WO2011099437A1 - ハイブリッド建設機械の制御システム - Google Patents
ハイブリッド建設機械の制御システム Download PDFInfo
- Publication number
- WO2011099437A1 WO2011099437A1 PCT/JP2011/052494 JP2011052494W WO2011099437A1 WO 2011099437 A1 WO2011099437 A1 WO 2011099437A1 JP 2011052494 W JP2011052494 W JP 2011052494W WO 2011099437 A1 WO2011099437 A1 WO 2011099437A1
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- WIPO (PCT)
- Prior art keywords
- pressure
- pump
- output
- electric motor
- motor
- Prior art date
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2239—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance
- E02F9/2242—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance including an electronic controller
-
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2282—Systems using center bypass type changeover valves
-
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
Definitions
- This invention relates to a control system for a hybrid construction machine provided with a sub-pump that rotates with the driving force of an electric motor.
- JP2009-235717A discloses a control system for a hybrid construction machine.
- the discharge oil of the variable capacity sub pump is joined to the discharge side of the variable capacity main pump, and the sub pump is driven by the electric motor.
- the tilt angle of the main pump is controlled by the action of pilot pressure generated according to the operation amount of the operation valve.
- the assist force of the sub pump with respect to the main pump is set in advance so as to be most efficient corresponding to the pilot pressure.
- the assist force of the sub-pump corresponds to the pilot pressure of the main pump, but it is set in advance, so that even if the work conditions such as light work and heavy work change, Assist power does not change. Therefore, the assist pump outputs more than necessary even during light work, and battery consumption increases.
- the electric motor is driven by the power of the battery, and the life of the battery is proportional to the cumulative amount of consumed power. Therefore, if more power is consumed than necessary during light work, the life of the battery is shortened accordingly.
- An object of the present invention is to control the output of an electric motor that is a drive source of a sub pump in a control system of a hybrid construction machine in accordance with a work state such as a light work or a heavy work, thereby reducing battery consumption, It is to extend the life.
- a control system for a hybrid construction machine a main pump having a variable capacity, a circuit system connected to the main pump and having a plurality of operation valves, and a tilt angle of the main pump.
- a regulator that controls the pilot flow path that is provided in the circuit system and that guides the pilot pressure generated when one of the plurality of operation valves is switched to the regulator, an electric motor, and a discharge of the main pump
- a variable displacement sub-pump connected to the side and driven by the output of the electric motor, a regulator provided in the sub-pump for controlling the tilt angle of the sub-pump, and provided in the pilot flow path for detecting the pilot pressure
- a pressure sensor connected to the pressure sensor, and the sub sensor according to a pressure signal from the pressure sensor
- a controller that controls the regulator of the motor, detects the output of the main pump, and controls the output of the electric motor based on a prestored table according to the output of the main pump. Is done.
- the assist force of the electric motor can be controlled in response to a work state such as a light work or a heavy work. Battery consumption is reduced.
- FIG. 1 is a hydraulic circuit diagram showing an embodiment of the present invention.
- FIG. 2 is a graph showing the relationship between the displacement of the assist motor and the pressure due to the return oil of the boom cylinder.
- FIG. 3 is a graph showing the relationship between the relief flow rate of the relief valve and the pressure due to the return oil of the boom cylinder.
- FIG. 4 is a flowchart showing the control contents of the controller.
- the embodiment shown in FIG. 1 is a control system for a power shovel.
- the control system includes variable capacity first and second main pumps MP1 and MP2.
- a first circuit system is connected to the first main pump MP1, and a second circuit system is connected to the second main pump MP2.
- the first circuit system includes an operation valve 1 for controlling the swing motor RM, an operation valve 2 for controlling an arm cylinder (not shown), an operation valve 3 for controlling the boom cylinder BC, and a spare (not shown) in order from the upstream side.
- An operation valve 4 for controlling the attachment and an operation valve 5 for controlling a left travel motor (not shown) are connected.
- Each of the operation valves 1 to 5 is connected to the first main pump MP1 via the neutral flow path 6 and the parallel path 7.
- a pilot pressure generating mechanism 8 is provided downstream of the operation valve 5 in the neutral flow path 6.
