JP5638471B2 - Control device for hybrid construction machine - Google Patents

Description

  The present invention relates to a control device for a hybrid construction machine.

  In a hybrid construction machine including a generator motor as an electric actuator for driving an upper swing body and a hydraulic actuator for driving an articulated work machine installed on the upper swing body, a hydraulic actuator and an electric actuator are provided. After excavating the earth and sand with the work machine, the hoist turning work is performed in which the upper turning body is turned while raising the work machine to release the earth and sand to the loading platform of the dump truck. In this hoist turning work, there is one that improves operability without giving the operator a sense of incongruity by performing control for matching the speeds of both actuators (see, for example, Patent Document 1). .

International Publication No. WO2007 / 052538

  In the above-described prior art, the determination unit includes a determination unit that determines whether or not the hydraulic actuator and the electric actuator are operated in combination, and a control unit that limits the torque or the operation speed of the electric actuator. For example, when it is determined that the hydraulic actuator and the electric actuator are operating in combination, such as in a hoist turning operation, the torque or operating speed of the generator motor that is the electric actuator is limited to Good matching between turning and boom speed of work equipment. In other words, the above-described prior art discloses a control device for a hybrid construction machine capable of appropriately distributing output according to a combined operation in order to improve operability. The output distribution in this prior art is adjusted for a composite operation with a high priority (in this example, a hoist turning operation). However, in the hybrid construction machine, work other than the hoist turning work described above is also required.

  For example, in the case of earth and sand leveling and leveling work, turning of the revolving body and movement of the work machine are performed to move the earth and sand, but there is little movement to raise the bucket of the work machine, Usability is required. Since the turning operation requires the same operating characteristics as the above-described sediment loading, there is a problem that it is difficult to obtain good operability in the speed balance between the two actuators described above.

  Furthermore, for example, when excavating relatively deeply in a narrow place in an urban area or the like, the turning operation may be slow, but agile operability is required to increase the excavation speed by operating the work machine quickly. The Even in such a case, it is difficult to obtain good operability by the speed balance between the two actuators described above. As a result, there is a problem that the labor of the operator is increased and the productivity is lowered.

  The present invention has been made based on the above-described matters, and its purpose is to provide an output of an electric actuator and an output of the hydraulic actuator in a combined operation of the electric actuator and the hydraulic actuator that occur in accordance with every operation of the hybrid construction machine. It is an object of the present invention to provide a control device for a hybrid construction machine that can appropriately distribute output.

In order to achieve the above object, the first invention provides a hydraulic pump, a plurality of hydraulic actuators driven by the hydraulic pump, a variable displacement mechanism for controlling a discharge flow rate of the hydraulic pump, and each of the hydraulic actuators A plurality of work machine operating devices that command the driving of the rotating body, a revolving body, the electric motor for driving the revolving body, an electric storage device connected to the electric motor, the inverter for driving the electric motor, and the revolving body In a control device for a hybrid construction machine having a turning operation device for instructing driving of the pump, a pump flow rate calculating means for calculating the hydraulic pump discharge flow rate based on a command from the work implement operating device, and a turning operation device A turning speed calculating means for calculating a turning speed of the turning body based on the command of the above, an operating speed of each hydraulic actuator and a turning speed of the turning body A speed setter for setting a speed balance with the pump, a pump flow rate correcting means for calculating a correction amount of the hydraulic pump discharge flow rate based on a signal from the speed setter, and a signal from the speed setter. A swing speed correction unit that calculates a correction amount of the swing speed, and the variable capacity mechanism has a correction amount calculated by the pump flow rate correction unit to the hydraulic pump discharge flow rate calculated by the pump flow rate calculation unit. Is output, and the inverter outputs a command signal obtained by calculating the correction amount calculated by the turning speed correcting means to the turning speed of the turning body calculated by the turning speed calculating means. is, the speed setting unit, respectively from the neutral position in the positive and negative directions is rotatable, the pump flow rate correction means, ipecac a signal in the positive direction side and the neutral position of the speed setter Sometimes, a correction value of constant 1 is calculated, and when a signal on the negative direction side of the speed setter is captured, a correction value less than constant 1 is calculated, and the turning speed correction means is a negative value of the speed setter. When the direction and neutral position signals are captured, a correction value of constant 1 is calculated, and when the positive direction signal of the speed setting device is captured, a correction value less than constant 1 is calculated. .

