JPWO2017208405A1 - Hybrid construction machinery - Google Patents

Abstract

  The generator motor required output calculation unit (40) of the HCU (36) prevents the storage rate SOC and the current square integration ratio Risc from deviating from the allowable range when the storage rate SOC and the current square integration ratio Risc are within the allowable range. To the output of the power storage device (31). The generator motor required output calculation unit (40) allows the current square integration ratio Risc to deviate from the intermediate value Risc0 when the electric storage rate SOC exceeds the allowable range and deviates from the target value SOC0. Requests the output of the power storage device (31) to approach the target value SOC0. The generator motor required output calculation unit (40) allows the storage rate SOC to deviate from the target value SOC0 when the current square integration ratio Risc exceeds the allowable range and deviates from the intermediate value Risc0, and allows the current square integration to occur. The output of the power storage device (31) is requested so that the ratio Risc approaches the intermediate value Risc0.

Description

  The present invention relates to a hybrid construction machine equipped with an engine and a generator motor.

  In general, a hybrid construction machine including a generator motor mechanically coupled to an engine and a hydraulic pump and a power storage device such as a lithium ion battery or a capacitor is known (for example, see Patent Documents 1 and 2). In such a hybrid construction machine, the generator motor plays a role of charging the power storage device with the power generated by the driving force of the engine or assisting the engine by powering using the power of the power storage device. In many hybrid construction machines, an electric motor is provided separately from the generator motor, and the operation of the hydraulic actuator is substituted or assisted by this electric motor. For example, when the turning operation is performed by the electric motor, the turning operation and assist of the upper turning body are performed by supplying electric power to the electric motor, and the power storage device is charged by regenerating braking energy when the turning is stopped.

  In such a hybrid construction machine, the fuel consumption reduction effect can be enhanced by increasing the output of the generator motor or the swing electric motor. However, if the output of the generator motor or the like is increased, sufficient power may not be supplied due to restrictions on the discharge capacity, capacity, temperature, and the like of the power storage device. In this case, if the power supply from the power storage device is continued, the power storage device is abused and the deterioration of the power storage device is accelerated.

  A configuration that takes such problems into consideration is known. For example, in Patent Document 1, in order to prevent the deterioration of the power storage device, the operation speed of the vehicle is reduced in accordance with a decrease in the state of charge (SOC) to prevent excessive use of the power storage device. The structure to perform is disclosed.

  Patent Document 2 discloses a configuration in which, in order to suppress deterioration of the power storage device, when the current square integrated value exceeds a predetermined value, the discharge amount is limited according to the increase amount. At this time, the current square integration value indicates the usage amount of the power storage device from the present to the past certain time.

Japanese Patent No. 3941951 JP 2006-149181 A

  In the hybrid construction machines described in Patent Documents 1 and 2, the vehicle body speed is decreased in accordance with a decrease in the power storage rate or an increase in the current square integrated value, thereby suppressing deterioration due to overuse of the power storage device. For this reason, in the configuration in which both are combined, the vehicle body speed is individually decreased based on two conditions of the power storage rate and the current square integrated value.

  For this reason, for example, even when the current square integrated value is small, the vehicle body speed decreases when the storage rate decreases. Even if the power storage rate is not decreasing, the vehicle body speed is decreased when the current square integrated value is increased. The former corresponds to the case where, for example, charging and discharging are performed with a small current, resulting in excessive discharge. The latter corresponds to the case where charging and discharging with a large current are repeated, for example, although there is no excessive discharge. In these cases, the vehicle body speed is reduced in a state where the power storage device has remaining capacity. As a result, the vehicle body speed decreases more frequently than necessary, and there is a problem in that the time during which the vehicle can operate without decreasing the vehicle body speed is shortened and the operator is given an opportunity to feel operational stress and discomfort.

  The present invention has been made in view of the above-described problems of the prior art, and an object of the present invention is to provide a hybrid construction machine capable of suppressing deterioration based on two indexes and appropriately using a power storage device. is there.

  In order to solve the above-described problems, the present invention provides an engine, a generator motor mechanically connected to the engine, and charging when the generator motor is caused to generate power, and when the generator motor is caused to perform a power running action. A power storage device that discharges to the engine, a hydraulic pump that is driven by torque of the engine and the generator motor, a plurality of hydraulic actuators that are driven by pressure oil from the hydraulic pump, and a controller that controls outputs of the engine and the power storage device A power storage device state detection unit for detecting a first index and a second index for which a reference value and a limit value are individually determined, the controller further comprising: Is set when the first index and the second index are within a predetermined tolerance range including the reference value. The output of the power storage device is requested so that the second index and the second index do not deviate from the permissible range, and one of the first index and the second index exceeds the permissible range and the reference An output request unit that, when deviating from the value, allows the other index to deviate from the reference value, and requests the output of the power storage device so that one of the indices approaches the reference value; and the output request And an output control unit that controls the output of the power storage device so that neither the first index nor the second index exceeds the limit value based on a request for output from the unit. Yes.

  According to the present invention, it is possible to suppress deterioration based on two indexes and to appropriately use the power storage device.

1 is a front view showing a hybrid excavator according to an embodiment of the present invention. It is a principal part perspective view which shows the inside of the cab in FIG. It is a block diagram which shows the hydraulic system and electric system which are applied to the hybrid hydraulic shovel in FIG. It is a block diagram which shows the hybrid control unit in FIG. It is a block diagram which shows the generator motor request | requirement output calculating part in FIG. It is explanatory drawing which shows the table which the electrical storage rate request | requirement output calculating part in FIG. 5 has. It is explanatory drawing which shows the table which the electric current square integration ratio request | requirement output calculating part in FIG. 5 has. It is explanatory drawing which shows the list of the output request | requirements based on an electrical storage rate and a current square integration ratio. It is a block diagram which shows the maximum output calculating part in FIG. It is a block diagram which shows the generator motor output limitation gain calculating part in FIG. It is a block diagram which shows the output command calculating part in FIG. It is a block diagram which shows the pump estimated input calculating part in FIG. It is a block diagram which shows the generator motor power running output calculating part in FIG. It is a block diagram which shows the generator motor electric power generation output calculating part in FIG. It is a block diagram which shows the turning basic output calculating part in FIG. It is a block diagram which shows the boom basic output calculating part in FIG. It is a block diagram which shows the turning boom output distribution calculating part in FIG. It is a block diagram which shows the arm bucket output distribution calculating part in FIG. It is a block diagram which shows the turning hydraulic electric output distribution calculating part in FIG. It is explanatory drawing which shows an example of the output of an engine and a generator motor when the power running of full power is requested | required. It is explanatory drawing which shows an example of the output of an engine and a generator motor when the power running of a half power is requested | required. It is explanatory drawing which shows an example of the output of an engine and a generator motor when full power electric power generation is requested | required. It is explanatory drawing which shows an example of the output of an engine and a generator motor when the power generation of half power is requested | required.

  Hereinafter, a hybrid hydraulic excavator will be described as an example of a hybrid construction machine according to an embodiment of the present invention with reference to the accompanying drawings.

  1 to 23 show an embodiment of the present invention. The hybrid excavator 1 (hereinafter referred to as the hydraulic excavator 1) includes an engine 21 and a generator motor 27 which will be described later. The hydraulic excavator 1 is mounted on a crawler type lower traveling body 2 capable of self-running, a turning device 3 provided on the lower traveling body 2, and turnable on the lower traveling body 2 via the turning device 3. The upper revolving unit 4 and a multi-joint structure working device 12 which is provided on the front side of the upper revolving unit 4 and performs excavation work or the like. At this time, the lower traveling body 2 and the upper swing body 4 constitute a vehicle body of the hydraulic excavator 1.

  The upper swing body 4 includes a building cover 6 provided on the swing frame 5 and housing the engine 21 and the like, and a cab 7 on which an operator gets on. As shown in FIG. 2, a driver's seat 8 on which an operator is seated is provided in the cab 7, and a travel operation device 9 including an operation lever, an operation pedal, and the like are provided around the driver's seat 8, And a work operation device 11 including an operation lever and the like. An engine control dial 38 is provided in the cab 7.

  The travel operation device 9 is disposed, for example, on the front side of the driver seat 8. Further, the turning operation device 10 corresponds to the operation portion in the front-rear direction among the operation levers arranged on the left side of the driver's seat 8, for example. Further, the work operation device 11 includes a left-right operation portion (arm operation) among the operation levers disposed on the left side of the driver seat 8 and a front-rear operation portion among the operation levers disposed on the right side of the driver seat 8. (Boom operation) and the operation part in the left-right direction (bucket operation) correspond. The relationship between the operation direction of the operation lever, the turning operation, and the work operation is not limited to that described above, and is appropriately set according to the specifications of the hydraulic excavator 1 and the like.

  Here, the operation devices 9 to 11 are provided with operation amount sensors 9A to 11A for detecting these operation amounts (lever operation amounts OA), respectively. These operation amount sensors 9A to 11A constitute an operation amount detector that detects an operation amount for driving a plurality of hydraulic actuators (hydraulic motors 25 and 26, cylinders 12D to 12F). The operation amount sensors 9 </ b> A to 11 </ b> A detect the operation state of the vehicle body such as a traveling operation of the lower traveling body 2, a turning operation of the upper revolving body 4, and a lifting / lowering operation (excavation operation) of the work device 12.

  At this time, the operation amount sensor 10A detects the turning lever operation amount OAr including the left turning operation amount OAr1 and the right turning operation amount OAr2. The operation amount sensor 11A includes a boom lever operation amount OAbm including a boom raising operation amount OAbm1 and a boom lowering operation amount OAbm2, an arm lever operation amount OAam including an arm raising operation amount OAam1 and an arm lowering operation amount OAam2, and a bucket cloud operation amount. A bucket lever operation amount OAbk including OAbk1 and bucket dump operation amount OAbk2 is detected. The lever operation amount OA includes these operation amounts OAr, OAbm, OAam, and OAbk.

  As shown in FIG. 1, the working device 12 includes, for example, a boom 12A, an arm 12B, and a bucket 12C, and a boom cylinder 12D, an arm cylinder 12E, and a bucket cylinder 12F that drive these. The boom 12A, the arm 12B, and the bucket 12C are pin-coupled to each other. The working device 12 is attached to the revolving frame 5 and moves up and down by extending or contracting the cylinders 12D to 12F.

  Here, the hydraulic excavator 1 is equipped with an electric system that controls the generator motor 27 and the like, and a hydraulic system that controls the operation of the work device 12 and the like. Hereinafter, the system configuration of the hydraulic excavator 1 will be described with reference to FIG.

  The engine 21 is mounted on the turning frame 5. The engine 21 is constituted by an internal combustion engine such as a diesel engine. A hydraulic pump 23 and a generator motor 27 (described later) are mechanically connected in series on the output side of the engine 21. The hydraulic pump 23 and the generator motor 27 are driven by the engine 21. Here, the operation of the engine 21 is controlled by an engine control unit 22 (hereinafter referred to as ECU 22). The ECU 22 controls output torque, rotational speed (engine speed), and the like of the engine 21 based on an engine output command Pe from a hybrid control unit 36 (hereinafter referred to as HCU 36). Note that the maximum output of the engine 21 is smaller than the maximum power of the hydraulic pump 23, for example.

  The hydraulic pump 23 is mechanically connected to the engine 21. The hydraulic pump 23 can be driven by the torque of the engine 21 alone. The hydraulic pump 23 can also be driven by a combined torque (total torque) obtained by adding the assist torque of the generator motor 27 to the torque of the engine 21. The hydraulic pump 23 pressurizes hydraulic oil stored in a tank (not shown), and discharges the hydraulic oil as pressure oil to the traveling hydraulic motor 25, the turning hydraulic motor 26, the cylinders 12D to 12F of the working device 12, and the like.

  The hydraulic pump 23 is connected via a control valve 24 to a traveling hydraulic motor 25, a turning hydraulic motor 26, and cylinders 12D to 12F as hydraulic actuators. The hydraulic motors 25 and 26 and the cylinders 12D to 12F are driven by the pressure oil from the hydraulic pump 23. The control valve 24 sends pressure oil discharged from the hydraulic pump 23 to the traveling hydraulic motor 25, the swing hydraulic motor 26, and the cylinders 12D to 12F in response to operations on the traveling operation device 9, the turning operation device 10, and the work operation device 11. Supply or discharge.

  Specifically, pressure oil is supplied from the hydraulic pump 23 to the traveling hydraulic motor 25 in accordance with the operation of the traveling operation device 9. Thereby, the traveling hydraulic motor 25 drives the lower traveling body 2 to travel. Pressure oil is supplied to the swing hydraulic motor 26 from the hydraulic pump 23 in accordance with the operation of the swing operation device 10. Thereby, the turning hydraulic motor 26 turns the upper turning body 4. Pressure oil is supplied to the cylinders 12 </ b> D to 12 </ b> F from the hydraulic pump 23 in accordance with the operation of the work operation device 11. Accordingly, the cylinders 12D to 12F move the working device 12 up and down.

