JP2013052866A - Shovel and control method therefor - Google Patents

Shovel and control method therefor Download PDF

Info

Publication number
JP2013052866A
JP2013052866A JP2012234668A JP2012234668A JP2013052866A JP 2013052866 A JP2013052866 A JP 2013052866A JP 2012234668 A JP2012234668 A JP 2012234668A JP 2012234668 A JP2012234668 A JP 2012234668A JP 2013052866 A JP2013052866 A JP 2013052866A
Authority
JP
Japan
Prior art keywords
battery
engine
hydraulic
warm
operation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2012234668A
Other languages
Japanese (ja)
Inventor
Tetsuji Ono
哲司 小野
Original Assignee
Sumitomo Heavy Ind Ltd
住友重機械工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sumitomo Heavy Ind Ltd, 住友重機械工業株式会社 filed Critical Sumitomo Heavy Ind Ltd
Priority to JP2012234668A priority Critical patent/JP2013052866A/en
Publication of JP2013052866A publication Critical patent/JP2013052866A/en
Application status is Pending legal-status Critical

Links

Images

Classifications

    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/62Hybrid vehicles
    • Y02T10/6213Hybrid vehicles using ICE and electric energy storage, i.e. battery, capacitor
    • Y02T10/6221Hybrid vehicles using ICE and electric energy storage, i.e. battery, capacitor of the parallel type
    • Y02T10/6226Motor-assist type
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/62Hybrid vehicles
    • Y02T10/6286Control systems for power distribution between ICE and other motor or motors

Abstract

An object of the present invention is to provide a warming-up method for a hybrid construction machine that can warm a battery efficiently and quickly without using a separate heating device.
When a temperature of a battery is lower than a preset temperature, the engine is operated to perform a warm-up operation. At the same time, the assist motor 12 is operated to charge and discharge the battery 19, thereby increasing the temperature of the battery 19 using the internal heat generation of the battery 19.
[Selection] Figure 5

Description

  The present invention relates to a warming-up method for a construction machine, and more particularly to a warming-up method for a hybrid construction machine that assists an engine by driving a motor generator with electric power from a capacitor.

  Many construction machines are hydraulically driven. An example of a hydraulically driven construction machine is a hydraulic excavator, for example. In general, the excavator is driven by using a hydraulic actuator (hydraulic cylinder, hydraulic motor) for driving the excavator, turning the upper swinging body, and traveling the lower traveling body. The hydraulic pressure supplied to the hydraulic actuator is often generated by a hydraulic pump that uses an engine as a drive source. In this case, the output of the hydraulic actuator is determined by the output of the engine.

  The work of the hydraulic excavator is not only a work that always requires 100% of the capacity of the engine, but, for example, there are many work that can be performed with a capacity of 90% or 80%, for example. Therefore, by changing the operation mode of the hydraulic excavator according to the work load, optimal engine output control is performed for each of the different work loads, and the engine is efficiently driven to improve fuel efficiency.

  For example, there are different work modes such as “high load mode” for performing load work corresponding to the maximum output of the engine, “normal load mode” for performing normal load work, and “low load mode” for performing light load work. Make it configurable. In each work mode, equal horsepower control is performed so that the drive torque required for the hydraulic pump to drive the hydraulic actuator is equal to the engine output torque, and the engine output is effectively used to improve fuel efficiency. Plan.

  In general, an excavator is equipped with an engine having a maximum output equal to the output in the “high load mode”. However, operation in the “high load mode” is much less than operation in the “normal load mode”. For this reason, when the hydraulic excavator is operated in the “normal load mode”, the engine output has a margin. In other words, a large engine having an extra output for the operation in the “normal load mode” is mounted.

  In recent years, there is a demand for reducing the fuel consumption by reducing the size of an engine in a hydraulically driven construction machine including the above-described hydraulic excavator. If the engine is simply downsized, sufficient hydraulic output cannot be obtained during operation in the “high load mode”. Thus, a so-called hybrid construction machine has been developed that includes an engine, a generator driven by the engine, a battery charged by the generator, and an electric motor driven by the power of the battery (see, for example, Patent Document 1). .)

JP-A-10-103112

  The work performed by the hybrid construction machine is mainly performed outdoors, and the hybrid construction machine is operated in various environments. For example, when operating a hybrid construction machine in a cold region, the engine is cold at the time of start-up, so the warm-up operation is performed until the engine is warmed to some extent.

  In a hybrid construction machine, working power (that is, power for driving a hydraulic pump) is obtained not only from an engine but also from an assist motor (electric motor). The assist motor is driven by electric power from a battery (battery). Here, in a low temperature environment where warm-up operation of the engine is necessary, the internal resistance of the capacitor increases, and in a low temperature state, there is a possibility that the discharge current decreases and sufficient electric power cannot be obtained from the capacitor.

