WO2012033064A1 - 建設機械のハイブリッドシステム - Google Patents
建設機械のハイブリッドシステム Download PDFInfo
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- WO2012033064A1 WO2012033064A1 PCT/JP2011/070194 JP2011070194W WO2012033064A1 WO 2012033064 A1 WO2012033064 A1 WO 2012033064A1 JP 2011070194 W JP2011070194 W JP 2011070194W WO 2012033064 A1 WO2012033064 A1 WO 2012033064A1
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- Prior art keywords
- pressure
- torque
- hydraulic
- control valve
- flow rate
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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
- E02F9/22—Hydraulic or pneumatic drives
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits 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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
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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
- 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
- E02F9/2278—Hydraulic circuits
-
- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20523—Internal combustion engine
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20569—Type of pump capable of working as pump and motor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
- F15B2211/41509—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source and a directional control valve
- F15B2211/41518—Flow control characterised by the connections of the flow control means in the circuit being connected to a pressure source and a directional control valve being connected to multiple pressure sources
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7058—Rotary output members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/88—Control measures for saving energy
-
- 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 hybrid system for a construction machine provided with a rotating electrical machine apparatus having functions of both an electric motor and a generator separately from an engine.
- Patent Document 1 As a construction machine hybrid system, for example, there is one described in Patent Document 1.
- a rotating electrical machine device that functions as both an electric motor and a generator is provided separately from the engine, the rotating electrical machine device is directly connected to the output shaft of the engine, and both the rotating electrical machine and the hydraulic pump are driven by the engine. It is configured.
- the hydraulic pump When the load on the hydraulic actuator is light, the hydraulic pump is driven to rotate by the engine, the hydraulic actuator is driven, and the rotating electrical machine device is driven by surplus power of the engine so that the rotating electrical machine functions as a generator.
- the rotating electrical machine device When the generated electric power is stored in the battery and the load of the hydraulic actuator is large, the rotating electrical machine device is caused to function as an electric motor, the hydraulic pump is driven by both the engine and the rotating electrical machine device, and the actuator is driven.
- the rotating electrical machine device To drive the rotating electrical machine device as a generator, store the generated power in the battery, and when the load on the hydraulic actuator is large, the rotating electrical machine device functions as an electric motor to drive the rotating hydraulic device to rotate
- the hydraulic device functions as a hydraulic pump, and the oil discharged from both the hydraulic pump driven by the engine and the rotary hydraulic device is supplied to the hydraulic actuator.
- JP 2001-173024 A Japanese Patent No. 3875900
- the rotating electrical machine device which is an electrical component
- the hybrid system described in Patent Document 2 since the rotating electrical machine device, which is an electrical component, is configured integrally with the engine body, it is necessary to take measures to protect the rotating electrical machine device from heat generation and vibration of the engine.
- the hybrid system described in Patent Document 2 has a higher degree of freedom in arrangement by separating the rotating electrical machine device from the engine as compared with that described in Patent Document 1, and the rotating electrical machine device that is an electrical component is engine. It is possible to isolate it from heat generation and vibration.
- the control valve is driven by the engine in order to switch the flow path of the discharge oil from the hydraulic pump driven by the engine and the discharge oil from the rotary hydraulic device driven by the rotating electrical machine.
- Two switching valves a first switching valve that opens and closes the flow path of the discharge oil from the hydraulic pump that is operated, and a second switching valve that opens and closes the flow path of the discharge oil from the rotary hydraulic apparatus driven by the rotating electrical machine apparatus Switching of the operating state of the rotating hydraulic device and the rotating electrical machine device (from the state where the rotating hydraulic device functions as a hydraulic motor and the rotating electrical machine device functions as a generator, the rotating electrical machine device functions as an electric motor and the rotating hydraulic device The first and second switching valves are switched on and off when switching to a state in which the valve functions as a hydraulic pump or vice versa.
- the present invention provides an engine, a main hydraulic pump driven by the engine, a plurality of actuators, and a first pressure oil supply oil passage through the main hydraulic pump.
- a control valve that controls the flow of pressure oil supplied to the plurality of actuators, a rotating electrical machine device that functions as both an electric motor and a generator, and the rotating electrical machine device connected to the rotating electrical machine.
- the device functions as an electric motor, it is driven by the rotating electrical machine device and functions as a hydraulic pump, and when the rotating electrical machine device functions as a generator, it functions as a hydraulic motor to drive the rotating electrical machine device.
- a hybrid system of a construction machine which is connected between an electric device and includes a bidirectional converter that controls transmission and reception of electric power between the power storage device and the rotating electric device, the first pressure oil supply oil path and the A flow rate that is disposed in the second pressure oil supply oil passage and is supplied to the control valve when the discharge oil of the main hydraulic pump is supplied to the rotary hydraulic device through the second pressure oil supply oil passage.
- a flow control valve device that controls the ratio of the flow rate supplied to the rotary hydraulic device and a third pressure that connects the rotary hydraulic device to the first pressure oil supply oil path downstream of the flow control valve device.
- a first switching valve provided in the third pressure oil supply oil passage that can be opened and closed, a drive torque detection device that detects drive torque of the hydraulic pump, and the drive torque detection device
- the hydraulic port Whether the actuator driving torque for driving the plurality of actuators is greater than a preset switching torque, and if the actuator driving torque is smaller than the switching torque, The switching valve is switched to a closed position, the bidirectional converter is controlled so that the rotating electrical machine functions as a generator, and the actuator hydraulic torque is supplied from the main hydraulic pump to the rotating hydraulic device as the actuator driving torque increases.
- the flow control valve device is controlled so that the flow rate of pressure oil decreases, and when the actuator driving torque is larger than the switching torque, the first switching valve is switched to the open position, and the rotating electrical machine device is operated by the electric motor.
- the degree of freedom in the arrangement of the rotating electrical machine device is increased, and the rotating electrical machine device is isolated from the heat and vibration generated by the engine. It becomes possible to arrange and a more reliable hybrid system can be realized by improving the mounting environment of the electric system.
- the bidirectional converter when the actuator driving torque is smaller than the preset switching torque, the first switching valve is switched to the closed position, the bidirectional converter is controlled so that the rotating electrical machine functions as a generator, and the actuator driving
- the flow rate control valve device is controlled so that the flow rate of the pressure oil supplied from the main hydraulic pump to the rotary hydraulic device decreases as the torque increases, and the actuator drive torque is greater than the switching torque
- the bidirectional converter is controlled so that the rotating electrical machine functions as an electric motor, the rotating hydraulic apparatus functions as a hydraulic pump, and the discharge oil of the main hydraulic pump is not supplied to the rotating hydraulic apparatus.
- the flow control valve device is controlled.
- the flow control valve device includes a throttle portion provided in the second pressure oil supply oil passage, the first pressure oil supply oil passage, and the second.
