JP5690604B2 - 作業機械 - Google Patents
作業機械 Download PDFInfo
- Publication number
- JP5690604B2 JP5690604B2 JP2011019924A JP2011019924A JP5690604B2 JP 5690604 B2 JP5690604 B2 JP 5690604B2 JP 2011019924 A JP2011019924 A JP 2011019924A JP 2011019924 A JP2011019924 A JP 2011019924A JP 5690604 B2 JP5690604 B2 JP 5690604B2
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- JP
- Japan
- Prior art keywords
- time
- maximum value
- absorption horsepower
- work
- pump absorption
- 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.)
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
- H02J7/00714—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery charging or discharging current
- H02J7/00716—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery charging or discharging current in response to integrated charge or discharge current
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
- F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
- F04B1/26—Control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B27/00—Multi-cylinder pumps specially adapted for elastic fluids and characterised by number or arrangement of cylinders
- F04B27/08—Multi-cylinder pumps specially adapted for elastic fluids and characterised by number or arrangement of cylinders having cylinders coaxial with, or parallel or inclined to, main shaft axis
- F04B27/14—Control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/10—Other safety measures
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/10—Other safety measures
- F04B49/103—Responsive to speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
- H02J7/04—Regulation of charging current or voltage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/80—Time limits
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2201/00—Pump parameters
- F04B2201/12—Parameters of driving or driven means
- F04B2201/1203—Power on the axis
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Computer Hardware Design (AREA)
- Physics & Mathematics (AREA)
- Transportation (AREA)
- Fluid Mechanics (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Description
ΔQe1/t1:ΔQe2/t2=PM1:PM2とする。
Pmaxnew=PM2+Pengmax
=(ΔQe1/t1)/(ΔQe2/t2)×PM1+Pengmax
として求められる。
20 油圧アクチュエータ
20a ブーム駆動用油圧シリンダ
20b アーム駆動用油圧シリンダ
20c バケット駆動用油圧シリンダ
20d クローラ駆動用油圧モータ
30 油圧ポンプ
40 原動機
50 電動機
60 蓄電装置
70 制御装置
70a 監視手段
70b 負荷トルク制御手段
100 旋回体
101 ブーム
102 アーム
103 バケット
104 クローラ
Qemax 蓄電装置の蓄電量最大値
Qemin 蓄電装置の蓄電量下限値
t1 蓄電量変化計測時間
t2 作業予定の残り時間
ΔQe1 t1中に消費された蓄電量
ΔQe2 t2中に消費できる蓄電量
Pengmax 原動機の最大定格出力
PM1 t1中の電動機出力
PM2 t2中の電動機出力
Pmaxold 旧ポンプ吸収馬力最大値
Pmaxnew 新ポンプ吸収馬力最大値
Claims (8)
- 油圧ポンプと、当該油圧ポンプを駆動する電動機と、前記電動機に力行時の電力を供給する蓄電装置と、当該蓄電装置の蓄電量に応じてポンプ吸収馬力最大値を制御する制御装置とを備えた作業機械において、
前記制御装置は、予め設定された蓄電量変化計測時間内における前記蓄電装置の蓄電量の減少量を求め、この求められた減少量と前記蓄電装置の蓄電残量とから作業可能時間を求めると共に、この求められた作業可能時間が、予め設定された作業予定時間からこれまでの実作業時間を減算した作業予定時間の残り時間に達するか否かを判定し、達しないと判定したときには、前記作業可能時間が前記作業予定時間の残り時間に達することが可能な値に前記ポンプ吸収馬力最大値を低下させることを特徴とする作業機械。 - 前記油圧ポンプを駆動するための原動機であって、定格出力トルクが前記ポンプ吸収馬力最大値よりも小さいものを更に備え、前記制御装置は、前記求められた作業可能時間が、前記作業予定時間の残り時間に達しないと判定したときにも、前記原動機をその定格出力トルクで運転することを特徴とする請求項1に記載の作業機械。
- 前記制御装置は、前記蓄電装置の蓄電量、前記作業予定時間及び前記実作業時間から低下後の前記ポンプ吸収馬力最大値である新ポンプ吸収馬力最大値を算出する蓄電残量監視手段と、この蓄電残量監視手段から出力される前記新ポンプ吸収馬力最大値、前記原動機の回転数及び前記油圧ポンプの吐出圧から前記油圧ポンプの傾転角信号の最小値を算出する負荷トルク制御手段を備えることを特徴とする請求項2に記載の作業機械。
- 前記作業予定時間として、一日の作業開始予定時刻から作業終了予定時刻までの時間を設定すると共に、前記蓄電量変化計測時間として、一日の作業開始時刻からの一定時間を設定することを特徴とする請求項1乃至請求項3のいずれか1項に記載の作業機械。
- 前記作業予定時間として、一日の作業開始予定時刻から作業終了予定時刻までの時間を設定すると共に、前記蓄電量変化計測時間として、一日の作業開始時刻からの一定時間と、前記ポンプ吸収馬力最大値を低下させた後の任意に設定された時刻からの一定時間に設定することを特徴とする請求項1乃至請求項3のいずれか1項に記載の作業機械。
- 前記制御装置は、前記ポンプ吸収馬力最大値を低下させる際、低下前の前記ポンプ吸収馬力最大値である旧ポンプ吸収馬力最大値から、低下後の前記ポンプ吸収馬力最大値である新ポンプ吸収馬力最大値まで、多段階に又は連続的に低下させることを特徴とする請求項1乃至請求項5のいずれか1項に記載の作業機械。
