WO2012081201A1 - 作業機械の駆動制御方法 - Google Patents
作業機械の駆動制御方法 Download PDFInfo
- Publication number
- WO2012081201A1 WO2012081201A1 PCT/JP2011/006847 JP2011006847W WO2012081201A1 WO 2012081201 A1 WO2012081201 A1 WO 2012081201A1 JP 2011006847 W JP2011006847 W JP 2011006847W WO 2012081201 A1 WO2012081201 A1 WO 2012081201A1
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- WIPO (PCT)
- Prior art keywords
- hydraulic
- command
- hydraulic motor
- motor
- torque
- Prior art date
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Classifications
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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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
-
- 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves 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
- E02F9/2232—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
-
- 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
- E02F9/2285—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
- E02F9/2296—Systems with a variable displacement pump
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- 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
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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
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
- F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
-
- 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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
Definitions
- the present invention relates to a control method for a drive device used in a work machine, and more particularly to a drive control method for a work machine that drives a structure by a hydraulic motor and an electric motor.
- the excavator 100 is provided with an upper swing body (structure) 102 on the upper part of the lower traveling body 101, and the upper swing body 102 is provided with an engine and an operation.
- a seat, an arm 104 provided with a bucket 103 at its tip, a boom 105 connected to the arm 104, and the like are provided.
- the boom 105 is raised by a boom cylinder 106. Therefore, the upper swing body 102 is a large heavy object.
- the upper turning body 102 is turned on the upper part of the lower traveling body 101 by operating the remote control of the driver's seat during work. Further, the boom 105 or the like is driven in the vertical direction, and various operations are performed by the bucket 103 at the tip.
- Such a working machine is provided with a plurality of hydraulic pumps that drive the upper swing body 102, the boom 105, and the like, and the hydraulic oil supplied from each hydraulic pump is combined alone or according to conditions. As a result, a large driving force can be obtained. Further, in recent years, an upper swing body 102 that is swung by a driving device including a hydraulic motor and an electric motor has been proposed.
- a hydraulic unit using a hydraulic motor as a drive source and an electric unit using an electric motor as a drive source are provided.
- a drive device that assists the hydraulic unit (see, for example, Patent Document 1).
- the electric motor performs a regenerative action so that regenerative power is stored in the capacitor.
- a required torque is obtained during turning, and when the required torque exceeds a set value, a necessary torque is output from the electric motor.
- the hydraulic unit is assisted by the electric unit, and the necessary torque is generated by adjusting the assist amount of the electric unit while ensuring the necessary maximum torque as a whole.
- the control means is configured to control the output torque of the electric motor in a direction to shorten the relief time by the relief valve provided in the hydraulic motor circuit.
- a construction machine equipped with a hybrid type driving device having a driving force synthesizing mechanism for synthesizing the driving force of a hydraulic actuator and a motor / generator.
- a communication valve bypass valve
- a relief valve built in a hydraulic motor is used as a setting means for setting a ratio between the driving force of the hydraulic actuator and the driving force of the motor / generator cooperating with the hydraulic actuator.
- a differential pressure at both ports of a hydraulic actuator is detected, and a torque command is issued to an electric motor / generator attached to the hydraulic actuator in relation to the differential pressure.
- the revolving structure is controlled to be driven by the sum of the hydraulic motor and the drive / braking torque of the electric / generator.
- a relief valve is provided to control the maximum drive pressure when the hydraulic motor is driven and stopped so that the ratio of the output torque of the hydraulic motor is larger than when braking. The pressure is higher than the operating pressure during deceleration stop.
- the remote control valve is operated quickly and largely in an attempt to turn the upper turning body 102, which is an inertial body with a large weight as described above, at a desired speed.
- control means is configured to output the necessary torque from the electric motor only when the torque required during turning exceeds the required value, a relatively small torque is continuously required. Under certain operating conditions, it may not be possible to secure a sufficient time for the electric motor to operate. Accordingly, there may be a situation where the stored electrical energy cannot be fully utilized.
- the upper swinging body 102 is swung by a hydraulic motor, and at the same time the earth and sand are lifted by the bucket 103 at the tip of the boom 105
- a composite operation in which the operation is performed by a boom cylinder (hydraulic actuator) 106.
- a work machine that performs such a composite operation is provided with a plurality of hydraulic pumps with a capacity corresponding to engine power.
- hydraulic oil discharged from a plurality of hydraulic pumps joins the drive side that requires power, and the discharge pressure of these hydraulic pumps is the same as the pressure on the drive side. .
- Patent Documents 1 to 3 the hydraulic oil supplied to the hydraulic motor that drives the revolving body in cooperation with the electric motor is combined with the driving power of another structure, and the revolving body of the revolving body by the hydraulic motor is used. There is no description of a configuration that enables efficient driving.
- the present invention controls the amount of oil supplied to the hydraulic motor according to the operation amount of the remote control valve, the number of rotations of the hydraulic motor, and the hydraulic oil pressure difference between the suction port and the discharge port of the hydraulic motor.
- An object of the present invention is to provide a drive control method for a work machine that can suppress the above-described problem.
- the present invention cooperates with a hydraulic motor driven by hydraulic oil supplied via a control valve from a hydraulic pump capable of changing a discharge flow rate by tilt angle control, and the hydraulic motor.
- a drive control method for a work machine that drives a structure with an electric motor, and a speed feedback based on an actual rotational speed of the hydraulic motor in response to a speed command based on an operation amount of a remote control valve that determines an operation amount of the structure
- Control and differential pressure feedback control based on the hydraulic oil pressure difference between the suction port and the discharge port of the hydraulic motor, so that the required amount of hydraulic oil at the actual rotational speed of the hydraulic motor is discharged.
- a degree command is generated to control the opening degree of the control valve.
- the “structure” in the document of this specification and the claims refers to a structure such as an upper revolving structure that performs a revolving operation and a boom that performs a linear operation.
- the “movement amount of the structure” includes all the movement amounts of “the operation speed and the movement amount of the structure”.
- the hydraulic oil amount suitable for obtaining the drive torque according to the difference between the operation amount of the remote control valve and the actual rotational speed of the hydraulic motor with the hydraulic motor and the hydraulic oil amount suitable for the actual rotational speed of the hydraulic motor The opening degree of the control valve is controlled so as to discharge. Therefore, the amount of hydraulic oil supplied from the hydraulic pump to the hydraulic motor is required to obtain a drive torque that is suitable for the actual rotational speed and that corresponds to the difference between the operation amount of the remote control valve and the actual rotational speed of the hydraulic motor. Therefore, the energy efficiency can be improved.
- a speed signal based on the actual rotational speed of the hydraulic motor is added to the signal subjected to the differential pressure feedback control via a control gain, thereby supplying a hydraulic oil amount suitable for the actual rotational speed of the hydraulic motor.
