JP6529721B2 - Construction machinery - Google Patents

Description

  The present invention relates to a construction machine provided with a turning motor.

  A hybrid construction machine that distributes the power of an engine as a drive source to a hydraulic pump and a generator, drives the turning electric motor with power generated by the generator, and drives a hydraulic actuator with hydraulic oil supplied by the hydraulic pump. A control device is known (see Patent Document 1).

  In this hybrid construction machine, a turning electric motor is used to turn the upper structure, and a hydraulic actuator is used to drive a boom provided on the upper structure. Then, when the hydraulic actuator and the turning electric motor are simultaneously operated, the control device limits the torque or acceleration of the turning electric motor and distributes the output power to the hydraulic actuator with priority.

JP, 2011-174312, A

  However, on a slope, gravity acts in the direction opposite to the turning direction, so as to limit the torque of the turning electric motor, the turning operation of the upper turning body becomes excessively slow and the turning of the upper turning body It can not be accelerated, decelerated or stopped as the operator intended.

A construction machine according to an embodiment of the present invention includes an engine for driving a hydraulic pump, a motor generator connected to the engine, a storage system, electric power generated by the motor generator, and the storage system. The apparatus includes: a swing motor that drives a swing body using at least one of electric power; a control device that controls the swing motor; and a tilt angle detection unit that detects a tilt angle of a construction machine main body , the control device When the combined operation including the turning operation by the turning operation lever is performed , the maximum output of the turning motor is increased and the maximum output of the hydraulic pump is decreased as the inclination angle is larger .

  According to the above-described means, it is possible to provide a construction machine capable of appropriately controlling the turning operation of the upper swing body even when the combined operation including the turning operation is performed on the slope.

It is a side view of a hybrid type shovel. It is a block diagram which shows the structure of the drive system of the hybrid type shovel of FIG. FIG. 2 is a block diagram showing a configuration of a storage system. It is a figure which shows the relationship of the input parameter and output parameter in engine output distribution processing. It is a flow chart which shows a flow of an example of engine power distribution processing. It is a figure which shows the relationship of the input parameter and output parameter in turning maximum output determination processing. It is a figure which shows the shovel located in a slope.

  FIG. 1 is a side view showing a shovel which is an example of a construction machine to which the present invention is applied.

  The upper swing body 3 is mounted on the lower traveling body 1 of the shovel via the turning mechanism 2. A boom 4 is attached to the upper swing body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5. The boom 4, the arm 5 and the bucket 6 constitute a digging attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 respectively. A cabin 10 is provided in the upper revolving superstructure 3 and a power source such as an engine is mounted.

  FIG. 2 is a block diagram showing a configuration of a drive system of a shovel according to an embodiment of the present invention. In FIG. 2, the mechanical power system is shown by a double line, the high pressure hydraulic line by a thick solid line, the pilot line by a broken line, and the electric drive and control system by a thin solid line.

  The engine 11, the motor generator 12, and the main pump 14 are connected via a transmission 13. In the present embodiment, a first input shaft of the transmission 13 is connected to the rotation shaft of the engine 11, and a second input shaft of the transmission 13 is connected to the rotation shaft of the motor generator 12. Therefore, the motor generator 12 functioning as a motor can assist the rotation of the engine 11. Further, the motor generator 12 functioning as a generator can generate power using the output of the engine 11. Further, the rotation shaft of the main pump 14 is connected to the output shaft of the transmission 13. Therefore, the main pump 14 can be driven by at least one of the engine 11 and the motor generator 12. A control valve 17 is connected to the main pump 14 via a high pressure hydraulic line 16. Further, the pilot pump 15 may be connected to the output shaft of the transmission 13 in the same manner as the main pump 14. However, the above-mentioned connection relationship shows an example, and two pumps do not necessarily need to be connected to the output shaft of the transmission 13. For example, the main pump 14 may be driven by an electric motor.

  The control valve 17 is a control device that controls the hydraulic system in the shovel. Hydraulic actuators such as the hydraulic motors 1A (for the right) and 1B (for the left) for the lower traveling vehicle 1, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 are connected to the control valve 17 via a high pressure hydraulic line. The hydraulic system includes hydraulic motors 1A (for the right) and 1B (for the left) for the lower traveling vehicle 1, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a main pump 14, and a control valve 17.

