WO2010058768A1 - Machine fonctionnelle - Google Patents

Machine fonctionnelle Download PDF

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Publication number
WO2010058768A1
WO2010058768A1 PCT/JP2009/069485 JP2009069485W WO2010058768A1 WO 2010058768 A1 WO2010058768 A1 WO 2010058768A1 JP 2009069485 W JP2009069485 W JP 2009069485W WO 2010058768 A1 WO2010058768 A1 WO 2010058768A1
Authority
WO
WIPO (PCT)
Prior art keywords
bus
motor
voltage
control unit
inverter
Prior art date
Application number
PCT/JP2009/069485
Other languages
English (en)
Japanese (ja)
Inventor
祐太 杉山
英昭 湯浅
公則 佐野
Original Assignee
住友重機械工業株式会社
住友建機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2008294664A external-priority patent/JP2010120467A/ja
Priority claimed from JP2008294669A external-priority patent/JP5236433B2/ja
Priority claimed from JP2008295836A external-priority patent/JP5329187B2/ja
Priority claimed from JP2009052297A external-priority patent/JP5079725B2/ja
Priority claimed from JP2009068016A external-priority patent/JP5313000B2/ja
Priority claimed from JP2009068010A external-priority patent/JP5312999B2/ja
Priority claimed from JP2009070091A external-priority patent/JP5436900B2/ja
Priority to KR1020137019779A priority Critical patent/KR101482481B1/ko
Priority to US13/129,623 priority patent/US8639404B2/en
Priority to KR1020117011278A priority patent/KR101357910B1/ko
Application filed by 住友重機械工業株式会社, 住友建機株式会社 filed Critical 住友重機械工業株式会社
Priority to EP09827549.8A priority patent/EP2357150B1/fr
Priority to CN200980145986.9A priority patent/CN102216198B/zh
Publication of WO2010058768A1 publication Critical patent/WO2010058768A1/fr
Priority to US14/134,626 priority patent/US9108516B2/en

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    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • 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
    • B60K11/00—Arrangement in connection with cooling of propulsion units
    • B60K11/02—Arrangement in connection with cooling of propulsion units with liquid cooling
    • 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
    • B60K6/08—Prime-movers comprising combustion engines and mechanical or fluid energy storing means
    • B60K6/12—Prime-movers comprising combustion engines and mechanical or fluid energy storing means by means of a chargeable fluidic accumulator
    • 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
    • B60K6/485—Motor-assist type
    • 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
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/04—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means
    • B66C1/06—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means electromagnetic
    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/2075—Control of propulsion units of the hybrid type
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
    • 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
    • B60L2210/00—Converter types
    • B60L2210/10—DC to DC converters
    • B60L2210/12—Buck converters
    • 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
    • B60L2210/00—Converter types
    • B60L2210/10—DC to DC converters
    • B60L2210/14—Boost converters
    • 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
    • B60L2210/00—Converter types
    • B60L2210/20—AC to AC converters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor

Definitions

  • the present invention relates to a work machine.
  • Such a working machine includes a hydraulic pump for hydraulically driving movable parts such as a boom, an arm, and a bucket, for example, and an internal combustion engine engine (engine) for driving the hydraulic pump is connected to an AC electric motor (electric motor).
  • engine internal combustion engine
  • a generator is connected to assist the driving force of the engine, and electric power obtained by power generation is returned to a DC bus (DC bus) via an inverter.
  • the work machine often includes a work element such as an upper swing body in a construction machine.
  • the work machine may include a work motor for assisting the hydraulic motor in addition to the hydraulic motor for driving the work element.
  • a work motor for assisting the hydraulic motor in addition to the hydraulic motor for driving the work element.
  • the drive of the hydraulic motor is assisted by the AC motor during acceleration turning, the regenerative operation is performed in the AC motor during deceleration turning, and the generated power is returned to the DC bus via the inverter.
  • a storage battery (battery) is connected to the DC bus via a converter, and the electric power obtained by the power generation of the AC motor is charged to the battery. Alternatively, power is exchanged between AC motors connected to the DC bus.
  • the voltage of the DC bus is set high, for example, several hundred volts in order to drive a large work element.
  • the DC bus voltage is set for the safety of the operator. It is desirable to reduce the bus voltage.
  • a resistor and a switch connected in series with each other are connected between a plus side wire and a minus side wire of the DC bus so that the DC bus voltage can be consumed by the resistor. I have to.
  • An object of the present invention is to provide a work machine capable of reducing the voltage of a DC bus (DC bus) with a configuration in which a decrease in reliability is suppressed.
  • a work machine includes a work motor driven by an operator's operation, a DC bus connected to the work motor via a first inverter circuit, and a DC voltage conversion.
  • a storage battery connected to the DC bus via a capacitor and a switch, a first inverter circuit, a DC voltage converter, a control unit for controlling the switch, a first inverter circuit, a DC voltage converter, and a control unit.
  • the controller has a bus voltage reduction mode for reducing the voltage of the DC bus when the operation of the work machine is stopped, and the bus voltage reduction In over de lowers the voltage of the DC bus by power is consumed for cooling the electric motor to operate the cooling motor driving circuit After the switch disconnected.
  • the control unit may stop the operation of the cooling motor driving circuit when the voltage of the DC bus becomes a predetermined value or less in the bus voltage drop mode.
  • control unit may drive the DC voltage converter to charge the storage battery before the switch is disconnected.
  • the control unit starts the bus voltage drop mode every time the work machine stops operation, or the control unit receives input from the operator while the work machine stops operation. In this case, the bus voltage drop mode may be started.
  • the work machine includes a first coolant circulation system including an internal combustion engine motor, a first heat exchanger that cools the internal combustion engine motor, a first inverter circuit, and a first DC voltage converter for cooling the DC voltage converter.
  • a second coolant circulation system including a second heat exchanger provided separately from the coolant circulation system may be further provided.
  • the work machine further includes a motor generator coupled to the internal combustion engine engine and generating power by the driving force of the internal combustion engine engine, and a second inverter circuit having one end connected to a terminal of the motor generator, Two coolant circulation systems may further cool the motor generator and the second inverter circuit.
  • the second coolant circulation system may include a temperature sensor, and the control unit may limit the output of at least one of the motor generator and the working motor based on the detection value of the temperature sensor.
  • the second coolant circulation system may further cool the work motor.
  • the coolant In the second coolant circulation system, after the coolant is sent from the second heat exchanger, it passes through the first inverter circuit, the second inverter circuit, and the DC voltage converter, and then the motor generator and You may pass through the working electric motor.
  • the work machine further includes a third coolant circulation system including a third heat exchanger provided separately from the first and second coolant circulation systems for cooling the motor generator and the work motor. May be.
  • the motor generator may assist the driving force of the internal combustion engine motor with its own driving force.
  • the DC voltage converter may be configured to include a reactor, and the second coolant circulation system may cool the reactor.
  • the work machine may further include a temperature sensor for detecting the temperature of the reactor.
  • the second coolant circulation system may include a cooling pipe and a heat conduction plate, and the reactor may be disposed on the heat conduction plate.
  • the DC voltage converter may include an intelligent power module that controls charging / discharging of the storage battery, and the intelligent power module may be disposed on the heat conducting plate.
  • the DC voltage converter may be formed of a sealed case, and the heat conductive plate may be disposed on one surface of the case.
  • the work machine includes a plurality of driver units including an inverter unit having a first inverter circuit including an intelligent power module, and a step-up / down converter unit having a DC voltage converter including the intelligent power module.
  • the intelligent power module has a second temperature sensor for detecting the temperature of the intelligent power module outside the intelligent power module, and the controller has the second temperature sensor. If the driver unit is an inverter unit when the temperature detection result by the first temperature sensor exceeds a predetermined first threshold value that is lower than the temperature at which the overheating protection function of the intelligent power module is activated by the first temperature sensor. Reduces the maximum drive current to the use motor, also it may reduce the maximum charging current to the maximum discharge current and / or storage battery from the battery when the driver unit is the buck-boost converter units.
  • the unit When the temperature detection result by the second temperature sensor exceeds a second threshold value that is lower than the temperature at which the overheat protection function of the intelligent power module operates by the first temperature sensor and greater than the first threshold value,
  • the unit When the unit is an inverter unit, the operation of the inverter circuit may be stopped, and when the unit is a buck-boost converter unit, the operation of the DC voltage converter may be stopped.
  • the plurality of units may have a heat conducting plate including a heat radiating surface thermally coupled to the intelligent power module, and the second temperature sensor may be disposed on the heat radiating surface of the heat conducting plate.
  • the heat conduction plate may be arranged so as to extend along the vertical direction of the construction machine, and the second temperature sensor may be arranged on the upper side of the intelligent power module in the heat radiation surface of the heat conduction plate.
  • the plurality of driver units each have a housing for accommodating the first inverter circuit or the DC voltage converter, and are arranged side by side in a predetermined direction, and the housings of the driver units adjacent to each other are attached and detached by a fastener. It may be fixed as possible.
  • the inside of the plurality of driver units may be a sealed space.
  • the work machine includes a control unit as a control unit, and the control unit is placed on the plurality of driver units and is provided along a predetermined direction at one end of the plurality of driver units in a direction crossing the predetermined direction. Further, it may be attached so as to be rotatable around the support shaft.
  • the support unit may support the control unit in a state where the control unit is opened around the support shaft with respect to a plurality of driver units.
  • each housing of the plurality of driver units facing the control unit may be open.
  • the work machine further includes a pedestal having a bottom plate on which a plurality of driver units are placed, and side plates that sandwich the plurality of driver units from both sides in a predetermined direction, and a housing of the driver unit located at both ends of the plurality of driver units.
  • the body and the side plate of the base may be detachably fixed by a fastener.
  • the work machine further includes a control unit as a control unit, and the control unit is provided in the casing and a plurality of CPUs that are provided in the casing and control the inverter circuits and the DC voltage converters of the plurality of driver units. And a cooling pipe that is thermally coupled to the plurality of CPUs and cools the plurality of CPUs by introducing a cooling liquid from the outside of the housing.
  • the control unit may be mounted on a plurality of driver units, and the cooling pipe may be disposed between the driver unit and the CPU.
  • the control unit may further include a heat conduction plate provided between the CPU and the cooling pipe and thermally coupled to the CPU and the cooling pipe.
  • the work machine may have a plurality of driver units, and a plurality of CPUs may be provided corresponding to each of the plurality of driver units in the housing, and the plurality of CPUs may be mounted on a single substrate. .
  • the heat conduction plate includes a plurality of cooling regions extending in the first direction and arranged in the second direction, and each of the plurality of cooling regions is adjacent to two of the plurality of piping portions.
  • a plurality of CPUs may be thermally coupled to one cooling region per CPU, which is thermally coupled to the piping portion.
  • the work machine may further include a heat conductive sheet that includes an elastic material and is disposed between the CPU and the heat conductive plate.
  • the work machine further includes a coolant circulation system including a heat exchanger, and after at least a part of the coolant in the coolant circulation system is sent from the heat exchanger, the control unit, the driver unit, and the AC motor are in this order. You may pass.
  • a coolant circulation system including a heat exchanger, and after at least a part of the coolant in the coolant circulation system is sent from the heat exchanger, the control unit, the driver unit, and the AC motor are in this order. You may pass.
  • the work machine may include a housing for fixing the inverter unit and the step-up / down converter unit, and the input end of the inverter unit and the input end of the step-up / down converter unit may be connected to a DC bus including a bus bar.
  • the inverter unit and the step-up / step-down converter unit have a rectangular parallelepiped appearance and are arranged and fixed in the first direction, and in the inverter unit and the step-up / down converter unit, a notch is formed in a side plate adjacent to the adjacent unit.
  • the DC bus may be provided in the notch portion along the first direction.
  • the work machine includes three or more driver units each including an inverter unit and a step-up / down converter unit. In one unit arranged between two other driver units, a DC bus penetrates one unit. May be provided.
  • the DC bus may be configured from a positive pole and a negative pole, and one of the positive pole and the negative pole may be configured to cover the other pole.
  • the DC bus may be arranged in a completely sealed space.
  • the DC bus may be in a non-contact state with the frame of each unit.
  • the inverter unit may include a smoothing capacitor, and the DC bus may be directly connected to the smoothing capacitor.
  • the work machine includes a cooling device that cools the first inverter circuit, and temperature detection means that detects a temperature of the refrigerant in the cooling device, and the first inverter circuit has a temperature of the first inverter circuit.
  • the first inverter circuit is controlled so as to reduce the upper limit value of the current supplied to the working motor as compared to the case where the refrigerant temperature is equal to or lower than the output suppression temperature.
  • Output suppression temperature is lower than shutdown temperature.
  • the controller may control the first inverter circuit so as to reduce the upper limit value of the current supplied to the work motor by limiting the upper limit value of the torque generated in the work motor.
  • the work machine further includes a motor generator connected to the internal combustion engine and a second inverter circuit for driving and controlling the motor generator, and the cooling device cools the first and second inverter circuits, and the control unit
  • the refrigerant temperature is lower than the output suppression temperature.
  • the first and second inverter circuits may be controlled so as to reduce the upper limit value of the current supplied to the working motor and the motor generator.
  • the voltage of the DC bus (DC bus) can be reduced with a configuration in which the decrease in reliability is suppressed.
  • FIG. 1 is a perspective view showing an appearance of a hybrid construction machine 1 as a first embodiment of a work machine according to the present invention. It is a block diagram showing internal composition, such as an electric system and a hydraulic system, of hybrid type construction machine 1 of a 1st embodiment. It is a figure which shows the internal structure of the electrical storage means 120 in FIG. (A) It is a block diagram for demonstrating the 1st coolant circulation system 160 in the hybrid type construction machine 1.
  • FIG. (B) It is a block diagram for demonstrating the 2nd coolant circulation system 170 in the hybrid type construction machine 1.
  • FIG. 2 is a perspective view showing an appearance of a servo control unit 60.
  • FIG. 6 is a perspective view showing a state in which cooling pipes 62a to 66a are connected.
  • 2A is a plan sectional view of a control unit 600.
  • FIG. (B) It is side sectional drawing which follows the II line
  • C) It is side sectional drawing which follows the II-II line of Fig.7 (a).
  • D) It is side sectional drawing which follows the III-III line of Fig.7 (a).
  • FIG. 8A is a side sectional view taken along line IV-IV in FIG. (B) It is the side view which looked at the control unit 600 from the same direction as Fig.8 (a).
  • A) It is a top view which shows the heat sink 603 and the piping 608 for cooling.
  • FIG. 11 is a side sectional view showing a part of a section taken along line VI-VI shown in FIG. 10.
  • A It is a top view which shows the internal structure of the buck-boost converter unit 66.
  • B It is a side view which shows the internal structure of the buck-boost converter unit 66.
  • FIG. (A) It is a top view which shows the internal structure of the inverter unit 62.
  • FIG. B It is a side view which shows the internal structure of the inverter unit 62.
  • FIG. It is a sectional side view which shows the internal structure of IPM103. It is a figure for demonstrating the cooling system of the electric motor 21 for rotation by the cooling fluid circulation system 170.
  • FIG. It is a flowchart which shows operation
  • 4 is a flowchart showing a current limiting operation for a buck-boost converter 100 and inverter circuits 18A, 20A, and 20B by a controller 30.
  • FIG. 1 is a perspective view which shows the external appearance of the shovel 1001 as 2nd Embodiment of the working machine which concerns on this invention.
  • 2 is a schematic configuration diagram showing a configuration of an inverter 1018.
  • FIG. It is a figure which shows an example of piping of the cooling water in a cooling device.
  • 3 is a schematic configuration diagram showing a functional configuration of a controller 1030.
  • FIG. It is a block diagram which shows the structure of 1030C of inverter control parts.
  • 10 is a flowchart relating to a torque limit value setting process executed in the overall control unit 1030D of the controller 1030.
  • FIG. 6 is a perspective view showing an appearance of a lifting magnet vehicle 2001 as a third embodiment of the work machine according to the present invention. It is a block diagram which shows internal structures, such as an electric system and hydraulic system, of the lifting magnet vehicle 2001 of 3rd Embodiment.
  • FIG. 10 is a perspective view showing an appearance of a servo control unit 2060.
  • FIG. 10 is a top sectional view of a servo control unit 2060.
  • FIG. 42 is a cross-sectional view taken along line VII-VII of the servo control unit 2060 shown in FIG. 41.
  • (A) It is a top view which shows a part of inverter unit 2065 and the internal structure of the inverter unit 2066.
  • FIG. (B) It is a side view which shows the internal structure of the inverter unit 2065.
  • FIG. (A) It is a top view which shows the internal structure of the buck-boost converter unit 2062.
  • FIG. 10 It is a side view which shows the internal structure of the buck-boost converter unit 2062.
  • FIG. 10 is a perspective view showing a state where a control unit 2061 of a servo control unit 2060 is opened.
  • 6 is a flowchart showing the operation of the lifting magnet vehicle 2001 in the DC bus voltage reduction mode. It is a graph which shows an example of transition of the voltage of DC bus 2110 in DC bus voltage reduction mode.
  • It is a block diagram which shows internal structures, such as an electric system of a wheel loader 2001B, and a hydraulic system.
  • FIG. 1 is a perspective view showing an appearance of a hybrid construction machine 1 as an example of a work machine according to the present invention.
  • the hybrid construction machine 1 is a so-called lifting magnet vehicle, and includes a traveling mechanism 2 including an endless track, and a revolving body that is rotatably mounted on the traveling mechanism 2 via a revolving mechanism 3. 4 is provided.
  • the revolving body 4 is attached with a boom 5, an arm 6 linked to the tip of the boom 5, and a lifting magnet 7 linked to the tip of the arm 6.
  • the lifting magnet 7 is a facility for attracting and capturing the suspended load G such as a steel material by a magnetic force.
  • the boom 5, the arm 6, and the lifting magnet 7 are hydraulically driven by a boom cylinder 8, an arm cylinder 9, and a bucket cylinder 10, respectively.
  • the revolving body 4 has power such as a driver's cab 4a for accommodating an operator who operates the position of the lifting magnet 7, the excitation operation and the release operation, and an engine (internal combustion engine engine) 11 for generating hydraulic pressure.
  • a source is provided.
  • the engine 11 is composed of, for example, a diesel engine.
  • the hybrid construction machine 1 includes a servo control unit 60.
  • the servo control unit 60 controls charging / discharging of an AC motor for driving working elements such as the turning mechanism 3 and the lifting magnet 7, a motor generator for assisting the engine 11, and a power storage device (battery, capacitor, etc.). To do.
  • the servo control unit 60 includes a plurality of driver units such as an inverter unit for driving an AC motor or a motor generator by converting DC power to AC power, a step-up / down converter unit for controlling charge / discharge of a battery, and the plurality of driver units. And a control unit for controlling the driver unit.
  • FIG. 2 is a block diagram showing an internal configuration such as an electric system and a hydraulic system of the hybrid construction machine 1 of the present embodiment.
  • the mechanical power transmission system is indicated by a double line
  • the hydraulic system is indicated by a thick solid line
  • the steering system is indicated by a broken line
  • the electrical system is indicated by a thin solid line.
  • FIG. 3 is a diagram showing an internal configuration of the power storage means (power storage unit) 120 in FIG.
  • the hybrid construction machine 1 includes a motor generator (AC motor) 12 and a speed reducer 13, and the rotation shafts of the engine 11 and the motor generator 12 are both input to the speed reducer 13. They are connected to each other by being connected.
  • the motor generator 12 assists the driving force of the engine 11 by driving the engine 11 as a work element, and the driving force of the motor generator 12 is the output shaft of the speed reducer 13. And then transmitted to the main pump 14.
  • 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.