- flow rate compensation may be performed for the opening degree command. In this way, the flow rate compensation is performed so that the required oil amount at the actual rotational speed is obtained in response to the control valve opening command by the differential pressure feedback control.
- the opening degree of the control valve can be controlled, and the responsiveness can be improved.
- a booster compensation is performed by providing a minor loop that feeds back the change in the opening command between the opening command for which the flow rate compensation has been performed and the differential pressure command to which the differential pressure feedback signal has been input. May be. In this way, it is possible to improve the stability of the pressure control by lowering the gain in the high frequency region of the opening degree command for which the flow rate compensation has been performed by the feedback control of the minor loop.
- the hydraulic pump is a first hydraulic pump
- the control valve is a first control valve
- the structure is a first structure.
- the second hydraulic pump passes through a second control valve.
- a second structure that is driven by the hydraulic oil to be supplied and the hydraulic oil that is supplied from the first hydraulic pump is joined to the hydraulic oil that drives the second structure;
- Based on the speed feedback control based on the actual rotational speed of the hydraulic motor and the hydraulic oil pressure difference between the suction port and the discharge port of the hydraulic motor in response to the speed command based on the operation amount of the remote control valve that determines the amount of movement of the body
- a tilt command for the hydraulic pump is generated so as to discharge a required amount of hydraulic fluid at the actual rotational speed of the hydraulic motor, and the differential pressure feedback is generated.
- a speed signal based on the actual rotational speed is added via a control gain, so that the amount of hydraulic oil suitable for the actual rotational speed of the hydraulic motor is supplied to the tilt command.
- the flow compensation is performed on the hydraulic pump, the flow compensated signal is compared with other commands in the work machine, and the tilt of the hydraulic pump is controlled by using the signal that selects the maximum value as the tilt command. Also good.
- the hydraulic motor driven by the hydraulic oil supplied from the first hydraulic pump via the first control valve and the electric motor are used.
- a working machine comprising a first structure and a second structure driven by hydraulic oil supplied from a second hydraulic pump via a second control valve.
- the flow control can be performed by setting the tilt command of the first hydraulic pump to the tilt command that satisfies the maximum value in the work machine, and the opening degree of the first control valve By restricting by the opening control, the discharge pressure of the first hydraulic pump necessary for merging can be ensured.
- the opening of the control valve is controlled to an amount suitable for the actual rotational speed of the hydraulic motor and to an amount necessary for obtaining a driving torque according to the difference between the operation amount of the remote control valve and the actual rotational speed of the hydraulic motor. be able to.
- the opening of the first control valve is set to the maximum opening so that the pressure loss is minimized without performing the opening control.
- the first hydraulic pump may be set to perform the tilt angle control. In this way, by switching the opening control of the control valve, it is possible to operate with less pressure loss.
- the opening of the control valve is adjusted so that the drive torque that can be output by the electric motor is excluded from the torque required for acceleration of the structure, and the insufficient torque is compensated by the drive torque of the hydraulic motor.
- a command may be generated.
- the torque required for the acceleration of the structure is insufficient except for the drive torque that can be output by the electric motor based on the voltage of the capacitor and the driving torque of the electric motor. Since the drive control is performed while calculating each energy so as to supplement the minute with the drive torque of the hydraulic motor, the utilization efficiency of the stored electric energy can be increased.
- the hydraulic oil amount of the hydraulic motor is supplied from the control valve whose opening degree is controlled so as to compensate for the shortage excluding the drive torque of the electric motor, it is possible to operate with high energy efficiency.
- the first structure includes a hydraulic motor driven by hydraulic oil supplied from a first hydraulic pump capable of changing the discharge flow rate by tilt angle control via a first control valve, and an electric motor cooperating with the hydraulic motor.
- a work machine drive control method for driving a body comprising a second structure driven by hydraulic oil supplied from a second hydraulic pump via a second control valve in addition to the first structure, With respect to the speed command based on the operation amount of the remote control valve that is configured to join the hydraulic oil of the first hydraulic pump to the hydraulic oil that drives the second structure, and determines the operation amount of the first structure, Speed feedback control based on the actual rotational speed of the hydraulic motor; second pump pressure feedback control for feeding back the actual discharge pressure of the second hydraulic pump; and a suction port and a discharge port of the hydraulic motor; By performing differential pressure feedback control based on the hydraulic oil pressure difference in the first hydraulic pump, a rotation tilt command for the first hydraulic pump is generated so as to discharge a required amount of hydraulic oil at the actual rotational speed of the hydraulic motor, The first hydraulic pump is controlled in tilt
- the hydraulic motor driven by the hydraulic oil supplied from the first hydraulic pump and the first structure driven by the electric motor, and the second structure driven by the hydraulic oil supplied from the second hydraulic pump are provided.
- the tilt command of the first hydraulic pump is in accordance with the actual discharge pressure of the second hydraulic pump.
- the second pump pressure feedback control obtains a hydraulic motor torque command obtained by subtracting the motor torque from the drive torque command for which the speed feedback control has been performed, and the actual discharge pressure of the second hydraulic pump is determined in the hydraulic motor torque command. May be performed as merging compensation for feedback.
- the tilt command of the first hydraulic pump which can obtain the hydraulic motor torque excluding the motor torque, is corrected by the discharge pressure of the second hydraulic pump.
- the command can be feedback-controlled more accurately in accordance with the actual discharge pressure of the second hydraulic pump.
- a torque command difference is obtained by subtracting the hydraulic motor torque command for which the merging compensation has been performed from the drive torque command for which the speed feedback control has been performed, and a necessary torque energy is required from the energy that can operate the motor and the torque command difference.
- An electric motor torque command may be obtained to compensate for the insufficient torque of the hydraulic motor with the electric motor. In this way, in a work machine having a plurality of structures driven by a plurality of hydraulic pumps, the turning drive of the turning body may be compensated by the electric motor for the shortage shared by the drive torque of the hydraulic motor. Therefore, it is possible to perform an energy efficient operation by efficiently using the stored electric energy according to the driving torque of the hydraulic motor.
- the hydraulic motor torque is the same as the motor torque compared to the case where the second structure is driven by merging the hydraulic oil of the first hydraulic pump while the first structure is swiveled only by the hydraulic motor. Since the driving torque can be increased by the amount of assist, the turning work time can be shortened.
- a back pressure of the hydraulic motor is added to a differential pressure command of the first hydraulic pump based on the hydraulic motor torque command subjected to the merge compensation to obtain a relief pressure command in the hydraulic motor circuit, and the relief pressure command is obtained from the hydraulic motor.
- It may be the relief pressure of the electromagnetic relief valve in the upstream circuit.
- the control pressure of the electromagnetic relief valve is not set smaller than the pressure required for the system.
