JP6847921B2 - ハイブリッド作業車両及びハイブリッド作業車両の制御方法 - Google Patents
ハイブリッド作業車両及びハイブリッド作業車両の制御方法 Download PDFInfo
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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
-
- 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
- B60K6/44—Series-parallel type
- B60K6/445—Differential gearing distribution type
-
- 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
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
- B60K6/54—Transmission for changing ratio
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- 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
- 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
-
- 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
- B60W20/17—Control strategies specially adapted for achieving a particular effect for noise reduction
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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
- E02F9/2079—Control of mechanical transmission
-
- 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
- E02F9/2083—Control of vehicle braking systems
-
- 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
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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
- 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
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Structural Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
- Hybrid Electric Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
図1は、実施形態に係るハイブリッド作業車両を示す図である。実施形態において、ハイブリッド作業車両として、砕石又は砕石の掘削時に発生した土砂及び岩石等を、例えばダンプトラック等の運搬車両に積載するホイールローダー1が例示される。ホイールローダー1は、内燃機関及び回転電機を動力源として走行する、ハイブリッド方式の作業車両である。
図3は、動力伝達装置24を示す模式図である。図3に示されるように、動力伝達装置24は、入力軸61と、歯車機構62と、出力軸63と、第1の回転電機MG1と、第2の回転電機MG2と、第3の回転電機MG3と、キャパシタ64と、を備えている。動力伝達装置24は、内燃機関21から出力された動力を、第1の回転電機MG1及び第2の回転電機MG2を介して、車輪、すなわち駆動輪である前輪6F及び後輪6Rに伝達する。
図4は、車速に対する第1の回転電機MG1、第2の回転電機MG2及び第3の回転電機MG3の回転速度を示す図である。図4は、第1の回転電機MG1、第2の回転電機MG2及び第3の回転電機MG3の回転速度と動力伝達装置24の回転速度比との関係を示している。回転速度比は、ホイールローダー1の車速に対応する。次において、内燃機関21の回転速度を一定に保ったまま、ホイールローダー1の車速が0から前進側に加速する場合における動力伝達装置24の概略動作を説明する。
図5は、制御装置27によって実行される処理を示すブロック図である。図5に示されるように、制御装置27は、目標出力軸トルク決定部82と、目標入力軸トルク決定部81と、回転電機指令決定部83と、トランスミッション要求決定部84と、アシスト制御部90と、を有する。
制御装置27は、第1の制御であるアシスト制御を実行する。アシスト制御は、第3の回転電機MG3の動力を第1の回転電機MG1及び第2の回転電機MG2の少なくとも一方に付与して走行装置25の牽引力を増加させる制御である。アシスト制御は、制御装置27が有するアシスト制御部90によって実行される。実施形態において、アシスト制御の例としてずり下がり抑制制御を説明する。