- the differential pressure across the throttle portion is controlled.
- the control valve has a priority on the control valve in accordance with the required flow rate.
- a flow rate control valve with a pressure compensation function for supplying a flow rate, and the control device increases the actuator drive torque when the actuator drive torque is smaller than the switching torque. Differential pressure across the serial diaphragm portion is reduced, the flow rate of the hydraulic fluid supplied to said rotary hydraulic device for controlling the pressure compensating function flow control valve to decrease.
- the flow rate control valve device is supplied to the flow rate supplied to the control valve and the rotary hydraulic device when the discharge oil of the main hydraulic pump is supplied to the rotary hydraulic device via the second pressure oil supply oil passage.
- the flow rate can be controlled.
- the control device has a flow control valve device so that the flow rate of the pressure oil supplied from the main hydraulic pump to the rotary hydraulic device decreases as the actuator drive torque increases. Can be controlled.
- the flow rate control valve with a pressure compensation function is configured such that when the rotary hydraulic device functions as a hydraulic motor, the hydraulic pressure upstream of the throttle unit is A first pressure receiving portion operated in the opening direction guided through the one-signal pressure oil passage; and a second pressure receiving portion operated in the throttle direction in which the hydraulic pressure downstream of the throttle portion is guided through the second signal pressure oil passage.
- the control device includes a second switching valve disposed in the second signal pressure oil passage, and a controller that inputs a signal from the drive torque detection device, and the controller includes the actuator drive torque.
- the second switching valve is switched to a first position for guiding the hydraulic pressure downstream of the throttle unit to the second pressure receiving unit, and the pressure compensation function of the flow rate control valve with pressure compensation function Enabled and
- the second switching valve is switched to a second position where the second pressure receiving portion communicates with the tank, and the pressure compensation function of the flow control valve with the pressure compensation function Is invalid.
- the control device allows the flow rate control valve device so that the flow rate of the pressure oil supplied from the main hydraulic pump to the rotary hydraulic device decreases as the actuator driving torque increases.
- the flow control valve device can be controlled so that the oil discharged from the main hydraulic pump is not supplied to the rotary hydraulic device.
- the flow rate control valve with a pressure compensation function is configured such that when the rotary hydraulic device functions as a hydraulic motor, the hydraulic pressure on the upstream side of the throttle portion is the first.
- a first pressure receiving portion operated in the opening direction guided through the one-signal pressure oil passage; a second pressure receiving portion operated in the throttle direction in which the oil pressure downstream of the throttle portion is guided through the second signal pressure oil passage;
- a third pressure receiving unit configured to set a target compensation differential pressure based on the control pressure, and the control device includes: an electromagnetic proportional pressure reducing valve that outputs the control pressure to the third pressure receiving unit; and the drive torque detecting device.
- a controller that inputs a signal for the target, which decreases as the actuator driving torque increases, and is zero when the actuator driving torque exceeds the switching torque. It calculates the differential pressure, to control the solenoid proportional pressure reducing valve so that the target compensation differential pressure is obtained.
- the control device reduces the flow rate of the pressure oil supplied from the main hydraulic pump to the rotary hydraulic device as the actuator drive torque increases, and the actuator drive torque is switched.
- the flow rate control valve device can be controlled so that the flow rate of the pressure oil supplied from the hydraulic pump to the rotary hydraulic device becomes almost zero.
- the control device is configured such that the rotating electrical machine device obtained from the bidirectional converter is obtained from the drive torque of the hydraulic pump detected by the drive torque detection device.
- a torque value obtained by subtracting the generated torque when functioning as a generator is obtained, and this torque value is used as the actuator driving torque.
- the drive torque detection device is a torque sensor provided on a rotary shaft that transmits the drive force of the engine to the hydraulic pump. .
- the drive torque detecting means can detect the drive torque of the main hydraulic pump.
- the degree of freedom of arrangement of the rotating electrical machine device is increased, and the rotating electrical machine device can be isolated from the heat and vibration generated by the engine. It becomes possible, and it becomes possible to realize a more reliable hybrid system by improving the electrical environment.
- the rotating hydraulic machine device functions as an electric motor and the rotating hydraulic device functions as a hydraulic pump.
- the flow rate of pressure oil supplied from the main hydraulic pump to the rotary hydraulic system is almost zero, and the flow rate before or after switching can be variably controlled. Therefore, when the operating state of the rotary hydraulic device and the rotating electrical machine device is switched during operation of the construction machine, a shock due to flow rate fluctuation is not generated, and the operating state of the rotary hydraulic device and the rotating electrical machine device can be switched smoothly. it can. Thereby, excellent driving performance can be exhibited.
- FIG. 1 shows the apparatus structure of the hybrid system of the construction machine in one embodiment of this invention. It is a figure which shows the opening area characteristic of the 1st variable throttle part of a flow control valve with a pressure compensation function, and a 2nd variable throttle part. It is a figure which shows the external appearance of the hydraulic excavator by which the hybrid system of this Embodiment is mounted. It is a flowchart which shows the processing function of a controller. It is a figure which shows the relationship between the subtraction torque value memorize
- FIG. 1 is a diagram showing a device configuration of a construction machine hybrid system according to an embodiment of the present invention.
- a hybrid system of the present embodiment includes an engine 1, a main hydraulic pump 3 connected to the engine 1 via a rotary shaft 2 and driven by the engine 1, and a plurality of actuators 5a to 5g.
- a control valve 7 connected to the hydraulic pump 3 via a first pressure oil supply oil path 6 and controlling the flow of pressure oil supplied from the hydraulic pump 3 to the plurality of actuators 5a to 5g, an electric motor and a generator
- the rotating electrical machine device 8 having the functions of both of the above and the rotating electrical machine device 8 connected to the rotating electrical machine device 8 are driven by the rotating electrical machine device 8 and function as a hydraulic pump (sub pump) when the rotating electrical machine device 8 functions as an electric motor.
- the rotating electrical machine device 8 When the rotating electrical machine device 8 functions as a generator, the rotating electrical machine device 8 is driven and the rotating hydraulic device 9 functions as a hydraulic motor, and the rotating oil A second pressure oil supply oil passage 11 that connects the device 9 to the first pressure oil supply oil passage 6, a fixed throttle portion 12 provided in the second pressure oil supply oil passage 11, and a first pressure oil supply oil passage 6.
- the differential pressure across the throttle portion 12 is reduced.
- the control valve 7 is given priority over the throttle unit 12 according to the required flow rate.
- An electromagnetic switching valve 15 a third pressure oil supply oil passage 16 that connects the rotary hydraulic device 9 to the first pressure oil supply oil passage 6 on the downstream side of the flow rate control valve 13 with a pressure compensation function, and a third pressure oil supply And an open / close electromagnetic switching valve 17 provided in the oil passage 16.