  In addition, when charging a capacitor in a low temperature environment, the internal resistance of the capacitor is large, so that a state in which the charging voltage has to be very high occurs when a sufficient charging current is supplied to the capacitor. For example, when a capacitor is used as a capacitor, in order to reduce the charging current and reduce the loss, the charging voltage is generally controlled to a high voltage of 200 V or higher at a normal temperature. However, if an attempt is made to supply a sufficient charging current to a capacitor whose internal resistance has become very large in a low-temperature environment, the charging voltage exceeds the maximum value due to the large internal resistance, and control may become impossible.

  Because of the above-mentioned problems, when warming up a hybrid construction machine to operate in a low temperature environment, not only warming up the engine but also warming the capacitor to lower the internal resistance It is preferable to keep it. That is, in order to operate a hybrid construction machine in a low-temperature environment where engine warm-up operation is necessary, it is preferable to warm the capacitor in advance by also warming the capacitor, but in order to warm the capacitor Providing a special heating device adds extra cost and is not practical.

  The present invention has been made in view of the above-described problems, and an object thereof is to provide a warming-up method for a hybrid construction machine that can efficiently and quickly warm a battery without using a separate heating device. .

  In order to achieve the above object, according to the present invention, there is provided a method for warming up a hybrid construction machine, wherein the engine is operated to warm up when the temperature of the battery is lower than a preset temperature. In addition, there is provided a method for warming up the hybrid construction machine, wherein the electric power is generated by operating the motor generator to charge and discharge the electric storage.

  According to the present invention, the capacitor can be warmed by internal heat generation by forcibly charging and discharging the capacitor when the temperature of the capacitor is low. For this reason, a capacitor | condenser can be warmed efficiently and rapidly, without using a heating apparatus separately.

It is a side view of a hybrid type hydraulic excavator. It is a block diagram showing the structure of the drive system of the hybrid type hydraulic shovel shown in FIG. It is a block diagram which shows the structure of an electrical storage system. FIG. 2 is a diagram showing a model of a power system of the hybrid excavator shown in FIG. 1. It is a flowchart of a battery warm-up process. It is a graph which shows the charging rate of the battery at the time of a battery warming-up process, and the change of the electric current which flows into a battery. It is a graph which shows the change of the charging rate of a battery when a battery warming-up process is performed for 10 minutes, and a temperature change.

  The warming-up method according to the present invention is performed in order to warm a battery such as a battery provided in a hybrid construction machine. As a hybrid construction machine, any construction machine can be used as long as the hydraulic pump drives the hydraulic pump while assisting the engine with the assist motor driven by the electric power from the battery, and works with the hydraulic pressure generated by the hydraulic pump. It may be. Examples of such a hybrid construction machine include a power shovel, a lifting magnet, a crane, and a wheel loader.

  First, a hybrid hydraulic excavator will be described as an example of a hybrid construction machine to which the present invention is applied.

  FIG. 1 is a side view of a hybrid hydraulic excavator. An upper swing body 3 is mounted on the lower traveling body 1 of the hybrid hydraulic excavator via a swing mechanism 2. A boom 4 extends from the upper swing body 3, and an arm 5 is connected to the tip of the boom 4. Further, the bucket 6 is connected to the tip of the arm 5. The boom 4, the arm 5, and the bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively. The upper swing body 3 is mounted with a cabin 10 and a power source (not shown).

  FIG. 2 is a block diagram showing the configuration of the drive system of the hybrid hydraulic excavator shown in FIG. 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 one-dot chain 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. Here, you may make it connect the engine 11 and the motor generator 12 directly, without using a reduction gear.

  The control valve 17 is a control device that controls the hydraulic system. Connected to the control valve 17 are hydraulic motors 1A (for right) and 1B (for left), a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 for the lower traveling body 1 via a high-pressure hydraulic line.

  The motor generator 12 is connected to a power storage system 120 including a battery via an inverter 18. A turning electric motor 21 is connected to the power storage system 120 via an inverter 20. The turning electric motor 21 is an electric load in the hybrid hydraulic excavator. 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 via a pilot line 25. A control valve 17 and a pressure sensor 29 as a lever operation detection unit are connected to the operating device 26 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.

  The hybrid hydraulic excavator having the above configuration 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.

  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 the operation of the construction machine.

  The motor generator 12 may be an electric motor capable of both power running operation and power generation operation. Here, a motor generator driven by an inverter 18 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 the rotor. The rotating shaft of the motor generator 12 is connected to the other input shaft of the speed reducer 13. In the present embodiment, the motor generator 12 capable of both the power running operation and the power generation operation is used. However, the motor that performs the power running operation and the generator that performs the power generation operation are connected to the engine 11 via the reduction gear. It is good as well.

