WO2009144803A1 - 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
- WO2009144803A1 WO2009144803A1 PCT/JP2008/059938 JP2008059938W WO2009144803A1 WO 2009144803 A1 WO2009144803 A1 WO 2009144803A1 JP 2008059938 W JP2008059938 W JP 2008059938W WO 2009144803 A1 WO2009144803 A1 WO 2009144803A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- turning
- torque
- drive
- electric motor
- drive control
- Prior art date
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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
- Such amplification of vibration may become more noticeable when earth or sand is loaded on the bucket or when a lifting magnet that is heavier than the bucket is attached.
- An object of the present invention is to provide a turning drive control device that has good riding comfort at the start of turning and can realize a longer 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 controlling the rotation speed of the electric motor, a torque direction detection unit that detects a direction of torque applied to the rotation shaft of the turning mechanism, and a speed command output unit
- a drive control unit that generates a drive command for driving the electric motor based on a speed command to control the drive of the electric motor, and the drive control unit is configured to start turning of the turning mechanism.
- the drive command is used. To start driving the serial motor.
- the drive control unit has a turning direction represented by a speed command output from the speed command output unit and a torque direction detected by the torque direction detection unit when the operation unit is operated.
- the driving of the electric motor may be started after the torque direction detected by the torque direction detector is opposite to the turning direction.
- the drive control unit when the turning direction represented by the speed command output from the speed command output unit and the torque direction detected by the torque direction detection unit are the same direction, the torque direction The value of the drive command may be set to an absolute value or less until the torque direction detected by the detection unit is opposite to the turning direction.
- the drive control unit includes a limiting unit that limits the value of the drive command with an absolute value so that the drive torque generated in the electric motor according to the drive command is equal to or less than the allowable value, and the allowable value May be set to an absolute value lower than the normal value, thereby reducing the value of the drive command to a predetermined value or less in absolute value.
- the torque direction detection unit calculates a time change amount of the rotation speed of the electric motor detected by the rotation speed detection unit, and uses an acceleration direction represented by the time change amount of the rotation speed as the torque direction. It may be detected.
- the torque direction detection unit may detect the direction of acceleration represented by the drive command generated by the drive command generation unit as the torque direction.
- an accelerometer that detects acceleration caused by the turning of the turning mechanism may be included, and the torque direction detection unit may detect the torque direction based on the direction of acceleration detected by the accelerometer. Good.
- the construction machine includes any one of the turning drive control devices described above.
- the present invention it is possible to provide an advantageous effect that it is possible to provide a turning drive control device that can provide a comfortable ride at the start of turning 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. Conversion characteristics for converting the amount of operation of the operation lever 26A into a speed command (speed command for rotating the turning electric motor 21 to turn the upper swing body 3) in the speed command conversion unit 31 of the construction machine of the first embodiment.
- FIG. FIG. 3 is a control block diagram illustrating a configuration of a turning drive control device according to the first embodiment. It is a figure which shows the process sequence of the drive control at the time of the turning start of the motor generator 21 for turning by the main control part 60 of the turning drive control apparatus 40 of Embodiment 1.
- FIG. 6 is a control block diagram illustrating a configuration of a turning drive control device 40 according to a second embodiment.
- FIG. 6 is a control block diagram illustrating a configuration of a turning drive control device 40 according to a third embodiment.
- FIG. 10 is a control block diagram illustrating a configuration of a turning drive control device 40 of a modification of the third 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.
- 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 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 a power running operation and perform a 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.
- the charge / discharge control of the battery 19 is based on the charge state of the battery 19, the operation state of the motor generator 12 (power running operation or regenerative operation), and the operation state of the turning motor generator 21 (power running operation or regenerative operation). This is done by the controller 30.
- 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.
- FIG. 3 shows the amount of operation 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. 3 are characteristics when rotation starts from the stop state of the turning electric motor 21 (when turning starts from the stop state of the upper swing body 3), and the operation amount of the operation lever 26A.
- 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 dead zone region is provided near the neutral point of the lever 26A (within a range of ⁇ 10%).