- the set value of the electromagnetic relief valve can be adjusted so that relief does not occur below the pressure of the hydraulic oil discharged from the first hydraulic pump, and the hydraulic oil pressure for driving the second structure in the hydraulic motor circuit can be adjusted. Can be kept stable.
- a speed signal based on the actual rotational speed of the hydraulic motor is added to the signal subjected to the differential pressure feedback control via a control gain, thereby supplying a hydraulic oil amount suitable for the actual rotational speed of the hydraulic motor.
- the flow rate compensation may be performed with respect to the turning tilt command of the first hydraulic pump. In this way, the flow rate compensation is performed so that the required amount of oil at the actual rotational speed of the hydraulic motor is obtained in response to the final turning command of the first hydraulic pump, so that it corresponds to the changing actual rotational speed.
- the tilt control of the first hydraulic pump can be performed so that the required amount of oil is obtained.
- a boost loop compensation is performed by providing a minor loop that feeds back a change in the swing tilt command between the swing tilt command for which the flow rate compensation has been performed and the differential pressure command to which the differential pressure feedback signal has been input. You may do it. In this way, it is possible to improve the stability of the pressure control by lowering the gain in the high frequency region of the turning tilt command for which the flow rate compensation has been performed by the feedback control of the minor loop.
- control valve is adjusted by opening control or tilting control of the hydraulic pump so that the amount of pressure oil for driving the hydraulic motor is optimized according to the operation amount of the remote control valve. It becomes possible to improve energy efficiency for driving a structure with a hydraulic motor.
- a working machine including a hydraulic pump that supplies hydraulic oil to a structure driven by an electric motor and a hydraulic motor and a structure driven by a hydraulic actuator
- the hydraulic oil on the hydraulic motor side is joined to the hydraulic actuator side.
- it is possible to efficiently drive a plurality of structures by supplying hydraulic oil corresponding to the operation amount of the remote control valve to the hydraulic actuator and the hydraulic motor.
- FIG. 1 is a hydraulic circuit diagram showing a first hydraulic pump system that drives a hydraulic motor that cooperates with an electric motor of a drive control apparatus according to the present invention.
- FIG. 2 is a control block diagram of the first hydraulic pump system of the drive control device shown in FIG.
- FIG. 3 is a drive sequence diagram of the revolving structure by the drive control device shown in FIG.
- FIG. 4 is a hydraulic circuit diagram in which a confluence circuit is provided in the hydraulic circuit shown in FIG.
- FIG. 5 is a hydraulic circuit diagram showing a control method in the drive control apparatus according to the first embodiment of the present invention.
- FIG. 6 is a hydraulic circuit diagram showing a control method in the drive control apparatus according to the second embodiment of the present invention.
- FIG. 7 is a side view showing a hydraulic excavator as an example of a work machine.
- an upper swing body of a hydraulic excavator (hereinafter simply referred to as “swivel body”) is taken as an example as a first structure of a work machine, and a boom driven by a hydraulic actuator is taken as an example as a second structure.
- the pump that drives the hydraulic motor for operating the first structure is a first hydraulic pump
- the pump that drives the hydraulic actuator for operating the second structure is a second hydraulic pump.
- a drive control device 1 for driving a revolving body (first structure; 102 shown in FIG. 7)
- the revolving body is revolved by the cooperation of a hydraulic motor 2 and an electric motor 3, and hydraulic pressure is increased.
- the motor 2 is decelerated, the regenerative function of the electric motor 3 converts the inertial energy (kinetic energy) of the hydraulic motor 2 into electric energy and collects it. Since the regenerative function for causing the electric motor 3 to perform a regenerative operation as a generator is a known technique, detailed description thereof is omitted.
- a first remote control valve 5 (swivel remote controller) is provided for determining an operation amount such as a turning direction and a turning speed of the revolving structure.
- the first remote control valve 5 has a tilting handle 4 that determines the turning direction of the turning body. The turning direction, speed, and acceleration of the turning body are determined by the direction, angle, speed, and the like of tilting the tilt handle 4.
- the first remote control valve 5 is provided with a pressure sensor 6 that detects a secondary pressure corresponding to the operation amount.
- the differential pressure between the left and right ports detected by the pressure sensor 6 is input to the control device 7 as a speed command (rotational speed command) for rotating the revolving structure. If the positive signal is forward rotation, the negative signal is reverse rotation.
- the hydraulic motor 2 is driven by hydraulic oil discharged from the first hydraulic pump 10.
- the hydraulic motor 2 is connected to a hydraulic motor circuit 11 that sucks and discharges hydraulic oil from the first hydraulic pump 10.
- oil passages 12 and 13 connected to a suction port and a discharge port of the hydraulic motor 2 are connected via a first control valve 14. The suction port and the discharge port of the hydraulic motor 2 are reversed depending on the rotation direction.
- the oil passages 12 and 13 are communicated between the oil passages 12 and 13 when the hydraulic motor 2 is decelerated, thereby avoiding a loss generated on the discharge side of the hydraulic motor 2.
- Relief valves 15 and 16 are provided.
- the electromagnetic relief valves 15 and 16 are provided so as to be able to relieve from the oil passages 12 and 13, respectively, because the direction in which the hydraulic oil flows during the forward and reverse rotations of the hydraulic motor 2 is different.
- a relief valve 22 that operates so as to release hydraulic oil to the tank 21 when the pressure during normal use is exceeded, and when oil is circulated in the oil passages 12 and 13.
- a check valve 23 is provided for sucking oil from the tank 21 when the amount is reduced.
- the electromagnetic proportional pressure reducing valves 19 and 20 are installed in the pilot ports 17 and 18 of the swing section of the first control valve 14.
- the electromagnetic proportional pressure reducing valves 19 and 20 are guided with the secondary pressure of the first remote control valve 5 as the primary pressure so that the control device 7 can control the secondary pressure of the electromagnetic proportional pressure reducing valves 19 and 20. It has become.
- the pilot ports 17 and 18 of the first control valve 14 can be controlled with high accuracy.
- the opening control of the first control valve 14 by the electromagnetic proportional pressure reducing valves 19, 20 is performed by the opening command from the control device 7, and the hydraulic motor 2 is controlled in response to the speed command of the first remote control valve 5. Control is performed so that the required amount of hydraulic fluid at the actual rotational speed is supplied.
- inverse proportional types are used.
- pressure sensors 25 and 26 are provided at the suction port and the discharge port of the hydraulic motor 2, respectively.
- the differential pressure between the pressures detected by these pressure sensors 25 and 26 is input to the control device 7 as differential pressure feedback.
- the generated torque of the hydraulic motor 2 is estimated in the control device 7 based on the differential pressure of the suction and discharge ports of the hydraulic motor 2 (reverse torque in the case of a negative signal).
- the electric motor 3 is connected via the control device 7 to a capacitor 27 that stores electric power for driving the electric motor 3.