  The speed reducer 13 has two input shafts and one output shaft. The drive shaft of the engine 11 and the drive shaft of the motor generator 12 are connected to the two input shafts, respectively. Further, the drive shaft of the main pump 14 is connected to the output shaft. 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 hydraulic pump that generates hydraulic pressure to be supplied to the control valve 17. The hydraulic pressure generated by the main pump 14 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 that are hydraulic loads 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 inputs 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 power storage system 120 as described above, and controls the operation of the motor generator 12 based on a command from the controller 30. Thus, when the inverter 18 controls the power running of the motor generator 12, the necessary power is supplied from the power storage system 120 to the motor generator 12. Further, when the power generation operation of the motor generator 12 is controlled, the electric power generated by the motor generator 12 is supplied to the power storage system 120.

  A power storage system 120 including a capacitor is disposed between the inverter 18 and the inverter 20. As a result, when at least one of the motor generator 12 and the turning electric motor 21 is performing the power running operation, the electric power necessary for the power running operation is supplied, and at least one of the motor generator 12 and the turning electric motor 21 is generating operation or regeneration. During operation, the power source is a power source for accumulating electric power generated by power generation operation or regenerative operation as electric energy.

  FIG. 3 is a block diagram of the power storage system 120. The power storage system 120 includes a battery 19 as a variable voltage power storage unit. In this embodiment, a capacitor (electric double layer capacitor) is used as the battery 19. However, the battery 19 is not limited to a capacitor and may be any battery as long as it can be repeatedly charged and discharged. The battery 19 is connected via a step-up / down converter 58 to a DC bus 110 that is a constant voltage storage unit. Inverters 18 and 20 are connected to DC bus 11.

  The inverter 20 is provided between the turning electric motor 21 and the battery 19 as described above, and performs operation control on the turning electric motor 21 based on a command from the controller 30. Thereby, when the turning electric motor 21 is in a power running operation, necessary electric power is supplied from the power storage system 120 to the turning electric motor 21. Further, when the turning electric motor 21 is performing a regenerative operation, the electric power generated by the turning electric motor 21 is supplied to the power storage system 120 and the battery 19 is charged. Here, in FIG. 2, the electric motor is used as the electric motor 21 for turning. However, the electric motor can be used other than for electric turning, and moreover, a plurality of electric motors can be connected to the power storage system 120 and controlled. It is.

  The turning electric motor 21 may be an electric motor capable of both power running operation and regenerative operation, and is provided for driving the turning mechanism 2 of the upper turning body 3. In 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 rotates while being controlled for acceleration and deceleration. 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 turning electric motor 21, 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.

  The operating device 26 is an input device for the driver of the hybrid hydraulic excavator to operate the turning electric motor 21, the lower traveling body 1, the boom 4, the arm 5, and the bucket 6, and includes levers 26A and 26B and a pedal 26C. including. The lever 26 </ b> A is a lever for operating the turning electric motor 21 and the arm 5, and is provided in the vicinity of the driver seat of the upper turning body 3. The lever 26B is a lever for operating the boom 4 and the bucket 6, and is provided in the vicinity of the driver's seat. 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.

  The operating device 26 converts the hydraulic pressure (primary hydraulic pressure) supplied through the pilot line 25 into a hydraulic pressure (secondary hydraulic pressure) corresponding to the operation amount of the driver and outputs the converted hydraulic pressure. 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.

  When each of the levers 26A and 26B and the pedal 26C is operated, the control valve 17 is driven through the hydraulic line 27, whereby the hydraulic pressure in the hydraulic motors 1A and 1B, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 is increased. Is controlled, the lower traveling body 1, the boom 4, the arm 5, and the bucket 6 are driven.

  Two hydraulic lines 27 are used to operate the hydraulic motors 1A and 1B (that is, a total of four), and two hydraulic lines 27 are used to operate the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively (that is, two). In reality, there are eight in total, but for convenience of explanation, they are collectively shown as one.

  In the pressure sensor 29 as the lever operation detection unit, a change in the hydraulic pressure in the hydraulic line 28 due to the turning operation of the lever 26 </ b> A is detected by the pressure sensor 29. The pressure sensor 29 outputs an electrical signal indicating the hydraulic pressure in the hydraulic line 28. This electrical signal is input to the controller 30. Thereby, it is possible to accurately grasp the turning operation amount of the lever 26A. In the present embodiment, the pressure sensor is used as the lever operation detection unit. However, a sensor that reads the amount of turning operation of the lever 26A as an electrical signal may be used.

  The controller 30 is a control device that performs drive control of the hybrid hydraulic excavator, and includes an engine control unit 32 and a drive control device 40. The engine control unit 32 sets a target rotational speed during engine operation and controls a fuel injection amount for maintaining the rotational speed.