According to a second aspect, in the first aspect, the speed setting device is provided in any one of the plurality of work implement operating devices .

  According to the present invention, the speed characteristics of the electric actuator system and the hydraulic actuator system can be adjusted according to any work involving the combined operation of the electric actuator and the hydraulic actuator of the hybrid construction machine. The operation of each actuator corresponding to the work can be easily realized. As a result, the operability of the operator is improved, the labor of the operator is reduced, and the productivity can be increased.

It is a side view showing a hydraulic excavator provided with one embodiment of a control device of a hybrid construction machine of the present invention. It is the schematic of the drive control system of the hydraulic shovel provided with one Embodiment of the control apparatus of the hybrid type construction machine of this invention. It is a control block diagram which shows one Embodiment of the control apparatus of the hybrid type construction machine of this invention. It is a characteristic view which shows an example of the setting function for booms in the controller which comprises one Embodiment of the control apparatus of the hybrid type construction machine of this invention. It is a characteristic view which shows an example of the setting function for turning in the controller which comprises one Embodiment of the control apparatus of the hybrid type construction machine of this invention. It is a characteristic view which shows an example of the setting function for hydraulic system speed correction | amendment in the controller which comprises one Embodiment of the control apparatus of the hybrid type construction machine of this invention. It is a characteristic view which shows an example of the setting function for electric system speed correction | amendment in the controller which comprises one Embodiment of the control apparatus of the hybrid type construction machine of this invention. It is a characteristic view which shows an example of the time-sequential characteristic of the turning displacement amount and boom displacement amount in the hoist turning operation | work of the hydraulic shovel provided with one Embodiment of the control apparatus of the hybrid type construction machine of this invention. It is a characteristic view which shows the amount of turning displacement and the amount of boom displacement with respect to the speed setter scale at the time of the hoist turning operation | work of the hydraulic shovel provided with one Embodiment of the control apparatus of the hybrid type construction machine of this invention. It is a characteristic view which shows the other example of the time series characteristic of the turning displacement amount and boom displacement amount in the hoist turning operation | work of the hydraulic shovel provided with one Embodiment of the control apparatus of the hybrid type construction machine of this invention. It is a characteristic view which shows the further another example of the time-sequential characteristic of the turning displacement amount and boom displacement amount in the hoist turning operation | work of the hydraulic shovel provided with one Embodiment of the control apparatus of the hybrid type construction machine of this invention.

Embodiments of a construction machine control apparatus according to the present invention will be described below with reference to the drawings.
FIG. 1 is a side view showing a hydraulic excavator provided with an embodiment of a control device for a hybrid construction machine according to the present invention, and FIG. 2 shows a hydraulic pressure provided with an embodiment of a control device for a hybrid construction machine according to the present invention. It is the schematic of the drive control system of an shovel.

  In FIG. 1, the hybrid excavator includes a traveling body 10, a revolving body 20 provided on the traveling body 10 so as to be able to swivel, and an articulated work machine 30.

  The traveling body 10 includes a pair of crawlers 11a and 11b and crawler frames 12a and 12b (only one side is shown in FIG. 1), a pair of traveling hydraulic motors 13 and 14 that independently drive and control the crawlers 11a and 11b, and It consists of a speed reduction mechanism.