- the speed command is not output from the speed command conversion unit 31, and the drive control of the turning electric motor 21 by the turning drive control device 40 is not performed. Further, in the dead zone region, the turning electric motor 21 is mechanically stopped by the mechanical brake 23.
- the zero speed command region is provided on both outer sides of the dead zone region in the operation direction of the lever 26A (the operation amount is in the range of + 10% to 20%, ⁇ 20% to ⁇ 10%).
- the zero speed command area is a buffer area provided to improve operability when switching between the stopped state of the upper swing body 3 in the dead zone area and the turning state in the left and right turning drive area.
- the zero speed command is output from the speed command conversion unit 31, and the mechanical brake 23 is released.
- 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 is described later with PI (Proportional In the (Integral) control, the rotation speed of the rotating shaft 21A is used as a target value to approach zero.
- PI Proportional In the (Integral) control
- switching of braking (ON) / release (OFF) of the mechanical brake 23 is performed by the turning drive control device 40 in the controller 30 at the boundary between the dead zone region and the zero speed command region.
- 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.
- the characteristics shown in FIG. 3 represent characteristics when the turning is started from the state where the upper swing body 3 is stopped.
- the operation amount of the lever 26A is ⁇ 10%. Even if it falls within the range, it is configured such that drive control is performed by a zero speed command until the rotational speed of the turning electric motor 21 becomes zero.
- FIG. 4 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 performs switching control between the power running operation and the regenerative operation and controls the battery 19 via the inverter 20 when controlling the turning motor generator 21 according to the operation amount of the lever 26A. Charge / discharge control.
- 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 absolute value of the allowable value can be changed by a change command input from the main control unit 60, and is normally set to 100% as an absolute value at normal times, but is set to 0% at the start of turning.
- 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. 5 is a diagram illustrating a drive control processing procedure when the turning motor generator 21 starts turning by the main control unit 60 of the turning drive control device 40 according to the first embodiment.
- the main control unit 60 starts processing upon activation of the turning drive control device 40.
- the main controller 60 monitors whether or not the rotation speed of the rotating shaft 21a of the turning electric motor 21 is zero, and determines whether or not the upper turning body 3 is in a turning stop state (step S10). ).
- the rotation speed is input from the turning motion detection unit 58.
- the process of this step S10 is repeatedly performed until the turning stop is confirmed.
- step S11 determines whether the speed command output from the speed command conversion unit 31 is a zero speed command. Immediately before the start of turning, the operation amount of the lever 26A is in the zero speed command region shown in FIG. 3, and the rotational speed of the rotating shaft 21a of the turning electric motor 21 becomes zero with the mechanical brake 23 released. This is because the drive control is performed. The process of step S11 is repeatedly executed until the output of the zero speed command is confirmed.
- the main control unit 60 determines the direction of torque applied to the rotating shaft 21a of the turning electric motor 21 (hereinafter, torque direction) (step S12).
- torque direction is calculated as the amount of time change of the rotational speed input from the turning motion detector 58, and the direction of this acceleration is monitored as the torque direction. Since the rotating shaft 21a of the turning electric motor 21 and the turning mechanism 2 are mechanically connected via the turning speed reducer 24, the torque direction of the rotating shaft 21a of the turning electric motor 21 is the turning of the turning mechanism 2. It is synonymous with the torque direction of the shaft.
- step S10 When it is determined in step S10 that the turning is stopped (rotation speed is zero) and the amount of change (acceleration) in the rotation speed of the rotation shaft 21a is detected, torque is applied to the rotation shaft 21a. Immediately after stopping, the boom 4, the arm 5, and the bucket 6 may vibrate in the turning direction. In the process of step S12, the direction of this vibration is detected as the torque direction based on the amount of time change (acceleration) in the rotational speed of the rotating shaft 21a.
- step S13 the main control unit 60 determines whether or not an operation for turning to the lever 26A has been input. This is a process for determining whether or not the operation amount of the lever 26A has entered either the right turn drive area or the left turn drive area, and is input from the speed command conversion unit 31. This is a process performed by monitoring whether the value of the speed command has changed from zero to a positive or negative value.
- the main control unit 60 detects whether the turning direction input to the lever 26A is the right turn or the left turn by the process of step S13.