  The drive control device 40 controls the output of the turning electric motor 21, the motor generator 12, and the main pump 14 based on signals from the pressure sensor 29, the inverters 18, 20 and the resolver 28 and the like.

  Next, drive control of the hybrid hydraulic excavator described above will be described.

  FIG. 4 is a diagram showing a model of the power system of the hybrid hydraulic excavator described above. In the model diagram of FIG. 4, the hydraulic load 54 corresponds to a component driven by hydraulic pressure, and includes the above-described boom cylinder 7, arm cylinder 8, packet cylinder 9, and hydraulic motors 1A and 1B. The hydraulic load 54 is supplied with the hydraulic pressure generated by the main pump 14 that is a hydraulic pump. The engine 11 is driven by supplying power to a main pump 14 that is a hydraulic pump. That is, the power generated by the engine 11 is converted into hydraulic pressure by the main pump 14 and supplied to the hydraulic load 54.

  The electric load 56 corresponds to a component driven by electric power such as an electric motor or an electric actuator, and includes the turning electric motor 21 described above. The electric load 56 is driven by being supplied with electric power from the battery 19 via the converter 58. A case where the electric load 56 is driven is referred to as a power running operation. The electric load 56 is capable of generating regenerative power, such as an electric motor / generator, and the generated regenerative power is supplied to the DC bus 110 of the power storage system 120 and accumulated in the battery 19 via the converter 58. Alternatively, the electric power is supplied to the assist motor 12 via the inverter 120 to drive the assist motor 12.

  The battery 19 of the power storage system 120 is charged by regenerative power from the electric load 56 as described above. Further, when the assist motor 12 receives power from the engine 11 and functions as a generator, the electric power generated by the assist motor 12 can be supplied to the battery 19 of the power storage system 120 for charging. In this embodiment, a capacitor (electric double layer capacitor) is used as the battery 19.

  When the hybrid excavator having the above configuration is operated in a low temperature environment of, for example, −30 ° C. in a cold region, it is necessary to perform a warm-up operation before performing a normal operation. The warm-up operation of the engine 11 is generally performed by operating the engine 11 in a no-load state for a predetermined time. During the warm-up operation, the rotational speed of the engine 11 is set higher than usual so as to warm up quickly. That is, during the warm-up operation after the engine 11 is started, the engine 11 is operated at a higher rotational speed than the normal rotational speed after the warm-up, and the temperature of the engine 11 quickly reaches the normal operation temperature. Control to ascend.

  When the warm-up operation of the engine 11 is completed, the main pump 14 is driven by the engine 11 and the warm-up operation of the hydraulic drive system is performed. When the warm-up operation of the hydraulic drive system is completed, it is possible to shift to the normal work mode. However, when the battery 19 is in a cold state, the internal resistance of the battery 19 is large, and the converter 58 performs control to keep the voltage of the DC bus 110 constant, so the charge / discharge current is small. . If normal work is performed in such a state, the assist motor 12 may be insufficiently assisted or power supply to the electric load 56 may be insufficient, and the work as intended by the operator may not be performed. . Further, when the battery 19 is charged, since the internal resistance of the battery 19 is high, the charging voltage becomes excessively large, and there is a possibility that control becomes impossible.

  Therefore, it is preferable to warm up the battery 19 simultaneously with the warm-up operation of the engine 11 and the hydraulic drive system. In the present embodiment, the battery 19 is warmed up by utilizing the internal heat generation of the battery 19. That is, when the temperature of the battery 19 is low, the battery 19 is forcibly charged / discharged to generate heat internally, thereby increasing the temperature and reducing the internal resistance.

  FIG. 5 is a flowchart of battery warm-up processing according to this embodiment. The battery warm-up process shown in FIG. 5 is executed when starting the operation of the hybrid hydraulic excavator.

  First, in step S1, it is determined whether the temperature of the capacitor constituting the battery 19 is equal to or higher than the warm-up set value Tw or lower than the warm-up set value Tw.

  The warm-up set value Tw is a temperature that is set in advance based on the internal resistance of the capacitor, and is a temperature at which a charge / discharge current that does not interfere with practical use can be obtained. Since the capacitor constituting the battery 19 rises in temperature when charging and discharging are repeated in normal operation after warming up, the battery 19 (capacitor) is completely warmed when the warming up operation of the battery 19 is completed. It is not necessary to be warm, and it only has to be warmed to a level that does not interfere with practical use (a level that does not hinder driving operations).

  Note that, as described above, the capacitor constituting the battery 19 rises in temperature when charging and discharging are repeated in a normal operation after warm-up, and thus needs to be cooled in order to suppress the temperature rise during normal operation. When the cooling system of the battery 19 is provided, it is preferable to stop the battery 19 so that the cooling system does not operate when the battery 19 is warmed up.