  • the motor generator 12 is configured by, for example, an IPM (Interior / Permanent / Magnetic) motor in which a magnet is embedded in a rotor. Switching between driving and power generation of the motor generator 12 is performed according to the load of the engine 11 and the like by the controller 30 that performs drive control of the electric system in the hybrid type construction machine 1.
  • IPM Interior / Permanent / Magnetic
  • a main pump 14 and a pilot pump 15 are connected to the output shaft of the speed reducer 13, and a control valve 17 is connected to the main pump 14 via a high pressure hydraulic line 16.
  • the control valve 17 is a device that controls a hydraulic system in the hybrid construction machine 1.
  • the boom cylinder 8, the arm cylinder 9 and the bucket cylinder 10 are connected to the control valve 17 via a high pressure hydraulic line.
  • the control valve 17 controls the hydraulic pressure supplied to them according to the operation input of the driver.
  • the speed reducer 13 accelerates and transmits the rotation of the engine to the motor generator 12, and decelerates the rotation of the motor generator 12 to assist the rotation of the engine.
  • the output terminal of the inverter circuit 18A is connected to the electrical terminal of the motor generator 12.
  • the inverter circuit 18A is a second inverter circuit in the present embodiment.
  • the power storage means 120 is connected to the input terminal of the inverter circuit 18A.
  • the power storage unit 120 includes a DC bus 110 that is a DC bus, a step-up / down converter (DC voltage converter) 100, and a battery 19.
  • the input terminal of the inverter circuit 18A is connected to the input terminal of the step-up / down converter 100 via the DC bus 110.
  • a battery 19 as a storage battery is connected to the output terminal of the step-up / down converter 100.
  • the battery 19 is configured by, for example, a capacitor type storage battery.
  • the inverter circuit 18A controls the operation of the motor generator 12 based on a command from the controller 30. That is, when the inverter circuit 18A power-operates the motor generator 12, the necessary power is supplied from the battery 19 and the step-up / down converter 100 to the motor generator 12 via the DC bus 110. Further, when the motor generator 12 is regeneratively operated, the battery 19 is charged with the electric power generated by the motor generator 12 through the DC bus 110 and the step-up / down converter 100. The switching control between the step-up / step-down operation of the step-up / step-down converter 100 is performed by the controller 30 based on the DC bus voltage value, the battery voltage value, and the battery current value. As a result, the DC bus 110 can be maintained in a state of being stored at a predetermined constant voltage value.
  • the lifting magnet 7 is connected to the DC bus 110 of the electricity storage means 120 via the inverter circuit 20B.
  • the lifting magnet 7 includes an electromagnet that generates a magnetic force for magnetically attracting a metal object, and power is supplied from the DC bus 110 via the inverter circuit 20B.
  • the inverter circuit 20 ⁇ / b> B supplies the requested power to the lifting magnet 7 from the DC bus 110 when the electromagnet is turned on based on a command from the controller 30. Further, when the electromagnet is turned off, the regenerated electric power is supplied to the DC bus 110.
  • an inverter circuit 20A is connected to the power storage means 120.
  • One end of the inverter circuit 20A is connected to a turning motor (AC motor) 21 as a working motor, and the other end of the inverter circuit 20A is connected to the DC bus 110 of the power storage means 120.
  • the turning electric motor 21 is a power source of the turning mechanism 3 for turning the turning body 4.
  • a resolver 22, a mechanical brake 23, and a turning speed reducer 24 are connected to the rotating shaft 21 ⁇ / b> A of the turning electric motor 21.
  • the inverter circuit 20A is the first inverter circuit in the present embodiment.
  • the turning electric motor 21 When the turning electric motor 21 performs a power running operation, the rotational force of the rotational driving force of the turning electric motor 21 is amplified by the turning speed reducer 24, and the turning body 4 is subjected to acceleration / deceleration control to perform rotational movement. Further, due to the inertial rotation of the swing body 4, the rotation speed is increased by the swing speed reducer 24 and transmitted to the swing electric motor 21 to generate regenerative power.
  • the electric motor 21 for turning is AC driven by the inverter circuit 20A by a PWM (Pulse Width Modulation) control signal.
  • PWM Pulse Width Modulation
  • the resolver 22 is a sensor that detects the rotation position and rotation angle of the rotation shaft 21A of the turning electric motor 21, and mechanically connected to the turning electric motor 21 to detect the rotation angle and rotation direction of the rotation shaft 21A.
  • the mechanical brake 23 is a braking device that generates a mechanical braking force, and mechanically stops the rotating shaft 21 ⁇ / b> A of the turning electric motor 21 according to a command from the controller 30.
  • the turning speed reducer 24 is a speed reducer that reduces the rotational speed of the rotating shaft 21 ⁇ / b> A of the turning electric motor 21 and mechanically transmits it to the turning mechanism 3.
  • the motor generator 12, the turning motor 21, and the lifting magnet 7 are connected to the DC bus 110 via inverter circuits 18A, 20A, and 20B, the electric power generated by the motor generator 12 is In some cases, the lifting magnet 7 or the turning electric motor 21 may be directly supplied. In some cases, the power regenerated by the lifting magnet 7 may be supplied to the motor generator 12 or the turning electric motor 21. Further, the turning electric motor may be supplied. In some cases, the electric power regenerated at 21 is supplied to the motor generator 12 or the lifting magnet 7.
  • the hybrid construction machine 1 of the present embodiment includes a coolant circulation system for cooling the step-up / down converter 100 and the inverter circuits 18A, 20A, and 20B, in addition to the coolant circulation system for the engine 11. Yes.
  • the hybrid construction machine 1 includes a first coolant circulation system 160 for an internal combustion engine engine and a second coolant circulation system 170 for an electric system, which are independent from each other.
  • the first coolant circulation system 160 is driven by a pump motor 161 to cool the engine 11.
  • the second coolant circulation system 170 drives a pump (coolant circulation pump) 172 for circulating the coolant supplied to the step-up / down converter 100, the inverter circuits 18A, 20A, 20B, and the like, and the pump 172.
  • a pump motor (cooling electric motor) 171 to be used.
  • the pump motor 171 is connected to the power storage means 120 via the inverter circuit 20C.
  • the inverter circuit 20 ⁇ / b> C is a cooling motor drive circuit in the present embodiment, and supplies the requested electric power to the pump motor 171 when cooling the step-up / down converter 100 based on a command from the controller 30.
  • the coolant circulation system 170 of the present embodiment cools the buck-boost converter 100, the inverter circuits 18A, 20A, and 20B, and the controller 30. In addition, the coolant circulation system 170 cools the motor generator 12, the speed reducer 13, and the turning electric motor 21.
  • An operating device 26 is connected to the pilot pump 15 via a pilot line 25.
  • the operating device 26 is an operating device for operating the turning electric motor 21, the traveling mechanism 2, the boom 5, the arm 6, and the lifting magnet 7, and is operated by an operator.
  • a control valve 17 is connected to the operating device 26 via a hydraulic line 27, and a pressure sensor 29 is connected via a hydraulic line 28.
  • the operating device 26 converts the hydraulic pressure (primary hydraulic pressure) supplied through the pilot line 25 into a hydraulic pressure (secondary hydraulic pressure) corresponding to the operation amount of the operator and outputs the 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 hydraulic oil sent to the boom cylinder 8, the arm cylinder 9 and the like is controlled.
  • the turning electric motor 21 is cited as the working electric motor
  • the traveling mechanism 2 may be electrically driven as the working electric motor.
  • the lifting device may be electrically driven as a working motor.
  • the pressure sensor 29 detects this operation amount as a change in the hydraulic pressure in the hydraulic line 28.
  • the pressure sensor 29 outputs an electrical signal representing the hydraulic pressure in the hydraulic line 28. This electric signal is input to the controller 30 and used for driving control of the turning electric motor 21.
  • the controller 30 constitutes a control unit in the present embodiment.
  • the controller 30 includes a central processing unit (CPU: Central Processing Unit) and an arithmetic processing device including an internal memory, and is realized by the CPU executing a drive control program stored in the internal memory.
  • the power source of the controller 30 is a battery (for example, a 24V on-vehicle battery) different from the battery 19.
  • the controller 30 converts a signal representing an operation amount for turning the turning mechanism 3 among signals inputted from the pressure sensor 29 into a speed command, and turns the inverter circuit 20A by driving the inverter circuit 20A based on the speed command.
  • the electric motor 21 is controlled.
  • controller 30 controls the operation of the motor generator 12 (switching between assist operation and power generation operation) by driving the inverter circuit 18A, and controls the drive of the lifting magnet 7 (excitation and excitation) by driving the inverter circuit 20B. Switching of demagnetization is performed, and charge / discharge control of the battery 19 is performed by driving and controlling the buck-boost converter 100.
  • the controller 30 of the present embodiment reduces the voltage of the DC bus 110 when performing maintenance or the like of the hybrid construction machine 1 (specifically, it accumulates in a smoothing capacitor or the like connected to the DC bus 110).
  • DC bus voltage drop mode bus voltage drop mode for consuming the generated charge.
  • the controller 30 stops all the inverter circuits 18A, 20A and 20B and the step-up / down converter 100, and turns off a switch (described later) provided between the step-up / down converter 100 and the battery 19.
  • the inverter circuit 20C is driven to cause the pump motor 171 to consume power, thereby reducing the voltage of the DC bus 110.
  • the DC bus voltage lowering mode is performed when the operation of the hybrid construction machine 1 is stopped (specifically, when the engine 11 is about to be stopped by the operation of the operator's key 40) or in the cab 4a (see FIG. 1), when an input regarding the start of the DC bus voltage drop mode is made by the operator via the operation panel.
  • the controller 30 of the present embodiment limits the current flowing through the circuit according to the temperature of the IPM included in these circuits. Do. That is, when the temperature of the IPM is equal to or lower than the first threshold value T1, a maximum current value that does not hinder normal operation is set, and the circuit (inverter circuits 18A, 20A) is set so as not to exceed the maximum current value. And 20B and the buck-boost converter 100).
  • the maximum current value of the circuit is set to be smaller than the above-described maximum current value at the normal time, and the maximum current value at the time of the temperature abnormality is set.
  • the circuit is driven so as not to exceed.
  • the controller 30 sets the maximum current value of the circuit to normal operation. Return to the maximum current value that does not hinder the operation. The reason why the temperature T3 at the time of returning to the normal operation is set to be smaller than the temperature T1 at which it is determined that the temperature is abnormal is to perform stable control with hysteresis in the abnormality determination.
  • the controller 30 When the temperature of the IPM exceeds a second threshold value T2 (> T1) higher than the first threshold value T1, the controller 30 includes a circuit including the IPM (inverter circuits 18A, 20A and 20B, and a step-up / down voltage). The operation of any one of the converters 100 is stopped.
  • the second threshold value T2 is set lower than the temperature at which the overheat protection function built in the IPM operates.
  • the step-up / step-down converter 100 has a step-up / step-down switching control system and includes a reactor 101 and transistors 100B and 100C.
  • the transistor 100B is a step-up switching element
  • the transistor 100C is a step-down switching element.
  • the transistors 100B and 100C are composed of, for example, an IGBT (Insulated Gate Gate Bipolar Transistor) and are connected in series with each other.
  • IGBT Insulated Gate Gate Bipolar Transistor
  • the collector of the transistor 100B and the emitter of the transistor 100C are connected to each other, and the emitter of the transistor 100B is connected to the negative side terminal of the battery 19 and the negative side wiring of the DC bus 110 via the switch 100F.
  • the collector of 100C is connected to the positive wiring of the DC bus 110.
  • Reactor 101 has one end connected to the collector of transistor 100B and the emitter of transistor 100C, and the other end connected to the positive terminal of battery 19 via switch 100E.
  • a PWM voltage is applied from the controller 30 to the gates of the transistors 100B and 100C.
  • the connection state of the switches 100E and 100F is controlled by a command from the controller 30.
  • a diode 100b which is a rectifier, is connected in parallel in the reverse direction between the collector and emitter of the transistor 100B.
  • a diode 100c is connected in parallel in the reverse direction between the collector and emitter of the transistor 100C.
  • a smoothing capacitor 110a is connected between the collector of the transistor 100C and the emitter of the transistor 100B (that is, between the positive side wiring and the negative side wiring of the DC bus 110). The output voltage from 100, the generated voltage from the motor generator 12, and the regenerative voltage from the turning motor 21 are smoothed.
  • a voltage sensor 110 b for detecting the voltage of the DC bus 110 is provided between the positive side wiring and the negative side wiring of the DC bus 110. The voltage detection result by the voltage sensor 110b is provided to the controller 30.
  • the switch 100E, 100F when supplying DC power from the battery 19 to the DC bus 110, the switch 100E, 100F is connected to the gate of the transistor 100B according to a command from the controller 30. A PWM voltage is applied. Then, the induced electromotive force generated in the reactor 101 when the transistor 100B is turned on / off is transmitted through the diode 100c, and this power is smoothed by the capacitor 110a.
  • the PWM voltage is applied to the gate of the transistor 100C in response to a command from the controller 30 with the switches 100E and 100F connected, and the transistor 100C. Is smoothed by the reactor 101.
  • FIG. 4 is a block diagram for explaining a coolant circulation system in the hybrid construction machine 1.
  • the first coolant circulation system 160 includes a pump 162 driven by the pump motor 161 and a radiator 163, and the coolant circulated by the pump 162 is supplied to the radiator. Heat is dissipated by 163 and supplied to the cooling pipe of the engine 11.
  • the radiator 163 is an example of the first heat exchanger in the present invention.
  • the second coolant circulation system 170 includes a pump 172 driven by the pump motor 171 described above, a radiator 173, and a servo control unit 60.
  • the coolant circulated by the pump 172 is radiated by the radiator 173 and sent to the servo control unit 60.
  • the servo control unit 60 is a structure having a plurality of modules constituting the buck-boost converter 100, the inverter circuits 18A, 20A, 20B, and the controller 30, and piping for cooling these modules.
  • the coolant that has passed through the piping of the servo control unit 60 cools the turning electric motor 21, the motor generator 12, and the speed reducer 13 in this order, and then is returned from the pump 172 to the radiator 173.
  • the radiator 173 is an example of a second heat exchanger in the present invention. Further, a temperature sensor 177 for detecting the temperature of the coolant is preferably provided at the inlet of the servo control unit 60. Furthermore, it is preferable to provide a display device that displays the detected temperature. As a result, when the radiator 173 is clogged and the cooling performance is deteriorated, the control device in the control unit 600 (described later) outputs the output of at least one of the turning motor 21 or the motor generator 12 based on the detected value. Can be limited. As a result, continuous operation can be performed, and continuous work can be performed without stopping the hybrid construction machine.
  • FIG. 5 is a perspective view showing the appearance of the servo control unit 60.
  • the servo control unit 60 is a device that controls the motor generator 12, the turning electric motor 21, and the battery 19.
  • the servo control unit 60 has a substantially rectangular parallelepiped appearance, and includes a control unit 600 that houses the controller 30, a step-up / down converter unit 66, and inverter units 62 to 65.
  • the step-up / down converter unit 66 and the inverter units 62 to 65 constitute a plurality of driver units in the present embodiment.
  • the step-up / down converter unit 66 contains the step-up / down converter 100, and the inverter units 62 to 65 contain, for example, inverter circuits 18A, 20A, 20B and other inverter circuits.
  • the step-up / down converter unit 66 and the inverter units 62 to 65 each have a rectangular parallelepiped metal container that is long in the depth direction. These units 62 to 66 are installed in a plate-shaped pedestal 67 having an open metal upper surface in a state of being arranged in a direction intersecting the longitudinal direction, and are fixed to the plate-shaped pedestal 67 with bolts.
  • a control unit bottom plate 61 as an upper lid is provided on these units 62 to 66 so as to cover the upper surfaces of the units 62 to 66, and the control unit 600 is placed on the control unit bottom plate 61.
  • a heat sink 68 for air cooling is attached to the upper surface of the control unit 600.
  • the upper surfaces of the units 62 to 66 are sealed with a control unit bottom plate 61.
  • the control unit 600 houses a controller for controlling the step-up / down converter unit 66 and the inverter units 62 to 65.
  • the controller has an arithmetic processing unit and an electronic circuit including a CPU and an internal memory, and is realized by the CPU executing a drive control program stored in the internal memory.
  • the control unit 600 has a cooling pipe 608 built therein.
  • the step-up / down converter unit 66 includes cooling piping 66a
  • the inverter units 62 to 65 include cooling piping 62a to 65a, respectively.
  • FIG. 6 is a perspective view showing a state where the cooling pipes 62a to 66a are connected.
  • a pipe 90A extending from the radiator 173 (see FIG. 4) is branched into three pipes 90B to 90D.
  • the pipe 90B is connected to one end of the cooling pipe 608 of the control unit 600, and the other end of the cooling pipe 608 is connected to one end of the cooling pipe 62a of the inverter unit 62 via another pipe 90E.
  • Connected to The pipe 90C is connected to one end of the cooling pipe 66a of the step-up / down converter unit 66, and the other end of the cooling pipe 66a is connected to one end of the cooling pipe 64a of the inverter unit 64 via the pipe 90F.
  • the pipe 90D is connected to one end of the cooling pipe 65a of the inverter unit 65, and the other end of the cooling pipe 65a is connected to one end of the cooling pipe 63a of the inverter unit 63 through the pipe 90G.
  • the pipes 90J, 90I and 90H are connected to the other ends of the cooling pipes 62a to 64a of the inverter units 62 to 64, respectively.
  • the pipes 90J, 90I, and 90H are connected to one pipe 90K, and the pipe 90K is extended to other cooled elements such as the turning electric motor 21, for example.
  • FIG. 7A is a plan sectional view of the control unit 600
  • FIG. 7B is a side sectional view taken along the line II of FIG. 7A
  • FIG. ) Is a side sectional view taken along line II-II
  • FIG. 7D is a side sectional view taken along line III-III in FIG. 8A is a side sectional view taken along line IV-IV in FIG. 7A
  • FIG. 8B is a side view of the control unit 600 viewed from the same direction as FIG. 8A. is there.
  • the control unit 600 includes a casing 601 including a casing container 601a and a casing cover 601b, and an electronic circuit of the controller is accommodated in the casing 601.
  • the casing 601 of the control unit 600 has a rectangular parallelepiped appearance, and is provided on the step-up / down converter unit 66 and the inverter units 62 to 65 which are a plurality of driver units.
  • the housing 601 has a substantially rectangular parallelepiped inner space on a bottom surface having a substantially rectangular planar shape. This internal space is shielded from the outside air, and the housing 601 of the control unit 600 has a sealed structure.
  • the direction in which the units 62 to 66 are arranged coincides with the short direction of the control unit 600, and this direction corresponds to the up and down direction of the drawing in FIG.
  • the direction orthogonal to the direction in which the plurality of units 62 to 66 are arranged coincides with the longitudinal direction of the control unit 600, and this direction corresponds to the left and right direction on the paper surface of FIG.
  • a card plate 602 having a rectangular planar shape is provided on the bottom surface in the housing 601.
  • the card plate 602 is arranged such that the longitudinal direction and the short direction of the card plate 602 coincide with the long direction and the short direction of the control unit 600, respectively.
  • the card plate 602 is provided with a substantially rectangular planar opening.
  • a heat sink (heat conduction plate) 603 having a substantially rectangular parallelepiped appearance and a planar shape substantially the same as the opening is provided on the bottom surface of the housing 601.
  • the heat sink 603 is for cooling electronic components provided in the housing 601, and a cooling pipe 608 is provided thermally coupled (for example, in contact with) the heat sink 603.
  • the heat sink 603 is cooled by the coolant circulating through the cooling pipe 608.