  A storage system 120 including a capacitor as a storage battery is connected to the motor generator 12 via an inverter 18. Further, the electric storage system 120 is connected with the turning motor 21 via the inverter 20. The resolver 22, the mechanical brake 23, and the turning transmission 24 are connected to the rotation shaft 21 </ b> A of the turning motor 21. In addition, the pilot pump 15 is connected with the controller 26 via the pilot line 25. The turning electric motor 21, the inverter 20, the resolver 22, the mechanical brake 23, and the turning transmission 24 constitute an electric turning system as a load drive system.

  The operating device 26 includes a lever 26A, a lever 26B, and a pedal 26C. The lever 26A, the lever 26B, and the pedal 26C are connected to the control valve 17 and the pressure sensor 29 via the hydraulic line 27 and the hydraulic line 28. The pressure sensor 29 is connected to a controller 30 that performs drive control of the electrical system.

  The discharge pressure sensor M1 is a sensor that detects the discharge pressure of the main pump 14. In the present embodiment, the discharge pressure sensor M1 detects the pressure of the hydraulic fluid discharged by the main pump 14 and outputs a detected value to the controller 30.

  The inclination angle detection unit M2 is a functional element that detects the inclination angle of the shovel. The tilt angle detection unit M2 is, for example, a tilt sensor configured of a three-axis acceleration sensor, and is attached to the upper swing body 3. Then, the inclination angle of the shovel with respect to the horizontal plane is detected, and the detected value is output to the controller 30. As the detection value, information associated with the tilt angle may be appropriately adopted, including the tilt angle itself. The controller 30 controls the shovel based on the detected value. The details of the control of the shovel will be described later.

  FIG. 3 is a block diagram showing the configuration of power storage system 120. Referring to FIG. Storage system 120 includes a capacitor 19 as a first storage battery, a buck-boost converter 100, and a DC bus 110 as a bus line. In the present embodiment, the capacitor 19 is a lithium ion capacitor. Further, a DC bus 110 as a second storage battery controls the exchange of power between the capacitor 19, the motor generator 12, and the turning motor 21. The capacitor 19 is provided with a capacitor voltage detection unit 112 for detecting a capacitor voltage value and a capacitor current detection unit 113 for detecting a capacitor current value. The capacitor voltage value and the capacitor current value detected by the capacitor voltage detection unit 112 and the capacitor current detection unit 113 are supplied to the controller 30.

  The step-up / step-down converter 100 performs control to switch between the step-up operation and the step-down operation so that the DC bus voltage value falls within a predetermined range according to the operating state of the motor generator 12 and the turning motor 21. The DC bus 110 is disposed between the inverters 18 and 20 and the buck-boost converter 100, and exchanges power between the capacitor 19, the motor generator 12, and the turning motor 21.

  The controller 30 is a control device as a main control unit that performs drive control of the shovel. In the present embodiment, the controller 30 is configured by an arithmetic processing unit including a CPU and an internal memory, and various functions are realized by the CPU executing a program for drive control stored in the internal memory.

  Further, the controller 30 converts a signal supplied from the pressure sensor 29 into a speed command, and performs drive control of the turning motor 21. In this case, the signal supplied from the pressure sensor 29 corresponds to a signal representing an operation amount when the operating device 26 is operated to turn the turning mechanism 2.

  Further, the controller 30 controls (assists or generates) the motor generator 12 and performs charge / discharge control of the capacitor 19 by driving and controlling the buck-boost converter 100 as a buck-boost control unit. In addition, controller 30 controls buck-boost converter 100 according to the charge state of capacitor 19, the operation state of motor generator 12 (assist operation or power generation operation), and the operation state of power motor 21 for turning (powering operation or regenerative operation). The switching control of the step-up operation and the step-down operation may be performed to control the charge and discharge of the capacitor 19.

  For control of this buck-boost converter 100, the DC bus voltage value detected by DC bus voltage detection unit 111, the capacitor voltage value detected by capacitor voltage detection unit 112, and the capacitor current detected by capacitor current detection unit 113 Values may be used.

