swivel mechanism, including a work element driven by hydraulic pressure generated by a driving force of an internal combustion engine or a motor generator and a swivel mechanism swiveled by the electric motor A hybrid type construction machine that works in
A first operation detector that detects an operation of the work element;
A second operation detector for detecting an operation of the turning mechanism;
When the operation of the turning mechanism is detected by the second operation detector, and the raising operation of the work element is detected by the first operation detector, the turning speed of the electric motor is set to the non-operation of the work element. When the operation of the turning mechanism is detected by the second operation detection unit, and when the lowering operation of the work element is detected by the first operation detection unit, And a turning drive control unit that increases a turning speed higher than a turning speed when the work element is not operated. A first drive command characteristic for driving and controlling the electric motor when the work element is not operated, a second drive command characteristic for driving and controlling the electric motor when the work element is raised, and a lowering operation of the work element A characteristic storage unit for storing a third drive command characteristic for sometimes driving and controlling the electric motor;
The turning drive control unit performs drive control of the electric motor using the first drive command characteristic, the second drive command characteristic, or the third drive command characteristic stored in the characteristic storage unit,
The second drive command characteristic is an operation in which the degree of increase in the absolute value of the drive command with respect to the operation amount input to the second operation detection unit is input to the second operation detection unit in the first drive command characteristic. Smaller than the degree of increase in the absolute value of the drive command with respect to the quantity,
The third drive command characteristic is an operation in which the degree of increase in the absolute value of the drive command with respect to the operation amount input to the second operation detection unit is input to the second operation detection unit in the first drive command characteristic. The hybrid type construction machine according to claim 1, wherein the degree of increase in absolute value of the drive command with respect to the quantity is greater.   The first drive command characteristic, the second drive command characteristic, and the third drive command characteristic are drive command characteristics for determining a speed command or a torque command according to an operation amount for operating the turning mechanism. The hybrid construction machine according to claim 2, wherein The second drive command characteristic or the third drive command characteristic includes a plurality of drive command characteristics having different degrees of increase in absolute value of the speed command or the torque command with respect to an operation amount for operating the turning mechanism, respectively. Including
The turning drive control unit performs drive control of the electric motor using a drive command characteristic selected by an operator among the plurality of drive command characteristics of the second drive command characteristic or the third drive command characteristic. The hybrid type construction machine according to claim 2 or 3. The work element mounted on a swivel body swung by the swivel mechanism, including a work element driven by hydraulic pressure generated by a driving force of an internal combustion engine or a motor generator and a swivel mechanism swiveled by the electric motor A hybrid type construction machine that works in
A first operation detector that detects an operation of the work element;
A second operation detector for detecting an operation of the turning mechanism;
When the operation of the turning mechanism is detected by the second operation detection unit and the lifting operation of the work element is detected by the first operation detection unit, the flow rate of pressure oil for driving the work element When the operation of the turning mechanism is detected by the second operation detection unit, the lowering operation of the work element is performed by the first operation detection unit. And a flow rate control device that reduces the flow rate of the pressure oil for driving the work element to be lower than the flow rate of the pressure oil when the work element is not operated.   The flow rate control device drives the work element by increasing a tilt angle of a hydraulic pump that outputs pressure oil for driving the work element, compared to a tilt angle when the work element is not operated. The flow rate of the pressure oil for the operation element is increased more than the flow rate of the pressure oil when the work element is not operated, and the flow rate of the pressure oil returned from the drive unit for driving the work element to the control valve is increased. 6. The hybrid type construction according to claim 5, wherein the flow rate of the pressure oil for driving the work element is made smaller than the flow rate of the pressure oil when the work element is not operated by reducing the flow rate during operation. machine.

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