  • This coolant is, for example, water.
  • a control card 604 is provided as a substrate having a substantially rectangular planar shape.
  • the control card 604 is a substrate on which various electronic components are mounted, and is arranged so that the back surface thereof faces the heat sink 603.
  • a plurality of CPUs 605a to 605e are mounted as a kind of electronic components.
  • the plurality of CPUs 605a to 605e have a one-to-one correspondence with each of the plurality of units 62 to 66, and control ON / OFF of the transistors included in the inverter circuit of the corresponding unit among the units 62 to 66.
  • the plurality of CPUs 605a to 605e are thermally coupled to the heat sink 603. That is, the heat sink 603 is disposed between the plurality of CPUs 605a to 605e and the cooling pipe 608.
  • a plurality of field effect transistors (FETs) 620 are mounted on the surface of the control card 604 as a kind of electronic component.
  • the plurality of FETs 620 send a switching signal to the electromagnetic valve of the control valve 17 in order to control the operation of the boom 5 and the arm 6 and the like.
  • the plurality of FETs 620 are arranged in the vicinity of the connector 607 in consideration of the wiring inside the control unit 600.
  • An aluminum heat transfer plate 621 is in contact with the back surface of each FET 620, and an end portion of the heat transfer plate 621 is screwed to the inner surface of the housing container 601a.
  • a plurality of cooling fans 606 a are arranged on the card plate 602 in the short direction of the control unit 600.
  • a plurality of cooling fans 606a are provided corresponding to each of the CPUs 605a to 605e in order to eliminate the temperature gradient in the casing by stirring the air heated by the heat generated by the CPUs 605a to 605e. An air flow toward each of 605e is generated.
  • a card plate 613 having a rectangular planar shape is further provided on the bottom surface in the housing 601 along with the card plate 602.
  • a power supply card 609 is provided on the card plate 613.
  • Two power supply ICs (power supply units) 610 are provided on the power supply card 609. Each power supply IC 610 is provided with a heat sink 611 for air-cooling the power supply IC.
  • a heat conduction plate 614 is provided in contact with the inner surface of the housing 601, and the power supply IC 610 and the heat sink 611 are in surface contact with the heat conduction plate 614. For this reason, part of the heat generated in the power supply IC 610 can be dissipated.
  • Two cooling fans 606b are provided on the card plate 613. These cooling fans 606b are provided to stir the air heated by the heat generated by the power supply IC 610 to eliminate the temperature gradient in the housing, and generate an air flow toward the power supply IC 610.
  • the input / output unit of the electronic component mounted on the control card 604 is connected to the connector 607.
  • command signals for operating the units 62 to 66, output signals from the electronic components, and the like are input / output via the connector 607. Is done.
  • the connector 607 is connected to a control unit (not shown) for controlling the servo control unit 60, for example.
  • the connector 607 is provided in a concave recess portion on the side surface of the housing 601, and the recess portion is covered with a packing 616.
  • the packing 616 is covered with a packing pressing member 617 through a housing cover 601b. Waterproofing and dustproofing of the connector 607 is realized by the packing 616.
  • FIG. 9A is a plan view showing the heat sink 603 and the cooling pipe 608, and FIG. 9B is a side sectional view taken along line VV shown in FIG. 9A.
  • FIG. 10 is a plan view showing a control card 604 arranged so as to cover the heat sink 603 and the cooling pipe 608.
  • FIG. 11 is a side sectional view showing a part of a section taken along line VI-VI shown in FIG.
  • the cooling pipe 608 in the present embodiment is formed in a hairpin pipe shape, and is bonded and fixed to the back side of the heat sink 603. More specifically, the cooling pipe 608 includes a plurality of pipe portions 608a. The plurality of pipe portions 608a extend in the short direction of the heat sink 603 (first direction in the present embodiment), and the longitudinal direction of the heat sink 603 (second direction in the present embodiment) intersects the direction. ) At a predetermined interval. And the some piping part 608a comprises the single piping as a whole by the one end side and the other end side being alternately connected by the U-shaped piping part 608b.
  • the heat sink 603 includes a plurality of rectangular cooling regions 603a to 603e extending in the short direction (first direction) of the heat sink 603 and arranged in the longitudinal direction (second direction) of the heat sink 603.
  • Each of the plurality of cooling regions 603a to 603e is thermally coupled to two adjacent piping portions 608a among the plurality of piping portions 608a.
  • the plurality of cooling regions 603a to 603e are defined so as to each include two pipe portions 608a when viewed from above.
  • a plurality of CPUs 605a to 605e are mounted on the back surface of the control card 604, and electrical signals to electromagnetic valves and switching valves are generated on the front surface.
  • a plurality of electrical components such as the electrical contacts 618 are arranged.
  • the plurality of CPUs 605a to 605e are connected by pattern wiring formed on the control card 604 to perform communication. These CPUs 605a to 605e are arranged side by side in the longitudinal direction (second direction) of the heat sink 603, and are arranged on the cooling regions 603a to 603e of the heat sink 603, respectively.
  • the CPU 605a is thermally coupled to the cooling region 603a of the heat sink 603 via the thermal conductive sheet 612
  • the CPU 605b is thermally coupled to the cooling region 603b via the thermal conductive sheet 612 (FIG. 11).
  • the CPUs 605c to 605e are thermally coupled to the cooling regions 603c to 603e via the heat conductive sheet. That is, in the present embodiment, a plurality of CPUs 605a to 605e are thermally coupled to one cooling region per CPU.
  • a CPU 615 different from the CPUs 605c to 605e may be mounted on the control card 604, for example, as shown in FIG.
  • the CPU 615 is, for example, a host CPU for controlling the plurality of CPUs 605a to 605e in an integrated manner. Since such a CPU does not generate a large amount of heat as compared with the CPUs 605c to 605e that control the inverter circuit and the like, it is disposed at an arbitrary position on the control card 604 regardless of the cooling regions 603c to 603e.
  • the CPUs 605a to 605e are thermally coupled to the heat sink 603 via the thermally conductive sheet 612 disposed between the CPUs 605a to 605e and the heat sink 603.
  • the heat conductive sheet 612 preferably includes an elastic material that can absorb vibration transmitted from the heat sink 603 to the CPUs 605a to 605e, and is made of, for example, silicone rubber.
  • FIG. 12A is a plan view showing the internal configuration of the buck-boost converter unit 66.
  • FIG. 12B is a side view showing the internal configuration of the buck-boost converter unit 66.
  • the top and side plates of the case are removed so that the internal configuration of the buck-boost converter unit 66 can be seen.
  • an intelligent power module (IPM: Intelligent Power Module) 103 incorporating transistors 100B and 100C (see FIG. 3) of the buck-boost converter 100, a reactor 101, and a cooling pipe 66a are provided inside the buck-boost converter unit 66.
  • the IPM 103 is mounted on the wiring board 104.
  • the cooling pipe 66 a is two-dimensionally arranged along the side surface of the step-up / down converter unit 66. Specifically, the cooling pipe 66a is accommodated in a metal container 66b having a rectangular cross section in a state of being bent several times so as to be disposed as long as possible inside the step-up / down converter unit 66, and this metal container. It contacts the inner surface of 66b.
  • the metal container 66b constitutes a heat conduction plate in the present embodiment, and is arranged so as to extend along the vertical direction of the hybrid construction machine 1. As shown in FIG. 12A, the reactor 101 and the IPM 103 are disposed in contact with the outer surface of the metal container 66 b, and the outer surface of the metal container 66 b is heat radiation that is thermally coupled to the reactor 101 and the IPM 103. Functions as a surface. That is, the metal container 66b transmits heat from the reactor 101 and the IPM 103 to the cooling pipe 66a. Thereby, reactor 101 and IPM 103 are cooled.
  • the metal container 66 b has a larger area than the reactor 101.
  • the IPM 103 has a large area. Thus, since the metal container 66b has a sufficiently large contact area with respect to the reactor 101 and the IPM 103, the heat generated in the reactor 101 and the IPM 103 can be sufficiently transferred.
  • the reactor 101 is preferably provided with a temperature sensor 107 for detecting the temperature of the reactor 101. Thereby, the temperature abnormality of the reactor 101 can be monitored. Thereby, when reactor 101 is generating heat excessively, charging / discharging of battery 19 can be restricted. As a result, by preventing the reactor 101 from being short-circuited, continuous operation can be performed, and continuous work can be performed without stopping the hybrid construction machine.
  • the step-up / down converter unit 66 has a temperature sensor 109 for detecting the temperature of the IPM 103.
  • the temperature sensor 109 is a second temperature sensor in the present embodiment, and is provided outside the IPM 103 separately from the temperature sensor (first temperature sensor) built in the IPM 103.
  • the temperature sensor 109 is disposed on the outer surface of the metal container 66b in the vicinity of the IPM 103 (preferably adjacent to the IPM 103). Specifically, the temperature sensor 109 is disposed on the outer surface of the metal container 66b above the IPM 103 (that is, the IPM 103). Between the control unit 600 and the control unit 600.
  • FIG. 13A is a plan view showing the internal configuration of the inverter unit 62.
  • FIG. 13B is a side view showing the internal configuration of the inverter unit 62.
  • the top plate and the side plate of the case are removed so that the internal configuration of the inverter unit 62 can be understood.
  • the internal configuration of the inverter units 63 to 65 is the same as the internal configuration of the inverter unit 62 shown in FIG. 13 except for the configuration of the built-in inverter circuit.
  • an IPM 105 incorporating a transistor of the inverter circuit 20A and a cooling pipe 62a are incorporated.
  • the IPM 105 is mounted on the wiring board 106.
  • the cooling pipe 62 a is arranged in the same form as the cooling pipe 66 a in the step-up / down converter unit 66.
  • the cooling pipe 62a is accommodated in a metal container 62b having a rectangular cross section, and is in contact with the inner surface of the metal container 62b.
  • the metal container 62b constitutes a heat conduction plate in the present embodiment, and is arranged so as to extend along the vertical direction of the hybrid construction machine 1. As shown in FIG.
  • the IPM 105 is disposed in contact with the outer surface of the metal container 62 b, and the outer surface of the metal container 62 b functions as a heat dissipation surface that is thermally coupled to the IPM 105. That is, the metal container 62b transfers the heat from the IPM 105 to the cooling pipe 62a. Thereby, the IPM 105 is cooled.
  • the inverter unit 62 has a temperature sensor 108 for detecting the temperature of the IPM 105.
  • the temperature sensor 108 is a second temperature sensor in the present embodiment, and is provided outside the IPM 105 separately from the temperature sensor (first temperature sensor) built in the IPM 105.
  • the temperature sensor 108 is disposed in the vicinity of the IPM 105 (preferably adjacent to the IPM 105) on the outer surface of the metal container 62b, and specifically, the upper side of the IPM 105 (that is, the IPM 105 in the outer surface of the metal container 62b). Between the control unit 600 and the control unit 600.
  • FIG. 14 is a side sectional view showing the internal configuration of the IPM 103. Note that the internal configuration of the IPM 105 is substantially the same as that of the IPM 103, and thus detailed description thereof is omitted.
  • the IPM 103 includes, for example, a flat metal base 131 made of a metal having high heat conductivity such as copper or aluminum, an insulating substrate 132 laid on one surface of the metal base 131, and a transistor 100B mounted on the insulating substrate 132. , 100C.
  • the transistors 100B and 100C are connected to each other by a pattern wiring and a bonding wire 133 disposed on the insulating substrate 132.
  • some terminals of the transistors 100B and 100C are connected to a wiring substrate 134 disposed above the transistors 100B and 100C through bonding wires 135.
  • various electronic components such as diodes 100b and 100c connected to the transistors 100B and 100C are mounted.
  • the electronic components such as the insulating substrate 132, the transistors 100B and 100C, the wiring substrate 134, and the diodes 100b and 100c are sealed by a package 136.
  • the other surface of the metal base 131 is exposed from the package 136, and the IPM 103 is fixed with the surface in contact with the metal container 66b.
  • a temperature sensor 137 for detecting the temperature of the transistors 100B and 100C is arranged on the insulating substrate 132.
  • This temperature sensor 137 is the first temperature sensor in the present embodiment, and the IPM 103 determines whether or not to stop its own operation based on the temperature detection result of the temperature sensor 137 in the overheat protection function as the self-protection function. Determine whether.
  • the temperature sensor 109 (second temperature sensor) disposed outside the IPM 103 is disposed adjacent to the metal base 131 as shown in FIG. 14, for example.
  • FIG. 15 is a diagram for explaining a cooling method of the electric motor 21 for turning by the coolant circulation system 170. Since the cooling method in the motor generator 12 is the same as that in the turning electric motor 21, only the turning electric motor 21 will be described as a representative here.
  • the turning electric motor 21 includes a drive unit case 201, a stator 202 attached to the drive unit case 201, and a rotor 203 that is rotatably arranged inward in the radial direction of the stator 202, An output shaft 206 that extends through the rotor 203 and is rotatably arranged by bearings 204 and 205 with respect to the drive unit case 201 is provided.
  • the drive unit case 201 includes a side plate 207 and 208, and a cylindrical motor frame 209 that is attached between the side plates 207 and 208 and extends in the axial direction.
  • the bearing 204 is on the side plate 207
  • the bearing 205 is on the side plate 208.
  • the stator 202 is attached to the motor frame 209.
  • the stator 202 includes a coil (not shown). When a predetermined current is supplied to the coil, the turning electric motor 21 is driven, and the rotor 203 rotates at a rotation speed corresponding to the magnitude of the current. The rotation of the rotor 203 is transmitted to the output shaft 206 to which the rotor 203 is attached.
  • a jacket 211 is attached to the outer periphery of the drive unit case 201 in order to dissipate heat generated by driving the turning electric motor 21 and cool the turning electric motor 21.
  • the jacket 211 has a cooling liquid supply port 212 to which the cooling liquid is supplied, a cooling liquid discharge port 213 that discharges the cooling liquid whose temperature has increased after cooling the turning electric motor 21, and the cooling liquid supply port 212 and the cooling.
  • the liquid discharge port 213 is connected to the liquid discharge port 213 and has a single coolant flow path 214 extending spirally or meandering.
  • the second coolant circulation system is preferably provided with an auxiliary tank 75 for replenishing the coolant as shown in FIG.
  • the DC bus voltage drop mode of the controller 30 is an operation mode for reducing the voltage of the DC bus 110 in a state where the operation of the hybrid type construction machine 1 is stopped, and includes the inverter circuits 18A, 20A and 20B, and After all the buck-boost converter 100 is stopped and the switches 100E and 100F provided between the buck-boost converter 100 and the battery 19 are disconnected, the inverter circuit 20C is driven to cause the pump motor 171 to consume power. This is a mode in which the voltage of the DC bus 110 is lowered.
  • FIG. 16 is a flowchart showing the operation of the hybrid construction machine 1 in the DC bus voltage reduction mode.
  • the operator operates the ignition key 40 to stop the operation of the hybrid construction machine 1 (step S11).
  • the controller 30 starts the DC bus voltage reduction mode. That is, the controller 30 receives the operation of the key 40 and stops driving the inverter circuits 18A, 20A, and 20B (step S12). As a result, power supply to the motor generator 12, the turning electric motor 21, and the lifting magnet 7 is stopped.
  • the controller 30 stops driving the step-up / down converter 100 (step S13). Then, the controller 30 turns off the switches 100E and 100F (see FIG.
  • step S14 the DC bus 110 and the battery 19 are electrically separated.
  • the controller 30 instructs the ECU 11 or the like of the engine 11 to stop the engine 11 (step S15).
  • the inverter circuit 20C continues to drive the pump motor 171 that is a cooling electric motor, and the coolant continues to circulate inside the coolant circulation system 170 by the pump motor 171.
  • the controller 30 continues to drive the inverter circuit 20C and continues the operation of the pump motor 171 (step S16).
  • the drive of the inverter circuit 20C is continued until the voltage of the DC bus 110 detected by the voltage sensor 110b shown in FIG. 3 becomes equal to or lower than a predetermined threshold (Step S17; No).
  • Step S17 When the voltage of the DC bus 110 becomes equal to or lower than the predetermined threshold (Step S17; Yes), the controller 30 stops driving the inverter circuit 20C (Step S18). Thereby, the operation of the pump motor 171 is stopped, the DC bus voltage lowering mode is ended, and the operation of the hybrid construction machine 1 is completely stopped.
  • FIG. 17 is a graph showing an example of the transition of the voltage of the DC bus 110 in the DC bus voltage lowering mode.
  • the switches 100E and 100F are turned off while the pump motor 171 is continuously driven (time T1 in the drawing)
  • the voltage Vdc of the DC bus 110 gradually decreases from the immediately preceding voltage Vact. . This rate of decrease depends on the power consumption of the pump motor 171.
  • Vth time T2 in the figure
  • the operation of the pump motor 171 is stopped, so that the rate of decrease in the voltage Vdc becomes slow.
  • the hybrid construction machine 1 includes the pumps 172 for circulating the coolant for cooling the inverter units 62 to 65, the step-up / down converter unit 66, and the control unit 600.
  • the controller 30 drives the pump motor 171 for driving the pump 172 with the voltage of the DC bus 110, so that the voltage of the DC bus 110 is increased. Is consumed. Since the pump 172 is originally mounted on the hybrid construction machine 1 to cool the inverter units 62 to 65 and the step-up / down converter unit 66, according to such a method, only for the DC bus voltage drop mode. There is no need to add new components such as resistors and switches. Therefore, according to the hybrid type construction machine 1 of the present embodiment, the voltage of the DC bus 110 can be reduced with a configuration in which a decrease in reliability is suppressed.
  • the pump motor 171 is different from a working motor such as a motor generator 12 that drives a hydraulic pump or a turning motor 21 that drives a working element such as a turning body 4, for example, with respect to a movable part or a working element.
  • a driving force is not given, and even if this pump motor 171 is driven, the coolant only circulates inside the pipe. Therefore, according to the hybrid construction machine 1 of the present embodiment, the voltage of the DC bus 110 can be lowered without giving a driving force to the work element or the like, so that the voltage of the DC bus 110 can be lowered safely. be able to.
  • the controller 30 starts the DC bus voltage reduction mode every time the operation of the hybrid construction machine 1 is stopped.
  • the voltage of the DC bus 110 is always reduced when the hybrid construction machine 1 is not in operation, and the work for reducing the voltage of the DC bus 110 can be omitted during maintenance. .
  • the coolant circulation system 170 including the pump motor 171 and the pump 172 includes the inverter units 62 to 65 (inverter circuits 18A, 20A, and 20B), the step-up / down converter unit 66 (the step-up / down converter 100), and
  • the control unit 600 the controller 30
  • the pump and the pump motor for cooling at least one of these units are suitable for the voltage of the DC bus 110 by driving the pump motor. Can be lowered.
  • the voltage of the DC bus 110 is lowered by driving the pump motor 171, but the voltage of the DC bus 110 is lowered by rotating the cooling fans 606a and 606b shown in FIG.
  • a circuit for driving a motor (that is, a cooling motor) for driving the cooling fans 606a and 606b is provided between the DC bus 110 and the motor.
  • the controller 30 is configured to control. Then, in the DC bus voltage lowering mode, the controller 30 rotates the motor by the above circuit, so that the voltage of the DC bus 110 is consumed.
  • the cooling fan is provided only in the control unit 600.
  • the cooling fan includes the inverter units 62 to 65 (inverter circuits 18A, 20A and 20B), and the step-up / down converter unit 66 (step-up / down converter). 100) and at least one of the control unit 600 (controller 30).