- the flow rate control valve 13 with a pressure compensation function includes a first variable throttle portion 13x for controlling the flow rate of pressure oil supplied to the control valve 7 via the first pressure oil supply oil passage 6, and a second pressure oil supply. And a second variable restrictor 13y for controlling the flow rate of the pressure oil supplied to the rotary hydraulic device 9 via the oil passage 11.
- FIG. 2 is a diagram showing the opening area characteristics of the first variable throttle portion 13x and the second variable throttle portion 13y of the flow rate control valve 13 with a pressure compensation function.
- the horizontal axis represents the spool stroke, and the stroke when the spool is at the left position in FIG.
- the solid line is the opening area characteristic of the first variable diaphragm 13x
- the alternate long and short dash line is the opening area characteristic of the second variable diaphragm 13y.
- the first variable restrictor 13x has a maximum opening area when the spool stroke is zero (when the spool is in the left position in the figure), and the spool stroke increases (from the left position in the figure to the right side in the figure). As the spool stroke is maximized (when the spool is moved to the right position in the figure), the opening area becomes zero. Conversely, the second variable throttle 13y has an opening area of zero when the spool stroke is zero (when the spool is at the left position in the figure), and the spool stroke increases (from the left position in the figure). As the spool stroke is maximized (when the spool is moved to the right position in the figure), the opening area is maximized.
- the flow rate control valve 13 with a pressure compensation function operates in the closing direction of the second variable throttle portion 13 y when the hydraulic pressure upstream of the fixed throttle portion 12 is guided through the first signal pressure oil passage 21 a.
- the first pressure receiving portion 13a, the hydraulic pressure downstream of the fixed throttle portion 12 is guided through the second signal pressure oil passage 21b, the second pressure receiving portion 13b operating in the opening direction of the second variable throttle portion 13y, and the electromagnetic A control pressure (hydraulic signal) output from the proportional pressure reducing valve 14 is guided, and a third pressure receiving portion 13c that sets a target compensation differential pressure based on the control pressure is provided.
- the flow rate control valve 13 with a pressure compensation function allows the difference between the front and rear of the fixed throttle portion 12 when the oil discharged from the main hydraulic pump 3 is supplied to the rotary hydraulic device 9 via the second pressure oil supply oil passage 11.
- the control valve 7 is given priority over the fixed throttle portion 12. A flow rate corresponding to the required flow rate is supplied.
- the fixed throttle portion 12 and the flow rate control valve 13 with a pressure compensation function are disposed in the first pressure oil supply oil path 6 and the second pressure oil supply oil path 11, and the discharge oil of the main hydraulic pump 3 is the second.
- a flow rate control valve device that controls the ratio between the flow rate supplied to the control valve 7 and the flow rate supplied to the rotary hydraulic device 9 when supplied to the rotary hydraulic device 9 via the pressure oil supply oil passage 11 is configured. To do.
- the electromagnetic switching valve 15 is disposed in the second signal pressure oil passage 21b.
- the electromagnetic switching valve 15 When the electrical control signal applied to the solenoid 15a of the electromagnetic switching valve 15 is OFF, the electromagnetic switching valve 15 is in the first position on the left side of the figure, and the control signal is When turned ON, it is switched to the second position on the right side of the figure.
- the second signal pressure oil passage 21b is communicated to guide the hydraulic pressure downstream of the fixed throttle portion 12 to the second pressure receiving portion 13b, thereby providing a pressure compensation function.
- the pressure compensation function of the attached flow control valve 13 is made effective.
- the electromagnetic switching valve 15 when the electromagnetic switching valve 15 is switched to the second position on the right side of the figure, the second signal pressure oil passage 21b is cut off, the second pressure receiving portion 13b is communicated with the tank, and the flow rate control valve 13 with a pressure compensation function.
- the pressure compensation function is disabled.
- the electromagnetic switching valve 15 disables the pressure compensation function of the flow control valve 13 with pressure compensation function
- the flow control valve 13 with pressure compensation function supplies the control valve 7 with the entire amount of oil discharged from the hydraulic pump 3. Operate.
- the hybrid system of the present embodiment includes a joystick 31 (only one is shown for the sake of illustration) that commands the operation of the actuators 5a to 5g, ON / OFF of the system power supply, and start / stop of the engine 1.
- a bidirectional converter 37 for controlling.
- the controller 35 When the controller 35 receives an engine start command from the key switch 32, the controller 35 drives a starter (not shown) to start the engine 1. In addition, the controller 35 receives an operation electric signal from the joystick 31, performs a predetermined calculation process, and outputs a command current signal to the electromagnetic proportional valve in the control valve 7. The electromagnetic proportional valve in the control valve 7 is operated by the command current signal, and switches the corresponding main spool to drive the corresponding actuator.
- the controller 35 generates an operation command signal from the power mode switch 33, a detection signal from the torque sensor 34, and a generated torque signal when the rotating electrical machine device 8 functions as a generator from the bidirectional converter 37. Is input, a predetermined calculation process is performed, and a control signal is output to the solenoid 15a of the electromagnetic proportional pressure reducing valve 14 and the electromagnetic switching valve 15.
- the electromagnetic proportional pressure reducing valve 14, the electromagnetic switching valve 15, and the controller 35 drive the plurality of actuators 5a to 5g based on the driving torque of the hydraulic pump 3 detected by the torque sensor (driving torque detecting device) 34. It is determined whether the actuator driving torque (described later) is greater than a preset switching torque ⁇ 0 (described later). If this actuator driving torque is smaller than the switching torque ⁇ 0, the electromagnetic switching valve 17 (first switching valve) is closed. The flow rate of the pressure oil supplied from the main hydraulic pump 3 to the rotary hydraulic device 9 as the actuator drive torque increases is controlled by switching the position to control the bidirectional converter 37 so that the rotating electrical machine device 8 functions as a generator.
- the control apparatus which controls the flow control valve apparatus comprised by these is comprised.
- the construction machine on which the hybrid system of this embodiment is mounted is, for example, a hydraulic excavator, and the plurality of actuators 5a to 5g are, for example, a turning hydraulic motor 5a, a traveling hydraulic motor 5b, a boom hydraulic cylinder 5c, and an arm.
- FIG. 3 is a view showing the external appearance of the hydraulic excavator.
- the hydraulic excavator includes a lower traveling body 101, an upper revolving body 102 that is turnably mounted on the lower traveling body 101, and a top portion of the upper revolving body 102 that rotates in the vertical and horizontal directions via a swing post 103. And a front work machine 104 that is movably connected.
- the lower traveling body 101 is of a crawler type, and a blade 106 for earth removal that can move up and down is provided on the front side of the track frame 105.
- the upper swivel body 102 includes a swivel base 107 having a basic lower structure, and a cabin (operator's cab) 108 provided on the swivel base 107.