  The generator motor 27 (motor generator) is mechanically connected to the engine 21. The generator motor 27 is constituted by, for example, a synchronous motor. The generator motor 27 acts as a generator using the engine 21 as a power source and generates power for supplying power to the power storage device 31 and the swing electric motor 33, and functions as a motor using the power from the power storage device 31 and the swing electric motor 33 as a power source. It plays two roles of powering to assist driving of the engine 21 and the hydraulic pump 23. Therefore, the assist torque of the generator motor 27 is added to the torque of the engine 21 depending on the situation, and the hydraulic pump 23 is driven by these torques. The pressure oil discharged from the hydraulic pump 23 causes the operation device 12 to operate and the vehicle to travel.

  The generator motor 27 is connected to a pair of DC buses 29A and 29B via a first inverter 28. The first inverter 28 is configured using a plurality of switching elements such as transistors, insulated gate bipolar transistors (IGBTs), and the like. In the first inverter 28, on / off of each switching element is controlled by a motor generator control unit 30 (hereinafter referred to as MGCU 30). The DC buses 29A and 29B are paired on the positive electrode side and the negative electrode side, and a DC voltage of about several hundred volts, for example, is applied thereto.

  During power generation by the generator motor 27, the first inverter 28 converts AC power from the generator motor 27 into DC power and supplies it to the power storage device 31 and the swing electric motor 33. During power running of the generator motor 27, the first inverter 28 converts the DC power of the DC buses 29 </ b> A and 29 </ b> B into AC power and supplies it to the generator motor 27. The MGCU 30 controls on / off of each switching element of the first inverter 28 based on the generator motor output command Pmg from the HCU 36. Thereby, the MGCU 30 controls the generated power when the generator motor 27 generates power and the driving power when powering.

  The power storage device 31 is electrically connected to the generator motor 27. The power storage device 31 is constituted by a plurality of cells (not shown) made of, for example, a lithium ion battery, and is connected to the DC buses 29A and 29B.

  The power storage device 31 charges the power supplied from the generator motor 27 when the generator motor 27 generates power, and supplies drive power to the generator motor 27 when the generator motor 27 is powered (at the time of assist drive). The power storage device 31 charges regenerative power supplied from the swing electric motor 33 when the swing electric motor 33 is regenerated, and supplies drive power to the swing electric motor 33 when the swing electric motor 33 is powered. As described above, the power storage device 31 stores the electric power generated by the generator motor 27 and also absorbs the regenerative power generated by the swing electric motor 33 during the swing braking of the hydraulic excavator 1, and the DC buses 29A and 29B. Keep the voltage constant.

  The power storage device 31 is controlled by a battery control unit 32 (hereinafter referred to as BCU 32). The BCU 32 constitutes a power storage device state detection unit. The BCU 32 detects the storage rate SOC as a first index representing the state of the power storage device 31 and detects the current square integration ratio Risc as a second index representing the state of the power storage device 31. At this time, the power storage rate SOC becomes a value corresponding to the amount of power stored in the power storage device 31. The current square integration ratio Risc is a value corresponding to the current square integration value of the power storage device 31. The BCU 32 outputs the storage rate SOC, the current square integration ratio Risc, and the like to the HCU 36.

  In the present embodiment, the power storage device 31 includes, for example, a voltage of 350 V, a discharge capacity of 5 Ah, an appropriate usage range of the storage rate SOC of, for example, 30% to 70%, and an appropriate usage cell temperature of −20 ° C. to 60 ° C. A lithium ion battery set at a temperature not higher than ° C. is used. The appropriate usage range and the like of the power storage rate SOC are not limited to the values described above, but are set as appropriate according to the specifications of the power storage device 31 and the like.

  Here, the maximum output of the engine 21 is smaller than the maximum pump absorption power. In this case, compared with the case where the engine 21 has a sufficiently large output with respect to the maximum pump absorption power, the rate of contribution of the engine assist due to the power running of the generator motor 27 during the vehicle body operation is large. For this reason, the power storage device 31 repeatedly charges and discharges violently.

  In general, when the power storage device 31 is excessively charged or discharged, the deterioration is accelerated and the output is reduced. The deterioration rate of the power storage device 31 varies depending on the storage rate SOC when charging or discharging, or the strength of charging or discharging itself. For example, in the power storage device 31 such as a lithium ion battery, an appropriate use range is determined by the manufacturer for the storage rate and the cell temperature (for example, the storage rate is 30% or more and 70% or less, the cell temperature is −20 ° C. or more) 60 ° C. or less). When the power storage device 31 is used beyond this range, the deterioration rate greatly increases.

  Similarly, an appropriate usage range of the power storage device 31 is also determined in advance for the charge and discharge intensity. In general, a current square integrated value is used as an indicator of charge or discharge intensity. This is an index representing how much current has been input or output during a certain time T in the past from the current time by integrating the square of the current for T time. At this time, a plurality of times T are often set. This index is appropriately set according to the specifications of the power storage device 31 and the like. Therefore, if the power storage device 31 is used beyond the upper limit value of the current square integrated value, deterioration of the power storage device 31 is promoted. For this reason, the power storage device 31 is used so as not to exceed the upper limit value of the current square integrated value as much as possible.

  In the following, a case where the time T is set to 100 seconds will be described as an example. That is, it is assumed that the upper limit value of the current square integrated value for the past 100 seconds is determined in advance. For this reason, the use of the power storage device 31 is controlled so that the current square integration ratio Risc does not exceed 100% by setting the ratio of the current value and the upper limit value of the current square integration value to the current square integration ratio Risc. The Therefore, the appropriate use range of the current square integration ratio Risc is 0 to 100%. At this time, the BCU 32 includes, for example, a current sensor (not shown) that detects a current for charging or discharging the power storage device 31, and calculates the current square integration ratio Risc based on the detected current. The current square integration ratio Risc is not limited to calculation by the BCU 32. For example, the current of the power storage device 31 at the time of charging and discharging may be detected from the BCU 32 and calculated by the HCU 36 based on the detected value of this current.

  The swing electric motor 33 (swing motor) is driven by electric power from the generator motor 27 or the power storage device 31. The turning electric motor 33 is constituted by, for example, a three-phase induction motor, and is provided on the turning frame 5 together with the turning hydraulic motor 26. The turning electric motor 33 drives the turning device 3 in cooperation with the turning hydraulic motor 26. Therefore, the turning device 3 is driven by the combined torque of the turning hydraulic motor 26 and the turning electric motor 33 to drive the upper turning body 4 to turn.

  The swing electric motor 33 is connected to the DC buses 29 </ b> A and 29 </ b> B via the second inverter 34. The swing electric motor 33 has two kinds of roles: power running that rotates by receiving electric power from the power storage device 31 and the generator motor 27, and regeneration that stores the power storage device 31 by generating electric power with extra torque during swing braking. Fulfill. For this reason, the electric power from the generator motor 27 and the like is supplied to the turning electric motor 33 during power running via the DC buses 29A and 29B. As a result, the turning electric motor 33 generates rotational torque in accordance with the operation of the turning operation device 10 to assist the drive of the turning hydraulic motor 26 and also drives the turning device 3 to turn the upper turning body 4. Let

  Similar to the first inverter 28, the second inverter 34 is configured using a plurality of switching elements. In the second inverter 34, on / off of each switching element is controlled by a swing electric motor control unit 35 (hereinafter referred to as RMCU 35). During powering of the swing electric motor 33, the second inverter 34 converts the DC power of the DC buses 29 </ b> A and 29 </ b> B into AC power and supplies the AC power to the swing electric motor 33. During regeneration of the swing electric motor 33, the second inverter 34 converts AC power from the swing electric motor 33 into DC power and supplies it to the power storage device 31 and the like.

  The RMCU 35 controls on / off of each switching element of the second inverter 34 based on the swing electric motor output command Per or the like from the HCU 36. Thereby, the RMCU 35 controls the regenerative power at the time of regeneration of the swing electric motor 33 and the drive power at the time of power running. Further, the RMCU 35 detects the regenerative power and drive power of the swing electric motor 33 and outputs these to the HCU 36 as the swing electric motor output P0er. The turning electric motor output P0er is not limited to that detected by the RMCU 35, but may be estimated (calculated) by the HCU 36 based on, for example, the current turning electric motor output command Per. Further, the RMCU 35 detects the turning speed Vr based on the rotational speed of the turning electric motor 33 and outputs it to the HCU 36.

  The HCU 36 configures a controller together with, for example, the MGCU 30 and the RMCU 35 and controls the output of the power storage device 31. The HCU 36 is configured by a microcomputer, for example, and is electrically connected to the ECU 22, the MGCU 30, the RMCU 35, and the BCU 32 using a CAN 37 (Controller Area Network) or the like. The HCU 36 controls the engine 21, the generator motor 27, the swing electric motor 33, and the power storage device 31 while communicating with the ECU 22, MGCU 30, RMCU 35, and BCU 32.

  The HCU 36 is supplied with the storage rate SOC, the current square integration ratio Risc, the turning electric motor output P0er, and other vehicle body information VI through the CAN 37 and the like. Further, the operation amount sensors 9A to 11A are connected to the HCU 36. Accordingly, the lever operation amount OA including various operation amounts OAr, OAbm, OAam, OAbk is input to the HCU 36. Further, an engine control dial 38 is connected to the HCU 36, and the target rotational speed ωe of the engine 21 set by the engine control dial 38 is input.

  The HCU 36 controls the output of the power storage device 31 based on the storage rate SOC as the first index and the current square integration ratio Risc as the second index. Here, the HCU 36 has a target value SOC0 serving as a reference value determined for the power storage rate SOC, a use lower limit value SOC1 and a use upper limit value SOC2 serving as limit values. The lower limit of use SOC1 is a lower limit of an appropriate use range of the storage rate SOC. The upper limit value SOC2 is an upper limit value of the appropriate usage range of the storage rate SOC. For example, the target value SOC0 of the storage rate SOC is 50%, the use lower limit SOC1 is 30%, and the use upper limit SOC2 is 70%.

  In addition, the HCU 36 has an intermediate value Risc0 serving as a reference value determined for the current square integration ratio Risc and an upper limit value Risc2 serving as a limit value. In addition, a lower limit Risc1 is also set for the current square integration ratio Risc. As an example, the intermediate value Risc0 of the current square integration ratio Risc is 70%, the lower limit value Risc1 is 0%, and the upper limit value Risc2 is 100%.

  In addition, an allowable range is set for each of the power storage rate SOC and the current square integration ratio Risc if no output limitation is required. At this time, the allowable range of the storage rate SOC is a range that is not less than a value that is lower than the target value SOC0 by a lower margin X1 and is not more than a value that is higher than the target value SOC0 by an upper margin X2. That is, it is the range shown in the following formula 1. For example, the lower margin X1 is 15% and the upper margin X2 is 15%. The lower margin X1 and the upper margin X2 do not have to be the same value, and may be different from each other.

  The allowable range of the current square integration ratio Risc is a range of the intermediate value Risc0 or less. That is, it is the range shown in the following formula 2.

  The engine control dial 38 is constituted by a rotatable dial, and sets a target rotational speed ωe of the engine 21 according to the rotational position of the dial. The engine control dial 38 is located in the cab 7 and is rotated by an operator to output a command signal corresponding to the target rotational speed ωe.

  Next, a specific configuration of the HCU 36 will be described with reference to FIG. The HCU 36 includes a generator motor required output calculation unit 40, a maximum output calculation unit 50, and an output command calculation unit 60. At this time, the maximum output calculation unit 50 and the output command calculation unit 60, based on the output request from the generator motor required output calculation unit 40, the storage rate SOC does not exceed the use lower limit value SOC1 or the use upper limit value SOC2, and An output control unit that controls the output of the power storage device 31 is configured so that the current square integration ratio Risc does not exceed the upper limit value Risc2.

  First, a specific configuration of the generator motor required output calculation unit 40 will be described with reference to FIGS.

  The generator motor required output calculation unit 40 constitutes an output request unit. For this reason, the generator motor required output calculation unit 40 determines that the storage rate SOC and the current square integration ratio Risc do not deviate from the allowable range when the storage rate SOC and the current square integration ratio Risc are within the allowable range. Request output. The generator motor required output calculation unit 40 determines that the current square integration ratio Risc is an intermediate value when the storage rate SOC exceeds the allowable range and deviates from the target value SOC0 (SOC <SOC0−X1 or SOC> SOC0−X2). The output of the power storage device 31 is requested so that the deviation from Risc0 is allowed and the storage rate SOC approaches the target value SOC0. Further, the generator motor required output calculation unit 40 permits the storage rate SOC to deviate from the target value SOC0 when the current square integration ratio Risc exceeds the allowable range and deviates from the intermediate value Risc0 (Risc> Risc0). Thus, the output of the power storage device 31 is requested so that the current square integration ratio Risc approaches the intermediate value Risc0.