- the pilot pressure generating mechanism 8 generates a high pilot pressure if the flow rate flowing therethrough is large, and generates a low pilot pressure if the flow rate is small.
- the neutral flow path 6 guides all or part of the fluid discharged from the first main pump MP1 to the tank T when all the operation valves 1 to 5 are in the neutral position or in the vicinity of the neutral position. In this case, since the flow rate that passes through the pilot pressure generating mechanism 8 also increases, a high pilot pressure is generated.
- a pilot flow path 9 is connected to the pilot pressure generating mechanism 8.
- the pilot flow path 9 is connected to a regulator 10 that controls the tilt angle of the first main pump MP1.
- the regulator 10 controls the discharge amount of the first main pump MP1 in inverse proportion to the pilot pressure.
- the first pressure sensor 11 is connected to the pilot flow path 9.
- the pressure signal detected by the first pressure sensor 11 is input to the controller C.
- the second circuit system includes, in order from the upstream side, an operation valve 12 for controlling a right traveling motor (not shown), an operation valve 13 for controlling a bucket cylinder (not shown), an operation valve 14 for controlling a boom cylinder BC, and An operation valve 15 for controlling an arm cylinder (not shown) is connected.
- the operation valve 14 is provided with a sensor 14a that detects an operation direction and an operation amount thereof.
- the operation valves 12 to 15 are connected to the second main pump MP2 via the neutral flow path 16.
- the operation valve 13 and the operation valve 14 are connected to the second main pump MP2 through the parallel passage 17.
- a pilot pressure generating mechanism 18 is provided downstream of the operation valve 15 in the neutral flow path 16.
- the pilot pressure generating mechanism 18 functions in the same manner as the pilot pressure generating mechanism 8.
- a pilot flow path 19 is connected to the pilot pressure generating mechanism 18.
- the pilot flow path 19 is connected to a regulator 20 that controls the tilt angle of the second main pump MP2.
- the regulator 20 controls the discharge amount of the second main pump MP2 in inverse proportion to the pilot pressure. Therefore, when the flow of the neutral flow path 16 becomes zero by full stroke of the operation valves 12 to 15, in other words, when the pilot pressure generated by the pilot pressure generating mechanism 18 becomes zero, the second main pump MP2 The discharge amount is kept at the maximum.
- the second pressure sensor 21 is connected to the pilot flow path 19.
- the pressure signal detected by the second pressure sensor 21 is input to the controller C.
- the first and second main pumps MP1 and MP2 rotate coaxially with the driving force of one engine E.
- the engine E is provided with a generator 22.
- the generator 22 rotates with the surplus output of the engine E and generates power.
- the electric power generated by the generator 22 is charged to the battery 24 via the battery charger 23.
- the battery charger 23 can charge the battery 24 even when connected to a normal household power supply 25. That is, the battery charger 23 can be connected to another independent power source.
- the passages 26 and 27 communicating with the turning motor RM are connected to the actuator port of the operation valve 1 connected to the first circuit system.
- Brake valves 28 and 29 are connected to both passages 26 and 27, respectively.
- the brake valve 28 or 29 functions as a relief valve.
- the passages 26 and 27 are equal to or higher than the set pressure, the brake valves 28 and 29 are opened to guide the high-pressure side fluid to the low-pressure side. If the operation valve 1 is returned to the neutral position while the swing motor RM is rotating, the actuator port of the operation valve 1 is closed. Even if the actuator port of the operation valve 1 is closed, the swing motor RM continues to rotate with the inertial energy, and the swing motor RM pumps by rotating with the inertial energy.
- a closed circuit is constituted by the passages 26 and 27, the turning motor RM, and the brake valve 28 or 29, and the inertia energy is converted into heat energy by the brake valve 28 or 29.
- the pressure fluid from the second main pump MP2 is supplied to the piston side chamber 31 of the boom cylinder BC via the passage 30.
- the return fluid from the rod side chamber 32 is returned to the tank T via the passage 33, and the boom cylinder BC extends.
- a proportional solenoid valve 34 whose opening degree is controlled by the controller C is provided.
- the proportional solenoid valve 34 is kept in the fully open position in its normal state.
- variable displacement sub-pump SP that assists the outputs of the first and second main pumps MP1 and MP2 will be described.
