JP2011105125A - 荷役車両の駆動制御装置 - Google Patents
荷役車両の駆動制御装置 Download PDFInfo
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- JP2011105125A JP2011105125A JP2009261926A JP2009261926A JP2011105125A JP 2011105125 A JP2011105125 A JP 2011105125A JP 2009261926 A JP2009261926 A JP 2009261926A JP 2009261926 A JP2009261926 A JP 2009261926A JP 2011105125 A JP2011105125 A JP 2011105125A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/46—Series type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/44—Drive Train control parameters related to combustion engines
- B60L2240/441—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/086—Power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/15—Fork lift trucks, Industrial trucks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
【解決手段】 駆動制御装置23のECU22は、エンジン指令回転数を求めるエンジン指令回転数設定部24と、エンジン指令回転数に応じた駆動指令信号をエンジン2に出力するエンジン駆動制御部25と、発電モータ指令電力を求める発電モータ指令電力設定部27と、発電モータ指令電力に応じた駆動指令信号を発電モータ3に出力する発電モータ駆動制御部28とを有している。発電モータ指令電力設定部27は、エンジン指令回転数と発電モータ実回転数(エンジン実回転数)との偏差を算出し、その偏差に応じた発電電力制限率を求め、この発電電力制限率及び走行モータ電力に基づいて、走行モータ11を駆動するための発電電力となる発電モータ指令電力を算出する。
【選択図】 図3
Description
走行要求電力=(−1)*走行モータ電力 …(A)
エンジン回転数制御偏差=エンジン指令回転数−発電モータ実回転数
発電モータ指令電力=走行要求電力*発電電力制限率/100
バッテリ放電余裕電力=バッテリ放電電力制限値−走行モータ電力
Claims (6)
- エンジンと、発電電動機と、前記エンジン及び前記発電電動機と同軸上に配置された荷役ポンプと、前記荷役ポンプからの作動油により駆動される荷役アクチュエータと、走行動作を行うための走行モータと、前記発電電動機及び前記走行モータに駆動電力を供給するバッテリとを備えた荷役車両の駆動制御装置において、
前記エンジンの指令回転数を決定し、当該指令回転数に応じて前記エンジンを制御するエンジン制御手段と、
前記エンジンの実回転数を検出する回転数検出手段と、
前記エンジンの指令回転数と前記エンジンの実回転数との偏差を算出する偏差算出手段と、
前記エンジンの指令回転数と前記エンジンの実回転数との偏差に応じて、前記走行モータを駆動するための前記発電電動機の発電電力を制限するように、前記発電電動機を制御する発電制御手段とを備えることを特徴とする荷役車両の駆動制御装置。 - 前記エンジンの指令回転数と前記エンジンの実回転数との偏差が所定値よりも小さいかどうかを判断する判断手段を更に備え、
前記発電制御手段は、前記判断手段により前記エンジンの指令回転数と前記エンジンの実回転数との偏差が前記所定値よりも小さいと判断されたときに、前記エンジンの指令回転数と前記エンジンの実回転数との偏差に応じて、前記走行モータを駆動するための前記発電電動機の発電電力を制限するように、前記発電電動機を制御することを特徴とする請求項1記載の荷役車両の駆動制御装置。 - 前記判断手段により前記エンジンの指令回転数と前記エンジンの実回転数との偏差が前記所定値よりも大きいと判断されたときに、前記エンジンの指令回転数と前記エンジンの実回転数との偏差に応じて、前記エンジンによる前記荷役ポンプの駆動を前記発電電動機によりアシストするように、前記発電電動機を制御する第1アシスト制御手段を更に備えることを特徴とする請求項2記載の荷役車両の駆動制御装置。
- 前記第1アシスト制御手段は、前記走行モータの駆動電力と前記発電電動機の駆動電力との合計が前記バッテリの放電電力制限値を越えないように前記発電電動機を制御することを特徴とする請求項3記載の荷役車両の駆動制御装置。
- 前記エンジンの実回転数がアイドル回転数よりも低くなったときに、前記エンジンの実回転数に応じて、前記エンジンによる前記荷役ポンプの駆動を前記発電電動機によりアシストするように、前記発電電動機を制御する第2アシスト制御手段を更に備えることを特徴とする請求項1〜4のいずれか一項記載の荷役車両の駆動制御装置。
- 前記走行モータの駆動電力と前記発電電動機の駆動電力との合計が前記バッテリの放電電力制限値を越えないように前記走行モータを制御する走行制御手段を更に備えることを特徴とする請求項1〜5のいずれか一項記載の荷役車両の駆動制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009261926A JP4941539B2 (ja) | 2009-11-17 | 2009-11-17 | 荷役車両の駆動制御装置 |
EP10190859A EP2322398B1 (en) | 2009-11-17 | 2010-11-11 | Drive controller for cargo handling vehicle |