  The generator motor required output calculation unit 40 determines the generator motor required output Pmg1 in order to operate the generator motor 27 appropriately (powering operation or power generation operation) according to the state of the power storage device 31. The generator motor request output calculation unit 40 requests the generator motor 27 to generate power when the storage rate SOC is lower than the target value SOC0 (SOC <SOC0) and the current square integration ratio Risc is within an allowable range. And a power running request unit 40B that requests power running from the generator motor 27 when the storage rate SOC exceeds the target value SOC0 (SOC> SOC0) and the current square integration ratio Risc is within an allowable range. In addition, the generator motor required output calculation unit 40 further includes an output reduction request unit 43B that decreases the output as the current square integration ratio Risc approaches the upper limit value Risc2 and requests the generator motor 27 to generate power or run. Yes.

  As shown in FIG. 5, the generator motor required output calculation unit 40 includes a storage rate deviation calculation unit 41, a storage rate request output calculation unit 42, a current square integration ratio request output calculation unit 43, a saturation calculation unit 44, And an adder 45. The generator motor required output calculation unit 40 is input with the storage rate SOC, the current square integration ratio Risc, and the swing electric motor output P0er.

  The power storage rate deviation calculating unit 41 calculates the difference between the power storage rate SOC and the target value SOC0 that is the target power storage rate setting value, and outputs a power storage rate deviation ΔSOC (ΔSOC = SOC−SOC0).

  The storage rate request output calculation unit 42 outputs a storage rate request output Psoc1 as an output requested to the generator motor 27 in accordance with the storage rate SOC. Specifically, the storage rate request output calculation unit 42 has, for example, a table T1 as shown in FIG. 6 in order to calculate the storage rate request output Psoc1 based on the storage rate deviation ΔSOC.

  When the storage rate deviation ΔSOC becomes 0 (ΔSOC = 0), the table T1 sets the storage rate request output Psoc1 to a minimum value (for example, Psoc1 = 0 kW). At this time, the storage rate SOC is the target value SOC0, and the operation of the generator motor 27 is unnecessary.

  When the storage rate deviation ΔSOC decreases in the range from 0 to the lower margin X1 (−X1 ≦ ΔSOC <0), the table T1 indicates the storage rate request according to the magnitude of the absolute value of the storage rate deviation ΔSOC. The output Psoc1 is set to a value (negative value) increased to the power generation side. At this time, the storage rate SOC is lower than the target value SOC0, and it is preferable to approach the target value SOC0 by the power generation operation of the generator motor 27.

  When the storage rate deviation ΔSOC falls below the lower margin X1 (−X1> ΔSOC), the table T1 sets the storage rate required output Psoc1 to the maximum value Y11 (for example, Psoc1 = −30 kW) on the power generation side. At this time, the storage rate SOC is lower than the lower limit X1 than the target value SOC0 and needs to be charged quickly by the power generation operation of the generator motor 27.

  When the storage rate deviation ΔSOC rises in the range from 0 to the upper margin X2 (0 <ΔSOC ≦ X2), the table T1 shows the storage rate required output Psoc1 according to the magnitude of the absolute value of the storage rate deviation ΔSOC. Is set to a value (positive value) that is increased to the power running side. At this time, the storage rate SOC is higher than the target value SOC0, and it is preferable to approach the target value SOC0 by the power running operation of the generator motor 27.

  When the storage rate deviation ΔSOC rises above the upper margin X2 (X2 <ΔSOC), the table T1 sets the storage rate required output Psoc1 to the maximum value Y12 (for example, Psoc1 = 30 kW) on the power running side. At this time, the storage rate SOC has risen beyond the upper limit X2 from the target value SOC0 and needs to be discharged quickly by the power running operation of the generator motor 27.

  Thus, when the storage rate deviation ΔSOC is a negative value (ΔSOC <0), the storage rate request output calculation unit 42 outputs the storage rate request output Psoc1 that is a power generation request. Therefore, the portion corresponding to the negative charge rate deviation ΔSOC in the table T1 constitutes the power generation output request unit 42A. The power generation output request unit 42A includes a maximum power generation output request unit 42A1 that makes a power generation request at the power storage rate request output Psoc1 of the maximum value Y11 when the power storage rate SOC is outside the allowable range, and the power storage rate SOC is within the allowable range. In some cases, it has a power generation output reduction request unit 42A2 that makes a power generation request by reducing the power storage rate request output Psoc1 compared to when the power storage rate SOC is outside the allowable range.

  On the other hand, when the storage rate deviation ΔSOC is a positive value (ΔSOC> 0), the storage rate request output calculation unit 42 outputs the storage rate request output Psoc1 that is a power running request. Therefore, the portion corresponding to the positive power storage rate deviation ΔSOC in the table T1 constitutes a powering output request unit 42B. The power running output request unit 42B includes a maximum power running output request unit 42B1 that makes a power running request at the storage rate request output Psoc1 of the maximum value Y12 when the storage rate SOC is outside the allowable range, and the storage rate SOC is within the allowable range. In some cases, it has a powering output reduction request unit 42B2 that makes a powering request by reducing the power storage rate request output Psoc1 compared to when the power storage rate SOC is outside the allowable range.

  When the storage rate deviation ΔSOC is between 0 and the lower margin X1, the storage rate request output calculation unit 42 outputs the storage rate request output Psoc1 to the power generation side in proportion to the absolute value of the storage rate deviation ΔSOC. To be increased. In addition, when the storage rate deviation ΔSOC is between 0 and the upper margin X2, the storage rate request output calculation unit 42 sets the storage rate request output Psoc1 to the power running side in proportion to the absolute value of the storage rate deviation ΔSOC. Increased. The present invention is not limited to this, and when the storage rate deviation ΔSOC is between the lower margin X1 and the upper margin X2, the storage rate request output calculation unit 42 stores the stored power with respect to the magnitude of the absolute value of the storage rate deviation ΔSOC. The magnitude of the rate request output Psoc1 may be increased monotonously. For this reason, not only a proportional characteristic but various characteristics are employable for the electrical storage rate request | requirement output calculating part 42. FIG.

  The current square integration ratio request output calculation unit 43 outputs a current square integration ratio request output Prisc1 as an output requested to the generator motor 27 in accordance with the current square integration ratio Risc. Specifically, the current square integration ratio request output calculation unit 43 has a table T2 as shown in FIG. 7, for example, in order to calculate the current square integration ratio request output Prisc1 based on the current square integration ratio Risc.

  When the current square integration ratio Risc becomes equal to or less than the intermediate value Risc0 (Risc ≦ Risc0), the table T2 sets the current square integration ratio request output Prisc1 to the maximum value Y22 (for example, Prisc1 = 30 kW). At this time, since the current square integration ratio request output Prisc1 has a margin with respect to the upper limit value Risc2, it is possible to cause the generator motor 27 to perform a power running operation or a power generation operation in the maximum range.

  When the current square integration ratio Risc rises above the intermediate value Risc0 and approaches the upper limit value Risc2 (Risc0 <Risc <Risc2), the table T2 indicates that the current square integration ratio Risc approaches the upper limit value Risc2 as the current square integration ratio Risc2 approaches. The integration ratio request output Prisc1 is set to a value reduced from the maximum value Y22.

  When the current square integration ratio Risc reaches the upper limit value Risc2 (Risc = Risc2), the table T2 sets the current square integration ratio request output Prisc1 to the minimum value Y21 (for example, Prisc1 = 0 kW). At this time, since the current square integration ratio request output Prisc1 cannot be increased any more, it is necessary to stop the power running operation and the power generation operation of the generator motor 27 and to stop the power storage device 31.

  Thus, the current square integration ratio request output calculation unit 43 requests the power generation or power running with the current square integration ratio request output Prisc1 of the maximum value Y22 when the current square integration ratio Risc is within the allowable range. When the current square integration ratio Risc is outside the allowable range, the output reduction request unit that requests power generation or power running by reducing the power storage rate request output Psoc1 compared to when the current square integration ratio Risc is within the allowable range. 43B.

  When the current square integration ratio Risc is between the intermediate value Risc0 and the upper limit value Risc2, the current square integration ratio request output calculation unit 43 outputs a current square integration ratio request output in proportion to the magnitude of the current square integration ratio Risc. Prisc1 was reduced. The present invention is not limited to this, and when the current square integration ratio Risc is between the intermediate value Risc0 and the upper limit Risc2, the current square integration ratio request output calculation unit 43 determines the current square integration ratio Risc with respect to the magnitude of the current square integration ratio Risc. The magnitude of the square integration ratio request output Prisc1 may be monotonously decreased. For this reason, the current square integration ratio request output calculation unit 43 is not limited to the proportional characteristic, and various characteristics can be employed.

  Saturation calculation unit 44 calculates power storage device request output Pmg10 based on the state of power storage device 31 based on power storage rate request output Psoc1 and current square integration ratio request output Prisc1. Specifically, in the saturation calculation unit 44, in addition to the storage rate request output Psoc1 and the current square integration ratio request output Prisc1, a value (in which the sign of the current square integration ratio request output Prisc1 is inverted by the inverting input unit 44A ( -Prisc1) is input. At this time, the current square integration ratio request output Prisc1 is all positive values. The current square integration ratio request output Prisc1 indicates an upper limit value that becomes a power running limit value. The negative value (−Prisc1) of the current square integration ratio request output Prisc1 indicates a lower limit value that is a limit value on the power generation side.

  For this reason, when the storage rate request output Psoc1 is within the range from the upper limit value Prisc1 to the lower limit value (−Prisc1) (−Prisc1 <Psoc1 <Prisc1), the saturation calculation unit 44 has the same value as the storage rate request output Psoc1. Power storage device request output Pmg10 is output. On the other hand, when the storage rate request output Psoc1 rises above the upper limit value Prisc1 (Prisc1 <Psoc1), the saturation calculation unit 44 outputs the storage device request output Pmg10 having the same value as the upper limit value Prisc1. Similarly, when the storage rate request output Psoc1 falls below the lower limit value (−Prisc1) (−Prisc1> Psoc1), the saturation calculation unit 44 determines that the storage device request output Pmg10 has the same value as the lower limit value (−Prisc1). Is output.

  As a result, the generator motor required output calculation unit 40 determines whether the storage rate SOC deviates from the target value SOC0 and the current square integration ratio Risc deviates from the intermediate value Risc0 toward the upper limit Risc2. The power storage device request output Pmg10 shown in FIG.

  At this time, the power generation request unit 40A includes a power generation output request unit 42A, a maximum output request unit 43A, and a saturation calculation unit 44. The power running request unit 40B includes a power running output request unit 42B, a maximum output request unit 43A, and a saturation calculation unit 44.

  For this reason, the power generation request unit 40A reduces the power generation output when the power storage rate SOC is within the allowable range and makes a power generation request by reducing the power storage rate required output Psoc1 compared to when the power storage rate SOC is outside the allowable range. It has a request unit 42A2. The power running request unit 40B performs a power running request by reducing the power storage rate request output Psoc1 when the power storage rate SOC is within the allowable range, compared to when the power storage rate SOC is outside the allowable range. have.

  The storage rate request output calculation unit 42, the current square integration ratio request output calculation unit 43, the saturation calculation unit 44, and the like perform the calculation process described above. The contents of these arithmetic processes will be specifically described with reference to FIG.

(1). When SOC <SOC0 In this state, it is preferable to charge the power storage device 31 and bring the storage rate SOC close to the target value SOC0. Here, when the current square integration ratio Risc is less than the upper limit value Risc2 (Risc <Risc2), the current square integration ratio Risc has a margin. For this reason, the saturation calculation unit 44 outputs the power storage device request output Pmg10 for requesting the generator motor 27 to perform a power generation operation.

  In particular, when the state of charge SOC is significantly lower than the target value SOC0 (SOC <SOC0−X1) and the current square integration ratio Risc is less than or equal to the intermediate value Risc0 (Risc ≦ Risc0), saturation is achieved. The calculation unit 44 sets the power storage device request output Pmg10 to the maximum power generation output on the specifications of the generator motor 27. At this time, the saturation calculation unit 44 requests power generation at full power.

  On the other hand, even when the storage rate SOC is significantly lower than the target value SOC0 (SOC <SOC0−X1), the current square integration ratio Risc is closer to the upper limit Risc2 than the intermediate value Risc0 (Risc0 < In Risc <Risc2), it is necessary to limit the charging power in accordance with the current square integration ratio Risc. Therefore, saturation calculation unit 44 lowers power storage device required output Pmg10 from the maximum power generation output as current square integration ratio Risc becomes larger than intermediate value Risc0. At this time, the saturation calculation unit 44 requests power generation with half power.

  When the current square integration ratio Risc reaches the upper limit value Risc2 (Risc = Risc2), the saturation calculation unit 44 sets the power storage device request output Pmg10 to the minimum value (0 kW). At this time, the saturation calculation unit 44 stops the request for power generation and power running.

  Note that the intermediate value Risc0 is not necessarily 50%. For example, it is assumed that when the current square integration ratio Risc is the intermediate value Risc0 and the storage rate SOC is at the lower limit SOC1, the vehicle body is charged in a non-operating state until the storage rate SOC reaches the target value SOC0. In such a charged state, it is preferable to tune the intermediate value Risc0 so that the current square integration ratio Risc does not increase to near the upper limit value Risc2. As an example, the intermediate value Risc0 is 70% here.