- the battery 27 exchanges power with the motor 3 via the control device 7.
- the battery 27 is discharged so as to supply electric power to the electric motor 3 that cooperates with the hydraulic motor 2.
- the control device 7 issues a rotation command to the electric motor 3 that cooperates with the hydraulic motor 2 when the hydraulic motor 2 is accelerated, and brakes the hydraulic motor 2 when the hydraulic motor 2 is decelerated.
- a regeneration command is given to the electric motor 3.
- the electric motor 3 is provided with a rotation speed sensor 24.
- the actual rotational speed detected by the rotational speed sensor 24 is input to the control device 7 as speed feedback.
- the acceleration is obtained from the difference between the speed command (rotational speed command) from the first remote control valve 5 and the actual rotational speed in the control device 7.
- the first hydraulic pump 10 is provided with an electromagnetic proportional pressure reducing valve 41 in the tilt angle adjusting port 40 for controlling the tilt angle.
- the solenoid current of the electromagnetic proportional pressure reducing valve 41 is controlled by a signal from the control device 7, thereby controlling the tilt angle of the first hydraulic pump 10.
- the tilt angle control of the first hydraulic pump 10 is performed by the electromagnetic proportional pressure reducing valve 41 in accordance with the tilt command from the control device 7, and the actual operation of the hydraulic motor 2 is performed in response to the speed command of the first remote control valve 5. Control is performed so that the required amount of hydraulic fluid at the rotational speed is discharged.
- Specific control by the control device 7 includes a speed command (rotation number signal) from the first remote control valve 5, a differential pressure feedback (torque signal) based on the differential pressure signal of the hydraulic motor 2, and the rotation speed of the motor 3. Based on the speed feedback (actual rotation speed) based on the signal, control is performed so that the torque set in the electric motor 3 and the hydraulic motor 2 is obtained. That is, while rotating the electric motor 3, an opening degree command to the electromagnetic proportional pressure reducing valves 19, 20 of the first control valve 14 or an electromagnetic proportional pressure reducing valve 41 of the first hydraulic pump 10 so as to compensate for the torque shortage of the electric motor 3.
- the hydraulic motor 2 is rotated by hydraulic oil supplied from the first hydraulic pump 10 via the first control valve 14.
- the electromagnetic relief valves 15 and 16 are basically not operated, but are supplemented to supplement the pressure control performance by the opening control of the first control valve 14 or the tilt angle control of the first hydraulic pump 10. May be used.
- the hydraulic motor 2 in the drive control device 1 is controlled by the control device 7 so that a deficiency obtained by removing the torque by the electric motor 3 from the turning drive torque based on the operation amount of the first remote control valve 5 is obtained.
- Pressure control is performed by opening control of the first control valve 14 or tilt angle control of the first hydraulic pump 10.
- the pressure control by the first control valve 14 is performed by the opening degree control of the first control valve 14 by the electromagnetic proportional pressure reducing valves 19 and 20.
- the tilt of the first hydraulic pump is controlled by comparing the turning tilt command by the first hydraulic pump 10 with other commands in the work machine and using the signal that selects the maximum value as the tilt command. .
- the pressure control is not performed by the pressure control by the opening control of the first control valve 14, but by the tilt angle control of the first hydraulic pump 10. Done.
- the amount of pressure oil supplied from the first hydraulic pump 10 to the hydraulic motor 2 is controlled with high accuracy.
- the opening degree of the first control valve 14 is controlled so that the pressure loss is minimized. This opening is basically set to the maximum opening.
- the opening degree of the first control valve 14 or the tilt angle of the first hydraulic pump 10 it is possible to change the distribution of the torque by the electric motor 3 and the torque by the hydraulic motor 2. Yes. For example, when the stored energy of the battery 27 becomes less than a specified value, the torque of the electric motor 3 is gradually reduced and at the same time the torque of the hydraulic motor 2 is increased so that the switching from the electric motor 3 to the hydraulic motor 2 can be performed smoothly without shock. Can be done. Finally, the opening degree of the first control valve 14 or the tilt angle of the first hydraulic pump 10 is set so that the necessary oil amount determined by the rotational speed command from the first remote control valve 5 is obtained. Is set. Details will be described later.
- the torque distribution between the electric motor 3 and the hydraulic motor 2 is set in advance to a ratio at which the energy utilization rate is the best, and the state change related to the torque of the electric motor 3 and the hydraulic motor 2 (the stored energy of the battery 27 is a predetermined value).
- the total torque of the electric motor 3 and the hydraulic motor 2 becomes a necessary turning drive torque.
- the regenerative power obtained by converting the inertial energy into electric energy by causing the motor 3 to perform a regenerative action is stored in the capacitor 27.
- the brake-side electromagnetic relief valve 15 or 16 is unloaded to circulate the hydraulic oil.
- the tilt angle of the first hydraulic pump 10 is minimum, the first control valve 14 is fully closed, and the discharge oil of the first hydraulic pump 10 is bypassed to the tank 21 through the first control valve 14, Minimize energy consumption.
- the required generated torque of the hydraulic motor 2 is controlled by the amount of hydraulic oil supplied by adjusting the opening of the first control valve 14 or the tilt angle of the first hydraulic pump 10,
- the electromagnetic relief valve 15 or 16 is not operated in principle.
- the brake-side electromagnetic relief valve 15 or 16 is unloaded to circulate the hydraulic oil, and the entire amount of deceleration energy is recovered to the battery 27 in principle using an electric motor.
- the speed is calculated by the speed command calculation 30 from the tilt direction and the operation amount of the first remote control valve 5.
- the required acceleration is calculated by the acceleration calculation 31 from the difference from the speed feedback from the rotational speed sensor 24 provided in the electric motor 3, and the acceleration torque of the acceleration is calculated by the acceleration torque calculation 32.
- the voltage of the capacitor 27 is detected by the capacitor voltage detection 33, and the torque that can be output by the motor 3 is calculated by the motor torque calculation 34 based on the voltage and the total torque calculated by the acceleration torque calculation 32.
- the calculated torque that can be output by the electric motor 3 is subtracted from the total torque calculated by the acceleration torque calculation 32, and the subtracted torque is calculated as a torque necessary for the hydraulic motor 2.
- the torque required for the hydraulic motor 2 needs to be limited (for example, when the suction port pressure of the hydraulic motor 2 is to be higher than a certain value)
- the torque required for the hydraulic motor 2 is subtracted from the total torque. Then, the torque to be output by the electric motor 3 may be calculated.
- a differential pressure command calculation 35 is performed on the torque required for the hydraulic motor 2, and the pressure at the suction / discharge port of the hydraulic motor 2 is detected in response to the differential pressure command.
- the differential pressure from the pressure sensors 25 and 26 is fed back and compared.
- pressure control 36 is performed on the signal, and flow control by the first control valve 14 or the first hydraulic pump 10 is performed.