- the sub pump SP is rotated by the driving force of the electric motor MG that also serves as a generator.
- the variable capacity assist motor AM also rotates coaxially by the driving force of the electric motor MG.
- An inverter I is connected to the electric motor MG.
- a controller C is connected to the inverter I, and the controller C can control the rotation speed and the like of the electric motor MG.
- ⁇ Tilt angles of sub pump SP and assist motor AM are controlled by regulators 35 and 36.
- the regulators 35 and 36 are controlled by the output signal of the controller C.
- the discharge passage 37 is connected to the sub pump SP.
- the discharge passage 37 branches into a first joining passage 38 that joins the discharge side of the first main pump MP1 and a second joining passage 39 that joins the discharge side of the second main pump MP2.
- First and second proportional electromagnetic throttle valves 40 and 41 whose opening degree is controlled by an output signal of the controller C are provided in the first and second joining passages 38 and 39, respectively.
- connection passage 42 is connected to the assist motor AM.
- the connection passage 42 is connected to the passages 26 and 27 connected to the turning motor RM via the junction passage 43 and the check valves 44 and 45.
- the junction passage 43 is provided with an electromagnetic switching valve 46 that is controlled to open and close by the controller C.
- a pressure sensor 47 is provided between the electromagnetic switching valve 46 and the check valves 44 and 45 to detect the pressure at the time of turning of the turning motor RM or the pressure at the time of braking. The pressure signal of the pressure sensor 47 is input to the controller C.
- a safety valve 48 is provided at a position of the merging passage 43 on the downstream side of the electromagnetic switching valve 46 with respect to the flow from the turning motor RM to the connection passage 42.
- the safety valve 48 maintains the pressure in the passages 26 and 27 and prevents the turning motor RM from running away when a failure occurs in the connection passage 42 and the junction passage 43 such as the electromagnetic switching valve 46.
- a passage 49 communicating with the connection passage 42 is provided between the boom cylinder BC and the proportional solenoid valve 34.
- the passage 49 is provided with an electromagnetic opening / closing valve 50 controlled by the controller C.
- the passage 42 is provided with a passage 51 that communicates with the regulator 36 that controls the tilt angle of the assist motor AM.
- a relief valve 52 is provided in the passage 51.
- a throttle 53 is provided on the upstream side of the relief valve 52.
- the relief valve 52 substantially reduces the pressure override by providing a throttle 53 on the upstream side.
- the reason why the pressure override is substantially deteriorated is to gradually increase the relief flow rate as shown by the solid line in FIG. That is, when the pressure due to the return oil of the boom cylinder BC increases in the connection passage 42, if the relief valve 52 increases its relief flow rate as shown by the broken line in FIG. 3, the boom cylinder BC is stopped without a sense of incongruity. It is because it becomes impossible.
- the assist flow rate of the sub pump SP is set in advance according to the pressure signals of the first and second pressure sensors 11 and 21, and among them, the controller C determines the tilt angle and assist of the sub pump SP.
- Each control is carried out by determining how to control the tilt angle of the motor AM, the rotational speed of the electric motor MG, and the like to be most efficient.
- controller C of this embodiment detects the output of the first and second main pumps MP1 and MP2, and determines whether it is operated in the light work state or the heavy work state from the output state. presume.
- the controller C estimates the output from the discharge pressure and the discharge flow rate of the first and second main pumps MP1 and MP2.
- the discharge amounts of the first and second main pumps MP1 and MP2 may be directly measured by a flow rate detector (not shown), but the displacement volume per rotation of the first and second main pumps MP1 and MP2 It may be estimated from the rotational speed at that time.
- the table shown in FIG. 4 is stored in the controller C in advance.
- This table is data of assist correction coefficients corresponding to the outputs of the first and second main pumps MP1 and MP2.
- the assist correction coefficient is 1 in the heavy work state and less than 1 in the light work state.
- the controller C estimates the outputs of the first and second main pumps MP1 and MP2, specifies the assist correction coefficient according to the values, and filters the assist correction coefficient with a low-pass filter to calculate the assist flow power correction command value. To do. Then, the controller C controls the output of the electric motor MG that drives the sub pump SP based on the assist flow rate power correction command value.