  The swing body 20 includes a swing frame 21, an engine 22 as a prime mover provided on the swing frame 21, an assist power generation motor 23 driven by the engine 22, a swing electric motor 25, an assist power generation motor 23, and a swing. The electric double layer capacitor 24 connected to the electric motor 25 and a speed reduction mechanism 26 that decelerates the rotation of the swing electric motor 25, etc. are transmitted, and the driving force of the swing electric motor 25 is transmitted through the speed reduction mechanism 26 and driven. The turning body 20 (the turning frame 21) is driven to turn with respect to the traveling body 10 by force.

  The revolving unit 20 is provided with an articulated working machine 30. The articulated work machine 30 includes a boom 31 provided at the front portion of the revolving structure 20, a boom cylinder 32 for driving the boom 31, and an arm 33 that is rotatably supported near the tip of the boom 31. And an arm cylinder 34 for driving the arm 33, a bucket 35 rotatably supported at the tip of the arm 33, a bucket cylinder 36 for driving the bucket 35, and the like.

  Further, a hydraulic system 40 for driving hydraulic actuators such as the traveling hydraulic motors 13 and 14, the boom cylinder 32, the arc cylinder 34, and the bucket cylinder 36 described above is mounted on the swing frame 21 of the swing body 20. Yes. The hydraulic system 40 includes a hydraulic pump 41 serving as a hydraulic source for generating hydraulic pressure and a control valve 42 (FIG. 2) for driving and controlling each actuator. The hydraulic pump 41 includes an engine 22 and an assist generator motor connected in series. 23.

  In addition, a driver's seat 27 is provided on the front side of the swing frame 21 of the swing body, and operating lever devices 62, 64, 65, 66 and a speed setting device 70, which will be described later, are arranged on the driver's seat 27. It is installed.

  Next, the system configuration of the electric / hydraulic equipment of the hydraulic excavator will be outlined. As shown in FIG. 2, the hydraulic pump 41 has, for example, a swash plate as a variable displacement mechanism, and the swash plate is operated by a tilt angle operation unit 50 to adjust the tilt angle. The capacity (displacement volume) 41 is changed to control the discharge flow rate of the pressure oil. A command to the tilt angle operation unit 50 is output from a controller 80 described later.

  The control valve 42 includes a boom spool 42A, an arm spool 42B, a bucket spool 42C, and the like, and each operation command (illustrated) from the boom operation lever device 62, the arm operation lever device 64, the bucket operation lever device 66, and the like. The flow rate and direction of the pressure oil supplied to the boom cylinder 32, the arm cylinder 34, the bucket cylinder 36, and other hydraulic actuators are controlled according to the hydraulic pilot signal). In addition, the boom operation lever device 62, the arm operation lever device 64, the bucket operation lever device 66, and the like output respective operation signals by operation of the operation lever to the controller 80.

  The electric system includes an assist power generation motor 23, a capacitor 24 as a power storage device and a swing electric motor 25, an inverter 52 for driving the swing electric motor 25, an inverter 53 for driving the assist power generation motor 23, and the like. Yes.

  DC power from the capacitor 24 is boosted to a predetermined bus voltage by a chopper or the like (not shown), and is input to an inverter 52 for driving the swing electric motor 25 and an inverter 53 for driving the assist power generation motor 23. The turning electric motor 25 drives the turning body 20 via the speed reduction mechanism 26. The capacitor 24 is charged and discharged depending on the driving state (whether it is powering or regenerating) of the assist power generation motor 23 and the swing electric motor 25.

  The inverter 52 for driving the swing electric motor 25 and the inverter 53 for driving the assist power generation motor 23 have an inverter control controller (not shown). A power generation or assist command is received, a PWM signal is output to the inverters 52 and 53 in accordance with the command, and a switching element (not shown) in the inverters 52 and 53 is opened and closed to generate a three-phase alternating current. 25. The assist generator motor 23 is driven with the commanded torque.

