WO2009144782A1 - 旋回駆動制御装置及びこれを含む建設機械 - Google Patents
旋回駆動制御装置及びこれを含む建設機械 Download PDFInfo
- Publication number
- WO2009144782A1 WO2009144782A1 PCT/JP2008/059742 JP2008059742W WO2009144782A1 WO 2009144782 A1 WO2009144782 A1 WO 2009144782A1 JP 2008059742 W JP2008059742 W JP 2008059742W WO 2009144782 A1 WO2009144782 A1 WO 2009144782A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- turning
- speed
- electric motor
- rotation
- drive control
- Prior art date
Links
Images
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
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
-
- 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
- B60K25/04—Auxiliary drives from static or dynamic pressure or vacuum, developed by the engine
-
- 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
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/20—Energy regeneration from auxiliary equipment
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/128—Braking systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—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
- E02F9/22—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
- 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
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/10—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of fluid gearing
-
- 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
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/20—Off-Road Vehicles
- B60Y2200/25—Track vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
-
- 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
- Y02T10/64—Electric machine technologies in electromobility
Definitions
- the present invention relates to a turning drive control device that performs drive control of a turning mechanism of a construction machine, and a construction machine including the same.
- Patent Document 1 Japanese Patent Laid-Open No. 2004-036303
- An object of the present invention is to provide a turning drive control device that can provide a comfortable ride when turning is stopped and can extend the life of the turning mechanism, and a construction machine including the turning drive control device.
- a turning drive control device is a turning drive control device that drives and controls a turning mechanism of a construction machine that is driven to turn by an electric motor, and is based on an operation amount that is input via an operation unit of the construction machine.
- a speed command output unit that outputs a speed command for driving the motor
- a rotation speed detection unit that detects a rotation speed of the motor, a speed command generated by the speed command generation unit, and the rotation speed detection
- a drive command generation unit that generates a drive command for driving the electric motor based on the rotation speed detected by the unit, the drive command generation unit immediately before the rotation stop of the electric motor than before the rotation stop Also reduces the braking torque of the motor.
- an operation control unit that switches the electric motor to a short circuit state, the operation control unit switches the electric motor to a short circuit state immediately before stopping the rotation of the motor, so that the braking torque of the motor is more than just before the rotation stop. May be reduced.
- the motor control unit further includes a rotation speed detection unit that detects a rotation speed of the motor generator, and the operation control unit sets a short circuit state of the motor generator when the rotation speed detected by the rotation speed detection unit becomes zero.
- the drive command generation unit drives the motor with a zero speed command for setting the rotation speed of the motor generator to zero when the short-circuit state is canceled by the operation control unit. You may control.
- a drive control stop unit that stops the drive control of the motor, and the drive control stop unit stops the drive control of the motor immediately before the rotation stop of the electric motor, so that the motor The braking torque may be reduced.
- a rotation speed detection unit that detects a rotation speed of the motor generator is further provided, and the drive control stop unit releases the drive control stop state when the rotation speed detected by the rotation speed detection unit becomes zero.
- the drive command generation unit is configured to perform a zero speed command to zero the rotational speed of the motor generator. May be driven and controlled.
- the drive command generation unit includes a limiting unit that limits the value of the drive command with an absolute value so that a drive torque generated in the motor by the drive command is less than an allowable value, and immediately before the rotation of the motor is stopped.
- the braking torque of the electric motor may be reduced more than before the rotation stop by reducing the allowable value of the limiting unit from the normal value.
- a rotation speed detection unit that detects a rotation speed of the motor generator is further provided, and the drive command generation unit sets the allowable value of the limiting unit when the rotation speed detected by the rotation speed detection unit becomes zero. While returning to a normal value, the motor may be driven and controlled with a zero speed command for making the rotational speed of the motor generator zero.
- the drive command generation unit immediately before the rotation of the electric motor is stopped. During this time, a drive command for driving the electric motor at a predetermined low speed is generated, and immediately before the electric motor is stopped, a speed command output from the speed command generation unit and a rotation speed detection unit By generating a drive command for driving the electric motor based on the detected rotational speed, the braking torque of the electric motor may be reduced more than before the rotation stop.
- the motor generator further includes a rotation speed detection unit that detects a rotation speed of the motor generator, and the drive command generation unit rotates the rotation speed of the motor generator when the rotation speed detected by the rotation speed detection unit becomes zero.
- the motor may be driven and controlled with a zero speed command for zeroing.
- the construction machine includes any one of the turning drive control devices described above.
- a turning drive control device that can provide a comfortable ride when turning is stopped and can extend the life of the turning mechanism, and a construction machine including the turning drive control device.
- FIG. 1 is a side view showing a construction machine including a turning drive control device according to a first embodiment.
- 1 is a block diagram illustrating a configuration of a construction machine including a turning drive control device according to a first embodiment. It is a figure which shows the relay attached to the motor generator for turning in the construction machine of Embodiment 1.
- FIG. FIG. 3 is a control block diagram illustrating a configuration of a turning drive control device according to the first embodiment.
- FIG. 6 is a characteristic diagram for explaining an operation when turning is stopped by drive control of the turning drive control device 40 according to the first embodiment. It is a block diagram which shows the structure of the turning drive control apparatus 40 of Embodiment 2.
- FIG. It is a figure which shows the process sequence of the drive control of the motor generator 21 for turning by the main control part 60 of the turning drive control apparatus 40 of Embodiment 2.
- FIG. It is a characteristic view for demonstrating the operation
- FIG. 12 is a characteristic diagram for explaining an operation at the time of turning stop by drive control of the turning drive control device 40 of the third embodiment. It is a figure which shows the process sequence of the drive control of the motor generator 21 for turning by the main control part 60 of the turning drive control apparatus 40 of Embodiment 4.
- FIG. 10 is a characteristic diagram for explaining an operation at the time of turning stop by drive control of the turning drive control device 40 of the fourth embodiment.
- FIG. 1 is a side view showing a construction machine including the turning drive control device of the first embodiment.
- An upper swing body 3 is mounted on the lower traveling body 1 of this construction machine via a swing mechanism 2.
- the upper swing body 3 is equipped with a cabin 10 and a power source. Is done.
- FIG. 2 is a block diagram illustrating a configuration of the construction machine including the turning drive control device of the first embodiment.
- the mechanical power system is indicated by a double line
- the high-pressure hydraulic line is indicated by a solid line
- the pilot line is indicated by a broken line
- the electric drive / control system is indicated by a one-dot chain line.
- the engine 11 as a mechanical drive unit and the motor generator 12 as an assist drive unit are both connected to an input shaft of a speed reducer 13 as a booster.
- a main pump 14 and a pilot pump 15 are connected to the output shaft of the speed reducer 13.
- a control valve 17 is connected to the main pump 14 via a high pressure hydraulic line 16.
- the control valve 17 is a control device that controls the hydraulic system in the construction machine according to the first embodiment.
- the control valve 17 includes hydraulic motors 1A (for right) and 1B (for left) for the lower traveling body 1,
- the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are connected via a high pressure hydraulic line.
- a battery 19 is connected to the motor generator 12 via an inverter 18, and a turning motor generator 21 is connected to the battery 19 via an inverter 20 and relays 21 ⁇ / b> A and 21 ⁇ / b> B. Yes.
- a resolver 22, a mechanical brake 23, and a turning speed reducer 24 are connected to the rotating shaft 21a of the turning electric motor 21.
- An operation device 26 is connected to the pilot pump 15 through a pilot line 25.
- the control device 17 and the pressure sensor 29 are connected to the operating device 26 via hydraulic lines 27 and 28, respectively.
- the pressure sensor 29 is connected to a controller 30 that performs drive control of the electric system of the construction machine according to the first embodiment.
- the construction machine according to the first embodiment is a hybrid construction machine that uses the engine 11, the motor generator 12, and the turning electric motor 21 as power sources. These power sources are mounted on the upper swing body 3 shown in FIG. Hereinafter, each part will be described.
- the engine 11 is an internal combustion engine composed of, for example, a diesel engine, and its output shaft is connected to one input shaft of the speed reducer 13. The engine 11 is always operated during the operation of the construction machine.
- the motor generator 12 may be an electric motor capable of both power running operation and regenerative operation.
- a motor generator that is AC driven by an inverter 18 is shown as the motor generator 12.
- the motor generator 12 can be constituted by, for example, an IPM (Interior Permanent Magnetic) motor in which a magnet is embedded in a rotor.
- IPM Interior Permanent Magnetic
- the rotating shaft of the motor generator 12 is connected to the other input shaft of the speed reducer 13.
- Reduction gear 13 has two input shafts and one output shaft.
- a drive shaft of the engine 11 and a drive shaft of the motor generator 12 are connected to each of the two input shafts. Further, the drive shaft of the main pump 14 is connected to the output shaft.
- the motor generator 12 performs a power running operation, and the driving force of the motor generator 12 is transmitted to the main pump 14 via the output shaft of the speed reducer 13. Thereby, driving of the engine 11 is assisted.
- the load on the engine 11 is small, the driving force of the engine 11 is transmitted to the motor generator 12 via the speed reducer 13 so that the motor generator 12 generates power by regenerative operation. Switching between the power running operation and the regenerative operation of the motor generator 12 is performed by the controller 30 according to the load of the engine 11 and the like.
- the main pump 14 is a pump that generates hydraulic pressure to be supplied to the control valve 17. This hydraulic pressure is supplied to drive each of the hydraulic motors 1 ⁇ / b> A and 1 ⁇ / b> B, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 via the control valve 17.
- the pilot pump 15 is a pump that generates a pilot pressure necessary for the hydraulic operation system. The configuration of this hydraulic operation system will be described later.
- the control valve 17 inputs the hydraulic pressure supplied to each of the hydraulic motors 1A, 1B, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 for the lower traveling body 1 connected via a high-pressure hydraulic line. It is a hydraulic control device which controls these hydraulically by controlling according to the above.
- the inverter 18 supplies electric power necessary for the power running operation of the motor generator 12 from the battery 19 to the motor generator 12, and at the same time, charges the battery 19 with electric power generated by the regenerative operation of the motor generator 12. It is an inverter provided between the machine 12 and the battery 19.
- the battery 19 is disposed between the inverter 18 and the inverter 20.
- the inverter 20 is provided between the turning electric motor 21 and the battery 19 as described above, and performs operation control on the turning electric motor 21 based on a command from the controller 30. As a result, when the inverter controls the power of the turning electric motor 21, the necessary electric power is supplied from the battery 19 to the turning electric motor 21. Further, when the turning electric motor 21 is performing a regenerative operation, the battery 19 is charged with the electric power generated by the turning electric motor 21.
- the regenerative operation at the time of deceleration of the turning motor generator 21 is referred to as a first regenerative operation, and is distinguished from a second regenerative operation that is a regenerative operation in a short-circuit state described later.
- the first regenerative operation and the second regenerative operation are simply referred to as “regenerative operation” if they are not particularly distinguished.
- the turning motor generator 21 may be an electric motor capable of both a power running operation and a regenerative operation, and is provided for driving the turning mechanism 2 of the upper turning body 3.
- the turning motor generator 21 is drive-controlled so as to accelerate the upper turning body 3 by power running operation and perform the first regenerative operation when the upper turning body 3 is decelerated.