- the hydraulic motor 2 is driven by being supplied with an amount of hydraulic oil that can output torque equivalent to the torque that can be output by the electric motor 3.
- the flow control by the first control valve 14 is performed by the electromagnetic proportional pressure reducing valves 19 and 20, or the flow control by the first hydraulic pump 10 is performed by the electromagnetic proportional pressure reducing valve 41. It can be controlled with accuracy.
- the flow control of the hydraulic fluid supplied to the hydraulic motor 2 by the flow control by the first control valve 14 is shown by a solid line
- the flow control by the tilt control of the first hydraulic pump 10 is shown by a two-dot chain line.
- the flow control by the first control valve 14 and the first hydraulic pump 10 is used together, and in the second embodiment to be described later, the flow control is performed by the tilt control of the first hydraulic pump 10. . Details will be described later.
- a current is calculated by a current command calculation 37 so as to output the torque calculated by the electric motor torque calculation 34, and a current supplied to the electric motor 3 is fed back to the calculation result.
- current control 38 is performed on the signal, the power converter 39 is controlled, and the electric motor 3 is driven.
- the driving of the electric motor 3 is detected by the rotation speed sensor 24 and fed back to the calculation result of the speed command calculation 30 as the speed feedback.
- This operation sequence includes a speed command by the first remote control valve 5, a speed feedback of the rotating body, a torque of the electric motor 3, an intake / exhaust differential pressure torque of the hydraulic motor 2, and a time change of the total torque by the electric motor 3 and the hydraulic motor 2. Show.
- the first remote control valve 5 is tilted in one direction, and as shown in the speed feedback, the turning body is turned in one direction at “acceleration” and “constant speed”, and then the first remote control valve 5 is neutralized.
- the revolving body is rotated in the opposite direction by "acceleration”, “constant speed”, and "deceleration".
- the electric motor 3 When the above-mentioned first remote control valve 5 is operated to issue an upward (turning to one side) speed command, the electric motor 3 is rotated at a predetermined torque as torque for rotating the swinging body that is an inertial body. As a result, the battery 27 is discharged, and the hydraulic motor 2 is driven so as to compensate for the shortage of torque by the electric motor 3. As a result, the total torque of the electric motor torque and the hydraulic motor torque is driven so as to obtain a large combined torque for accelerating the turning body, which is an inertial body, at the start of turning. That is, at the start of turning the revolving structure in the stopped state, the output of the electric motor 3 is used so that the maximum energy saving effect is obtained, and the shortage is compensated by the hydraulic motor 2.
- the operation is such that a small turning torque is obtained only by the hydraulic motor 2 during constant speed turning, and almost all of the inertial energy is efficiently recovered as electric energy by the regenerative action of the electric motor 3 and stored in the battery 27 during deceleration.
- the first remote control valve 5 is operated in the reverse direction after this operation, but the description is omitted because the operation is the same as the above operation except that the torque is generated in the reverse direction. .
- the hydraulic motor 2 generates a shortage of torque that can be generated by the electric motor 3 with respect to the total torque based on the operation amount of the first remote control valve 5. ing.
- the amount of hydraulic oil that drives the hydraulic motor 2 is adjusted by controlling the opening of the first control valve 14 or the tilt angle of the first hydraulic pump 10, so that the motor 3 and the hydraulic motor 2
- the energy efficiency for driving the revolving structure can be improved.
- the turning control is performed while monitoring the voltage of the battery 27 and calculating the energy that can be supplied to the electric motor 3, the use efficiency of the stored energy can be improved.
- the electromagnetic relief valve 15 or 16 is opened to avoid pressure loss that occurs on the discharge side of the hydraulic motor 2, and almost all of the inertial energy of the swinging body is generated by the regenerative action of the electric motor 3. Since it can collect
- the drive control device 50 includes a hydraulic motor 2 and an electric motor 3 for turning a turning body (first structure), and a hydraulic actuator 51 for raising or lowering a boom (second structure) (see FIG. 7 is provided.
- a second hydraulic pump 52 that drives the hydraulic actuator 51 is provided in addition to the first hydraulic pump 10 that drives the revolving structure.
- an electromagnetic proportional pressure reducing valve 43 is provided in a tilt angle adjusting port 42 for controlling the tilt angle.
- the second hydraulic pump 52 is connected to the hydraulic actuator 51 via the second control valve 53. By switching the second control valve 53, the hydraulic actuator 51 is raised or lowered.
- a second remote control valve 54 (boom remote control) for operating a second control valve 53 for driving and controlling the hydraulic actuator 51 is provided. By operating the second remote control valve 54, the second control valve 53 is switched.
- the merging valve 55 on the downstream side of the first control valve 14 described above. Is provided.
- the junction valve 55 is switched by operating the second remote control valve 54 (boom remote control).
- the merging valve 55 is switched by operating the second remote control valve 54, the hydraulic oil discharged from the first hydraulic pump 10 is merged with the hydraulic oil discharged from the second hydraulic pump 52, and the operation of the hydraulic actuator 51 is performed. It comes to assist.
- the switching of the merging valve 55 is performed when the second remote control valve 54 is tilted in the direction in which the rod 61 of the hydraulic actuator 51 is lifted and the rising side control pressure reaches a predetermined switching pressure. It is switched to the merging side (right side in the figure) by the control pressure acting on the 55 pilot ports 56.
- the merging valve 55 is switched, the control pressure selected by the high pressure selectors 57 of both ports of the first remote control valve 5 and the control pressure of the second remote control valve 54 are selected by the high pressure selector 58.
- the first hydraulic pump 10 is tilt-controlled. Since the second remote control valve 54 is often operated larger than the first remote control valve 5, the tilt control of the first hydraulic pump 10 is often controlled by the rising control pressure of the second remote control valve 54.
- the hydraulic oil discharged from the first hydraulic pump 10 is supplied to the combined flow path 59 of the hydraulic actuator 51 via the merging valve 55 and merged with the hydraulic oil of the second hydraulic pump 52.
- a check valve 60 is provided in the combined flow path 59 to prevent the hydraulic oil from flowing backward from the hydraulic actuator 51 toward the merge valve 55.
- the electromagnetic proportional pressure reducing valve 43 of the second hydraulic pump 52 is controlled by the rising side control pressure of the second remote control valve 54.
- the hydraulic oil supplied from the second hydraulic pump 52 to the hydraulic actuator 51 via the second control valve 53 has a flow rate corresponding to the operation amount of the second remote control valve 54.
- the first hydraulic pump 10 and the second hydraulic pump 52 are controlled to the same discharge pressure. Then, the hydraulic oil discharged from the first hydraulic pump 10 is merged with the hydraulic oil supplied from the second hydraulic pump 52 to the hydraulic actuator 51 via the merging valve 55 via the merging passage 59 and supplied to the hydraulic actuator 51. Is done. As a result, the hydraulic actuator 51 is driven to rise quickly with a large driving force.