5 作業機
6R 後輪
6F 前輪
21 内燃機関
24 動力伝達装置
25 走行装置
27 制御装置
45 アクスル
54 前後進操作装置
58 ブレーキ操作装置
58BK 制動装置
59 傾斜検出器
68 第1遊星歯車機構
69 第2遊星歯車機構
81 目標入力軸トルク決定部
82 目標出力軸トルク決定部
83 回転電機指令決定部
84 トランスミッション要求決定部
90 アシスト制御部
91 判定部
92 フラグ生成部
93 切替部
95 ゲイン付与部
94,96 加減算器
97 クラッチ制御部
A ゲイン
Cm1 第1の回転電機クラッチ
Cm2 第2の回転電機クラッチ
Fa3 アシストフラグ
MG1 第1の回転電機
MG2 第2の回転電機
MG3 第3の回転電機
Nm1 第1の回転速度
Nm1c 速度閾値
Nm1t 目標回転速度
Pb 制動圧力
Pbc 制動圧力閾値
Rs 回転速度比
Sdd 進行方向指令値
Tad トルク増分
To_ref 目標出力軸トルク
To_ref’ 修正目標出力軸トルク
Vac 制御実行指令
Vnj 車速判定値
Vrj 傾斜判定値
Claims (7)
- 車輪を駆動して車体を走行させる走行装置及び前記走行装置を制御する制御装置を含み、
前記走行装置は、
第1の回転電機、第2の回転電機及び内燃機関と、
前記内燃機関から出力された動力を、少なくとも前記第1の回転電機及び前記第2の回転電機を介して前記車輪に伝達する動力伝達装置と、
前記第1の回転電機及び前記第2の回転電機の少なくとも一方に動力を付与する第3の回転電機と、
前記車輪を制動する制動装置と、を有し、
前記制御装置は、
前記第3の回転電機の動力を前記第1の回転電機及び前記第2の回転電機の少なくとも一方に付与する第1の制御と、前記走行装置の車速が速度閾値になるか又は前記速度閾値を超えると前記第1の制御を解除する第2の制御とを実行し、前記速度閾値は、前記車体が停止している状態から移動速度の所定値に達したときの値であり、前記第2の制御を実行した後に、前記車体を停止させるための前記制動装置の制動力が制動力閾値よりも大きい場合、前記第3の回転電機による動力の付与を維持する、ハイブリッド作業車両。 - 前記制御装置は、
前記ハイブリッド作業車両が傾斜面にあると判定した場合、前記第3の回転電機の動力を前記第1の回転電機に付与させる、請求項1に記載のハイブリッド作業車両。 - 前記制御装置は、
前記走行装置の前進又は後進を決定するための指令値と前記走行装置の実際の進行方向とが異なった場合に、前記第1の制御を実行する、請求項1又は請求項2に記載のハイブリッド作業車両。 - 前記制御装置は、
前記制動装置の制動力が、前記制動力閾値以下になった場合に、前記第3の回転電機による動力の付与を停止する、請求項1から請求項3のいずれか1項に記載のハイブリッド作業車両。 - 前記動力伝達装置は、
遊星歯車機構と、
前記第3の回転電機と前記第1の回転電機との間に配置された第1の動力断続機構と、
前記第3の回転電機と前記第2の回転電機との間に配置された第2の動力断続機構と、を有し、
前記内燃機関は前記遊星歯車機構の第1要素との間で動力をやり取りし、
前記第1の回転電機は前記遊星歯車機構の第2要素との間で動力をやり取りし、
前記第2の回転電機は前記遊星歯車機構の第3要素の間で動力をやり取りする、
請求項1から請求項3のいずれか1項に記載のハイブリッド作業車両。 - 前記ハイブリッド作業車両は、ホイールローダーである、請求項1から請求項5のいずれか1項に記載のハイブリッド作業車両。
- 内燃機関と、第1の回転電機及び第2の回転電機の少なくとも一方に動力を付与する第3の回転電機を含み、かつ前記内燃機関から出力された動力を、少なくとも前記第1の回転電機及び前記第2の回転電機を介して走行装置に出力する動力伝達装置と、を備えるハイブリッド作業車両を制御するハイブリッド作業車両の制御方法において、
前記第3の回転電機の動力を前記第1の回転電機及び前記第2の回転電機の少なくとも一方に付与する第1の制御と、前記ハイブリッド作業車両の車速が速度閾値になるか又は前記速度閾値を超えると前記第1の制御を解除する第2の制御とを実行し、前記速度閾値は、前記ハイブリッド作業車両が停止している状態から移動速度の所定値に達したときの値であり、前記第2の制御を実行した後に、前記ハイブリッド作業車両を停止させるための制動力が制動力閾値よりも大きい場合、前記第3の回転電機による動力の付与を維持する、
ハイブリッド作業車両の制御方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016069586 | 2016-03-30 | ||
JP2016069586 | 2016-03-30 | ||
PCT/JP2017/012184 WO2017170286A1 (ja) | 2016-03-30 | 2017-03-24 | ハイブリッド作業車両及びハイブリッド作業車両の制御方法 |
Publications (2)
Publication Number | Publication Date |
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JPWO2017170286A1 JPWO2017170286A1 (ja) | 2019-02-07 |
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