- a motor generator that is AC driven by an inverter 20 is shown as the turning motor generator 21.
- the turning motor generator 21 can be constituted by, for example, a magnet-embedded IPM motor.
- charge / discharge control of the battery 19 is performed in the charged state of the battery 19, the operating state of the motor generator 12 (power running operation or regenerative operation), and the operating state of the turning motor generator 21 (power running operation or first regenerative operation). Based on the controller 30.
- the relays 21A and 21B are arranged in three-phase wiring (U phase, V phase, W phase) between the inverter 20 and the turning motor generator 21 as shown in FIG.
- the relay 21A is disposed between the U phase and the V phase
- the relay 21B is disposed between the V phase and the W phase.
- the electric power generated in the state of the second regenerative operation is consumed by the internal resistor of the turning motor generator 21.
- a braking torque determined by the resistance value of the internal resistor of the turning motor generator 21 and the rotational speed of the rotating shaft 21a is generated.
- the relays 21A and 21B are opened / closed by a main control unit 60 of a turning drive control device 40, which will be described later, and are opened when the turning motor generator 21 is driven and controlled by a speed command.
- the resolver 22 is a sensor that detects a rotation position and a rotation angle of the rotation shaft 21 a of the turning electric motor 21, and mechanically connected to the turning electric motor 21 to rotate the rotation shaft 21 a before the turning electric motor 21 rotates.
- the rotation angle and the rotation direction of the rotation shaft 21a are detected by detecting the difference between the position and the rotation position after the left rotation or the right rotation. By detecting the rotation angle of the rotation shaft 21a of the turning electric motor 21, the rotation angle and the rotation direction of the turning mechanism 2 are derived.
- the mechanical brake 23 is a braking device that generates a mechanical braking force, and mechanically stops the rotating shaft 21a of the turning electric motor 21. This mechanical brake 23 is switched between braking (on) and releasing (off) by an electromagnetic switch.
- the turning speed reducer 24 is a speed reducer that decelerates the rotational speed of the rotating shaft 21 a of the turning electric motor 21 and mechanically transmits it to the turning mechanism 2.
- the turning mechanism 2 can turn in a state where the mechanical brake 23 of the turning electric motor 21 is released, and in this state, the upper turning body 3 is turned leftward or rightward.
- the operating device 26 is an operating device for operating the turning electric motor 21, the lower traveling body 1, the boom 4, the arm 5 and the bucket 6, and includes levers 26A and 26B and a pedal 26C.
- the lever 26 ⁇ / b> A is a lever for operating the turning electric motor 21 and the arm 5, and is provided in the vicinity of the driver seat of the upper turning body 3.
- the lever 26B is a lever for operating the boom 4 and the bucket 6, and is provided in the vicinity of the driver's seat.
- the pedals 26C are a pair of pedals for operating the lower traveling body 1, and are provided under the feet of the driver's seat.
- the operating device 26 converts the hydraulic pressure (primary hydraulic pressure) supplied through the pilot line 25 into hydraulic pressure (secondary hydraulic pressure) corresponding to the operation amount of the driver and outputs the converted hydraulic pressure.
- the secondary hydraulic pressure output from the operating device 26 is supplied to the control valve 17 through the hydraulic line 27 and detected by the pressure sensor 29.
- the mechanical brake 23 is configured to be released by the controller 30 when any of the levers 26A and 26B or the pedal 26C is operated.
- the hydraulic line 27 supplies hydraulic pressure necessary for driving the hydraulic motors 1A and 1B, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder to the control valve.
- the pressure sensor 29 In the pressure sensor 29, a change in the hydraulic pressure in the hydraulic line 28 due to the operation of the lever 26A is detected by the pressure sensor 29.
- the pressure sensor 29 outputs an electrical signal indicating the hydraulic pressure in the hydraulic line 28. This electrical signal is input to the controller 30.
- the controller 30 is a control device that performs drive control of the construction machine according to the first embodiment, and includes a speed command conversion unit 31, a drive control device 32, and a turning drive control device 40.
- the controller 30 includes a CPU (Central Processing Unit) and an arithmetic processing device including an internal memory.
- the speed command conversion unit 31, the drive control device 32, and the turning drive control device 40 include the CPU of the controller 30 in the internal memory. It is an apparatus realized by executing a stored drive control program.
- the speed command conversion unit 31 is an arithmetic processing unit that converts a signal input from the pressure sensor 29 into a speed command. Thereby, the operation amount of the lever 26A is converted into a speed command (rad / s) for rotating the turning electric motor 21. This speed command is input to the drive control device 32 and the turning drive control device 40.
- the drive control device 32 is a control device for performing operation control of the motor generator 12 (switching between power running operation or regenerative operation) and charge / discharge control of the battery 19.
- the drive control device 32 switches between the power running operation and the regenerative operation of the motor generator 12 according to the load state of the engine 11 and the charge state of the battery 19.
- the drive control device 32 performs charge / discharge control of the battery 19 via the inverter 18 by switching between the power running operation and the regenerative operation of the motor generator 12.
- “Operation amount / speed command conversion characteristics” 4 shows the operation amount of the operation lever 26A in the speed command conversion unit 31 of the construction machine of the first embodiment as a speed command (speed command for rotating the turning electric motor 21 to turn the upper turning body 3). It is a figure which shows the conversion characteristic to convert.
- the conversion characteristics shown in FIG. 4 are characteristics when the turning electric motor 21 is stopped.
- the zero speed command region for left turn and right turn
- left It is divided into four areas, a direction turning drive area and a right direction turning drive area.
- the rotation direction in which the rotating shaft 21a of the turning electric motor 21 rotates counterclockwise is referred to as “forward rotation”, and the control amount represents the drive in the forward rotation direction. Add a positive sign.
- the rotation direction in which the rotating shaft 21a of the turning electric motor 21 rotates clockwise is referred to as “reverse rotation”, and a negative sign is assigned to the control amount indicating the drive in the reverse rotation direction.
- Forward rotation corresponds to turning of the upper swing body 3 in the right direction
- reverse rotation corresponds to turning of the upper swing body in the left direction.
- the zero speed command region is a region provided in the vicinity of neutrality (within a range of ⁇ 20%) in the operation direction of the lever 26A for use when stopping the upper swing body 3 during turning.
- the speed command conversion unit 31 outputs a zero speed command, and a braking torque is applied to the rotating shaft 21a of the rotating electric motor 21 for rotation.
- the mechanical brake 23 is activated and the upper turning body 3 is held in a stopped state.
- the zero speed command is a speed command for setting the rotational speed of the rotating shaft 21a of the turning electric motor 21 to zero in order to make the turning speed of the upper swing body 3 zero, and will be described later with PI (Proportional In the (Integral) control, the rotation speed of the rotary shaft 21a is used as a target value for approaching zero.
- PI Proportional In the (Integral) control
- the mechanical brake 23 is switched from the released state (off) to the activated state (on) when the rotational speed detected by the turning motion detection unit 58 becomes zero. Is done by.
- the left turn drive region is a region where a speed command for turning the upper swing body 3 in the left direction is output from the speed command conversion unit 31.
- the absolute value of the speed command is set to increase according to the operation amount of the lever 26A. Based on this speed command, the drive command is calculated by the turning drive control device 40, and the turning electric motor 21 is driven by this drive command. As a result, the upper turning body 3 is driven to turn leftward.
- the absolute value of the speed command value in the left direction turning drive region is limited to a predetermined value.
- the right direction turning drive region is a region in which a speed command for turning the upper swing body 3 in the right direction is output from the speed command conversion unit 31.
- the absolute value of the speed command is set to increase according to the operation amount of the lever 26A. Based on this speed command, a drive command is calculated by the turning drive control device 40, and the turning electric motor 21 is driven by this drive command. As a result, the upper turning body 3 is driven to turn rightward.
- the absolute value of the speed command value in the right turn drive area is limited to a predetermined value as in the left turn drive area.
- FIG. 5 is a control block diagram illustrating a configuration of the turning drive control device 40 of the first embodiment.
- the turning drive control device 40 is a control device for performing drive control of the turning electric motor 21 via the inverter 20, and includes a drive command generating unit 50 that generates a drive command for driving the turning electric motor 21, and a main command.
- a control unit 60 is included.
- the turning drive control device 40 executes a drive control program stored in the internal memory of the controller 30, thereby giving a drive command for driving and controlling the turning motor generator 21 according to the operation amount of the lever 26 ⁇ / b> A. Calculate.
- the turning drive control device 40 switches between power running operation and regenerative operation (first regenerative operation or second regenerative operation) when driving and controlling the turning motor generator 21 according to the operation amount of the lever 26A. And charge / discharge control of the battery 19 is performed via the inverter 20.
- the speed command output from the speed command conversion unit 31 is input to the drive command generation unit 50 according to the operation amount of the lever 26A, and the drive command generation unit 50 generates a drive command based on the speed command.
- the drive command output from the drive command generation unit 50 is input to the inverter 20, and the turning electric motor 21 is AC-driven by the inverter 20 using the PWM control signal.
- the main control unit 60 is a control unit that performs processing necessary for control processing of the turning drive control device 40. Specific processing contents will be described each time in related sections.
- the turning drive control device 40 controls the switching between the power running operation and the regenerative operation when driving the turning electric motor 21 according to the operation amount of the operation lever 26A, and also controls the battery 19 via the inverter 20. Charge / discharge control is performed.
- the drive command generator 50 includes a subtractor 51, a PI (Proportional Integral) controller 52, a torque limiter 53, a torque limiter 54, a subtractor 55, a PI controller 56, a current converter 57, and a turning motion detector 58. including.
- a speed command (rad / s) for turning drive corresponding to the operation amount of the lever 26A is input to the subtractor 51 of the drive command generation unit 50.
- the subtractor 51 subtracts the rotational speed (rad / s) of the turning electric motor 21 detected by the turning motion detector 58 from the value of the speed command (hereinafter referred to as speed command value) corresponding to the operation amount of the lever 26A. Output the deviation. This deviation is used in PI control for causing the rotational speed of the turning electric motor 21 to approach the speed command value (target value) in the PI control unit 52 described later.
- the PI control unit 52 Based on the deviation input from the subtractor 51, the PI control unit 52 performs PI control so that the rotation speed of the turning electric motor 21 approaches the speed command value (target value) (that is, this deviation is reduced). And a torque current command necessary for that is calculated. The generated torque current command is input to the torque limiter 53.
- the torque limiter 53 performs a process of limiting the value of the torque current command (hereinafter, torque current command value) according to the operation amount of the lever 26A. This limiting process is performed based on a limiting characteristic in which the allowable value of the torque current command value gradually increases according to the operation amount of the lever 26A. Such limitation of the torque current command value is performed in order to suppress this because the controllability deteriorates when the torque current command value calculated by the PI control unit 52 increases rapidly.
- the limiting characteristic of the torque limiting unit 53 is stored in the internal memory of the main control unit 60, and the main control unit 60 reads the limiting characteristic in the internal memory and inputs it to the torque limiting unit 53.
- This limiting characteristic has a characteristic of gradually increasing the allowable value (absolute value) of the torque current command value as the amount of operation of the lever 26A increases. It has the characteristic for restricting. Data representing the limiting characteristic is stored in the internal memory of the main control unit 60 and is read by the torque limiting unit 53.
