WO2011135691A1 - ハイブリッド建設機械の制御装置 - Google Patents
ハイブリッド建設機械の制御装置 Download PDFInfo
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- WO2011135691A1 WO2011135691A1 PCT/JP2010/057558 JP2010057558W WO2011135691A1 WO 2011135691 A1 WO2011135691 A1 WO 2011135691A1 JP 2010057558 W JP2010057558 W JP 2010057558W WO 2011135691 A1 WO2011135691 A1 WO 2011135691A1
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- WIPO (PCT)
- Prior art keywords
- power
- generator
- construction machine
- control device
- electric motor
- Prior art date
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- 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
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- 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
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
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- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
- H02M5/02—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc
- H02M5/04—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters
- H02M5/22—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M5/275—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M5/293—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases without intermediate conversion into dc by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
- H02M5/40—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc
- H02M5/42—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters
- H02M5/44—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac
- H02M5/453—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal
- H02M5/458—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M5/4585—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only having a rectifier with controlled elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
- H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
- H02M7/12—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/21—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/217—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M7/219—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only in a bridge configuration
Definitions
- the present invention relates to a control device for a hybrid construction machine that is driven by fluid pressure and electric power.
- an engine drives a hydraulic pump, and a boom and the like included in the construction equipment are driven by the hydraulic pump, and the engine drives a generator.
- the AC power generated by the generator Some have a boom or the like, and turn a turning body of a construction machine.
- Patent Document 1 An example of such a control device for a hybrid construction machine is disclosed in Patent Document 1.
- An object of the present invention is to provide a control device for a hybrid construction machine that is small in size, low in cost, high in reliability, and capable of driving an electric motor immediately after the engine is started.
- the hybrid construction machine control device includes a generator. This generator is connected to the engine and generates AC power.
- the AC power is preferably multiphase power composed of a plurality of phases.
- the engine also drives a hydraulic pump as will be described later.
- a first power converter is connected to the generator.
- the first power converter is, for example, a converter.
- a second power converter is connected to the first power converter, and the second power converter controls the power of the swing electric motor.
- the second power converter is, for example, an inverter.
- the first and second power converters are composed of a plurality of switch element groups arranged between each power supply line of the generator and the swing electric motor.
- These switching element groups directly convert AC power of the generator into AC power that can be input to the swing electric motor, and control the rotation of the swing electric motor.
- the AC power of the generator supplied to the first power converter is multiphase power, for example, three-phase power
- the AC power input from the second power converter to the swivel electric motor is also multiphase power, For example, three-phase power.
- These switching elements are controlled by control means for the first and second power converters.
- the AC power of the generator is converted into AC power that can be directly input to the swing electric motor by the first and second power converters, so there is no need to use a smoothing capacitor. It can be downsized. Moreover, since no smoothing capacitor is used, there is no need to wait for the smoothing capacitor to be charged, and when the engine is started, the turning electric motor is driven immediately to turn the construction machine body. it can.
- the engine can also drive a hydraulic pump.
- the generator is configured to be drivable as an electric motor. This electric motor assists the power when the engine drives the hydraulic pump.
- the AC power regenerated from the swing electric motor is directly converted into AC power for driving the generator by the switching element groups of the first and second power converters, and the generator is driven.
- the switching element group can transmit power in both directions.
- the generator can be driven by regenerative electric power from the turning electric motor. Since AC power regenerated from the swing electric motor can be directly converted into AC power for driving the generator, efficiency can be improved.
- the surplus AC power is supplied to a capacitor provided between the first and second power converters. It can be charged.
- the insufficient power can be compensated from the capacitor. If comprised in this way, even if the regenerative electric power from a turning electric motor is insufficient from the electric power required in order to drive a generator, a generator can be driven in a predetermined state.
- the generator when the generator is in an assist mode for assisting power when driving the hydraulic pump with the engine, when the swing electric motor regenerates AC power, the regenerated AC power is prioritized. And can be supplied to the generator.
- a smoothing capacitor is not required to drive the swing electric motor
- the hybrid construction machine can be reduced in size, and the swing electric motor included in the hybrid construction machine can be reduced. It can be driven immediately after the engine is started.
- FIG. 1 is a block diagram of a hybrid construction machine according to an embodiment of the present invention. It is a circuit diagram of the indirect matrix converter used with the hybrid construction machine of FIG.