  In the configuration as described above, the electric power generated by the motor generator 12, which is an assist motor, is supplied to the DC bus 110 of the storage system 120 via the inverter 18 and then supplied to the capacitor 19 via the buck-boost converter 100. Or supplied to the turning motor 21 via the inverter 20. Further, after the regenerative electric power generated by the turning electric motor 21 in the regenerative operation is supplied to the DC bus 110 of the storage system 120 through the inverter 20, it is then supplied to the capacitor 19 through the buck-boost converter 100, or It is supplied to the motor generator 12 via the inverter 18. Further, the power stored in the capacitor 19 is supplied to at least one of the motor generator 12 and the turning motor 21 via the buck-boost converter 100 and the DC bus 110. The turning electric motor 21 may be configured to preferentially use the electric power stored in the capacitor 19 and auxiliaryly use the electric power generated by the motor generator 12.

  In the shovel configured as described above, the controller 30 charges and discharges the capacitor 19 so that the capacitor 19 can maintain a predetermined state of charge (SOC).

  Specifically, the controller 30 determines the charge request value and the discharge request value of the capacitor 19, and controls the charge and discharge of the capacitor 19. For example, the controller 30 causes the motor generator 12 to perform an assist operation with an output higher than the electric power corresponding to the discharge request value, and discharges the capacitor 19 with the electric power corresponding to the discharge request value. Alternatively, when the turning motor 21 performs the powering operation, the controller 30 discharges the power of the capacitor 19 toward the turning motor 21 with the electric power corresponding to the discharge request value. In this case, the controller 30 causes the motor generator 12 to function as a generator if the output [kW] required to drive the turning motor 21 is larger than the power corresponding to the discharge requirement value. This is for driving the turning electric motor 21 by the electric power generated by the motor generator 12 and the electric power discharged by the capacitor 19.

  Next, referring to FIG. 4, when combined turning operation including the operation (turning operation) of the turning motor 21 and the operation (hydraulic operation) of the hydraulic actuator is performed, the controller 30 takes the engine output as the hydraulic pump output. A process (hereinafter referred to as “engine output distribution process”) of allocating to motor generator output (generated power) will be described. FIG. 4 is a diagram showing the relationship between input parameters and output parameters in the engine output distribution process. Further, in the present embodiment, the hydraulic pump output means the output (absorption horsepower) of the main pump 14.

  As shown in FIG. 4, the controller 30 acquires an engine maximum output, a swing maximum output, a required output, and a capacitor output as input parameters, and outputs a hydraulic pump maximum output and a motor generator output as output parameters.

  The engine maximum output is the maximum value of the output that the engine 11 can generate. In the present embodiment, the controller 30 receives the detection value of the engine speed sensor (not shown) and refers to the engine speed / engine output correspondence map stored in advance in the internal memory to obtain the current engine speed. Deriving the corresponding engine maximum power.

  The swing maximum output is the maximum value of the output of the swing motor 21. In the present embodiment, the controller 30 determines the swing maximum output based on the reference swing maximum output stored in advance in the internal memory and the current state of the shovel. The current state of the shovel is determined based on, for example, the inclination angle of the shovel. Further, the reference turning maximum output is preset, for example, as a turning maximum output that is adopted when the shovel is located on a flat surface, turning combined operation is performed, and the hydraulic load is small. In addition, the detail of the determination method of turning maximum output is mentioned later.

  The required output is an output of the turning motor 21 necessary to turn the upper turning body 3 at a desired turning speed. In the present embodiment, the controller 30 derives the required output from the product of the swing speed calculated based on the output of the resolver 22 and the swing torque calculated based on the current flowing through the inverter 20. The desired turning speed is determined according to the amount of operation of the turning operation lever (not shown).

  The capacitor output is the output of capacitor 19. In the present embodiment, for example, the controller 30 refers to the SOC / request value correspondence table stored in the internal memory to obtain power corresponding to the discharge request value or the charge request value as a capacitor output. The SOC / request value correspondence table is a reference table showing the correspondence between the SOC of the capacitor 19 and the discharge request value and the charge request value. Specifically, when charging the capacitor 19, the controller 30 acquires charging power corresponding to the charging request value as a capacitor output. In addition, when discharging the capacitor 19, the controller 30 obtains discharge power corresponding to the discharge request value as a capacitor output. In the present embodiment, the capacitor output is a negative value representing the charging power corresponding to the required charge value when the capacitor 19 is charged, and the discharge power corresponding to the required discharge value when the capacitor 19 is discharged. It becomes a positive value to express.

  As shown in FIG. 4, the controller 30 selects the smaller one of the swing maximum output and the required output by the minimum value selection unit 60, and uses the selected value as the swing output. This means that the required power is limited by the swing maximum power. Then, the capacitor power is subtracted from the swing output by the subtraction unit 61, and the obtained value is output as the motor generator output.

