JP4892057B2 - ハイブリッド建設機械の制御方法およびハイブリッド建設機械 - Google Patents
ハイブリッド建設機械の制御方法およびハイブリッド建設機械 Download PDFInfo
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- JP4892057B2 JP4892057B2 JP2009509170A JP2009509170A JP4892057B2 JP 4892057 B2 JP4892057 B2 JP 4892057B2 JP 2009509170 A JP2009509170 A JP 2009509170A JP 2009509170 A JP2009509170 A JP 2009509170A JP 4892057 B2 JP4892057 B2 JP 4892057B2
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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
- B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
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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
- B60K6/48—Parallel type
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- E—FIXED CONSTRUCTIONS
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- 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
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- B60K6/543—Transmission for changing ratio the transmission being a continuously variable transmission
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- E—FIXED CONSTRUCTIONS
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- E—FIXED CONSTRUCTIONS
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- E—FIXED CONSTRUCTIONS
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
- Y02T10/72—Electric energy management in electromobility
Description
2 エンジン
3 発電機モータ
4 油圧ポンプ
5 インバータ
6 キャパシタ
7 電圧センサ
8 昇圧器
9 旋回モータ
10 旋回インバータ
11 スイングマシナリ
12 コントローラ
12a メモリ
13 操作入力部
21 ブーム用操作弁
22 アーム用操作弁
23 バケット用操作弁
24 左走行用操作弁
25 右走行用操作弁
31 ブーム用油圧シリンダ
32 アーム用油圧シリンダ
33 バケット用油圧シリンダ
34 左走行用油圧モータ
35 右走行用油圧モータ
101 走行体
102 旋回体
103 ブーム
104 アーム
105 バケット
Claims (10)
- 互いに連結されたエンジンおよび発電機モータと、前記発電機モータから電力が供給され、本体の一部を他の部分に対して旋回させる旋回モータと、前記発電機モータおよび前記旋回モータがそれぞれ発電した電力を蓄電する一方、前記発電機モータおよび前記旋回モータに電力を供給するキャパシタと、前記キャパシタの電圧を昇圧して出力する昇圧器と、を備えたハイブリッド建設機械の制御方法であって、
前記昇圧器が前記キャパシタの放電に伴った出力を行う場合、前記キャパシタのキャパシタ電圧に応じた前記発電機モータのアシストトルク制限値を算出するアシストトルク制限値算出ステップと、
前記発電機モータの目標速度に応じて前記発電機モータのトルク指令値を計算する発電機モータトルク指令値計算ステップと、
前記アシストトルク制限値算出ステップで算出したアシストトルク制限値と前記発電機モータトルク指令値計算ステップで計算したトルク指令値とを比較し、値が小さい方を前記発電機モータの実トルク指令値として生成する発電機モータ実トルク指令値生成ステップと、
を有することを特徴とするハイブリッド建設機械の制御方法。 - 前記アシストトルク制限値は、前記キャパシタ電圧が第1の閾値以下でゼロであり、前記キャパシタ電圧が前記第1の閾値より大きくなるにつれて徐々に増加し、前記第1の閾値よりも大きい第2の閾値以上で一定値を取ることを特徴とする請求項1記載のハイブリッド建設機械の制御方法。
- 前記発電機モータトルク指令値計算ステップは、