- the torque limiter 54 limits the torque current command value input from the torque limiter 53 so that the torque generated by the torque current command input from the torque limiter 53 is less than or equal to the maximum allowable torque value of the turning electric motor 21. To do.
- the torque current command value is limited with respect to the bi-directional rotation of the upper swing body 3 in the left direction and the right direction, similarly to the torque limiting unit 53.
- the upper limit value (maximum value for turning right) and the lower limit value (minimum value for turning left) of the allowable value for limiting the torque current command value in the torque limiting unit 54 are set by the torque limiting unit 54. Even when the torque current command value is limited, the boom 4, arm 5, and bucket 6 are in a state where the boom 4, the arm 5, and the bucket 6 are extended on a sloping ground and the inertia moment of the upper swing body 3 is large. Is set to a value that can generate a driving torque for turning the sway up the slope.
- the allowable value of the torque limiting unit 54 is stored in the internal memory of the main control unit 60, and the main control unit 60 reads the allowable value in the internal memory and inputs it to the torque limiting unit 54.
- the subtracter 55 outputs a deviation obtained by subtracting the output value of the current converter 57 from the torque current command value input from the torque limiter 54.
- This deviation is the torque current that is input via the torque limiter 54 to the drive torque of the turning electric motor 21 that is output from the current converter 57 in a feedback loop that includes a PI controller 56 and a current converter 57 described later. It is used for PI control to approach the torque represented by the command value (target value).
- the PI control unit 56 performs PI control so as to reduce this deviation based on the deviation input from the subtractor 55, and generates a voltage command as a final drive command to be sent to the inverter 20.
- the inverter 20 PWM drives the turning electric motor 21 based on the torque current command input from the PI control unit 56.
- the current converter 57 detects the motor current of the turning electric motor 21, converts it into a value corresponding to the torque current command, and inputs it to the subtractor 55.
- the turning motion detector 58 detects a change in the rotational position of the turning electric motor 21 detected by the resolver 22 (that is, turning of the upper turning body 3), and the rotation of the turning electric motor 21 from the temporal change in the rotational position.
- the speed is derived by differential operation. Data representing the derived rotational speed is input to the subtractor 51 and the main control unit 60.
- a torque current command for driving the turning electric motor 21 is generated based on the speed command input from the speed command conversion unit 31, and the upper swing body 3 is set to a desired speed. It is turned at.
- FIG. 6 is a diagram illustrating a processing procedure of drive control of the turning motor generator 21 by the main control unit 60 of the turning drive control device 40 of the first embodiment.
- the main control unit 60 uses a right turn flag and a left turn flag indicating that the upper turning body 3 is turning rightward or leftward for driving control of the turning electric motor 21.
- the right turn flag indicates the presence or absence of “forward rotation” in which the rotation shaft 21a of the turning electric motor 21 rotates counterclockwise
- the left turning flag indicates that the rotation shaft 21a of the turning electric motor 21 rotates clockwise. Indicates the presence or absence of “reverse”.
- the main control unit 60 includes a timer for counting elapsed time in steps S124 to S126 and S134 to S136 described later.
- the process shown in FIG. 6 starts from (1), and the process of step S100 is first executed.
- the main control unit 60 determines whether or not the speed command value is positive (step S100). Since the speed command is input from the speed command conversion unit 31 to the main control unit 60, this process determines whether or not the value of the speed command input from the speed command conversion unit 31 to the main control unit 60 is positive. It is a process executed by doing.
- step S101 If the main control unit 60 determines that the value of the speed command is positive, it sets both the right turn flag and the left turn flag to “0” (step S101). This is to reset both flags.
- the main control unit 60 determines whether or not the rotation speed is positive (step S102). When determining that the rotational speed is positive, the main control unit 60 sets the right turn flag to “1” and sets the left turn flag to “0” (step S103). In this case, the rotating shaft 21a of the turning electric motor 21 is normally rotated and the upper turning body 3 is turning right.
- the main control unit 60 causes the turning drive control device 40 to perform drive control of the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31 (step S150). Thereby, the turning of the upper turning body 3 in the right direction is performed.
- step S150 the procedure proceeds to step S150, and the main control unit 60 drives the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31.
- Control is performed by the turning drive control device 40 (step S150). This is a case where the rotational speed of the rotating shaft 21a of the turning electric motor 21 is zero or negative even though the speed command for forward rotation is output from the speed command conversion unit 31, specifically, This corresponds to the state in which the upper revolving unit 3 is stopped or the left side is turned by an external force even though the operation lever 26A is operated in the right direction.
- step S110 determines whether or not the speed command is negative. Since the speed command is input from the speed command conversion unit 31 to the main control unit 60, this process determines whether the value of the speed command input from the speed command conversion unit 31 to the main control unit 60 is negative. It is a process executed by doing.
- main control unit 60 determines that the value of the speed command is negative, it sets both the right turn flag and the left turn flag to “0” (step S111). This is to reset both flags.
- the main control unit 60 determines whether or not the rotation speed is negative (step S112).
- the main control unit 60 sets the right turn flag to “0” and sets the left turn flag to “1” (step S113). In this case, the rotating shaft 21a of the turning electric motor 21 is reversed and the upper turning body 3 is turning left.
- the main control unit 60 causes the turning drive control device 40 to perform drive control of the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31 (step S150). Thereby, the left turning of the upper swing body 3 is performed.
- step S150 the procedure proceeds to step S150, and the main control unit 60 drives the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31.
- Control is performed by the turning drive control device 40 (step S150). This is a case where the rotation speed of the rotating shaft 21a of the turning electric motor 21 is zero or positive even though the speed command for reversing is output from the speed command conversion unit 31, specifically, This corresponds to the state in which the upper turning body 3 is stopped or the right turn is turned by an external force even though the operation lever 26A is operated in the left turn direction.
- step S110 determines in step S110 that the speed command is not negative
- step S120 determines whether or not the right turn flag is “1” (step S120). This is to determine whether or not the upper swing body 3 is turning right (the rotation shaft 21a of the turning electric motor 21 is rotating forward) in a state where the speed command is zero. This corresponds to, for example, a case where the operation amount of the lever 26A is in the zero speed command region in an attempt to stop the vehicle from turning right.
- the main control unit 60 determines whether or not the rotation speed is lower than a predetermined set speed (S121).
- the predetermined set speed is extremely low, and is set to 10% speed, for example. This is to determine whether or not the state is immediately before the rotation is stopped.
- the 10% speed is the rotation speed when the maximum turning speed is 100%.
- the main control unit 60 determines that the rotation speed is lower than the set speed, the main control unit 60 closes the relays 21A and 21B to short-circuit the turning electric motor 21 (step S122). In order to stop the rotating shaft 21a with the rotational resistance caused by the second regenerative operation when the second regenerative operation is performed with the three-phase wiring of the turning motor generator 21 short-circuited when it is determined that the rotation has just stopped. is there.
- step S123 the main control unit 60 determines whether or not the rotation speed is equal to or less than zero. This is to determine whether or not the rotating shaft 21a has stopped or reversed.
- the main control unit 60 determines that the rotation speed is equal to or less than zero, the main control unit 60 sets a timer (step S124). This is to prepare for counting the elapsed time.
- the timer is set to 0.1 seconds.
- the main control unit 60 starts counting elapsed time with a timer (step S125). This is because the determination for canceling the short circuit state is performed based on the elapsed time.
- the main control unit 60 determines whether the count is up (step S126). The process in step S126 is repeatedly executed until the count-up is confirmed.
- step S127 the main control unit 60 sets the right turn flag to “0” (step S127). This is because it is considered that the rotating shaft 21a is stopped by the rotational resistance due to the second regenerative operation by performing the second regenerative operation by short-circuiting the three-phase wiring of the turning motor generator 21 for 0.1 second. .
- the main control unit 60 causes the turning drive control device 40 to perform drive control of the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31 (step S150).
- the speed command is a zero speed command
- a braking torque is applied to the rotating shaft 21a of the turning electric motor 21, and the rotating speed of the rotating shaft 21a is controlled to zero.
- the upper swing body 3 is stopped, so that the mechanical brake 23 is activated, and the upper swing body 3 is held in the stopped state.
- step S150 Even when it is determined in step S121 that the rotation speed is not less than the set speed, the procedure proceeds to step S150, and the main control unit 60 performs the turning electric motor according to the speed command output from the speed command conversion unit 31.
- the drive control device 21 is caused to execute the drive control 21 (step S150). This is because the zero speed command is output from the speed command conversion unit 31 and the braking torque is applied to the rotating shaft 21a of the turning electric motor 21 when the rotational speed during the right turn is equal to or higher than the set value. It is. This corresponds to the case immediately after the lever 26A is released during a right turn.
- step S123 If it is determined in step S123 that the rotational speed is not less than zero (that is, the rotational speed is positive), the procedure proceeds to step S100, and the procedure is repeatedly executed.
- step S130 determines whether the left turn flag is “1” (step S130). This is because it is determined whether or not the upper swing body 3 is turning left (the rotating shaft 21a of the turning electric motor 21 is reverse) in a state where the speed command is zero. This corresponds to, for example, a case where the operation amount of the lever 26A is in the zero speed command region in an attempt to stop from the state of turning left.
- the main control unit 60 determines whether or not the rotation speed is higher than a predetermined negative set speed (S131).
- the predetermined set speed is extremely low, for example, set to -10% speed. This is to determine whether or not the state is immediately before the rotation is stopped.
- the -10% speed is the rotation speed when the maximum turning speed in the reverse direction is set to -100% speed.
- step S132 the main control unit 60 closes the relays 21A and 21B and puts the turning electric motor 21 into a short circuit state. In order to stop the rotating shaft 21a with the rotational resistance caused by the second regenerative operation when the second regenerative operation is performed with the three-phase wiring of the turning motor generator 21 short-circuited when it is determined that the rotation has just stopped is there.
- step S133 the main control unit 60 determines whether or not the rotation speed is greater than or equal to zero. This is to determine whether or not the rotating shaft 21a has stopped or reversed.
- step S134 the main control unit 60 sets a timer (step S134). This is to prepare for counting the elapsed time.
- the timer is set to 0.1 seconds.
- the main control unit 60 starts counting down the elapsed time by the timer (step S135). This is for counting the elapsed time.
- the main control unit 60 determines whether the count is up (step S136). The process of step S136 is repeatedly executed until the count-up is confirmed.
- the main control unit 60 sets the left turn flag to “0” (step S137). This is because it is considered that the rotating shaft 21a is stopped by the rotational resistance due to the second regenerative operation by performing the second regenerative operation by short-circuiting the three-phase wiring of the turning motor generator 21 for 0.1 second. .
- the main control unit 60 causes the turning drive control device 40 to perform drive control of the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31 (step S150).
- the speed command is a zero speed command
- a braking torque is applied to the rotating shaft 21a of the turning electric motor 21, and the rotating speed of the rotating shaft 21a is controlled to zero.
- the upper swing body 3 is stopped, so that the mechanical brake 23 is activated, and the upper swing body 3 is held in the stopped state.
- step S130 If it is determined in step S130 that the left turn flag is not “1”, the procedure proceeds to step S150, and the main control unit 60 performs the turn according to the speed command output from the speed command conversion unit 31.
