WO2010087364A1 - ハイブリッド式作業機械及びサーボ制御システム - Google Patents
ハイブリッド式作業機械及びサーボ制御システム Download PDFInfo
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- WO2010087364A1 WO2010087364A1 PCT/JP2010/051028 JP2010051028W WO2010087364A1 WO 2010087364 A1 WO2010087364 A1 WO 2010087364A1 JP 2010051028 W JP2010051028 W JP 2010051028W WO 2010087364 A1 WO2010087364 A1 WO 2010087364A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/04—Control effected upon non-electric prime mover and dependent upon electric output value of the generator
-
- 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
- B60L50/15—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with additional electric power supply
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or 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
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—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
Abstract
Description
1A、1B 走行機構
2 旋回機構
3 上部旋回体
4 ブーム
5 アーム
6 バケット
7 ブームシリンダ
8 アームシリンダ
9 バケットシリンダ
10 キャビン
11 エンジン
12 電動発電機
13 変速機
14 メインポンプ
15 パイロットポンプ
16 高圧油圧ライン
17 コントロールバルブ
18 インバータ
19 バッテリ
20 インバータ
21 旋回用電動機
23 メカニカルブレーキ
24 旋回変速機
25 パイロットライン
26 操作装置
26A、26B レバー
26C ペダル
27 油圧ライン
28 油圧ライン
29 圧力センサ
30 コントローラ
30a 速度制御部
30b 第1の電圧制御部
30c 第2の電圧制御部
30d 異常検出部
32 エンジン制御部
40 駆動制御装置
54 油圧負荷
56 電気負荷
58 コンバータ
60 速度センサ
62,66 電流センサ
64,68 電圧センサ
70,74,78 補償器
72 スイッチング指令部
76 トルク変換部
80 ゲイン変更部
110 DCバス
120 蓄電系
211 機械式駆動部
212 エンジン
213 発電部
214 発電機
215,223,224 インバータ
216 蓄電部
219 DCバス
220 電気負荷系
221 旋回用電動機
222 ポンプ駆動用電動機
225 油圧負荷系
226 油圧ポンプ
227 コントロールバルブ
228 走行(右)油圧モータ
229 走行(左)油圧モータ
240 コントローラ
Claims (7)
- エンジンにより駆動される発電機により蓄電器に充電を行ない、前記蓄電器からの電力で電気負荷を駆動するハイブリッド式作業機械であって、
前記蓄電器に電気的に接続された直流母線と、
該直流母線の電圧を検出する電圧検出器と、
該電圧検出器の電圧検出値に基づいて前記発電機の駆動を制御する駆動制御部と
を有し、
前記駆動制御部は、前記電圧検出値と電圧指令値との偏差に基づいて前記発電機を制御するハイブリッド式作業機械。 - 請求項1記載のハイブリッド式作業機械であって、
前記蓄電器と前記直流母線との間には、蓄電電圧の要求に応じて前記蓄電器の充放電の制御を行なうコンバータが備えられるハイブリッド式作業機械。 - 請求項1記載のハイブリッド式作業機械であって、
前記駆動制御部は、前記蓄電器を含む蓄電系の部品の異常が検出された際に生成される異常信号に基づいて、前記直流母線の電圧制御を開始するハイブリッド式作業機械。 - 請求項3記載のハイブリッド式作業機械であって、
前記発電機からの電流及び前記電動機に流れる電流を検出する電流検出器をさらに有し、
前記駆動制御部は、前記異常信号が生成された際に、所望のアシスト発電電力が得られるようにルク指令値を求めるトルク制御から、直流母線の電圧を検出する電圧検出器の電圧検出値に基づいた電圧制御へと切り換えるハイブリッド式作業機械。 - 請求項3記載のハイブリッド式作業機械であって、
前記駆動制御部は、前記異常信号が生成されたときに、油圧ポンプの出力を抑制するハイブリッド式作業機械。 - 請求項4記載のハイブリッド式作業機械であって、
前記駆動制御部は、電圧制御ゲインと電流制御ゲインを含む複数の制御ゲインを出力するハイブリッド式作業機械。 - エンジンにより駆動される発電機により蓄電器に充電を行ない、前記蓄電器からの電力で電気負荷を駆動するサーボ制御システムであって、
前記蓄電器に電気的に接続された直流母線と、
該直流母線の電圧を検出する電圧検出器と、
該電圧検出器の電圧検出値に基づいて前記発電機の駆動を制御する駆動制御部と
を有し、
前記駆動制御部は、前記電圧検出値と電圧指令値との偏差に基づいて前記発電機を制御するサーボ制御システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP10735830.1A EP2383880A4 (en) | 2009-01-29 | 2010-01-27 | Hybrid working machine and servo control system |
CN201080005958.XA CN102301583B (zh) | 2009-01-29 | 2010-01-27 | 混合式工作机械及伺服控制系统 |
US13/145,645 US9008875B2 (en) | 2009-01-29 | 2010-01-27 | Hybrid working machine and servo control system |
KR1020117017650A KR101201232B1 (ko) | 2009-01-29 | 2010-01-27 | 하이브리드식 작업기계 및 서보제어 시스템 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009-018590 | 2009-01-29 | ||
JP2009018590A JP5149826B2 (ja) | 2009-01-29 | 2009-01-29 | ハイブリッド式作業機械及びサーボ制御システム |
Publications (1)
Publication Number | Publication Date |
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WO2010087364A1 true WO2010087364A1 (ja) | 2010-08-05 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2010/051028 WO2010087364A1 (ja) | 2009-01-29 | 2010-01-27 | ハイブリッド式作業機械及びサーボ制御システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US9008875B2 (ja) |
EP (1) | EP2383880A4 (ja) |
JP (1) | JP5149826B2 (ja) |
KR (1) | KR101201232B1 (ja) |
CN (1) | CN102301583B (ja) |
WO (1) | WO2010087364A1 (ja) |
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- 2010-01-27 US US13/145,645 patent/US9008875B2/en not_active Expired - Fee Related
- 2010-01-27 CN CN201080005958.XA patent/CN102301583B/zh not_active Expired - Fee Related
- 2010-01-27 KR KR1020117017650A patent/KR101201232B1/ko active IP Right Grant
- 2010-01-27 WO PCT/JP2010/051028 patent/WO2010087364A1/ja active Application Filing
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JP2018087487A (ja) * | 2014-03-31 | 2018-06-07 | 住友建機株式会社 | ショベル |
Also Published As
Publication number | Publication date |
---|---|
KR20110099781A (ko) | 2011-09-08 |
CN102301583B (zh) | 2015-04-15 |
KR101201232B1 (ko) | 2012-11-15 |
EP2383880A4 (en) | 2017-04-12 |
US9008875B2 (en) | 2015-04-14 |
JP2010178508A (ja) | 2010-08-12 |
EP2383880A1 (en) | 2011-11-02 |
US20110288711A1 (en) | 2011-11-24 |
CN102301583A (zh) | 2011-12-28 |
JP5149826B2 (ja) | 2013-02-20 |
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