- step S13 is repeatedly executed until an input of an operation for turning is confirmed.
- the main control unit 60 determines whether or not the torque direction detected in step S12 and the turning direction detected in step S13 are opposite directions (step S14).
- the torque direction is a direction of torque generated by vibration in the turning direction of the boom 4, the arm 5, and the bucket 6, the torque direction also repeatedly changes to the right turning direction or the left turning direction according to the period of vibration. .
- the reverse direction here means that the left turn is input to the lever 26A while the torque direction is the right turn direction in the vibration cycle, or the torque direction is turned left in the vibration cycle. This means that a right turn is input to the lever 26A while the direction is in the direction.
- the allowable value of the torque limiting unit 54 is maintained at a normal value (100%). To do. As a result, a torque current command is input from the turning drive control device 40 to the inverter 20 and the turning electric motor 21 is driven.
- the main control unit 60 determines that the torque direction detected in step S12 and the turning direction detected in step S13 are the same direction, the main control unit 60 sets the allowable value of the torque limiting unit 54 to zero (step). S16). Thereby, the torque current command output from the turning drive control device 40 is made zero, and even if the operation amount of the lever 26A is in either the right direction turning drive region or the left direction turning drive region, The turning electric motor 21 is not driven and is held in a stopped state.
- the main control unit 60 advances the procedure to step S12 when the process of step S16 is completed.
- step S12 By detecting the torque direction again in the process of step S12 and executing the processes of steps S13 and S14, the torque direction detected in step S12 and the turning direction detected in step S13 are reversed.
- the allowable value of the torque limiter 54 is kept at zero.
- the driving of the turning electric motor 21 is started only when the torque direction on the rotating shaft 21a of the turning electric motor 21 and the turning direction input to the lever 26A are opposite to each other. For this reason, it is suppressed that the boom 4, the arm 5, and the bucket 6 are swung back in the direction delayed with respect to the turning direction, and the turning starts smoothly and the riding comfort is improved.
- the vibration period of the boom 4, the arm 5, and the bucket 6 is very fast, for example, about 0.5 to 1.5 seconds, so that the standby time is very short.
- FIG. 6 is a diagram showing characteristics of a speed command, a rotational speed, and a driving torque when the turning motor generator 21 starts turning by the turning drive control device 40 according to the first embodiment, and FIG. For the purpose of comparison, (b) shows the characteristics when turning is started in the same phase.
- the rotation speed of the turning electric motor 21 is ⁇ 60%, and the upper turning body 3 is turning leftward. Further, since the speed command is zero (zero speed command), the drive torque is the maximum value (200%) in the right turn direction.
- the turning electric motor 21 is only in a state where the torque direction on the rotating shaft 21a of the turning electric motor 21 and the turning direction input to the lever 26A are opposite to each other. Therefore, the boom 4, the arm 5 and the bucket 6 are prevented from being swung back in a direction delayed with respect to the turning direction, and the turning starts smoothly and the riding comfort is improved.
- the mode in which the allowable value of the torque limiting unit 54 is set to zero has been described.
- the allowable value in this case is not limited to zero, and is set to a value that allows a torque current command that does not cause rotation of the rotating shaft 21a of the turning electric motor 21 (for example, a value that is about 10% of the normal value). You may make it do.
- 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. 7 is a control block diagram illustrating a configuration of the turning drive control device 40 of the second embodiment.
- the acceleration that is the time change amount of the rotational speed input from the turning motion detection unit 58 is calculated, and the direction of this acceleration is calculated as the torque direction of the turning shaft of the turning mechanism 2 (the rotating shaft of the turning electric motor 21).
- the torque drive command device 40 according to Embodiment 2 outputs the torque current command value output from the PI control unit 56.
- the turning direction is determined by determining the torque direction based on the first embodiment. Since other components are the same as those 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 turning drive control device 40 of the second embodiment sets the torque direction (torque direction on the rotating shaft 21a of the turning electric motor 21) based on the torque current command value output from the PI control unit 56. Detect and execute the same processing procedure as shown in FIG.