- 前記制御装置は、前記ポンプ吸収馬力最大値を低下させる際、当該ポンプ吸収馬力最大値を、目標流量が異なる複数の領域に分割し、低下前の前記ポンプ吸収馬力最大値である旧ポンプ吸収馬力最大値のうちの、目標流量が高い領域から順に時間差をつけて、低下後の前記ポンプ吸収馬力最大値である新ポンプ吸収馬力最大値まで低下させることを特徴とする請求項1乃至請求項6のいずれか1項に記載の作業機械。
- 前記実作業時間のカウントは、アワーメータを用いて行い、該アワーメータは、ゲートロック手段により機械各部が操作禁止状態に切り替えられた場合は、その間の実作業時間のカウントを中止することを特徴とする請求項1乃至請求項7のいずれか1項に記載の作業機械。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011019924A JP5690604B2 (ja) | 2011-02-01 | 2011-02-01 | 作業機械 |
CN201280007178.8A CN103339329B (zh) | 2011-02-01 | 2012-01-31 | 作业机械 |
PCT/JP2012/052096 WO2012105537A1 (ja) | 2011-02-01 | 2012-01-31 | 作業機械 |
EP12741478.7A EP2672024B1 (en) | 2011-02-01 | 2012-01-31 | Operating machine |
KR1020137017518A KR101874139B1 (ko) | 2011-02-01 | 2012-01-31 | 작업 기계 |
US13/982,551 US10054119B2 (en) | 2011-02-01 | 2012-01-31 | Operating machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011019924A JP5690604B2 (ja) | 2011-02-01 | 2011-02-01 | 作業機械 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2012158931A JP2012158931A (ja) | 2012-08-23 |
JP5690604B2 true JP5690604B2 (ja) | 2015-03-25 |
Family
ID=46602749
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011019924A Active JP5690604B2 (ja) | 2011-02-01 | 2011-02-01 | 作業機械 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10054119B2 (ja) |
EP (1) | EP2672024B1 (ja) |
JP (1) | JP5690604B2 (ja) |
KR (1) | KR101874139B1 (ja) |
CN (1) | CN103339329B (ja) |
WO (1) | WO2012105537A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE542381C2 (sv) * | 2012-04-23 | 2020-04-21 | Brokk Ab | Elektiskt driven demoleringsrobot och dess kraftförsörjningssystem |
EP3037293B1 (de) * | 2014-12-22 | 2017-08-09 | Sennebogen Maschinenfabrik GmbH | Selbstfahrende Arbeitsmaschine |
JP6539462B2 (ja) | 2015-03-10 | 2019-07-03 | 日立建機株式会社 | ハイブリッド作業機械 |
CN108137035B (zh) | 2016-09-29 | 2020-10-20 | 日立建机株式会社 | 混合动力工程机械 |
JP6955524B2 (ja) * | 2019-03-26 | 2021-10-27 | 株式会社日立建機ティエラ | バッテリ式作業機械 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5177965A (en) * | 1989-12-29 | 1993-01-12 | Heinrich Nikolaus | Pump control system with limit signal generated at a given displacement setting |
JP4179465B2 (ja) | 2002-07-31 | 2008-11-12 | 株式会社小松製作所 | 建設機械 |
JP3941951B2 (ja) * | 2003-09-08 | 2007-07-11 | 株式会社小松製作所 | ハイブリッド作業機械の駆動制御装置 |
JP2005237178A (ja) * | 2004-02-23 | 2005-09-02 | Kobelco Contstruction Machinery Ltd | 作業機械の動力源装置 |
CN100587172C (zh) * | 2004-04-08 | 2010-02-03 | 株式会社小松制作所 | 作业机械的液压驱动装置 |
JP2009197514A (ja) * | 2008-02-22 | 2009-09-03 | Hitachi Constr Mach Co Ltd | 電気駆動式作業機械 |
JP4767272B2 (ja) * | 2008-02-22 | 2011-09-07 | 日立建機株式会社 | 電気駆動式作業機械 |
JP5384476B2 (ja) * | 2008-04-11 | 2014-01-08 | 住友重機械工業株式会社 | 作業機械 |
JP5113603B2 (ja) * | 2008-04-18 | 2013-01-09 | 日立建機株式会社 | 電動式作業機械 |
EP2340074B1 (en) * | 2008-07-02 | 2014-11-19 | Somnetics Global Pte. Ltd. | Methods for battery power management of positive airway pressure apparatus |
JP5218005B2 (ja) * | 2008-10-10 | 2013-06-26 | アイシン・エィ・ダブリュ株式会社 | 走行支援装置、走行支援方法及びコンピュータプログラム |
-
2011
- 2011-02-01 JP JP2011019924A patent/JP5690604B2/ja active Active
-
2012
- 2012-01-31 CN CN201280007178.8A patent/CN103339329B/zh active Active
- 2012-01-31 KR KR1020137017518A patent/KR101874139B1/ko active IP Right Grant
- 2012-01-31 WO PCT/JP2012/052096 patent/WO2012105537A1/ja active Application Filing
- 2012-01-31 EP EP12741478.7A patent/EP2672024B1/en active Active
- 2012-01-31 US US13/982,551 patent/US10054119B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20140186191A1 (en) | 2014-07-03 |
WO2012105537A1 (ja) | 2012-08-09 |
KR101874139B1 (ko) | 2018-07-03 |
KR20140038350A (ko) | 2014-03-28 |
EP2672024B1 (en) | 2018-11-21 |
US10054119B2 (en) | 2018-08-21 |
JP2012158931A (ja) | 2012-08-23 |
EP2672024A4 (en) | 2017-11-29 |
CN103339329B (zh) | 2015-10-07 |
EP2672024A1 (en) | 2013-12-11 |
CN103339329A (zh) | 2013-10-02 |
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