- the front work machine 104 includes a boom 111, an arm 112, and a bucket 113.
- the base end of the boom 111 is pin-coupled to the swing post 103, and the tip of the boom 111 is pin-coupled to the base end of the arm 112. The tip of each is pin-coupled to the bucket 113.
- the upper turning body 102 is driven to turn by the turning hydraulic motor 5a (FIG. 1) with respect to the lower traveling body 101, and the swing post 103 and the front work machine 104 are rotated to the left and right by the swing hydraulic cylinder 5f with respect to the turning table 107.
- the boom 111, the arm 112, and the bucket 113 are driven to rotate up and down by expanding and contracting the boom hydraulic cylinder 5c, the arm hydraulic cylinder 5d, and the bucket hydraulic cylinder 5e, respectively.
- the lower traveling body 101 is rotationally driven by left and right traveling hydraulic motors 5b, 5b, and the blade 106 is driven up and down by a blade hydraulic cylinder 5g.
- FIG. 4 is a flowchart showing the processing functions of the controller 35.
- the controller 35 calculates a target control pressure that is a target value of the control pressure output by the electromagnetic proportional pressure reducing valve 14 (target compensated differential pressure of the flow rate control valve 13 with a pressure compensation function), and the corresponding drive current is proportional to electromagnetic.
- the pressure is output to the pressure reducing valve 14 (step S100).
- the electromagnetic proportional pressure reducing valve 14 operates based on the drive current, and outputs a control pressure corresponding to the target control pressure to the third pressure receiving portion 13c of the flow rate control valve 13 with a pressure compensation function.
- the third pressure receiving portion 13c of the flow rate control valve 13 with the pressure compensation function sets the control pressure as the target compensation differential pressure.
- step S100 The calculation of the target control pressure of the electromagnetic proportional pressure reducing valve 14 in step S100 is performed as follows.
- the controller 35 inputs a detection signal of the torque sensor 34, and obtains a driving torque of the main hydraulic pump 3 (hereinafter referred to as a main pump driving torque) from the detection signal. Further, the controller 35 inputs control information of the rotating electrical machine device 8 from the bidirectional converter 37 and calculates a driving torque (hereinafter referred to as a power generation driving torque) when the rotating electrical machine device 8 functions as a generator.
- the controller 35 calculates a value obtained by subtracting the power generation driving torque from the main pump driving torque. That is, if the main pump drive torque is ⁇ p and the power generation drive torque is ⁇ g, ⁇ p- ⁇ g Perform the operation.
- ⁇ p ⁇ g is equal to ⁇ a, where ⁇ a is the torque supplied to the actuators 5a to 5g in the main pump driving torque ⁇ p (hereinafter referred to as actuator driving torque as appropriate).
- the controller 35 calculates the actuator driving torque ⁇ a by subtracting the power generation driving torque from the main pump driving torque.
- the controller 35 refers to the value of ⁇ p ⁇ g, that is, the actuator driving torque ⁇ a, in the memory table, and calculates the target control pressure of the corresponding electromagnetic proportional pressure reducing valve 14.
- FIG. 5 is a diagram showing the relationship between the value of ⁇ p ⁇ g stored in the memory table and the target control pressure (target compensation differential pressure) of the electromagnetic proportional pressure reducing valve 14.
- the target control pressure of the electromagnetic proportional pressure reducing valve 14 is represented by Pc.
- the memory table stores the relationship between the value of ⁇ p ⁇ g as shown in FIG. 5 and the target control pressure Pc of the electromagnetic proportional pressure reducing valve 14. This relationship indicates that the target control pressure Pc of the electromagnetic proportional pressure reducing valve 14 decreases as the value of ⁇ p ⁇ g increases, and when the value of ⁇ p ⁇ g exceeds a preset threshold value (switching torque) ⁇ 0, The target control pressure Pc of the proportional pressure reducing valve 14 is set to be zero.
- the threshold value (switching torque) ⁇ 0 is an allowable maximum torque that can be consumed by the main hydraulic pump 3 in the output torque of the engine 1.
- the engine 1 is driving a pilot pump (not shown).
- the torque is set to a value obtained by subtracting the torque from the maximum rated torque of the engine 1 (output torque at the maximum set rotational speed).
- the target control pressure Pc when the value of ⁇ p ⁇ g is zero is Pc0
- the total amount of oil discharged from the main hydraulic pump 3 is supplied to the rotary hydraulic device 9, and the power generation drive torque ⁇ g is the main control pressure Pc0. This is the target control pressure when it becomes equal to the pump drive torque ⁇ p.
- the controller 35 determines whether or not the power mode switch 33 is ON (step S110). If the power mode switch 33 is not ON, then the value of ⁇ p ⁇ g is set to a preset threshold value (switching torque). ) It is determined whether it is higher than ⁇ 0 (the maximum allowable torque that can be consumed by the hydraulic pump 3) (step S120). The value of ⁇ p ⁇ g is equal to the actuator driving torque ⁇ a, and the threshold value (switching torque) ⁇ 0 is the maximum allowable torque that can be consumed by the hydraulic pump 3.
- the case where the value of ⁇ p ⁇ g is not higher than the preset threshold value (switching torque) ⁇ 0 is a case where the actuator driving torque ⁇ a is lower than the allowable maximum torque that can be consumed by the hydraulic pump 3, and This is a case where there is a margin in driving torque. Therefore, in that case, in order to make the rotary hydraulic device 9 function as a hydraulic motor (the rotating electrical machine device 8 functions as a generator), the drive current of the electromagnetic switching valve 15 is turned off (no drive current), and the electromagnetic switching valve 17 And the bidirectional converter 37 is controlled to the power generation / charge mode (step S130).
- step S110 If the power mode switch 33 is not ON in step S110, or if it is determined in step S120 that the main pump drive torque ⁇ p is higher than the threshold value (switching torque) ⁇ 0, the drive torque of the engine 1 has no margin. Yes, in order to make the rotary hydraulic device 9 function as a hydraulic pump (the rotary electric machine device 8 functions as an electric motor), the process proceeds to step S140, the drive current of the electromagnetic switching valve 15 is turned on (with drive current), and electromagnetic switching is performed. The drive current of the valve 17 is turned on (there is a drive current), and the bidirectional converter 37 is controlled to the drive mode.
- the controller 35 always calculates the target control pressure (target compensation differential pressure of the pressure compensation valve 13) Pc of the electromagnetic proportional pressure reducing valve 14 by the process of step S100 in FIG. Output to the valve 14.
- the electromagnetic proportional pressure reducing valve 14 outputs a control pressure equal to the target control pressure Pc based on the drive current from the controller 35, and the pressure compensation valve 13 sets a target compensation differential pressure equal to the target control pressure Pc.