- the turning drive control device 40 is caused to execute drive control of the electric motor 21 (step S150). Since this is a state in which the turning is stopped, the stop state by the zero speed command or the stop state by the mechanical brake 23 is maintained by the drive control of the turning drive control device 40.
- step S150 Even when it is determined in step S131 that the rotation speed is not higher than the predetermined negative set speed, the procedure proceeds to step S150, and the main control unit 60 follows the speed command output from the speed command conversion unit 31.
- the turning drive control device 40 is caused to perform drive control of the turning electric motor 21 (step S150). This is a state in which the zero speed command is output from the speed command conversion unit 31 and the braking torque is applied to the rotating shaft 21a of the turning electric motor 21 when the rotational speed during the left turn is equal to or less than the set value. is there. This corresponds to the case immediately after the lever 26A is released during the left turn.
- step S133 If it is determined in step S133 that the rotation speed is not zero or more (that is, the rotation speed is negative), the procedure proceeds to step S100, and the procedure is repeatedly executed.
- FIG. 7 is a characteristic diagram for explaining an operation at the time of turning stop by the drive control of the turning drive control device 40 of the first embodiment. This characteristic indicates temporal changes in the speed command, the turning speed, and the driving torque (braking torque) when the upper-part turning body 3 stops from the state of turning right.
- the turning operation input to the lever 26A of the operating device 26 is the maximum amount in the right direction, and a speed command of 100% is output from the speed command conversion unit 31, and the turning speed is the right turn. It is assumed that the maximum speed ⁇ max (rad / s) in the direction and the driving torque is T1 (N ⁇ m), which is 20% of the maximum driving torque Tmax.
- the main control unit 60 sets a timer and starts counting down. This state is realized by the processing in steps S123 to S125 shown in FIG.
- the rotating shaft 21a of the turning electric motor 21 is regenerated (second regenerating operation) by short-circuiting the turning electric motor 21 immediately before the rotation is stopped. It can be stopped by the rotation resistance force.
- the rotational resistance force applied to the rotary shaft 21a at the time of the stop is very small compared to the braking torque applied to the rotary shaft 21a by the drive control based on the speed command without being short-circuited as in the prior art, and the temporal change is gentle.
- the braking torque of the turning electric motor 21 can be reduced immediately before stopping the rotation immediately before the stopping of rotation, thereby suppressing the occurrence of an impact due to the backlash rattling of the turning mechanism 2, and at the time of stopping the turning. It is possible to provide a turning drive control device and a construction machine that can realize a smooth and good ride comfort. Further, since the backlash rattling of the turning mechanism 2 can be suppressed, the life of the turning mechanism 2 can be extended.
- the turning motor 21 is an AC motor that is PWM-driven by the inverter 20, and the form in which the resolver 22 and the turning motion detection unit 58 are used to detect the rotation speed has been described.
- a DC motor may be used.
- the inverter 20, the resolver 22, and the turning motion detection unit 58 are not necessary, and the value detected by the tachometer generator of the DC motor may be used as the rotation speed.
- the PI control is used for the calculation of the torque current command.
- robust control adaptive control, proportional control, integral control, or the like may be used.
- the hybrid type construction machine is used.
- the application target of the turning drive device according to the first embodiment is limited to the hybrid type. It is not something.
- FIG. 8 is a block diagram illustrating a configuration of the turning drive control device 40 of the second embodiment.
- the turning drive control device 40 of the second embodiment is different from the turning drive control device 40 of the first embodiment in that the relays 21A and 21B are not included. Since the other configuration conforms to the turning drive control device 40 of the first embodiment, the same components are denoted by the same reference numerals, and the description thereof is omitted.
- the main control unit 60 of the second embodiment stops the inverter 20 for a predetermined short time immediately before stopping the rotating shaft 21a of the turning electric motor 21.
- the processing procedure will be described with reference to FIG.
- FIG. 9 is a diagram illustrating a processing procedure of drive control of the turning motor generator 21 by the main control unit 60 of the turning drive control device 40 of the second embodiment.
- the main control unit 60 uses a right turn flag and a left turn flag indicating that the upper turning body 3 is turning rightward or leftward for driving control of the turning electric motor 21.
- the right turn flag indicates the presence or absence of “forward rotation” in which the rotation shaft 21a of the turning electric motor 21 rotates counterclockwise
- the left turning flag indicates that the rotation shaft 21a of the turning electric motor 21 rotates clockwise. Indicates the presence or absence of “reverse”.
- the main control unit 60 includes a timer for counting elapsed time in steps S223 to S225 and S233 to S235 described later.
- the process shown in FIG. 9 starts from (1), and the process of step S200 is first executed.
- the main control unit 60 determines whether or not the speed command value is positive (step S200). Since the speed command is input from the speed command conversion unit 31 to the main control unit 60, this process determines whether or not the value of the speed command input from the speed command conversion unit 31 to the main control unit 60 is positive. It is a process executed by doing.
- main control unit 60 determines that the value of the speed command is positive, it sets both the right turn flag and the left turn flag to “0” (step S201). This is to reset both flags.
- the main control unit 60 determines whether or not the rotation speed is positive (step S202). When determining that the rotation speed is positive, the main control unit 60 sets the right turn flag to “1” and sets the left turn flag to “0” (step S203). In this case, the rotating shaft 21a of the turning electric motor 21 is normally rotated and the upper turning body 3 is turning right.
- the main control unit 60 causes the turning drive control device 40 to perform drive control of the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31 (step S250). Thereby, the turning of the upper turning body 3 in the right direction is performed.
- step S250 Even when it is determined in step S202 that the rotation speed is not positive, the procedure proceeds to step S250, and the main control unit 60 drives the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31. Control is performed by the turning drive control device 40 (step S250). This is a case where the rotational speed of the rotating shaft 21a of the turning electric motor 21 is zero or negative even though the speed command for forward rotation is output from the speed command conversion unit 31, specifically, This corresponds to the state in which the upper revolving unit 3 is stopped or the left side is turned by an external force even though the operation lever 26A is operated in the right direction.
- step S210 determines whether the speed command is negative. Since the speed command is input from the speed command conversion unit 31 to the main control unit 60, this process determines whether the value of the speed command input from the speed command conversion unit 31 to the main control unit 60 is negative. It is a process executed by doing.
- main control unit 60 determines that the value of the speed command is negative, it sets both the right turn flag and the left turn flag to “0” (step S211). This is to reset both flags.
- the main control unit 60 determines whether or not the rotation speed is negative (step S212). When determining that the rotational speed is negative, the main control unit 60 sets the right turn flag to “0” and sets the left turn flag to “1” (step S213). In this case, the rotating shaft 21a of the turning electric motor 21 is reversed and the upper turning body 3 is turning left.
- the main control unit 60 causes the turning drive control device 40 to perform drive control of the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31 (step S250). Thereby, the left turning of the upper swing body 3 is performed.
- step S212 Even when it is determined in step S212 that the rotation speed is not negative, the procedure proceeds to step S250, and the main control unit 60 drives the turning electric motor 21 according to the speed command output from the speed command conversion unit 31. Control is performed by the turning drive control device 40 (step S250). This is a case where the rotation speed of the rotating shaft 21a of the turning electric motor 21 is zero or positive even though the speed command for reversing is output from the speed command conversion unit 31, specifically, This corresponds to the state in which the upper turning body 3 is stopped or the right turn is turned by an external force even though the operation lever 26A is operated in the left turn direction.
- step S210 When the main control unit 60 determines in step S210 that the speed command is not negative, the main control unit 60 determines whether or not the right turn flag is “1” (step S220). This is to determine whether or not the upper swing body 3 is turning right (the rotation shaft 21a of the turning electric motor 21 is rotating forward) in a state where the speed command is zero. This corresponds to, for example, a case where the operation amount of the lever 26A is in the zero speed command region in an attempt to stop the vehicle from turning right.
- the main control unit 60 determines whether or not the rotation speed is lower than a predetermined set speed (S221).
- the predetermined set speed is extremely low, for example, set to 5% speed. This is to determine whether or not the state is immediately before the rotation is stopped.
- the 5% speed is the rotational speed when the maximum turning speed is 100%.
- the main control unit 60 determines that the rotation speed is lower than the set speed
- the main control unit 60 stops the inverter 20 (step S222).
- the torque current command value for driving the turning motor generator 21 is set to zero and the rotating shaft 21a is made free, so that the braking torque immediately before the rotation stop is more than that immediately before the rotation stop. This is also for reducing.
- the main control unit 60 determines that the rotation speed is lower than the set speed
- the main control unit 60 sets a timer (step S223). This is to prepare for counting the elapsed time.
- the timer is set to 0.1 seconds.
- step S224 the main control unit 60 starts counting elapsed time with a timer. This is because the determination for returning the allowable value of the torque limiting unit 54 is performed based on the elapsed time.
- the main control unit 60 determines whether the count is up (step S225). The process of step S225 is repeatedly executed until the count-up is confirmed.
- the main control unit 60 sets the right turn flag to “0” (step S226).
- the rotation shaft 21a is stopped by the rotational resistance of the turning mechanism 2 or the turning electric motor 21 by stopping the inverter 20 for driving the turning electric motor 21 for 0.1 second to make the rotating shaft 21a free. Because it is considered.
- the main control unit 60 causes the turning drive control device 40 to perform drive control of the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31 (step S250).
- the speed command is a zero speed command
- a braking torque is applied to the rotating shaft 21a of the turning electric motor 21, and the rotating speed of the rotating shaft 21a is controlled to zero.
- the upper swing body 3 is stopped, so that the mechanical brake 23 is activated, and the upper swing body 3 is held in the stopped state.
- step S221 Even when it is determined in step S221 that the rotational speed is not less than the set speed, the procedure proceeds to step S250, and the main control unit 60 performs the turning electric motor according to the speed command output from the speed command conversion unit 31.
- the turning drive control device 40 is caused to execute the drive control 21 (step S250). This is because the zero speed command is output from the speed command conversion unit 31 and the braking torque is applied to the rotating shaft 21a of the turning electric motor 21 when the rotational speed during the right turn is equal to or higher than the set value. It is. This corresponds to the case immediately after the lever 26A is released during a right turn.
- step S230 the main control unit 60 determines whether the left turn flag is “1” (step S230). This is because it is determined whether or not the upper swing body 3 is turning left (the rotating shaft 21a of the turning electric motor 21 is reverse) in a state where the speed command is zero. This corresponds to, for example, a case where the operation amount of the lever 26A is in the zero speed command region in an attempt to stop from the state of turning left.
- the main control unit 60 determines whether or not the rotation speed is higher than a predetermined negative set speed (S231).
- the predetermined set speed is extremely low, for example, set to -5% speed. This is to determine whether or not the state is immediately before the rotation is stopped.
- the -5% speed is the rotational speed when the maximum turning speed in the reverse direction is set to -100% speed.
- the main control unit 60 determines that the rotation speed is higher than the predetermined negative set speed, the main control unit 60 sets the allowable value of the torque limiting unit 54 to zero (step S232).
- the torque current command value for driving the turning motor generator 21 is set to zero and the rotating shaft 21a is made free, so that the braking torque immediately before the rotation stop is more than that immediately before the rotation stop. This is also for reducing.