- the torque current command value output from the PI control unit 56 is calculated based on the deviation between the speed command value and the rotation speed (rad / s), it represents the direction of the torque applied to the rotating shaft 21a of the turning electric motor 21. .
- the embodiment The turning drive control can be performed in the same manner as in FIG.
- the turning drive control device 40 of the second embodiment in the state where the torque direction represented by the torque current command value output from the PI control unit 56 and the turning direction input to the lever 26A are opposite to each other. Since only the turning electric motor 21 is started to be driven, the boom 4, the arm 5 and the bucket 6 are prevented from being swung back in a direction delayed with respect to the turning direction. It becomes.
- FIG. 8 is a control block diagram showing a configuration of a turning drive control device 40 of a modification of the second embodiment.
- FIG. 7 shows a control block that performs the turning drive control using the torque direction represented by the torque current command value output from the PI control unit 56, but instead of the torque current command value output from the PI control unit 56.
- a torque current command value output from the PI control unit 52 may be used.
- the torque current command value output from the PI control unit 56 is used, and the turning drive control is performed using the torque direction indicated by the torque current command value. May be performed.
- the torque direction represented by the torque current command value output from the PI control unit 52 and the turning direction input to the lever 26A are opposite to each other. Since the drive of the turning electric motor 21 is started only in this state, the boom 4, the arm 5 and the bucket 6 are prevented from being swung back in a direction delayed with respect to the turning direction, and the turning starts smoothly. Comfort is good.
- FIG. 9 is a control block diagram illustrating a configuration of the turning drive control device 40 of the third embodiment.
- the turning drive control device 40 of the third embodiment includes an accelerometer 70 as means for detecting the turning direction, and the main control unit 60 determines the torque direction (the rotation of the turning electric motor 21) based on the acceleration detected by the accelerometer 70.
- the point of detecting the torque direction in the shaft 21a is different from the first embodiment. Since other components are the same as those 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 turning drive control device 40 of the third embodiment uses the torque direction of the turning shaft of the turning mechanism 2 based on the acceleration input from the accelerometer 70 (torque direction of the rotating shaft 21a of the turning electric motor 21). And the same processing procedure as that shown in FIG. 5 is executed.
- an acceleration sensor can be used as the accelerometer 70.
- This acceleration sensor may be disposed inside the upper swing body 3 or may be attached to the boom 4, the arm 5, or the bucket 6.