- step S130 When power mode switch 33 is OFF and ⁇ p ⁇ g ⁇ ⁇ 0 ⁇
- the controller 35 monitors whether or not ⁇ p ⁇ g (actuator driving torque ⁇ a) is higher than a preset threshold value (switching torque) ⁇ 0 in step S120. If ⁇ p ⁇ g is not higher than the preset threshold value (switching torque) ⁇ 0, the bidirectional converter 37, the electromagnetic switching valve 15 and the electromagnetic switching valve 17 are set as follows (step S130).
- Electromagnetic switching valve 15 drive current OFF
- Bidirectional converter 37 Power generation / charging mode
- Electromagnetic switching valve 17 Drive current OFF
- the flow rate of the pressure oil supplied from the main hydraulic pump 3 to the rotary hydraulic device 9 depends on the target compensation differential pressure (target control pressure Pc) of the flow rate control valve 13 with pressure compensation function. Be controlled.
- the target compensation differential pressure of the flow control valve 13 with pressure compensation function (the differential pressure across the fixed restrictor 12).
- the target compensation differential pressure (fixed)
- the differential pressure across the throttle 12 is zero, and the flow rate of the pressure oil supplied from the main hydraulic pump 3 to the rotary hydraulic device 9 is also zero.
- the rotating electrical machine device 8 functions as a generator.
- the electromagnetic switching valve 17 is held in the closed position.
- a part of the oil discharged from the main hydraulic pump 3 is supplied to the rotary hydraulic device 9 via the fixed throttle portion 12 whose differential pressure is controlled by the flow control valve 13 with a pressure compensation function.
- the hydraulic device 9 rotates as a hydraulic motor.
- the rotary electric machine apparatus 8 passively rotates and generates electric power.
- the rotary hydraulic device 9, the rotating electrical machine device 8, and the battery 36 are in the following state.
- Rotating hydraulic device 9 Functions as a hydraulic motor
- Rotating electrical machine device 8 Functions as a generator Battery 36... Charging state
- the main hydraulic pump 3 is operated by the actuators 5 a to 5 a required by the control valve 7.
- the pressure oil is supplied to 5 g, that is, the actuator is driven and the battery 36 is charged simultaneously.
- the electromagnetic switching valve 17 since the electromagnetic switching valve 17 is in the closed position, the pressure oil that passes through the fixed throttle portion 12 and is supplied to the rotary hydraulic device 9 is supplied to the control valve via the third pressure oil supply oil passage. Thus, it is possible to avoid a situation in which the pressure oil supplied to the control valve via the flow rate control valve 13 with the pressure compensation function is supplied to the rotary hydraulic device 9 via the third pressure oil supply oil passage.
- Step S140 When ⁇ p- ⁇ g> ⁇ 0 ⁇ If the controller 35 determines in step S120 that ⁇ p ⁇ g (actuator driving torque ⁇ a) is higher than a preset threshold value (switching torque) ⁇ 0, the bidirectional converter 37 and the electromagnetic switching valve 15 are set as follows. (Step S140).
- Electromagnetic switching valve 15 drive current ON
- Bidirectional converter 37 Bidirectional converter 37 ⁇ drive mode
- Electromagnetic switching valve 17 drive current ON
- the electromagnetic switching valve 15 is switched to the second position to connect the second pressure receiving portion 13b to the tank, and the pressure compensation function of the flow rate control valve 13 with pressure compensation function is invalid. It becomes.
- the pressure on the upstream side of the fixed throttle portion 12 operates in the closing direction of the second throttle portion 13y via the first signal oil passage 21a to the pressure receiving portion 13a of the flow rate control valve 13 with the pressure compensation function, and the pressure compensation is performed.
- the function-equipped flow control valve 13 operates to supply the entire amount of oil discharged from the hydraulic pump 3 to the control valve 7.
- the rotating electrical machine device 8 functions as an electric motor.
- the electromagnetic switching valve 17 is switched to the open position by turning on the drive current of the electromagnetic switching valve 17.
- the rotary hydraulic device 9 is driven by the rotating electrical machine device 8 and functions as a hydraulic pump.
- the oil discharged from the rotary hydraulic device 9 is joined to the oil discharged from the main hydraulic pump 3 via the third pressure oil supply oil passage and supplied to the control valve 7 by switching the electromagnetic switching valve 17 to the open position. Is done.
- the rotating electrical machine apparatus 8 actively rotates as an electric motor.
- the rotary hydraulic device 9, the rotating electrical machine device 8, and the battery 36 are in the following state.
- Rotating hydraulic device 9 Functions as a hydraulic pump
- Rotating electrical machine device 8 Functions as an electric motor Battery 36... Discharged state
- the main hydraulic pressure driven by the engine 1 is supplied to the control valve 7.
- the discharge oil of the pump 3 and the discharge oil of the rotary hydraulic device 9 (sub pump) driven by the rotating electrical machine device 8 (electric motor) based on the electric power of the battery 36 are merged and supplied.
- FIG. 6 is a diagram showing a transition between the power generation driving torque ⁇ g and the main main pump driving torque ⁇ p due to the change in the actuator driving torque ⁇ a.
- FIGS. 6A to 6C show ⁇ a ⁇ ⁇ 0 (ie, ⁇ p ⁇ ( ⁇ g ⁇ ⁇ 0) and when the rotary hydraulic device 9 functions as a hydraulic motor (when the rotating electrical machine device 8 functions as a generator), (D1) to (E2) in FIG. (Ie, when ⁇ p ⁇ g> ⁇ 0) and when the rotary hydraulic device 9 functions as a hydraulic pump (when the rotating electrical machine device 8 functions as an electric motor).
- ⁇ p ⁇ g is zero
- the target control pressure Pc in FIG. 5 is the maximum Pc0
- the differential pressure across the throttle unit 12 is controlled to be Pc0 by the flow rate control valve 13 with a pressure compensation function.
- the target control pressure Pc target compensation differential pressure
- the flow rate of the hydraulic oil supplied from the main hydraulic pump 3 to the rotary hydraulic device 9 is controlled so as to gradually decrease.
- the process of the controller 35 shifts from the process of step S130 to the process of step S140 in the flowchart of FIG. 4, and the pressure compensation function of the flow control valve 13 with the pressure compensation function is
- the electromagnetic switching valve 17 is switched to the open position.
- the bidirectional converter 37 is switched to the drive mode, the rotating electrical machine device 8 functions as an electric motor, and the rotating hydraulic device 9 functions as a hydraulic pump.
- the rotary electric machine device 8 functions as an electric motor and the rotary hydraulic device 9 functions as a hydraulic pump.
- the variable control is performed so that the flow rate of the pressure oil supplied from the hydraulic pump 3 to the rotary hydraulic device 9 gradually decreases, and the flow rate is controlled to be almost zero at the time of switching.
