JP6159681B2 - ハイブリッド作業機械 - Google Patents
ハイブリッド作業機械 Download PDFInfo
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- JP6159681B2 JP6159681B2 JP2014096344A JP2014096344A JP6159681B2 JP 6159681 B2 JP6159681 B2 JP 6159681B2 JP 2014096344 A JP2014096344 A JP 2014096344A JP 2014096344 A JP2014096344 A JP 2014096344A JP 6159681 B2 JP6159681 B2 JP 6159681B2
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
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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
- 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
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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
- B60K6/485—Motor-assist type
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- 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
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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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
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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
- B60W20/15—Control strategies specially adapted for achieving a particular effect
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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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/06—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving electric generators
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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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/246—Temperature
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/30—Auxiliary equipments
- B60W2510/305—Power absorbed by auxiliaries
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/302—Temperature sensors
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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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
- Y02T10/62—Hybrid vehicles
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Power Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Hybrid Electric Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Description
しかしながら、この暖機方法のように、作業機械に搭載した油圧ポンプや補機の運転状態を考慮せずに、電動発電機で充放電を行うと、エンジンがラグダウン(過負荷減速)、又は、オーバーレブ(過回転)する場合が起り得る。
現在のSOC=SOC(0)+(ショベル稼働中の充放電電流積算値/電池の満充電容量)・・・(1)
数式(1)において、SOC(0)は、ショベル稼働前のSOCであり、ショベル起動時の電池電圧と電池温度とから、予め設定したテーブルに基づいて算出する。ショベル稼働中の充放電電流積算値とリチウムイオン電池24の満充電容量との比率により変化量を算出し、ショベル稼働前のSOCと変化量を加算することで、現在のSOCを算出している。
Tp=P×q/(2π×η)・・・(2)
数式(2)において、Pは油圧ポンプ41の吐出圧、qは油圧ポンプ41の容量である。ηは油圧ポンプ41のポンプ効率であり、予め設定する一定値でも良いし、油圧ポンプ41の回転数、容量、吐出圧等から、予め設定したテーブルに基づいて算出しても良い。
11 クローラ
12 クローラフレーム
13 右走行用油圧モータ
14 左走行用油圧モータ
20 旋回体
21 旋回フレーム
22 エンジン
23 アシスト発電モータ
24 リチウムイオン電池