- the hybrid construction machine of one aspect of the present invention has an engine 2 as shown in FIG.
- the engine 2 drives a hydraulic pump 4 and a generator 5.
- the hydraulic pump 4 functions as a drive source for a plurality of actuators of the hybrid construction machine, for example, an arm cylinder 6, a boom cylinder 8, a bucket cylinder 10, a traveling hydraulic motor (L) 12, and a traveling hydraulic motor (R) 14.
- the arm driven by the arm cylinder 6, the boom driven by the boom cylinder 8, and the bucket driven by the bucket cylinder 10 are attached to the upper swing body of the hybrid construction machine.
- the traveling hydraulic motor (L) 12 and the traveling hydraulic motor (R) 14 drive the left and right crawlers of the traveling body provided with the upper swing body so as to be capable of turning.
- an electric motor for example, a three-phase electric motor 18 is coupled to the upper turning body via the turning mechanism 16.
- the above-described generator 5 is coupled to the engine 2.
- the generator 5 is, for example, a three-phase AC generator that generates three-phase AC power, and can also operate as a three-phase motor.
- the hydraulic pump 4 is driven together with the engine 2.
- AC power generated by the generator 5 is supplied to the indirect matrix converter 22, converted in frequency and voltage, and supplied to the three-phase motor 18.
- the indirect matrix converter 22 is controlled by the control unit 24.
- the output voltage of the generator 20 is detected by the voltage detector 26, and the output current of the indirect matrix converter 22 is detected by the current detector 28. Detection results in the voltage detection unit 26 and the current detection unit 28 are supplied to the control unit 24.
- the indirect matrix converter 22 includes a first power converter, for example, a converter 30, and a second power converter, for example, an inverter 32.
- the converter 30 has three-phase AC power input terminals 34r, 34s and 34t, and further has two intermediate DC output terminals 36p and 36n.
- a switching element such as a bidirectional switching circuit 38 is connected between the power input terminal 34r and the intermediate DC output terminal 36p.
- the bidirectional switching circuit 38 has an IGBT 40 whose collector is connected to the power supply input terminal 34r and an IGBT 42 whose collector is also connected to the intermediate DC output terminal 36p, and the emitters of these IGBTs 40 and 42 are connected to each other.
- Diodes 44 and 46 are connected in antiparallel between the collectors and emitters of the IGBTs 40 and 42.
- Switching circuits 48 and 50 are connected between the power input terminals 34s and 34t and the intermediate DC output terminal 36p, respectively. Similarly to the switching circuit 38, the bidirectional switching circuits 48 and 50 are also composed of two IGBTs 52, 54, 56 and 58 and antiparallel diodes 60, 62, 64 and 66.
- bidirectional switching circuits 68, 70, 72 are connected between the power input terminals 34r, 34s, 34t and the intermediate DC output terminal 36n.
- These bidirectional switching circuits 68, 70, 72 are also constituted by two IGBTs 74, 76, 78, 80, 82, 84, respectively, and two diodes 86, 88, 90, 92, 94, 96, respectively.
- the converter 30 is constituted by 12 IGBTs and 12 diodes.
- the converter 30 generates an intermediate DC voltage between the intermediate DC output terminals 36p and 36n.
- the inverter 32 has an intermediate DC input terminal 100p connected to the intermediate DC output terminal 36p via the intermediate DC power supply line 98p, and the intermediate DC input connected to the intermediate DC output terminal 36n via the intermediate DC power supply line 98n. It also has a terminal 100n and further has AC output terminals 102u, 102v, 102w connected to each phase of the three-phase motor 18.
- a semiconductor switching element for example, an IGBT 104 is connected between the intermediate DC input terminal 100p and the AC output terminal 102u.
- the collector of the IGBT 104 is positioned on the intermediate DC input terminal 100p side, and the emitter is positioned on the AC output terminal 102u.
- a diode 108 is connected in antiparallel between the collector and emitter of the IGBT 104.
- IGBTs 108 and 110 are connected between the intermediate DC input terminal 100p and the AC output terminals 102v and 102w, respectively.
- Diodes 112 and 114 are connected to these IGBTs 108 and 110 in antiparallel.
- IGBTs 116, 118, 120 are also connected between the AC output terminals 102u, 102v, 102w and the intermediate DC input terminal 100n.