- a correction command is issued by suppressing the output fluctuation of the first and second main pumps MP1 and MP2 by a low-pass filter, and the electric motor Control is performed while suppressing rapid changes in MG.
- the operation valves 1 to 5 of the first circuit system When the operation valves 1 to 5 of the first circuit system are maintained at the neutral position, the entire amount of fluid discharged from the first main pump MP1 is guided to the tank T via the neutral flow path 6 and the pilot pressure generating mechanism 8. It is burned.
- the pilot pressure generated there becomes high and a relatively high pilot pressure is also introduced into the pilot flow path 9.
- the regulator 10 is operated by the action of the high pilot pressure guided to the pilot flow path 9, and the discharge amount of the first main pump MP1 is kept to a minimum.
- the high pilot pressure signal in this case is input from the first pressure sensor 11 to the controller C.
- the pilot pressure generating mechanism 18 generates a relatively high pilot pressure as in the case of the first circuit system, and the high pressure is regulated by the regulator. 20 and the discharge amount of the second main pump MP2 is kept to a minimum. In this case, a high pilot pressure signal is input from the second pressure sensor 21 to the controller C.
- the controller C determines that the first and second main pumps MP1 and MP2 maintain the minimum discharge amount. Then, the regulators 35 and 36 are controlled, and the tilt angles of the sub pump SP and the assist motor AM are made zero or minimum.
- the controller C may stop the rotation of the electric motor MG or may continue the rotation. .
- the electric motor MG When stopping the rotation of the electric motor MG, there is an effect that power consumption can be saved. If the electric motor MG continues to rotate, the sub-pump SP and the assist motor AM also continue to rotate, so there is an effect that the shock at the start of the sub-pump SP and the assist motor AM can be reduced. In any case, whether the electric motor MG is to be stopped or continues to rotate is determined according to the use and use situation of the construction machine.
- the flow rate flowing through the neutral flow path 6 or 16 decreases according to the operation amount, and accordingly, the pilot pressure generating mechanism The pilot pressure generated at 8 or 18 is reduced. If the pilot pressure decreases, the first main pump MP1 or the second main pump MP2 increases the tilt angle to increase the discharge amount.
- the controller C When increasing the discharge amount of the first main pump MP1 or the second main pump MP2, the controller C always keeps the electric motor MG rotated. That is, when the electric motor MG is stopped when the discharge amounts of the first and second main pumps MP1 and MP2 are minimum, the controller C detects that the pilot pressure has decreased and restarts the electric motor MG. Start.
- the controller C calculates the total output of the first and second main pumps MP1 and MP2, and determines whether it is higher or lower than the reference value. If it is lower than the light work reference value, it is determined that the first and second main pumps MP1 and MP2 are driven in a light work state. If it is higher than the heavy work reference value, the first and second main pumps MP1 and MP2 are It is determined that the vehicle is driven in the heavy work state, and is determined to be driven in the intermediate state between the light work and the heavy work.
- Controller C calculates an assist flow power correction command value corresponding to each work state, and controls the output of electric motor MG based on the assist flow power correction command value.
- the controller C drives the electric motor MG by multiplying a preset correction coefficient smaller than that in the heavy work.
- the controller C controls the opening degree of the first and second proportional electromagnetic throttle valves 40 and 41 according to the pressure signals of the first and second pressure sensors 11 and 21, and apportions the discharge amount of the sub-pump SP. Supply to 2 circuit system.
- controller C can control the tilt angle of the sub-pump SP and the opening degrees of the first and second proportional electromagnetic throttle valves 40 and 41 only by the pressure signals of the two first and second pressure sensors 11 and 21, the pressure sensor The number can be reduced.
- one passage 26 communicates with the first main pump MP1 and the other passage 27 Communicates with the tank T to rotate the turning motor RM.
- the turning pressure is kept at the set pressure of the brake valve 28.
- the other passage 27 communicates with the first main pump MP1 and the one passage 26 communicates with the tank T, thereby rotating the turning motor RM. Also in this case, the turning pressure is maintained at the set pressure of the brake valve 29.
- the pressure sensor 47 detects the turning pressure or the brake pressure, and the pressure signal is input to the controller C.