  The measured value is used as the temperature of the battery 19 used in step S1. The capacitor constituting the battery 19 is usually a capacitor unit in which a large number of capacitors are arranged in a three-dimensional matrix. Therefore, since the capacitor unit has a temperature distribution, for example, a temperature sensor such as a thermistor is attached to, for example, four capacitors in the capacitor unit to detect the temperature, and the average of the four temperatures is taken. Let it be temperature. Since the temperature of the capacitor located inside (center part) of the capacitor unit is higher than the temperature of the capacitor located outside the capacitor unit, the capacitor to which the temperature sensor is attached is appropriately selected so that the average temperature can be obtained. do it. Alternatively, the relationship between the temperature at a predetermined position of the capacitor unit and the average temperature of the capacitor unit may be examined in advance, and the temperature at the predetermined position may be detected and converted to the average temperature. As the predetermined position, for example, a central portion of the outer surface of the capacitor unit, an electrode terminal of the capacitor unit, or the like may be selected.

  If it is determined in step S1 that the temperature of the battery 19 is lower than the warm-up set value Tw, the process proceeds to step S2. In step S2, it is determined whether the current target charging rate (target SOC) of the battery 19 is set to a high SOC or a low SOC.

  The high SOC is a target charging rate set so that the battery 19 can be sufficiently discharged and charged in normal operation. On the other hand, the low SOC is a charging rate lower than a target charging rate (high SOC) set in normal operation.

  If it is determined in step S2 that the current target charging rate is set to high SOC, the process proceeds to step S3. In step S3, the current target charging rate is set to a low SOC. That is, in step S3, the current target charging rate is switched from high SOC to low SOC.

  On the other hand, if it is determined in step S2 that the current target charging rate is set to low SOC, the process proceeds to step S4. In step S4, the current target charging rate is set to a high SOC. That is, in step S4, the current target charging rate is switched from the low SOC to the high SOC.

  When the process of step S3 or step S4 ends, the process proceeds to step S5. In step S5, the process waits for a preset time (for example, 10 seconds), and then the process returns to step S1.

  Here, the processing of steps S1 to S5 will be described in more detail. If it is determined in step S1 that the temperature of the battery 19 is lower than the warm-up set value Tw, it means that the temperature of the battery 19 is low (when starting at a low temperature) and warm-up is necessary. When it is determined in step S2 that the current target charging rate (target SOC) of the battery 19 is set to high SOC, the target charging rate is changed from high SOC to low SOC in step S3. Since the current charging rate of the battery 19 should be close to the current target charging rate (ie, high SOC), when the target charging rate is changed to low SOC, the current charging rate is changed to the target charging rate. Control is performed so that the battery 19 is discharged when the value becomes higher than (low SOC).

  In order to discharge the battery 19, the assist motor 12 may be driven or the electric load 56 may be driven. In the present embodiment, the assist motor 12 is driven by the discharge current from the battery 19. As described above, when the process proceeds from step S1 to step S3 to step S3, the battery 19 is discharged and the assist motor 12 is driven, and the state is maintained for a preset time (for example, 10 seconds) in step S5. The That is, the battery 19 is discharged for 10 seconds.

  Thereafter, the process returns to step S1 and proceeds to step S2, where it is determined that the current target charging rate (target SOC) of the battery 19 is set to a low SOC. Therefore, the process proceeds to step S4, and the current target charging rate is changed from the low SOC to the high SOC. Since the current charging rate of the battery 19 should be close to the current target charging rate (that is, low SOC), when the target charging rate is changed to high SOC, the current charging rate becomes the target charging rate. The control is performed so that the battery 19 is charged by lowering (high SOC).

  In order to charge the battery 19, the assist motor 12 may generate electric power by driving the engine 11, or the electric load 56 may perform a regenerative operation. In the present embodiment, the charging current is supplied to the battery 19 by generating power by causing the assist motor 12 to function as a generator. As described above, when the process proceeds from step S1 to step S2 through step S2, the assist motor 12 generates power and the battery 19 is charged, and the state is maintained for a preset time (for example, 10 seconds) in step S5. The That is, the battery 19 is charged for 10 seconds.

  By repeating the above process, discharging and charging of the battery 19 are repeated for 10 seconds. FIG. 6 is a graph showing the charging rate of the battery 19 and the change in the current flowing through the battery 19 when the battery warm-up process is performed. In FIG. 6, the target charging rate (target SOC indicated by a solid line) is alternately switched between a high SOC and a low SOC every 10 seconds, and the current charging rate of the battery 19 (actual SOC indicated by a dotted line) increases or decreases accordingly. I understand. And it turns out that the electric current which flows into the battery 19 turns into a charging current and a discharge current every 10 seconds.