- the IGBTs 116, 118, and 120 have their collectors positioned on the AC output terminals 102u, 102v, and 102w side, and their emitters positioned on the intermediate DC input terminal 100n side.
- Diodes 122, 124, and 126 are connected in antiparallel between the collectors and emitters of the IGBTs 116, 118, and 120, respectively.
- the inverter 32 is configured by six IGBTs.
- a charge / discharge circuit 128 is provided between the intermediate DC power supply lines 98p and 98n.
- the charging / discharging circuit 128 has an IGBT 130, and the collector of the IGBT 130 is connected to the intermediate DC power supply line 98p.
- the emitter of the IGBT 130 is connected to the intermediate DC power supply line 98n through a series circuit of a resistor 132 and a charge / discharge capacitor 134.
- a capacitor for example, EDLC (electric double layer capacitor), LiC (lithium ion capacitor), or the like can be used.
- An IGBT 136 is connected in parallel with the series circuit of the resistor 132 and the charge / discharge capacitor 134.
- the collector is located on the resistor 132 side, and the emitter is located on the intermediate DC power supply line 98n side. Between the collectors and emitters of the IGBTs 130 and 136, diodes 138 and 140 are connected in antiparallel.
- Each IGBT of the converter 30 and the inverter 32 is controlled by the control unit 24 shown in FIG. 1 and supplies AC power having a desired frequency and a desired voltage to the three-phase generator 18.
- the three-phase AC power is directly converted into desired AC power by the converter 30 and the inverter 32, that is, after the AC power is converted into DC power by the converter and the smoothing capacitor, the DC power is converted into the DC power. Since a method of converting to desired AC power by the inverter is not employed, it is not necessary to provide a large capacitor for smoothing between the intermediate DC power supply lines 98p and 98n. Therefore, the indirect matrix converter 22 can be reduced in size, and a hybrid construction machine using the indirect matrix converter 22 can also be reduced in size. In addition, since it is not necessary to wait for the smoothing capacitor to be sufficiently charged after the engine 2 is started, the three-phase motor 18 can be started quickly.
- the control unit 24 supplies AC power having a desired frequency and a desired voltage to the three-phase motor 18 in order to turn the upper swing body based on a command (not shown) from the operator of the hybrid construction machine.
- the indirect matrix converter 22 is controlled.
- the control unit 24 preferentially supplies the electric power from the generator 5 to the turning electric motor. That is, the control unit 24 performs three-phase for turning based on a command from the operator, a magnetic pole position sensor (not shown) of the three-phase motor 18, a detection result of the voltage detection unit 26 and / or the current detection unit 28.
- the capacitor 134 When it is determined that the required electric power is insufficient in the electric motor 18, the capacitor 134 is discharged and the electric power of the capacitor 134 is added to the electric power supplied to the three-phase electric motor 18. Further, the control unit 24 generates surplus in the power supplied to the three-phase motor 18 based on the operator's command, the magnetic pole position sensor of the three-phase motor 18, the detection result of the voltage detection unit 26 and / or the current detection unit 28. Then, when it is determined, the surplus power is charged in the capacitor 134.
- diodes 106, 112, 114, 122 to 126 are provided in antiparallel with the IGBTs 104 to 110 and 116 to 120.
- the converter 30 includes bidirectional switch circuits 38, 48, 50, 68 to 72, respectively. Since they are configured, by controlling these with the control unit 24, the regenerative control of the three-phase motor 18 can be performed, and AC power can be generated at the power input terminals 34r, 34s, and 34t.
- the assist mode it is possible to set the assist mode to assist the power when the engine 2 drives the hydraulic pump 4.
- AC power generated by regeneration from the indirect matrix converter 22 is supplied to the generator 5 to operate the generator 5 as a three-phase motor. This can assist the engine 2 in driving the hydraulic pump 4.
- the IGBT 130 of the charging / discharging circuit 128 is made conductive and charged with the surplus electric power.
- the discharging capacitor 134 is charged.
- the IGBT 136 is made conductive when the charging / discharging capacitor 134 is discharged in order to prevent the charging / discharging capacitor 134 from being overcharged.
- the charging / discharging capacitor 134 is charged in advance, the regenerative power generated based on the regeneration of the three-phase motor 18 is less than the power to be borne to drive the generator 5 as a motor. Can be discharged through the diode 138 to supplement the regenerative power based on the regeneration of the three-phase motor 18.