  The controller 80 inputs each operation signal from the boom operation lever device 62, the arm operation lever device 64, the bucket operation lever device 66, and the turning operation lever device 65, and the operation speed of the hydraulic actuator and the electric actuator. A speed signal from a speed setting device 70 for setting a speed balance with the turning operation speed is input, and the control valve 42, the tilt angle operation unit 50, the inverter 52 are used by using these operation command signals and the like (described later). , 53 is generated, and the flow rate control of the hydraulic pump 41 according to the operating speed of the hydraulic actuator and the turning control of the turning electric motor 25 that drives the turning body 20 are performed. At this time, the speed balance between the operating speed of the hydraulic actuator and the turning speed of the electric actuator is controlled according to the command of the speed setting device 70.

  Next, control of the controller 80 in the present embodiment will be described with reference to the drawings. FIG. 3 is a control block diagram showing an embodiment of a control device for a hybrid construction machine of the present invention, and FIG. 4 is for a boom in a controller constituting the embodiment of the control device for a hybrid construction machine of the present invention. FIG. 5 is a characteristic diagram showing an example of a setting function, FIG. 5 is a characteristic diagram showing an example of a turning setting function in a controller constituting one embodiment of a control device for a hybrid construction machine of the present invention, and FIG. FIG. 7 is a characteristic diagram showing an example of a setting function for hydraulic system speed correction in a controller constituting one embodiment of a control device for a hybrid construction machine, and FIG. 7 shows one embodiment of the control device for a hybrid construction machine of the present invention. It is a characteristic view which shows an example of the setting function for electric system speed correction | amendment in the controller which comprises. 3 to 7, the same reference numerals as those shown in FIGS. 1 and 2 are the same parts, and detailed description thereof is omitted. In the present embodiment, a case where the swing electric motor 25 is operated as an electric actuator and the boom cylinder 32 that drives the boom 31 is operated as a hydraulic actuator will be described as an example.

  The controller 80 shown in FIG. 3 includes a pump flow rate calculation unit 80A that controls the discharge flow rate of the hydraulic pump 41 according to the operating speed of the hydraulic actuator, and a turning speed calculation unit 80B that controls the rotation speed of the turning electric motor 25 as an electric actuator. And a controller unit including a storage unit (not shown) that stores a set value in advance.

  As shown in FIG. 3, the controller 80 receives an operation signal from the boom operation lever device 62 and the turning operation lever device 65 and a setting signal from the speed setting device 70. In the present embodiment, for example, a current signal is input.

  The controller 80 outputs each command signal calculated. A drive command corresponding to the discharge flow rate of the hydraulic pump 41 is output from the pump flow rate calculation unit 80A to the tilt angle operation unit 50 of the swash plate. Further, a torque command for realizing the command speed is output to the inverter 52 from the turning speed calculation unit 80B.

  The pump flow rate calculation unit 80A multiplies a discharge flow rate characteristic function generator 81 and a pump discharge flow rate correction function generator 82 to which an operation signal from the boom operation lever device 62 and a setting signal from the speed setter 70 are input, respectively. And an arithmetic unit 83.

  An operation signal from the boom operation lever device 62 is input to the discharge flow rate characteristic function generator 81, and a discharge flow rate characteristic of the hydraulic pump 41 corresponding to this input is set in advance. This set value is determined so as to match the operation feeling of the operator, and is stored in the storage unit. Here, the output of the discharge flow rate characteristic function generator 81 corresponds to the signal from the boom operation lever device 62, and as shown in FIG. 4, the lever stroke-1 on the boom reduction side passes through a neutral zero. Then, it is set in advance so that an output signal that is a pump discharge flow rate corresponding to each input value can be obtained with the lever stroke 1 on the boom extension side as an input. The output signal of the discharge flow rate characteristic function generator 81 is input to one of the multiplication calculator 83.