- the controller C detects a pressure lower than the set pressure of the brake valves 28 and 29 within a range that does not affect the turning or braking operation of the turning motor RM, the controller C opens the electromagnetic switching valve 46 from the closed position. Switch to position.
- the electromagnetic switching valve 46 is switched to the open position, the pressure fluid guided to the turning motor RM flows into the merge passage 43 and is supplied to the assist motor AM via the safety valve 48 and the connection passage 42.
- the controller C controls the tilt angle of the assist motor AM according to the pressure signal from the pressure sensor 47. It is as follows.
- the turning motor RM cannot be turned or braked.
- the controller C controls the load of the turning motor RM while controlling the tilt angle of the assist motor AM. That is, the controller C controls the tilt angle of the assist motor AM so that the pressure detected by the pressure sensor 47 becomes substantially equal to the turning pressure or the brake pressure of the turning motor RM.
- the assist motor AM obtains a rotational force
- the rotational force acts on the electric motor MG that rotates coaxially.
- the rotational force of the assist motor AM acts as an assist force for the electric motor MG. Therefore, the power consumption of the electric motor MG can be reduced by the amount of the rotational force of the assist motor AM.
- the rotational force of the sub pump SP can be assisted by the rotational force of the assist motor AM.
- the assist motor AM and the sub pump SP are combined to exert a pressure conversion function.
- the fluid pressure flowing into the connection passage 42 is always lower than the pump discharge pressure.
- the assist motor AM and the sub-pump SP exhibit a pressure increasing function.
- the output of the assist motor AM is determined by the product of the displacement volume Q1 per rotation and the pressure P1 at that time.
- the output of the sub pump SP is determined by the product of the displacement volume Q2 per revolution and the discharge pressure P2.
- the sub pump SP can maintain a predetermined discharge pressure by the output of the assist motor AM.
- the fluid pressure from the turning motor RM can be increased and discharged from the sub pump SP.
- the tilt angle of the assist motor AM is controlled so as to keep the pressure in the passages 26 and 27 at the turning pressure or the brake pressure. Therefore, when the fluid from the turning motor RM is used, the tilt angle of the assist motor AM is inevitably determined. In order to exhibit the pressure conversion function while the tilt angle of the assist motor AM is determined, the tilt angle of the sub pump SP is controlled.
- the controller C closes the electromagnetic switching valve 46 based on the pressure signal from the pressure sensor 47, The swing motor RM is not affected.
- the safety valve 48 functions to prevent the pressure in the passages 26 and 27 from becoming unnecessarily low, thereby preventing the turning motor RM from running away.
- the controller C determines whether the operator is going to raise or lower the boom cylinder BC.
- the controller C keeps the proportional solenoid valve 34 in a normal state. In other words, the proportional solenoid valve 34 is kept in the fully open position.
- the controller C controls the rotational speed of the electric motor MG and the tilt angle of the sub-pump SP so as to ensure a predetermined discharge amount from the sub-pump SP. To do.
- the controller C calculates the lowering speed of the boom cylinder BC requested by the operator according to the operation amount of the operation valve 14, and the proportional electromagnetic The valve 34 is closed and the electromagnetic on-off valve 50 is switched to the open position.
- the controller C sets a flow rate higher than the flow rate consumed by the assist motor AM based on the operation amount of the operation valve 14, the tilt angle of the assist motor AM, the rotation speed of the electric motor MG, and the like.
- the opening degree of the proportional solenoid valve 34 is controlled so as to return to, and the lowering speed of the boom cylinder BC required by the operator is maintained.
- the assist motor AM When the fluid is supplied to the assist motor AM, the assist motor AM rotates.
- the rotational force of the assist motor AM acts on the electric motor MG that rotates coaxially.
- the rotational force of the assist motor AM acts as an assist force for the electric motor MG. Therefore, power consumption can be reduced by the amount of rotational force of the assist motor AM.
- the assist motor AM and the sub pump SP exhibit a pressure conversion function.
- the pressure of the boom cylinder BC increases and the braking action increases, so that the motor does not run away.
- the braking distance can be shortened, and the operator's operation will not be uncomfortable.