- the controller 35 controls the driving torque of the rotating electrical machine device 8 according to the amount that the main pump driving torque ⁇ p exceeds the switching torque ⁇ 0, and the main hydraulic pump 3
- the discharged oil and the discharged oil of the rotary hydraulic device 9 (sub pump) driven by the rotating electrical machine device 8 (electric motor) merge and are supplied to the control valve 7 (hybrid function).
- the engine 1 and the main hydraulic pump 3 constitute a main drive system
- the rotating electrical machine device 8 and the rotary hydraulic device 9 constitute a sub drive system, which are integrated with each other. It is configured.
- the main drive system and the sub drive system do not need to be integrated, and are only connected by pipe lines via the first to third pressure oil supply oil paths 6, 11 and 16, respectively. Therefore, each drive system has a high degree of freedom of arrangement, and it becomes possible to arrange the rotating electrical machine device 8 that is an electrical component isolated from the heat generation and vibration of the engine 1, and the reliability of the electrical system mounting environment has been improved. It becomes possible to realize a highly hybrid system.
- the rotating hydraulic device 9 functions as a hydraulic motor and the rotating electrical machine device 9 functions as a generator
- the rotating electrical device 8 functions as an electric motor and the rotating hydraulic device 9 functions as a hydraulic pump.
- Switching or vice versa can be performed with the flow rate of the pressure oil supplied from the main hydraulic pump 3 to the rotary hydraulic device 9 being almost zero, and the flow rate before or after switching can be variably controlled. Therefore, when the operating state of the rotary hydraulic device 9 and the rotating electrical machine device 8 is switched during operation of the construction machine, a shock due to flow fluctuation is not generated, and the operating state of the rotary hydraulic device 9 and the rotating electrical machine device 8 is smooth. Can be switched to. Thereby, excellent driving performance can be exhibited.
- the above embodiment can be variously modified within the spirit of the present invention.
- the construction machine is a hydraulic excavator
- the present invention can be applied to construction machines other than the hydraulic excavator (for example, a hydraulic crane, a wheeled excavator, etc.) to obtain the same effect. it can.
- the flow control valve 13 with a pressure compensation function was comprised by one valve
- the two valves may be configured separately.
- the fixed throttle unit 12 may have the function of the flow control valve 13 with the pressure compensation function, and the fixed throttle unit 12 and the flow control valve 13 with the pressure compensation function may be configured as one valve.
- the electromagnetic switching valve 15 is switched to enable / disable the pressure compensation function of the flow control valve 13 with pressure compensation function, but the piston device that biases the pressure receiving portion 13b side of the flow control valve 13 with pressure compensation function.
- the pressure compensation function of the flow rate control valve 13 with the pressure compensation function may be switched between valid and invalid.
- the drive torque detection device is constituted by a torque sensor 34 provided on the rotary shaft 2 that transmits the drive force of the engine 1 to the hydraulic pump 3, and detects the discharge pressure and the tilt angle (capacity) of the hydraulic pump 3.
- the driving torque of the hydraulic pump 3 may be obtained by multiplying them.
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Abstract
Description
τp-τg
の演算を行う。ここで、主ポンプ駆動トルクτpのうちアクチュエータ5a~5gに供給されるトルク(以下適宜アクチュエータ駆動トルクという)をτaとすると、τp-τgはτaに等しい。言い換えれば、コントローラ35は、主ポンプ駆動トルクから発電駆動トルクを差し引くことにより、アクチュエータ駆動トルクτaを計算する。
