JPWO2008117748A1 - ハイブリッド建設機械の発電制御方法およびハイブリッド建設機械 - Google Patents
ハイブリッド建設機械の発電制御方法およびハイブリッド建設機械 Download PDFInfo
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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
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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
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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
- B60K6/46—Series 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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
-
- 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
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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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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- 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
-
- 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
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
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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
-
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/04—Control effected upon non-electric prime mover and dependent upon electric output value of the generator
-
- 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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- 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
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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
- Y02T10/70—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
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- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Structural Engineering (AREA)
- Mining & Mineral Resources (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Eletrric Generators (AREA)
- Control Of Charge By Means Of Generators (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
Description
2 エンジン
3 発電電動機
4 油圧ポンプ
5 インバータ
6 キャパシタ
7 旋回モータ
8 旋回インバータ
9 スイングマシナリ
10 コントローラ
10a メモリ
11 操作入力部
21 ブーム用操作弁
22 アーム用操作弁
23 バケット用操作弁
24 左走行用操作弁
25 右走行用操作弁
31 ブーム用油圧シリンダ
32 アーム用油圧シリンダ
33 バケット用油圧シリンダ
34 左走行用油圧モータ
35 右走行用油圧モータ
101 走行体
102 旋回体
103 ブーム
104 アーム
105 バケット
図1は、本発明の実施の形態1に係るハイブリッド建設機械の要部の構成を示す図である。本実施の形態1に係るハイブリッド建設機械は、互いに連結されたエンジンおよび発電電動機を駆動源として有するとともに、電動旋回機能を有するものである。本実施の形態1では、ハイブリッド建設機械として、掘削機能を有する油圧ショベルの場合を説明するが、これはあくまでも一例に過ぎない。
図10は、本発明の実施の形態2に係るハイブリッド建設機械の発電制御方法の処理の概要を示す処理フロー図である。本実施の形態2においては、コントローラ10が旋回インバータ電力Pに所定の係数K2を乗じる演算を行う(ステップS13’)際、旋回モータ7の回転数ωに応じて係数K2の値を変化させる。
ここまで、本発明を実施するための最良の形態を説明してきたが、本発明は、上述した二つの実施の形態によってのみ限定されるわけではない。図12は、旋回インバータ出力(旋回パワー)に乗じる係数K2の別な設定例を示す図である。同図に示す直線L6は、係数K2を旋回インバータ電力P(>0)に応じて変化させる場合を示している。この場合には、旋回インバータ電力Pが大きいほど発電電動機3の発電量を大きくする必要があるため、旋回インバータ電力Pが増加するとともに係数K2の値が増加するようにしている。
Claims (7)
- 互いに連結されたエンジンおよび発電電動機と、前記発電電動機に接続され、前記発電電動機を駆動するインバータと、前記インバータに並列接続され、前記発電電動機が発電した電力を蓄電する一方、前記発電電動機に電力を供給するキャパシタと、前記発電電動機および前記キャパシタから電力が供給され、本体の一部を他の部分に対して旋回させる旋回モータと、を備えたハイブリッド建設機械の発電制御方法であって、
前記旋回モータの消費電力に対応する旋回パワーを逐次算出する旋回パワー算出ステップと、
前記旋回パワー算出ステップで算出した前記旋回モータの力行時の旋回パワーの値をより小さい値に変換する旋回パワー変換ステップと、
前記旋回パワー変換ステップで変換した値を用いることによって前記発電電動機の発電指令を逐次生成する発電指令生成ステップと、
前記発電指令生成ステップで生成した発電指令を前記インバータへ出力する出力ステップと、
を有することを特徴とするハイブリッド建設機械の発電制御方法。 - 前記旋回パワー変換ステップは、
前記旋回モータの回生時に前記キャパシタの電圧が変化しても該電圧が所定の範囲に含まれるように前記旋回パワーの値を変換することを特徴とする請求項1記載のハイブリッド建設機械の発電制御方法。 - 前記旋回パワー変換ステップは、
前記旋回パワーの値に1よりも小さい係数を乗じる演算を行うことを特徴とする請求項1または2記載のハイブリッド建設機械の発電制御方法。 - 前記旋回パワー変換ステップは、
前記旋回パワーの値に乗じる係数を、当該ハイブリッド建設機械の内部または外部で計測される所定の計測値に応じて変更することを特徴とする請求項3記載のハイブリッド建設機械の発電制御方法。 - 前記旋回モータの回転数に応じて前記キャパシタの目標電圧を設定する目標電圧設定ステップと、
前記目標電圧設定ステップで設定した目標電圧と前記キャパシタの電圧との差を計算する電圧差計算ステップと、
前記電圧差計算ステップで計算した電圧差を、前記旋回パワーと同じ次元を有する物理量に変換する電圧差変換ステップと、
をさらに有し、
前記発電指令生成ステップは、
前記電圧差変換ステップで変換した値と前記旋回パワー変換ステップで変換した値との和を計算し、この計算した和を用いることによって前記発電指令を生成することを特徴とする請求項1〜4のいずれか一項記載のハイブリッド建設機械の発電制御方法。 - 互いに連結されたエンジンおよび発電電動機を駆動源として備えるとともに、本体の一部を他の部分に対して旋回させる旋回モータを備えたハイブリッド建設機械であって、
前記発電電動機に接続され、前記発電電動機を駆動するインバータと、
前記インバータに並列接続され、前記発電電動機が発電した電力を蓄電する一方、前記発電電動機に電力を供給するキャパシタと、
前記旋回モータの消費電力に対応する旋回パワーを逐次算出し、この算出した旋回パワーの値をより小さい値に変換し、この変換した値を用いることによって前記発電電動機の発電指令を逐次生成し、この生成した発電指令を前記インバータへ出力する制御手段と、
を備えたことを特徴とするハイブリッド建設機械。 - 前記制御手段は、
前記旋回モータの回転数に応じて前記キャパシタの目標電圧を設定し、
この設定した目標電圧と前記キャパシタの電圧との電圧差を計算し、
この計算した電圧差を、前記旋回パワーと同じ次元を有する物理量に変換し、
前記電圧差を変換した値と前記旋回パワーを変換した値との和を計算し、この計算した和を用いることによって前記発電指令を生成することを特徴とする請求項6記載のハイブリッド建設機械。
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JP2009506321A JP5002004B2 (ja) | 2007-03-23 | 2008-03-21 | ハイブリッド建設機械の発電制御方法およびハイブリッド建設機械 |
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JP2009506321A JP5002004B2 (ja) | 2007-03-23 | 2008-03-21 | ハイブリッド建設機械の発電制御方法およびハイブリッド建設機械 |
PCT/JP2008/055264 WO2008117748A1 (ja) | 2007-03-23 | 2008-03-21 | ハイブリッド建設機械の発電制御方法およびハイブリッド建設機械 |
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KR20100014931A (ko) | 2010-02-11 |
WO2008117748A1 (ja) | 2008-10-02 |
KR101516830B1 (ko) | 2015-05-04 |
JP5002004B2 (ja) | 2012-08-15 |
CN101663442A (zh) | 2010-03-03 |
DE112008000589B4 (de) | 2015-11-19 |
US8207708B2 (en) | 2012-06-26 |
DE112008000589T5 (de) | 2010-01-28 |
US20100097037A1 (en) | 2010-04-22 |
CN101663442B (zh) | 2012-02-29 |
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