- the assist motor AM may take some time for the assist motor AM to lower the displacement volume, and in this case, the pressure in the connection passage 42 slightly increases. However, since the relief valve 52 is set so that the relief function can be exhibited at the same time, the torque of the assist motor AM does not exceed the absorption torque of the generator due to the switching delay of the electromagnetic on-off valve 50.
- the braking force can be increased without shock to the boom cylinder BC.
- the fluid from the turning motor RM and the return fluid from the boom cylinder BC merge in the connection passage 42 and are supplied to the assist motor AM. .
- connection passage 42 increases, the pressure on the merge passage 43 side also increases accordingly. Even if the pressure becomes higher than the swing pressure or the brake pressure of the swing motor RM, the check valves 44 and 45 are present, so that the swing motor RM is not affected.
- the controller C closes the electromagnetic switching valve 46 based on the pressure signal from the pressure sensor 47.
- the tilt angle of the assist motor AM is determined based on the required lowering speed of the boom cylinder BC regardless of the turning pressure or the brake pressure. Just decide.
- the output of the sub pump SP can be assisted by the output of the assist motor AM, and the flow rate discharged from the sub pump SP is apportioned by the first and second proportional electromagnetic throttle valves 40 and 41 to obtain the first and second circuits. Can be supplied to the grid.
- the tilt angle of the sub-pump SP is set to zero and the load is almost unloaded, and the assist motor AM is rotated in order to rotate the electric motor MG. If the necessary output is maintained, the electric motor MG can exhibit the power generation function by using the output of the assist motor AM.
- power can be generated by the generator 22 using the output of the engine E, or the electric motor MG can be generated using the assist motor AM.
- the generated power is stored in the battery 24.
- the battery 24 can be stored using the household power supply 25, the electric power of the electric motor MG can be procured widely.
- the assist motor AM is rotated using the fluid from the turning motor RM and the boom cylinder BC, and the sub pump SP and the electric motor MG can be assisted by the output of the assist motor AM. The energy loss between them is minimized.
- the output of the electric motor MG can be controlled according to the heavy work state from the light work state, the output of the electric motor MG can be made relatively small especially in light work such as ground leveling. Accordingly, the battery consumption is reduced, and the life of the battery can be extended as much as the power consumption is reduced.
- the storage capacity of the mounted battery can be reduced and the battery can be made smaller.
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Computer Hardware Design (AREA)
- Transportation (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
Claims (3)
- ハイブリッド建設機械の制御システムであって、
可変容量のメインポンプと、
前記メインポンプに接続され、複数の操作弁を有する回路系統と、
前記メインポンプの傾転角を制御するレギュレータと、
前記回路系統に設けられ、前記複数の操作弁のいずれかを切り換え操作した場合に発生するパイロット圧を前記レギュレータに導くパイロット流路と、
電動モータと、
前記メインポンプの吐出側に接続され、前記電動モータの出力で駆動する可変容量のサブポンプと、
前記サブポンプに設けられ、前記サブポンプの傾転角を制御するレギュレータと、
前記パイロット流路に設けられ、前記パイロット圧を検出する圧力センサーと、
前記圧力センサーに接続し、前記圧力センサーからの圧力信号に応じて前記サブポンプの前記レギュレータを制御し、前記メインポンプの出力を検出して前記メインポンプの出力に応じてあらかじめ記憶されたテーブルに基づいて前記電動モータの出力を制御するコントローラと、
を備える制御システム。 - 請求項1に記載の制御システムであって、
前記コントローラは、前記テーブルに基づいて出力された前記出力制御値をフィルタリングし、前記フィルタリングされた前記出力制御値に基づき前記電動モータの出力を制御する、
