WO2007139168A1 - Engin de chantier - Google Patents

Engin de chantier Download PDF

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Publication number
WO2007139168A1
WO2007139168A1 PCT/JP2007/061032 JP2007061032W WO2007139168A1 WO 2007139168 A1 WO2007139168 A1 WO 2007139168A1 JP 2007061032 W JP2007061032 W JP 2007061032W WO 2007139168 A1 WO2007139168 A1 WO 2007139168A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
inverter
speed
power
self
Prior art date
Application number
PCT/JP2007/061032
Other languages
English (en)
Japanese (ja)
Inventor
Masao Yoshioka
Original Assignee
Takeuchi Mfg. Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2006153697A external-priority patent/JP4580896B2/ja
Priority claimed from JP2006153696A external-priority patent/JP2007321463A/ja
Application filed by Takeuchi Mfg. Co., Ltd. filed Critical Takeuchi Mfg. Co., Ltd.
Publication of WO2007139168A1 publication Critical patent/WO2007139168A1/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/52—Drive Train control parameters related to converters
    • B60L2240/527—Voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/547—Voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/549—Current
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the present invention relates to a saddle vehicle that uses an s3 ⁇ 4 motor separated by a battery as a power source, and more particularly to a vehicle that uses oil supplied from a hydraulic pump driven by the rn »motor.
  • the engine is the mainstream power source for conventional work vehicles.
  • a construction fiber S equipped with an electric motor as a drive source is used (for example, Japanese Patent Laid-Open No. 2000-2010).
  • the EBARA of this electric motor a commercial EBARA or a battery mounted on a construction tub and charged by a commercial EBARA is used.
  • the operation of such an electric motor is controlled by an inverter. Disclosure of the invention
  • the present invention has been made in view of such a 13 ⁇ 4 problem.
  • the purpose of the present invention is to monitor the state of the force and load applied to the m3 ⁇ 4 motor and to make the motor efficient. To do.
  • the present invention also controls the opening of the control valve when the rotation of the electric motor changes.
  • the purpose is to share a working vehicle that prevents the hydraulic actuator from being affected by changes in the motor speed. Means and results for determining the task
  • a dredging vehicle (for example, a crawler-type power shovel 1 in the embodiment) is a hydraulic actuator, and supplies f3 ⁇ 4 oil to the hydraulic actuator.
  • a motor for generating a hydraulic pump, a hydraulic sensor for detecting the discharge hydraulic pressure of the hydraulic pump, a battery for supplying a DC m3 ⁇ 4, and converting the DC power of the battery into AC power having a desired me value and supplying it In this way, the inverter that drives the motor at the desired number of revolutions, the output of the battery, and the current that flows from the battery to the inverter are detected.
  • the current sensor and the inverter are applied to the electric motor.
  • Accelerator amount selection means for selecting the magnitude of the AC power value (eg, accelerator amount setting switch 2 4 in the embodiment)
  • the inverter and comprises a controller for commanding the magnitude and the electric motor of the rotating wheel ⁇ the HE I straight selected by Akusenore amount selecting means. Then, the controller has a rotation speed that serves as a reference for the electric motor for each magnitude of the voltage value that can be selected by the accelerator ⁇ selection means, and the SEE value, discharge hydraulic pressure, The acceleration amount is calculated from the output E and the load current, and the rotation speed is considered as the reference rotation speed.
  • Such a private vehicle has an operating device for operating the actuator, and controls the controller power according to the operation of the operating device, and the operating device force is not operated for a predetermined time.
  • the inverter is configured to instruct the inverter to give a lower rotational speed than the reference rotational speed, and to cause the motor to rotate.
  • the tt motor can be operated with good efficiency according to the value selected by the accelerator bell selection means. Can be used effectively.
  • the operator can select the me value to be applied to the motor in consideration of the A ⁇ load, the power of the battery can be used effectively.
  • the electric power of the battery can be suppressed by rotating the electric motor at a low speed.
  • the second vehicle according to the second present invention is a hydraulic actuator, and a motor that drives a hydraulic pump that supplies oil to the hydraulic actuator, a battery that supplies DC power, a battery By converting the DC 3 ⁇ 4 ⁇ into AC power and supplying it, «the inverter that drives the motor at the desired number of revolutions and the control that controls the amount of oil supplied to the hydraulic actuator by changing the opening And a control controller for controlling the f3 ⁇ 4j of the hydraulic actuator by the control valve and for controlling the f3 ⁇ 4 of the electric motor by the inverter.
  • the control controller speeds up the rotation speed of the electric motor, the opening of the control valve is reduced by a predetermined amount, and when the rotation speed of the motor is reduced, the control valve valve It is configured to increase the opening by a predetermined amount.
  • the vehicle for 1 ⁇ 3 ⁇ 4 according to the present invention is configured as described above. ⁇
  • the rotational speed of the electric motor changes and the amount of 3 ⁇ 4lr oil discharged from the hydraulic pump changes, accordingly, Since the control valve is opened, the change in the motor speed does not affect the hydraulic actuator, and the operability of this 1 ⁇ H vehicle is not compromised.
  • the ⁇ vehicle according to the third aspect of the present invention has the same configuration as the ⁇ ⁇ vehicle according to the second aspect of the present invention, and the controller increases the opening degree of the control valve and the ⁇ ⁇ ⁇ 3 ⁇ 4 motor.
  • the controller increases the opening degree of the control valve and the ⁇ ⁇ ⁇ 3 ⁇ 4 motor.
  • FIG. 1 is a perspective view showing a configuration of a crawler type excavator vehicle which is an example of a vehicle according to the present invention.
  • FIG. 1 shows the hydraulic unit mounted on the excavator and the! The configuration of the source unit
  • Figure 3 is a graph showing the relationship between the voltage applied to the motor and the motor efficiency.
  • Fig. 4 is a graph showing the motor efficiency determined from the motor speed and motor output torque.
  • FIG. 5 is an explanatory diagram showing the relationship between the speed and the rotation speed of the electric motor.
  • Figure 6 is a flowchart showing the motor control process for power saving by the f controller.
  • FIG. 7 is an explanatory diagram showing a control state of the electric motor speed and the opening of the control valve when the operating device is operated.
  • FIG. 8 is an explanatory diagram showing the control and state of the opening of the control valve when the speed of the electric motor changes due to a load or the like.
  • Fig. 9 is a flowchart showing the process of overcurrent prevention control by the controller. Best mode for carrying out the invention
  • a crawler-type power shovel 1 will be described with reference to FIG.
  • the power shovel 1 is used from a battery in order to be used in a relatively sealed space such as underground.
  • a traveling carriage 4 that constitutes the traveling device 2
  • a blade 9 that is swingable up and down at the rear of the traveling carriage 4, and a swivel that is provided on the traveling carriage 4 so as to be able to turn.
  • a power shovel mechanism 13 separated from the swivel base 1 1, and an operator cabin 15 provided on the swivel base 1 1.
  • the traveling device 2 includes a traveling carriage 4 having a substantially H shape, and a traveling mechanism 3 provided on fe & of the traveling carriage 4.
  • the traveling ⁇ 3 is composed of a sprocket wheel 5 provided at the left and right front parts of the traveling carriage 4 and an idler wheel 6 provided at the rear part (a combination of the ⁇ sprocket wheel 5 and the idler wheel 6). It has a pair of left and right crawler belts 7 that are wound around both hoi nore 5 and 6 and 13 ⁇ 4.
  • Each of the drive sprocket hoists 5 is driven by left and right travel motors (hydraulic motors) (not shown), and the power shovel vehicle 1 can travel.
  • the swivel base 11 can be swung with respect to the traveling carriage 4 by a swivel motor (hydraulic motor) (not shown).
  • the excavator tree 1 3 has a boom 1 6 that can be raised and lowered at the front of the swivel base 1 1 and can be swung up and down within the raised surface of the boom 1 6 at the end of the boom 1 6
  • the arm 17 is connected, and a packet 18 force is pivotally connected to the tip of the arm 17 so as to swing up and down.
  • the boom 16 is raised and lowered by the boom cylinder 21, the arm 17 is swung by the arm cylinder 22, and the bucket 18 is swung by the bucket cylinder 23.
  • the hydraulic unit 30 includes an electric motor 3 1, a hydraulic pump 3 2 that discharges hydraulic oil of a predetermined hydraulic pressure and flow rate by the electric motor 3 1, a tank 3 3 that stores hydraulic oil, and a hydraulic pump 3 2 Control valve (electromagnetic proportional valve) 3 4 to control the hydraulic oil discharged from the hydraulic actuator 20 with the supply direction and supply amount according to the operation of 1 ⁇ 3 ⁇ 41 14 & g rising ⁇ »Composed of oil cooler 3 5 etc. for cooling oil.
  • An operation signal output from the operation device 14 is input to a control controller 40 described later, and a command signal corresponding to the control controller 40 force S operation signal is output to the control valve 34.
  • the control valve 34 is configured to control the 3 ⁇ 43 ⁇ 4.
  • the hydraulic pump 3 2 includes three pumps 3 2 a to 3 2 c, and these three pumps 3 2 a to 3 2 c are simultaneously driven by the electric motor 3 1.
  • the first pump 3 2 a supplies oil to the actuator that drives the right horse sleep sprocket wheel 5 and the boom cylinder 2 1 that drives the boom 1 6, for the second pump 3 2 b te « Actuator for spreading the sprocket wheel 5, supplying arm oil to the arm cylinder 2 2 and the bucket cylinder 2 3 for driving the bucket 1 8 and the third pump 3 2 c 1
  • ® »motor 3 1 has a battery 5
  • the power shovel 1 is supplied by controlling the control vano reb 3 4 and the inverter 41.
  • the force driven by using oil is controlled by Controlled by controller 40.
  • each of the pumps 3 2 a to 3 2 c constituting the hydraulic pump 3 2 by the hydraulic sensors 3 6 (3 6 a to 3 6 c) is used. It is configured to measure the discharge hydraulic pressure, and the direct detection is input to the controller 40.
  • a 3 ⁇ 4EE current sensor 4 2 force S is installed and detected. The value is input to the controller 40.
  • an accelerator amount setting switch 2 4 is provided in the operator cabin 15 so that the operator can set the m3 ⁇ 4 straight line (referred to as “AXENO 4” in the following description) applied to the inverter 4 1 force motor 3 1.
  • the set value is input to the controller 4 0.
  • an operation signal is output from the operation device 14 according to the operation amount of the operation device 14, and the controller 40 sends a command signal to the control valve 3 4 according to the operation signal.
  • the output of the hydraulic actuator 20 is controlled. Therefore, when the hydraulic actuator 20 is supplied with oil 13 ⁇ 4 to drive the excavator 1, the S3 ⁇ 4 motor 3 1 is rotated at a high speed to supply oil 1 ⁇ »oil from the hydraulic pump 32. On the other hand, when the hydraulic actuator 20 is stopped, the motor 31 is rotated to a lower temperature so that the consumption of the battery 50 is reduced.
  • the relationship between mEVi applied to the motor 3 1 and the motor efficiency changes according to the load applied to the motor 31. Therefore, in this embodiment, the power shovel Depending on the situation of the car 1, the operator can select the three-stage (L, M, H) axeno ( ⁇ ⁇ value applied to the motor 31) by the accelerator amount setting switch 24. Yes. That is, «Axeno PftL, which rotates the electric motor 31 near the applied voltage V, where the motor efficiency is the best in the load state, and m3 ⁇ 4 motor near the applied ffiV 2 , where the motor efficiency is the best in the middle load state. 3 Access to rotate 1 * M, and application that maximizes motor efficiency under heavy load. ® The case to rotate the electric motor 3 1 near EV 3 can be selected.
  • the load current I 0 becomes small even if the m3 ⁇ 4 motor 31 is not rotated at an efficient high speed.
  • the power consumption of the battery 50 can be reduced by rotating the battery. Therefore, no matter what case is selected by the setting switch 24, if the control controller 40 determines that the non-operation state has been sold for a predetermined time, the m3 ⁇ 4 motor 31 is set to the idling speed.
  • R, (Turn, R, ⁇ R L ⁇ R M ⁇ RH) controls the idling speed R to the inverter 41).
  • the minimum rotation speed R L of ⁇ ⁇ , R M, R H and acceleration amount AR L, AR M, AR L is key fact Ordinance to the inverter 41.
  • the controller 40 commands the inverter 41 to specify the rotation speed and application me of the motor 31, and the inverter 41 converts the AC 3 ⁇ 4 ⁇ based on this command value to the m®j motor 3
  • the control controller LA 4 0 opens the motor control S 1 0 0.
  • the control controller 40 also monitors the operation signal output from the device 14 to determine whether or not the meaning operation has been performed (S 1 0 1). If it is determined in step S 1 0 1 that an appropriate operation has been performed, the controller 40 next monitors the load current I ⁇ to determine whether there is a load fluctuation (S 1 0 2) If it is determined that there is load fluctuation, calculate the calo speed according to the selected accelerator amount and set the result (S 1 0 3). If it is determined that there is no load fluctuation, Set the amount to 0 (S 1 0 4).
  • Step S 1 0 Return to 1.
  • step S 1 0 6 determines whether or not the force has been in a no-operation state for a certain period of time.
  • the controller 40 determines in step S 1 0 6 that the no-operation state has been idle for a certain period of time, the idling speed 3 ⁇ 43 ⁇ 4R is set to 11 »the speed of the motor 3 1 and the set accelerator The mm value corresponding to the amount is applied to the m® motor 31.
  • Step S 1 0 7 return to Step S 1 0 1, and if it is determined that the no-operation state has not continued for a certain period of time, return to Step S 1 0 1 as it is.
  • the acceleration amount AR L , AR M) in step S 1 0 3 is a method for calculating AR H.
  • the acceleration amount may be calculated by setting a table corresponding to these parameters in advance in the controller 4 ° and obtaining from this table.
  • the controller 40 may use a predetermined calculation formula. It can be configured to apply these parameters to the calculation.
  • the accelerator amount can be set by the accelerator amount setting switch 24 according to the load applied to the electric motor 31, the electric motor 31 can be used efficiently and not Can be used effectively. Since the response 3 ⁇ 4g of ma motor 3 1 is very large compared to the engine, the load that is generated by this urn motor 3 1 is judged from the load current; It can be controlled by the controller 40. For this reason, even if the rotation speed of the motor 31 is changed in real time, the response i3 ⁇ 43 ⁇ 4 is fast, so that the hydraulic pressure fluctuation of the hydraulic pump 3 2 is hardly felt. ,
  • the control controller 40 performs control to open / close the control valve 34 in accordance with the operation of the operation device 14, and at the same time performs control to reduce or increase the degree of rotation of the electric motor 31. It is configured. For example, as shown in FIG. 7, during the running of the power shovel 1, time t, and you! / ⁇ by operating the Misaoi machine location 1 4 Te accelerated, slowed Te you, in time 1 2 In this case, the control controller 40 controls both the control inlet / outlet valve 34 (control valve for supplying oil to the traveling motor) and the reverse motor 31 .
  • the hydraulic oil corresponding to the acceleration / deceleration operation of the power shovel 1 is supplied to the hydraulic actuator 20 and the hydraulic oil necessary for this operation is supplied from the hydraulic pump 32.
  • the control controller 40 increases the opening degree of the control valve 3 4 and at the same time rotates the motor 31. Increase the quantity of oil that is supplied by accelerating the number. Further, an operation signal from the steering location 1 4 decrease the deceleration side (time 2), and at the same time reducing the opening degree of the controller port Rubarubu 3 4, ma motor 3
  • the control controller 4 when opening and closing the motor 3 1 of deceleration and controls opening one Rubanorebu 34 simultaneously (e.g., time t in FIG. 7, and 2), controller ports Rubarubu 3 Set the opening / closing of 4 as the lamp output, and control it to open / close in a predetermined time.
  • the change in the hydraulic oil supplied to the hydraulic actuator 20 becomes gradual, and a sudden change in operation can be prevented.
  • Control controller 40 is a control valve
  • the fM controller 40 monitors the output voltage Vo of the battery 50, and when this output « ⁇ force falls below a predetermined threshold, the load applied to the motor 31 is reduced to reduce the load on the battery 5 Output of 0 ® It is configured to stabilize EVo. For example, when the rotation knowledge commanded to the t3 ⁇ 4 motor 3 1 is low, the command to increase the rotation speed is output to the inverter 41 and the rotation speed of the electric motor 31 is increased. As a result, the load current Io flows into the inverter 41 and the change in the output mffiVo can be reduced. In addition, when the rotation of the motor commanded to the motor 31 is high, the control valve 3 4 is controlled so that the opening of the control valve 3 4 is reduced and the load of the hydraulic pump 3 2 is reduced. As a result, m3 ⁇ 4 motor 3
  • ⁇ value applied to the motor 31 is selected by the case setting switch 24. Further, in this power shovel 1, the inverter 41 applies an mffi according to the input value commanded from the control controller 40 to the S3 ⁇ 4 motor 31, and at the same time the command given from the control controller 40. Control the electric motor 31 so that it is a small number. Therefore, for example, if you perform a spin turn or a pivot turn while driving with the accelerator amount L selected, the load applied to the m®j motor 3 1 increases and the rotation speed of the electric motor 3 1 is maintained. Overcurrent flows through the inverter 41 to shoot.
  • the inverter 41 will generate heat, and if the value of the inverter 41 exceeds the predetermined size, the inverter 41 will stop and the inverter 41 will stop. As a result, the power shovel 1 cannot be made 1 ⁇ 3 ⁇ 4.