まず、コントローラ35は、常時、図4のステップS100の処理により、電磁比例減圧弁14の目標制御圧力(圧力補償弁13の目標補償差圧)Pcを演算し、対応する駆動電流を電磁比例減圧弁14に出力している。電磁比例減圧弁14は、コントローラ35からの駆動電流に基づいて目標制御圧力Pcに等しい制御圧力を出力し、圧力補償弁13は目標制御圧力Pcに等しい目標補償差圧を設定している。
パワーモードスイッチ33がOFF位置にある場合、コントローラ35は、ステップS120において、τp-τg(アクチュエータ駆動トルクτa)が予め設定したしきい値(切替トルク)τ0より高いかどうかを監視しており、τp-τgが予め設定したしきい値(切替トルク)τ0より高くない場合は、双方向コンバータ37、電磁切替弁15及び電磁切替弁17を下記の設定とする(ステップS130)。
(2)双方向コンバータ37→発電・充電モード
(3)電磁切替弁17 →駆動電流OFF
電磁切替弁15の駆動電流をOFFにすることで圧力補償機能付き流量制御弁13の圧力補償機能が有効となり、固定絞り部12の前後差圧は圧力補償機能付き流量制御弁13によって制御され、メインの油圧ポンプ3から回転油圧装置9に供給される圧油の流量(固定絞り部12の通過流量)は圧力補償機能付き流量制御弁13の目標補償差圧(目標制御圧力Pc)に応じて制御される。すなわち、τp-τg(アクチュエータ駆動トルクτa)が減少してしきい値(切替トルク)τ0に近づくにしたがって、圧力補償機能付き流量制御弁13の目標補償差圧(固定絞り部12の前後差圧)は小さくなってメインの油圧ポンプ3から回転油圧装置9に供給される圧油の流量(固定絞り部12の通過流量)は減少し、τp-τg=τ0となると、目標補償差圧(固定絞り部12の前後差圧)はゼロとなり、メインの油圧ポンプ3から回転油圧装置9に供給される圧油の流量もゼロとなる。
回転電機装置8・・・発電機として機能
バッテリ36・・・・充電状態
この状態で、メインの油圧ポンプ3は、コントロールバルブ7が要求するアクチュエータ5a~5gへの圧油の供給、つまりアクチュエータ駆動と、バッテリ36の充電を同時に行っている。
コントローラ35は、ステップS120において、τp-τg(アクチュエータ駆動トルクτa)が予め設定したしきい値(切替トルク)τ0より高いと判定した場合は、双方向コンバータ37及び電磁切替弁15を下記の設定とする(ステップS140)。
(2)双方向コンバータ37→駆動モード
(3)電磁切替弁17 →駆動電流ON
電磁切替弁15の駆動電流をONにすることで電磁切替弁15が第2位置に切り換えられて第2受圧部13bをタンクに連通させ、圧力補償機能付き流量制御弁13の圧力補償機能が無効となる。この場合は、圧力補償機能付き流量制御弁13の受圧部13aに第1信号油路21aを介して固定絞り部12の上流側の圧力が第2絞り部13yの閉じ向きに作動し、圧力補償機能付き流量制御弁13は油圧ポンプ3の吐出油の全量をコントロールバルブ7に供給するように動作する。
回転電機装置8・・・電動モータとして機能
バッテリ36・・・・放電状態
この状態で、コントロールバルブ7へは、エンジン1により駆動されているメインの油圧ポンプ3の吐出油と、バッテリ36の電力に基づいて回転電機装置8(電動モータ)により駆動される回転油圧装置9(サブポンプ)の吐出油が合流して供給される。
状態Aでは、ジョイスティック31は全て非操作状態にあり、コントロールバルブ7はいずれのメインスプールも操作されておらず、全てのアクチュエータ5a~5gが非駆動状態にある。このとき、アクチュエータ駆動トルクτa(アクチュエータ5a~5gに与えられるトルク)はゼロであり、メインの油圧ポンプ3の吐出油の全量が絞り部12を経由して回転油圧装置9に供給され、主ポンプ駆動トルクτpと発電駆動トルクτgとは等しくなる(τp=τg)。
τp=τg=τ0
となるように制御される(状態A)。バッテリ36の充電量が充電完了に近い値であれば、それに応じて発電駆動トルクτgは少なくなるため、
τp=τg<τ0
となるよう制御される。
ジョイスティック31が操作され、コントロールバルブ7のメインスプールのいずれかが操作されると、メインの油圧ポンプ3の吐出油の一部がアクチュエータ5a~5gの対応するもの(以下便宜上アクチュエータ5xという)に供給されて、アクチュエータ5xが駆動される。この場合、アクチュエータ駆動トルクτaが発生し、その分、主ポンプ駆動トルクτpは増大する。その結果、主ポンプ駆動トルクτpは一時的に予め設定したしきい値(切替トルク)τ0を超える(状態B1)。
τp=τa+τg
τp=τ0
となるように制御される。
ジョイスティック31の操作量が増える、或いはアクチュエータの負荷圧が上昇するなどして、アクチュエータ駆動トルクτaが増加すると、それに応じて主ポンプ駆動トルクτpは再度一時的にしきい値(切替トルク)τ0を超えて増大する(状態C1)。主ポンプ駆動トルクτpがしきい値(切替トルク)τ0を超えると、τp-τgはτaに応じた値まで更に増大し、圧力補償機能付き流量制御弁13により制御される固定絞り部12の前後差圧は更に小さくなる。
τp=τa+τg
τp=τ0
となるように制御される。
アクチュエータ駆動トルクτaが更に増加してしきい値(切替トルク)τ0を超えた場合は、それに応じて主ポンプ駆動トルクτpもしきい値(切替トルク)τ0を超えて増大し(状態D1)、τp-τgもτaに応じた値まで更に増大する。そして、この場合は、τaはτ0を超えた場合であるため、τp-τgもτ0を超えて増大する。
τs=τa-τ0
τp=τ0
となるように制御される。
アクチュエータ駆動トルクτaがしきい値(切替トルク)τ0を超えて更に増大した場合も、主ポンプ駆動トルクτpは一旦増加するが(状態E1)、この場合もコントローラ35は、主ポンプ駆動トルクτpが切替トルクτ0を超えた分に応じて回転電機装置8の駆動トルクを制御し、メインの油圧ポンプ3の吐出油と回転油圧装置9(サブポンプ)の吐出油を合流してコントロールバルブ7に供給するため(ハイブリッド機能)、一旦増加した主ポンプ駆動トルクτpは減少して、τp=τ0の状態に戻る(状態E2)。
τs=τa-τ0
τp=τ0
となるように制御される。
2 回転軸
3 メインの油圧ポンプ
5a~5g アクチュエータ
6 第1圧油供給油路
7 コントロールバルブ
8 回転電機装置
9 回転油圧装置
11 第2圧油供給油路
12 固定絞り部
13 圧力補償機能付き流量制御弁
13a 第1受圧部
13b 第2受圧部
13c 第3受圧部
14 電磁比例減圧弁
15 電磁切替弁(第2切替弁)
16 第3圧油供給油路
17 電磁切替弁(第1切替弁)
21a 第1信号圧油路
21b 第2信号圧油路
31 ジョイスティック
32 キースイッチ
33 パワーモードスイッチ
34 トルクセンサ(駆動トルク検出装置)
35 コントローラ
36 バッテリ(蓄電装置)
37 双方向コンバータ
Claims (6)
- エンジン(1)と、
このエンジンにより駆動されるメインの油圧ポンプ(3)と、
複数のアクチュエータ(5a~5g)と、
前記メインの油圧ポンプに第1圧油供給油路(6)を介して接続され、前記複数のアクチュエータに供給される圧油の流れを制御するコントロールバルブ(7)と、
電動モータと発電機の双方の機能を有する回転電機装置(8)と、
この回転電機装置に連結され、
前記回転電機装置が電動モータとして機能するときは前記回転電機装置によって駆動されて、油圧ポンプとして機能し、
前記回転電機装置が発電機として機能するときは油圧モータとして機能して前記回転電機装置を駆動する回転油圧装置(9)と、
前記回転油圧装置を前記第1圧油供給油路に接続する第2圧油供給油路(11)と、
蓄電装置(36)と、
前記蓄電装置と前記回転電機装置との間に接続され、前記蓄電装置と前記回転電機装置との間の電力の授受を制御する双方向コンバータ(37)とを備える建設機械のハイブリッドシステムにおいて、
前記第1圧油供給油路と前記第2圧油供給油路に配置され、前記メインの油圧ポンプの吐出油が前記第2圧油供給油路を介して前記回転油圧装置に供給されるときに、前記コントロールバルブに供給される流量と前記回転油圧装置に供給される流量との割合を制御する流量制御弁装置(12,13)と、
前記回転油圧装置を前記流量制御弁装置の下流側で前記第1圧油供給油路に接続する第3圧油供給油路(16)と、
前記第3圧油供給油路に設けられた開閉可能な第1切替弁(17)と、
前記油圧ポンプの駆動トルクを検出する駆動トルク検出装置(34)と、
