JP6009559B2 - 作業機械及びその制御方法 - Google Patents
作業機械及びその制御方法 Download PDFInfo
- Publication number
- JP6009559B2 JP6009559B2 JP2014519935A JP2014519935A JP6009559B2 JP 6009559 B2 JP6009559 B2 JP 6009559B2 JP 2014519935 A JP2014519935 A JP 2014519935A JP 2014519935 A JP2014519935 A JP 2014519935A JP 6009559 B2 JP6009559 B2 JP 6009559B2
- Authority
- JP
- Japan
- Prior art keywords
- capacitor
- disturbance
- voltage
- value
- bus
- 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.)
- Expired - Fee Related
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by 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
- E02F9/2058—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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
- H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
- H02M3/1582—Buck-boost converters
-
- 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
- B60L2200/42—Fork lift trucks
-
- 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
- B60L2210/00—Converter types
- B60L2210/10—DC to DC converters
- B60L2210/12—Buck converters
-
- 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
- B60L2210/00—Converter types
- B60L2210/10—DC to DC converters
- B60L2210/14—Boost converters
-
- 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
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/10—Emission reduction
- B60L2270/14—Emission reduction of noise
- B60L2270/147—Emission reduction of noise electro magnetic [EMI]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- 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
1A、1B 油圧モータ
2 旋回機構
3 上部旋回体
4 ブーム
5 アーム
6 バケット
7 ブームシリンダ
8 アームシリンダ
9 バケットシリンダ
10 キャビン
11 エンジン
12 電動発電機
13 変速機
14 メインポンプ
15 パイロットポンプ
16 高圧油圧ライン
17 コントロールバルブ
18A、20 インバータ
19 キャパシタ
21 旋回用電動機
22 レゾルバ
23 メカニカルブレーキ
24 旋回変速機
25 パイロットライン
26 操作装置
26A、26B、26C レバー
27 油圧ライン
28 油圧ライン
29 圧力センサ
30 コントローラ
100 昇降圧コンバータ
110 DCバス
111 DCバス電圧検出部
112 キャパシタ電圧検出部
113、116 キャパシタ電流検出部
114、117 電源ライン
115、118 接続点
120 蓄電系
130−1、130−2 リレー
200、200A 充放電制御装置
300 昇降圧コンバータ
400 キャパシタ
410 電圧計
420 負荷
430 電流計
500 DCバス
510 電圧計
520 負荷
600、600A 操作指令生成部
610、610A PI制御器
620 コンバータ制御器
630 外乱補償器
640 制御器
Claims (4)
- 蓄電器の充放電電圧を制御して、電動機へ電力を供給する作業機械であって、
前記蓄電器を充放電制御する電圧変換回路と、
前記電圧変換回路の制御ループに組み込まれた外乱推定器と
を有し、
前記外乱推定器は、DCバス電圧値の検出値及び目標値、蓄電器電圧値の検出値及び目標値、並びに操作指令値に基づいて外乱補正指令値を算出し、該外乱補正指令値を前記操作指令値に加算することを特徴とする作業機械。 - 前記外乱補正指令値は、外乱による電流の変化量に相当する操作指令値であり、
前記電流は、前記電圧変換回路を流れる電流であり、
前記外乱推定器は、前記外乱補正指令値を、前記変化量を打ち消す値となるように算出する、
請求項1に記載の作業機械。 - 蓄電器の充放電電圧を制御して、電動機へ電力を供給する作業機械の制御方法であって、
電圧変換回路が前記蓄電器を充放電制御するステップと、
前記電圧変換回路の制御ループに組み込まれた外乱推定器が、DCバス電圧値の検出値及び目標値、蓄電器電圧値の検出値及び目標値、並びに操作指令値に基づいて外乱補正指令値を算出し、該外乱補正指令値を前記操作指令値に加算するステップと、を有する、
作業機械の制御方法。 - 前記外乱補正指令値は、外乱による電流の変化量に相当する操作指令値であり、
前記電流は、前記電圧変換回路を流れる電流であり、
前記外乱推定器は、前記外乱補正指令値を、前記変化量を打ち消す値となるように算出する、
請求項3に記載の作業機械の制御方法。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014519935A JP6009559B2 (ja) | 2012-06-04 | 2013-05-28 | 作業機械及びその制御方法 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012127174 | 2012-06-04 | ||
JP2012127174 | 2012-06-04 | ||
PCT/JP2013/064793 WO2013183496A1 (ja) | 2012-06-04 | 2013-05-28 | 作業機械及びその制御方法 |