- the torque direction in the rotating shaft 21a of the turning electric motor 21 detected by the accelerometer 70 is opposite to the turning direction input to the lever 26A. Since the drive of the turning electric motor 21 is started only in the state, the boom 4, the arm 5 and the bucket 6 are prevented from being swung back in a direction delayed with respect to the turning direction, and the turning is started smoothly. Becomes better.
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Power Engineering (AREA)
- Operation Control Of Excavators (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
70 加速度計
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3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。
この変換特性に示すように、不感帯領域は、レバー26Aの中立点付近(±10%の範囲内)に設けられている。この不感帯領域では、速度指令変換部31から速度指令は出力されず、旋回駆動制御装置40による旋回用電動機21の駆動制御は行われない。また、不感帯領域では、メカニカルブレーキ23によって旋回用電動機21が機械的に停止された状態となる。
零速度指令領域は、レバー26Aの操作方向における不感帯領域の両外側(操作量が+10%~20%、-20%~-10%の範囲内)に設けられている。この零速度指令領域は、不感帯領域における上部旋回体3の停止状態と、左右方向の旋回駆動領域における旋回状態とを切り替える際に操作性を良くするために設けられる緩衝領域である。
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4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2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。実施の形態1では、旋回動作検出部58から入力される回転速度の時間変化量である加速度を演算し、この加速度の方向を旋回機構2の旋回軸のトルク方向(旋回用電動機21の回転軸21aにおけるトルク方向)として検知し、このトルク方向を用いて旋回駆動制御を行う形態について説明したが、実施の形態2の旋回駆動制御装置40は、PI制御部56から出力されるトルク電流指令値に基づいてトルク方向を判定して旋回駆動制御を行う点が実施の形態1と異なる。その他の構成要素は実施の形態1と同一であるため、同一の構成要素には同一の符号を付し、その説明を省略する。
図9は、実施の形態3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。実施の形態3の旋回駆動制御装置40は、旋回方向を検出する手段として加速度計70を備え、主制御部60が加速度計70によって検出される加速度に基づいてトルク方向(旋回用電動機21の回転軸21aにおけるトルク方向)を検出する点が実施の形態1と異なる。その他の構成要素は実施の形態1と同一であるため、同一の構成要素には同一の符号を付し、その説明を省略する。
Claims (8)
- 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、前記電動機の回転速度を制御するための速度指令を出力する速度指令出力部と、
前記旋回機構の回転軸にかかるトルクの方向を検出するトルク方向検出部と、
前記速度指令出力部から出力される速度指令に基づき、前記電動機を駆動するための駆動指令を生成し、前記電動機の駆動制御を行う駆動制御部と
を含み、
前記駆動制御部は、前記旋回機構の旋回を開始させる際には、前記速度指令出力部から出力される速度指令によって表される旋回方向と、前記トルク方向検出部によって検出されるトルク方向とが逆方向である場合に、前記駆動指令を用いて前記電動機の駆動を開始する、旋回駆動制御装置。 - 前記駆動制御部は、前記操作部が操作された場合に、前記速度指令出力部から出力される速度指令によって表される旋回方向と、前記トルク方向検出部によって検出されるトルク方向とが同一方向である場合は、前記トルク方向検出部によって検出されるトルク方向が前記旋回方向と逆方向になってから、前記電動機の駆動を開始する、請求項1に記載の旋回駆動制御装置。
- 前記駆動制御部は、前記速度指令出力部から出力される速度指令によって表される旋回方向と、前記トルク方向検出部によって検出されるトルク方向とが同一方向である場合は、前記トルク方向検出部によって検出されるトルク方向が前記旋回方向と逆方向になるまで、前記駆動指令の値を絶対値で所定値以下にする、請求項2に記載の旋回駆動制御装置。
- 前記駆動制御部は、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、前記許容値を絶対値で通常値よりも低下させることにより、前記駆動指令の値を絶対値で所定値以下にする、請求項3に記載の旋回駆動制御装置。
- 前記トルク方向検出部は、前記回転速度検出部で検出される前記電動機の回転速度の時間変化量を演算し、当該回転速度の時間変化量で表される加速度の方向を前記トルク方向として検出する、請求項1乃至4のいずれか一項に記載の旋回駆動制御装置。
- 前記トルク方向検出部は、前記駆動指令生成部で生成される駆動指令によって表される加速度の方向を前記トルク方向として検出する、請求項1乃至4のいずれか一項に記載の旋回駆動制御装置。
- 前記旋回機構の旋回によって生じる加速度を検出する加速度計を含み、
前記トルク方向検出部は、前記加速度計によって検出される加速度の方向に基づいて前記トルク方向として検出する、請求項1乃至4のいずれか一項に記載の旋回駆動制御装置。 - 請求項1乃至6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 |
---|---|---|---|
JP2010514297A JP5090527B2 (ja) | 2008-05-29 | 2008-05-29 | 旋回駆動制御装置及びこれを含む建設機械 |
PCT/JP2008/059938 WO2009144803A1 (ja) | 2008-05-29 | 2008-05-29 | 旋回駆動制御装置及びこれを含む建設機械 |
US12/994,209 US8437923B2 (en) | 2008-05-29 | 2008-05-29 | Rotation drive control unit and construction machine including same |
KR1020107026663A KR101229330B1 (ko) | 2008-05-29 | 2008-05-29 | 선회구동제어장치 및 이를 포함하는 건설기계 |
EP08777000.4A EP2287406B1 (en) | 2008-05-29 | 2008-05-29 | Swivel drive controller and construction machine including the same |