  FIG. 7 is a graph showing a change in the charging rate and a change in the temperature of the battery 19 when the processes in steps S1 to S5 are repeated for 10 minutes. It can be seen that when the target charging rate (target SOC) indicated by the solid line and the current charging rate (real SOC) indicated by the dotted line are repeatedly changed as shown in FIG. 6, the temperature of the battery 19 gradually increases. When the battery 19 is repeatedly charged and discharged, a charging / discharging current flows to the capacitor 19 to generate heat internally, thereby increasing the temperature of the battery 19.

  When the battery 19 is warmed up, the engine 11 is also cold so that the warm-up operation is performed. The warm-up operation time of the engine 11 is normally about 10 minutes. During this time, the temperature of the battery 19 also rises sufficiently, the warm-up is completed, and the operation close to normal can be performed.

  When the battery warm-up control is started at the start time when the environment is not low, it is determined in step S1 that the battery temperature is equal to or higher than the warm-up set value Tw, and the process proceeds to step S4. At this time, since the target charging rate is set to the high SOC which is a normal setting, the setting of the high SOC which is a normal setting is maintained in step S4. That is, when normal operation can be started immediately instead of starting in a low temperature environment, the process of warming up the battery 19 by changing the target charging rate to low SOC is not performed, and normal high SOC is started from the beginning. The operation is performed with the setting.

  As described above, in the warm-up method according to the present embodiment, when the temperature of the battery 19 is lower than the preset temperature, the engine 11 is operated to perform the warm-up operation, and the assist motor 12 is operated to operate the battery 19. Is charged and discharged to cause the battery 19 to generate heat and warm up. Therefore, the battery 19 can be warmed by internal heat generation by forcibly charging and discharging the battery 19 when the temperature of the battery 19 is low. For this reason, without using a heating device such as a heater, the battery 19 can be efficiently and quickly heated to reduce the internal resistance to a temperature at which normal operation can be performed.

  When discharging the battery 19 when the battery 19 is warmed up, the assist motor 12 is operated by discharging and the power is returned to the engine 11, so that the discharge energy is not wasted. Moreover, since the battery 19 is warmed from the inside using the internal heat generation of the battery 19, there is an effect that the internal resistance can be increased efficiently.

  In the battery warm-up process according to the present embodiment, the charging / discharging of the battery is merely repeated by changing the target charging rate, and operation control dedicated to warm-up is not performed. Even when the driving operation is performed, the driving based on the driving operation can be performed immediately.

  Further, when the battery warm-up process and the engine warm-up process are performed simultaneously, the engine speed is set high in the warm-up process, so that the input / output of the battery can be increased. Further, since the engine speed is increased during the warm-up process, the output can be increased, and even when a normal operation is performed during the warm-up process, it is possible to suppress a sense of discomfort in the operation.

  In the above-described embodiment, the parallel type hybrid construction machine has been described as an example. However, the warm-up method according to the present invention can be applied to a so-called series type hybrid construction machine.

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 Reducer 14 Main pump 15 Pilot pump 16 High pressure Hydraulic line 17 Control valve 18 Inverter 19 Battery 20 Inverter 21 Electric motor for turning 23 Mechanical brake 24 Turning speed reducer 25 Pilot line 26 Operating device 26A, 26B Lever 26C Pedal 27 Hydraulic line 28 Hydraulic line 29 Pressure sensor 30 Controller 32 Engine control unit 40 Drive control device 54 Hydraulic load 56 Electric load 58 Converter 110 DC bus 120 Power storage system

The present invention relates to an excavator , and more particularly to an excavator that assists an engine by driving a motor generator with electric power from a capacitor and a control method thereof .

The present invention has been made in view of the above-described problems, and an object of the present invention is to provide an excavator and a method for controlling the same that can efficiently and quickly warm a battery without using a separate heating device.

In order to achieve the above-described object, according to the present invention, a lower traveling body, an upper revolving body that performs a turning operation on the lower traveling body, a boom that is hydraulically driven on the upper revolving body, and the boom A hydraulically driven arm disposed at the other end of the motor, an engine provided in the upper swing body and generating a driving force, and provided in the upper swing body, rotated by the driving force of the engine, A main pump for supplying hydraulic oil to a cylinder for driving and a cylinder for driving the arm; a motor generator provided in the upper rotating body and mechanically coupled to the engine and the main pump; And a controller for controlling the assist operation and the power generation operation of the motor generator, and the controller sets the temperature of the capacitor in advance. When the engine is operated when the temperature is lower than the generated temperature and the battery is charged, the motor generator is caused to generate electricity by generating power by the power of the engine, and when the battery is discharged, There is provided an excavator characterized in that the motor generator is electrically operated using stored power and the main pump is rotated . A main pump that supplies hydraulic oil to a cylinder that drives the boom and a cylinder that drives the arm; an engine; a motor generator mechanically coupled to the main pump; and power generation generated by the motor generator A method for controlling a hybrid excavator comprising a capacitor for charging electric power, wherein the engine is operated when a temperature of the capacitor is lower than a preset temperature, and when the capacitor is charged, When generating electric power by causing the motor generator to generate power by motive power and discharging the capacitor, rotating the main pump by operating the motor generator using the stored power of the capacitor. A featured shovel control method is provided.