  The pump discharge flow rate correction function generator 82 receives a setting signal from the speed setter 70, and the discharge flow rate correction characteristic of the hydraulic pump 41 is preset based on this signal. This set value is stored in the storage unit. As shown in FIG. 6, this correction characteristic has a scale 1 on the dial A side, which is the positive direction of the speed setting device 70, from the scale 1 on the dial B side, which is the negative direction of the speed setting device 70, through a neutral zero. Is set in advance so that an output signal that is a correction coefficient of the pump discharge flow rate corresponding to each input value is obtained. The output signal of the pump discharge flow rate correction function generator 82 is input to the other of the multiplication calculator 83.

  The multiplication calculator 83 receives the output signal of the discharge flow rate characteristic function generator 81 that is a pump discharge flow rate characteristic signal and the output signal of the pump discharge flow rate correction function generator 82 that is a correction coefficient, and multiplies the two inputs. The calculation is performed and the output signal is output to the tilt angle operation unit 50. This signal is converted into a current signal, for example, and output as a discharge flow rate drive command.

  The turning speed calculation unit 80B includes a speed torque characteristic function generator 84, a turning speed correction function generator 85 to which an operation signal from the turning operation lever device 65 and a setting signal from the speed setting unit 70 are input, and multiplication operation. Instrument 86.

  An operation signal from the turning operation lever device 65 is input to the speed torque characteristic function generator 84, and the speed torque characteristic of the turning drive motor 25 with respect to this input is set in advance. This set value is determined so as to match the operation feeling of the operator, and is stored in the storage unit. Here, the output of the speed torque characteristic function generator 84 corresponds to the signal from the turning operation lever device 65, and as shown in FIG. Thus, an output signal that is a speed torque command corresponding to each input value is set in advance up to the lever stroke 1 on the right side of the turn. The output signal of the speed torque characteristic function generator 84 is input to one of the multiplication calculator 86.

  The turning speed correction function generator 85 receives a setting signal from the speed setting device 70, and the speed torque correction characteristic of the turning drive motor 25 is set in advance based on this signal. This set value is stored in the storage unit. As shown in FIG. 7, this correction characteristic has a scale 1 on the dial A side, which is the positive direction of the speed setting device 70, from the scale 1 on the dial B side, which is the negative direction of the speed setting device 70, through a neutral zero. Is set in advance so as to obtain an output signal which is a correction coefficient of the speed torque corresponding to each input value. The output signal of the turning speed correction function generator 85 is input to the other of the multiplication calculator 86.

  The multiplication calculator 86 receives the output signal of the speed torque characteristic function generator 84, which is a speed torque characteristic signal, and the output signal of the turning speed correction function generator 85, which is a correction coefficient, and multiplies the two inputs. The output signal is output to the inverter 52 of the turning drive motor 25. This signal is converted into a current signal, for example, and output as a torque command.

  As shown in FIGS. 6 and 7, the pump discharge flow rate correction function generator 82 and the turning speed correction function generator 85 correct the output as a constant 1 (K = 1) near the neutrality of the speed setter 70, as shown in FIGS. It is configured not to. As the signal from the speed setter 70 advances in one direction, for example, the dial B side which is negative, only the hydraulic system is reduced and the electric system is not corrected as it is. As the operation proceeds to step S1, only the electric system is reduced and the hydraulic system is not corrected as it is. As a result, when the operator operates the speed setter 70, the speed balance of the hydraulic and electric actuators can be arbitrarily adjusted.

  Next, the operation of the embodiment of the control device for the hybrid construction machine according to the present invention will be described with reference to the drawings. FIG. 8 is a characteristic diagram showing an example of a time-series characteristic of a turning displacement amount and a boom displacement amount in a hoist turning operation of a hydraulic excavator equipped with an embodiment of a control device for a hybrid construction machine according to the present invention. FIG. 10 is a characteristic diagram showing a turning displacement amount and a boom displacement amount with respect to a speed setting scale during a hoist turning operation of a hydraulic excavator provided with an embodiment of a control device for a hybrid construction machine according to the present invention. FIG. 11 is a characteristic diagram showing another example of the time-series characteristic of the turning displacement amount and the boom displacement amount in the hoist turning operation of the hydraulic excavator equipped with the embodiment of the control device for the hybrid construction machine. Chart showing still another example of time-series characteristics of turning displacement amount and boom displacement amount in hoist turning operation of a hydraulic excavator equipped with an embodiment of a control device for a construction machine A.