JP2014519935A JP6009559B2 (ja) | 2012-06-04 | 2013-05-28 | 作業機械及びその制御方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2013183496A1 JPWO2013183496A1 (ja) | 2016-01-28 |
JP6009559B2 true JP6009559B2 (ja) | 2016-10-19 |
Family
ID=49711889
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014519935A Expired - Fee Related JP6009559B2 (ja) | 2012-06-04 | 2013-05-28 | 作業機械及びその制御方法 |
Country Status (3)
Country | Link |
---|---|
JP (1) | JP6009559B2 (ja) |
CN (1) | CN104221265B (ja) |
WO (1) | WO2013183496A1 (ja) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6278785B2 (ja) * | 2014-03-28 | 2018-02-14 | 住友重機械工業株式会社 | 産業車両用電源装置 |
WO2015163498A1 (ko) | 2014-04-24 | 2015-10-29 | 볼보 컨스트럭션 이큅먼트 에이비 | 하이브리드 건설 기계의 작동 시간 계산 장치 및 그 방법 |
WO2016111156A1 (ja) * | 2015-01-08 | 2016-07-14 | 三菱電機株式会社 | Dc/dcコンバータ |
CN105350597B (zh) * | 2015-10-27 | 2017-12-15 | 湖南工程学院 | 一种并联式混合动力挖掘机动力系统控制方法 |
JP6685966B2 (ja) * | 2017-03-29 | 2020-04-22 | 株式会社豊田中央研究所 | Dc/dcコンバータの制御装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0695744A (ja) * | 1992-09-16 | 1994-04-08 | Hitachi Ltd | リニアパルスモータ制御手段 |
JP3498455B2 (ja) * | 1995-12-08 | 2004-02-16 | 日産自動車株式会社 | スロットルバルブの位置決め制御装置 |
JP2000141262A (ja) * | 1998-11-06 | 2000-05-23 | Fanuc Ltd | ロボット制御装置 |
JP3875932B2 (ja) * | 2002-07-22 | 2007-01-31 | 財団法人鉄道総合技術研究所 | 電気回路および制御方法 |
JP2005137043A (ja) * | 2003-10-28 | 2005-05-26 | Ricoh Co Ltd | モータ制御装置及びモータ制御方法 |
JP4466620B2 (ja) * | 2006-07-10 | 2010-05-26 | トヨタ自動車株式会社 | 電源システムおよびそれを備える車両 |
JP2008061420A (ja) * | 2006-08-31 | 2008-03-13 | Harison Toshiba Lighting Corp | 電源装置及び電源供給システム |
JP5269811B2 (ja) * | 2007-12-26 | 2013-08-21 | 住友重機械工業株式会社 | ハイブリッド型建設機械及びハイブリッド型建設機械の制御方法 |
-
2013
- 2013-05-28 JP JP2014519935A patent/JP6009559B2/ja not_active Expired - Fee Related
- 2013-05-28 CN CN201380019718.9A patent/CN104221265B/zh not_active Expired - Fee Related
- 2013-05-28 WO PCT/JP2013/064793 patent/WO2013183496A1/ja active Application Filing
Also Published As
Publication number | Publication date |
---|---|
JPWO2013183496A1 (ja) | 2016-01-28 |
WO2013183496A1 (ja) | 2013-12-12 |
CN104221265A (zh) | 2014-12-17 |
CN104221265B (zh) | 2018-04-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5329574B2 (ja) | ハイブリッド型建設機械 | |
JP6009559B2 (ja) | 作業機械及びその制御方法 | |
JP5992410B2 (ja) | ハイブリッド型作業機械及びその制御方法 | |
WO2012102352A1 (ja) | ショベル | |
CN107964997B (zh) | 挖土机以及挖土机的控制方法 | |
WO2012169558A1 (ja) | ショベル及びショベルの制御方法 | |
US9441345B2 (en) | Hybrid excavator and method of controlling hybrid excavator | |
JP6290092B2 (ja) | ショベル | |
JP6245828B2 (ja) | 作業機械及び作業機械の制御方法 | |
US9376785B2 (en) | Shovel, and method for controlling shovel | |
JP5550954B2 (ja) | ハイブリッド型作業機械 | |
JP2013014915A (ja) | ショベル | |
JP5558427B2 (ja) | ハイブリッド型ショベル | |
JP6316623B2 (ja) | ショベル | |
JP2014198970A (ja) | ショベル |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20160301 |
|
A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20160427 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20160913 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20160914 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6009559 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
LAPS | Cancellation because of no payment of annual fees |