US12/945,509 US8634977B2 (en) | 2009-11-17 | 2010-11-12 | Drive controller for cargo handling vehicle |
Applications Claiming Priority (1)
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JP2009261926A JP4941539B2 (ja) | 2009-11-17 | 2009-11-17 | 荷役車両の駆動制御装置 |
Publications (2)
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JP2011105125A true JP2011105125A (ja) | 2011-06-02 |
JP4941539B2 JP4941539B2 (ja) | 2012-05-30 |
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JP2009261926A Expired - Fee Related JP4941539B2 (ja) | 2009-11-17 | 2009-11-17 | 荷役車両の駆動制御装置 |
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US (1) | US8634977B2 (ja) |
EP (1) | EP2322398B1 (ja) |
JP (1) | JP4941539B2 (ja) |
Cited By (7)
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JP2014046705A (ja) * | 2012-08-29 | 2014-03-17 | Tadano Ltd | 作業機械 |
CN104150402A (zh) * | 2013-05-13 | 2014-11-19 | 株式会社丰田自动织机 | 工业车辆和用于控制工业车辆的方法 |
JP2015063271A (ja) * | 2013-09-26 | 2015-04-09 | 日立建機株式会社 | ハイブリッド式作業車両 |
JP2017197040A (ja) * | 2016-04-28 | 2017-11-02 | 本田技研工業株式会社 | ハイブリッド車両の制御装置 |
JP2017226284A (ja) * | 2016-06-21 | 2017-12-28 | 株式会社クボタ | 作業機 |
CN111886387A (zh) * | 2018-03-09 | 2020-11-03 | Zf 腓德烈斯哈芬股份公司 | 用于作业机械的驱动器 |
WO2022149586A1 (ja) * | 2021-01-06 | 2022-07-14 | 日立建機株式会社 | 建設機械 |
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ITTO20110924A1 (it) * | 2011-10-14 | 2013-04-15 | Merlo Project S R L Con Unico Socio | Macchina da lavoro ibrido elettro-idraulico |
JP6019956B2 (ja) * | 2012-09-06 | 2016-11-02 | コベルコ建機株式会社 | ハイブリッド建設機械の動力制御装置 |
JP5971175B2 (ja) * | 2012-12-13 | 2016-08-17 | トヨタ自動車株式会社 | 車載用太陽電池の制御装置 |
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JP6399988B2 (ja) * | 2015-09-15 | 2018-10-03 | 株式会社日立建機ティエラ | 建設機械のグリップヒータ装置 |
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2009
- 2009-11-17 JP JP2009261926A patent/JP4941539B2/ja not_active Expired - Fee Related
-
2010
- 2010-11-11 EP EP10190859A patent/EP2322398B1/en not_active Not-in-force
- 2010-11-12 US US12/945,509 patent/US8634977B2/en not_active Expired - Fee Related
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JPH07111709A (ja) * | 1993-10-07 | 1995-04-25 | Toyota Motor Corp | ハイブリッド電気自動車の空調制御方法 |
JP2001016704A (ja) * | 1999-06-28 | 2001-01-19 | Kobe Steel Ltd | 油圧駆動装置 |
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Also Published As
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EP2322398A3 (en) | 2011-09-28 |
EP2322398A2 (en) | 2011-05-18 |
US8634977B2 (en) | 2014-01-21 |
US20110118922A1 (en) | 2011-05-19 |
EP2322398B1 (en) | 2013-01-16 |
JP4941539B2 (ja) | 2012-05-30 |
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