  First, the case where the speed setter 70 is near neutral will be described. In FIG. 3, when the speed setter 70 is near neutral, the pump discharge flow rate correction function generator 82 and the turning speed correction function generator 85 each output a value K = 1 that is not corrected. A pump discharge flow rate is determined by a discharge flow rate characteristic function generator 81 having a discharge flow rate characteristic set in advance based on a command input from the hydraulic boom control lever device 62, and a correction gain K of the pump discharge flow rate correction function generator 82 is obtained. = 1 is corrected. In this case, the pump discharge flow rate without correction is commanded to the hydraulic pump 41, and these pump discharge flow rates are controlled by the control valve 42.

  On the other hand, the turning torque characteristic function generator 84 obtains the turning speed based on the command input from the turning operation lever device 65, and is corrected by the correction gain K = 1 of the turning speed correction function generator 85. In this case, the turning speed without correction is instructed to the inverter 52 and the turning operation is performed. As a result, when the speed setter 70 is near neutral, a neutral state in which the adjustment function is not activated is established.

  Next, a specific operation of the hoist turning operation will be described. For example, when sediment or the like excavated by a hydraulic excavator is loaded on a dump truck bed by turning the revolving structure 20 and the work machine 30, the turning amount in the turning operation is set to 90 degrees from the excavation position to the earth discharging position. The case where the amount of lift of the bucket 35 is about 2.5 m will be described.

  In FIG. 8, the horizontal axis represents time t, the vertical axis represents the respective displacement amounts Dx and Dy, the characteristic line X represents the turning displacement amount of the revolving structure 20, and the characteristic line Y represents the displacement amount of the boom 31. In such an interlocking operation, a case is shown in which the speed balance between the boom displacement amount and the turning displacement amount is matched. In FIG. 8, when the turning displacement amount and the boom displacement amount start to rise substantially simultaneously and the turning displacement amount reaches 90 degrees, the boom displacement amount also reaches 2.5 m. In FIG. 9, the horizontal axis represents the turning displacement amount Dx, the vertical axis represents the boom displacement amount Dy, and the characteristic line N shows the relationship between the boom displacement amount and the turning displacement amount when the speed setting device 70 is near neutral. Yes. When the turning displacement amount is 90 degrees, the boom cylinder displacement amount is 2.5 m.

  Such speed balance is realized by setting each characteristic of the speed torque characteristic function generator 84 and the discharge flow characteristic function generator 81 in which the discharge flow characteristic is preset in FIG. If adjusted in this way, even if the operator performs a relatively rough operation, it is possible to obtain an interlocking operation suitable for loading the dump truck.

  On the other hand, in the case of earth and sand leveling and leveling work, the operation of the working machine 30 for moving the earth and sand and the turning operation of the swivel body 20 are required. However, since there is no loading work on the dump truck, the work machine There is little movement to raise 30. For this reason, the speed of the turning operation is required to have the same operating characteristics as the hoist turning operation described above, but the operation of the work implement 30 is required to have a slow fine operability. In the case of such leveling / leveling work, the speed balance is changed by operating the speed setter 70.