  • inverter circuits and DC voltage converters each have a plurality of high-power transistors, so that heat generation becomes large. Therefore, it is necessary to cool these circuit components, but it is difficult to ensure sufficient cooling capacity with the air cooling method using a heat sink. Also, because the engine cooling water is hot due to the exhaust heat of the engine, it is difficult to cool the circuit components using this cooling water, and the radiator fan stops when the engine stops. become unable.
  • the hybrid construction machine 1 of the present embodiment has a second cooling system for cooling the buck-boost converter 100 and the inverter circuits 18A, 20A, and 20B, separately from the first coolant circulation system 160 for cooling the engine 11.
  • a coolant circulation system 170 is provided. Therefore, sufficient cooling performance can be ensured compared to the air cooling system, and the cooling liquid can be made lower temperature than the cooling liquid for engine cooling, so that the step-up / down converter 100 and the inverter circuits 18A, 20A and 20B are effective. Can be cooled to. Even when the engine 11 is stopped, the pump motor 171 and the radiator 173 can continue to be cooled as long as they operate.
  • the second coolant circulation system 170 further cools not only the step-up / down converter 100 and the inverter circuits 18A, 20A and 20B, but also the motor generator 12 and the turning electric motor 21. In the present invention, such a form is more suitable, whereby the motor generator 12 and the turning electric motor 21 can be effectively cooled.
  • the driver of the servo control unit 60 that houses the step-up / down converter 100 and the inverter circuits 18A, 20A, and 20B. After passing through the units 62 to 66, the motor generator 12 and the turning electric motor 21 are passed. In this way, by cooling the relatively low temperature driver units 62 to 66 first, and then cooling the relatively high temperature motor generator 12 and the turning motor 21, the cooling of the second coolant circulation system 70 is performed. Efficiency can be further increased.
  • the reactor when the DC voltage converter includes a reactor, the reactor generates heat when charging and discharging of the storage battery are repeated. And if the temperature of a reactor becomes high too much, the resistivity of a reactor will increase and the conversion efficiency of a DC voltage converter will fall. For this reason, conventionally, the reactor has been air-cooled by bringing a heat sink or the like into contact therewith, but it is difficult to sufficiently cool the reactor in such a cooling method in a construction machine.
  • the hybrid construction machine 1 of the present embodiment described above includes a coolant circulation system 170 for cooling the reactor 101 of the step-up / down converter 100.
  • a coolant circulation system 170 for cooling the reactor 101 of the step-up / down converter 100.
  • the hybrid construction machine 1 of the present embodiment includes a coolant circulation system 170 for cooling the reactor 101 of the buck-boost converter 100 separately from the coolant circulation system 160 for cooling the engine 11. . Therefore, sufficient cooling performance can be ensured, and the coolant can be cooled to a lower temperature than the coolant for cooling the engine, so that the reactor 101 can be effectively cooled. Even when the engine 11 is stopped, the reactor 101 can be continuously cooled as long as the pump motor 171 and the radiator 173 operate.
  • the coolant circulation system 170 further cools not only the reactor 101 but also the motor generator 12 and the turning electric motor 21. In the present invention, such a form is more suitable, whereby the motor generator 12 and the turning electric motor 21 can be effectively cooled.
  • the coolant circulation system 170 after the coolant is sent from the radiator 173, the coolant passes through the driver unit 174 that houses the buck-boost converter 100 and then the motor generator 12 and the turning motor 21. Is going through.
  • the cooling efficiency of the coolant circulation system 170 is further enhanced by cooling the relatively low temperature buck-boost converter 100 first and then cooling the relatively high temperature motor generator 12 and the turning motor 21. be able to.
  • FIG. 18 is a flowchart showing a current limiting operation for the buck-boost converter 100 and the inverter circuits 18A, 20A, and 20B by the controller 30.
  • 19 and 20 show (a) an example of the time change of the temperature of the IPM constituting the buck-boost converter 100 and the inverter circuits 18A, 20A and 20B, and (b) the buck-boost converter 100 and the inverter circuits 18A and 20A.
  • 20B is a graph showing an example of a time change of the current flowing through 20B.
  • the controller 30 monitors the temperature detection results from the temperature sensors 107 and 108 while operating the buck-boost converter 100 and the inverter circuits 18A, 20A, and 20B. Then, it is always determined whether or not the temperature detection results from the temperature sensors 109 and 108, that is, the temperature of the IPMs 103 and 105 exceeds the first threshold T1 (step S1), and the temperature of the IPMs 103 and 105 is equal to or lower than T1. (Step S1; No), a maximum current value I1 is set so that normal operation is not hindered, and the circuit (inverter circuits 18A, 20A and 20B and the buck-boost converter 100 is set so as not to exceed the maximum current value I1).
  • I1 is set as the maximum drive current to the turning electric motor 21 in the inverter circuit 20A, and I1 is set as the maximum discharge current from the battery 19 in the buck-boost converter 100.
  • the first threshold T1 is set to a temperature lower than the temperature TA (for example, 100 ° C.) at which the overheat protection function of the IPMs 103 and 105 operates by the temperature sensor 137, for example, 80 ° C.
  • the controller 30 determines the maximum current of the circuit (any one of the step-up / down converter 100 and the inverter circuits 18A, 20A, and 20B).
  • the value is set to a value I2 smaller than the normal maximum current value I1 described above, and the circuit is driven so as not to exceed the maximum current value I2 (steps S3, times t 1 to t 2 in FIGS. 19 and 20). ). That is, in inverter circuit 20A, the maximum drive current to turning electric motor 21 is reduced from I1 to I2, and in buck-boost converter 100, the maximum discharge current from battery 19 is reduced from I1 to I2.
  • the controller 30 determines the maximum current value of the circuit when the temperature of the IPMs 103 and 105 becomes equal to or lower than the third threshold T3 ( ⁇ T1) lower than the first threshold T1 through such temperature abnormality. It returned to I1, the maximum current value I1 of the inverter circuit 18A so as not to exceed drives 20A and 20B, and buck-boost converter 100 (step S4; Yes, the time t 2 after in Figure 19).
  • the controller 30 drives the circuit so that the current value does not exceed I2, while the temperature of the IPMs 103 and 105 is the first threshold T1. It is determined whether or not a higher second threshold T2 (> T1) is exceeded (step S5).
  • the circuit including the IPM 103 (or 105) inverter circuits 18A, 20A and 20B, and the step-up / down converter 100) stops the operation of any) (step S6, the time t 2 after in Figure 20).
  • the second threshold T2 is set lower than the temperature TA at which the overheat protection function built in the IPMs 103 and 105 operates.
  • an IPM may be used in an inverter circuit that drives or regenerates a working motor or a step-up / down converter that charges or discharges a battery.
  • the IPM includes a drive circuit including a power device such as a power MOSFET and an insulated gate bipolar transistor (IGBT), and a self-protection function (for example, an overheat protection function, a short-circuit protection function, an overcurrent protection function, etc.) for protecting the power device. ) Is built in one package.
  • the IPM detects an abnormality by the above-described self-protection function, it stops its operation.
  • the overheat protection function of the IPM frequently works in regions with high temperatures, and the IPM may stop frequently. Use in such a state is not preferable from the viewpoint of reliability in the construction machine.
  • the hybrid construction machine 1 detects the temperatures of the IPMs 103 and 105 in each unit such as the inverter units 62 to 65 and the step-up / down converter unit 66 separately from the temperature sensor 137 built in the IPMs 103 and 105. Temperature sensors 109 and 108 for this purpose are provided outside the IPMs 103 and 105. The temperature detection result by the temperature sensors 109 and 108 is a predetermined first threshold value lower than the temperature at which the overheat protection function of the IPMs 103 and 105 operates by the temperature sensor 137, that is, the temperature TA at which the IPMs 103 and 105 automatically stop.
  • the controller 30 attempts to reduce the amount of current flowing through the IPMs 103 and 105 in order to prevent the IPMs 103 and 105 from overheating and stopping. That is, when the unit is the inverter unit 62, the maximum drive current to the turning electric motor 21 is decreased, and when the unit is the step-up / down converter unit 66, the maximum discharge current from the battery 19 is decreased. Thereby, it can suppress that the overheat protection function of IPM103,105 works frequently even in the area and place where temperature is high, and the reliability of the hybrid type construction machine 1 can be improved.
  • the IPMs 103 and 105 are likely to be in a high temperature state. Even under such conditions, the output of the IPMs 103 and 105 is reduced in advance before the overheat protection function of the IPMs 103 and 105 operates as in the above configuration, so that the occurrence of an abnormality can be prevented and the operation can be continued. it can.
  • the method of reducing the maximum discharge current from the battery 19 when the unit is the buck-boost converter unit 66 has been described.
  • the maximum charge current to the battery 19 may be reduced, Alternatively, both the maximum discharge current and the maximum charge current may be reduced.
  • the controller 30 detects that the temperature detection results of the temperature sensors 109 and 108 are lower than the temperature TA at which the overheat protection function of the IPMs 103 and 105 is operated by the temperature sensor 137 and higher than the first threshold T1.
  • the second threshold T2 is exceeded, the operation of the inverter circuit 20A is stopped when the unit is the inverter unit 62, and the operation of the step-up / down converter 100 is performed when the unit is the step-up / down converter unit 66. Is preferably stopped.
  • the reliability of the hybrid construction machine 1 can be further improved.
  • the inverter unit 62 and the step-up / down converter unit 66 have metal containers 62b and 66b including heat radiation surfaces thermally coupled to the IPMs 103 and 105, and the temperature sensors 109 and 108 are made of metal. It is preferable to arrange
  • the metal containers 62b and 66b as the heat conduction plates are arranged to extend along the vertical direction of the servo control unit 60, and the temperature sensors 109 and 108 are connected to the metal container 62b.
  • 66b is preferably disposed on the upper side of the IPM 103, 105 within the heat radiation surface. Since the heat released from the IPMs 103 and 105 is likely to be transmitted upward through the metal containers 62b and 66b, the temperature sensors 109 and 108 are arranged on the upper side of the IPMs 103 and 105, so that the temperature of the IPMs 103 and 105 can be further improved. It can be detected.
  • the hybrid construction machine may be provided with a servo control unit including a plurality of driver units each having an inverter circuit for converting DC power and AC power.
  • the servo control unit there is a method in which a power conversion circuit built in a plurality of driver units is controlled by a control unit provided separately from the plurality of driver units.
  • a control unit in order to individually control the power conversion circuit of each driver unit, a plurality of CPUs corresponding to each of the plurality of driver units may be incorporated.
  • the CPU generates a large amount of heat, but has a strict operating temperature range, and is required to control the temperature within a certain range.
  • the control unit is required to have a sealed structure for waterproofing and dustproofing internal circuits such as a CPU.
  • a sealed structure it is difficult for heat generated in the control unit to be dissipated to the outside, and it is difficult to suppress the temperature rise of the CPU.
  • the control unit incorporates a plurality of CPUs corresponding to each of the plurality of driver units as described above, this problem becomes more prominent.
  • the control unit 600 having a sealed structure has a cooling pipe 608.
  • the cooling pipe 608 is thermally coupled to the plurality of CPUs 605a to 605e, and the plurality of CPUs 605a to 605e can be cooled by introducing a coolant from the outside of the housing 601.
  • such a structure can efficiently cool the plurality of CPUs 605a to 605e even in the sealed structure, so that the temperature rise of the plurality of CPUs 605a to 605e can be effectively increased. Can be suppressed.
  • control unit 600 is placed on the step-up / down converter unit 66 and the inverter units 62 to 65, and a plurality of CPUs 605 a to 605 e are arranged on the cooling pipe 608 in the control unit 600. Yes. That is, the cooling pipe 608 is disposed between the units 62 to 66 and the plurality of CPUs 605a to 605e.
  • Each of the units 62 to 66 includes an inverter circuit and a step-up / down converter circuit, but generally, the heat generation amount of these circuits is larger than that of a CPU or the like.
  • the control unit 600 is placed on the units 62 to 66 as in this embodiment, the heat of the inverter circuit is easily transmitted to the CPUs 605a to 605e in the control unit 600.
  • the cooling pipe 608 is disposed between the units 62 to 66 and the CPUs 605a to 605e, so that the heat of the inverter circuit is not easily transmitted to the CPUs 605a to 605e. It becomes possible to cool 605e more efficiently.
  • control unit 600 may include a heat sink 603 provided between the CPUs 605a to 605e and the cooling pipe 608 and thermally coupled to the CPUs 605a to 605e and the cooling pipe 608.
  • a heat sink 603 provided between the CPUs 605a to 605e and the cooling pipe 608 and thermally coupled to the CPUs 605a to 605e and the cooling pipe 608.
  • heat from the CPUs 605a to 605e is easily transferred to the cooling pipe 608, and the CPUs 605a to 605e can be cooled more efficiently.
  • the cooling pipe 608 has a shape in which a plurality of pipe portions 608 a are alternately connected at one end side and the other end side, and a plurality of cooling regions of the heat sink 603.
  • Each of 603a to 603e is thermally coupled to two adjacent piping portions 608a among the plurality of piping portions 608a, and the CPUs 605a to 605e are thermally connected to one cooling region per CPU. It is preferable that they are bonded.
  • the cooling pipe 608 and the CPUs 605a to 605e so as to have such a mutual relationship, a sufficient length of the cooling pipe 608 per CPU is secured, and the CPUs 605a to 605e are cooled more efficiently. it can.
  • a heat conductive sheet 612 including an elastic material is disposed between the CPUs 605a to 605e and the heat sink 603. As a result, heat from the CPUs 605a to 605e is easily transferred to the heat sink 603, and the CPUs 605a to 605e can be cooled more efficiently.
  • a single control card 604 is provided with a plurality of CPUs and is connected to each other by pattern wiring formed on the control card 604. As a result, damage to the wiring is reduced, and the reliability of the servo control unit 60 can be improved.
  • the servo control unit 60 of the present embodiment has a configuration in which the inverter units 62 to 65, the step-up / step-down converter unit 66 and the control unit 600 are integrated, but the servo control unit 60 is not necessarily configured in this way.
  • the control unit 600 may be arranged in a state separated from the inverter units 62 to 65 and the step-up / down converter unit 66.
  • the hybrid construction machine 1 preferably includes a coolant circulation system including a radiator 173.
  • the control unit 600 any one of the units 62 to 66, and the AC motor 12 (21) are arranged in this order. It is preferable to pass through.
  • the control unit 600 is cooled by cooling the control unit 600 having a relatively low temperature first, and then cooling the units 62 to 66 having a relatively high temperature and then the AC motors 12 and 21 having a higher temperature. Therefore, it is possible to increase the cooling efficiency of the coolant circulation system.
  • FIG. 21 is a view showing a modification of the coolant circulation system according to the embodiment.
  • the lifting magnet vehicle has a second coolant circulation system 170A and a third coolant circulation system 130 in addition to the first coolant circulation system 160 shown in FIG. It has.
  • the second coolant circulation system 170A is obtained by omitting the turning electric motor 21, the motor generator 12, and the speed reducer 13 from the second coolant circulation system 170 of the above embodiment, and is similar to the above embodiment.
  • a pump 172 having a configuration, a radiator 173, and a servo control unit 60 are provided.
  • the third coolant circulation system 130 is a coolant circulation system provided separately from the first and second coolant circulation systems 160 and 170A in order to cool the motor generator 12 and the turning electric motor 21.
  • the third coolant circulation system 130 includes a pump 122 driven by a pump motor (not shown) and a radiator 123.
  • the coolant circulated by the pump 122 is radiated by the radiator 123 and sent to the turning electric motor 21.
  • the coolant flows through the coolant flow path 214, and then the motor generator 12 and the speed reducer 13 are cooled in this order and returned to the pump 122.
  • the radiator 123 is an example of a third heat exchanger in the present invention.
  • the second and third coolant circulation systems 170A and 130 are preferably provided with a common auxiliary tank 176 for replenishing coolant as shown in FIG.
  • a coolant circulation system 130 different from the first and second coolant circulation systems 160 and 170A may be provided.
  • the driver units 62 to 66 (particularly the reactor 101) of the servo control unit 60 having a relatively low temperature, the motor generator 12 and the turning motor 21 having a relatively high temperature are cooled independently, thereby cooling. Efficiency can be further increased.
  • FIG. 22 is a flowchart showing the operation of the hybrid type construction machine 1 in the DC bus voltage reduction mode according to a modification.
  • the operator operates the ignition key 40 to stop the operation of the hybrid construction machine 1 (step S21).
  • the controller 30 starts the DC bus voltage reduction mode. That is, the controller 30 receives the operation of the key 40 and stops driving the inverter circuits 18A, 20A, and 20B (step S22). As a result, power supply to the motor generator 12, the turning electric motor 21, and the lifting magnet 7 is stopped.
  • the controller 30 compares the voltage value of the DC bus 110 detected by the voltage sensor 110b shown in FIG. 3 with the voltage across the battery 19 (step S23).
  • the target voltage on the DC bus 110 side in the buck-boost converter 100 is set equal to the voltage across the battery 19 (step S24).
  • the driving of the step-up / down converter 100 is continued (step S25).
  • the voltage value of DC bus 110 is larger than the both-ends voltage of battery 19 (Step S26; Yes)
  • battery 19 is charged by driving buck-boost converter 100.
  • Step S26 When the voltage value of the DC bus 110 becomes equal to or lower than the voltage across the battery 19 (Step S26; No or Step S23; No), the controller 30 stops driving the step-up / down converter 100 (Step S27). Then, the controller 30 turns off the switches 100E and 100F (see FIG. 3) between the buck-boost converter 100 and the battery 19 (step S28). Thereby, the DC bus 110 and the battery 19 are electrically separated. Then, the controller 30 instructs the ECU 11 or the like of the engine 11 to stop the engine 11 (step S29).
  • the inverter circuit 20C continues to drive the pump motor 171 that is a cooling electric motor, and the coolant continues to circulate inside the coolant circulation system 170 by the pump motor 171.
  • the controller 30 continues to drive the inverter circuit 20C and continues the operation of the pump motor 171 (step S30).
  • the drive of the inverter circuit 20C is continued until the voltage of the DC bus 110 detected by the voltage sensor 110b is equal to or lower than a predetermined threshold (Step S31; No).
  • a suitable value for the predetermined threshold is the same as that in the above embodiment.
  • step S31 when the voltage of the DC bus 110 becomes equal to or lower than the predetermined threshold (step S31; Yes), the controller 30 stops driving the inverter circuit 20C (step S32). Thereby, the operation of the pump motor 171 is stopped, the DC bus voltage lowering mode is ended, and the operation of the hybrid construction machine 1 is completely stopped.
  • the voltage of the DC bus 110 is consumed when the controller 30 drives the pump motor 171 with the voltage of the DC bus 110 in the DC bus voltage lowering mode, as in the above embodiment. Therefore, it is not necessary to newly add a component such as a resistor or a switch only for the DC bus voltage lowering mode, and the voltage of the DC bus 110 can be lowered with a configuration in which a decrease in reliability is suppressed. Further, since the pump motor 171 does not give a driving force to the movable part, the working element, etc., the voltage of the DC bus 110 can be safely reduced.
  • the step-up / down converter 100 is set before the switches 100E and 100F are disconnected. It is preferable to drive the battery 19 to charge the battery 19. Thereby, the voltage of the DC bus 110 can be stored in the battery 19 as much as possible, and the energy efficiency can be further improved.
  • FIG. 23 is a flowchart showing the operation of the hybrid type construction machine 1 in the DC bus voltage reduction mode according to another modification.
  • an input regarding the start of the DC bus voltage reduction mode is made by the operator via the operation panel in the cab 4a (see FIG. 1).
  • the controller 30 starts the DC bus voltage drop mode.