- the hydraulic fluid supplied to the hydraulic motor 2 via the first control valve 14 from the first hydraulic pump 10 that is tilt-controlled by the rising side control pressure of the second remote control valve 54 as described above is the first remote control. It is supplied through a first control valve 14 whose opening degree is controlled by a control pressure from the valve 5. As a result, hydraulic oil corresponding to the operation amount of the first remote control valve 5 is supplied to the hydraulic motor 2. That is, even if the first hydraulic pump 10 is tilt-controlled by the rising side control pressure of the second remote control valve 54, the amount of hydraulic oil supplied from the first hydraulic pump 10 to the hydraulic motor 2 is the first control valve 14. The amount of hydraulic oil is limited and can be controlled according to the amount of operation of the first remote control valve 5. Details of this control will be described below.
- FIG. 5 is a hydraulic circuit diagram showing a control method of the first control valve 14 and the first hydraulic pump 10 by the drive control device 50 according to the first embodiment of the present invention.
- the actual rotational speed signal from the rotational speed sensor 24 of the electric motor 3 corresponds to the speed command from the first remote control valve 5.
- Input as speed feedback.
- speed control 70 is performed on the signal to perform feedback control on the speed command, and a differential pressure command is created by removing torque that can be output by the electric motor 3 from the signal.
- a differential pressure signal based on the hydraulic oil pressure difference between the pressure sensors 25 and 26 provided at the suction port and the discharge port of the hydraulic motor 2 is input as a differential pressure feedback via the control gain 71.
- feedback control is performed.
- the opening control of the first control valve 14 and the tilt control of the first hydraulic pump 10 are performed.
- the operation amount of the opening degree command is set to the electric motor 3.
- the necessary pump oil amount calculated by the control gain 77 based on the actual rotational speed of the hydraulic motor 2 obtained from the signal of the provided rotational speed sensor 24 is added.
- the flow rate compensation is performed so that the opening degree command in accordance with the latest actual rotational speed is output as the final command.
- a minor loop 78 that feeds back a change in the opening command of the first control valve 14 is provided between the flow rate compensated opening command and the differential pressure deviation to compensate for the pressure increase. That is, a differential operation (D operation) control calculation is performed on the opening command of the first control valve 14, and a signal after this control calculation is fed back to the differential pressure deviation. As a result, the gain in the high frequency region can be lowered, and the stability of the pressure control is improved by smoothing the opening degree command.
- D operation differential operation
- the flow-compensated signal and the pressure-compensated signal are output to the pilot ports 17 and 18 of the first control valve 14 as an opening degree command via the control gain 73 to control the opening degree of the first control valve 14. .
- the flow rate compensation and the pressure increase compensation are performed for the opening degree control of the first control valve 14 so that a high-speed and stable control characteristic can be obtained.
- the electromagnetic proportional pressure reducing valves 19 and 20 are provided in the pilot ports 17 and 18 of the first control valve 14 to control the opening degree of the first control valve 14, so that the required flow rate Can be controlled with high accuracy. As a result, energy efficiency is improved.
- the tilt control of the first hydraulic pump 10 after the pressure control 74 is performed on the differential pressure deviation, the actual hydraulic motor 2 obtained from the signal of the rotational speed sensor 24 provided in the electric motor 3 is used.
- the necessary pump oil amount calculated by the control gain 77 based on the rotational speed is added to the turning tilt command after the pressure control 74 is performed.
- the flow rate compensation is performed so that the turning tilt command according to the latest actual rotational speed is output as the final command.
- a minor loop 79 that feeds back a change in the turning / tilting command is provided between the turning compensation command for which the flow rate has been compensated and the differential pressure deviation to compensate for the pressure increase. That is, a differential operation (D operation) control calculation is performed on the turning tilt command, and the gain in the high frequency region is lowered by feeding back the signal after the control calculation to the differential pressure deviation. Yes. Thereby, the stability of pressure control is improved by smoothing the turning tilt command.
- D operation differential operation
- the turning and tilting command subjected to the flow rate compensation and the pressure compensation is input to the maximum value selection 75 and compared with other commands (in this example, a traveling command, a boom raising command, etc.) in the work machine. Then, the signal selected by the maximum value selection 75 is output to the electromagnetic proportional pressure reducing valve 41 of the first hydraulic pump 10 as a tilt command via the control gain 76, and the tilt angle of the first hydraulic pump 10 is controlled. Is done.
- the flow rate compensation and the pressure increase compensation are performed for the opening degree control of the first control valve 14 and the tilt angle control of the first hydraulic pump 10, thereby providing a high speed and stable control characteristic. So that you can get. Further, by performing the opening control of the first control valve 14 and the tilt angle control of the first hydraulic pump 10 in this way, the speed command from the first remote control valve 5, the actual rotational speed of the hydraulic motor 2, An optimal amount of hydraulic oil based on the pressure difference between the suction port and the discharge port of the hydraulic motor 2 can be discharged from the first hydraulic pump 10. Thereby, the hydraulic oil of the first hydraulic pump 10 is not discharged from the relief valve 22 during normal operation, and energy efficiency can be improved.
- the turning tilt command is the optimum amount of hydraulic oil for driving the hydraulic motor 2. Therefore, the maximum value selection 75 selects the boom raising command (rising side control pressure of the second remote control valve 54). Then, the signal is output as a tilt command to the electromagnetic proportional pressure reducing valve 41 of the first hydraulic pump 10 via the control gain 76, and the tilt angle of the first hydraulic pump 10 is controlled. As a result, hydraulic oil corresponding to the boom raising command is discharged from the first hydraulic pump 10 and supplied to the hydraulic actuator 51 via the junction valve 55.
- the hydraulic oil of the first hydraulic pump 10 is merged with the hydraulic oil of the second hydraulic pump 52 to drive the hydraulic actuator 51 in cooperation with the electric motor 3 while maintaining a state where the hydraulic actuator 51 can be driven with a large driving force.
- An amount of hydraulic oil suitable for the amount of operation of the first remote control valve 5 can be supplied to the hydraulic motor 2 by controlling the opening degree of the first control valve 14.
- the opening degree of the first control valve 14 is set to the maximum opening degree so that the pressure loss is minimized without performing the opening degree control.
- the first hydraulic pump 10 may perform tilt control. By switching the opening control of the first control valve 14 in this way, an operation with less energy loss can be performed.
- This drive control device 80 is an example in which the tilt command of the first hydraulic pump 10 is compensated by the actual discharge pressure of the second hydraulic pump 52.