- the charging / discharging capacitor 134 is charged only when surplus power is generated, and is discharged only when the regenerative power is insufficient. Therefore, the charging / discharging capacitor 134 is not charged / discharged frequently, and loss due to charging / discharging occurs. Less is.
- control part 24 is based on the instruction
- the generator 5 is operable as an electric motor.
- an electric motor for auxiliary driving of the hydraulic pump 4 is provided separately, and this electric motor is driven by regenerative electric power from the indirect matrix converter 22. It can also be configured.
- an electric motor and a hydraulic pump are provided for each arm cylinder 6, boom cylinder 8, bucket cylinder 10, traveling hydraulic motor (L) 12, and traveling hydraulic motor (R) 14, and the power distribution to each electric motor is adjusted. Also good.
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Abstract
Description
Claims (7)
- エンジンに接続され、交流電力を発生する発電機と、
この発電機に接続された第1電力変換器と、
第1電力変換器に接続され、旋回電気モータの電力を制御する第2電力変換器とを、
備えたハイブリッド式建設機械の制御装置において、
第1及び第2の電力変換器が、前記発電機の各電源ラインと、前記旋回電気モータとの間に配置された複数のスイッチ素子群からなり、これらスイッチング素子群によって前記発電機の交流電力を前記旋回電気モータに投入可能な交流電力に直接に変換し、前記旋回電気モータを回転制御する
ハイブリッド式建設機械の制御装置。 - 請求項1記載のハイブリッド式建設機械の制御装置において、
前記エンジンは、油圧ポンプも駆動し、前記発電機は、電気モータとしても駆動可能に構成され、前記エンジンが前記油圧ポンプを駆動するときの動力を補助し、
前記旋回電気モータから回生された交流電力を、第1及び第2の電力変換器の前記スイッチング素子群で、前記発電機を駆動する交流電力に直接に変換し、前記発電機を駆動する
ハイブリッド式建設機械の制御装置。 - 請求項2記載のハイブリッド式建設機械の制御装置において、前記旋回電気モータから回生された交流電力が、前記発電機で必要とする交流電力よりも多いとき、その余剰交流電力を、第1及び第2の電力変換器の間に設けた蓄電器に蓄電する
ハイブリッド式建設機械の制御装置。 - 請求項3記載のハイブリッド式建設機械の制御装置において、
前記旋回電気モータから回生される交流電力が、前記発電機において必要とされる交流電力よりも不足するとき、その不足電力を前記蓄電器から補う
ハイブリッド式建設機械の制御装置。 - 請求項3記載のハイブリッド式建設機械の制御装置において、
前記発電機が、前記エンジンで前記油圧ポンプを駆動するときの動力を補助するアシストモードのとき、前記旋回電気モータが交流電力を回生した場合には、この回生された交流電力を優先して、前記発電機に供給する
ハイブリッド式建設機械の制御装置。 - 請求項2乃至5いずれか記載のハイブリッド式建設機械の制御装置において、
前記蓄電器がキャパシタである
ハイブリッド式建設機械の制御装置。 - 請求項2乃至7いずれか記載のハイブリッド式建設機械の制御装置において,
前記油圧ポンプが前記エンジンに駆動される方式に替わって発電機の交流出力に接続された交流入力のインバータによって駆動される電動油圧ポンプであることを特徴とする
ハイブリッド式建設機械の制御装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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KR1020127028067A KR20130001298A (ko) | 2010-04-28 | 2010-04-28 | 하이브리드 건설 기계의 제어장치 |
US13/643,208 US20130038121A1 (en) | 2010-04-28 | 2010-04-28 | Hybrid Construction Machine Control System |
PCT/JP2010/057558 WO2011135691A1 (ja) | 2010-04-28 | 2010-04-28 | ハイブリッド建設機械の制御装置 |
CN2010800664464A CN102906344A (zh) | 2010-04-28 | 2010-04-28 | 混合建设机械的控制装置 |
EP10850709.6A EP2565333A4 (en) | 2010-04-28 | 2010-04-28 | CONTROL DEVICE FOR HYBRID CONSTRUCTION MACHINE |
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PCT/JP2010/057558 WO2011135691A1 (ja) | 2010-04-28 | 2010-04-28 | ハイブリッド建設機械の制御装置 |
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US (1) | US20130038121A1 (ja) |
EP (1) | EP2565333A4 (ja) |
KR (1) | KR20130001298A (ja) |