  • the ignition key 40 is operated by the operator, and the hybrid construction machine 1 is energized (step S41). At this time, the engine 11 remains stopped, and the inverter circuits 18A, 20A to 20C are also stopped. And the controller 30 receives the input regarding the start of DC bus voltage fall mode by an operator (step S42), and starts the drive of the inverter circuit 20C (step S43). That is, the inverter circuit 20 ⁇ / b> C starts driving the pump motor 171 that is a cooling electric motor, and the pump motor 171 starts circulating the coolant through the coolant circulation system 170. The controller 30 continues the drive of the inverter circuit 20C and continues the operation of the pump motor 171 (step S44). The drive of the inverter circuit 20C is such that the voltage of the DC bus 110 detected by the voltage sensor 110b is below a predetermined threshold value. (Step S45; No). A suitable value for the predetermined threshold is the same as that in the above embodiment.
  • step S45 when the voltage of the DC bus 110 becomes equal to or lower than the predetermined threshold (step S45; Yes), the controller 30 stops driving the inverter circuit 20C (step S46). As a result, the operation of the pump motor 171 stops and the DC bus voltage lowering mode ends.
  • the voltage of the DC bus 110 is consumed when the controller 30 drives the pump motor 171 with the voltage of the DC bus 110 in the DC bus voltage lowering mode, as in the above embodiment. Therefore, it is not necessary to newly add a component such as a resistor or a switch only for the DC bus voltage lowering mode, and the voltage of the DC bus 110 can be lowered with a configuration in which a decrease in reliability is suppressed. Further, since the pump motor 171 does not give a driving force to the movable part, the working element, etc., the voltage of the DC bus 110 can be safely reduced.
  • the controller 30 may start the DC bus voltage drop mode when there is an input from the operator while the hybrid type construction machine 1 is not operating. Thereby, the operator can reduce the voltage of the DC bus 110 as necessary.
  • the cooling motor may cool at least the control unit 600. Since the control unit 600 has a sealed structure, the electronic components arranged in the control unit 600 are not cooled by the outside air. For this reason, if the circulation of the coolant in the control unit 600 is stopped immediately after the key-off, heat cannot be taken from the electronic components in the control unit 600 that have become hot due to operation through the heat sink, The temperature of the electronic parts and the temperature of the air in the housing 601 will rise. On the other hand, the life of the electronic components in the control unit 600 can be extended by maintaining the circulation of the coolant in the control unit 600 after the key-off.
  • FIG. 24A is a diagram illustrating an appearance of a forklift 1A as a work machine.
  • the forklift 1A is a so-called counter-type forklift configured to balance the vehicle body by attaching a weight to the rear of the vehicle body.
  • the forklift 1A includes a driver's seat 31, a fork 32, wheels 34, 38, and the like for a driver to get on and sit on.
  • the fork 32 is for raising and lowering a load, and the fork 32 is provided in front of the driver seat 31.
  • Two wheels 34 and 38 are disposed in front and rear of the driver's seat 31, respectively.
  • the wheels 38 disposed rearward of the driver's seat 31 are steering wheels.
  • the wheels 34 arranged in front of the driver's seat 31 are drive wheels.
  • FIG. 24B is a schematic configuration diagram of an electric system provided in the forklift 1A.
  • the forklift 1 ⁇ / b> A has inverter circuits 42 and 43, and the inverter circuits 42 and 43 are driven by DC power from the power storage means (power storage unit) 41.
  • the inverter circuit 42 converts the DC power into AC power and drives the cargo handling motor 35.
  • the inverter circuit 43 drives the travel motor 36.
  • the cargo handling motor 35 is a working electric motor for moving the fork 32 up and down, and the traveling motor 36 is a working electric motor for driving the wheels 34.
  • the inverter circuits 42 and 43 are driven by a controller (not shown).
  • the configuration of the power storage means 41, the inverter unit incorporating the inverter circuits 42 and 43, and the control unit incorporating the controller can be the same as the power storage means 120, the inverter units 62 to 65 and the control unit 600 described above.
  • the forklift 1A is provided with a coolant circulation system for cooling the inverter circuits 42 and 43 and the step-up / down converter of the power storage means 41. That is, the forklift 1A includes a pump 78 that circulates coolant, a pump motor (cooling motor) 79 that drives the pump 78, and an inverter circuit 44 that is connected between the pump motor 79 and the power storage means 41. ing.
  • the inverter circuit 44 is driven by a controller (not shown) similarly to the inverter circuits 42 and 43.
  • the controller has a DC bus voltage lowering mode for lowering the voltage of the DC bus of the power storage means 41.
  • the controller stops the inverter circuits 42 and 43 and the inverter circuit
  • the voltage of the DC bus is lowered by driving 44 and causing the pump motor 79 to consume power.
  • the forklift 1A includes a driver's seat 31, a fork 32, wheels 34, 38 and the like for a driver to get on and sit on.
  • the fork 32 is for raising and lowering a load, and the fork 32 is provided in front of the driver seat 31.
  • Two wheels 34 and 38 are disposed in front and rear of the driver's seat 31, respectively.
  • the wheels 38 disposed rearward of the driver's seat 31 are steering wheels.
  • the wheels 34 arranged in front of the driver's seat 31 are drive wheels.
  • FIG. 25 is a diagram showing the appearance of a bulldozer 1B as a work machine.
  • the bulldozer 1B includes a driver seat 91 for a driver to get on and sit, a lift cylinder 92, a blade 93, a tilt cylinder 94, a crawler belt 95, a left driving wheel 96, a right driving wheel (not shown), and the like. Has been.
  • FIG. 26 is a block diagram showing an internal configuration of the bulldozer 1B such as an electric system and a hydraulic system.
  • the bulldozer 1B includes a motor generator 412 and a transmission 413, and the rotation shafts of the engine 411 and the motor generator 412 are connected to each other by being connected to the input shaft of the transmission 413.
  • the motor generator 412 assists the driving force of the engine 411 by driving the engine 411 as a work element, and the driving force of the motor generator 412 is used as the output shaft of the transmission 413. And transmitted to the main pump 414.
  • the driving force of the engine 411 is transmitted to the motor generator 412 via the transmission 413, so that the motor generator 412 generates power.
  • the motor generator 412 is configured by, for example, an IPM motor in which magnets are embedded in the rotor. Switching between driving and power generation of the motor generator 412 is performed according to the load of the engine 411 and the like by a controller 430 that controls driving of the electric system in the bulldozer 1B.
  • a main pump 414 and a pilot pump 415 are connected to the output shaft of the transmission 413, and a control valve 417 is connected to the main pump 414 via a high-pressure hydraulic line 416.
  • the control valve 417 is a device that controls the hydraulic system in the bulldozer 1B.
  • a lift cylinder 92 and a tilt cylinder 94 are connected to the control valve 417 via a high-pressure hydraulic line, and the control valve 417 controls the hydraulic pressure supplied to them according to the operation input of the driver.
  • the output terminal of the inverter circuit 418A is connected to the electrical terminal of the motor generator 412.
  • a power storage means (power storage unit) 520 is connected to the input terminal of the inverter circuit 418A.
  • the configuration of the power storage unit 520 is the same as that of the power storage unit 120 of the above embodiment.
  • the operation of the inverter circuit 418A is the same as that of the inverter circuit 18A of the above embodiment.
  • the storage means 520 is connected to two inverter circuits 420A.
  • a traveling motor (AC motor) 221 as a working motor is connected to one end of each inverter circuit 420A, and the other end of the inverter circuit 420A is connected to the power storage means 520.
  • the traveling motor 421 is a power source for the left driving wheel 96 and the right driving wheel 97.
  • a speed reducer 424 is connected to the rotating shaft 421 ⁇ / b> A of the traveling electric motor 421.
  • the speed reducer 424 is a speed reducer that reduces the rotational speed of the rotating shaft 421A of the electric motor 421 for traveling and mechanically transmits the rotational speed to the left driving wheel 96 and the right driving wheel 97.
  • the operation of the traveling motor 421 is the same as that of the turning motor 21 described above.
  • the bulldozer 1B has a coolant circulation system for the electric system.
  • This coolant circulation system includes a pump 572 for circulating coolant supplied to the step-up / down converter, inverter circuits 418A, 420A, and the like, and a pump motor 571 for driving the pump 572.
  • the pump motor 571 is connected to the power storage means 520 via the inverter circuit 420C.
  • the inverter circuit 420C supplies the requested electric power to the pump motor 571 based on a command from the controller 430.
  • This coolant circulation system cools the inverter circuits 418A, 220A and the controller 430.
  • the coolant circulation system cools the motor generator 412, the transmission 413, and the traveling motor 421.
  • An operating device 426 is connected to the pilot pump 415 via a pilot line 425.
  • the operating device 426 is an operating device for operating the electric motor 421 for traveling, the lift cylinder 92, and the tilt cylinder 94, and is operated by an operator.
  • a control valve 417 is connected to the operating device 426 via a hydraulic line 427 and a pressure sensor 429 is connected via a hydraulic line 428.
  • the operating device 426 converts the hydraulic pressure (primary hydraulic pressure) supplied through the pilot line 425 into a hydraulic pressure (secondary hydraulic pressure) corresponding to the operation amount of the operator and outputs the hydraulic pressure.
  • the secondary hydraulic pressure output from the operating device 426 is supplied to the control valve 417 through the hydraulic line 427 and detected by the pressure sensor 429.
  • controller (control unit) 230 are the same as those of the controller 30 described above.
  • the configuration of the power storage means 520, the inverter unit incorporating the inverter circuits 418A and 420A, and the control unit incorporating the controller 430 can be the same as the power storage means 120, the inverter units 62 to 65, and the control unit 600 described above.
  • the controller 430 has a DC bus voltage lowering mode for lowering the voltage of the DC bus of the power storage means 520.
  • the controller 430 stops the inverter circuits 418A and 420A and The voltage of the DC bus is lowered by driving 420C and causing the pump motor 571 to consume power.
  • the work machine according to the present invention is not limited to the above-described embodiment, and various other modifications are possible.
  • the case of a lifting magnet vehicle and a forklift has been described as examples of the work machine.
  • the present invention may be applied to other work machines (for example, an excavator, a wheel loader, and a crane).
  • the hybrid construction machine Since the motor generator, the AC motor for turning, and the drive control device (inverter or the like) that controls the drive of these devices generate heat due to the power consumption during operation, the hybrid construction machine uses these devices.
  • a cooling mechanism for cooling is provided.
  • the drive control device or the like has a configuration for stopping the operation when the drive control device or the like reaches a temperature equal to or higher than a threshold value.
  • it is preferable that continuous operation is possible in order to improve work efficiency. If the drive control device or the like stops due to temperature rise, continuous operation becomes impossible, leading to a reduction in work efficiency.
  • a hybrid construction machine capable of improving work efficiency by realizing continuous operation will be described.
  • FIG. 27 is a perspective view showing the external appearance of an excavator 1001 as an example of the work machine according to the present invention.
  • the excavator 1001 includes a traveling mechanism 1002 including an endless track, and a revolving body 1004 that is rotatably mounted on the upper portion of the traveling mechanism 1002 via a revolving mechanism 1003.
  • the swing body 1004 is attached with a boom 1005, an arm 1006 linked to the tip of the boom 1005, and a bucket 1010 linked to the tip of the arm 1006.
  • the bucket 1010 is a facility for adsorbing and capturing a suspended load G such as a steel material by a magnetic force.
  • the boom 1005, the arm 1006, and the bucket 1010 are hydraulically driven by the boom cylinder 1007, the arm cylinder 1008, and the bucket cylinder 1009, respectively.
  • the revolving body 1004 is provided with a power source such as a driver's cab 1004a for accommodating an operator who operates the position of the bucket 1010, excitation operation and release operation, and an engine 1011 for generating hydraulic pressure.
  • the engine 1011 is composed of, for example, a diesel engine.
  • FIG. 28 is a block diagram showing an internal configuration such as an electric system and a hydraulic system of the excavator 1001 of this embodiment.
  • a system for mechanically transmitting power is indicated by a double line
  • a hydraulic system is indicated by a thick solid line
  • a control system is indicated by a broken line
  • an electric system is indicated by a thin solid line.
  • the excavator 1001 includes a motor generator 1012 and a speed reducer 1013, and the rotation shafts of the engine 1011 and the motor generator 1012 are connected to each other by being connected to the input shaft of the speed reducer 1013.
  • the motor generator 1012 assists (assists) the driving force of the engine 1011 with its own driving force, and the driving force of the motor generator 1012 passes through the output shaft of the speed reducer 1013 to the main pump 1014. Communicated.
  • the load of the engine 1011 is small, the driving force of the engine 1011 is transmitted to the motor generator 1012 through the speed reducer 1013, so that the motor generator 1012 generates power.
  • the motor generator 1012 is configured by, for example, an IPM (Interior / Permanent / Magnetic) motor in which a magnet is embedded in a rotor. Switching between driving and power generation of the motor generator 1012 is performed by a controller (control unit) 1030 that performs drive control of the electric system in the excavator 1001 according to the load of the engine 1011 and the like.
  • IPM Interior / Permanent / Magnetic
  • a main pump 1014 and a pilot pump 1015 are connected to the output shaft of the speed reducer 1013, and a control valve 1017 is connected to the main pump 1014 via a high-pressure hydraulic line 1016.
  • the control valve 1017 is a device that controls the hydraulic system in the excavator 1001.
  • a boom cylinder 1007, an arm cylinder 1008, and a bucket cylinder 1009 are connected to the control valve 1017 via a high pressure hydraulic line.
  • the control valve 1017 controls the hydraulic pressure supplied to them according to the operation input of the driver.
  • the output terminal of the inverter 1018A (second drive control means) is connected to the electrical terminal of the motor generator 1012.
  • a power storage means (power storage unit) 1100 is connected to the input terminal of the inverter 1018A.
  • the power storage means 1100 includes, for example, a battery that is a storage battery, a step-up / down converter that controls charging / discharging of the battery, and a DC bus including positive and negative DC wirings (not shown).
  • the DC bus constitutes a constant voltage power storage unit
  • the battery constitutes a variable voltage power storage unit. That is, the input terminal of the inverter 1018A is connected to the input terminal of the buck-boost converter via the DC bus.
  • a battery is connected to the output terminal of the buck-boost converter.
  • the inverter 1018A controls the operation of the motor generator 1012 based on a command from the controller 1030. That is, when the inverter 1018A power-operates the motor generator 1012, the necessary power is supplied from the battery and the buck-boost converter to the motor generator via the DC bus. Further, when the motor generator 1012 is regeneratively operated, the battery is charged with the electric power generated by the motor generator 1012 via the DC bus and the step-up / down converter. The switching control between the step-up / step-down converter and the step-down operation is performed by the controller 1030 based on the DC bus voltage value, the battery voltage value, and the battery current value. As a result, the DC bus can be maintained in a state of being stored at a predetermined constant voltage value.
  • Boom regeneration generator 1300 is connected to power storage means 1100 via inverter 1018B.
  • a hydraulic motor 1310 is connected to the boom cylinder 1007, and the rotating shaft of the boom regeneration generator 1300 is driven by the hydraulic motor 1310.
  • the boom regeneration generator 1300 is an electric work element that converts potential energy into electrical energy when the boom 1005 is lowered by the action of gravity.
  • the hydraulic motor 1310 is configured to be rotated by oil discharged from the boom cylinder 1007 when the boom 1005 is lowered, and is provided to convert energy when the boom 1005 is lowered according to gravity into rotational force. It has been.
  • the hydraulic motor 1310 is provided in a hydraulic pipe 1007A between the control valve 1017 and the boom cylinder 1007.
  • the electric power generated by the boom regenerative generator 1300 is supplied as regenerative energy to the power storage means 1100 through the inverter 1018B.
  • a turning electric motor 1021 as a working electric motor is connected to the power storage means 1100 via an inverter 1018C (first drive control means).
  • the turning electric motor 1021 is a power source of the turning mechanism 1003 for turning the turning body 1004.
  • a resolver 1022, a mechanical brake 1023, and a turning speed reducer 1024 are connected to the rotating shaft 1021 ⁇ / b> A of the turning electric motor 1021.
  • the turning electric motor 1021 When the turning electric motor 1021 performs a power running operation, the rotational force of the rotational driving force of the turning electric motor 1021 is amplified by the turning speed reducer 1024, and the turning body 1004 is subjected to acceleration / deceleration control to perform rotational movement. Further, due to the inertial rotation of the swing body 1004, the rotation speed is increased by the swing speed reducer 1024 and is transmitted to the swing electric motor 1021 to generate regenerative power.
  • the electric motor 1021 for turning is AC driven by an inverter 1018C by a PWM (Pulse Width Modulation) control signal.
  • PWM Pulse Width Modulation
  • the resolver 1022 is a sensor that detects the rotation position and rotation angle of the rotating shaft 1021A of the turning electric motor 1021, and is mechanically connected to the turning electric motor 1021 to detect the rotation angle and rotation direction of the rotating shaft 1021A.
  • the mechanical brake 1023 is a braking device that generates a mechanical braking force, and mechanically stops the rotating shaft 1021A of the turning electric motor 1021 according to a command from the controller 1030.
  • the turning speed reducer 1024 is a speed reducer that reduces the rotational speed of the rotating shaft 1021 ⁇ / b> A of the turning electric motor 1021 and mechanically transmits it to the turning mechanism 1003.
  • An operating device 1026 (operating means) is connected to the pilot pump 1015 via a pilot line 1025.
  • the operating device 1026 is an operating device for operating the turning electric motor 1021, the traveling mechanism 1002, the boom 1005, the arm 1006, and the bucket 1010, and is operated by the operator.
  • a control valve 1017 is connected to the operating device 1026 via a hydraulic line 1027, and a pressure sensor 1029 is connected via a hydraulic line 1028.
  • the operating device 1026 converts the hydraulic pressure (primary hydraulic pressure) supplied through the pilot line 1025 into a hydraulic pressure (secondary hydraulic pressure) corresponding to the operation amount of the operator and outputs the converted hydraulic pressure.
  • the secondary hydraulic pressure output from the operating device 1026 is supplied to the control valve 1017 through the hydraulic line 1027 and detected by the pressure sensor 1029.
  • the pressure sensor 1029 detects the operation amount as a change in the hydraulic pressure in the hydraulic line 1028.
  • the pressure sensor 1029 outputs an electrical signal indicating the hydraulic pressure in the hydraulic line 1028. This electric signal is input to the controller 1030 and used for driving control of the turning electric motor 1021.
  • the controller 1030 is configured by a processing unit including a CPU (Central Processing Unit) and an internal memory, and is realized by the CPU executing a drive control program stored in the internal memory.
  • the controller 1030 receives operation inputs from various sensors and the operation device 1026, and performs drive control of the inverters 1018A, 1018B, 1018C, the power storage unit 1100, and the like.
  • the controller 1030 of the present embodiment reduces the voltage of the DC bus when performing the maintenance of the excavator 1001 (specifically, the electric charge accumulated in the smoothing capacitor connected to the DC bus is consumed) DC bus voltage lowering mode (bus voltage lowering mode).
  • DC bus voltage lowering mode bus voltage lowering mode
  • the controller 1030 stops all the inverter circuits 1018A, 1018B and 1018C, and the step-up / down converter 1102, and disconnects the switch provided between the step-up / down converter 1102 and the battery. Thereafter, another inverter circuit is driven to cause the pump motor to consume power, thereby reducing the voltage of the DC bus.
  • the operation of the excavator 1001 is stopped (specifically, when the engine 1011 is about to stop by the operator's key operation), or via the operation panel in the driver's cab 1004a. This is started when the operator inputs the start of the DC bus voltage drop mode.
  • FIG. 29 is a schematic configuration diagram showing the configuration of the inverter 1018.