前記発電機モータの実速度をフィードバックする比例制御を行うことによって前記発電機モータのトルク指令値を計算することを特徴とする請求項1または2記載のハイブリッド建設機械の制御方法。 - 前記昇圧器が前記キャパシタの放電に伴った出力を行う場合、前記キャパシタ電圧に応じた前記旋回モータの旋回力行トルク制限値を算出する旋回力行トルク制限値算出ステップと、
前記旋回モータの目標速度に応じて前記旋回モータのトルク指令値を計算する旋回モータトルク指令値計算ステップと、
前記旋回力行トルク制限値算出ステップで算出した旋回力行トルク制限値と前記旋回モータトルク指令値計算ステップで計算したトルク指令値とを比較し、値が小さい方を前記旋回モータの実トルク指令値として生成する旋回モータ実トルク指令値生成ステップと、
をさらに有することを特徴とする請求項1〜3のいずれか一項記載のハイブリッド建設機械の制御方法。 - 前記旋回力行トルク制限値は、前記キャパシタ電圧が、前記第1の閾値よりも小さい第3の閾値以下でゼロであり、前記キャパシタ電圧が前記第3の閾値より大きくなるにつれて徐々に増加し、前記第3の閾値よりも大きい第4の閾値以上で一定値を取ることを特徴とする請求項4記載のハイブリッド建設機械の制御方法。
- 前記旋回モータトルク指令値計算ステップは、
前記旋回モータの実速度をフィードバックする比例制御を行うことによって前記旋回モータのトルク指令値を計算することを特徴とする請求項4または5記載のハイブリッド建設機械の制御方法。 - 前記昇圧器が前記キャパシタの充電に伴った出力を行う場合、前記キャパシタ電圧に応じた前記昇圧器の出力限界値を算出する昇圧器出力限界値算出ステップと、
前記昇圧器出力限界値算出ステップで算出した出力限界値と前記旋回モータの出力を用いて前記発電機モータの出力限界値を求める発電機モータ出力限界値算出ステップと、
前記発電機モータ出力限界値算出ステップで算出した前記発電機モータの出力限界値と前記発電機モータの目標出力値とを比較し、値が小さい方を前記発電機モータの実目標出力値として生成する実目標出力値生成ステップと、
前記実目標出力値生成ステップで生成した実目標出力値と前記発電機モータの回転数とを用いて前記発電機モータの実トルク指令値を生成する充電時発電機モータ実トルク指令値生成ステップと、
を有することを特徴とする請求項1〜6のいずれか一項記載のハイブリッド建設機械の制御方法。 - 互いに連結されたエンジンおよび発電機モータと、前記発電機モータから電力が供給され、本体の一部を他の部分に対して旋回させる旋回モータと、前記発電機モータおよび前記旋回モータがそれぞれ発電した電力を蓄電する一方、前記発電機モータおよび前記旋回モータに電力を供給するキャパシタと、前記キャパシタの電圧を昇圧して出力する昇圧器と、を備えたハイブリッド建設機械であって、
前記キャパシタのキャパシタ電圧を逐次計測するキャパシタ電圧計測手段と、
前記昇圧器が前記キャパシタの放電に伴った出力を行う場合、前記キャパシタ電圧計測手段で計測したキャパシタ電圧に応じた前記発電機モータのアシストトルク制限値を算出する一方、前記発電機モータの目標速度に応じて前記発電機モータのトルク指令値を計算し、前記アシストトルク制限値と前記発電機モータのトルク指令値とを比較し、値が小さい方を前記発電機モータの実トルク指令値として生成、出力する制御手段と、
を備えたことを特徴とするハイブリッド建設機械。 - 前記制御手段は、
前記昇圧器が前記キャパシタの放電に伴った出力を行う場合、前記キャパシタ電圧計測手段が計測したキャパシタ電圧に応じた前記旋回モータの旋回力行トルク制限値を算出する一方、前記旋回モータの目標速度に応じて前記旋回モータのトルク指令値を計算し、前記旋回力行トルク制限値と前記旋回モータのトルク指令値とを比較し、値が小さい方を前記旋回モータの実トルク指令として生成、出力することを特徴とする請求項8記載のハイブリッド建設機械。 - 前記制御手段は、
前記昇圧器が前記キャパシタの充電に伴った出力を行う場合、前記キャパシタ電圧計測手段が計測したキャパシタ電圧に応じた前記昇圧器の出力限界値を算出し、この算出した出力限界値と前記旋回モータの出力を用いて前記発電機モータの出力限界値を求め、この出力限界値と前記発電機モータの目標出力値とを比較し、値が小さい方を前記発電機モータの実目標出力値として生成、出力することを特徴とする請求項8または9記載のハイブリッド建設機械。
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KR20090125790A (ko) | 2009-12-07 |
CN101636543B (zh) | 2012-03-07 |
JPWO2008123368A1 (ja) | 2010-07-15 |
US8439139B2 (en) | 2013-05-14 |
DE112008000818T5 (de) | 2010-01-14 |
KR101120452B1 (ko) | 2012-03-02 |
CN101636543A (zh) | 2010-01-27 |
WO2008123368A1 (ja) | 2008-10-16 |
DE112008000818B4 (de) | 2017-12-14 |
US20100071973A1 (en) | 2010-03-25 |
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