The control method according to the present invention is performed in order to warm an electric storage device such as a battery provided in a hybrid construction machine such as an excavator . As a hybrid construction machine, any construction machine can be used as long as the hydraulic pump drives the hydraulic pump while assisting the engine with the assist motor driven by the electric power from the battery, and works with the hydraulic pressure generated by the hydraulic pump. It may be. Examples of such a hybrid construction machine include a power shovel, a lifting magnet, a crane, and a wheel loader.

Claims (1)

  1. A method for warming up a hybrid construction machine,
    When the temperature of the battery is lower than a preset temperature, the engine is operated to perform a warm-up operation, and the motor is operated to charge and discharge the battery, thereby causing the battery to generate heat. Warm-up method for hybrid construction machines.
JP2012234668A 2012-10-24 2012-10-24 Shovel and control method therefor Pending JP2013052866A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2012234668A JP2013052866A (en) 2012-10-24 2012-10-24 Shovel and control method therefor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2012234668A JP2013052866A (en) 2012-10-24 2012-10-24 Shovel and control method therefor

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
JP2008306732 Division 2008-12-01

Publications (1)

Publication Number Publication Date
JP2013052866A true JP2013052866A (en) 2013-03-21

Family

ID=48130240

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2012234668A Pending JP2013052866A (en) 2012-10-24 2012-10-24 Shovel and control method therefor

Country Status (1)

Country Link
JP (1) JP2013052866A (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014529161A (en) * 2011-08-19 2014-10-30 日本碍子株式会社 Storage battery control method, storage battery control device, and power control system
WO2015156357A1 (en) * 2014-04-11 2015-10-15 日立建機株式会社 Hybrid work machine
WO2015170489A1 (en) * 2014-05-07 2015-11-12 日立建機株式会社 Hybrid work machine
JP2016056527A (en) * 2014-09-05 2016-04-21 日立建機株式会社 Hybrid construction machine
EP3061873A1 (en) 2015-02-26 2016-08-31 Kobelco Construction Machinery Co., Ltd. Hybrid construction machine
JP2016159789A (en) * 2015-03-03 2016-09-05 日立建機株式会社 Hybrid type construction machine
WO2016140190A1 (en) * 2015-03-03 2016-09-09 日立建機株式会社 Hybrid construction machine
CN107848733A (en) * 2015-07-01 2018-03-27 奥的斯电梯公司 The lithium ion battery charging system of battery powered elevator device
US10227020B2 (en) * 2016-06-08 2019-03-12 Toyota Jidosha Kabushiki Kaisha Fuel cell system

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000092614A (en) * 1998-09-07 2000-03-31 Toyota Motor Corp Hybrid vehicle charging/discharging state controller
JP2001012241A (en) * 1999-06-30 2001-01-16 Kobe Steel Ltd Battery warming device of construction machinery
JP2005332777A (en) * 2004-05-21 2005-12-02 Fuji Heavy Ind Ltd Warm-up control unit of battery
JP2006174597A (en) * 2004-12-15 2006-06-29 Fuji Heavy Ind Ltd Battery warm-up controller for hybrid car
JP2007107231A (en) * 2005-10-12 2007-04-26 Kobelco Contstruction Machinery Ltd Hybrid construction machinery
JP2008136308A (en) * 2006-11-28 2008-06-12 Toyota Motor Corp Power supply, vehicle equipped with the same and control method of the power supply
WO2008123368A1 (en) * 2007-03-28 2008-10-16 Komatsu Ltd. Hybrid construction machine controlling method, and hybrid construction machine
JP2008265682A (en) * 2007-04-24 2008-11-06 Toyota Motor Corp Vehicle and method for controlling the same
JP2008279978A (en) * 2007-05-14 2008-11-20 Toyota Motor Corp Power output device and control method for therefor