CN2008801295027A CN102046889B (zh) | 2008-05-29 | 2008-05-29 | 回转驱动控制装置及包括该回转驱动控制装置的施工机械 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2008/059938 WO2009144803A1 (ja) | 2008-05-29 | 2008-05-29 | 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 |
---|---|
WO2009144803A1 true WO2009144803A1 (ja) | 2009-12-03 |
Family
ID=41376702
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2008/059938 WO2009144803A1 (ja) | 2008-05-29 | 2008-05-29 | 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) | US8437923B2 (ja) |
EP (1) | EP2287406B1 (ja) |
JP (1) | JP5090527B2 (ja) |
KR (1) | KR101229330B1 (ja) |
CN (1) | CN102046889B (ja) |
WO (1) | WO2009144803A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016098576A (ja) * | 2014-11-21 | 2016-05-30 | 住友重機械工業株式会社 | ショベル |
JP7472761B2 (ja) | 2020-11-18 | 2024-04-23 | コベルコ建機株式会社 | 旋回制御装置及び作業機械 |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4609567B2 (ja) * | 2008-10-29 | 2011-01-12 | コベルコ建機株式会社 | ハイブリッド作業機械 |
JP5795064B2 (ja) * | 2010-07-13 | 2015-10-14 | ボルボ コンストラクション イクイップメント アーベー | 建設機械の旋回制御装置及びその方法 |
CN103429825B (zh) * | 2011-03-23 | 2016-01-06 | 沃尔沃建造设备有限公司 | 混合动力挖掘机的电回转系统中的抗回弹控制装置和方法 |
JP5562893B2 (ja) * | 2011-03-31 | 2014-07-30 | 住友建機株式会社 | ショベル |
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 |
JP6270029B2 (ja) * | 2011-05-26 | 2018-01-31 | 住友重機械工業株式会社 | 電動式旋回装置を備えたショベル及びその制御方法 |
CN103608525B (zh) * | 2011-06-09 | 2016-10-12 | 住友建机株式会社 | 挖土机及挖土机的控制方法 |
JP5844377B2 (ja) * | 2011-09-15 | 2016-01-13 | 住友重機械工業株式会社 | 建設機械及び旋回用電動機の制御方法 |
WO2013060010A1 (zh) * | 2011-10-27 | 2013-05-02 | 中联重科股份有限公司 | 电驱回转控制系统、工程机械及回转紧急制动控制方法 |
JP6037725B2 (ja) * | 2012-08-30 | 2016-12-07 | Kyb株式会社 | ハイブリッド建設機械の制御装置 |
JP6019956B2 (ja) * | 2012-09-06 | 2016-11-02 | コベルコ建機株式会社 | ハイブリッド建設機械の動力制御装置 |
US8909437B2 (en) * | 2012-10-17 | 2014-12-09 | Caterpillar Inc. | Payload Estimation system |
CN103132557B (zh) * | 2012-12-10 | 2015-05-13 | 三一重机有限公司 | 挖掘机及其优先控制回路 |
KR102099482B1 (ko) * | 2014-02-24 | 2020-04-16 | 두산인프라코어 주식회사 | 건설기계 선회체 제어 방법 및 장치 |
JP6552996B2 (ja) * | 2016-06-07 | 2019-07-31 | 日立建機株式会社 | 作業機械 |
ES2959695T3 (es) | 2016-11-02 | 2024-02-27 | Doosan Bobcat North America Inc | Sistema y procedimiento para definir una zona de funcionamiento de un brazo elevador |
US11566400B2 (en) | 2018-03-19 | 2023-01-31 | Volvo Construction Equipment Ab | Electrically powered hydraulic system and a method for controlling an electrically powered hydraulic system |
WO2019189935A1 (ja) * | 2018-03-31 | 2019-10-03 | 住友建機株式会社 | ショベル |
CN114411862A (zh) * | 2021-12-29 | 2022-04-29 | 中联重科土方机械有限公司 | 用于挖掘机的控制方法、控制装置、控制器和挖掘机 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08302750A (ja) * | 1995-04-27 | 1996-11-19 | Komatsu Ltd | 上部旋回式建設機械の旋回装置 |
JP2001011897A (ja) * | 1999-06-30 | 2001-01-16 | Kobe Steel Ltd | 建設機械の旋回駆動装置 |
JP2004036303A (ja) | 2002-07-05 | 2004-02-05 | Kobelco Contstruction Machinery Ltd | 作業機械の旋回制御装置 |
JP2007100327A (ja) * | 2005-09-30 | 2007-04-19 | Hitachi Constr Mach Co Ltd | 建設機械の駆動制御装置 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5938435A (ja) * | 1982-08-28 | 1984-03-02 | Kubota Ltd | 旋回台付き作業車 |
JP3884178B2 (ja) * | 1998-11-27 | 2007-02-21 | 日立建機株式会社 | 旋回制御装置 |