  The motor generator output is an output of the motor generator 12. In the present embodiment, the controller 30 derives the power generation output or the motor output as the motor generator output. Specifically, when causing the motor generator 12 to function as a generator, the controller 30 derives a power generation output which is an output of the motor generator 12 functioning as a generator. Moreover, the controller 30 derives the motorized output which is an output of the motor generator 12 which functions as an electric motor, when making the motor generator 12 function as an electric motor. In the present embodiment, when the motor generator 12 functions as a generator (when the turning output is larger than the capacitor output), the motor generator output has a positive value representing a generated output, and the motor generator 12 is a motor. When it functions as (when the turning output is smaller than the capacitor output), it becomes a negative value that represents the motorized output. Further, when the maximum turning output is adopted as the turning output, the motor generator output is a power generation limit value that is the maximum value of the power that the motor generator 12 can generate.

  The hydraulic pump maximum output is the maximum value of the hydraulic pump output. In the present embodiment, the controller 30 subtracts the motor generator output from the engine maximum output by the subtraction unit 62, and outputs the obtained value as the hydraulic pump maximum output. Therefore, when the motor generator 12 functions as a generator, the hydraulic pump maximum output is a value smaller than the engine maximum output by the motor generator output (generation output). When the motor generator 12 functions as a motor, the value is larger than the maximum engine output by the motor generator output (electric output).

  Specifically, the controller 30 reduces the hydraulic pump maximum output as the motor generator output increases (as the power generation output increases) if the engine rotational speed is constant, that is, if the engine maximum output is constant. . When the power generation output increases, the total of the power generation output and the hydraulic pump output may exceed the engine maximum output unless the hydraulic pump maximum output is reduced, that is, the output (absorbed horsepower) of the main pump 14 is not reduced. It is for. As a result, the output (absorption horsepower) of the main pump 14 is controlled within the range of the reduced hydraulic pump maximum output.

  On the contrary, if the engine speed is constant, that is, if the maximum engine output is constant, the controller 30 increases the hydraulic pump maximum output as the motor generator output decreases (as the motor output increases). This is because when the electric output increases, a margin occurs in the engine output, so that the main pump 14 can efficiently use the margin. As a result, the output (absorption horsepower) of the main pump 14 is controlled within the range of the increased hydraulic pump maximum output.

  The controller 30 is configured such that the hydraulic pump output calculated as the product of the pump discharge amount and the pump discharge pressure becomes equal to or less than the hydraulic pump maximum output, regardless of whether the hydraulic pump maximum output is increased or decreased. Control the pump discharge amount according to the pump discharge pressure. Specifically, the controller 30 controls the pump discharge amount of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 using a regulator (not shown).

  Next, the flow of the engine output distribution process will be described with reference to FIG. FIG. 5 is a flow chart showing an example of the engine output distribution process. The controller 30 repeatedly executes this engine output distribution process at a predetermined control cycle while the shovel is in operation.

  First, the controller 30 determines whether a combined turning operation including a turning operation and a hydraulic operation has been performed (step S41). In the present embodiment, the controller 30 determines whether the combined turning operation has been performed based on the output of the pressure sensor 29 that detects the operation content of the operating device 26. Specifically, the controller 30 determines that the combined turning operation is performed when it is detected that the turning operation lever and the operation lever for operating the hydraulic actuator such as the boom operation lever are simultaneously operated.

  If it is determined that the combined turning operation has not been performed (NO in step S41), the controller 30 ends the current engine output distribution process.

  On the other hand, when it is determined that the combined turning operation has been performed (YES in step S41), the controller 30 determines the maximum turning output based on the reference maximum swing output and the current state of the shovel (step S42). In the present embodiment, the controller 30 determines the swing maximum output based on the reference swing maximum output, the inclination angle of the shovel, and the discharge pressure of the main pump 14.

  Thereafter, the controller 30 determines the distribution of the engine output based on the determined swing maximum output (step S43). In the present embodiment, as shown in FIG. 4, the controller 30 determines the motor generator output and the hydraulic pump maximum output based on the engine maximum output, the swing maximum output, the required output, and the capacitor output.

  Next, with reference to FIG. 6, a process of determining the swing maximum output SP1 based on the reference swing maximum output SP0 and the current state of the shovel with the controller 30 (hereinafter referred to as "sweep maximum output determination processing"). explain. FIG. 6 is a diagram showing the relationship between input parameters and output parameters in the swing maximum output determination process.