- the actual rotational speed signal from the rotational speed sensor 24 of the electric motor 3 is obtained in response to the speed command based on the differential pressure between the left and right ports detected by the pressure sensor 6 of the first remote control valve 5. Input as speed feedback. Then, speed control 70 is performed on the signal, and speed feedback control is performed on the speed command. Thereafter, a torque that can be output by the electric motor 3 (before merging compensation) is removed from the signal to create a hydraulic motor torque command (before merging compensation).
- the actual discharge pressure of the second hydraulic pump 52 is feedback-controlled as a second hydraulic pump pressure feedback 81 in response to this hydraulic motor torque command (before merging compensation).
- merging compensation is performed to increase the hydraulic motor torque command (before merging compensation) to the actual discharge pressure of the second hydraulic pump 52 (when the merging compensation is 0 or less, the merging compensation limiter 82 cuts it).
- a hydraulic motor torque command (after merging compensation) is generated, and a differential pressure command is generated from the hydraulic motor torque command (after merging compensation) via a control gain.
- a differential pressure signal based on the hydraulic oil pressure difference between the pressure sensors 25 and 26 is input as a differential pressure feedback via the control gain 71 in response to this differential pressure command.
- the pressure control 74 is performed on the differential pressure deviation (difference between the differential pressure command and the differential pressure feedback)
- the actual rotation of the hydraulic motor 2 obtained from the signal of the rotational speed sensor 24 provided in the electric motor 3.
- the required pump oil amount calculated by the control gain 77 based on the number is added to the turning tilt command after the pressure control 74 is performed, and the flow rate is compensated.
- a turning tilt command in accordance with the latest actual rotational speed is output as a final command.
- a booster compensation is performed by providing a minor loop 79 that feeds back the amount of change in the turn tilt command between the turn tilt command with flow compensation and the pressure difference deviation.
- the turning tilt command is input to the maximum value selection 75 and compared with the boom raising command from the second remote control valve 54 (the raising command for the hydraulic actuator 51).
- the swing tilt command input to the maximum value selection 75 is a swing tilt command compensated by the actual discharge pressure of the second hydraulic pump 52, and a boom raising command (second When the command after the merging compensation is higher than the boom raising command of the second remote control valve 54, the turning tilt command after the merging compensation is selected and is lower.
- the boom raising command for the second remote control valve 54 is selected, the tilt angle of the first hydraulic pump 10 is controlled.
- the tilt angle of the second hydraulic pump 52 is controlled by a boom raising command from the second remote control valve 54.
- the tilt command of the first hydraulic pump 10 is corrected by the discharge pressure of the second hydraulic pump 52, and the tilt command of the first hydraulic pump 10 is changed to the actual discharge pressure of the second hydraulic pump 52.
- accurate feedback control can be performed.
- the motor back pressure feedback from the pressure sensor 26 (right side in the figure) provided on the back pressure side of the hydraulic motor 2 is performed on the differential pressure command after the merge compensation, and the motor back pressure feedback signal and A signal to which the differential pressure command is added is used as a relief pressure command for the electromagnetic relief valve 15 on the upstream side of the hydraulic motor 2.
- the control pressure of the electromagnetic relief valve 15 is not set smaller than the pressure required for the system.
- the ascent command for the second remote control valve 54 is higher than the turning tilt command after the merging compensation, and the boom ascent command for the second remote control valve 54 is selected.
- the electromagnetic relief valve 15 (16) prevents the hydraulic oil discharged from the first hydraulic pump 10 from relieving from the electromagnetic relief valve 15 (16) of the hydraulic motor circuit 11. ) Can be adjusted. Thereby, in the hydraulic motor circuit 11, the hydraulic oil pressure for driving the hydraulic actuator 51 can be stably maintained.
- the merging compensation is performed from the driving torque command necessary for driving the revolving body that has performed the speed control 70.
- the motor torque command 34 is calculated by the motor torque calculation 34 based on the voltage detected by the voltage detection 33 of the battery 27 so as to compensate for the shortage except the performed hydraulic motor torque command (after compensation for merge).
- the electric motor 3 is controlled (FIG. 2) so that the electric motor 3 compensates for the insufficient torque of the hydraulic motor 2.
- the hydraulic motor 2 is configured so that the deficiency obtained by removing the drive torque of the electric motor 3 from the torque necessary for driving the revolving structure is compensated by the drive torque of the hydraulic motor 2.
- 2 is supplied by controlling the opening degree of the first control valve 14 or the tilt angle of the first hydraulic pump 10, so that the relief valve is used as the torque control means of the hydraulic motor 2. It is possible to reduce energy loss without using, and to improve the fuel efficiency by improving the energy efficiency for driving the revolving structure.
- a boom is formed by a hydraulic actuator 51 in which a stable swing body (first structure) is driven by the electric motor 3 and the hydraulic motor 2, and hydraulic oil of the first hydraulic pump 10 is merged with hydraulic oil of the second hydraulic pump 52. It is possible to efficiently drive the (second structure).
- the inertial energy (rotational energy) of the revolving structure is efficiently recovered as electric energy by the regenerative action of the electric motor 3 at the time of deceleration and stored in the battery 27 for use in the acceleration of the next revolving structure.
- the motor 3 is driven preferentially using the stored energy of the battery 27 and the shortage is compensated by the hydraulic motor 2, so that quick acceleration and utilization efficiency of the stored energy can be improved. It becomes possible.
- the example in which the electric motor 3 is driven preferentially using the stored energy of the battery 27 and the insufficient torque is compensated by the hydraulic motor 2 has been described.
- the revolving unit may be rotationally driven only by the hydraulic motor 2 without using the electric motor 3.
- the configuration is not necessarily limited to a configuration in which the electric motor 3 is used preferentially and the shortage is compensated by the hydraulic motor 2.
- the upper swing body and boom of the hydraulic excavator are described as examples of the structure of the work machine.
- the present invention is also applicable to structures of other work machines such as a swing body of a crane and a traveling body of a wheel loader.
- the present invention is not limited to the above-described embodiment.
- the drive control method for a work machine according to the present invention can be used in a heavy machine such as a hydraulic excavator or a hydraulic crane, and in a work machine in which a drive system is provided with a hydraulic motor and an electric motor.