  • the inverter 1018 is controlled by a PWM signal from the controller 1030, and generates and outputs a motor drive signal for driving a motor such as the turning electric motor 1021.
  • an IPM 1018a incorporating a transistor that constitutes an inverter circuit is configured inside the inverter 1018.
  • the IPM 1018a is equipped with various sensors 1018b such as a temperature sensor.
  • the various sensors 1018b detect events such as overcurrent, control power supply voltage drop, output short-circuit, and temperature abnormality, and when these events are detected, an IPM error signal is output.
  • the temperature abnormality event means that the temperature of the inverter 1018 has become equal to or higher than a predetermined shutdown temperature TIh.
  • the operation stop temperature is set to 100 ° C., for example.
  • the IPM 1018a When the IPM 1018a detects the IPM error signal, the IPM 1018a stops supplying current for driving the motor to be driven in order to prevent burning of the motor to be driven and the inverter 1018. In this case, the operation of the excavator 1001 is also stopped and the continuous operation is interrupted.
  • FIG. 30 is a diagram illustrating an example of a cooling water pipe in the cooling device.
  • the cooling device includes a tank 1400, a pump 1401, a pump motor 1402, a radiator 1403, and a water temperature meter 1404 (temperature detection means). Cooling water (refrigerant) in this cooling device is stored in a tank 1400 and sent to a radiator 1403 by a pump 1401 driven by a pump motor 1402. The cooling water cooled by the radiator 1403 is sent to the inverters 1018A, 1018B, 1018C, the step-up / down converter 1102, and the battery 1101 via the controller 1030 by piping. The cooling water is further returned to the tank 1400 via the turning electric motor 1021, the motor generator 1012, and the speed reducer 1013. The water temperature meter 1404 detects the temperature of the cooling water sent from the radiator 1403 and sends information related to the detected temperature to the controller 1030.
  • the water temperature meter 1404 detects the temperature of the cooling water sent from the radiator 1403 and sends information related to the detected temperature to the controller 1030.
  • the cooling water pipe to the controller 1030 is directly connected to the radiator 1403. Thereby, the cooling performance for the CPU in the controller 1030 can be ensured, and thus the reliability of the excavator 1001 is ensured.
  • piping is connected so that the cooling water used for cooling the controller 1030 is used for cooling the inverters 1018A to 1018C, the step-up / down converter 1102, etc., but the piping from the radiator 1403 is connected to the controller 1030, the inverter 1018A to 1018C, the buck-boost converter 1102, etc. may be connected in parallel.
  • FIG. 31 is a schematic configuration diagram showing a functional configuration of the controller 1030.
  • the controller 1030 includes an overall control unit 1030D and inverter control units 1030A, 1030B, and 1030C.
  • the overall control unit 1030D is a part that performs overall control of each component included in the excavator 1001, and sends various information such as a speed command and a torque limit value to the inverter control units 1030A, 1030B, and 1030C.
  • the overall control unit 1030D acquires information regarding the temperature of the cooling water sent from the water temperature gauge 1404.
  • the torque limit value sent from the overall control unit 1030D to the inverter control units 1030A, 1030B, and 1030C is the current supplied from the inverters 1018A, 1018B, and 1018C to the motor generator 1012, the boom regeneration generator 1300, and the turning motor 1021. Used to set the upper limit of. That is, the overall control unit 1030D determines that the cooling water temperature T acquired from the water thermometer 1404 is equal to or higher than the predetermined output suppression temperature Tth, compared to the case where the cooling water temperature T is lower than the output suppression temperature Tth.
  • the inverters 1018A, 1018B, and 1018C are controlled so as to reduce the upper limit value of the current supplied to the motor generator 1012, the boom regeneration generator 1300, and the turning motor 1021.
  • the output suppression temperature Tth is set lower than the operation stop temperature TIh of the inverter.
  • the output suppression temperature Tth is set lower than the operation stop temperature, which is a reference temperature for temperature abnormality, which is one of the events in which the IPM error signal is output in the IPM 1018a of the inverter 1018.
  • inverter 1018A, 1018B, 1018C starts the operation
  • movement of the mechanism which stops the supply of the electric current to motor generator 1012, boom regeneration generator 1300, and electric motor 1021 for turning the upper limit value of the electric current supplied Is controlled by the controller 1030. Therefore, the motor generator 1012, the boom regeneration generator 1300, and the turning electric motor 1021 are prevented from being stopped due to temperature abnormalities, and the excavator 1001 can be continuously operated. Details of the control performed by the controller 1030 will be described later.
  • the inverter control units 1030A, 1030B, and 1030C are parts that control the inverters 1018A, 1018B, and 1018C, respectively.
  • inverter control units 1030A to 1030C will be described.
  • FIG. 32 is a block diagram showing a configuration of the inverter control unit 1030C.
  • Inverter control units 1030A and 1030B have the same configuration as inverter control unit 1030C.
  • the inverter control unit 1030C (1030) includes a subtractor 1031, a PI control unit 1032, a torque limiting unit 1033, a subtractor 1034, a PI control unit 1035, a current conversion unit 1037, a turning motion detection unit 1038, and A PWM signal generation unit 1040 is provided.
  • the subtracter 1031 subtracts the turning speed value detected by the turning motion detection unit 1038 from the turning speed speed command value of the work element driven by the turning electric motor 1021 and outputs a deviation.
  • the speed command value of the turning speed is, for example, a command value corresponding to the operation amount of the operating device 1026 (see FIG. 28), and is sent from the overall control unit 1030D of the controller 1030.
  • the resolver 1022 detects a change in the rotational position of the turning electric motor 1021.
  • the turning motion detection unit 1038 calculates a turning speed value based on a change in the rotational position of the turning electric motor 1021 and outputs the turning speed value to the subtracter 1031.
  • the PI control unit 1032 Based on the deviation output from the subtractor 1031, the PI control unit 1032 performs PI control so that the rotational speed of the turning electric motor 1021 approaches the speed command value and the deviation becomes small, and the torque current for the control Generate a command value. PI control unit 1032 outputs a torque current command value to torque limiting unit 1033.
  • the torque limiting unit 1033 sets the torque current command value to a predetermined torque so that the torque generated in the turning electric motor 1021 by the torque current command value output from the PI control unit 1032 is less than or equal to the allowable torque value of the turning electric motor 1021.
  • Limit to the limit value (torque upper limit) range.
  • the torque limit value is sent from the overall control unit 1030D, and the torque limit unit 1033 acquires the sent torque limit value.
  • the acceleration torque limit value XU is set to 150% of the rated torque in the turning electric motor 1021 to be driven
  • the deceleration torque limit value XD is set to 250% of the rated torque. Is done.
  • step S1001 the overall control unit 1030D determines whether or not the temperature T of the cooling water acquired from the water temperature gauge 1404 is greater than a predetermined output suppression temperature Tth.
  • the output suppression temperature Tth is set to 60 ° C., for example. If the cooling water temperature T is higher than the predetermined output suppression temperature Tth, the process proceeds to step S1002. If the cooling water temperature T is not higher than the predetermined output suppression temperature Tth, the determination process of step S1001 is performed. Is repeated.
  • step S1002 the overall control unit 1030D determines the torque limit value for the torque limiting unit 1033 of the inverter control unit 1030 from the acceleration torque limit value XU and the deceleration torque limit value XD, and the acceleration suppression torque limit value XU *. And it is changed to the deceleration torque limit value XD * during deceleration.
  • the acceleration suppression torque limit value XU * is set to, for example, 100% of the rated torque of the turning electric motor 1021
  • the deceleration suppression torque limit value XD * is set to, for example, 150% of the rated torque of the turning electric motor 1021.
  • inverter 1018C can be controlled to reduce the upper limit value of the current supplied to turning electric motor 1021.
  • the rated torque used as a reference for setting is a value according to the driving target such as the motor generator 1012, the boom regeneration generator 1300, and the turning motor 1021.
  • step S1003 the overall control unit 1030D determines whether or not the temperature T of the cooling water acquired from the water temperature gauge 1404 has returned below the output suppression temperature Tth. If the cooling water temperature T is equal to or lower than the output suppression temperature Tth, the process proceeds to step S1004. If the cooling water temperature T is not equal to or lower than the output suppression temperature Tth, the determination process in step S1003 is repeated. As for the torque limit value, the suppression torque limit value XU * during acceleration and the suppression torque limit value XD * during deceleration remain set.
  • step S1004 the overall control unit 1030D determines the torque limit value for the torque limiting unit 1033 from the acceleration suppression torque limit value XU * and the deceleration suppression torque limit value XD *, and the acceleration torque limit value XU and deceleration. Return to torque limit value XD.
  • the subtractor 1034 subtracts the output value from the current conversion unit 1037 from the torque current command value output from the torque limiting unit 1033, and outputs a deviation.
  • the current conversion unit 1037 detects the current value of the motor drive signal of the turning electric motor 1021, converts the detected current value of the motor drive signal into a value corresponding to the torque current command value, and outputs it to the subtractor 1034.
  • the PI control unit 1035 acquires the deviation output from the subtractor 1034, performs PI control so that the deviation becomes small, and generates a drive command for driving the inverter 1018C.
  • the PI control unit 1035 outputs a drive command to the PWM signal generation unit 1040.
  • the PWM signal generation unit 1040 generates a PWM signal for switching control of the transistor of the inverter 1018C based on the drive command from the PI control unit 1035, and outputs the PWM signal to the inverter 1018C.
  • FIG. 34 shows the torque, the turning speed of the turning body 1004, and the rotation speed of the turning electric motor 1021 when the torque limit value is set by the overall control unit 1030D of the controller 1030.
  • FIG. 34 (a) is a graph showing the state of torque that changes with time according to the driving operation
  • FIG. 34 (b) is a graph showing the turning speed of the turning body 1004.
  • FIG. ) Is a graph showing the rotation speed of the turning electric motor 1021. In these graphs, the normal time is indicated by a solid line, and when the torque limit value is changed, it is indicated by a broken line.
  • the turning of the turning body 1004 is accelerated with a torque of 150% of the rated torque of the turning electric motor 1021 at times t0 to t1.
  • the torque limit value is changed, the turning of the turning body 1004 is accelerated at a torque of 100% of the rated torque from time t0 to t2.
  • the acceleration when the torque limit value is changed is smaller than that at the normal time.
  • the turning speed reached as a result of acceleration when the torque limit value is changed is slower than the normal time and is about 60% of the normal time.
  • the turning of the turning body 1004 is decelerated at a torque of 250% of the rated torque of the electric motor 1021 for the turning from time t3 to t4.
  • the torque limit value is changed, the turning of the revolving structure 1004 is decelerated at 150% of the rated torque from time t3 to time t5.
  • the acceleration when the torque limit value is changed is smaller than that at the normal time. Further, when the torque limit value is changed, more time is required for stopping compared to the normal time.
  • the rotational speed of the turning electric motor 1021 is constant both when the torque limit value is changed and during normal operation due to the constant rotational speed of the engine 1011. Become. Therefore, the torque varies depending on the load on the turning electric motor 1021, and current is supplied from the inverter 1018C to the turning electric motor 1021 in response to the changing torque. Therefore, the upper limit of the current supplied to the turning electric motor 1021 can be controlled by setting the torque limit value.
  • the excavator 1001 of this embodiment when the temperature of the cooling water for cooling the inverter 1018 becomes equal to or higher than the output suppression temperature Tth, the excavator 1001 is supplied to the AC motor such as the turning electric motor 1021. Since the upper limit value of the current is reduced, the temperature rise in the inverter 1018 is suppressed. Since the output suppression temperature Tth is lower than the operation stop temperature TIh in the IPM 1018a, the upper limit value of the current that the inverter 1018 supplies to the AC motor before the inverter 1018 starts the operation of the mechanism that stops the supply of current to the AC motor. Control to reduce the value is performed by the controller.
  • the machine of the excavator 1001 can be stopped. Therefore, even if the temperature of the cooling water rises, the machine needs to be stopped immediately. There is no. Thereby, the stop by the temperature abnormality of the inverter 1018 is prevented, and the continuous operation of the excavator 1001 is realized.
  • the DC bus voltage drop mode of the controller 1030 is an operation mode for lowering the voltage of the DC bus in a state where the operation of the excavator 1001 is stopped, and includes the inverter circuits 1018A, 1018B and 1018C, and the step-up / down converter 1102. Are stopped, and a switch (similar to the switches 100E and 100F in FIG. 3) provided between the buck-boost converter 1102 and the battery 1101 is disconnected, and then the inverter circuit is driven to drive the pump motor ( In this mode, the same voltage as that of the pump motor 171 in FIG. 2 is consumed to reduce the voltage of the DC bus.
  • FIG. 35 is a flowchart showing the operation of the excavator 1001 in the DC bus voltage lowering mode.
  • an ignition key is operated by an operator to stop the operation of the excavator 1001 (step S1011).
  • the controller 1030 every time the operation of the excavator 1001 is stopped, the controller 1030 starts the DC bus voltage reduction mode. That is, the controller 1030 stops driving the inverter circuits 1018A, 1018B, and 1018C in response to the operation of the key (step S1012). As a result, power supply to the motor generator 1012, the turning motor 1021, and the lifting magnet 1007 is stopped.
  • the controller 1030 stops driving the step-up / down converter 1102 (step S1013).
  • the controller 1030 turns off the switch (see FIG. 3) between the step-up / down converter 1102 and the battery 1101 (step S1014). Thereby, the DC bus and the battery 1101 are electrically separated. Then, the controller 1030 instructs the ECU or the like of the engine 1011 to stop the engine 1011 (step S1015).
  • the inverter circuit continues to drive the pump motor, which is a cooling motor, and the coolant continues to circulate inside the coolant circulation system by the pump motor.
  • the controller 1030 continues driving the inverter circuit and continues the operation of the pump motor (step S1016).
  • the driving of the inverter circuit is continued until the voltage of the DC bus detected by the voltage sensor becomes equal to or lower than a predetermined threshold (Step S1017; No).
  • the predetermined threshold is preferably 25 V, for example, which is safe even in a state where the human body is extremely wet or a state where a part of a metal electric machine facility or structure is always in contact. (NEC Guidelines / Type 2)
  • step S1017 when the voltage of the DC bus becomes equal to or lower than the predetermined threshold (step S1017; Yes), the controller 1030 stops driving the inverter circuit (step S1018). As a result, the operation of the pump motor stops, the DC bus voltage reduction mode ends, and the operation of the excavator 1001 stops completely.
  • FIG. 36 is a graph showing an example of the transition of the voltage of the DC bus in the DC bus voltage lowering mode.
  • the switch is turned off while the pump motor continues to be driven (time T1 in the figure)
  • the DC bus voltage Vdc gradually decreases from the immediately preceding voltage Vact. This reduction speed depends on the power consumption of the pump motor.
  • Vth time T2 in the figure
  • the operation of the pump motor is stopped, so that the rate of decrease of the voltage Vdc becomes slow.
  • the controller 1030 drives the pump motor for driving the pump with the voltage of the DC bus, so that the DC bus voltage is reduced. Voltage is consumed.
  • the pump is mounted on the excavator 1001 to cool the inverter unit and the buck-boost converter unit. According to such a method, components such as a resistor and a switch are newly added only for the DC bus voltage drop mode. There is no need to add to. Therefore, according to the shovel 1001 of the present embodiment, the voltage of the DC bus can be reduced with a configuration in which a decrease in reliability is suppressed.
  • the pump motor is driven with respect to a movable part, a work element, or the like, unlike a work motor such as a motor generator 1012 that drives a hydraulic pump or a turning motor 1021 that drives a work element such as a turning body 1004. It does not give a force, and even if this pump motor is driven, the coolant only circulates inside the pipe. Therefore, according to the shovel 1001 of the present embodiment, the voltage of the DC bus can be lowered without giving a driving force to the work element or the like, and thus the voltage of the DC bus can be lowered safely.
  • a work motor such as a motor generator 1012 that drives a hydraulic pump or a turning motor 1021 that drives a work element such as a turning body 1004. It does not give a force, and even if this pump motor is driven, the coolant only circulates inside the pipe. Therefore, according to the shovel 1001 of the present embodiment, the voltage of the DC bus can be lowered without giving a driving force to the work element or the like, and thus the
  • the excavator 1001 is shown as an example of the work machine according to the present invention, but other examples of the work machine of the present invention include a lifting magnet vehicle, a wheel loader, a crane, and the like.
  • the DC power of the battery is converted to AC power to drive the AC motor, and the AC power is converted to DC power to store the regenerative power in the AC motor in the battery.
  • at least one inverter circuit is required.
  • a buck-boost converter is needed.
  • a servo control system that integrally controls the inverter circuit and the step-up / down converter circuit may be provided.
  • FIG. 37 is a perspective view showing an appearance of a lifting magnet vehicle 2001 as an example of the work machine according to the present invention.
  • the lifting magnet vehicle 2001 includes a traveling mechanism 2002 including an endless track, and a revolving body 2004 that is rotatably mounted on the upper portion of the traveling mechanism 2002 via a revolving mechanism 2003.
  • the swing body 2004 is attached with a boom 2005, an arm 2006 linked to the tip of the boom 2005, and a lifting magnet 2007 linked to the tip of the arm 2006.
  • the lifting magnet 2007 is a facility for attracting and capturing the suspended load G such as a steel material by a magnetic force.
  • the boom 2005, the arm 2006, and the lifting magnet 2007 are hydraulically driven by a boom cylinder 2008, an arm cylinder 2009, and a bucket cylinder 2010, respectively.
  • the revolving body 2004 has power such as a driver's cab 4a for accommodating an operator who operates the position of the lifting magnet 2007, excitation operation and release operation, and an engine (internal combustion engine engine) 11 for generating hydraulic pressure.
  • a source is provided.
  • the engine 2011 is composed of, for example, a diesel engine.
  • the lifting magnet vehicle 2001 includes a servo control unit 2060.
  • the servo control unit 2060 controls charging / discharging of an AC motor for driving work elements such as the turning mechanism 2003 and the lifting magnet 2007, a motor generator for assisting the engine 2011, and a storage battery (battery).
  • the servo control unit 2060 includes a plurality of driver units such as an inverter unit for driving an AC motor or a motor generator by converting DC power into AC power, a step-up / down converter unit for controlling charge / discharge of a battery, and the plurality of driver units. And a control unit for controlling the driver unit.
  • FIG. 38 is a block diagram showing an internal configuration such as an electric system and a hydraulic system of the lifting magnet vehicle 2001 of the present embodiment.
  • a system for mechanically transmitting power is indicated by a double line
  • a hydraulic system is indicated by a thick solid line
  • a control system is indicated by a broken line
  • an electric system is indicated by a thin solid line.
  • FIG. 39 is a diagram showing an internal configuration of power storage means (power storage unit) 2120 in FIG.
  • the lifting magnet vehicle 2001 includes a motor generator 2012 and a speed reducer 2013, and the rotation shafts of the engine 2011 and the motor generator 2012 are both connected to the input shaft of the speed reducer 2013. Are connected to each other.
  • the motor generator 2012 assists the driving force of the engine 2011 by driving the engine 2011 as a work element, and the driving force of the motor generator 2012 is used as the output shaft of the speed reducer 2013. Then, it is transmitted to the main pump 2014.
  • the driving force of the engine 2011 is transmitted to the motor generator 2012 through the speed reducer 2013, so that the motor generator 2012 generates power.
  • the motor generator 2012 is constituted by, for example, an IPM (Interior / Permanent / Magnetic) motor in which a magnet is embedded in a rotor. Switching between driving and power generation of the motor generator 2012 is performed by a controller 2030 that performs drive control of the electric system in the lifting magnet vehicle 2001 according to the load of the engine 2011 and the like.