CN (1) | CN102906344A (ja) |
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JP5528946B2 (ja) * | 2010-08-10 | 2014-06-25 | ナブテスコ株式会社 | インダイレクトマトリクスコンバータ |
JP6301160B2 (ja) * | 2014-02-28 | 2018-03-28 | 住友建機株式会社 | ショベル |
JP6278785B2 (ja) * | 2014-03-28 | 2018-02-14 | 住友重機械工業株式会社 | 産業車両用電源装置 |
JP6381491B2 (ja) * | 2015-07-07 | 2018-08-29 | 日立建機株式会社 | 建設機械の制御装置 |
JP6873726B2 (ja) * | 2017-02-09 | 2021-05-19 | ナブテスコ株式会社 | 油圧システム |
Citations (4)
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JP2008088660A (ja) | 2006-09-29 | 2008-04-17 | Kobelco Contstruction Machinery Ltd | ハイブリッド式作業機械 |
WO2008117748A1 (ja) * | 2007-03-23 | 2008-10-02 | Komatsu Ltd. | ハイブリッド建設機械の発電制御方法およびハイブリッド建設機械 |
WO2009082010A1 (ja) * | 2007-12-26 | 2009-07-02 | Sumitomo Heavy Industries, Ltd. | ハイブリッド型建設機械及びハイブリッド型建設機械の制御方法 |
JP2009171667A (ja) * | 2008-01-11 | 2009-07-30 | Nagaoka Univ Of Technology | 交流電動機駆動回路及び電気車駆動回路 |
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JP3877901B2 (ja) * | 1999-03-31 | 2007-02-07 | コベルコ建機株式会社 | ショベル |
JP4082935B2 (ja) * | 2002-06-05 | 2008-04-30 | 株式会社小松製作所 | ハイブリッド式建設機械 |
JP4140552B2 (ja) * | 2004-04-28 | 2008-08-27 | トヨタ自動車株式会社 | 自動車用電源装置およびそれを備える自動車 |
WO2008087689A1 (ja) * | 2007-01-16 | 2008-07-24 | Mitsubishi Electric Corporation | 電力変換装置 |
CN101606309B (zh) * | 2007-02-16 | 2013-02-27 | 株式会社小松制作所 | 电压控制装置及电压控制方法 |
US8439139B2 (en) * | 2007-03-28 | 2013-05-14 | Komatsu Ltd. | Method of controlling hybrid construction machine and hybrid construction machine |
JP2010229731A (ja) * | 2009-03-27 | 2010-10-14 | Nabtesco Corp | ハイブリッド建設機械の制御装置 |
WO2010116865A1 (ja) * | 2009-04-06 | 2010-10-14 | ナブテスコ株式会社 | インダイレクトマトリクスコンバータ、作業機械の旋回制御装置及び作業機械 |
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2010
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- 2010-04-28 WO PCT/JP2010/057558 patent/WO2011135691A1/ja active Application Filing
- 2010-04-28 US US13/643,208 patent/US20130038121A1/en not_active Abandoned
- 2010-04-28 KR KR1020127028067A patent/KR20130001298A/ko not_active Application Discontinuation
- 2010-04-28 EP EP10850709.6A patent/EP2565333A4/en not_active Withdrawn
Patent Citations (4)
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JP2008088660A (ja) | 2006-09-29 | 2008-04-17 | Kobelco Contstruction Machinery Ltd | ハイブリッド式作業機械 |
WO2008117748A1 (ja) * | 2007-03-23 | 2008-10-02 | Komatsu Ltd. | ハイブリッド建設機械の発電制御方法およびハイブリッド建設機械 |
WO2009082010A1 (ja) * | 2007-12-26 | 2009-07-02 | Sumitomo Heavy Industries, Ltd. | ハイブリッド型建設機械及びハイブリッド型建設機械の制御方法 |
JP2009171667A (ja) * | 2008-01-11 | 2009-07-30 | Nagaoka Univ Of Technology | 交流電動機駆動回路及び電気車駆動回路 |
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EP2565333A1 (en) | 2013-03-06 |
EP2565333A4 (en) | 2016-03-02 |
CN102906344A (zh) | 2013-01-30 |
KR20130001298A (ko) | 2013-01-03 |
US20130038121A1 (en) | 2013-02-14 |
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