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000092614A (en) * 1998-09-07 2000-03-31 Toyota Motor Corp Hybrid vehicle charging/discharging state controller
JP2001012241A (en) * 1999-06-30 2001-01-16 Kobe Steel Ltd Battery warming device of construction machinery
JP2005332777A (en) * 2004-05-21 2005-12-02 Fuji Heavy Ind Ltd Warm-up control unit of battery
JP2006174597A (en) * 2004-12-15 2006-06-29 Fuji Heavy Ind Ltd Battery warm-up controller for hybrid car
JP2007107231A (en) * 2005-10-12 2007-04-26 Kobelco Contstruction Machinery Ltd Hybrid construction machinery
JP2008136308A (en) * 2006-11-28 2008-06-12 Toyota Motor Corp Power supply, vehicle equipped with the same and control method of the power supply
WO2008123368A1 (en) * 2007-03-28 2008-10-16 Komatsu Ltd. Hybrid construction machine controlling method, and hybrid construction machine
JP2008265682A (en) * 2007-04-24 2008-11-06 Toyota Motor Corp Vehicle and method for controlling the same
JP2008279978A (en) * 2007-05-14 2008-11-20 Toyota Motor Corp Power output device and control method for therefor

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014529161A (en) * 2011-08-19 2014-10-30 日本碍子株式会社 Storage battery control method, storage battery control device, and power control system
CN106062287A (en) * 2014-04-11 2016-10-26 株式会社Kcm Hybrid work machine
WO2015156357A1 (en) * 2014-04-11 2015-10-15 日立建機株式会社 Hybrid work machine
CN106062287B (en) * 2014-04-11 2018-06-22 株式会社Kcm Mixed motivity type working rig
KR101846107B1 (en) * 2014-04-11 2018-04-05 가부시키가이샤 케이씨엠 Hybrid work machine
JPWO2015156357A1 (en) * 2014-04-11 2017-04-13 株式会社Kcm Hybrid working machine
US10286894B2 (en) 2014-04-11 2019-05-14 Kcm Corporation Hybrid work machine
US10060095B2 (en) 2014-05-07 2018-08-28 Hitachi Construction Machinery Co., Ltd. Hybrid work machine
CN105980227A (en) * 2014-05-07 2016-09-28 日立建机株式会社 Hybrid operating machine
WO2015170489A1 (en) * 2014-05-07 2015-11-12 日立建機株式会社 Hybrid work machine
KR101820619B1 (en) * 2014-05-07 2018-02-28 히다찌 겐끼 가부시키가이샤 Hybrid work machine
CN105980227B (en) * 2014-05-07 2018-11-09 日立建机株式会社 Hybrid power type Work machine
JP2015214174A (en) * 2014-05-07 2015-12-03 日立建機株式会社 Hybrid operating machine
JP2016056527A (en) * 2014-09-05 2016-04-21 日立建機株式会社 Hybrid construction machine
US9873349B2 (en) 2015-02-26 2018-01-23 Kobelco Construction Machinery Co., Ltd. Hybrid construction machine
EP3061873A1 (en) 2015-02-26 2016-08-31 Kobelco Construction Machinery Co., Ltd. Hybrid construction machine
JP2016159789A (en) * 2015-03-03 2016-09-05 日立建機株式会社 Hybrid type construction machine
WO2016140190A1 (en) * 2015-03-03 2016-09-09 日立建機株式会社 Hybrid construction machine
CN107848733A (en) * 2015-07-01 2018-03-27 奥的斯电梯公司 The lithium ion battery charging system of battery powered elevator device
US10227020B2 (en) * 2016-06-08 2019-03-12 Toyota Jidosha Kabushiki Kaisha Fuel cell system

Similar Documents

Publication Publication Date Title
US7086226B2 (en) Construction machine
KR101662863B1 (en) Construction machine and industrial vehicle provided with power supply system
KR101268849B1 (en) Hybrid construction machine
CN102209655B (en) Hybrid construction machine
JP5055948B2 (en) Hybrid work machine
KR101199244B1 (en) Hybrid construction machine
EP2181905B1 (en) Hybrid working machine
CN102301561B (en) Hybrid working machine and electricity storage control apparatus
US8649925B2 (en) Method and system for controlling operation of an electric oil pump in a hybrid electric vehicle (HEV)
KR101169962B1 (en) Operating machine
DE102010060629A1 (en) Control device for electric vehicles
CN101529644A (en) And a vehicle power supply device
CN104832344A (en) Method for improved engine operation
JP5198661B2 (en) Hybrid type work machine and control method of work machine
EP2243676B1 (en) Hybrid-type working machine
JP5626819B2 (en) Hybrid excavator
JP5487861B2 (en) Battery warm-up control device
CN102272389B (en) Warm-up method for hybrid construction machine, and hybrid construction machine
US8676452B2 (en) Hybrid type working machine
WO2010087364A1 (en) Hybrid working machine and servo control system
JP2011130653A (en) Hybrid-type working machine
JP5188783B2 (en) Vehicle drive system
EP2479351A1 (en) Hybrid construction machine
EP2377710A3 (en) Hybrid working machine having battery protecting function
CN103958243A (en) Vehicle and control method for vehicle

Legal Events

Date Code Title Description
A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20130618

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20130807

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20140304

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20140421

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20141104