前記駆動トルク検出装置により検出した前記油圧ポンプの駆動トルクに基づいて、前記複数のアクチュエータを駆動するためのアクチュエータ駆動トルクが予め設定した切替トルクより大きいかどうかを判定し、前記アクチュエータ駆動トルクが前記切替トルクより小さい場合は、前記第1切替弁を閉位置に切り換え、前記回転電機装置が発電機として機能するよう前記双方向コンバータを制御し、かつ前記アクチュエータ駆動トルクが増大するにしたがって前記メインの油圧ポンプから前記回転油圧装置に供給される圧油の流量が減少するように前記流量制御弁装置を制御し、前記アクチュエータ駆動トルクが前記切替トルクより大きい場合は、前記第1切替弁を開位置に切り換え、前記回転電機装置が電動モータとして機能するよう前記双方向コンバータを制御して、前記回転油圧装置を油圧ポンプとして機能させ、かつ前記メインの油圧ポンプの吐出油が前記回転油圧装置に供給されないように前記流量制御弁装置を制御する制御装置(35)とを備えることを特徴とする建設機械のハイブリッドシステム。 - 請求項1記載の建設機械のハイブリッドシステムにおいて、
前記流量制御弁装置は、
前記第2圧油供給油路に設けられた絞り部(12)と、
前記第1圧油供給油路と前記第2圧油供給油路に配置され、前記メインの油圧ポンプの吐出油が前記第2圧油供給油路を介して前記回転油圧装置に供給されるときに、前記絞り部の前後差圧を制御して、前記回転油圧装置に供給される圧油の流量を制御する圧力補償機能を有するとともに、前記コントロールバルブが操作されたときは、前記絞り部に優先して前記コントロールバルブに要求流量に応じた流量を供給する圧力補償機能付き流量制御弁(13)とを有し、
前記制御装置は、前記アクチュエータ駆動トルクが前記切替トルクより小さいときは、前記アクチュエータ駆動トルクが増大するにしたがって前記絞り部の前後差圧が減少し、前記回転油圧装置に供給される圧油の流量が減少するように前記圧力補償機能付き流量制御弁を制御することを特徴とする建設機械のハイブリッドシステム。 - 請求項2記載の建設機械のハイブリッドシステムにおいて、
前記圧力補償機能付き流量制御弁は、前記回転油圧装置が油圧モータとして機能するときに、前記絞り部の上流側の油圧が第1信号圧油路(21a)を介して導かれる開方向作動の第1受圧部(13a)と、前記絞り部の下流側の油圧が第2信号圧油路(21b)を介して導かれる絞り方向作動の第2受圧部(21b)とを有し、
前記制御装置は、前記第2信号圧油路に配置される第2切替弁(15)と、前記駆動トルク検出装置からの信号を入力するコントローラ(35)とを有し、
前記コントローラは、前記アクチュエータ駆動トルクが前記切替トルクより小さいときは、前記第2受圧部に前記絞り部の下流側の油圧を導く第1位置に前記第2切替弁を切り換えて、前記圧力補償機能付き流量制御弁の圧力補償機能を有効とし、前記アクチュエータ駆動トルクが前記切替トルクより大きくなるときは、前記第2受圧部をタンクに連通させる第2位置に前記第2切替弁を切り換えて、前記圧力補償機能付き流量制御弁の圧力補償機能を無効とすることを特徴とする建設機械のハイブリッドシステム。 - 請求項2記載の建設機械のハイブリッドシステムにおいて、
前記圧力補償機能付き流量制御弁は、前記回転油圧装置が油圧モータとして機能するときに、前記絞り部の上流側の油圧が第1信号圧油路(21a)を介して導かれる開方向作動の第1受圧部(13a)と、前記絞り部の下流側の油圧が第2信号圧油路(21b)を介して導かれる絞り方向作動の第2受圧部(13b)と、制御圧力に基づいて目標補償差圧を設定する第3受圧部(13c)とを有し、
前記制御装置は、前記第3受圧部に前記制御圧力を出力する電磁比例減圧弁と、前記駆動トルク検出装置からの信号を入力するコントローラ(35)とを有し、
前記コントローラは、前記アクチュエータ駆動トルクが
増大するにしたがって小さくなり、前記アクチュエータ駆動トルクが前記切替トルクを超えるとゼロとなる目標補償差圧を演算し、この目標補償差圧が得られるよう前記電磁比例減圧弁を制御することを特徴とする建設機械のハイブリッドシステム。 - 請求項1記載の建設機械のハイブリッドシステムにおいて、
前記制御装置は、前記駆動トルク検出装置により検出した前記油圧ポンプの駆動トルクから、前記双方向コンバータから得た前記回転電機装置が発電機として機能するときの発電トルクを減算したトルク値を求め、このトルク値を前記アクチュエータ駆動トルクとして用いることを特徴とする建設機械のハイブリッドシステム。 - 請求項1~5のいずれか1項記載の建設機械のハイブリッドシステムにおいて、
前記駆動トルク検出装置は、前記エンジンの駆動力を前記油圧ポンプに伝達する回転軸(2)に設けられたトルクセンサであることを特徴とする建設機械のハイブリッドシステム。
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KR1020127023038A KR20130108061A (ko) | 2010-09-10 | 2011-09-05 | 건설 기계의 하이브리드 시스템 |
EP11823539.9A EP2615310A1 (en) | 2010-09-10 | 2011-09-05 | Hybrid system of construction machine |
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JP2015178863A (ja) * | 2014-03-19 | 2015-10-08 | カヤバ工業株式会社 | ハイブリッド建設機械の制御システム |
EP2703694A3 (en) * | 2012-08-28 | 2018-04-04 | Federal Industries, Inc. | Multi-orifice bypass for a hydraulic motor assembly |
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KR20130016196A (ko) * | 2010-03-17 | 2013-02-14 | 히다찌 겐끼 가부시키가이샤 | 액추에이터의 제어 장치 및 이것을 구비한 작업 기계 |
JP5964116B2 (ja) * | 2012-04-10 | 2016-08-03 | 株式会社タダノ | 作業車両 |
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CN103088869B (zh) * | 2012-12-28 | 2015-05-20 | 上海华兴数字科技有限公司 | 一种建筑机械的电能控制方法及建筑机械 |
KR101790903B1 (ko) * | 2013-12-20 | 2017-10-26 | 히다찌 겐끼 가부시키가이샤 | 건설 기계 |
CN104295543B (zh) * | 2014-09-09 | 2016-06-29 | 柳州柳工挖掘机有限公司 | 混合动力工程机械复合动作控制方法 |
US10458095B2 (en) * | 2015-01-07 | 2019-10-29 | Volvo Construction Equipment Ab | Control method for controlling an excavator and excavator comprising a control unit implementing such a control method |
JP2017110721A (ja) * | 2015-12-16 | 2017-06-22 | 日立建機株式会社 | 建設機械の油圧駆動装置 |
US10330126B2 (en) * | 2016-12-16 | 2019-06-25 | Caterpillar Inc. | Fan control system with electro-hydraulic valve providing three fan motor operational positions |
US12000112B2 (en) | 2018-10-24 | 2024-06-04 | Volvo Construction Equipment Ab | Method for controlling a hydraulic system of a working machine |
CN112912631B (zh) | 2018-10-24 | 2023-05-05 | 沃尔沃建筑设备公司 | 用于作业机械的液压系统 |
CN114270053A (zh) * | 2019-05-28 | 2022-04-01 | 丹佛斯动力系统Ii技术有限公司 | 优化双动力电动静液压控制系统之间的模式转换 |
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JP2015178863A (ja) * | 2014-03-19 | 2015-10-08 | カヤバ工業株式会社 | ハイブリッド建設機械の制御システム |
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US20130152573A1 (en) | 2013-06-20 |
JP2012057766A (ja) | 2012-03-22 |
CN102792031A (zh) | 2012-11-21 |
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