24a 温度センサ
25 旋回電動モータ
26 減速機
30 ショベル機構
31 ブーム
32 ブームシリンダ
33 アーム
34 アームシリンダ
35 バケット
36 バケットシリンダ
40 油圧システム
41 油圧ポンプ
42 レギュレータ
43 コントロールバルブ
44 開口面積制御手段
52 旋回電動モータ用インバータ
53 アシスト発電モータ用インバータ
70 電気・油圧信号変換デバイス
80 コントローラ
81 モード切替判定部
82 通常運転モード用トルク指令値演算部
83 暖機運転モード用トルク指令値演算部
Ta アシストモータトルク
Tp 油圧ポンプトルク
Tc 補機トルク
Claims (9)
- エンジンと、前記エンジンと機械的に接続され、駆動トルクを発生することで放電し、制動トルクを発生することで発電するアシストモータと、前記エンジンと前記アシストモータの合計トルクで駆動される油圧ポンプと、前記アシストモータが発電した電力を蓄積し、前記アシストモータを駆動する時に電力を供給する蓄電装置と、前記蓄電装置と前記アシストモータとの間の電力授受を行うインバータと、前記アシストモータの駆動トルクまたは制動トルクを制御するために前記インバータへトルク指令信号を出力するコントローラとを備えたハイブリッド作業機械において、
前記コントローラは、前記油圧ポンプを駆動するために必要な油圧ポンプトルクを算出し、前記油圧ポンプトルクから前記エンジンの予め設定された最小トルクを減算した値以下のトルク指令信号を算出するトルク指令値演算部を備えた
ことを特徴とするハイブリッド作業機械。 - 請求項1に記載のハイブリッド作業機械において、
前記エンジンと機械的に接続された補機を更に備え、
前記トルク指令値演算部は、前記補機を駆動するために必要な補機トルクを算出し、前記油圧ポンプトルクと前記補機トルクの合計値から前記エンジンの予め設定された最小トルクを減算した値以下のトルク指令信号を算出する
ことを特徴とするハイブリッド作業機械。 - 請求項1に記載のハイブリッド作業機械において、
前記蓄電装置の温度を検出する温度センサを更に備え、
前記コントローラは、通常運転モード用トルク指令値演算部と暖機運転モード用トルク指令値演算部とモード切替判定部とを備え、
前記モード切替判定部は、前記温度センサが検出した前記蓄電装置の温度信号を取り込み、前記蓄電装置の温度が予め設定した第1温度閾値よりも低い時には、暖機運転モードと判定し、前記蓄電装置の温度が上昇して前記第1温度閾値以上の値に予め設定した第2温度閾値以上になったときには、通常運転モードと判定し、
前記蓄電装置の温度が前記第2温度閾値よりも高い時には、前記通常運転モードと判定し、前記蓄電装置の温度が下降して前記第1温度閾値未満の値になったときには、前記暖機運転モードと判定し、
前記暖機運転モードと判定した場合には、前記暖機運転モード用トルク指令値演算部の算出したトルク指令信号を出力し、前記通常運転モードと判定した場合には、前記通常運転モード用トルク指令値演算部の算出したトルク指令信号を出力する
ことを特徴とするハイブリッド作業機械。 - 請求項2に記載のハイブリッド作業機械において、
前記蓄電装置の温度を検出する温度センサを更に備え、
前記コントローラは、通常運転モード用トルク指令値演算部と暖機運転モード用トルク指令値演算部とモード切替判定部とを備え、
前記モード切替判定部は、前記温度センサが検出した前記蓄電装置の温度信号を取り込み、前記蓄電装置の温度が予め設定した第1温度閾値よりも低い時には、暖機運転モードと判定し、前記蓄電装置の温度が上昇して前記第1温度閾値以上の値に予め設定した第2温度閾値以上になったときには、通常運転モードと判定し、
前記蓄電装置の温度が前記第2温度閾値よりも高い時には、前記通常運転モードと判定し、前記蓄電装置の温度が下降して前記第1温度閾値未満の値になったときには、前記暖機運転モードと判定し、
前記暖機運転モードと判定した場合には、前記暖機運転モード用トルク指令値演算部の算出したトルク指令信号を出力し、前記通常運転モードと判定した場合には、前記通常運転モード用トルク指令値演算部の算出したトルク指令信号を出力する
ことを特徴とするハイブリッド作業機械。 - 請求項3に記載のハイブリッド作業機械において、
前記暖機運転モード用トルク指令値演算部は、前記蓄電装置の充電率が予め設定した第1充電率閾値以上で、かつ、前記油圧ポンプトルクが前記エンジンの予め設定された最小トルクよりも大きい時には、前記アシストモータの駆動トルクが発生するようにトルク指令信号を出力する
ことを特徴とするハイブリッド作業機械。 - 請求項4に記載のハイブリッド作業機械において、
前記暖機運転モード用トルク指令値演算部は、前記蓄電装置の充電率が予め設定した第1充電率閾値以上で、かつ、前記油圧ポンプトルクと前記補機トルクとの合計値が前記エンジンの予め設定された最小トルクよりも大きい時には、前記アシストモータの駆動トルクが発生するようにトルク指令信号を出力する
ことを特徴とするハイブリッド作業機械。 - 請求項5または6に記載のハイブリッド作業機械において、
前記油圧ポンプのトルクを増加させる油圧ポンプトルク増加手段を更に備え、
前記コントローラは、前記蓄電装置の充電率が前記第1充電率閾値以上で、かつ、前記油圧ポンプトルクが予め設定したトルク閾値よりも小さい時には、前記油圧ポンプのトルクが増加するように前記油圧ポンプトルク増加手段を制御する
ことを特徴とするハイブリッド作業機械。 - 請求項7に記載のハイブリッド作業機械において、
可変容量型の油圧ポンプと、傾転角を変更することで前記油圧ポンプの容量を変更するレギュレータとを備え、
前記油圧ポンプトルク増加手段は、前記レギュレータを制御して前記油圧ポンプの吐出流量を増加させる
ことを特徴とするハイブリッド作業機械。 - 請求項7に記載のハイブリッド作業機械において、
前記油圧ポンプからタンクにいたる油路に開口面積制御手段をさらに備え、
前記油圧ポンプトルク増加手段は、開口面積制御手段を制御して前記油圧ポンプの吐出圧を増加させる
ことを特徴とするハイブリッド作業機械。
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