  In FIG. 3, in order to reduce the operating speed of the work machine 30, the speed setter 70 is changed to the B-side direction, which is the negative direction. As a result, the turning speed correction function generator 85 calculates a value K = 1 that is not corrected equal to that at the neutral time, while the pump discharge flow rate correction function generator 82 calculates a value K <1 that corrects the decrease. The pump discharge flow rate is determined by the discharge flow rate characteristic function generator 81 based on the command input from the hydraulic boom control lever device 62 and is corrected by the correction gain K <1 of the pump discharge flow rate correction function generator 82. As a result, a pump discharge flow rate smaller than the neutral pump discharge flow rate is commanded to the hydraulic pump 41, and these pump discharge flow rates are controlled by the control valve 42. On the other hand, the turning speed command from the speed torque characteristic function generator 84 is not corrected.

  Accordingly, the operation of the work machine 30 can be performed in accordance with the fine operation, and the normal operation can be performed as the turning operation. Therefore, it is possible to obtain an operation suitable for leveling and leveling work.

  FIG. 10 shows the boom displacement amount and the turning displacement amount in such an interlocking operation. In FIG. 10, when the turning displacement amount indicated by the characteristic line X and the boom displacement amount indicated by the characteristic line Y start to rise substantially simultaneously, and the turning displacement amount reaches 90 degrees, the boom displacement amount is about 1. It is about 5m and has not reached 2.5m. A characteristic line B in FIG. 9 shows the relationship between the boom displacement and the turning displacement when the speed setting device 70 is in the negative B direction. When the turning displacement amount is 90 degrees, the boom displacement amount is about 1.5 m.

  Furthermore, in the operation of excavating relatively deeply in a narrow place, the revolving operation of the revolving structure 20 may be slow, but the excavation operation may be desired to be fast. For this reason, the operating speed of the work machine 30 is required to have the same operating characteristics as the hoist turning operation described above, but the turning operation requires a slow fine operability. In the case of such narrow work, the speed balance is changed by operating the speed setter 70.

  In FIG. 3, in order to reduce the turning speed of the turning body 20, the speed setting device 70 is changed to the A side direction which is the forward direction. Accordingly, the pump discharge flow rate correction function generator 82 calculates a value K = 1 that is not corrected equal to that at the neutral time, while the turning speed correction function generator 85 calculates a value K <1 that performs a decrease correction. Based on the command input from the turning operation lever device 65, the turning speed is obtained by the speed torque characteristic function generator 84 and is corrected by the correction gain K <1 of the turning speed correction function generator 85. As a result, a speed command smaller than the neutral speed command is commanded to the inverter 52. In this case, a turning speed without correction is commanded to the inverter 52, and the turning body 20 is turned. On the other hand, the pump discharge flow rate command by the pump discharge flow rate correction function generator 82 is not corrected.

  As a result, the operation of the work implement 30 can be performed normally, and the revolving operation of the revolving structure 20 can be performed in accordance with the fine operation. Is possible.

  FIG. 11 shows the boom displacement amount and the turning displacement amount in such an interlocking operation. In FIG. 11, the turning displacement amount indicated by the characteristic line X and the boom displacement amount indicated by the characteristic line Y start to rise substantially simultaneously, and when the boom displacement amount reaches 2.5 m, the turning displacement amount is about 60. About 90 degrees, but not 90 degrees. A characteristic line A in FIG. 9 shows the relationship between the boom displacement amount and the turning displacement amount when the speed setting device 70 is in the A direction, which is the positive direction. When the boom displacement is 2.5 m, the turning displacement is about 60 degrees.

  According to one embodiment of the control device for a hybrid construction machine of the present invention described above, an electric actuator system or a hydraulic actuator system can be used in accordance with any work involving a combined work of an electric actuator and a hydraulic actuator of the hybrid construction machine. Since the speed characteristic of the actuator can be adjusted, the operation of each actuator commensurate with the work in the combined operation can be easily realized. As a result, the operability of the operator is improved, the labor of the operator is reduced, and the productivity can be increased.

  In the present embodiment, the case where the boom cylinder 32 that drives the boom 31 is operated as a hydraulic actuator has been described as an example, but the present invention is not limited to this. For example, a maximum value selection circuit for selecting the maximum value of the operation command from the boom operation lever device 62, the arm operation lever device 64, and the bucket operation lever device 66 is provided, and the discharge flow rate of the hydraulic pump 41 is controlled from the maximum operation command. May be.