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Abstract
Description
2 油圧モータ(旋回油圧モータ)
3 電動機
4 傾倒ハンドル
5 第一リモコン弁(旋回リモコン)
6 圧力センサ
7 制御装置
10 第一油圧ポンプ
11 油圧モータ回路
12,13 油路
14 第一コントロール弁
15,16 電磁リリーフ弁
17,18 パイロットポート
19,20 電磁比例減圧弁
21 タンク
22 リリーフ弁
23 チェック弁
24 回転数センサ
25,26 圧力センサ
27 蓄電器
30 速度指令演算
31 加速度演算
32 加速トルク演算
33 蓄電器電圧検出
34 電動機トルク算出
35 差圧指令演算
36 圧力制御
37 電流指令演算
38 電流制御
39 電力変換器
40 傾転角調整ポート
41 電磁比例減圧弁
42 傾転角調整ポート
43 電磁比例減圧弁
50 駆動制御装置
51 油圧アクチュエータ(ブームシリンダ)
52 第二油圧ポンプ
53 第二コントロール弁
54 第二リモコン弁(ブームリモコン)
55 合流弁
56 パイロットポート
57 高圧選択部
58 高圧選択部
59 合流路
60 逆止弁
61 ロッド
70 速度制御
71 制御ゲイン(差圧フィードバック)
72 圧力制御
73 制御ゲイン(開度指令)
74 圧力制御
75 最大値選択
76 制御ゲイン(傾転指令)
77 制御ゲイン(流量補償)
78,79 マイナーループ
80 駆動制御装置
81 第二油圧ポンプ圧力フィードバック
82 合流補償リミッタ
100 油圧ショベル
101 下部走行体
102 上部旋回体(第一構造体)
103 バケット
104 アーム
105 ブーム(第二構造体)
106 ブームシリンダ
Claims (11)
- 傾転角制御で吐出流量の変更が可能な油圧ポンプからコントロール弁を介して供給する作動油で駆動する油圧モータと、該油圧モータと協動する電動機とによって構造体を駆動する作業機械の駆動制御方法であって、
前記構造体の動作量を決定するリモコン弁の操作量に基づく速度指令に対し、前記油圧モータの実回転数に基づく速度フィードバック制御と、前記油圧モータの吸入ポートと排出ポートとにおける作動油圧力差に基づく差圧フィードバック制御とを行うことで、前記油圧モータの実回転数における必要量の作動油量を吐出するように開度指令を生成して前記コントロール弁を開度制御するようにしたことを特徴とする作業機械の駆動制御方法。 - 前記差圧フィードバック制御を行った信号に対し、前記油圧モータの実回転数に基づく速度信号を制御ゲインを介して加えることで、前記油圧モータの実回転数に適した作動油量を供給するように前記開度指令に対して流量補償を行うようにした請求項1に記載の作業機械の駆動制御方法。
- 前記流量補償を行った開度指令と、前記差圧フィードバック信号を入力した差圧指令との間に、前記開度指令の変化分をフィードバックさせるマイナーループを設けて昇圧補償を行うようにした請求項2に記載の作業機械の駆動制御方法。
- 前記油圧ポンプを第一油圧ポンプ、前記コントロール弁を第一コントロール弁、前記構造体を第一構造体とし、該第一構造体に加えて、第二油圧ポンプから第二コントロール弁を介して供給する作動油で駆動する第二構造体を有し、前記第二構造体を駆動する作動油に前記第一油圧ポンプから供給される作動油を合流させるように構成し、
前記第一構造体の動作量を決定するリモコン弁の操作量に基づく速度指令に対し、前記油圧モータの実回転数に基づく速度フィードバック制御と、前記油圧モータの吸入ポートと排出ポートとにおける作動油圧力差に基づく差圧フィードバック制御とを行うことで、前記油圧モータの実回転数における必要量の作動油量を吐出するように前記油圧ポンプの傾転指令を生成し、
前記差圧フィードバック制御を行った信号に対し、前記実回転数に基づく速度信号を制御ゲインを介して加えることで、前記油圧モータの実回転数に適した作動油量を供給するように前記傾転指令に対して流量補償を行い、
該流量補償された信号と、作業機械における他の指令とを比較し、その最大値を選択した信号を傾転指令として前記油圧ポンプの傾転を制御するようにした請求項1乃至請求項3に記載の作業機械の駆動制御方法。 - 前記構造体の初期加速時に、該構造体の加速に要するトルクから電動機で出力可能な駆動トルクを除き、不足分のトルクを前記油圧モータの駆動トルクで補うように前記コントロール弁の開度指令を生成するようにした請求項1乃至請求項4に記載の作業機械の駆動制御方法。
- 傾転角制御で吐出流量の変更が可能な第一油圧ポンプから第一コントロール弁を介して供給する作動油で駆動する油圧モータと、該油圧モータと協動する電動機とによって第一構造体を駆動する作業機械の駆動制御方法であって、
前記第一構造体に加えて、第二油圧ポンプから第二コントロール弁を介して供給する作動油で駆動する第二構造体を有し、該第二構造体を駆動する作動油に前記第一油圧ポンプの作動油を合流させるように構成され、
前記第一構造体の動作量を決定するリモコン弁の操作量に基づく速度指令に対し、前記油圧モータの実回転数に基づく速度フィードバック制御と、前記第二油圧ポンプの実吐出圧力をフィードバックする第二ポンプ圧力フィードバック制御と、前記油圧モータの吸入ポートと排出ポートとにおける作動油圧力差に基づく差圧フィードバック制御とを行うことで、前記油圧モータの実回転数における必要量の作動油量を吐出するように第一油圧ポンプの旋回傾転指令を生成し、該第一油圧ポンプの旋回傾転指令と前記第二油圧ポンプの傾転指令との最大値を選択して前記第一油圧ポンプを傾転角制御するようにしたことを特徴とする作業機械の駆動制御方法。 - 前記第二ポンプ圧力フィードバック制御を、前記速度フィードバック制御を行った駆動トルク指令から電動機トルク分を除いた油圧モータトルク指令を求め、該油圧モータトルク指令に前記第二油圧ポンプの実吐出圧力をフィードバックさせる合流補償として行うようにした請求項6に記載の作業機械の駆動制御方法。
- 前記速度フィードバック制御を行った駆動トルク指令から前記合流補償を行った油圧モータトルク指令を減じてトルク指令差を求め、
前記電動機を運転することができるエネルギと前記トルク指令差とから必要な電動機トルク指令を求めて油圧モータの不足トルクを電動機で補うようにした請求項7に記載の作業機械の駆動制御方法。 - 前記合流補償を行った油圧モータトルク指令に基づく第一油圧ポンプの差圧指令に前記油圧モータの背圧を加えて油圧モータ回路におけるリリーフ圧力指令を求め、該リリーフ圧力指令を前記油圧モータの上流側回路における電磁リリーフ弁のリリーフ圧とした請求項7に記載の作業機械の駆動制御方法。
- 前記差圧フィードバック制御を行った信号に対し、前記油圧モータの実回転数に基づく速度信号を制御ゲインを介して加えることで、前記油圧モータの実回転数に適した作動油量を供給するように前記第一油圧ポンプの旋回傾転指令に対して流量補償を行うようにした請求項6に記載の作業機械の駆動制御方法。
- 前記流量補償を行った旋回傾転指令と、前記差圧フィードバック信号を入力した差圧指令との間に、前記旋回傾転指令の変化分をフィードバックさせるマイナーループを設けて昇圧補償を行うようにした請求項10に記載の作業機械の駆動制御方法。
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