- the main control unit 60 determines that the rotation speed is higher than the predetermined negative set speed
- the main control unit 60 sets a timer (step S233). This is to prepare for counting the elapsed time.
- the timer is set to 0.1 seconds.
- the main control unit 60 starts counting down the elapsed time by the timer (step S234). This is for counting the elapsed time.
- the main control unit 60 determines whether the count is up (step S235). The process of step S225 is repeatedly executed until the count-up is confirmed.
- the main control unit 60 sets the left turn flag to “0” (step S236).
- the rotation shaft 21a is stopped by the rotational resistance of the turning mechanism 2 or the turning electric motor 21 by stopping the inverter 20 for driving the turning electric motor 21 for 0.1 second to make the rotating shaft 21a free. Because it is considered.
- the main control unit 60 causes the turning drive control device 40 to perform drive control of the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31 (step S250).
- the speed command is a zero speed command
- a braking torque is applied to the rotating shaft 21a of the turning electric motor 21, and the rotating speed of the rotating shaft 21a is controlled to zero.
- the upper swing body 3 is stopped, so that the mechanical brake 23 is activated, and the upper swing body 3 is held in the stopped state.
- step S230 If it is determined in step S230 that the left turn flag is not “1”, the procedure proceeds to step S250, and the main control unit 60 performs the turn according to the speed command output from the speed command conversion unit 31.
- the turning drive control device 40 is caused to execute drive control of the electric motor 21 (step S250). Since this is a state in which the turning is stopped, the stop state by the zero speed command or the stop state by the mechanical brake 23 is maintained by the drive control of the turning drive control device 40.
- step S231 Even when it is determined in step S231 that the rotation speed is not higher than the predetermined negative set speed, the procedure proceeds to step S250, and the main control unit 60 follows the speed command output from the speed command conversion unit 31.
- the turning drive control device 40 is caused to perform drive control of the turning electric motor 21 (step S250). This is a state in which the zero speed command is output from the speed command conversion unit 31 and the braking torque is applied to the rotating shaft 21a of the turning electric motor 21 when the rotational speed during the left turn is equal to or less than the set value. is there. This corresponds to the case immediately after the lever 26A is released during the left turn.
- FIG. 10 is a characteristic diagram for explaining the operation at the time of turning stop by the drive control of the turning drive control device 40 of the second embodiment. This characteristic indicates temporal changes in the speed command, the turning speed, and the driving torque (braking torque) when the upper-part turning body 3 stops from the state of turning right.
- the turning operation input to the lever 26A of the operating device 26 is the maximum amount in the right direction, and a speed command of 100% is output from the speed command conversion unit 31, and the turning speed is the right turn. It is assumed that the maximum speed ⁇ max (rad / s) in the direction and the driving torque is T1 (N ⁇ m), which is 20% of the maximum driving torque Tmax.
- the main control unit 60 sets a timer and starts counting down. This state is realized by the processing in steps S223 and S224 shown in FIG.
- the turning motor 21 is turned off by turning off the drive control of the turning motor 21 for a very short time (here, 0.1 seconds) immediately before stopping the rotation.
- the rotational speed (swinging speed) of the rotating shaft 21a can be gradually lowered and stopped by the rotational resistance of the turning mechanism 21 and the turning mechanism 2.
- the rotational resistance force applied to the rotary shaft 21a at the time of stoppage is very small and changes with time compared to the braking torque applied to the rotary shaft 21a by the drive control based on the speed command without turning off the drive control as in the prior art.
- the braking torque of the turning electric motor 21 can be reduced more than before immediately before stopping the rotation, thereby suppressing the occurrence of impact due to the backlash rattling of the turning mechanism 2 and smooth and good at the time of turning stop. It is possible to provide a turning drive control device and a construction machine that can realize a ride comfort. Further, since the backlash rattling of the turning mechanism 2 can be suppressed, the life of the turning mechanism 2 can be extended.
- the turning drive control device 40 of the third embodiment is configured so that the allowable value input to the torque limiting unit 54 can be changed. Since the other configuration conforms to the turning drive control device 40 of the second embodiment, FIG. 8 is used, the same components are denoted by the same reference numerals, and the description thereof is omitted.
- the main control unit 60 of the third embodiment sets the value of the torque current command to a value of 20% of the maximum value for a predetermined short time immediately before stopping the rotating shaft 21a of the turning electric motor 21.
- the processing procedure will be described with reference to FIG.
- FIG. 11 is a diagram illustrating a processing procedure of drive control of the turning motor generator 21 by the main control unit 60 of the turning drive control device 40 of the third embodiment.
- the main control unit 60 uses a right turn flag and a left turn flag indicating that the upper turning body 3 is turning rightward or leftward for driving control of the turning electric motor 21.
- the right turn flag indicates the presence or absence of “forward rotation” in which the rotation shaft 21a of the turning electric motor 21 rotates counterclockwise
- the left turning flag indicates that the rotation shaft 21a of the turning electric motor 21 rotates clockwise. Indicates the presence or absence of “reverse”.
- the process shown in FIG. 11 starts from (1), and the process of step S300 is first executed.
- the main control unit 60 determines whether or not the value of the speed command is positive (step S300). Since the speed command is input from the speed command conversion unit 31 to the main control unit 60, this process determines whether or not the value of the speed command input from the speed command conversion unit 31 to the main control unit 60 is positive. It is a process executed by doing.
- main control unit 60 determines that the value of the speed command is positive, it sets both the right turn flag and the left turn flag to “0” (step S301). This is to reset both flags.
- the main control unit 60 determines whether or not the rotation speed is positive (step S302).
- the main control unit 60 sets the right turn flag to “1” and sets the left turn flag to “0” (step S303).
- the rotating shaft 21a of the turning electric motor 21 is normally rotated and the upper turning body 3 is turning right.
- the main control unit 60 causes the turning drive control device 40 to perform drive control of the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31 (step S350). Thereby, the turning of the upper turning body 3 in the right direction is performed.
- step S350 the procedure proceeds to step S350, and the main control unit 60 drives the turning electric motor 21 according to the speed command output from the speed command conversion unit 31.
- Control is performed by the turning drive control device 40 (step S350). This is a case where the rotational speed of the rotating shaft 21a of the turning electric motor 21 is zero or negative even though the speed command for forward rotation is output from the speed command conversion unit 31, specifically, This corresponds to the state in which the upper revolving unit 3 is stopped or the left side is turned by an external force even though the operation lever 26A is operated in the right direction.
- step S310 determines whether or not the speed command is negative. Since the speed command is input from the speed command conversion unit 31 to the main control unit 60, this process determines whether the value of the speed command input from the speed command conversion unit 31 to the main control unit 60 is negative. It is a process executed by doing.
- step S311 If the main control unit 60 determines that the value of the speed command is negative, the main control unit 60 sets both the right turn flag and the left turn flag to “0” (step S311). This is to reset both flags.
- the main control unit 60 determines whether or not the rotation speed is negative (step S312). When determining that the rotational speed is negative, the main control unit 60 sets the right turn flag to “0” and sets the left turn flag to “1” (step S313). In this case, the rotating shaft 21a of the turning electric motor 21 is reversed and the upper turning body 3 is turning left.
- the main control unit 60 causes the turning drive control device 40 to perform drive control of the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31 (step S350). Thereby, the left turning of the upper swing body 3 is performed.
- step S350 Even when it is determined in step S312 that the rotation speed is not negative, the procedure proceeds to step S350, and the main control unit 60 drives the turning electric motor 21 according to the speed command output from the speed command conversion unit 31. Control is performed by the turning drive control device 40 (step S350). This is a case where the rotation speed of the rotating shaft 21a of the turning electric motor 21 is zero or positive even though the speed command for reversing is output from the speed command conversion unit 31, specifically, This corresponds to the state in which the upper turning body 3 is stopped or the right turn is turned by an external force even though the operation lever 26A is operated in the left turn direction.
- step S320 determines whether the right turn flag is “1” (step S320). This is to determine whether or not the upper swing body 3 is turning right (the rotation shaft 21a of the turning electric motor 21 is rotating forward) in a state where the speed command is zero. This corresponds to, for example, a case where the operation amount of the lever 26A is in the zero speed command region in an attempt to stop the vehicle from turning right.
- the main control unit 60 determines whether or not the rotation speed is lower than a predetermined set speed (S321).
- the predetermined set speed is extremely low, and is set to 10% speed, for example. This is to determine whether or not the state is immediately before the rotation is stopped.
- the 10% speed is the rotation speed when the maximum turning speed is 100%.
- the main control unit 60 sets the allowable value of the torque limiting unit 54 to a value T2 that is 20% of the maximum allowable value (step S322). This is because when it is determined that the rotation is just before stopping, the torque current command value for driving the turning motor generator 21 is reduced, so that the braking torque immediately before the rotation is stopped is lower than that immediately before the rotation is stopped.
- step S323 the main control unit 60 determines whether or not the rotation speed is equal to or lower than zero. This is to determine whether or not the rotating shaft 21a has stopped or reversed.
- the main control unit 60 determines that the rotation speed is equal to or lower than zero, the main control unit 60 sets the right turn flag to “0” (step S324). This is because the turning motor generator 21 has stopped.
- the main control unit 60 causes the turning drive control device 40 to perform drive control of the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31 (step S350).
- the speed command is a zero speed command
- a braking torque is applied to the rotating shaft 21a of the turning electric motor 21, and the rotating speed of the rotating shaft 21a is controlled to zero.
- the upper swing body 3 is stopped, so that the mechanical brake 23 is activated, and the upper swing body 3 is held in the stopped state.
- step S350 Even if it is determined in step S321 that the rotational speed is not less than the set speed, the procedure proceeds to step S350, and the main control unit 60 performs the turning electric motor according to the speed command output from the speed command conversion unit 31.
- the turning drive control device 40 is caused to execute the drive control 21 (step S350). This is because the zero speed command is output from the speed command conversion unit 31 and the braking torque is applied to the rotating shaft 21a of the turning electric motor 21 when the rotational speed during the right turn is equal to or higher than the set value. It is. This corresponds to the case immediately after the lever 26A is released during a right turn.
- step S323 If it is determined in step S323 that the rotation speed is not less than zero (that is, the rotation speed is positive), the procedure proceeds to step S300, and the procedure is repeatedly executed.
- step S320 determines whether the right turn flag is not “1”
- step S330 determines whether the left turn flag is “1” (step S330). This is because it is determined whether or not the upper swing body 3 is turning left (the rotating shaft 21a of the turning electric motor 21 is reverse) in a state where the speed command is zero. This corresponds to, for example, a case where the operation amount of the lever 26A is in the zero speed command region in an attempt to stop from the state of turning left.
- the main control unit 60 determines whether or not the rotational speed is higher than a predetermined negative set speed (S331).
- the predetermined set speed is extremely low, for example, set to -10% speed. This is to determine whether or not the state is immediately before the rotation is stopped.
- the -10% speed is the rotation speed when the maximum turning speed in the reverse direction is set to -100% speed.
- the main control unit 60 determines that the rotation speed is higher than the predetermined negative set speed, the main control unit 60 sets the allowable value of the torque limiting unit 54 to a value T2 that is 20% of the maximum allowable value (step S332). This is because when it is determined that the rotation is just before stopping, the torque current command value for driving the turning motor generator 21 is reduced, so that the braking torque immediately before the rotation is stopped is lower than that immediately before the rotation is stopped.
- step S333 the main control unit 60 determines whether or not the rotation speed is greater than or equal to zero. This is to determine whether or not the rotating shaft 21a has stopped or reversed.
- the main control unit 60 determines that the rotation speed is greater than or equal to zero, the main control unit 60 sets the left turn flag to “0” (step S334). This is because the turning motor generator 21 has stopped.
- the main control unit 60 causes the turning drive control device 40 to perform drive control of the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31 (step S350).
- the speed command is a zero speed command
- a braking torque is applied to the rotating shaft 21a of the turning electric motor 21, and the rotating speed of the rotating shaft 21a is controlled to zero.
- the upper swing body 3 is stopped, so that the mechanical brake 23 is activated, and the upper swing body 3 is held in the stopped state.
- step S330 If it is determined in step S330 that the left turn flag is not “1”, the procedure proceeds to step S350, and the main control unit 60 performs the turn according to the speed command output from the speed command conversion unit 31.
- the turning drive control device 40 is caused to execute drive control of the electric motor 21 (step S350). Since this is a state in which the turning is stopped, the stop state by the zero speed command or the stop state by the mechanical brake 23 is maintained by the drive control of the turning drive control device 40.
- step S350 Even if it is determined in step S331 that the rotation speed is not higher than the predetermined negative set speed, the procedure proceeds to step S350, and the main control unit 60 follows the speed command output from the speed command conversion unit 31.
- the turning drive control device 40 is caused to execute drive control of the turning electric motor 21 (step S350). This is a state in which the zero speed command is output from the speed command conversion unit 31 and the braking torque is applied to the rotating shaft 21a of the turning electric motor 21 when the rotational speed during the left turn is equal to or less than the set value. is there. This corresponds to the case immediately after the lever 26A is released during the left turn.
- step S333 If it is determined in step S333 that the rotation speed is not zero or higher (that is, the rotation speed is negative), the procedure proceeds to step S300, and the procedure is repeatedly executed.
- FIG. 12 is a characteristic diagram for explaining an operation at the time of turning stop by the drive control of the turning drive control device 40 of the third embodiment. This characteristic indicates temporal changes in the speed command, the turning speed, and the driving torque (braking torque) when the upper-part turning body 3 stops from the state of turning right.
- the turning operation input to the lever 26A of the operating device 26 is the maximum amount in the right direction, and a speed command of 100% is output from the speed command conversion unit 31, and the turning speed is the right turn. It is assumed that the maximum speed ⁇ max (rad / s) in the direction and the driving torque is T1 (N ⁇ m), which is 20% of the maximum driving torque Tmax.
- step S350 the turning drive control device 40 is caused to execute drive control based on the zero speed command. This is realized by the processing in step S350 shown in FIG.
- the braking torque of the turning electric motor 21 can be reduced immediately before the rotation is stopped.
- the braking torque applied to the rotating shaft 21a at the time of stoppage is very small and changes with time as compared with the braking torque applied to the rotating shaft 21a by the drive control based on the speed command without turning off the drive control as in the prior art. Since it is gentle, it is possible to provide a turning drive control device and a construction machine that can suppress the occurrence of impact due to backlash rattling of the turning mechanism 2 and can realize a smooth and good riding comfort when turning is stopped. Further, since the backlash rattling of the turning mechanism 2 can be suppressed, the life of the turning mechanism 2 can be extended.
- the turning drive control device 40 of the fourth embodiment has the same configuration as the turning drive control device 40 of the second embodiment. For this reason, FIG. 8 is used, the same code
- the main control unit 60 of the fourth embodiment sets the speed command to a value of 20% of the maximum value immediately before stopping the rotating shaft 21a of the turning electric motor 21.
- the processing procedure will be described with reference to FIG.
- FIG. 13 is a diagram illustrating a processing procedure of drive control of the turning motor generator 21 by the main control unit 60 of the turning drive control device 40 of the fourth embodiment.
- the main control unit 60 uses a right turn flag and a left turn flag indicating that the upper turning body 3 is turning rightward or leftward for driving control of the turning electric motor 21.
- the right turn flag indicates the presence or absence of “forward rotation” in which the rotation shaft 21a of the turning electric motor 21 rotates counterclockwise
- the left turning flag indicates that the rotation shaft 21a of the turning electric motor 21 rotates clockwise. Indicates the presence or absence of “reverse”.
- step S400 starts from (1), and the process of step S400 is first executed.
- the main control unit 60 determines whether or not the value of the speed command is positive (step S400). Since the speed command is input from the speed command conversion unit 31 to the main control unit 60, this process determines whether or not the value of the speed command input from the speed command conversion unit 31 to the main control unit 60 is positive. It is a process executed by doing.
- step S401 If the main control unit 60 determines that the value of the speed command is positive, the main control unit 60 executes drive control with the speed command value based on the operation amount of the lever 26A (step S401).
- the main control unit 60 sets both the right turn flag and the left turn flag to “0” (step S402). This is to reset both flags.
- the main control unit 60 determines whether or not the rotation speed is positive (step S403).
- the main control unit 60 sets the right turn flag to “1” and sets the left turn flag to “0” (step S404).
- the rotating shaft 21a of the turning electric motor 21 is normally rotated and the upper turning body 3 is turning right.
- the main control unit 60 causes the turning drive control device 40 to perform drive control of the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31 (step S450). Thereby, the turning of the upper turning body 3 in the right direction is performed.
- step S450 Even when it is determined in step S403 that the rotation speed is not positive, the procedure proceeds to step S450, and the main control unit 60 drives the turning electric motor 21 according to the speed command output from the speed command conversion unit 31.
- the control is executed by the turning drive control device 40 (step S450). This is a case where the rotational speed of the rotating shaft 21a of the turning electric motor 21 is zero or negative even though the speed command for forward rotation is output from the speed command conversion unit 31, specifically, This corresponds to the state in which the upper revolving unit 3 is stopped or the left side is turned by an external force even though the operation lever 26A is operated in the right direction.
- step S410 determines whether or not the speed command is negative. Since the speed command is input from the speed command conversion unit 31 to the main control unit 60, this process determines whether the value of the speed command input from the speed command conversion unit 31 to the main control unit 60 is negative. It is a process executed by doing.
- step S411 If the main control unit 60 determines that the value of the speed command is negative, the main control unit 60 executes drive control with the speed command value based on the operation amount of the lever 26A (step S411).
- both the right turn flag and the left turn flag are set to “0” (step S412). This is to reset both flags.
- the main control unit 60 determines whether or not the rotation speed is negative (step S413).
- the main control unit 60 sets the right turn flag to “0” and sets the left turn flag to “1” (step S414). In this case, the rotating shaft 21a of the turning electric motor 21 is reversed and the upper turning body 3 is turning left.
- the main control unit 60 causes the turning drive control device 40 to perform drive control of the turning electric motor 21 in accordance with the speed command output from the speed command conversion unit 31 (step S450). Thereby, the left turning of the upper swing body 3 is performed.
- step S450 Even when it is determined in step S413 that the rotational speed is not negative, the procedure proceeds to step S450, and the main control unit 60 drives the turning electric motor 21 according to the speed command output from the speed command conversion unit 31.
- the control is executed by the turning drive control device 40 (step S450). This is a case where the rotation speed of the rotating shaft 21a of the turning electric motor 21 is zero or positive even though the speed command for reversing is output from the speed command conversion unit 31, specifically, This corresponds to the state in which the upper turning body 3 is stopped or the right turn is turned by an external force even though the operation lever 26A is operated in the left turn direction.
- step S410 determines whether or not the speed command is not negative
- step S420 determines whether or not the right turn flag is “1” (step S420). This is to determine whether or not the upper swing body 3 is turning right (the rotation shaft 21a of the turning electric motor 21 is rotating forward) in a state where the speed command is zero. This corresponds to, for example, a case where the operation amount of the lever 26A is in the zero speed command region in an attempt to stop the vehicle from turning right.
- the main control unit 60 determines whether or not the rotational speed (rad / s) represented by the speed command value is higher than a predetermined set speed ⁇ 1 (step S421).
- the speed command value is set to a value K1 that obtains the predetermined set speed ⁇ 1 (step S422). Thereby, the speed command value is lowered.
- the main control unit 60 determines whether or not the rotation speed is lower than a predetermined set speed (S423).
- the predetermined set speed ⁇ 1 is extremely low, for example, set to 10% speed. This is to determine whether or not the state is immediately before the rotation is stopped.
- the 10% speed is the rotation speed when the maximum turning speed is 100%.
- step S421 If it is determined in step S421 that the rotational speed (rad / s) indicated by the speed command value is not higher than the predetermined set speed ⁇ 1, the procedure proceeds to step S423.
- the main control unit 60 sets the speed command value to a value obtained by subtracting the predetermined speed value from the previous speed command value (step S424). Since the previous speed command value is the value set in step S422, the speed command value is further reduced in step S424.
- the predetermined value ⁇ represents, for example, a 0.1% speed. This predetermined value is a value used for gradually reducing the speed command value (for each repeated process), and can be set to an arbitrary value.
- the main control unit 60 determines whether or not the speed command value is equal to or less than zero (step S425). This is because the speed command value is monitored so that it does not become negative (a value indicating reverse rotation) since it is in a state of being stopped.
- step S426 the main control unit 60 sets the speed command value to zero. This is because the rotary shaft 21a is stopped by a zero speed command.
- the main control unit 60 sets the right turn flag to “0” (step S427). This is because the rotating shaft 21a is stopped.
- step S423 If it is determined in step S423 that the rotation speed is not lower than the predetermined set speed, the procedure proceeds to step S450. This is because the rotation speed is not sufficiently lowered, and the vehicle is decelerated by the control based on the normal speed command.
- step S425 If it is determined in step S425 that the speed command value is not less than or equal to zero, the procedure returns to (1) (step S400).
- step S420 the main control unit 60 determines whether the left turn flag is “1” (step S430). This is because it is determined whether or not the upper swing body 3 is turning left (the rotating shaft 21a of the turning electric motor 21 is reverse) in a state where the speed command is zero. This corresponds to, for example, a case where the operation amount of the lever 26A is in the zero speed command region in an attempt to stop from the state of turning left.
- the main control unit 60 determines whether or not the rotational speed (rad / s) indicated by the speed command value is lower than a predetermined set speed “ ⁇ 1” (step S431).
- the speed command value is set to a value “ ⁇ K1” for obtaining the predetermined set speed “ ⁇ 1” ( Step S432). Thereby, the speed command value is lowered.
- the main control unit 60 determines whether or not the rotation speed is higher than a predetermined negative set speed (S433).
- the predetermined negative set speed is extremely low, and is set to “ ⁇ 10% speed”, for example. This is to determine whether or not the state is immediately before the rotation is stopped.
- the “ ⁇ 10% speed” is the rotation speed when the maximum turning speed on the reverse side is the “ ⁇ 100%” speed.
- step S431 If it is determined in step S431 that the rotational speed (rad / s) indicated by the speed command value is not lower than the predetermined negative set speed, the procedure proceeds to step S433.
- the main control unit 60 sets the speed command value to a value obtained by adding the predetermined value ⁇ from the previous speed command value (step S434). Since the previous speed command value is the value set in step S432, the speed command value is further increased in step S434.
- the predetermined value ⁇ represents a speed increment.
- the main control unit 60 determines whether or not the speed command value is greater than or equal to zero (step S435). This is because the speed command value is monitored so as not to be positive (a value indicating normal rotation) because the state is being stopped.
- step S436 the main control unit 60 sets the speed command value to zero. This is because the rotary shaft 21a is stopped by a zero speed command.
- the main control unit 60 sets the left turn flag to “0” (step S437). This is because the rotating shaft 21a is stopped.
- step S433 if it is determined that the rotation speed is not higher than the predetermined negative set speed, the procedure proceeds to step S450. This is because the rotation speed is not sufficiently reduced in absolute value, and is decelerated by control based on a normal speed command.
- step S435 If it is determined in step S435 that the speed command value is not greater than or equal to zero, the procedure returns to (1) (step S400).
- FIG. 14 is a characteristic diagram for explaining the operation at the time of turning stop by the drive control of the turning drive control device 40 of the fourth embodiment. This characteristic indicates temporal changes in the speed command, the turning speed, and the driving torque (braking torque) when the upper-part turning body 3 stops from the state of turning right.
- the turning operation input to the lever 26A of the operating device 26 is the maximum amount in the right direction, and a speed command of 100% is output from the speed command conversion unit 31, and the turning speed is the right turn. It is assumed that the maximum speed ⁇ max (rad / s) in the direction and the driving torque is T1 (N ⁇ m), which is 20% of the maximum driving torque Tmax.
- step S450 the turning drive control device 40 is caused to execute drive control based on the zero speed command. This is realized by the processing in step S450 shown in FIG.
- the turning drive control device 40 of the fourth embodiment it is possible to reduce the braking torque of the turning electric motor 21 immediately before the stop of rotation compared to immediately before the stop of rotation.
- the braking torque applied to the rotating shaft 21a at the time of stoppage is very small and changes with time as compared with the braking torque applied to the rotating shaft 21a by the drive control based on the speed command without turning off the drive control as in the prior art. Since it is gentle, it is possible to provide a turning drive control device and a construction machine that can suppress the occurrence of impact due to backlash rattling of the turning mechanism 2 and can realize a smooth and good riding comfort when turning is stopped. Further, since the backlash rattling of the turning mechanism 2 can be suppressed, the life of the turning mechanism 2 can be extended.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Multiple Motors (AREA)
Abstract
Description
1A、1B 走行機構
2 旋回機構
3 上部旋回体
4 ブーム
5 アーム
6 バケット
7 ブームシリンダ
8 アームシリンダ
9 バケットシリンダ
10 キャビン
11 エンジン
12 電動発電機
13 減速機
14 メインポンプ
15 パイロットポンプ
16 高圧油圧ライン
17 コントロールバルブ
18 インバータ
19 バッテリ
20 インバータ
21 旋回用電動機
21a 回転軸
21A、21B リレー
22 レゾルバ
23 メカニカルブレーキ
24 旋回減速機
25 パイロットライン
26 操作装置
26A、26B レバー
26C ペダル
27 油圧ライン
28 油圧ライン
29 圧力センサ
30 コントローラ
31 速度指令変換部
32 駆動制御装置
40 旋回駆動制御装置
50 駆動指令生成部
51 減算器
52 PI制御部
53 トルク制限部
54 トルク制限部
55 減算器
56 PI制御部
57 電流変換部
58 旋回動作検出部
60 主制御部
図1は、実施の形態1の旋回駆動制御装置を含む建設機械を示す側面図である。
図2は、実施の形態1の旋回駆動制御装置を含む建設機械の構成を表すブロック図である。この図2では、機械的動力系を二重線、高圧油圧ラインを実線、パイロットラインを破線、電気駆動・制御系を一点鎖線でそれぞれ示す。
エンジン11は、例えば、ディーゼルエンジンで構成される内燃機関であり、その出力軸は減速機13の一方の入力軸に接続される。このエンジン11は、建設機械の運転中は常時運転される。
コントローラ30は、実施の形態1の建設機械の駆動制御を行う制御装置であり、速度指令変換部31、駆動制御装置32、及び旋回駆動制御装置40を含む。このコントローラ30は、CPU(Central Processing Unit)及び内部メモリを含む演算処理装置で構成され、速度指令変換部31、駆動制御装置32、及び旋回駆動制御装置40は、コントローラ30のCPUが内部メモリに格納される駆動制御用のプログラムを実行することによって実現される装置である。
図4は、実施の形態1の建設機械の速度指令変換部31において操作レバー26Aの操作量を速度指令(上部旋回体3を旋回させるために旋回用電動機21を回転させるための速度指令)に変換する変換特性を示す図である。
零速度指令領域は、旋回中の上部旋回体3を停止させる際に用いるためにレバー26Aの操作方向における中立付近(±20%の範囲内)に設けられている領域である。操作レバー26Aの操作量がこの零速度指令領域の範囲内にあるときは、速度指令変換部31から零速度指令が出力され、回転中の旋回用電動機21の回転軸21aに制動トルクが掛けられる。旋回用電動機21の回転軸21aの回転速度が零になると、メカニカルブレーキ23は作動状態にされ、上部旋回体3が停止状態に保持される。
左方向旋回駆動領域は、上部旋回体3を左方向に旋回させるための速度指令が速度指令変換部31から出力される領域である。
右方向旋回駆動領域は、上部旋回体3を右方向に旋回させるための速度指令が速度指令変換部31から出力される領域である。
図5は、実施の形態1の旋回駆動制御装置40の構成を示す制御ブロック図である。
駆動指令生成部50は、減算器51、PI(Proportional Integral)制御部52、トルク制限部53、トルク制限部54、減算器55、PI制御部56、電流変換部57、及び旋回動作検出部58を含む。この駆動指令生成部50の減算器51には、レバー26Aの操作量に応じた旋回駆動用の速度指令(rad/s)が入力される。
図7は、実施の形態1の旋回駆動制御装置40の駆動制御による旋回停止時の動作を説明するための特性図である。この特性は、上部旋回体3が右旋回している状態から停止するときの速度指令、旋回速度、駆動トルク(制動トルク)の時間的変化を示す。
図8は、実施の形態2の旋回駆動制御装置40の構成を示すブロック図である。実施の形態2の旋回駆動制御装置40は、リレー21A、21Bを含まない点が実施の形態1の旋回駆動制御装置40と異なる。その他の構成は実施の形態1の旋回駆動制御装置40に準ずるため、同一の構成要素には同一符号を付し、その説明を省略する。
図10は、実施の形態2の旋回駆動制御装置40の駆動制御による旋回停止時の動作を説明するための特性図である。この特性は、上部旋回体3が右旋回している状態から停止するときの速度指令、旋回速度、駆動トルク(制動トルク)の時間的変化を示す。
実施の形態3の旋回駆動制御装置40は、トルク制限部54に入力する許容値を変更できるように構成されている。その他の構成は実施の形態2の旋回駆動制御装置40に準ずるため、図8を援用し、同一の構成要素には同一符号を付し、その説明を省略する。
図12は、実施の形態3の旋回駆動制御装置40の駆動制御による旋回停止時の動作を説明するための特性図である。この特性は、上部旋回体3が右旋回している状態から停止するときの速度指令、旋回速度、駆動トルク(制動トルク)の時間的変化を示す。
実施の形態4の旋回駆動制御装置40は、実施の形態2の旋回駆動制御装置40と同様の構成を有する。このため、図8を援用し、同一の構成要素には同一符号を付し、その説明を省略する。
図14は、実施の形態4の旋回駆動制御装置40の駆動制御による旋回停止時の動作を説明するための特性図である。この特性は、上部旋回体3が右旋回している状態から停止するときの速度指令、旋回速度、駆動トルク(制動トルク)の時間的変化を示す。
Claims (10)
- 電動機で旋回駆動される建設機械の旋回機構を駆動制御する旋回駆動制御装置であって、
建設機械の操作部を介して入力される操作量に基づき、前記電動機を駆動するための速度指令を出力する速度指令出力部と、
前記電動機の回転速度を検出する回転速度検出部と、
前記速度指令生成部で生成される速度指令と、前記回転速度検出部によって検出される回転速度とに基づき、前記電動機を駆動するための駆動指令を生成する駆動指令生成部と
を含み、
駆動指令生成部は、前記電動機の回転停止直前に、回転停止直前以前よりも前記電動機の制動トルクを低減させる、旋回駆動制御装置。 - 前記電動機を短絡状態に切り替える運転制御部を含み、
前記運転制御部は、前記電動機の回転停止直前に、前記電動機を短絡状態に切り替えることにより、回転停止直前以前よりも前記電動機の制動トルクを低減させる、請求項1に記載の旋回駆動制御装置。 - 前記電動発電機の回転速度を検出する回転速度検出部をさらに備え、
前記運転制御部は、前記回転速度検出部によって検出される回転速度が零になると、前記電動発電機の短絡状態を解除するように構成されており、
前記駆動指令生成部は、前記運転制御部によって短絡状態が解除されると、前記電動発電機の回転速度を零にするための零速度指令で前記電動機を駆動制御する、請求項2に記載の旋回駆動制御装置。 - 前記電動機の駆動制御を停止する駆動制御停止部を含み、前記電動機の回転停止直前に、前記駆動制御停止部が前記電動機の駆動制御を停止することにより、回転停止直前以前よりも前記電動機の制動トルクを低減させる、請求項1に記載の旋回駆動制御装置。
- 前記電動発電機の回転速度を検出する回転速度検出部をさらに備え、
前記駆動制御停止部は、前記回転速度検出部によって検出される回転速度が零になると、駆動制御の停止状態を解除するように構成されており、
前記駆動指令生成部は、前記回転速度検出部によって検出される回転速度が零になると、前記電動発電機の回転速度を零にするための零速度指令で前記電動機を駆動制御する、請求項4に記載の旋回駆動制御装置。 - 前記駆動指令生成部は、前記駆動指令によって前記電動機で発生する駆動トルクが許容値以下になるように前記駆動指令の値を絶対値で制限する制限部を含み、前記電動機の回転停止直前に前記制限部の許容値を通常値よりも低減させることにより、回転停止直前以前よりも前記電動機の制動トルクを低減させる、請求項1に記載の旋回駆動制御装置。
- 前記電動発電機の回転速度を検出する回転速度検出部をさらに備え、
前記駆動指令生成部は、前記回転速度検出部によって検出される回転速度が零になると、前記制限部の許容値を通常値に復帰させるとともに、前記電動発電機の回転速度を零にするための零速度指令で前記電動機を駆動制御する、請求項6に記載の旋回駆動制御装置。 - 前記駆動指令生成部は、前記操作部を介して入力される操作量が零となり、前記駆動指令生成部で生成される前記駆動指令が零にされると、前記電動機の回転停止直前までの間は、前記電動機を所定の低速度で駆動するための駆動指令を生成するとともに、前記電動機の停止直前には、前記速度指令生成部から出力される速度指令と、前記回転速度検出部によって検出される回転速度とに基づき、前記電動機を駆動するための駆動指令を生成することにより、回転停止直前以前よりも前記電動機の制動トルクを低減させる、請求項1に記載の旋回駆動制御装置。
- 前記電動発電機の回転速度を検出する回転速度検出部をさらに備え、
前記駆動指令生成部は、前記回転速度検出部によって検出される回転速度が零になると、前記電動発電機の回転速度を零にするための零速度指令で前記電動機を駆動制御する、請求項8に記載の旋回駆動制御装置。 - 請求項1乃至9のいずれか一項に記載の旋回駆動制御装置を含む建設機械。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2008/059742 WO2009144782A1 (ja) | 2008-05-27 | 2008-05-27 | 旋回駆動制御装置及びこれを含む建設機械 |
EP08776907.1A EP2284323B1 (en) | 2008-05-27 | 2008-05-27 | Swing drive controller and construction machine including the same |
KR1020107026662A KR20110009192A (ko) | 2008-05-27 | 2008-05-27 | 선회구동제어장치 및 이를 포함하는 건설기계 |
US12/994,551 US8543296B2 (en) | 2008-05-27 | 2008-05-27 | Turning drive control unit and construction machine including same |
CN2008801294787A CN102046888B (zh) | 2008-05-27 | 2008-05-27 | 回转驱动控制装置及包括其的施工机械 |