  Further, the pump discharge flow rate correction function generator 82, the turning speed correction function generator 85, and the correction method described in the present embodiment are not limited to this method as long as the balance distribution can be set. is not. Further, the speed setting device 70 has been described as being capable of setting from the scale B-1 on the dial B side, which is the negative direction, to the scale 1 on the dial A side, which is the positive direction, through the neutral 0, but is not limited thereto. is not. Any device can be used as long as it can be rotated from the neutral position to one side and the other side, and the output can be continuously varied.

  In addition, it is effective to install the speed setting device 70 in a place where the operator of the driver's seat 27 can easily operate. However, the speed setting device 70 is installed on a turning lever or the like (a lever device having an electric system operation) and visually confirmed by the operator. You may install in the place which can be operated without doing. In this case, the workability can be further improved.

DESCRIPTION OF SYMBOLS 10 Traveling body 11 Crawler 12 Crawler frame 13 Right traveling hydraulic motor 20 Rotating body 21 Rotating frame 22 Engine 23 Assist power generation motor 24 Capacitor 25 Rotating electric motor 26 Decelerator 27 Driver's seat 30 Work implement 31 Boom 33 Arm 35 Bucket 41 Hydraulic pump 42 Control valve 50 Electric / hydraulic converter 52 Inverter for swing electric motor 53 Inverter for assist power generation motor 62 Boom operation lever device 64 Arm operation lever device 65 Swing operation lever device 66 Bucket operation lever device 70 Speed setting device 80 Controller 81 Discharge flow rate Characteristic function generator 82 Pump discharge flow rate correction function generator 84 Speed torque characteristic function generator 85 Swing speed correction function generator

Claims (2)

A hydraulic pump; a plurality of hydraulic actuators driven by the hydraulic pump; a variable displacement mechanism that controls a discharge flow rate of the hydraulic pump; a plurality of work implement operating devices that command the driving of the hydraulic actuators; A hybrid construction comprising: an electric motor for driving the swing body; an electric storage device connected to the electric motor; an inverter for driving the electric motor; and a swing operation device for commanding the drive of the swing body In the control device of the machine,
A pump flow rate calculating means for calculating the hydraulic pump discharge flow rate based on a command from the work implement operating device; a turning speed calculating means for calculating a turning speed of the swing body based on a command from the turning operation device; A speed setter for setting a speed balance between the operating speed of the hydraulic actuator and the turning speed of the swing body, and a pump flow rate correction means for calculating a correction amount of the hydraulic pump discharge flow rate based on a signal from the speed setter; A turning speed correction means for calculating a correction amount of the turning speed based on a signal from the speed setter,
A command signal obtained by calculating the correction amount calculated by the pump flow rate correction unit to the hydraulic pump discharge flow rate calculated by the pump flow rate calculation unit is output to the variable capacity mechanism.
The inverter outputs a command signal obtained by calculating the correction amount calculated by the turning speed correcting means to the turning speed of the turning body calculated by the turning speed calculating means ,
The speed setter is rotatable in a positive direction and a negative direction from a neutral position,
The pump flow rate correction means calculates a correction value of a constant 1 when the signals for the positive direction side and the neutral position of the speed setter are fetched, and when the signals for the negative direction side of the speed setter are fetched. Calculate a correction value less than a constant 1,
The turning speed correction means calculates a correction value of a constant 1 when the negative direction side and neutral position signals of the speed setter are captured, and when the positive direction side signal of the speed setter is acquired. A control device for a hybrid construction machine, wherein a correction value less than a constant 1 is calculated . The control device for a hybrid construction machine according to claim 1 ,
The speed setting device is provided in any one of the plurality of work machine operation devices. A control device for a hybrid construction machine, characterized in that:

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