制御システム。 - 請求項1に記載の制御システムであって、
前記テーブルは、重作業から軽作業に応じた出力制御値を保持し、
前記コントローラは、前記メインポンプの出力に応じて重作業かあるいは軽作業かを判定し、作業状態に応じた前記出力制御値に基づいて前記電動モータを制御する、
制御システム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/512,863 US8655558B2 (en) | 2010-02-12 | 2011-02-02 | Control system for hybrid construction machine |
CN201180003453.4A CN102482867B (zh) | 2010-02-12 | 2011-02-07 | 混合动力建筑机械的控制系统 |
KR1020127008486A KR101368031B1 (ko) | 2010-02-12 | 2011-02-07 | 하이브리드 건설 기계의 제어 시스템 |
DE112011100518T DE112011100518T5 (de) | 2010-02-12 | 2011-02-07 | Steuersystem für eine Hybrid-Baumnaschine |
US14/109,260 US9026297B2 (en) | 2010-02-12 | 2013-12-17 | Control system for hybrid construction machine |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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JP2010-029345 | 2010-02-12 | ||
JP2010029345A JP5265595B2 (ja) | 2010-02-12 | 2010-02-12 | ハイブリッド建設機械の制御装置 |
JP2010-072560 | 2010-03-26 | ||
JP2010072560A JP5398614B2 (ja) | 2010-03-26 | 2010-03-26 | ハイブリッド建設機械の制御装置 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/512,863 A-371-Of-International US8655558B2 (en) | 2010-02-12 | 2011-02-02 | Control system for hybrid construction machine |
US14/109,260 Continuation US9026297B2 (en) | 2010-02-12 | 2013-12-17 | Control system for hybrid construction machine |
Publications (1)
Publication Number | Publication Date |
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WO2011099437A1 true WO2011099437A1 (ja) | 2011-08-18 |
Family
ID=44367711
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2011/052494 WO2011099437A1 (ja) | 2010-02-12 | 2011-02-07 | ハイブリッド建設機械の制御システム |
Country Status (5)
Country | Link |
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US (2) | US8655558B2 (ja) |
KR (1) | KR101368031B1 (ja) |
CN (1) | CN102482867B (ja) |
DE (1) | DE112011100518T5 (ja) |
WO (1) | WO2011099437A1 (ja) |
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US8655558B2 (en) * | 2010-02-12 | 2014-02-18 | Kayaba Industry Co., Ltd. | Control system for hybrid construction machine |
JP5984571B2 (ja) * | 2012-08-09 | 2016-09-06 | Kyb株式会社 | ハイブリッド建設機械の制御装置 |
KR102067838B1 (ko) * | 2013-03-25 | 2020-01-17 | 두산인프라코어 주식회사 | 건설기계의 유압시스템 |
KR101847760B1 (ko) | 2014-04-03 | 2018-04-10 | 히다찌 겐끼 가부시키가이샤 | 건설 기계 |
JP6152473B2 (ja) | 2014-05-16 | 2017-06-21 | 日立建機株式会社 | 作業機械の圧油エネルギ回生装置 |
CN104196927B (zh) * | 2014-08-08 | 2018-04-27 | 徐州五洋科技股份有限公司 | 一种下运带式输送机盘式制动器控制装置 |
US9765499B2 (en) | 2014-10-22 | 2017-09-19 | Caterpillar Inc. | Boom assist management feature |
WO2016093393A1 (ko) * | 2014-12-10 | 2016-06-16 | 볼보 컨스트럭션 이큅먼트 에이비 | 건설기계의 유압 회로 |
WO2017056200A1 (ja) * | 2015-09-29 | 2017-04-06 | 日立建機株式会社 | 作業機械の圧油エネルギ回生装置 |
NO343276B1 (en) * | 2016-11-30 | 2019-01-14 | Impact Solutions As | A method of controlling a prime mover and a plant for controlling the delivery of a pressurized fluid in a conduit |
US11987949B2 (en) | 2017-08-30 | 2024-05-21 | Topcon Positioning Systems, Inc. | Method and apparatus for machine operator command attenuation |
CN107859671A (zh) * | 2017-12-11 | 2018-03-30 | 徐州工程学院 | 一种负载敏感多路阀试验装置及试验方法 |
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Also Published As
Publication number | Publication date |
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CN102482867A (zh) | 2012-05-30 |
US9026297B2 (en) | 2015-05-05 |
US20140107880A1 (en) | 2014-04-17 |
KR20120061954A (ko) | 2012-06-13 |
CN102482867B (zh) | 2014-12-17 |
US8655558B2 (en) | 2014-02-18 |
US20120245782A1 (en) | 2012-09-27 |
DE112011100518T5 (de) | 2012-11-29 |
KR101368031B1 (ko) | 2014-02-26 |
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