  As shown in FIG. 6, the controller 30 acquires the reference swing maximum output SP0, the pump discharge pressure P, and the inclination angle θ as input parameters, and outputs the swing maximum output SP1 as an output parameter.

  The pump discharge pressure P is a pump discharge pressure of the main pump 14. In the present embodiment, the controller 30 acquires the pump discharge pressure P based on the output of the discharge pressure sensor M1.

  The inclination angle θ is an angle with respect to the horizontal plane of the plane on which the shovel is located. In the present embodiment, the controller 30 acquires the inclination angle θ based on the output of the inclination angle detection unit M2.

  FIG. 7 is a view showing a shovel located on a slope, FIG. 7 (A) shows a side view, and FIG. 7 (B) shows a top view. As shown in FIG. 7, the inclination angle θ of the shovel body is expressed as an angle with respect to the horizontal plane SF1 of the plane SF0 where the shovel is located.

  The reference turning maximum output SP0 is a reference value used when determining the turning maximum output which is the maximum value of the output of the turning electric motor 21 in accordance with the current state of the shovel. Further, the reference turning maximum output SP0 is preset, for example, as a turning maximum output that is adopted when the shovel is located on a flat surface, turning combined operation is performed, and the hydraulic load is small. “When the hydraulic load is small” is determined, for example, as the case where the pump discharge pressure P is less than the predetermined value P1. Further, “when the shovel is located on a flat surface” is determined, for example, as the case where the inclination angle θ of the shovel body is less than the predetermined angle θ1.

  The turning maximum output SP1 is a maximum value of the output of the turning motor 21 determined according to the current state of the shovel. In the present embodiment, the controller 30 determines the swing maximum output SP1 based on the reference swing maximum output SP0, the first coefficient Ka, and the second coefficient Kb.

  The first coefficient Ka is a coefficient determined according to the pump discharge pressure P, and tends to be smaller as the pump discharge pressure P is larger. In the present embodiment, the controller 30 causes the calculation unit 63 to derive a first coefficient Ka based on the pump discharge pressure P. Specifically, operation unit 63 outputs first coefficient Ka when receiving pump discharge pressure P as an input. For example, the first coefficient Ka takes a value of 0 or more and 1 or less, the pump discharge pressure P becomes 1 when the predetermined value P1 or less, and the pump discharge pressure P increases from the predetermined value P1 to the predetermined value P2 (> P1) As the pump discharge pressure P is equal to or greater than a predetermined value P2, the value Ka1 (<1) is reached.

  Further, the second coefficient Kb is a coefficient determined in accordance with the inclination angle θ, and tends to be larger as the inclination angle θ is larger. In the present embodiment, the controller 30 derives the second coefficient Kb based on the inclination angle θ by the computing unit 64. Specifically, operation unit 64 outputs second coefficient Kb when receiving inclination angle θ as an input. For example, the second coefficient Kb takes a value of 1 or more, and the inclination angle θ is a value of 1 or less at a predetermined angle θ1 (eg, 2 degrees) or less, and the inclination angle θ increases from the predetermined angle θ1 to the predetermined angle θ2 (> θ1) As a result, it increases at a constant rate, and when the inclination angle θ is a predetermined angle θ2 (eg, 30 degrees) or more, the value Kb1 (> 1) is obtained.

  Then, the controller 30 multiplies the reference swing maximum output SP0, the first coefficient Ka and the second coefficient Kb by the multiplication unit 65, and outputs the obtained value as the swing maximum output SP1. For example, when the shovel is located on a flat surface, combined turning operation is performed, and the hydraulic load is small, the maximum turning output SP1 is the reference maximum turning output SP0. This is because the values of the first coefficient Ka and the second coefficient Kb both have the value 1.

  Further, if the inclination angle θ is the same, that is, if the second coefficient Kb is the same, the turning maximum output SP1 decreases as the pump discharge pressure P increases. This is because the value of the first coefficient Ka decreases. On the other hand, if the pump discharge pressure P is the same, that is, if the first coefficient Ka is the same, the turning maximum output SP1 increases as the inclination angle θ increases. This is because the value of the second coefficient Kb is increased.