  • IPM Interior / Permanent / Magnetic
  • a main pump 2014 and a pilot pump 2015 are connected to the output shaft of the speed reducer 2013, and a control valve 2017 is connected to the main pump 2014 via a high pressure hydraulic line 2016.
  • the control valve 2017 is a device that controls a hydraulic system in the lifting magnet vehicle 2001.
  • the boom cylinder 2008, the arm cylinder 2009, and the bucket cylinder 2010 are connected to the control valve 2017 via a high pressure hydraulic line.
  • the control valve 2017 controls the hydraulic pressure supplied to them according to the operation input of the driver.
  • the output terminal of the inverter circuit 2018A is connected to the electrical terminal of the motor generator 2012.
  • the power storage means 2120 is connected to the input terminal of the inverter circuit 2018A.
  • the power storage means 2120 includes a DC bus 2110 that is a DC bus, a step-up / down converter (DC voltage converter) 2100, and a battery 2019. That is, the input terminal of the inverter circuit 2018A is connected to the input terminal of the step-up / down converter 2100 via the DC bus 2110.
  • a battery 2019 as a storage battery is connected to the output terminal of the step-up / down converter 2100.
  • the battery 2019 is configured by, for example, a capacitor type storage battery. As an example of the size of the battery 2019, a battery in which 144 capacitors having a voltage of 2.5 V and a capacity of 2400 F are connected in series (that is, a voltage at both ends of 360 V) is preferable.
  • the inverter circuit 2018A controls the operation of the motor generator 2012 based on a command from the controller 2030. That is, when the inverter circuit 2018A causes the motor generator 2012 to perform a power running operation, necessary power is supplied from the battery 2019 and the buck-boost converter 2100 to the motor generator 2012 via the DC bus 2110. When the motor generator 2012 is regeneratively operated, the battery 2019 is charged with the electric power generated by the motor generator 2012 via the DC bus 2110 and the step-up / down converter 2100. Note that switching control between the step-up / step-down operation of the step-up / step-down converter 2100 is performed by the controller 2030 based on the DC bus voltage value, the battery voltage value, and the battery current value. Thereby, DC bus 2110 can be maintained in a state where it is stored at a predetermined voltage value.
  • a lifting magnet 2007 is connected to the DC bus 2110 of the power storage means 2120 via an inverter circuit 2020B.
  • the lifting magnet 2007 includes an electromagnet that generates a magnetic force for magnetically attracting a metal object, and power is supplied from the DC bus 2110 via the inverter circuit 2020B.
  • the inverter circuit 2020 ⁇ / b> B supplies the requested power to the lifting magnet 2007 from the DC bus 2110 when the electromagnet is turned on based on a command from the controller 2030. Further, when the electromagnet is turned off, the regenerated electric power is supplied to the DC bus 2110.
  • an inverter circuit 2020A is connected to the power storage means 2120.
  • One end of the inverter circuit 2020A is connected to a turning electric motor (AC motor) 21 as a working electric motor, and the other end of the inverter circuit 2020A is connected to a DC bus 2110 of the power storage means 2120.
  • the turning electric motor 2021 is a power source of the turning mechanism 2003 for turning the turning body 2004.
  • a resolver 2022, a mechanical brake 2023, and a turning speed reducer 2024 are connected to the rotating shaft 2021A of the turning electric motor 2021.
  • the turning electric motor 2021 When the turning electric motor 2021 performs a power running operation, the rotational force of the rotational driving force of the turning electric motor 2021 is amplified by the turning speed reducer 2024, and the turning body 2004 is subjected to rotational control by acceleration / deceleration control. Further, due to the inertial rotation of the turning body 2004, the rotation speed is increased by the turning speed reducer 2024 and transmitted to the turning electric motor 2021, thereby generating regenerative electric power.
  • the electric motor 2021 for turning is AC driven by the inverter circuit 2020A by a PWM (Pulse Width Modulation) control signal.
  • PWM Pulse Width Modulation
  • the resolver 2022 is a sensor that detects the rotation position and rotation angle of the rotation shaft 2021A of the turning electric motor 2021, and mechanically connects to the turning electric motor 2021 to detect the rotation angle and rotation direction of the rotation shaft 2021A.
  • the mechanical brake 2023 is a braking device that generates a mechanical braking force, and mechanically stops the rotating shaft 2021A of the turning electric motor 2021 according to a command from the controller 2030.
  • the turning speed reducer 2024 is a speed reducer that reduces the rotational speed of the rotating shaft 2021A of the turning electric motor 2021 and mechanically transmits it to the turning mechanism 2003.
  • the DC bus 2110 is connected to the motor generator 2012, the turning motor 2021, and the lifting magnet 2007 via the inverter circuits 2018A, 2020A, and 2020B, so that the electric power generated by the motor generator 2012 is In some cases, the lifting magnet 2007 or the turning electric motor 2021 may be directly supplied. In some cases, the electric power regenerated by the lifting magnet 2007 may be supplied to the motor generator 2012 or the turning electric motor 2021. Further, the turning electric motor may be supplied. The electric power regenerated in 2021 may be supplied to the motor generator 2012 or the lifting magnet 2007.
  • the lifting magnet vehicle 2001 of this embodiment includes a coolant circulation system for cooling the step-up / down converter 2100 and the inverter circuits 2018A, 2020A, and 2020B, in addition to the coolant circulation system for the engine 2011. .
  • the coolant circulation system includes a pump (coolant circulation pump) 2072 for circulating the coolant supplied to the buck-boost converter 2100, the inverter circuits 2018A, 2020A, and 2020B, and a pump motor that drives the pump 2072 ( Cooling electric motor) 2071.
  • Pump motor 2071 is connected to power storage means 2120 through inverter circuit 2020C.
  • the inverter circuit 2020C supplies the requested power to the pump motor 2071 when cooling the step-up / down converter 2100 based on a command from the controller 2030.
  • the coolant circulation system of this embodiment cools the step-up / down converter 2100, the inverter circuits 2018A, 2020A, and 2020B, and the controller 2030.
  • the coolant circulation system cools the motor generator 2012, the speed reducer 2013, and the turning electric motor 2021.
  • An operating device 2026 is connected to the pilot pump 2015 via a pilot line 2025.
  • the operating device 2026 is an operating device for operating the turning electric motor 2021, the traveling mechanism 2002, the boom 2005, the arm 2006, and the lifting magnet 2007, and is operated by an operator.
  • a control valve 2017 is connected to the operating device 2026 via a hydraulic line 2027, and a pressure sensor 2029 is connected via a hydraulic line 2028.
  • the operation device 2026 converts the hydraulic pressure (primary hydraulic pressure) supplied through the pilot line 2025 into a hydraulic pressure (secondary hydraulic pressure) corresponding to the operation amount of the operator and outputs the converted hydraulic pressure.
  • the secondary hydraulic pressure output from the operation device 2026 is supplied to the control valve 2017 through the hydraulic line 2027 and detected by the pressure sensor 2029.
  • the turning electric motor 2021 is used as the working electric motor
  • the traveling mechanism 2002 may be electrically driven as the working electric motor.
  • the pressure sensor 2029 detects the operation amount as a change in the hydraulic pressure in the hydraulic line 2028.
  • the pressure sensor 2029 outputs an electrical signal indicating the hydraulic pressure in the hydraulic line 2028. This electric signal is input to the controller 2030 and used for driving control of the turning electric motor 2021.
  • the controller 2030 constitutes a control circuit in the present embodiment.
  • the controller 2030 is constituted by an arithmetic processing unit including a CPU and an internal memory, and is realized by the CPU executing a drive control program stored in the internal memory.
  • the power source of the controller 2030 is a battery (for example, a 24V on-vehicle battery) different from the battery 2019.
  • the controller 2030 converts a signal representing an operation amount for turning the turning mechanism 2003 among signals inputted from the pressure sensor 2029 into a speed command, and performs drive control of the turning electric motor 2021.
  • controller 2030 controls the operation of the motor generator 2012 (switching between assist operation and power generation operation), drive control of the lifting magnet 2007 (switching between excitation and demagnetization), and drive control of the buck-boost converter 2100. 2019 charge / discharge control is performed.
  • the controller 2030 of the present embodiment reduces the voltage of the DC bus 2110 when performing maintenance or the like of the hybrid construction machine 1 (specifically, it accumulates in a smoothing capacitor or the like connected to the DC bus 2110).
  • DC bus voltage drop mode (bus voltage drop mode) for consuming the generated charge).
  • the controller 2030 stops all of the inverter circuits 2018A, 2020A and 2020B, and the step-up / down converter 2100, and switches provided between the step-up / down converter 2100 and the battery 2019 (switches in FIG. 3). 100E and 100F) are disconnected, and then the inverter circuit 2020C is driven to cause the pump motor 2071 to consume power, thereby reducing the voltage of the DC bus 2110.
  • the DC bus voltage lowering mode is performed when the operation of the hybrid construction machine 1 is stopped (specifically, when the engine 2011 is about to be stopped by an operator's key operation) or in the operation panel in the operation room 2004a. This is started when an input relating to the start of the DC bus voltage drop mode is made by the operator via the.
  • FIG. 39 schematically shows a circuit configuration of the step-up / down converter 2100.
  • the step-up / down converter 2100 includes a reactor 2101, transistors 2100B and 2100C, and a smoothing capacitor 2100d.
  • the transistors 2100B and 2100C are composed of, for example, an IGBT (Insulated Gate Bipolar Transistor) and are connected in series with each other.
  • IGBT Insulated Gate Bipolar Transistor
  • the collector of the transistor 2100B and the emitter of the transistor 2100C are connected to each other, the emitter of the transistor 2100B is connected to the negative terminal of the battery 2019 and the negative wiring of the DC bus 2110, and the collector of the transistor 2100C is connected to the DC It is connected to the positive side wiring of the bus 2110.
  • Reactor 2101 has one end connected to the collector of transistor 2100B and the emitter of transistor 2100C, and the other end connected to the positive terminal of battery 2019.
  • a PWM voltage is applied from the controller 2030 to the gates of the transistors 2100B and 2100C.
  • a diode 2100b which is a rectifying element, is connected in the reverse direction between the collector and the emitter of the transistor 2100B.
  • a diode 2100c is connected in the reverse direction between the collector and emitter of the transistor 2100C.
  • Smoothing capacitor 2100d is connected between the collector of transistor 2100C and the emitter of transistor 2100B, and smoothes the output voltage from buck-boost converter 2100.
  • the buck-boost converter 2100 having such a configuration, when supplying DC power from the battery 2019 to the DC bus 2110, a PWM voltage is applied to the gate of the transistor 2100B, and the reactor 2101 is turned on / off of the transistor 2100B. Is transmitted through the diode 2100c, and this power is smoothed by the capacitor 2100d. Further, when DC power is supplied from the DC bus 2110 to the battery 2019, a PWM voltage is applied to the gate of the transistor 2100C, and the current output from the transistor 2100C is smoothed by the reactor 2101.
  • the lifting magnet vehicle 2001 of this embodiment includes a coolant circulation system for cooling the step-up / down converter 2100 and the inverter circuits 2018A, 2020A, and 2020B.
  • FIG. 40 is a perspective view showing the appearance of the servo control unit 2060.
  • the servo control unit 2060 of the present embodiment is a device for driving a plurality of AC motors (motor generator 2012, turning electric motor 2021, pump motor 2071, etc.) using electric power of a storage battery (battery 2019).
  • the servo control unit 2060 has a substantially rectangular parallelepiped appearance, a step-up / down converter unit 2062 having a step-up / down converter 2100 for charging / discharging the battery 2019, a motor generator 2012, a turning electric motor 2021, and A plurality of inverter units 2063 to 2066 each having inverter circuits 2018A and 2020A to 2020C for driving one AC motor of the pump motor 2071 or the lifting magnet 2007, a step-up / down converter 2100 of the step-up / down converter unit 2062, and an inverter unit And a control unit 2061 having a controller 2030 for controlling the inverter circuits 2018A and 2020A to 2020C of 2063 to 2066.
  • the step-up / down converter unit 2062 and the inverter units 2063 to 2066 constitute a plurality of driver units in this embodiment.
  • the buck-boost converter unit 2062 and the inverter units 2063 to 2066 each have a metal casing with a rectangular parallelepiped appearance that is long in the depth direction. These units 2062 to 2066 are placed on a bottom plate 2067a of a pedestal 2067 including a metal bottom plate 2067a, and are arranged side by side in a predetermined direction (lateral direction).
  • the pedestal 2067 further includes side plates 2067b that sandwich the units 2062 to 2066 from both sides in the predetermined direction.
  • a control unit bottom plate 2061b is provided as an upper lid so as to cover the upper surfaces of these units, and the control unit 2061 is placed on the control unit bottom plate 2061b. Further, a heat sink 2068 for air cooling is attached to the upper surface of the control unit 2061.
  • the control unit 2061 has a cooling pipe 2061a built therein.
  • the step-up / down converter unit 2062 includes cooling piping 2062a
  • the inverter units 2063 to 2066 include cooling piping 2063a to 2066a, respectively.
  • FIG. 41 is a top sectional view of the servo control unit 2060.
  • FIG. FIG. 42 is a cross-sectional view taken along the line VII-VII of the servo control unit 2060 shown in FIG. 41 and 42, the heat sink 2068 shown in FIG. 40 is omitted.
  • the step-up / step-down converter unit 2062 is configured by housing electronic components such as an IPM and a reactor for constituting the step-up / step-down converter in a housing 2062h having a substantially rectangular parallelepiped appearance. Has an output end.
  • a battery 2019 (see FIG. 39) is connected to the output terminal of the step-up / down converter unit 2062, and the step-up / down converter unit 2062 controls charging / discharging of the battery 2019.
  • the inverter units 2063 to 2066 are configured by housing electronic components such as an IPM and a smoothing capacitor for constituting the inverter circuits 2018A and 2020A to 2020C in the casings 2063h to 2066h having a substantially rectangular parallelepiped appearance. , Each having an electrical input end and an output end.
  • a motor generator 2012, a turning electric motor 2021, a lifting magnet 2007, and a pump motor 2071 are connected to output terminals of the inverter units 2063 to 2066, respectively. These AC motors are AC driven by PWM control signals output from the inverter units 2063 to 2066.
  • the bottom surfaces of the housings 2062h to 2066h of the units 2062 to 2066 are fixed to the bottom plate 2067a of the base 2067 so as to be detachable by fasteners such as bolts 2080. Further, the side surfaces of the housings 2062h and 2066h of the units 2062 and 2066 located at both ends in the arrangement direction of the units 2062 to 2066 can be attached to and detached from the side plate 2067b of the base 2067 by a fastener 2081 made of bolts and nuts. It is fixed. Further, among the units 2062 to 2066, the housings of the units adjacent to each other are fixed so that the side surfaces thereof can be attached to and detached from each other by a fastener 2082 composed of a bolt and a nut.
  • the upper surfaces of the housings 2062h to 2066h of the units 2062 to 2066 are opened to facilitate access to the fasteners 2081 and 2082, and the control unit bottom plate. It is closed by 2061b.
  • the servo control unit 2060 further includes a DC bus 2110 (see FIG. 39).
  • the DC bus 2110 is formed of a bus bar which is an elongated metal plate, and is provided so as to cross the units 2062 to 2066 along a direction (predetermined direction) in which the units 2062 to 2066 are arranged.
  • the input terminals of the inverter units 2063 to 2066 and the input terminal of the step-up / down converter unit 2062 are connected to the DC bus 2110, respectively.
  • DC power is exchanged between the units 2062 to 2066 via the DC bus 2110. Is called.
  • the step-up / down converter unit 2062 controls the voltage of the DC bus 2110 to be constant by controlling charging / discharging of the battery 2019.
  • Each unit 2062 to 2066 incorporates a plurality of CPUs 2605a to 2605e.
  • a plurality of CPUs 2605a to 2605e receive instructions from a higher-order CPU (not shown) arranged at a distance to control on / off of transistors included in the inverter circuit of the corresponding unit among units 2062 to 2066. It is.
  • each unit 2062 to 2066 the internal configuration of each unit 2062 to 2066 and the connection structure between each unit 2062 to 2066 and the DC bus 2110 will be described in detail.
  • FIG. 43 (a) is a plan view showing a part of the inverter unit 2065 and the internal configuration of the inverter unit 2066.
  • FIG. FIG. 43B is a side view showing the internal configuration of the inverter unit 2065.
  • the top and side plates of the case are removed so that the internal configuration of the inverter units 2065 and 2066 can be understood.
  • the internal configuration of the inverter units 2063 and 2064 is the same as the internal configuration of the inverter units 2065 and 2066 shown in FIG. 41 except for the configuration of the built-in inverter circuit.
  • an IPM 2105 incorporating a transistor constituting an inverter circuit and cooling pipes 2065a and 2066a are incorporated.
  • the IPM 2105 is mounted on the wiring board 2106.
  • the cooling pipes 2065a and 2066a are two-dimensionally arranged along the inner surfaces of the inverter units 2065 and 2066, respectively.
  • the cooling pipes 2065a and 2066a are accommodated in the metal containers 2065b and 2066b having a rectangular cross section in a state of being bent several times so as to be arranged as long as possible inside the inverter units 2065 and 2066.
  • the metal containers 2065b and 2066b are in contact with the inner surface.
  • the IPM 2105 is disposed in contact with the outer surfaces of the metal containers 2065b and 2066b, and the metal containers 2065b and 2066b transmit heat from the IPM 2105 to the cooling pipes 2065a and 2066a.
  • Rectangular cutout portions 2065e and 2066e for arranging the DC bus 2110 are provided on the upper sides of the side plates 2065d and 2066d of the casings 2065h and 2066h of the inverter units 2065 and 2066, respectively.
  • the smoothing capacitors 2071a and 2071b are disposed in contact with the inner side surfaces of the side plates 2065d and 2066d of the casings 2065h and 2066h. It protrudes upward from the height of the rectangular cutout portion 2065e.
  • the casings 2063h and 2064h of the other inverter units 2063 and 2064 have the same structure, and the DC bus 2110 is disposed so as to cross the inverter units 2063 to 2066.
  • inverter units 2063 and 2064 rectangular cutouts for arranging the DC bus 2110 are also provided on the upper side of the side plate adjacent to the adjacent unit (not shown).
  • a smoothing capacitor is disposed in contact with the inner side surface of the side plate adjacent to the inverter unit 2065 in the inverter unit 2064 and the inner side surface of the side plate adjacent to the inverter unit 2064 in the inverter unit 2063.
  • the DC bus 2110 is disposed so as to pass through the inverter units 2063 to 2065 sandwiched between the units.
  • the rectangular cutout portion of each unit and the inside of the metal container form a sealed state by a control unit bottom plate 2061b as an upper lid. Thereby, dust prevention and waterproofing are realized in each inverter.
  • the DC bus 2110 includes a plate-like positive bus bar 2070a and a negative bus bar 2070b.
  • the positive electrode bus bar 2070a has a substantially rectangular parallelepiped shape elongated in the lateral direction (predetermined direction).
  • the negative electrode bus bar 2070b is disposed above the positive electrode bus bar 2070a without being in contact with the positive electrode bus bar 2070a, has a shape surrounding the upper surface side of the positive electrode bus bar 2070a, and is configured to cover the positive electrode bus bar 2070a.
  • the arrangement of the positive electrode and the negative electrode may be reversed.
  • the positive bus bar 2070a and the negative bus bar 2070b are detachably fixed by fasteners such as bolts so as to be directly connected to the smoothing capacitors 2071a and 2071b of the inverter units 2065 and 2066 and the smoothing capacitor terminals of the inverter units 2063 and 2064. .
  • the positive bus bar 2070a is fixed by a bolt so as to be directly connected to the smoothing capacitors 2071a and 2071b of the inverter units 2065 and 2066 and the positive terminals of the smoothing capacitors of the inverter units 2063 and 2064.