JP2010514278A JP5405458B2 (ja) | 2008-05-27 | 2008-05-27 | 旋回駆動制御装置及びこれを含む建設機械 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2008/059742 WO2009144782A1 (ja) | 2008-05-27 | 2008-05-27 | 旋回駆動制御装置及びこれを含む建設機械 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2009144782A1 true WO2009144782A1 (ja) | 2009-12-03 |
Family
ID=41376682
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2008/059742 WO2009144782A1 (ja) | 2008-05-27 | 2008-05-27 | 旋回駆動制御装置及びこれを含む建設機械 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8543296B2 (ja) |
EP (1) | EP2284323B1 (ja) |
JP (1) | JP5405458B2 (ja) |
KR (1) | KR20110009192A (ja) |
CN (1) | CN102046888B (ja) |
WO (1) | WO2009144782A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120101696A1 (en) * | 2009-06-25 | 2012-04-26 | Hitachi Construction Machinery Co., Ltd. | Rotation Control Device for Working Machine |
JP2015091174A (ja) * | 2013-11-05 | 2015-05-11 | トヨタ自動車株式会社 | 車両制御装置 |
JP2016098576A (ja) * | 2014-11-21 | 2016-05-30 | 住友重機械工業株式会社 | ショベル |
CN107651569A (zh) * | 2017-09-22 | 2018-02-02 | 深圳市正弦电气股份有限公司 | 一种起重机回转机构的控制方法及控制系统 |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101255882B1 (ko) * | 2008-10-10 | 2013-04-17 | 주식회사 만도 | 전동식 파워 스티어링 시스템의 인터록을 구현하기 위한 장치 |
CN101900638B (zh) * | 2010-06-29 | 2012-09-19 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | 回转机构耐久性试验方法及装置 |
JP5185349B2 (ja) * | 2010-10-08 | 2013-04-17 | 日立建機株式会社 | ハイブリッド式建設機械 |
US9024565B2 (en) * | 2011-03-23 | 2015-05-05 | Volvo Construction Equipment Ab | Anti-rebounding control apparatus and method in an electrical swing system of a hybrid excavator |
JP5389100B2 (ja) * | 2011-04-19 | 2014-01-15 | 日立建機株式会社 | 建設機械の電動駆動装置 |
KR101565055B1 (ko) * | 2011-05-26 | 2015-11-02 | 스미도모쥬기가이고교 가부시키가이샤 | 전동선회장치를 구비한 쇼벨 및 그 제어방법 |
EP2757202B1 (en) * | 2011-09-15 | 2016-11-02 | Sumitomo Heavy Industries, Ltd. | Electric turning control apparatus and control method for electric motor for turning |
JP2013170406A (ja) * | 2012-02-21 | 2013-09-02 | Toshiba Mach Co Ltd | ハイブリッド型駆動装置を備えた建設機械及びその建設機械に備わる回生装置と回生方法 |
EP2860317A4 (en) * | 2012-06-08 | 2016-04-06 | Volvo Constr Equip Ab | APPARATUS FOR CONTROLLING A CASCADED HYBRID CONSTRUCTION SYSTEM SYSTEM AND METHOD THEREOF |
JP6032712B2 (ja) * | 2013-11-28 | 2016-11-30 | キャタピラー エス エー アール エル | 走行装置および作業機械 |
CN103663203B (zh) * | 2013-12-11 | 2015-09-09 | 中联重科股份有限公司 | 起重机的回转速度控制方法、装置、系统及起重机 |
KR102099482B1 (ko) * | 2014-02-24 | 2020-04-16 | 두산인프라코어 주식회사 | 건설기계 선회체 제어 방법 및 장치 |
EP3277892B1 (en) * | 2015-04-03 | 2019-07-03 | Volvo Construction Equipment AB | Control method for controlling a movable member of an excavator and excavator comprising a control unit implementing such a control method |
JP6487879B2 (ja) * | 2016-07-19 | 2019-03-20 | ミネベアミツミ株式会社 | モータ制御回路、モータ駆動制御装置及びモータ駆動制御装置の制御方法 |
JP6747193B2 (ja) * | 2016-09-07 | 2020-08-26 | 株式会社デンソー | ステアリング制御装置 |
CN113459831A (zh) * | 2021-08-03 | 2021-10-01 | 山东临工工程机械有限公司 | 电动车辆电机交互控制方法及其装置和电动车辆 |
CN114354048B (zh) * | 2022-01-17 | 2024-04-19 | 雷沃重工集团有限公司 | 一种挖掘机回转次数的统计方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6213619A (ja) * | 1985-07-10 | 1987-01-22 | Komatsu Ltd | 上部旋回式作業車両の旋回位置決め装置 |
JPS6216160U (ja) * | 1985-07-10 | 1987-01-30 | ||
JPH02261908A (ja) * | 1989-03-31 | 1990-10-24 | Kubota Ltd | 作業車のアクチュエータ操作構造 |
JP2004036303A (ja) | 2002-07-05 | 2004-02-05 | Kobelco Contstruction Machinery Ltd | 作業機械の旋回制御装置 |
JP2006112114A (ja) * | 2004-10-14 | 2006-04-27 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | 建設機械の旋回制御装置 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6216160A (ja) | 1985-07-16 | 1987-01-24 | Chiyuuwa Giken Kk | ドツトマトリツクスプリンタヘツド |
US6092789A (en) * | 1998-03-19 | 2000-07-25 | Hugo Nev Corporation | Methods and apparatus for boom hoist systems |
KR100674516B1 (ko) * | 2002-05-09 | 2007-01-26 | 코벨코 겐키 가부시키가이샤 | 작업 기계의 선회 제어 장치 |
JP4468047B2 (ja) * | 2004-04-02 | 2010-05-26 | コベルコ建機株式会社 | 作業機械の非常時旋回制動装置 |
JP4270012B2 (ja) * | 2004-04-07 | 2009-05-27 | コベルコ建機株式会社 | 旋回式作業機械 |
JP4972404B2 (ja) * | 2004-05-13 | 2012-07-11 | 株式会社小松製作所 | 旋回制御装置、旋回制御方法、および建設機械 |
US8000862B2 (en) * | 2004-11-17 | 2011-08-16 | Komatsu Ltd. | Swing control device and construction machinery |
JP4515369B2 (ja) * | 2005-09-30 | 2010-07-28 | 日立建機株式会社 | 建設機械の駆動制御装置 |
JP4724070B2 (ja) * | 2006-08-09 | 2011-07-13 | 本田技研工業株式会社 | 電動機の制御装置 |
-
2008
- 2008-05-27 CN CN2008801294787A patent/CN102046888B/zh active Active
- 2008-05-27 KR KR1020107026662A patent/KR20110009192A/ko not_active Application Discontinuation
- 2008-05-27 WO PCT/JP2008/059742 patent/WO2009144782A1/ja active Application Filing
- 2008-05-27 JP JP2010514278A patent/JP5405458B2/ja active Active
- 2008-05-27 US US12/994,551 patent/US8543296B2/en active Active
- 2008-05-27 EP EP08776907.1A patent/EP2284323B1/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6213619A (ja) * | 1985-07-10 | 1987-01-22 | Komatsu Ltd | 上部旋回式作業車両の旋回位置決め装置 |
JPS6216160U (ja) * | 1985-07-10 | 1987-01-30 | ||
JPH02261908A (ja) * | 1989-03-31 | 1990-10-24 | Kubota Ltd | 作業車のアクチュエータ操作構造 |
JP2004036303A (ja) | 2002-07-05 | 2004-02-05 | Kobelco Contstruction Machinery Ltd | 作業機械の旋回制御装置 |
JP2006112114A (ja) * | 2004-10-14 | 2006-04-27 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | 建設機械の旋回制御装置 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120101696A1 (en) * | 2009-06-25 | 2012-04-26 | Hitachi Construction Machinery Co., Ltd. | Rotation Control Device for Working Machine |
US8818649B2 (en) * | 2009-06-25 | 2014-08-26 | Hitachi Construction Machinery Co., Ltd. | Rotation control device for working machine |
JP2015091174A (ja) * | 2013-11-05 | 2015-05-11 | トヨタ自動車株式会社 | 車両制御装置 |
JP2016098576A (ja) * | 2014-11-21 | 2016-05-30 | 住友重機械工業株式会社 | ショベル |
CN107651569A (zh) * | 2017-09-22 | 2018-02-02 | 深圳市正弦电气股份有限公司 | 一种起重机回转机构的控制方法及控制系统 |
CN107651569B (zh) * | 2017-09-22 | 2019-05-07 | 深圳市正弦电气股份有限公司 | 一种起重机回转机构的控制方法及控制系统 |
Also Published As
Publication number | Publication date |
---|---|
EP2284323A1 (en) | 2011-02-16 |
EP2284323B1 (en) | 2018-07-11 |
CN102046888A (zh) | 2011-05-04 |
CN102046888B (zh) | 2013-02-06 |
JP5405458B2 (ja) | 2014-02-05 |
US8543296B2 (en) | 2013-09-24 |
JPWO2009144782A1 (ja) | 2011-09-29 |
US20110077825A1 (en) | 2011-03-31 |
EP2284323A4 (en) | 2016-12-21 |
KR20110009192A (ko) | 2011-01-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5405458B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP5090527B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP5653041B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP5031718B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP5095361B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP4949308B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP5101406B2 (ja) | 建設機械 | |
JP4745322B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP4611370B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP5059565B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP5101405B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP5160359B2 (ja) | ハイブリッド型建設機械 | |
JP4648938B2 (ja) | 旋回駆動制御装置及びこれを用いた建設機械 | |
JP4824004B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP5139257B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP2010185257A (ja) | ハイブリッド型作業機械 | |
JP5242359B2 (ja) | 旋回駆動制御装置 | |
JP2010150897A (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP5207232B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP2009293221A (ja) | 旋回駆動制御装置及びこれを含む建設機械 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200880129478.7 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 08776907 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2008776907 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 12994551 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2010514278 Country of ref document: JP |
|
ENP | Entry into the national phase |
Ref document number: 20107026662 Country of ref document: KR Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |