WO2009005094A1 - 建設機械のエンジン制御装置 - Google Patents

建設機械のエンジン制御装置 Download PDF

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Publication number
WO2009005094A1
WO2009005094A1 PCT/JP2008/061999 JP2008061999W WO2009005094A1 WO 2009005094 A1 WO2009005094 A1 WO 2009005094A1 JP 2008061999 W JP2008061999 W JP 2008061999W WO 2009005094 A1 WO2009005094 A1 WO 2009005094A1
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WO
WIPO (PCT)
Prior art keywords
amount
control device
detection means
engine control
charge
Prior art date
Application number
PCT/JP2008/061999
Other languages
English (en)
French (fr)
Inventor
Yasuo Okano
Hidetoshi Satake
Akihiro Narazaki
Original Assignee
Hitachi Construction Machinery 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
Application filed by Hitachi Construction Machinery Co., Ltd. filed Critical Hitachi Construction Machinery Co., Ltd.
Priority to US12/667,663 priority Critical patent/US8321094B2/en
Priority to KR1020107002357A priority patent/KR101512207B1/ko
Priority to DE112008001715.8T priority patent/DE112008001715B4/de
Priority to CN2008800231225A priority patent/CN101688384B/zh
Publication of WO2009005094A1 publication Critical patent/WO2009005094A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K25/00—Auxiliary drives
    • B60K25/02—Auxiliary drives directly from an engine shaft
    • 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
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/2075—Control of propulsion units of the hybrid type
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/17—Construction vehicles, e.g. graders, excavators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/43—Engines
    • B60Y2400/435—Supercharger or turbochargers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Automation & Control Theory (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

【課題】操作装置の急操作時等の急激な負荷増加時に生じるエンジンのラグダウンの軽減に要するエネルギ消費を少なくすることができる建設機械のエンジン制御装置の提供。 【解決手段】操作装置５がフル操作されたことを検出する操作量検出器１０、及びコントローラ９の第１演算部９ａを含む負荷状態検出手段と、キャパシタ８の充電量を検出可能な充電量検出手段と、過給圧検出器１０とを備え、操作装置５の操作に伴い負荷状態検出手段によりポンプ３の吸収トルクがエンジン１の出力トルクを超えたことが検出されたとき、過給圧検出器１０によって検出される過給圧が所定圧以下であると判断され、しかも充電量検出手段によって検出されたキャパシタ８の充電量が、電動機２を所定時間Ａ駆動可能な充電量であると判断された際に、キャパシタ８の電力を電動機２に供給させる処理を行なうコントローラ９の判断処理部９ｃによって構成される判断処理手段を備えた。
PCT/JP2008/061999 2007-07-03 2008-07-02 建設機械のエンジン制御装置 WO2009005094A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US12/667,663 US8321094B2 (en) 2007-07-03 2008-07-02 Engine control system for construction machine
KR1020107002357A KR101512207B1 (ko) 2007-07-03 2008-07-02 건설 기계의 엔진 제어 장치
DE112008001715.8T DE112008001715B4 (de) 2007-07-03 2008-07-02 Brennkraftmaschinensteuersystem für Baumaschine
CN2008800231225A CN101688384B (zh) 2007-07-03 2008-07-02 建筑机械的发动机控制装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-175422 2007-07-03
JP2007175422A JP5096813B2 (ja) 2007-07-03 2007-07-03 建設機械のエンジン制御装置

Publications (1)

Publication Number Publication Date
WO2009005094A1 true WO2009005094A1 (ja) 2009-01-08

Family

ID=40226137

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/061999 WO2009005094A1 (ja) 2007-07-03 2008-07-02 建設機械のエンジン制御装置

Country Status (6)

Country Link
US (1) US8321094B2 (ja)
JP (1) JP5096813B2 (ja)
KR (1) KR101512207B1 (ja)
CN (1) CN101688384B (ja)
DE (1) DE112008001715B4 (ja)
WO (1) WO2009005094A1 (ja)

Cited By (4)

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EP2284322A3 (en) * 2009-07-29 2014-01-22 Volvo Construction Equipment Holding Sweden AB System and method for controlling engine revolutions for hybrid construction machine
CN103991378A (zh) * 2009-04-01 2014-08-20 住友重机械工业株式会社 混合式工作机械的控制方法
JP2016223285A (ja) * 2011-06-09 2016-12-28 住友建機株式会社 ショベル
CN106988364A (zh) * 2015-10-27 2017-07-28 住友建机株式会社 施工机械

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EP1989423A4 (en) * 2006-02-20 2015-07-22 Volvo Constr Equip Ab OPTIMIZATION METHOD OF WORKING VEHICLE OPERATION
WO2012002585A1 (ko) * 2010-06-28 2012-01-05 볼보 컨스트럭션 이큅먼트 에이비 하이브리드식 굴삭기의 제어시스템
JP2012082644A (ja) * 2010-10-14 2012-04-26 Hitachi Constr Mach Co Ltd 建設機械
JP5605815B2 (ja) * 2010-10-15 2014-10-15 日立建機株式会社 建設機械
JP5356436B2 (ja) * 2011-03-01 2013-12-04 日立建機株式会社 建設機械の制御装置
EP2789513A1 (en) * 2011-12-09 2014-10-15 Toyota Jidosha Kabushiki Kaisha Vehicle drive apparatus control apparatus
KR102025223B1 (ko) * 2011-12-22 2019-09-25 히다찌 겐끼 가부시키가이샤 작업 기계
KR101891376B1 (ko) * 2012-01-25 2018-09-28 가부시키가이샤 히다치 겡키 티에라 건설 기계
CH706518A1 (de) * 2012-05-15 2013-11-15 Liebherr Machines Bulle Sa Steuerung für das Antriebssystem einer Arbeitsmaschine.
CA2872608C (en) * 2012-06-08 2017-05-02 Volvo Construction Equipment Ab Apparatus for controlling a cascaded hybrid construction machine system and a method therefor
JP6169596B2 (ja) * 2012-11-08 2017-07-26 住友建機株式会社 ハイブリッドショベル及びハイブリッドショベルの制御方法
JP6175886B2 (ja) * 2013-05-10 2017-08-09 コベルコ建機株式会社 ハイブリッド式建設機械
JP6227911B2 (ja) * 2013-07-02 2017-11-08 日立建機株式会社 ハイブリッド作業機械
KR101504754B1 (ko) 2013-09-16 2015-03-20 엘에스엠트론 주식회사 하이브리드 트랙터의 3점 히치와 pto의 연동에 따른 하이브리드엔진의 구동방법
EP3112539B1 (en) * 2014-02-24 2017-11-22 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Shovel and shovel control method
US10399572B2 (en) * 2014-05-06 2019-09-03 Eaton Intelligent Power Limited Hydraulic hybrid propel circuit with hydrostatic option and method of operation
JP6324224B2 (ja) * 2014-06-10 2018-05-16 日立建機株式会社 ハイブリッド建設機械
KR101921435B1 (ko) * 2014-10-14 2018-11-22 히다찌 겐끼 가부시키가이샤 하이브리드식 건설 기계
JP6492712B2 (ja) * 2015-02-05 2019-04-03 コベルコ建機株式会社 建設機械の油圧制御装置

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Publication number Priority date Publication date Assignee Title
JP2004092456A (ja) * 2002-08-30 2004-03-25 Mitsubishi Motors Corp ハイブリッド車の出力制御装置
JP2004150306A (ja) * 2002-10-29 2004-05-27 Komatsu Ltd エンジンの制御装置
JP2006275019A (ja) * 2005-03-30 2006-10-12 Fuji Heavy Ind Ltd ハイブリッド車の制御装置

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103991378A (zh) * 2009-04-01 2014-08-20 住友重机械工业株式会社 混合式工作机械的控制方法
EP2284322A3 (en) * 2009-07-29 2014-01-22 Volvo Construction Equipment Holding Sweden AB System and method for controlling engine revolutions for hybrid construction machine
US9222488B2 (en) 2009-07-29 2015-12-29 Volvo Construction Equipment Holding Sweden Ab System and method for controlling engine revolutions for hybrid construction machine
JP2016223285A (ja) * 2011-06-09 2016-12-28 住友建機株式会社 ショベル
CN106988364A (zh) * 2015-10-27 2017-07-28 住友建机株式会社 施工机械
CN106988364B (zh) * 2015-10-27 2021-06-29 住友建机株式会社 施工机械

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US8321094B2 (en) 2012-11-27
US20100332088A1 (en) 2010-12-30
DE112008001715B4 (de) 2023-07-27
KR101512207B1 (ko) 2015-04-14
CN101688384B (zh) 2013-08-14
DE112008001715T5 (de) 2010-09-16
JP2009013632A (ja) 2009-01-22
CN101688384A (zh) 2010-03-31
KR20100057780A (ko) 2010-06-01
JP5096813B2 (ja) 2012-12-12

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