  • the negative bus bar 2070b is fixed by a bolt so as to be directly connected to the smoothing capacitors 2071a and 2071b of the inverter units 2065 and 2066 and the negative terminals of the smoothing capacitors of the inverter units 2063 and 2064.
  • the DC bus 2110 is fixed to the smoothing capacitor in a non-contact state with respect to the metal containers of the inverter units 2063 to 2066.
  • the positive terminal (input end) 2105a of the IPM 2105 and the positive bus bar 2070a are connected by wiring, and the negative terminal (input end) 2105b and the negative bus bar 2070b are connected by wiring.
  • the three-phase output terminal (output terminal) 2105c of the inverter circuit 2018A is connected to the terminal block 2066c by wiring.
  • the terminal block 2066c is for connecting the motor generator 2012.
  • FIG. 44 (a) is a plan view showing the internal configuration of the buck-boost converter unit 2062.
  • FIG. FIG. 44B is a side view showing the internal configuration of the step-up / down converter unit 2062.
  • FIG. 44B shows a state in which the side plate of the housing 2062h is removed so that the internal configuration of the buck-boost converter unit 2062 can be seen.
  • an IPM 2103 incorporating transistors 2100B and 2100C constituting the step-up / down converter 2100, a reactor 2101, and a cooling pipe 2062a are incorporated.
  • the IPM 2103 is mounted on the wiring board 2104.
  • the cooling pipe 2062a is two-dimensionally arranged along the side surface of the step-up / down converter unit 2062. Specifically, the cooling pipe 2062a is accommodated in a metal container 2062b having a rectangular cross section in a state of being bent several times so as to be disposed as long as possible inside the buck-boost converter unit 2062, and this metal container It is in contact with the inner surface of 2062b. As shown in FIG.
  • the reactor 2101 and the IPM 2103 are disposed in contact with the outer surface of the metal container 2062b, and the metal container 2062b transmits heat from the reactor 2101 and the IPM 2103 to the cooling pipe 2062a. Thereby, reactor 2101 and IPM 2103 are cooled.
  • a rectangular notch 2062e for arranging the DC bus 2110 is provided on the upper side of the side plate of the housing 2062h in the step-up / down converter unit 2062.
  • the rectangular cutout portion 2062e and the metal container of the step-up / down converter unit 2062 are hermetically sealed by a control unit bottom plate as an upper lid. Thereby, dustproofing and waterproofing are realized in the step-up / down converter.
  • the positive terminal (input end) 2103a of the IPM 2103 and the positive bus bar 2070a are connected by wiring, and the negative terminal (input end) 2103b and the negative bus bar 2070b are connected by wiring.
  • terminal 2103c of the IPM 2103 is connected to the terminal 2101a of the reactor 2101 by wiring
  • the terminal 2101b of the reactor 2101 is connected to the terminal block 2062c by wiring
  • the terminal 2103d of the IPM 2103 is connected to the terminal block 2062d and wiring. Connected by.
  • the terminal blocks 2062c and 2062d are for connecting the battery 2019.
  • FIG. 45 is a perspective view showing a state where the control unit 2061 of the servo control unit 2060 is opened.
  • the control unit 2061 is located after the units 2062 to 2066 in a direction (longitudinal direction of the units 2062 to 2066 in this embodiment) that intersects the direction (predetermined direction) in which the units 2062 to 2066 are arranged. At the end, it is attached so as to be rotatable around a support shaft provided along the predetermined direction.
  • a part of the pedestal 2067 is disposed so as to be in contact with the back surfaces of the housings 2062h to 2066h of the units 2062 to 2066 (see, for example, FIG. 41), and is fixed to the portion of the pedestal 2067.
  • a control unit bottom plate 2061b is attached to the base 2067 through a hinge (support shaft). Since the control unit 2061 is fixed to the control unit bottom plate 2061b, the control unit 2061 rotates (opens and closes) around the support shaft together with the control unit bottom plate 2061b. With such a mechanism, the openings of the housings 2062h to 2066h of the units 2062 to 2066 are exposed to the outside, and the fasteners 2081 and 2082 (see FIG. 41) and the like can be accessed. In this manner, the units 2062 to 2066 are closed when the control unit 2061 is placed when the lifting magnet vehicle 2001 is operated, and are opened when the servo control unit 2060 is maintained.
  • the servo control unit 2060 further includes a support 2090 that supports the control unit 2061 in a state where the control unit 2061 is opened around the support shaft with respect to the units 2062 to 2066.
  • the support 2090 is made of, for example, a metal rod-like member, and one end thereof is engaged with the side plate 2067b of the base 2067 and the other end is engaged with the control unit bottom plate 2061b.
  • the support 2090 is housed in any part of the servo control unit 2060 when the control unit 2061 is closed.
  • control unit bottom plate 2061b is used as an upper cover of the inverter units 2063 to 2066 and the step-up / down converter unit 2062, but the upper cover of the inverter units 2063 to 2066 and the step-up / down converter unit 2062 is not necessarily provided. It does not have to be a constituent member of the control unit 2061, and may be another member (for example, an iron plate) as long as it has a waterproof function. Further, instead of a method of closing the inverter units 2063 to 2066 and the step-up / step-down converter unit 2062 with a common member such as the control unit bottom plate 2061b, these may be closed with members provided for the respective units 2062 to 2066.
  • the DC bus voltage drop mode of the controller 2030 will be further described.
  • the DC bus voltage reduction mode is an operation mode for reducing the voltage of the DC bus 2110 in a state where the operation of the hybrid type construction machine 1 is stopped, and includes inverter circuits 2018A, 2020A and 2020B, and By stopping all the buck-boost converter 2100 and disconnecting the switch provided between the buck-boost converter 2100 and the battery 2019, the inverter circuit 2020C is driven to consume power by the pump motor 2071. In this mode, the voltage of the DC bus 2110 is lowered.
  • FIG. 46 is a flowchart showing the operation of the lifting magnet vehicle 2001 in the DC bus voltage lowering mode.
  • the operator operates the ignition key to stop the operation of the lifting magnet vehicle 2001 (step S2011).
  • the controller 2030 starts the DC bus voltage reduction mode. That is, in response to the key operation, the controller 2030 stops driving the inverter circuits 2018A, 2020A, and 2020B (step S2012). Thereby, the power supply to the motor generator 2012, the turning electric motor 2021, and the lifting magnet 2007 is stopped.
  • the controller 2030 stops driving the step-up / down converter 2100 (step S2013).
  • the controller 2030 turns off the switch between the step-up / down converter 2100 and the battery 2019 (step S2014). Thereby, the DC bus 2110 and the battery 2019 are electrically separated.
  • the controller 2030 instructs the ECU and the like of the engine 2011 to stop the engine 2011 (step S2015).
  • the inverter circuit 2020C continues to drive the pump motor 2071 that is a cooling motor, and the coolant continues to circulate inside the coolant circulation system by the pump motor 2071.
  • the controller 2030 continues driving the inverter circuit 2020C and continues the operation of the pump motor 2071 (step S2016).
  • the driving of the inverter circuit 2020C is continued until the voltage of the DC bus 2110 detected by the same voltage sensor as the voltage sensor 110b shown in FIG. 3 becomes equal to or lower than a predetermined threshold (step S2017; No).
  • step S2017 when the voltage of the DC bus 2110 becomes equal to or lower than the predetermined threshold (step S2017; Yes), the controller 2030 stops driving the inverter circuit 2020C (step S2018). As a result, the operation of the pump motor 2071 is stopped, the DC bus voltage lowering mode is ended, and the operation of the lifting magnet vehicle 2001 is completely stopped.
  • FIG. 47 is a graph showing an example of voltage transition of the DC bus 2110 in the DC bus voltage lowering mode.
  • the switch is turned off while the pump motor 2071 continues to be driven (time T1 in the figure)
  • the voltage Vdc of the DC bus 2110 gradually decreases from the immediately preceding voltage Vact. This rate of decrease depends on the power consumption of the pump motor 2071.
  • the voltage Vdc of the DC bus 2110 falls below a predetermined threshold value Vth (time T2 in the figure)
  • the operation of the pump motor 2071 is stopped, so that the rate of decrease in the voltage Vdc becomes slow.
  • the lifting magnet vehicle 2001 includes the coolant circulation pump 2072 for cooling the inverter units 2063 to 2066, the step-up / step-down converter unit 2062, and the control unit 20600.
  • the controller 2030 drives the pump motor 2071 for driving the pump 2072 with the voltage of the DC bus 2110, so that the voltage of the DC bus 2110 is reduced. Is consumed.
  • the pump 2072 is mounted on the lifting magnet vehicle 2001 to cool the inverter units 2063 to 2066 and the buck-boost converter unit 2062. Therefore, according to such a system, the resistance is only for the DC bus voltage drop mode. There is no need to add new parts such as switches and switches. Therefore, according to the lifting magnet vehicle 2001 of the present embodiment, the voltage of the DC bus 2110 can be reduced with a configuration in which a decrease in reliability is suppressed.
  • the pump motor 2071 is different from a working motor such as a motor generator 2012 that drives a hydraulic pump, a turning motor 2021 that drives a working element such as a turning body 2004, and the like. A driving force is not given, and even if this pump motor 2071 is driven, the coolant only circulates inside the pipe. Therefore, according to the lifting magnet vehicle 2001 of the present embodiment, the voltage of the DC bus 2110 can be reduced without giving a driving force to the work element or the like, so that the voltage of the DC bus 2110 can be safely reduced. Can do.
  • an inverter circuit (any one of the inverter circuits 2018A, 2020A to 2020C) that drives one AC motor among a plurality of AC motors (such as a motor generator 2012, a turning motor 2021, and a pump motor 2071).
  • a housing 2062h to 2066h is provided for each driver circuit such as the buck-boost converter 2100 that charges and discharges the battery 2019.
  • These circuits and the housings 2062h to 2066h are connected to the buck-boost converter unit 2062 and the inverter unit 2063. ⁇ 2066 are independent of each other.
  • the housings 2062h to 2066h of these units 2062 to 2066 are fixed to the servo control unit 2060 so as to be detachable individually. Accordingly, the individual units 2062 to 2066 can be easily detached from the servo control unit 2060 at a work site or the like, so that high maintainability can be ensured when an abnormality occurs in any of the circuits.
  • the units 2062 to 2066 are arranged side by side in a predetermined direction, and the casings 2062h to 2066h are fixed to each other by a fastener 2082.
  • the overall structural strength of the servo control unit 2060 can be effectively increased, and high vibration resistance and impact resistance can be ensured.
  • the servo control unit 2060 includes a control unit 2061 having a controller 2030 for controlling each circuit of the units 2062 to 2066, and this control unit 2061 is mounted on the plurality of units 2062 to 2066.
  • the control unit 2061 is preferably attached to one end of each of the units 2062 to 2066 so as to be rotatable (openable / closable) around a support shaft provided along a predetermined direction. This facilitates access to the inside of the units 2062 to 2066, and ensures higher maintainability.
  • the servo control unit 2060 further includes a support 2090 that supports the control unit 2061 in a state where the control unit 2061 is opened around the spindle with respect to the units 2062 to 2066, so that the units 2062 to 2066 can be removed. Work can be further facilitated and maintainability can be further enhanced.
  • control unit 2061 When the control unit 2061 is mounted on the plurality of units 2062 to 2066 in a rotatable state as in the present embodiment, the control units in the housings 2062h to 2066h of the units 2062 to 2066 are used. It is preferable that the surface facing 2061 is open. This facilitates access to the fasteners 2082 for fixing the housings 2062h to 2066h of the units 2062 to 2066 and the fasteners 2080 and 2081 for fixing the housings 2062h to 2066h and the pedestal 2067, thereby further improving maintenance. Can be increased.
  • the servo control unit 2060 includes a base 2067 having a bottom plate 2067a on which the units 2062 to 2066 are placed and side plates 2067b that sandwich the units 2062 to 2066 from both sides in a predetermined direction. It is preferable that the housings 2062h and 2066h of the units 2062 and 66 located at both ends of 2062 to 2066 and the side plate 2067b of the pedestal 2067 are detachably fixed by a fastener 2081. As a result, the structural strength of the entire servo control unit 2060 can be further increased without impairing maintainability, and vibration resistance and impact resistance can be further increased.
  • the input terminals of the step-up / down converter unit 2062 and the plurality of inverter units 2063 to 2066 are connected to a common DC bus 2110. For this reason, it becomes possible to reduce the space for the DC bus 2110, and further contributes to improvement in maintainability. Further, since the positive bus bar 2070a and the negative bus bar 2070b constituting the DC bus 2110 are made of a long and substantially rectangular parallelepiped metal plate, the current path is shortened between the input ends of the units 2062 to 2066 as compared with the wiring connection. And with a large cross-sectional area. Accordingly, the units 2062 to 2066 can be connected with low resistance.
  • the DC bus (busbar) 2110 is provided on the side plate adjacent to the adjacent unit in each of the units 2062 to 2066 along the direction in which the units 2062 to 2066 are arranged. Since the rectangular notch is provided, the DC bus (busbar) 2110 can be disposed in a space-saving manner.
  • FIG. 48 is a side view showing an appearance of a wheel loader 2001B as another example of the hybrid construction machine according to the present embodiment.
  • the wheel loader 2001B includes a wheel 2201 for traveling on a flat road, a vehicle body 2202 supported by the axle of the wheel 2201, and a bucket 2203 disposed in front of the vehicle body 2202.
  • a mechanism for lifting the bucket 2203 is constituted by a lift arm 2204 and a lift cylinder 2205, and a mechanism for tilting the bucket 2203 backward and discharging soil and the like is constituted by a bucket cylinder 2206.
  • the vehicle body 2202 is provided with a power source such as a cab 2207 for accommodating an operator who operates the bucket 2203 and an engine (not shown) for generating hydraulic pressure.
  • FIG. 49 is a block diagram showing an internal configuration of the wheel loader 2001B such as an electric system and a hydraulic system.
  • the mechanical power transmission system is indicated by a double line
  • the electrical system is indicated by a thin solid line.
  • the wheel loader 2001B includes an engine 2301, and the rotating shaft of the engine 2301 is connected to a motor generator 2302 and a clutch 2303 via a torque splitter 2301a.
  • Clutch 2303 is connected to axle 2304 and transmits the power of engine 2301 to axle 2304.
  • the motor generator 2302 assists the driving force of the engine 2301 and generates power using the driving force of the engine 2301.
  • AC power generated by the motor generator 2302 is converted into DC power by an inverter circuit included in the inverter unit 2305 and stored in a battery 2306 with a step-up / down converter.
  • the battery 2306 with a step-up / down converter is connected to a pump motor 2308 which is an AC motor via another inverter circuit included in the inverter unit 2307.
  • the inverter circuit of the inverter unit 2307 converts the DC power output from the battery 2306 into AC power and drives the pump motor 2308.
  • the rotation shaft of the pump motor 2308 is connected to the hydraulic pump 2309, and the hydraulic pressure generated from the hydraulic pump 2309 is supplied to the lift cylinder 2205 and the bucket cylinder 2206 (FIG. 49).
  • the battery 2306 with a step-up / down converter is connected to a cooling motor 2311 which is an AC electric motor via a further inverter circuit included in the inverter unit 2310.
  • the cooling motor 2311 drives a pump for supplying coolant to water cooling pipes (similar to the pipes 2065a and 2066a shown in FIG. 43) provided in the inverter units 2305 and 2307.
  • the inverter units 2305, 2307, and 2310 can constitute a servo control unit 2060A.
  • the servo control unit 2060A has the same configuration as the servo control unit 2060 described above. That is, the inverter units 2305, 2307, and 2310 are arranged side by side in a predetermined direction like the units 2062 to 2066 shown in FIGS. 40 to 45, and the casings of the inverter units adjacent to each other are fastened by fasteners. It is detachably fixed.
  • the servo control unit 2060A further includes a control unit (not shown) having a control circuit for controlling each inverter circuit of the inverter units 2305, 2307, and 2310.
  • the control unit includes the inverter unit 2305, It is mounted on 2307 and 2310 and is attached so as to be rotatable (openable / closable) around the support shaft. Further, the servo control unit 2060A includes a member corresponding to the base 2067 shown in FIG. 40 and a member corresponding to the support 2090 shown in FIG.
  • the hybrid construction machine according to the present invention is not limited to the above-described embodiment, and various other modifications are possible.
  • the lifting magnet vehicle and the wheel loader are illustrated as the hybrid construction machine.
  • the present invention may be applied to other hybrid construction machines (for example, an excavator and a crane).
  • the present invention is particularly applicable to work machines such as hybrid construction machines.

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Abstract

La présente invention concerne une machine fonctionnelle permettant de réduire la tension d’un bus DC, avec une configuration empêchant une baisse de fiabilité. Une machine de construction hybride fonctionnant comme une machine fonctionnelle comprend : un bus DC relié à un moteur tournant via un circuit inverseur, une batterie reliée au bus DC via un convertisseur abaisseur-élévateur et un contacteur, un dispositif de commande pour entraîner le circuit inverseur et le convertisseur abaisseur-élévateur, un système de circulation de liquide de refroidissement comprenant un moteur de pompe et un circuit inverseur relié au bus DC pour entraîner le moteur de pompe. Le dispositif de commande a un mode de réduction de la tension du bus DC. Dans ce mode, la puissance amenée au moteur de pompe est consommée en actionnant le circuit inverseur une fois le contacteur placé dans un état déconnecté.
PCT/JP2009/069485 2008-11-18 2009-11-17 Machine fonctionnelle WO2010058768A1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
CN200980145986.9A CN102216198B (zh) 2008-11-18 2009-11-17 工作机械
EP09827549.8A EP2357150B1 (fr) 2008-11-18 2009-11-17 Machine fonctionnelle
KR1020137019779A KR101482481B1 (ko) 2008-11-18 2009-11-17 작업기계
KR1020117011278A KR101357910B1 (ko) 2008-11-18 2009-11-17 작업기계
US13/129,623 US8639404B2 (en) 2008-11-18 2009-11-17 Working machine
US14/134,626 US9108516B2 (en) 2008-11-18 2013-12-19 Working machine

Applications Claiming Priority (16)

Application Number Priority Date Filing Date Title
JP2008294664A JP2010120467A (ja) 2008-11-18 2008-11-18 ハイブリッド型建設機械
JP2008294669A JP5236433B2 (ja) 2008-11-18 2008-11-18 ハイブリッド型建設機械
JP2008-294664 2008-11-18
JP2008-294669 2008-11-18
JP2008295836A JP5329187B2 (ja) 2008-11-19 2008-11-19 ハイブリッド型建設機械
JP2008-295836 2008-11-19
JP2009005940 2009-01-14
JP2009-005940 2009-01-14
JP2009-052297 2009-03-05
JP2009052297A JP5079725B2 (ja) 2009-03-05 2009-03-05 作業機械
JP2009-068016 2009-03-19
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US20120130576A1 (en) 2012-05-24
US8639404B2 (en) 2014-01-28
CN104264737A (zh) 2015-01-07
US9108516B2 (en) 2015-08-18
CN104264737B (zh) 2018-06-19
KR101357910B1 (ko) 2014-02-03
EP2357150A4 (fr) 2014-10-08
CN102216198B (zh) 2014-09-10
EP2357150B1 (fr) 2019-05-01
CN102216198A (zh) 2011-10-12
KR20130101144A (ko) 2013-09-12
US20140107881A1 (en) 2014-04-17
EP2357150A1 (fr) 2011-08-17
KR101482481B1 (ko) 2015-01-15
KR20110084960A (ko) 2011-07-26

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