(2). When SOC> SOC0 In this state, it is preferable to discharge power storage device 31 so that power storage rate SOC approaches target value SOC0. Here, when the current square integration ratio Risc is less than the upper limit value Risc2 (Risc <Risc2), the current square integration ratio Risc has a margin. For this reason, the saturation calculation unit 44 outputs the power storage device request output Pmg10 that requests the generator motor 27 to perform a power running operation.

  In particular, when the state of charge SOC is larger than the target value SOC0 (SOC> SOC0 + X2) and the current square integration ratio Risc is less than or equal to the intermediate value Risc0 (Risc ≦ Risc0), the saturation calculation unit 44 sets the power storage device request output Pmg10 to the maximum power running output on the specifications of the generator motor 27. At this time, the saturation calculation unit 44 requests power running at full power.

  On the other hand, even when the storage rate SOC is larger than the target value SOC0 (SOC> SOC0 + X2), when the current square integration ratio Risc approaches the upper limit value Risc2 rather than the intermediate value Risc0 (Risc0 <Risc < In Risc2), it is necessary to limit the power running power (discharge power) in accordance with the current square integration ratio Risc. Therefore, saturation calculation unit 44 reduces power storage device required output Pmg10 from the maximum powering output as current square integration ratio Risc becomes larger than intermediate value Risc0. At this time, the saturation calculation unit 44 requests powering with half power.

  When the current square integration ratio Risc reaches the upper limit value Risc2 (Risc = Risc2), the saturation calculation unit 44 sets the power storage device request output Pmg10 to the minimum value (0 kW). At this time, the saturation calculation unit 44 stops the request for power generation and power running.

  Note that the intermediate value Risc0 is not necessarily 50%. For example, it is assumed that when the current square integration ratio Risc is the intermediate value Risc0 and the storage rate SOC is at the upper limit SOC2, the vehicle body is discharged in a non-operating state until the storage rate SOC reaches the target value SOC0. In such a discharge state, it is preferable to tune the intermediate value Risc0 so that the current square integration ratio Risc does not increase to near the upper limit value Risc2. As an example, the intermediate value Risc0 is 70% here.

(3). When SOC≈SOC0 In this state, the storage rate SOC is the target value SOC0. Even if the storage rate SOC deviates from the target value SOC0, in this state, the storage rate deviation ΔSOC is a small value. Therefore, regardless of the value of current square integration ratio Risc, saturation calculation unit 44 sets power storage device request output Pmg10 to a sufficiently small value of discharge power or charge power so that power storage rate SOC converges to target value SOC0. Set. When the storage rate SOC matches the target value SOC0 (SOC = SOC0), the saturation calculation unit 44 stops the request for power generation and power running.

  The adder 45 receives a power storage device request output Pmg10 based on the state of the power storage device 31, and a value (-P0er) obtained by inverting the sign of the swing electric motor output P0er by the inverting input unit 45A. Adder 45 adds the value obtained by multiplying turning electric motor output P0er by -1 to power storage device required output Pmg10, and calculates this added value. An amount corresponding to the swing electric motor output P0er is preferentially executed with respect to the power generation request and the power running request. The adder 45 performs processing in consideration of this point.

  More specifically, when the power storage device required output Pmg10 is a power running request and the swing electric motor 33 is in the power running state, the value corresponding to the swing electric motor output P0er is decreased from the power storage device required output Pmg10 which is discharge power. When the power storage device request output Pmg10 is a power generation request and the swing electric motor 33 is in a power generation state, the value corresponding to the swing electric motor output P0er is decreased from the power storage device request output Pmg10 that is generated power.

  On the other hand, when the power storage device required output Pmg10 is a power running request and the swing electric motor 33 is in the power generation state, the value corresponding to the swing electric motor output P0er is increased from the power storage device required output Pmg10 which is discharge power. When the power storage device request output Pmg10 is a power generation request and the swing electric motor 33 is in a power running state, the value corresponding to the swing electric motor output P0er is increased from the power storage device request output Pmg10 that is generated power.

  The adder 45 sets the generator motor required output Pmg1 to an added value. However, when the added value on the power running side exceeds the maximum power running output, the adder 45 sets the generator motor required output Pmg1 to the maximum power running output. When the added value on the power generation side exceeds the maximum power generation output, the adder 45 sets the generator motor required output Pmg1 to the maximum power generation output. The adder 45 outputs a final generator motor request output Pmg1 considering the swing electric motor output P0er.

  Next, a specific configuration of the maximum output calculation unit 50 will be described with reference to FIGS. 9 and 10.

  The maximum output calculation unit 50 constitutes a part of the output control unit. The maximum output calculation unit 50 includes a power storage rate power running limit gain calculation unit 52A as a power running prohibition unit that prohibits the power running of the generator motor 27 when the power storage rate SOC reaches the use lower limit value SOC1, and a power storage rate SOC It has a storage rate power generation limit gain calculation unit 52B as a power generation prohibition unit that prohibits power generation by the generator motor 27 when the value SOC2 is reached. In addition to this, the maximum output calculation unit 50, when the current square integration ratio Risc reaches the upper limit value Risc2, the current square integration ratio output limit gain as a power running generation prohibition unit that prohibits both power running and power generation of the generator motor 27. An arithmetic unit 52C is provided.

  As shown in FIG. 9, the maximum output calculation unit 50 includes an engine maximum output calculation unit 51, a generator motor output limit gain calculation unit 52, and a generator motor maximum output calculation unit 53. The maximum output calculation unit 50 receives the engine target speed ωe, the storage rate SOC, and the current square integration ratio Risc.

  The engine maximum output calculation unit 51 has a table (not shown) showing the correspondence between the engine target speed ωe and the engine maximum output Pe-max. At this time, the engine maximum output Pe-max indicates the maximum output that can be supplied from the engine 21 when the engine 21 is driven at the target engine speed ωe. The engine maximum output calculator 51 calculates the engine maximum output Pe-max based on the engine target rotational speed ωe, and outputs the calculated engine maximum output Pe-max.

  As shown in FIG. 10, the generator motor output limit gain calculation unit 52 includes a storage rate power running limit gain calculation unit 52A, a storage rate power generation limit gain calculation unit 52B, a current square integration ratio output limit gain calculation unit 52C, It has value selection parts 52D and 52E. The power generation rate SOC and the current square integration ratio Risc are input to the generator motor output limit gain calculation unit 52.

  The power storage rate power running limit gain calculation unit 52A has a table T3 for calculating the power storage rate power running limit gain Kmgm0 based on the power storage rate SOC. At this time, the power storage rate power running limit gain Kmgm0 limits the power running output of the generator motor 27 in order to prevent the power storage rate SOC from decreasing to the lower limit value a1 due to the power running of the generator motor 27. The power storage rate power running limit gain calculating unit 52A calculates a power storage rate power running limit gain Kmgm0 according to the power storage rate SOC using the table T3. The lower limit value a1 is the same value as the use lower limit value SOC1.

  The table T3 sets the power storage rate power running limit gain Kmgm0 to the minimum value (for example, Kmgm0 = 0) when the power storage rate SOC decreases to the lower limit value a1 of the proper use range. The table T3 sets the power storage rate power running limit gain Kmgm0 to the maximum value (for example, Kmgm0 = 1) when the power storage rate SOC rises above the lower appropriate reference value a2 that is a threshold value. Further, when the storage rate SOC becomes a value between the lower limit value a1 and the appropriate reference value a2, the table T3 decreases the storage rate power running limit gain Kmgm0 as the storage rate SOC decreases. That is, when the storage rate SOC falls below the appropriate reference value a2, the table T3 sets the storage rate power running limit gain Kmgm0 to a value between the minimum value and the maximum value according to the degree of decrease from the appropriate reference value a2. To do. Here, the appropriate reference value a2 is set to a large value with a predetermined margin from the lower limit value a1. For example, when the lower limit value a1 is 30%, the appropriate reference value a2 is set to a value of about 35%. In addition, although the case where the appropriate reference value a2 is the same value as the lower limit value of the allowable range of the storage rate SOC is exemplified, these values may be different from each other.

  The storage rate power generation limit gain calculation unit 52B includes a table T4 for calculating the storage rate power generation limit gain Kmgg0 based on the storage rate SOC. At this time, the power storage rate power generation limit gain Kmgg0 limits the power generation output of the generator motor 27 in order to suppress the power storage rate SOC from rising to the upper limit value a4 due to power generation by the generator motor 27. The storage rate power generation limit gain calculation unit 52B calculates a storage rate power generation limit gain Kmgg0 corresponding to the storage rate SOC using the table T4. The upper limit value a4 is the same value as the use upper limit value SOC2.

  The table T4 sets the storage rate power generation limit gain Kmgg0 to the minimum value (for example, Kmgg0 = 0) when the storage rate SOC rises to the upper limit value a4 of the proper use range. The table T4 sets the power storage rate power generation limiting gain Kmgg0 to the maximum value (for example, Kmgg0 = 1) when the power storage rate SOC falls below the upper appropriate reference value a3 that is a threshold value. Further, when the storage rate SOC becomes a value between the upper limit value a4 and the appropriate reference value a3, the table T4 decreases the storage rate power running limit gain Kmgm0 as the storage rate SOC increases. That is, when the storage rate SOC rises above the appropriate reference value a3, the table T4 sets the storage rate power generation limit gain Kmgg0 to a value between the minimum value and the maximum value according to the degree of increase from the appropriate reference value a3. To do. Here, the appropriate reference value a3 is set to a small value with a predetermined margin from the upper limit value a4. For example, when the upper limit value a4 is 70%, the appropriate reference value a3 is set to a value of about 65%. In addition, although the case where the appropriate reference value a3 is the same value as the upper limit value of the allowable range of the storage rate SOC is illustrated, these may be different from each other.

  The current square integration ratio output limit gain calculation unit 52C includes a table T5 for calculating the current square integration ratio output limit gain Krisc0 based on the current square integration ratio Risc. At this time, the current square integration ratio output limit gain Krisc0 controls the power generation output and power running output of the generator motor 27 in order to suppress the current square integration ratio Risc from rising to the upper limit value b2 due to power running and power generation of the generator motor 27. It is a limitation. The current square integration ratio output limit gain calculation unit 52C calculates the current square integration ratio output limit gain Krisc0 according to the current square integration ratio Risc using the table T5.

  The table T5 sets the current square integration ratio output limit gain Krisc0 to the minimum value (for example, Krisc0 = 0) when the current square integration ratio Risc rises to the upper limit value b2 of the appropriate use range. The table T5 sets the current square integration ratio output limit gain Krisc0 to the maximum value (for example, Krisc0 = 1) when the current square integration ratio Risc falls below the appropriate reference value b1 that is a threshold value. When the current square integration ratio Risc becomes a value between the upper limit value b2 and the appropriate reference value b1, the table T5 decreases the current square integration ratio output limit gain Krisc0 as the current square integration ratio Risc increases. That is, when the current square integration ratio Risc increases from the appropriate reference value b1, the table T5 sets the current square integration ratio output limit gain Krisc0 between the minimum value and the maximum value according to the degree of increase from the appropriate reference value b1. Set to the value of. Here, the appropriate reference value b1 is set to a small value with a predetermined margin from the upper limit value b2. For example, when the upper limit value b2 is 100%, the appropriate reference value b1 is set to a value of about 95%. The upper limit value b2 is the same value as the limit value (upper limit value Risc2) of the current square integration ratio Risc. Further, although the case where the appropriate reference value b1 is different from the upper limit value (intermediate value Risc0) of the allowable range of the current square integration ratio Risc is exemplified, these may be the same value.

  Minimum value selection unit 52D compares power storage rate power running limit gain Kmgm0 by power storage rate power running limit gain calculation unit 52A and current square integration rate output limit gain Krisc0 by current square integration rate output limit gain calculation unit 52C. The minimum value selection unit 52D selects the minimum value from the power storage rate power running limit gain Kmgm0 and the current square integration ratio output limit gain Krisc0, and outputs the selected value as the generator motor power running limit gain Kmgm.

  The minimum value selection unit 52E compares the storage rate power generation limit gain Kmgg0 by the storage rate power generation limit gain calculation unit 52B with the current square integration ratio output limit gain Krisc0 by the current square integration ratio output limit gain calculation unit 52C. The minimum value selection unit 52E selects the minimum value from the power storage rate power generation limit gain Kmgg0 and the current square integration ratio output limit gain Krisc0, and outputs the selected value as the generator motor power generation limit gain Kmgg.

  Similarly to the engine maximum output calculator 51, the generator motor maximum output calculator 53 has a table (not shown) of the power running maximum output of the generator motor 27 with respect to the engine target rotational speed ωe and the power generation maximum output. The generator motor maximum output calculator 53 calculates the power running maximum output and the power generation maximum output of the generator motor 27 based on the target rotational speed ωe of the engine 21. The generator motor maximum output calculator 53 outputs a value obtained by applying (multiplying) the generator motor power running limit gain Kmgm to the power running maximum output determined from the target rotational speed ωe as the generator motor maximum power running output Pmgm-max. The generator motor maximum output calculator 53 outputs a value obtained by applying (multiplying) the generator motor power generation limit gain Kmgg to the power generation maximum output determined from the target rotational speed ωe as the generator motor maximum power output Pmgg-max.

  Next, a specific configuration of the output command calculation unit 60 will be described with reference to FIGS.

  As shown in FIG. 11, the output command calculation unit 60 includes a pump estimation input calculation unit 61, a generator motor power running power generation request determination unit 62, a generator motor power running output calculation unit 63, a generator motor power generation output calculation unit 64, A generator motor output command calculation unit 65 and an engine output command calculation unit 66 are provided. The output command calculation unit 60 includes a turning speed Vr, lever operation amounts OA (OAr, OAbm, OAam, OAbk), other vehicle body information VI, a storage rate SOC, a current square integration ratio Risc, a generator motor The requested output Pmg1, the engine maximum output Pe-max, the generator motor maximum power running output Pmgm-max, and the generator motor maximum power output Pmgg-max are input.

  As shown in FIG. 12, the pump estimated input calculation unit 61 calculates a pump estimated input Pp and a swing electric motor output command Per necessary for operating the vehicle body according to each lever operation amount OA. When calculating the pump estimated input Pp and the swing electric motor output command Per, the pump estimated input calculating unit 61 calculates the swing speed Vr, other vehicle body information VI, the storage rate SOC, the current square integration ratio Risc, the engine Consider the maximum output Pe-max and the generator motor maximum power running output Pmgm-max. For this reason, the pump estimation input calculation unit 61 includes a turning speed Vr, other vehicle body information VI, a storage rate SOC, a current square integration ratio Risc, an engine maximum output Pe-max, and a generator motor maximum power running output Pmgm−. max and each lever operation amount OA are input. In the following description, the other vehicle body information VI will be omitted. A specific configuration of the pump estimation input calculation unit 61 will be described later.

  The generator motor request output Pmg1 is input to the generator motor power running generation request determination unit 62. When the generator motor required output Pmg1 is a positive value (Pmg1> 0), the generator motor power running request determination unit 62 sets the generator motor power running request output Pmgm1 to the value of the generator motor required output Pmg1 (Pmgm1 = Pmg1). The generator motor power generation request output Pmgg1 is set to 0 (Pmgg1 = 0). Conversely, when the generator motor required output Pmg1 is a negative value (Pmg1 <0), the generator motor power running request determining unit 62 sets the generator motor power running required output Pmgm1 to 0 (Pmgm1 = 0) and the generator motor The power generation request output Pmgg1 is set to the value of the generator motor request output Pmg1 (Pmgm1 = Pmg1). The generator motor power running power generation request determination unit 62 outputs the generator motor power running request output Pmgm1 and the generator motor power generation request output Pmgg1.

  As illustrated in FIG. 13, the generator motor power running output calculation unit 63 includes a subtractor 63A, a maximum value selection unit 63B, and a minimum value selection unit 63C. The generator motor power running output calculation unit 63 receives the pump estimation input Pp, the engine maximum output Pe-max, the generator motor maximum power running output Pmgm-max, and the generator motor power running request output Pmgm1.

  The subtractor 63A subtracts the engine maximum output Pe-max from the pump estimation input Pp and outputs this subtraction value. The maximum value selection unit 63B compares the output from the subtractor 63A with 0 and the generator motor power running request output Pmgm1. The maximum value selection unit 63B selects the maximum value among the output from the subtractor 63A, 0, and the generator motor power running request output Pmgm1, and outputs it as the generator motor power running output Pmgm10. At this time, the generator motor power running output Pmgm10 is 0 or a positive value (Pmgm10 ≧ 0).

  The minimum value selection unit 63C compares the generator motor power running output Pmgm10 with the generator motor maximum power running output Pmgm-max. The minimum value selection unit 63C selects the minimum value from the generator motor power running output Pmgm10 and the generator motor maximum power running output Pmgm-max, and outputs the selected value as a generator motor power running output command Pmgm.

  In this way, the generator motor power running output calculation unit 63 compares the pump estimated input Pp with the engine maximum output Pe-max. When the estimated pump input Pp is larger than the engine maximum output Pe-max (Pp> Pe-max), the generator motor power running output calculation unit 63 determines the difference between the estimated pump input Pp and the engine maximum output Pe-max as the generator motor. The power running output command Pmgm is assumed. However, the generator motor power running output command Pmgm is adjusted so as not to become larger than the generator motor maximum power running output Pmgm-max.

  On the other hand, when the engine maximum output Pe-max is larger than the pump estimated input Pp (Pp <Pe-max), the smallest one of the generator motor maximum power running output Pmgm-max and the generator motor power running request output Pmgm1 is selected. The generator motor power running output command Pmgm is assumed.

  Thereby, the generator motor power running output calculation unit 63 secures a portion of the hydraulic load that is insufficient with the output of the engine 21 by the power running output of the generator motor 27. Then, the generator motor power running output calculation unit 63 controls the power running operation of the generator motor 27 so as to satisfy the generator motor power running request output Pmgm1.

  As shown in FIG. 14, the generator motor power generation output calculation unit 64 includes a subtractor 64A, maximum value selection units 64B, 64D, and 64E, and a generated power conversion unit 64C. The generator / motor generator output calculator 64 receives the pump estimation input Pp, the engine maximum output Pe-max, the generator / motor maximum generator output Pmgg-max, and the generator / motor generator request output Pmgg1.

  The subtractor 64A subtracts the pump estimation input Pp from the engine maximum output Pe-max and outputs this subtraction value. The maximum value selection unit 64B compares the output from the subtractor 64A with 0. The maximum value selection unit 64B selects the maximum value from the output from the subtractor 64A and 0. At this time, the maximum value selection unit 64B outputs 0 or a positive value. The output from the maximum value selection unit 64B is multiplied by -1 by the generated power conversion unit 64C and converted to a negative value. As a result, the generated power conversion unit 64C outputs the first generator motor power output Pmgg10 having a magnitude corresponding to the difference between the engine maximum output Pe-max and the pump estimated input Pp. At this time, the first generator motor power generation output Pmgg10 is 0 or a negative value (Pmgg10 ≦ 0).

  The maximum value selection unit 64D compares the generator motor generation request output Pmgg1 with the generator motor maximum generation output Pmgg-max. The maximum value selection unit 64D selects the larger one of the generator motor generation request output Pmgg1 and the generator motor maximum generation output Pmgg-max. Here, the generator motor power generation request output Pmgg1 and the generator motor maximum power output Pmgg-max are both negative values. Therefore, the maximum value selection unit 64D selects the value closer to 0 (the one with the smaller absolute value) between the generator motor power generation request output Pmgg1 and the generator motor maximum power generation output Pmgg-max. The maximum value selection unit 64D outputs the selected one of the generator motor generation request output Pmgg1 and the generator motor maximum generation output Pmgg-max as the second generator motor generation output Pmgg20.

  The maximum value selection unit 64E compares the first generator motor power output Pmgg10 with the second generator motor power output Pmgg20. The maximum value selection unit 64E selects the larger one of the first generator motor power output Pmgg10 and the second generator motor power output Pmgg20. Here, the first generator motor power output Pmgg10 and the second motor generator power output Pmgg20 are both negative values. For this reason, the maximum value selection unit 64E selects a value closer to 0 (one having a smaller absolute value) out of the first generator-motor generated output Pmgg10 and the second generator-motor generated output Pmgg20. The maximum value selection unit 64E outputs the selected one of the first generator motor power output Pmgg10 and the second generator motor power output Pmgg20 as the generator motor power output command Pmgg.

  In this way, the generator motor power generation output calculation unit 64 compares the pump estimated input Pp with the engine maximum output Pe-max. When the estimated pump input Pp is larger than the engine maximum output Pe-max (Pp> Pe-max), the generator / motor generator output calculator 64 outputs the generator / motor generator output command Pmgg that is zero. In this case, since the engine 21 consumes all the output in response to the hydraulic load, there is no room for power generation operation. For this reason, the generator motor power generation output command Pmgg is set to 0, and the generator motor 27 does not perform the power generation operation.

  On the other hand, when the engine maximum output Pe-max is larger than the pump estimated input Pp (Pp <Pe-max), the difference between the engine maximum output Pe-max and the pump estimated input Pp and the generator motor maximum power running output Pmgm-max And the generator motor power running request output Pmgm1, the one having the smallest absolute value is selected as the generator motor power running output command Pmgm.

  Thereby, the generator motor power generation output calculation unit 64 controls the power generation operation of the generator motor 27 so as to satisfy the generator motor power running request output Pmgm1 as much as possible while corresponding to the hydraulic load.

  The generator motor output command calculation unit 65 adds the generator motor power running output command Pmgm and the generator motor power generation output command Pmgg. The generator motor output command calculation unit 65 outputs this added value as a generator motor output command Pmg.

  The engine output command calculation unit 66 subtracts the generator motor output command Pmg from the pump estimated input Pp. The engine output command calculation unit 66 outputs this subtraction value as the engine output command Pe.

  The output command calculation unit 60 constitutes a part of the output control unit. The output command calculation unit 60 controls the output of the power storage device 31 based on the lever operation amount OA detected by the operation amount sensors 9A to 11A in addition to the output request from the generator motor request output calculation unit 40. Further, the pump estimated input calculating unit 61 of the output command calculating unit 60 calculates a pump estimated input Pp corresponding to each lever operation amount OA. At this time, the generator motor power running output calculator 63 of the output command calculator 60 outputs a generator motor power running output command Pmgm that prioritizes securing the pump estimated input Pp. Similarly, the generator motor power generation output calculation unit 64 of the output command calculation unit 60 outputs a generator motor power generation output command Pmgg giving priority to securing the pump estimated input Pp. For this reason, the fall of a vehicle body speed can be suppressed and the opportunity which gives an operator operational stress and discomfort can be reduced.

  Next, a specific configuration of the pump estimation input calculation unit 61 will be described with reference to FIGS. 12 and 15 to 19.

  As shown in FIG. 12, the pump estimated input calculation unit 61 includes a turning basic output calculation unit 71, a boom basic output calculation unit 72, an arm basic output calculation unit 73, a bucket basic output calculation unit 74, and a turning boom output. A distribution calculation unit 75, an arm bucket output distribution calculation unit 76, a swing hydraulic electric output distribution calculation unit 77, and a total pump output calculation unit 78 are included. The pump estimation input calculation unit 61 includes a turning speed Vr, lever operation amounts OA (OAr, OAbm, OAam, OAbk), a storage rate SOC, a current square integration ratio Risc, an engine maximum output Pe-max, The generator motor maximum power running output Pmgm-max is input. At this time, the sum of the engine maximum output Pe-max and the generator motor maximum power running output Pmgm-max corresponds to the output upper limit Pmax (Pmax = Pe-max + Pmgm-max).

  The turning basic output calculation unit 71 calculates a turning basic output Pr0 that monotonously increases with respect to the turning lever operation amount OAr. As shown in FIG. 15, the turning basic output calculation unit 71 includes a maximum value selection unit 71A, an initial turning basic output calculation unit 71B, an output decrease gain calculation unit 71C, a gain conversion unit 71D, and a multiplier 71E. Have.

  The maximum value selector 71A compares the left turn operation amount OAr1 and the right turn operation amount OAr2 included in the turn lever operation amount OAr. The maximum value selection unit 71A selects the maximum value among the left turn operation amount OAr1 and the right turn operation amount OAr2, and outputs it as the turn operation amount OAr3.

  The initial turning basic output calculation unit 71B includes a table T6 for calculating the initial turning basic output Pr10 based on the turning operation amount OAr3. The initial turning basic output calculation unit 71B calculates an initial turning basic output Pr10 corresponding to the turning operation amount OAr3 using the table T6. At this time, the initial turning basic output Pr10 corresponds to an output necessary for performing a turning operation according to the turning operation amount OAr3. The initial turning basic output Pr10 increases as the turning operation amount OAr3 increases. When the turning operation amount OAr3 increases beyond a predetermined value, the initial turning basic output Pr10 reaches a maximum value and is saturated.

  The output decrease gain calculation unit 71C has a table T7 for calculating the output decrease gain Kr based on the turning speed Vr. The output decrease gain calculation unit 71C calculates the output decrease gain Kr according to the turning speed Vr using the table T7. At this time, the output decrease gain Kr becomes a small value in order to decrease the turning output as the turning speed Vr increases. When the turning speed Vr increases beyond a predetermined value, the output decrease gain Kr becomes a minimum value and becomes saturated.

  The output decrease gain Kr (%) output from the output decrease gain calculation unit 71C is expressed as a percentage. For this reason, the output decrease gain Kr is converted into a ratio with 1 being the maximum value by the gain converter 71D. That is, the gain converter 71D outputs a value obtained by dividing the output decrease gain Kr by 100 as the converted output decrease gain Kr10. The multiplier 71E calculates the product of the initial turning basic output Pr10 and the output decrease gain Kr10, and outputs the turning basic output Pr0.

  The boom basic output calculation unit 72 calculates a boom basic output Pbm0 that monotonously increases with respect to the boom lever operation amount OAbm. As shown in FIG. 16, the boom basic output calculation unit 72 has a boom raising basic output calculation unit 72A, a boom lowering basic output calculation unit 72B, and a maximum value selection unit 72C.

  The boom raising basic output calculation unit 72A includes a table T8 for calculating the boom raising basic output Pbm10 based on the boom raising operation amount OAbm1. The boom raising basic output calculation unit 72A calculates a boom raising basic output Pbm10 corresponding to the boom raising operation amount OAbm1 using the table T8. At this time, the boom raising basic output Pbm10 corresponds to an output necessary for performing a boom raising operation corresponding to the boom raising operation amount OAbm1. The boom raising basic output Pbm10 increases as the boom raising operation amount OAbm1 increases. When the boom raising operation amount OAbm1 increases beyond a predetermined value, the boom raising basic output Pbm10 reaches a maximum value and is saturated.

  The boom lowering basic output calculation unit 72B has a table T9 for calculating the boom lowering basic output Pbm20 based on the boom lowering operation amount OAbm2. The boom lowering basic output calculation unit 72B calculates a boom lowering basic output Pbm20 corresponding to the boom lowering operation amount OAbm2 using the table T9. At this time, the boom lowering basic output Pbm20 corresponds to an output necessary for performing a boom lowering operation corresponding to the boom lowering operation amount OAbm2. The boom lowering basic output Pbm20 increases as the boom lowering operation amount OAbm2 increases. When the boom lowering operation amount OAbm2 increases beyond a predetermined value, the boom lowering basic output Pbm20 reaches the maximum value and is saturated.

  Note that in the boom lowering operation, gravity acts on the boom 12A, so that a smaller output is sufficient compared to the boom raising operation. For this reason, the boom lowering basic output Pbm20 is generally smaller than the boom raising basic output Pbm10.

  The maximum value selector 72C compares the boom raising basic output Pbm10 with the boom lowering basic output Pbm20. The maximum value selection unit 72C selects the maximum value from the boom raising basic output Pbm10 and the boom lowering basic output Pbm20, and outputs the selected value as the boom basic output Pbm0.

  The arm basic output calculator 73 calculates an arm basic output Pam0 that monotonously increases with respect to the arm lever operation amount OAam. The bucket basic output calculation unit 74 calculates a bucket basic output Pbk0 that monotonously increases with respect to the bucket lever operation amount OAbk. Both the arm basic output calculation unit 73 and the bucket basic output calculation unit 74 are configured in substantially the same manner as the boom basic output calculation unit 72.

  The turning boom output distribution calculation unit 75 calculates a turning request output Pr1 and a boom request output Pbm1 in consideration of the output upper limit value Pmax and the like in order to perform the turning operation and the operation of the boom 12A according to the output upper limit value Pmax. As shown in FIG. 17, the turning boom output distribution calculating unit 75 includes a turning boom distribution output calculating unit 75A, a turning request output calculating unit 75B, and a boom request output calculating unit 75C. The turning boom output distribution calculating unit 75 receives the output upper limit value Pmax, the turning basic output Pr0, the boom basic output Pbm0, the arm basic output Pam0, and the bucket basic output Pbk0.

  The turning boom distribution output calculation unit 75A includes adders 75A1 and 75A4, an arm bucket distribution output calculation unit 75A2, a subtractor 75A3, and a minimum value selection unit 75A5.

  The adder 75A1 adds the arm basic output Pam0 and the bucket basic output Pbk0, and outputs this added value as the arm bucket basic output Pab0 (Pab0 = Pam0 + Pbk0).

  The arm bucket distribution output calculation unit 75A2 has a table T10 for calculating a temporary arm bucket distribution output Pab1 based on the arm bucket basic output Pab0. The arm bucket distribution output calculation unit 75A2 calculates an arm bucket distribution output Pab1 corresponding to the arm bucket basic output Pab0 using the table T10. At this time, the arm bucket distribution output Pab1 corresponds to an output that can be distributed to the operations of the arm 12B and the bucket 12C based on the arm basic output Pam0 and the bucket basic output Pbk0. The arm bucket distribution output Pab1 increases as the arm bucket basic output Pab0 increases. When the arm bucket basic output Pab0 increases beyond a predetermined value, the arm bucket distribution output Pab1 reaches a maximum value and is saturated.

  The subtractor 75A3 subtracts the arm bucket distribution output Pab1 from the output upper limit value Pmax, and outputs this subtracted value as the first turning boom basic output Prb10. The adder 75A4 adds the turning basic output Pr0 and the boom basic output Pbm0, and outputs this added value as the second turning boom basic output Prb20. The minimum value selector 75A5 compares the first turning boom basic output Prb10 with the second turning boom basic output Prb20. The minimum value selection unit 75A5 selects the minimum value from the first turning boom basic output Prb10 and the second turning boom basic output Prb20, and outputs it as the turning boom distribution output Prb.

  The turn request output calculation unit 75B includes a maximum value selection unit 75B1, a turn distribution ratio calculation unit 75B2, a multiplier 75B3, and a minimum value selection unit 75B4.

  The maximum value selector 75B1 compares the second turning boom basic output Prb20 with 1. The maximum value selector 75B1 selects and outputs the maximum value among the second turning boom basic outputs Prb20 and 1.

  The turn distribution ratio calculation unit 75B2 divides the turn basic output Pr0 by the output from the maximum value selection unit 75B1. At this time, the maximum value selector 75B1 outputs a value of 1 or more. The turning distribution ratio calculation unit 75B2 calculates the ratio of the turning basic output Pr0 to the second turning boom basic output Prb20.

  The multiplier 75B3 multiplies the output from the turning distribution ratio calculation unit 75B2 and the turning boom distribution output Prb. The minimum value selection unit 75B4 compares the output from the multiplier 75B3 with the turning basic output Pr0. The minimum value selector 75B4 selects the minimum value from the output from the multiplier 75B3 and the turning basic output Pr0, and outputs it as the turning request output Pr1.

  The boom request output calculation unit 75C includes a maximum value selection unit 75C1, a boom distribution ratio calculation unit 75C2, a multiplier 75C3, and a minimum value selection unit 75C4.

  The maximum value selection unit 75C1 compares the second turning boom basic output Prb20 with 1. The maximum value selection unit 75C1 selects and outputs the maximum value among the second turning boom basic outputs Prb20 and 1.

  The boom distribution ratio calculation unit 75C2 divides the boom basic output Pbm0 by the output from the maximum value selection unit 75C1. At this time, the maximum value selection unit 75C1 outputs a value of 1 or more. The boom distribution ratio calculation unit 75C2 calculates the ratio of the boom basic output Pbm0 to the second turning boom basic output Prb20.

  The multiplier 75C3 multiplies the output from the boom distribution ratio calculation unit 75C2 and the turning boom distribution output Prb. The minimum value selection unit 75C4 compares the output from the multiplier 75C3 with the boom basic output Pbm0. The minimum value selection unit 75C4 selects the minimum value from the output from the multiplier 75C3 and the boom basic output Pbm0, and outputs it as the boom request output Pbm1.

  The arm bucket output distribution calculation unit 76 calculates the arm request output Pam1 and the bucket request output Pbk1 in consideration of the output upper limit value Pmax and the like in order to perform the operation of the arm 12B and the operation of the bucket 12C according to the output upper limit value Pmax. To do. As shown in FIG. 18, the arm bucket output distribution calculation unit 76 includes an arm bucket distribution output calculation unit 76A, an arm request output calculation unit 76B, and a bucket request output calculation unit 76C. The arm bucket output distribution calculation unit 76 receives the output upper limit value Pmax, the turning request output Pr1, the boom request output Pbm1, the arm basic output Pam0, and the bucket basic output Pbk0.

  The arm bucket distribution output calculation unit 76A includes adders 76A1 and 76A3, a subtractor 76A2, and a minimum value selection unit 76A4.

  The adder 76A1 adds the turning request output Pr1 and the boom request output Pbm1, and outputs this added value as the turning boom request output Prb1 (Prb1 = Pr1 + Pbm1). The subtractor 76A2 subtracts the turning boom request output Prb1 from the output upper limit value Pmax, and outputs this subtracted value as the first arm bucket basic output Pab10. The adder 76A3 adds the arm basic output Pam0 and the bucket basic output Pbk0, and outputs the added value as the second arm bucket basic output Pab20. The minimum value selector 76A4 compares the first arm bucket basic output Pab10 with the second arm bucket basic output Pab20. The minimum value selector 76A4 selects the minimum value from the first arm bucket basic output Pab10 and the second arm bucket basic output Pab20, and outputs it as the arm bucket distribution output Pab.

  The arm request output calculation unit 76B includes a maximum value selection unit 76B1, an arm distribution ratio calculation unit 76B2, a multiplier 76B3, and a minimum value selection unit 76B4.

  The maximum value selector 76B1 compares the second arm bucket basic output Pab20 with 1. The maximum value selection unit 76B1 selects and outputs the maximum value among the second arm bucket basic outputs Pab20 and 1.

  The arm distribution ratio calculation unit 76B2 divides the arm basic output Pam0 by the output from the maximum value selection unit 76B1. At this time, the maximum value selector 76B1 outputs a value of 1 or more. The arm distribution ratio calculation unit 76B2 calculates the ratio of the arm basic output Pam0 to the second arm bucket basic output Pab20.

  The multiplier 76B3 multiplies the output from the arm distribution ratio calculation unit 76B2 and the arm bucket distribution output Pab. The minimum value selector 76B4 compares the output from the multiplier 76B3 with the arm basic output Pam0. The minimum value selection unit 76B4 selects the minimum value from the output from the multiplier 76B3 and the arm basic output Pam0, and outputs it as the arm request output Pam1.

  The bucket request output calculation unit 76C includes a maximum value selection unit 76C1, a bucket distribution ratio calculation unit 76C2, a multiplier 76C3, and a minimum value selection unit 76C4.

  The maximum value selection unit 76C1 compares the second arm bucket basic output Pab20 with 1. The maximum value selection unit 76C1 selects and outputs the maximum value among the second arm bucket basic outputs Pab20 and 1.

  The bucket distribution ratio calculation unit 76C2 divides the bucket basic output Pbk0 by the output from the maximum value selection unit 76C1. At this time, the maximum value selection unit 76C1 outputs a value of 1 or more. The bucket distribution ratio calculation unit 76C2 calculates the ratio of the bucket basic output Pbk0 to the second arm bucket basic output Pab20.

  The multiplier 76C3 multiplies the output from the bucket distribution ratio calculation unit 76C2 and the arm bucket distribution output Pab. The minimum value selection unit 76C4 compares the output from the multiplier 76C3 with the bucket basic output Pbk0. The minimum value selector 76C4 selects the minimum value from the output from the multiplier 76C3 and the bucket basic output Pbk0, and outputs it as the bucket request output Pbk1.

  The swing hydraulic electric output distribution calculating unit 77 distributes as much of the swing request output Pr1 as possible to the swing electric motor 33 and distributes the remainder to the swing hydraulic motor 26. As shown in FIG. 19, the turning hydraulic electric output distribution calculating unit 77 includes a storage rate determining unit 77A, a current square integration ratio determining unit 77B, an electric turning prohibition determining unit 77C, a selecting unit 77D, a subtractor 77E, 77G and a maximum value selection unit 77F. The turning hydraulic electric output distribution calculating unit 77 receives the turning request output Pr1, the storage rate SOC, and the current square integration ratio Risc.

  The storage rate determination unit 77A determines whether or not the storage rate SOC is a value that prohibits the turning electric motor 33 from applying turning torque. Specifically, power storage rate determination unit 77A compares power storage rate SOC with a preset electric turn prohibition power storage rate SOCx. When the storage rate SOC is equal to or lower than the electric turn prohibition storage rate SOCx (SOC ≦ SOCx), the storage rate determination unit 77A outputs a prohibition signal S1 for prohibiting the electric turn. The storage rate determination unit 77A does not output the prohibition signal S1 when the storage rate SOC is larger than the electric turning prohibition storage rate SOCx (SOC> SOCx). Here, the electric turning prohibition storage rate SOCx is set to, for example, a lower limit value (use lower limit value SOC1) of the appropriate usage range of the storage rate SOC. It should be noted that electric turning prohibition power storage rate SOCx may be set to a value different from use lower limit SOC1 based on the specifications of turning electric motor 33 and power storage device 31 and the like.

  The current square integration ratio determination unit 77B determines whether or not the current square integration ratio Risc is a value that prohibits the application of the turning torque by the turning electric motor 33. Specifically, the current square integration ratio determination unit 77B compares the current square integration ratio Risc with a preset electric turning prohibition ratio Rx. When the current square integration ratio Risc is equal to or greater than the electric turning prohibition ratio Rx (Risc ≧ Rx), the current square integration ratio determination unit 77B outputs a prohibition signal S2 that prohibits electric turning. The current square integration ratio determination unit 77B does not output the prohibition signal S2 when the current square integration ratio Risc is smaller than the electric turning prohibition ratio Rx (Risc <Rx). Here, the electric turning prohibition ratio Rx is set to, for example, the upper limit value Risc2 of the current square integration ratio Risc. The electric turning prohibition ratio Rx may be set to a value different from the upper limit value Risc2 based on the specifications of the turning electric motor 33 and the power storage device 31.

  The electric turning prohibition determination unit 77C outputs a prohibition determination (TRUE) when one of the prohibition signals S1 and S2 is output. The electric turning prohibition determination unit 77C outputs a permission determination (FALSE) when both of the prohibition signals S1 and S2 are not output.

  When the electric turning prohibition determination unit 77C outputs a prohibition determination, the selection unit 77D selects 0 as the swing electric motor distribution output Per0. When the electric turning prohibition determination unit 77C outputs a permission determination, the selection unit 77D selects the turning electric motor maximum output Per-max as the turning electric motor distribution output Per0. At this time, the swing electric motor distribution output Per0 indicates an output that can be distributed to the swing electric motor 33.

  The subtractor 77E subtracts the turning electric motor distribution output Per0 from the turning request output Pr1 and outputs this subtraction value. The maximum value selection unit 77F compares 0 with the output from the subtractor 77E. The maximum value selection unit 77F selects the maximum value from the output from the subtractor 77E and 0, and outputs it as the hydraulic turning request output Phr1. The subtractor 77G subtracts the hydraulic turning request output Phr1 from the turning request output Pr1, and outputs this subtraction value as a turning electric motor output command Per.

  The total pump output calculation unit 78 adds the hydraulic swing request output Phr1, the boom request output Pbm1, the arm request output Pam1, and the bucket request output Pbk1. The total pump output calculation unit 78 outputs these total values as the pump estimation input Pp.

  The pump estimation input calculation unit 61 estimates the turning basic output Pr0, the boom basic output Pbm0, the arm basic output Pam0, and the bucket basic output Pbk0 based on each lever operation amount OA and the like. The pump estimated input calculation unit 61 is within a range not exceeding an output upper limit value Pmax obtained by adding the engine maximum output Pe-max and the generator motor maximum power running output Pmgm-max, and the basic rotation output Pr0, the basic boom output Pbm0, and the basic arm output The output distribution is adjusted according to Pam0 and the bucket basic output Pbk0, and the turn request output Pr1, the boom request output Pbm1, the arm request output Pam1, and the bucket request output Pbk1 are calculated.

  The pump estimated input calculation unit 61 distributes the turning request output Pr1 to the hydraulic output portion (hydraulic turning request output Phr1) and the electric output portion (turning electric motor output command Per). At this time, the pump estimated input calculation unit 61 calculates the output command value (the swing electric motor output command Per) of the swing electric motor 33 according to the swing operation amount (the swing lever operation amount OAr). The pump estimation input calculation unit 61 gives priority to the turning operation by the turning electric motor 33 over the turning operation by the turning hydraulic motor 26 within a range allowed by the power storage device 31.

  The pump estimated input calculation unit 61 sums the boom request output Pbm1, the arm request output Pam1, the bucket request output Pbk1, and the hydraulic turning request output Phr1, and the pump output (pump required for the target operation) Calculate the estimated input Pp). In calculating the pump estimated input Pp, the pump efficiency, auxiliary machine load, and the like are also taken into consideration.

  The pump estimated input calculation unit 61 reduces the pump estimated input Pp and the swing electric motor output command Per based on the output upper limit value Pmax, the storage rate SOC, and the current square integration ratio Risc. For this reason, the calculation performed in the pump estimation input calculation unit 61 is to reduce the vehicle body speed in order to prevent further deterioration against an excessive decrease in the storage rate SOC and an excessive increase in the current square integration ratio Risc. It corresponds to.

  The hybrid excavator 1 according to the present embodiment has the above-described configuration. Next, the control content of the output of the power storage device 31 by the HCU 36 will be described with reference to FIGS. 20 to 23, the maximum engine output Pe-max is 80 kW. This value shows an example of the engine maximum output Pe-max, and is appropriately changed depending on the specifications of the excavator 1 and the like. Further, in order to simplify the explanation, it is assumed that the turning operation is not performed and the turning electric motor 33 does not execute either power running or regeneration.

  First, when the current square integration ratio Risc is within the allowable range (for example, Risc = 50%) and the storage rate SOC exceeds the allowable range and exceeds the target value SOC0 (for example, SOC = 67%), the HCU 36 The details of the control will be described with reference to FIG.

  In this case, the generator motor required output calculation unit 40 of the HCU 36 outputs a generator motor required output Pmg1 (for example, Pmg1 = 30 kW) that requests power running at full power based on the storage rate SOC and the current square integration ratio Risc. To do.

  On the other hand, the storage rate SOC is far from the upper limit value SOC2, and the current square integration ratio Risc is also far from the upper limit value Risc2. For this reason, the maximum output calculation unit 50 of the HCU 36 permits power running at full power by the generator motor maximum power running output Pmgm-max.

  Here, it is assumed that the output command calculation unit 60 of the HCU 36 calculates a pump estimated input Pp of 100 kW, for example, based on the lever operation amount OA detected by the operation amount sensors 9A to 11A. At this time, for example, if the generator motor required output Pmg1 is 0 kW, the generator motor 27 is 20 kW which is the difference between the pump estimated input Pp (Pp = 100 kW) and the engine maximum output Pe-max (Pe-max = 80 kW). It is sufficient to perform the power running action.

  On the other hand, the generator motor required output calculation unit 40 requests power running at full power (Pmg1 = 30 kW). In addition to this, the maximum output calculation unit 50 permits power running at full power by the generator motor maximum power running output Pmgm-max. Therefore, the output command calculation unit 60 causes the generator motor 27 to perform a power running operation at full power based on the generator motor request output Pmg1. As a result, the estimated pump input Pp is ensured, so that the vehicle body speed is maintained. In addition, since the generator motor 27 performs a power running operation at full power, the storage rate SOC of the power storage device 31 quickly decreases toward the reference value.

  On the other hand, the current square integration ratio Risc may be higher than the intermediate value Risc0 and temporarily deviate from the allowable range. However, as the power storage rate SOC approaches the target value SOC0, the output value of the power running request by the generator motor required output calculation unit 40 decreases. For this reason, the increase in the current square integration ratio Risc is gradually eliminated.

  Second, when the current square integration ratio Risc increases beyond the allowable range (for example, Risc = 80%) and the storage rate SOC exceeds the target value SOC0 within the allowable range (for example, SOC = 55%), the HCU 36 The control contents will be described with reference to FIG.

  In this case, the generator motor required output calculation unit 40 of the HCU 36 outputs a generator motor required output Pmg1 (for example, Pmg1 = 10 kW) for requesting power running at half power based on the storage rate SOC and the current square integration ratio Risc. To do.

  On the other hand, the storage rate SOC is far from the use upper limit SOC2. In addition, the current square integration ratio Risc does not approach the upper limit Risc2 until the output is limited (Risc <b1). For this reason, the maximum output calculation unit 50 of the HCU 36 permits power running at full power by the generator motor maximum power running output Pmgm-max.

  Here, it is assumed that the output command calculation unit 60 of the HCU 36 calculates a pump estimated input Pp of 100 kW, for example, based on the lever operation amount OA detected by the operation amount sensors 9A to 11A. At this time, the generator motor required output calculation unit 40 requests power running at half power (Pmg1 = 10 kW). In addition to this, the maximum output calculation unit 50 permits power running at full power by the generator motor maximum power running output Pmgm-max.

  Therefore, the output command calculation unit 60 causes the generator motor 27 to perform a power running operation based on the difference (20 kW) between the pump estimated input Pp and the engine maximum output Pe-max, exceeding the generator motor required output Pmg1. As a result, the estimated pump input Pp is ensured, so that the vehicle body speed is maintained.

  In addition to this, the storage rate SOC of the power storage device 31 decreases toward the target value SOC0, but may decrease more than necessary. Further, if a turning operation is added, the regenerative electric power from the turning electric motor 33 is supplied to the power storage device 31 and the power storage rate SOC may increase. For this reason, the power storage rate SOC of the power storage device 31 may deviate from the allowable range.

  However, when the traveling or work of the vehicle body is stopped, the pump estimated input Pp is lower than the engine maximum output Pe-max. As a result, the HCU 36 controls the operation of the generator motor 27 based on the generator motor required output Pmg1, so that the storage rate SOC gradually converges to the target value SOC0.

  Third, when the current square integration ratio Risc is within the allowable range (for example, Risc = 50%) and the storage rate SOC exceeds the allowable range and falls below the target value SOC0 (for example, SOC = 33%), the HCU 36 The details of the control will be described with reference to FIG.

  In this case, the generator motor required output calculation unit 40 of the HCU 36 generates a generator motor required output Pmg1 (for example, Pmg1 = −30 kW) that requests power generation at full power based on the storage rate SOC and the current square integration ratio Risc. Output.

  On the other hand, in addition to the power storage rate SOC being far from the lower limit value SOC1, the current square integration ratio Risc is also far from the upper limit value Risc2. For this reason, the maximum output calculation unit 50 of the HCU 36 permits power generation at full power by the generator motor maximum power generation output Pmgg-max.

  Here, it is assumed that the output command calculation unit 60 of the HCU 36 calculates a pump estimated input Pp of 60 kW, for example, based on the lever operation amount OA detected by the operation amount sensors 9A to 11A. At this time, the output command calculation unit 60 gives priority to securing the estimated pump input Pp. For this reason, -20 kW, which is the difference between the pump estimated input Pp (Pp = 60 kW) and the engine maximum output Pe-max (Pe-max = 80 kW), is an output capable of generating power.

  For this reason, the output command calculation unit 60 causes the generator motor 27 to perform a power generation operation at −20 kW which is a part of the generator motor required output Pmg1. As a result, the estimated pump input Pp is ensured, so that the vehicle body speed is maintained. In addition, since the generator motor 27 performs a power generation operation, the power storage rate SOC of the power storage device 31 increases toward the reference value.

  On the other hand, the current square integration ratio Risc may be higher than the intermediate value Risc0 and temporarily deviate from the allowable range. However, as the power storage rate SOC approaches the target value SOC0, the output value of the power generation request by the generator motor required output calculation unit 40 decreases. For this reason, the increase in the current square integration ratio Risc is gradually eliminated.

  Fourth, when the current square integration ratio Risc increases beyond the allowable range (for example, Risc = 80%) and the storage rate SOC falls within the allowable range below the target value SOC0 (for example, SOC = 45%), the HCU 36 The control contents will be described with reference to FIG.

  In this case, the generator motor required output calculation unit 40 of the HCU 36 generates a generator motor required output Pmg1 (for example, Pmg1 = −10 kW) for requesting power generation at half power based on the storage rate SOC and the current square integration ratio Risc. Output.

  On the other hand, the storage rate SOC is far from the use lower limit SOC1. In addition, the current square integration ratio Risc does not approach the upper limit Risc2 until the output is limited (Risc <b1). For this reason, the maximum output calculation unit 50 of the HCU 36 permits power generation at full power by the generator motor maximum power running output Pmgg-max.

  Here, it is assumed that the output command calculation unit 60 of the HCU 36 calculates a pump estimated input Pp of 100 kW, for example, based on the lever operation amount OA detected by the operation amount sensors 9A to 11A. At this time, the output command calculation unit 60 gives priority to securing the estimated pump input Pp.

  For this reason, the output command calculation unit 60 does not perform power generation based on the generator motor required output Pmg1, and causes the generator motor 27 to perform a power running operation based on the difference (20 kW) between the pump estimated input Pp and the engine maximum output Pe-max. . As a result, the estimated pump input Pp is ensured, so that the vehicle body speed is maintained.

  At this time, the generator motor 27 performs a power running operation against the generator motor required output Pmg1. For this reason, the power storage rate SOC of the power storage device 31 further decreases from a state where it is below the target value SOC0. As a result, the storage rate SOC of the power storage device 31 may deviate from the allowable range.

  However, when the traveling or work of the vehicle body is stopped, the pump estimated input Pp is lower than the engine maximum output Pe-max. As a result, the HCU 36 controls the operation of the generator motor 27 based on the generator motor required output Pmg1, so that the storage rate SOC gradually converges to the target value SOC0.

  Thus, according to the present embodiment, the BCU 32 (power storage device state detection unit) that detects the power storage rate SOC (first index) representing the state of the power storage device 31 and the current square integration ratio Risc (second index). It has. Further, the HCU 36 sets the generator motor request output calculation unit 40 that requests the output of the power storage device 31 according to the storage rate SOC and the current square integration ratio Risc, and the generator motor request output Pmg1 from the generator motor request output calculation unit 40. Based on this, the maximum output calculation for controlling the output of the power storage device 31 so that neither the storage ratio SOC nor the current square integration ratio Risc exceeds the limit values (the use lower limit SOC1, the use upper limit SOC2, the upper limit Risc2). Unit 50 and an output command calculation unit 60.

  At this time, the generator motor required output calculating unit 40 prevents both the storage rate SOC and the current square integration ratio Risc from deviating from the allowable range when both the storage rate SOC and the current square integration ratio Risc are within the allowable range. The output of the power storage device 31 is requested.

  Further, the generator motor required output calculation unit 40 determines that the current square integration ratio Risc is equal to or less than the allowable range when the storage rate SOC deviates from the reference value (target value SOC0) and the current square integration ratio Risc is within the allowable range. Allowing the deviation from the reference value (intermediate value Risc0), the output of the power storage device 31 is requested so that the storage rate SOC approaches the reference value (target value SOC0). Similarly, the generator motor required output calculation unit 40 determines that the storage rate SOC is the reference when the current square integration ratio Risc exceeds the allowable range and deviates from the reference value (intermediate value Risc0) and the storage rate SOC is within the allowable range. The output of the power storage device 31 is requested so that the deviation from the value (target value SOC0) is allowed and the current square integration ratio Risc approaches the reference value (intermediate value Risc0).

  In addition to this, the maximum output calculation unit 50 and the output command calculation unit 60 both limit the storage rate SOC and the current square integration ratio Risc based on the generator motor request output Pmg1 from the generator motor request output calculation unit 40. The output of power storage device 31 is controlled so as not to exceed (use lower limit SOC1, use upper limit SOC2, and upper limit Risc2).

  In this way, the HCU 36 controls the output of the power storage device 31 in consideration of how the power running operation and the power generation operation of the generator motor 27 affect both the storage rate SOC and the current square integration ratio Risc. Thereby, the scene where either the storage rate SOC or the current square integration ratio Risc protrudes and decreases is reduced, and the power storage device 31 can be used effectively. Thus, deterioration of the power storage device 31 can be suppressed based on the two indexes, and the power storage device 31 can be appropriately used. As a result, it is possible to suppress a decrease in the vehicle body speed, and it is possible to reduce the opportunity for the operator to feel operational stress and discomfort.

  The generator motor required output calculating unit 40 includes a power generation request unit 40A that requests the generator motor 27 to generate power when the storage rate SOC is lower than the target value SOC0 and the current square integration ratio Risc is within an allowable range. . For this reason, when the power storage rate SOC of the power storage device 31 is lower than the target value SOC0, the HCU 36 uses the output of the engine 21 preferentially for work, and when the surplus power that can be generated is generated in the engine 21. Then, the generator motor 27 is caused to generate electricity. Thereby, the storage rate SOC can be increased toward the target value SOC0 without affecting the work as much as possible.

  The generator motor required output calculation unit 40 includes a power running request unit 40B that requests power running from the generator motor 27 when the storage rate SOC exceeds the target value SOC0 and the current square integration ratio Risc is within an allowable range. For this reason, when the power storage rate SOC of the power storage device 31 is higher than the target value SOC0, the HCU 36 causes the generator motor 27 to perform a power running operation while securing a work output. Thereby, even when the power storage device 31 becomes overcharged for some reason, the work can be continued and the storage rate SOC can be lowered toward the target value SOC0.

  The generator motor required output calculation unit 40 further includes a current square integration ratio request output calculation unit 43 that decreases the output as the current square integration ratio Risc approaches the upper limit value Risc2 and requests the generator motor 27 to generate power or power running. Thus, the HCU 36 can adjust the power generation output or power running output of the generator motor 27 so that the current square integration ratio Risc does not increase excessively when the storage rate SOC approaches the target value SOC0.

  The power generation request unit 40A includes a power generation output reduction request unit 42A2 that makes a power generation request by reducing the output when the power storage rate SOC is within the allowable range, compared to when the power storage rate SOC is outside the allowable range. Further, the power running request unit 40B includes a power running output reduction request unit 42B2 that makes a power running request by reducing the output when the storage rate SOC is within the allowable range, compared to when the storage rate SOC is outside the allowable range. Have. For this reason, the generator motor 27 can be operated in a state where the power generation output and the power running output are lowered so that the storage rate SOC converges to the target value SOC0. Thereby, when the vehicle body is not operated, the storage rate SOC can be stably kept at the target value SOC0.

  The maximum output calculation unit 50 includes a power running prohibition unit (a power storage rate power running limit gain calculation unit 52A) that prohibits the power running of the generator motor 27 when the power storage rate SOC reaches the use lower limit SOC1, and A power generation prohibition unit (power storage rate power generation limit gain calculation unit 52B) that prohibits power generation by the generator motor 27 when the value SOC2 is reached is further included. Thereby, excessive charging and discharging of the power storage device 31 can be suppressed.

  When the current square integration ratio Risc reaches the upper limit value Risc2, the maximum output calculation unit 50 includes a powering power generation prohibition unit (current square integration ratio output limit gain calculation unit 52C) that prohibits powering and power generation of the generator motor 27. . Thereby, excessive use of power storage device 31 can be suppressed and the life of power storage device 31 can be improved.

  The output command calculation unit 60 is based on the lever operation amount OA detected by the operation amount sensors 9A to 11A in addition to the output request (generator motor request output Pmg1) from the generator motor request output calculation unit 40. Control the output of. Therefore, the output command calculation unit 60 can control the output of the power storage device 31 by giving priority to the output corresponding to the lever operation amount OA as long as the power storage device 31 permits. For this reason, it is possible to suppress a reduction in the vehicle body speed and to reduce operational stress and discomfort to the operator. The output command calculation unit 60 controls the generator motor 27 so that the generator motor required output Pmg1 is supplied as much as possible after securing the output corresponding to the lever operation amount OA. For this reason, the power storage device 31 can be controlled so that the power storage rate SOC and the current square integration ratio Risc are within the allowable ranges, and deterioration of the power storage device 31 can be suppressed and the power storage device 31 can be effectively used. Become.

  In the above-described embodiment, the case where the second index is the current square integrated value (current square integrated ratio Risc) of the power storage device 31 from the present to the past certain time has been described as an example. The present invention is not limited to this, and the second index may be the temperature of the power storage device. In this case, normal temperature (for example, 25 ° C.) is set as a temperature reference value, and an upper limit value (for example, 60 ° C.) and a lower limit value (for example, −20 ° C.) are set as temperature limit values. Further, an appropriate range (for example, −10 ° C. to 50 ° C.) is set as the allowable temperature range between the upper limit value and the lower limit value. The temperature of the power storage device 31 is input to the HCU 36. The generator motor required output calculation unit 40 of the HCU 36 calculates the output request of the power storage device 31 based on the temperature of the power storage device 31.

  In the above embodiment, the maximum output of the engine 21 is made smaller than the maximum power of the hydraulic pump 23. However, the maximum output of the engine 21 is appropriately set according to the specifications of the hydraulic excavator 1 and the like. For this reason, the maximum output of the engine 21 may be about the same as the maximum power of the hydraulic pump 23 or may be larger than the maximum power of the hydraulic pump 23.

  In the above-described embodiment, the example in which the lithium ion battery is used for the power storage device 31 has been described. However, a secondary battery (for example, a nickel cadmium battery or a nickel metal hydride battery) or a capacitor that can supply necessary power may be used. . Further, a step-up / step-down device such as a DC-DC converter may be provided between the power storage device and the DC bus.

  In the embodiment, the crawler hybrid hydraulic excavator 1 has been described as an example of the hybrid construction machine. The present invention is not limited to this, and any hybrid construction machine including a generator motor coupled to an engine and a hydraulic pump and a power storage device may be used. For example, various constructions such as a wheel-type hybrid hydraulic excavator and a hybrid wheel loader Applicable to machine.

1 Hybrid excavator (hybrid construction machine)
2 Lower traveling body 4 Upper turning body 9A to 11A Operation amount sensor (operation amount detection unit)
12 Working device 12D Boom cylinder (hydraulic actuator)
12E Arm cylinder (hydraulic actuator)
12F Bucket cylinder (hydraulic actuator)
21 Engine 23 Hydraulic pump 25 Traveling hydraulic motor (hydraulic actuator)
26 Swing hydraulic motor (hydraulic actuator)
27 generator motor 31 power storage device 32 battery control unit (power storage device state detection unit)
33 Swing electric motor (Swivel motor)
36 Hybrid control unit (controller)
40 Generator motor required output calculation unit (output request unit)
40A Power generation request section 40B Power running request section 42A2 Power generation output decrease request section 42B2 Power running output decrease request section 43B Output decrease request section 50 Maximum output calculation section (output control section)
52 generator motor output limit gain calculation unit 52A power storage rate power running limit gain calculation unit (power running prohibition unit)
52B Power storage rate power generation limit gain calculation unit (power generation prohibition unit)
52C Current square integration ratio output limit gain calculation unit (powering power generation prohibition unit)
60 Output command calculation unit (output control unit)

In order to solve the above-described problems, the present invention provides an engine, a generator motor mechanically connected to the engine, and charging when the generator motor is caused to generate power, and when the generator motor is caused to perform a power running action. Represents the state of the power storage device, the hydraulic pump driven by the torque of the engine and the generator motor, the plurality of hydraulic actuators driven by pressure oil from the hydraulic pump , the reference value and the limit A power storage device state detection unit that detects a power storage amount that is a first index whose value is individually determined and a current square integrated value that is a second index; and a controller that controls an output of the engine and the power storage device in a hybrid construction machine comprising, prior Symbol controller, the allowable range the current square integrated value and the storage amount is determined in advance, including the reference value When in the charged amount and the current square integrated value request an output of the electric storage device so as not to deviate from the allowable range, either one of the allowable range of the current square integrated value and the storage amount An output requesting unit for allowing the other index to deviate from the reference value and requesting the output of the power storage device so that the one index approaches the reference value when the reference value exceeds the reference value An output control unit that controls the output of the power storage device based on a request for output from the output request unit, so that neither the amount of stored electricity nor the current square integrated value exceeds the limit value; The output request unit includes a power generation request unit that requests the generator motor to generate power when the stored amount is below the reference value and the current square integrated value is within the allowable range, and the stored amount is the reference value. Above the value, and Serial current square integrated value is characterized in that chromatic and powering request unit for requesting powering on the generator motor when within the allowable range.

Claims (9)

Engine,
A generator motor mechanically connected to the engine;
A power storage device that is charged when the generator motor is caused to generate power and is discharged when the generator motor is caused to perform a power running; and
A hydraulic pump driven by the torque of the engine and the generator motor;
A plurality of hydraulic actuators driven by pressure oil from the hydraulic pump;
In a hybrid construction machine comprising a controller that controls the output of the engine and the power storage device,
A power storage device state detection unit for detecting a first index and a second index, each of which represents a state of the power storage device and whose reference value and limit value are individually determined;
The controller is
The first index and the second index do not deviate from the allowable range when the first index and the second index are within a predetermined allowable range including the reference value. When an output of the power storage device is requested and one of the first index and the second index exceeds the allowable range and deviates from the reference value, the other index deviates from the reference value. And an output request unit that requests the output of the power storage device so that one index approaches the reference value,
An output control unit configured to control the output of the power storage device so that neither the first index nor the second index exceeds the limit value based on an output request from the output request unit; Hybrid construction machine characterized by The first index is a storage amount of the power storage device;
The output request unit is configured to request the generator motor to generate power when the amount of stored electricity is below the reference value and the second index is within the allowable range;
The power running request unit that requests power running from the generator motor when the amount of stored electricity exceeds the reference value and the second index is within the allowable range. Hybrid construction machine.   The output request unit further includes an output decrease request unit that decreases the output as the second index approaches the limit value and requests the generator motor to generate power or power running. Hybrid construction machine. The power generation requesting unit includes a power generation output reduction requesting unit that makes a power generation request by reducing the output when the power storage amount is within the allowable range compared to when the power storage amount is outside the allowable range. ,
The powering requesting unit includes a powering output reduction requesting unit that makes a powering request by lowering the output when the charged amount is within the allowable range compared to when the charged amount is outside the allowable range. The hybrid construction machine according to claim 2. The limit value of the storage amount is a predetermined lower limit value and upper limit value used,
The output control unit, a power running prohibiting unit that prohibits the power running of the generator motor when the amount of stored electricity reaches the use lower limit;
The hybrid construction machine according to claim 2, further comprising: a power generation prohibiting unit that prohibits power generation by the generator motor when the storage amount reaches the use upper limit value.   3. The hybrid according to claim 2, wherein the output control unit includes a powering power generation prohibiting unit that prohibits both powering and power generation of the generator motor when the second index reaches the limit value. Construction machinery. An operation amount detection unit for detecting an operation amount for driving the plurality of hydraulic actuators;
The output control unit controls the output of the power storage device based on an operation amount detected by the operation amount detection unit in addition to an output request from the output request unit. The described hybrid construction machine.   2. The hybrid construction machine according to claim 1, wherein the second index is a current square integrated value of a certain past time from the present of the power storage device.   The hybrid construction machine according to claim 1, wherein the second index is a temperature of the power storage device.

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