  In addition, the hydraulic pump maximum output can be a larger value as the pump discharge pressure P is larger, if the inclination angle θ is the same. This is because the turning maximum output SP1 is reduced. On the other hand, when the pump discharge pressure P is the same, the hydraulic pump maximum output can be a smaller value as the inclination angle θ is larger. This is because the turning maximum output SP1 is increased.

  With the above configuration, the controller 30 changes the swing maximum output SP1 according to the inclination angle θ. For example, the controller 30 increases the swing maximum output SP1 as the inclination angle θ increases. As a result, the controller 30 can appropriately control the swinging motion of the upper swing body 3 even on a slope. For example, in the case where the upper swing body 3 is turned while raising the boom 4 on the slope ground, the controller 30 prevents the swing speed of the upper swing body 3 from being blunted above the slope, or 3 can be prevented from turning downward on the slope contrary to the operator's will.

  Further, the controller 30 changes the hydraulic pump maximum output by changing the swing maximum output SP1 according to the inclination angle θ. For example, the controller 30 reduces the hydraulic pump maximum output by increasing the swing maximum output SP1 as the inclination angle θ increases. Therefore, even when the turning maximum output SP1 is increased, it is possible to prevent the sum of the motor generator output (generation output) and the hydraulic pump output from exceeding the engine maximum output.

  Although the preferred embodiments of the present invention have been described above in detail, the present invention is not limited to the above-described embodiments, and various modifications and substitutions may be made to the above-described embodiments without departing from the scope of the present invention. It can be added.

  For example, in the embodiment described above, the controller 30 controls the swing maximum output SP1 based on the first coefficient Ka associated with the pump discharge pressure P, the second coefficient Kb associated with the inclination angle θ, and the reference swing maximum output SP0. Decide. However, the present invention is not limited to this configuration. For example, the controller 30 may determine the swing maximum output SP1 by substituting the value of the pump discharge pressure P, the value of the tilt angle θ, and the reference swing maximum output SP0 into a predetermined function. Alternatively, controller 30 refers to the correspondence table representing the correspondence between the value for pump discharge pressure P, the value for tilt angle θ, and the swing maximum output SP1 with reference to the value for pump discharge pressure P and the value for tilt angle θ The output SP1 may be determined. Moreover, the controller 30 may determine the swing maximum output SP1 based on the value related to the tilt angle θ and the reference swing maximum output SP0 regardless of the pump discharge pressure P.

  Further, in the above-described embodiment, when the combined turning operation is performed, the controller 30 executes the engine output distribution process regardless of turning power and turning regeneration. However, the present invention is not limited to this configuration. For example, when combined turning operation is performed, the controller 30 may execute the engine power distribution process only during turning operation.

  1 ... undercarriage 1A, 1B ... hydraulic motor 2 ... turning mechanism 3 ... upper swing body 4 ... boom 5 ... arm 6 ... bucket 7 ... boom cylinder 8 ... Arm cylinder 9 ... Bucket cylinder 10 ... Cabin 11 ... Engine 12 ... Motor generator 13 ... Transmission 14 ... Main pump 15 ... Pilot pump 16 ... High pressure hydraulic line 17 ··· Control valve 18 ··· Inverter 19 ··· Capacitor 20 ··· Inverter 21 ··· Motor for turning 22 ··· Resolver 23 ··· Mechanical brake 24 ··· Turning transmission 25 ... Pilot line 26 ... Operation device 26A, 26B ... Lever 26C ... Pedal 27, 28 ... Hydraulic line 2 ... pressure sensor 30 ... controller 60 ... minimum value selection unit 61, 62 ... subtraction unit 63, 64 ... operation unit 65 ... multiplication unit 100 ... buck-boost converter 110 · · · DC bus 111: DC bus voltage detection unit 112: capacitor voltage detection unit 113: capacitor current detection unit 120: storage system

Claims (2)

An engine that drives a hydraulic pump,
A motor generator coupled to the engine;
Storage system,
A turning electric motor for driving a turning body using at least one of the electric power generated by the motor generator and the electric power stored in the storage system;
A control device for controlling the swing motor;
An inclination angle detection unit that detects an inclination angle of the construction machine main body;
When the combined operation including the turning operation by the turning operation lever is performed, the control device increases the maximum output of the turning motor and decreases the maximum output of the hydraulic pump as the inclination angle is larger. ,
Construction machinery. The control device reduces the maximum output of the hydraulic pump and increases the maximum output of the generated power of the motor generator as the inclination angle is larger.
The construction machine according to claim 1.

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