  • the load current I is generated by the controller 40. It is controlled so that it does not rise until the protection circuit of inverter 41 is activated. As shown in FIG. 9, the control of the controller 40 monitors the load current I 0 and detects that the overcurrent state has been detected for a predetermined time (S 2 0 0). The ma motor 31 is controlled to stop, and the alarm pipe lamp 25 in the operator cabin 15 is turned on to alert the operator that the S3 ⁇ 4 motor 31 has been stopped by overcurrent. Hesitate (S 2 0 1). A reset button 26 is provided in the operator cabin 15, and the controller 40 waits for the reset button 26 to be pressed when the electric motor 31 is stopped (S 2 0 2). .
  • the ma motor 31 is reactivated by the inverter 41 so that the power shovel 1 can be operated (S 2 0 3).
  • the same operation for example, spin turn or pivot turn
  • the overcurrent flows in the same way and the stop control of the electric motor 31 is activated.
  • the accelerator amount setting switch 24 it is necessary to select an accelerator amount (M or H) that is greater than or equal to 3 ⁇ 4
  • the controller 40 monitors the inverter current 41 if the load current I 0 is monitored, and when the overcurrent state force S is maintained for a predetermined time, the 3 ⁇ 4 motor 31 is stopped.
  • the inverter 41 does not stop due to heat generation, and the reset button 26 can be operated. , Immediately « ⁇ (resume) this power shovel 1 it can.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Pelle hydraulique à chaînes de roulement (1) entraînée par un actionneur hydraulique (20). La pelle hydraulique (1) comprend les éléments constitutifs suivants: moteur électrique (31) entraînant une pompe hydraulique (32) qui alimente l'actionneur hydraulique (20) en huile; capteur de pression d'huile (36) détectant la pression d'huile de refoulement de la pompe hydraulique (32); batterie (50) assurant l'alimentation en courant continu; transformateur (41) convertissant le courant continu de la batterie (50) en un courant CA de la valeur requise et faisant tourner le moteur électrique (31) au régime requis; capteur de tension/intensité (42) détectant la tension de sortie de la batterie (50) et le courant de charge allant de la batterie (50) au transformateur (41); contacteur de réglage d'accélération (24) sélectionnant la valeur de tension en courant continu à appliquer par le transformateur (41) au moteur électrique (31); et contrôleur (40) commandant le transformateur (41) avec la tension sélectionnée par le contacteur de réglage d'accélération (24) et le régime du moteur électrique (31). De plus, pour chaque valeur de tension pouvant être sélectionnée par le contacteur de réglage d'accélération (24), le contrôleur (40) calcule des accélérations (ΔRL, ΔRM, ΔRH) à partir de la valeur de tension, dont les régimes (RL, RM, RH) servent de référence pour le moteur électrique (31) et qui est sélectionnée par le contacteur de réglage d'accélération (24), ainsi que la pression d'huile de refoulement, la tension de sortie et le courant de charge, et commande le transformateur (41) avec leur vitesse ajoutée et ainsi actionne le moteur électrique (31).
PCT/JP2007/061032 2006-06-01 2007-05-24 Engin de chantier WO2007139168A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2006-153697 2006-06-01
JP2006-153696 2006-06-01
JP2006153697A JP4580896B2 (ja) 2006-06-01 2006-06-01 作業用車両
JP2006153696A JP2007321463A (ja) 2006-06-01 2006-06-01 作業用車両

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WO2007139168A1 true WO2007139168A1 (fr) 2007-12-06

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JP2007321898A (ja) * 2006-06-01 2007-12-13 Takeuchi Seisakusho:Kk 作業用車両
JP2012077479A (ja) * 2010-09-30 2012-04-19 Sumitomo Heavy Ind Ltd ハイブリッド型作業機械

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JPH1181388A (ja) * 1997-09-12 1999-03-26 Toyo Umpanki Co Ltd ホイールローダの走行駆動装置
JP2001116004A (ja) * 1999-10-15 2001-04-27 Nireco Corp 油圧制御装置及び電動機の制御装置
JP2002174202A (ja) * 2000-09-29 2002-06-21 Kobelco Contstruction Machinery Ltd 油圧回路及び油圧回路を備えた建設機械
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JP2004150306A (ja) * 2002-10-29 2004-05-27 Komatsu Ltd エンジンの制御装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007321898A (ja) * 2006-06-01 2007-12-13 Takeuchi Seisakusho:Kk 作業用車両
JP2012077479A (ja) * 2010-09-30 2012-04-19 Sumitomo Heavy Ind Ltd ハイブリッド型作業機械

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