WO2001090490A1 (fr) * | 2000-05-23 | 2001-11-29 | Kobelco Construction Machinery Co., Ltd. | Engin de construction |
CN100374665C (zh) * | 2002-05-09 | 2008-03-12 | 神钢建设机械株式会社 | 作业机械的旋转控制装置 |
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 |
US7615960B2 (en) * | 2004-05-13 | 2009-11-10 | Komatsu Ltd. | Rotation control device, rotation control method and construction machine |
CN100577930C (zh) * | 2004-05-13 | 2010-01-06 | 株式会社小松制作所 | 回转控制装置、回转控制方法及施工机械 |
JP4248579B2 (ja) * | 2004-09-24 | 2009-04-02 | 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 |
EP2275606B1 (en) * | 2007-02-21 | 2018-04-11 | Kobelco Construction Machinery Co., Ltd. | Rotation control device and working machine therewith |
-
2008
- 2008-05-29 EP EP08777000.4A patent/EP2287406B1/en not_active Not-in-force
- 2008-05-29 KR KR1020107026663A patent/KR101229330B1/ko active IP Right Grant
- 2008-05-29 WO PCT/JP2008/059938 patent/WO2009144803A1/ja active Application Filing
- 2008-05-29 JP JP2010514297A patent/JP5090527B2/ja not_active Expired - Fee Related
- 2008-05-29 CN CN2008801295027A patent/CN102046889B/zh not_active Expired - Fee Related
- 2008-05-29 US US12/994,209 patent/US8437923B2/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08302750A (ja) * | 1995-04-27 | 1996-11-19 | Komatsu Ltd | 上部旋回式建設機械の旋回装置 |
JP2001011897A (ja) * | 1999-06-30 | 2001-01-16 | Kobe Steel Ltd | 建設機械の旋回駆動装置 |
JP2004036303A (ja) | 2002-07-05 | 2004-02-05 | Kobelco Contstruction Machinery Ltd | 作業機械の旋回制御装置 |
JP2007100327A (ja) * | 2005-09-30 | 2007-04-19 | Hitachi Constr Mach Co Ltd | 建設機械の駆動制御装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016098576A (ja) * | 2014-11-21 | 2016-05-30 | 住友重機械工業株式会社 | ショベル |
JP7472761B2 (ja) | 2020-11-18 | 2024-04-23 | コベルコ建機株式会社 | 旋回制御装置及び作業機械 |
Also Published As
Publication number | Publication date |
---|---|
CN102046889A (zh) | 2011-05-04 |
JPWO2009144803A1 (ja) | 2011-09-29 |
EP2287406A4 (en) | 2017-01-25 |
EP2287406B1 (en) | 2018-05-09 |
US8437923B2 (en) | 2013-05-07 |
KR101229330B1 (ko) | 2013-02-04 |
EP2287406A1 (en) | 2011-02-23 |
CN102046889B (zh) | 2012-09-19 |
KR20110013426A (ko) | 2011-02-09 |
US20110071739A1 (en) | 2011-03-24 |
JP5090527B2 (ja) | 2012-12-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
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 | |
JP5405458B2 (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 | |
JP5031718B2 (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 | |
JP4611370B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP4745322B2 (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
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 | |
JP2010150898A (ja) | 旋回駆動制御装置及びこれを含む建設機械 | |
JP4648938B2 (ja) | 旋回駆動制御装置及びこれを用いた建設機械 | |
JP2009127193A (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 | |
JP4824004B2 (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: 200880129502.7 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 08777000 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2008777000 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 12994209 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2010514297 Country of ref document: JP |
|
ENP | Entry into the national phase |
Ref document number: 20107026663 Country of ref document: KR Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |