WO2012102352A1 - ショベル - Google Patents
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- Publication number
- WO2012102352A1 WO2012102352A1 PCT/JP2012/051709 JP2012051709W WO2012102352A1 WO 2012102352 A1 WO2012102352 A1 WO 2012102352A1 JP 2012051709 W JP2012051709 W JP 2012051709W WO 2012102352 A1 WO2012102352 A1 WO 2012102352A1
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- WIPO (PCT)
- Prior art keywords
- capacitor
- value
- current
- power storage
- battery
- Prior art date
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/04—Cutting off the power supply under fault conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
- B60L58/13—Maintaining the SoC within a determined range
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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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
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
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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
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
- E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/48—Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/18—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for batteries; for accumulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
- G01R31/3828—Arrangements for monitoring battery or accumulator variables, e.g. SoC using current integration
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/64—Testing of capacitors
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/05—Accumulators with non-aqueous electrolyte
- H01M10/052—Li-accumulators
- H01M10/0525—Rocking-chair batteries, i.e. batteries with lithium insertion or intercalation in both electrodes; Lithium-ion batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Definitions
- the present invention relates to an excavator that drives an electric working element with electric power from a capacitor.
- a construction machine such as an excavator having an electric work element such as a turning mechanism driven by an electric motor is provided with a power storage device including a capacitor for supplying electric power for driving the electric work element.
- a power storage device including a power storage device is generally housed in a small housing, and heat generated from the power storage device or heat from the outside is trapped in the housing, so that the ambient temperature of the power storage device is often higher than a normal temperature. When the ambient temperature of the power storage device is high, the deterioration of the power storage device is promoted, or the electric circuit of the power storage device often fails.
- an intelligent power module (IPM) is used for a buck-boost converter that charges and discharges a capacitor in a power storage device to protect the power device (part of the power storage device) of the buck-boost converter from overheating.
- IPM intelligent power module
- the arm to which the attachment is connected the boom to which the arm is connected, the upper swing body to which the boom is connected, the engine disposed on the upper swing body, and the generator generates electric power.
- a power storage device including a power storage device that stores electric power and an electric circuit that controls charging / discharging of the power storage device, a voltage detection unit that is disposed between the power storage device and the generator, and that measures a voltage of the power storage device; and the power storage device
- a current detection unit that measures a current flowing through the battery, and a control unit that calculates a charge / discharge amount of the battery, and an abnormality detection unit that detects an abnormality of the power storage device, the abnormality detection unit Based on the detection value obtained by the detection unit and the current detection unit, the storage state estimation unit that estimates the storage state of the battery and obtains an estimated value, and the estimation value that is obtained by the storage state estimation unit Make an abnormality Shovel, characterized in that it comprises an abnormality determination portion is provided.
- FIG. 1 is a side view of a hybrid excavator as an example of an excavator to which the present invention is applied.
- the excavator to which the present invention is applied is not limited to a hybrid excavator, and can be applied to excavators having other configurations as long as the electric working element or the electric load is driven by electric power from the power storage device.
- a boom 4 is attached to the upper swing body 3.
- An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5.
- the boom 4, the arm 5, and the bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.
- the upper swing body 3 is provided with a cabin 10 and is mounted with a power source such as an engine.
- FIG. 2 is a block diagram showing the configuration of the drive system of the hybrid excavator shown in FIG.
- the mechanical power system is indicated by a double line
- the high-pressure hydraulic line is indicated by a solid line
- the pilot line is indicated by a broken line
- the electric drive / control system is indicated by a solid line.
- the engine 11 as a mechanical drive unit and the motor generator 12 as an assist drive unit are connected to two input shafts of a transmission 13, respectively.
- a main pump 14 and a pilot pump 15 are connected to the output shaft of the transmission 13 as hydraulic pumps.
- a control valve 17 is connected to the main pump 14 via a high pressure hydraulic line 16.
- the hydraulic pump 14 is a variable displacement hydraulic pump, and can control the discharge flow rate by adjusting the stroke length of the piston by controlling the angle (tilt angle) of the swash plate.
- the control valve 17 is a control device that controls the hydraulic system in the hybrid excavator.
- the hydraulic motors 1A (for right) and 1B (for left), the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 for the lower traveling body 1 are connected to the control valve 17 via a high pressure hydraulic line.
- the motor generator 12 is connected to a power storage system (power storage device) 120 including a battery via an inverter 18A.
- An operation device 26 is connected to the pilot pump 15 through a pilot line 25.
- the operating device 26 includes a lever 26A, a lever 26B, and a pedal 26C.
- the lever 26A, the lever 26B, and the pedal 26C are connected to the control valve 17 and the pressure sensor 29 via hydraulic lines 27 and 28, respectively.
- the pressure sensor 29 is connected to a controller 30 that performs drive control of the electric system.
- the controller 30 performs operation control (switching between electric (assist) operation or power generation operation) of the motor generator 12 and also performs charge / discharge control of a capacitor (capacitor) by drivingly controlling a step-up / down converter as a step-up / step-down control unit. I do.
- the controller 30 performs switching control between the step-up / step-down operation of the step-up / down converter based on the charge state of the capacitor (capacitor) and the operation state of the motor generator 12 (electric (assist) operation or power generation operation). Charge / discharge control of the capacitor (capacitor) is performed.
- the switching control between the step-up / step-down operation of the step-up / step-down converter is performed by controlling the DC bus voltage value detected by the DC bus voltage detection unit provided in the DC bus, the capacitor voltage value detected by the capacitor voltage detection unit, and the capacitor current. This is performed based on the capacitor current value detected by the detector.
- the SOC of the capacitor is calculated based on the capacitor voltage value detected by the capacitor voltage detector.
- a capacitor is shown as an example of a capacitor.
- a chargeable / dischargeable secondary battery such as a lithium ion battery, or another type of power source capable of power transfer is used as a capacitor. Also good.
- the hybrid excavator shown in FIG. 2 has an electric turning mechanism, and a turning electric motor 21 is provided to drive the turning mechanism 2.
- a turning electric motor 21 as an electric work element is connected to a power storage system 120 via an inverter 20.
- a resolver 22, a mechanical brake 23, and a turning transmission 24 are connected to the rotating shaft 21 ⁇ / b> A of the turning electric motor 21.
- the turning electric motor 21, the inverter 20, the resolver 22, the mechanical brake 23, and the turning transmission 24 constitute a load drive system.
- FIG. 3 is a block diagram showing the configuration of the power storage system 120.
- the storage system 120 includes a capacitor 19 as a storage battery, a step-up / down converter, and a DC bus 110.
- the DC bus 110 controls transmission and reception of electric power among the capacitor 19, the motor generator 12, and the turning electric motor 21.
- the capacitor 19 is provided with a capacitor voltage detection unit 112 for detecting the capacitor voltage value and a capacitor current detection unit 113 for detecting the capacitor current value.
- the capacitor voltage value and the capacitor voltage value detected by the capacitor voltage detection unit 112 and the capacitor current detection unit 113 are supplied to the controller 30.
- the step-up / step-down converter 100 performs control for switching between the step-up operation and the step-down operation so that the DC bus voltage value falls within a certain range according to the operating state of the motor generator 12, the generator 300, and the turning motor 21.
- the DC bus 110 is disposed between the inverters 18A and 20 and the buck-boost converter 100, and transfers power between the capacitor 19, the motor generator 12, the generator 300, and the turning motor 21. .
- the controller 30 is a control device as a main control unit that performs drive control of the hybrid excavator.
- the controller 30 is configured by an arithmetic processing unit including a CPU (Central Processing Unit) and an internal memory, and is realized by the CPU executing a drive control program stored in the internal memory.
- arithmetic processing unit including a CPU (Central Processing Unit) and an internal memory, and is realized by the CPU executing a drive control program stored in the internal memory.
- CPU Central Processing Unit
- the controller 30 converts the signal supplied from the pressure sensor 29 into a speed command, and performs drive control of the turning electric motor 21.
- the signal supplied from the pressure sensor 29 corresponds to a signal indicating an operation amount when the operation device 26 is operated to turn the turning mechanism 2.
- the controller 30 performs operation control (switching between electric (assist) operation or power generation operation) of the motor generator 12 and also performs charge / discharge control of the capacitor 19 by drivingly controlling the step-up / down converter 100 as the step-up / step-down control unit. Do.
- the controller 30 is a step-up / down converter based on the charged state of the capacitor 19, the operating state of the motor generator 12 (electric (assist) operation or generating operation), and the operating state of the turning motor 21 (power running operation or regenerative operation). Switching control between 100 step-up operations and step-down operations is performed, and thereby charge / discharge control of the capacitor 19 is performed.
- Switching control between the step-up / step-down operation of the buck-boost converter 100 is performed by the DC bus voltage value detected by the DC bus voltage detection unit 111, the capacitor voltage value detected by the capacitor voltage detection unit 112, and the capacitor soot current detection unit 113. This is performed based on the detected capacitor current value.
- the electric power generated by the motor generator 12 which is an assist motor is supplied to the DC bus 110 of the power storage system 120 via the inverter 18A, and is supplied to the capacitor 19 via the step-up / down converter 100.
- the regenerative power generated by the regenerative operation of the turning electric motor 21 is supplied to the DC bus 110 of the power storage system 120 via the inverter 20 and supplied to the capacitor rod 19 via the step-up / down converter 100.
- FIG. 4 is a circuit diagram of the power storage system (power storage device) 120.
- the step-up / down converter 100 includes a reactor 101, a boosting IGBT (Insulated Gate Bipolar Transistor) 102A, a step-down IGBT 102B, a power connection terminal 104 for connecting the capacitor 19, an output terminal 106 for connecting the inverters 18 and 20, and And a smoothing capacitor 107 inserted in parallel with the pair of output terminals 106.
- a DC bus 110 connects between the output terminal 106 of the step-up / down converter 100 and the inverters 18 ⁇ / b> A and 20.
- reactor 101 One end of the reactor 101 is connected to an intermediate point between the step-up IGBT 102A and the step-down IGBT 102B, and the other end is connected to the power connection terminal 104.
- Reactor 101 is provided in order to supply induced electromotive force generated when boosting IGBT 102 ⁇ / b> A is turned on / off to DC bus 110.
- the step-up IGBT 102A and the step-down IGBT 102B are semiconductor elements (switching elements) that are composed of bipolar transistors in which MOSFETs (Metal Oxide Semiconductors Field Effect Transistors) are incorporated in the gate portions and can perform high-power high-speed switching.
- the step-up IGBT 102A and the step-down IGBT 102B are driven by the controller 30 by applying a PWM voltage to the gate terminal.
- Diodes 102a and 102b, which are rectifier elements, are connected in parallel to the step-up IGBT 102A and the step-down IGBT 102B, respectively.
- Capacitor 19 may be a chargeable / dischargeable capacitor so that power can be exchanged with DC bus 110 via buck-boost converter 100. 4 shows a capacitor 19 as a capacitor. Instead of the capacitor 19, a secondary battery capable of charging / discharging such as a lithium ion battery, a lithium ion capacitor, or other forms capable of transmitting and receiving power. A power source may be used.
- the power supply connection terminal 104 and the output terminal 106 may be terminals that can be connected to the capacitor 19 and the inverters 18A and 20.
- a capacitor voltage detection unit 112 that detects a capacitor voltage is connected between the pair of power supply connection terminals 104.
- a DC bus voltage detector 111 that detects a DC bus voltage is connected between the pair of output terminals 106.
- the capacitor voltage detector 112 detects the voltage value Vcap of the capacitor 19.
- the DC bus voltage detection unit 111 detects the voltage value Vdc of the DC bus 110.
- the smoothing capacitor 107 is a power storage element that is inserted between the positive terminal and the negative terminal of the output terminal 106 and smoothes the DC bus voltage. The smoothing capacitor 107 maintains the voltage of the DC bus 110 at a predetermined voltage.
- the capacitor current detection unit 113 is detection means for detecting the value of the current flowing through the capacitor 19 on the positive electrode terminal (P terminal) side of the capacitor 19 and includes a resistor for current detection. That is, the capacitor current detection unit 113 detects the current value I1 flowing through the positive terminal of the capacitor 19.
- the capacitor current detection unit 116 is detection means for detecting the value of the current flowing through the capacitor 19 on the negative electrode terminal (N terminal) side of the capacitor, and includes a resistor for current detection. That is, the capacitor current detection unit 116 detects the current value I2 flowing through the negative terminal of the capacitor 19.
- the buck-boost converter 100 when boosting the DC bus 110, a PWM voltage is applied to the gate terminal of the boosting IGBT 102A, and the boosting IGBT 102A is turned on / off via the diode 102b connected in parallel to the step-down IGBT 102B.
- the induced electromotive force generated in the reactor 101 when the power is turned off is supplied to the DC bus 110. Thereby, the DC bus 110 is boosted.
- a relay 130-1 is provided as a circuit breaker capable of interrupting the power line 114 in the power line 114 that connects the positive terminal of the capacitor 19 to the power connection terminal 104 of the buck-boost converter 100.
- Relay 130-1 is arranged between connection point 115 of capacitor voltage detection unit 112 to power supply line 114 and the positive terminal of capacitor 19. The relay 130-1 is operated by a signal from the controller 30, and the capacitor 19 can be disconnected from the buck-boost converter 100 by cutting off the power supply line 114 from the capacitor 19.
- a relay 130-2 is provided as a circuit breaker capable of interrupting the power line 117 in the power line 117 that connects the negative terminal of the capacitor 19 to the power connection terminal 104 of the buck-boost converter 100.
- the relay 130-2 is disposed between the connection point 118 of the capacitor voltage detection unit 112 to the power supply line 117 and the negative terminal of the capacitor 19.
- the relay 130-2 is activated by a signal from the controller 30, and the capacitor 19 can be disconnected from the step-up / down converter 100 by cutting off the power supply line 117 from the capacitor 19.
- the relay 130-1 and the relay 130-2 may be used as a single relay, and the power supply line 114 on the positive terminal side and the power supply line 117 on the negative terminal side may be simultaneously cut off to disconnect the capacitor 19.
- a drive unit that generates a PWM signal for driving the boosting IGBT 102A and the step-down IGBT 102B exists between the controller 30 and the step-up IGBT 102A and the step-down IGBT 102B, but is omitted in FIG.
- Such a driving unit can be realized by either an electronic circuit or an arithmetic processing unit.
- the controller 30 is provided with an abnormality detection unit that determines an abnormality caused by a failure of the power storage device, deterioration of the power storage device, or the like. By performing appropriate processing in response to the abnormality detected by the abnormality detection unit, safe and stable operation of the excavator can be realized.
- FIG. 5 is a functional block diagram of the abnormality detection unit 200 according to the present embodiment.
- the abnormality detection unit 200 includes an SOC measurement unit 210, a current integration unit 220, a storage state estimation unit 230, and an abnormality determination unit 240.
- the abnormality detection unit 200 is realized by a control circuit configured by a microcomputer or the like. In the example illustrated in FIG. 5, the abnormality detection unit 200 is illustrated separately from the controller 30 of the excavator, but may be included in the controller 30.
- the target value Vdcr of the DC bus voltage is supplied to the controller 30.
- the controller 30 determines the target value Vdcr of the DC bus voltage, the voltage value output from the step-up / down converter 100 (that is, the DC bus voltage Vdc detected by the voltage detector 113), and the target value Ir of the charging current supplied to the capacitor 19. Is obtained and supplied to the buck-boost converter 100.
- the buck-boost converter 100 supplies a charging current I2 to the capacitor 19 based on a target value Ir of charging current supplied to the capacitor 19. As described above, the capacitor 19 is charged, and the charging rate SOC is maintained within a certain range between the system control upper limit value and the system control lower limit value.
- the abnormality detection unit 200 estimates the storage state of the capacitor based on the amount of change ⁇ SOC of the charge rate SOC of the capacitor 19 within a certain time interval, determines an estimated value, and determines whether there is an abnormality.
- the SOC measuring unit 210 of the abnormality detecting unit 200 measures the charging rate SOC of the capacitor 19 based on the capacitor voltage value Vcap detected by the capacitor voltage detecting unit 112 and the current value I1 detected by the capacitor current detecting unit 116.
- the SOC measurement unit 210 outputs the measured charging rate SOC to the abnormality determination unit 240.
- Current integration unit 220 integrates current value I 1 detected by capacitor current detection unit 116, and outputs the integration value to storage state estimation unit 230. This integrated value is also supplied to the abnormality determination unit 240.
- the storage state estimation unit 230 determines the charge rate SOC. Is calculated.
- the change amount ⁇ SOC of the charge rate SOC is not an actual change amount of the charge rate SOC of the capacitor 19 but an estimated value estimated from the voltage Vcap, the current I1, and the current integral value.
- the storage state estimation unit 230 outputs the obtained change amount ⁇ SOC of the charge rate SOC to the abnormality determination unit 240.
- Abnormality determination unit 240 determines the abnormality of power storage system (power storage device) 120 including capacitor 19 from charge rate SOC supplied from SOC measurement unit 210 and charge rate change amount ⁇ SOC supplied from power storage state estimation unit 230. Judgment is made. When abnormality determination unit 240 determines that power storage system (power storage device) 120 including capacitor 19 has an abnormality, it performs processing to deal with the abnormality.
- FIG. 6 is a flowchart of the abnormality determination process of the power storage device.
- FIG. 7 is a graph showing changes over time in the current value I1 and the charge rate SOC of the capacitor 19 during the abnormality determination process.
- step S1 the current value I1 within the first constant time interval T1 is measured by the capacitor current detection unit 113.
- the first constant time interval T1 here is a short time from the time t0 to the time t1, and is 0.5 seconds, for example.
- the SOC measurement unit 210 measures the charge rate SOC0 of the capacitor 19 at time t0 and the charge rate SOC1 of the capacitor 19 at time t1.
- step S2 the current integration unit 220 calculates an integral value obtained by integrating the current value I1 from time t0 to time t1 (that is, the first constant time interval T1), and the absolute value of the integral value is calculated. It is determined whether or not the value is greater than a predetermined value A. By integrating the current value I1, the amount of current flowing from time t0 to time t1 is obtained. By comparing the integral value of the current value I1 with a predetermined value A, it is determined whether or not a current has flowed through the capacitor 19. Since the current value I1 is set to a short time between the time t0 and the time t1 (first constant time interval T1), there is a possibility that noise may enter the measured value of the current value I1.
- the predetermined value A is set in advance to remove the influence of noise.
- the predetermined value A is set to an amount of current that can determine whether or not the current has surely flowed during the short span time. That is, when the integral value of the current value I1 is equal to or less than the predetermined value A, it is not determined that the current has flown through the capacitor 19 because the current value I1 may be measured due to noise. On the other hand, when the integral value of the current value I1 is larger than the predetermined value A, it is determined that the measured value of the current value I1 is larger than the noise and that the current actually flows.
- step S2 it is determined whether or not a current has flowed through the capacitor, whether charging or discharging.
- step S2 If it is determined in step S2 that the absolute value of the value obtained by integrating the current value I1 from time t0 to time t1 is not greater than the predetermined value A (below the predetermined value A), that is, the capacitor 19 If it is determined that the current does not flow, the process returns to step S1, and the current value I1 and the charge rates SOC0 and SOC1 are measured again. On the other hand, if it is determined in step S2 that the absolute value of the integral value of the current value I1 is greater than the predetermined value A, that is, the current has flown through the capacitor 19, the process proceeds to step S3.
- abnormality determination unit 240 determines whether or not the absolute value of the value obtained by subtracting charging rate SOC0 at time t0 from charging rate SOC1 at time t1 is smaller than predetermined value B. That is, it is determined whether or not the amount of change in the charging rate that has changed from time t0 to time t1 (first constant time interval T1) is smaller than the predetermined value B.
- the predetermined value B is an amount that increases the charging rate when the capacitor 19 is charged when a current corresponding to the predetermined value A flows through the capacitor 19 or an amount that decreases the charging rate when the capacitor 19 is discharged. Equivalent to.
- the predetermined value B is set in advance to a value that can remove the influence of noise.
- the abnormality determination unit 240 determines that an abnormality has occurred in the power storage device or the capacitor 19.
- the absolute value of the value obtained by subtracting the charging rate SOC0 at time t0 from the charging rate SOC1 at time t1 is larger than the predetermined value B, that is, the charging rate equal to or greater than the noise equivalent amount with respect to the amount of current flowing through the capacitor.
- the abnormality determination unit 240 determines that no abnormality has occurred in the power storage device or the capacitor 19.
- the predetermined value B used as the determination value is zero, even if an abnormality occurs, the abnormality cannot be detected if the detected value does not become zero due to noise. For this reason, the predetermined value B is set in advance to a value that can remove the influence of noise.
- step S3 when it is determined that the absolute value of the value obtained by subtracting the charging rate SOC0 at time t0 from the charging rate SOC1 at time t1 is smaller than the predetermined value B, that is, for the amount of current flowing through the capacitor, If it is a very small change in the charging rate, it is determined that an abnormality has occurred, and the process proceeds to step S4.
- step S4 in order to determine the type of abnormality, the abnormality determination unit 240 determines whether the current value I1 flowing on the positive terminal side of the capacitor 19 and the current value I2 flowing on the negative terminal side of the capacitor 19 are equal to each other. Determine whether or not.
- step S4 When the current value I1 and the current value I2 are equal, no current leaks to the outside through the capacitor 19, and it can be determined that the capacitor 19 itself is normal. If the capacitor 19 is normal, it can be determined that there is an abnormality in the components and wiring in the power storage device. Therefore, if it is determined in step S4 that current value I1 and current value I2 are equal to each other, the process proceeds to step S5, and abnormality determination unit 240 determines that there is an abnormality in a component or wiring in the power storage device. Based on this, the operation of the power storage device is stopped and the normal capacitor 19 is disconnected from the circuit of the power storage device. The capacitor 19 is disconnected by turning off the power supply lines 114 and 117 by turning off the relays 130-1 and 130-2.
- step S4 determines whether the current value I1 and the current value I2 are not equal to each other. If it is determined in step S4 that the current value I1 and the current value I2 are not equal to each other, the process proceeds to step S6, and the abnormality determination unit 240 causes a serious abnormality such as a ground fault to occur in the capacitor 19. Based on the determination that the power storage device is present, the operation of the power storage device is stopped and the capacitor 19 in which an abnormality has occurred is disconnected from the circuit of the power storage device. The capacitor 19 is disconnected by turning off the power supply lines 114 and 117 by turning off the relays 130-1 and 130-2.
- step S3 If it is determined in step S3 that the absolute value of the value obtained by subtracting the charging rate SOC0 at time t0 from the charging rate SOC1 at time t1 is greater than the predetermined value B, that is, the noise equivalent amount with respect to the amount of current flowing through the capacitor. If it is the above change in the charging rate, the process proceeds to step S7.
- step S ⁇ b> 7 the current value I ⁇ b> 1 within the second constant time interval T ⁇ b> 2 is measured by the capacitor current detection unit 113.
- the second constant time interval T2 here is longer than the first constant time interval T1, and is a time interval from time t0 to time t2, for example, 1 minute.
- SOC measuring unit 210 measures the charging rate SOC2 of capacitor 19 at time t2.
- step S8 the current integration unit 220 integrates the current value I1 from time t0 to time t2 (that is, the second constant time interval T2) to obtain an integral value. Then, the current integrator 220 determines whether or not the absolute value of the integrated value is greater than the predetermined value D.
- the current integrating unit 220 obtains the amount of current that has flowed in a relatively long time from time t0 to time t2 by integrating the current value I1 during the second time interval T2, and this current amount is predetermined. It is determined whether or not the value is greater than D.
- the process in step S8 is a process for determining whether or not a current has flowed that causes the charging rate SOC of the capacitor 19 to change more than a predetermined amount. Therefore, the predetermined value D corresponds to the amount of current necessary for obtaining a predetermined charge amount in steps S10 to S14.
- step S8 when the absolute value of the integral value of the current value I1 is equal to or less than the predetermined value D, the process returns to step S7, and the processes of step S7 and step S8 are repeated. On the other hand, if the absolute value of the integral value of the current value I1 is greater than the predetermined value D, the process proceeds to step S9.
- the reason for taking the absolute value of the integral value of the current value I1 is that if the current value I1 when discharging from the capacitor 19 is a positive value, the current value I1 when charging the capacitor 19 is negative. This is because it becomes a value.
- step S8 the charging current (positive value) and the discharging current (negative value) are summed, and when the charging current is larger, the integral value becomes a negative value.
- the magnitude is determined by comparison with a predetermined value D, which is a positive value.
- step S9 the power storage state estimation unit 230 calculates a change rate ⁇ SOC of the charging rate of the capacitor 19 from time t0 to time t2. That is, the difference between the charging rate SOC2 at time t2 and the charging rate SOC0 at time t1 is ⁇ SOC.
- the change rate ⁇ SOC of the charging rate can be calculated by the following equation.
- abnormality determination determination section 240 determines whether the value obtained by dividing the absolute value of SOC2-SOC0 by the absolute value of ⁇ SOC (
- the first threshold value F is set to 0.9 (90% with respect to ⁇ SOC), for example.
- the first threshold value F is a value set in consideration of an allowable variation empirically.
- abnormality determination unit 240 determines the electrical circuit of the power storage device. Therefore, it is determined that an abnormality may occur in the capacitor 19 if the power storage device is operated as it is. Therefore, the process proceeds to step S11, and abnormality detection unit 200 stops the operation of the power storage device and disconnects capacitor 19 from the electrical circuit of the power storage device. At the same time, the abnormality detection unit 200 may notify the operator of the excavator that a major failure has occurred in the power storage device by sounding an alarm sound or displaying it on the display panel of the cab.
- step S10 if it is determined in step S10 that the value obtained by dividing the absolute value of SOC2-SOC0 by the absolute value of ⁇ SOC (
- abnormality determination unit 240 determines whether or not the value obtained by dividing the absolute value of SOC2-SOC0 by the absolute value of ⁇ SOC (
- the second threshold value E is a value that is a criterion for determining the degree of deterioration of the capacitor 19, and is set to, for example, 1.25 (125% with respect to ⁇ SOC).
- the second threshold value E can be obtained empirically. If the value obtained by dividing the absolute value of SOC2-SOC0 by the absolute value of ⁇ SOC (
- step S12 if it is determined in step S12 that the value obtained by dividing the absolute value of SOC2-SOC0 by the absolute value of ⁇ SOC (
- the abnormality determination unit 240 determines whether or not a value (R / R0) obtained by dividing the current value R of the internal resistance of the capacitor 19 by the initial value R0 is smaller than the third threshold value G. Since the internal resistance of the capacitor 19 increases as the deterioration progresses, the third threshold G is also a value that serves as a criterion for determining the degree of deterioration of the capacitor 19, and is set to 1.50 (150%), for example.
- step S13 If it is determined in step S13 that the value (R / R0) obtained by dividing the current value R of the internal resistance of the capacitor 19 by the initial value R0 is smaller than the third threshold value G, the abnormality determination unit 240 determines that the characteristic of the capacitor 19 is Judged as worsening (minor failure). Therefore, the process proceeds to step S14, and the operation of the power storage device is continued while limiting the discharge current from the capacitor 19 and the charging current to the capacitor 19 so that the capacitor 19 is not heavily loaded. At the same time, the abnormality detection unit 200 may notify the operator of the excavator that a minor failure has occurred in the capacitor 19 by sounding an alarm sound or displaying it on the display panel of the cab.
- the deterioration of the characteristics of the capacitor 19 includes, for example, a short circuit of a part of the cell of the capacitor 19 or a failure of the equalization circuit.
- the process proceeds to step S15, and the operation of the power storage device is continued while limiting the discharge current from the capacitor 19 and the charging current to the capacitor 19 so that the capacitor 19 is not heavily loaded.
- the value of the internal resistance measured at the time of excavator key-on may be used as the current value R, or the value of the internal resistance measured during the idling operation of the engine may be used as the current value R. Good.
- the latest value measured during the abnormality determination process described above can be used as the current value B.
- the internal resistance can be measured by a measuring method generally known in the art.
- step S12 if it is determined in step S12 that the value obtained by dividing the absolute value of SOC2-SOC0 by the absolute value of ⁇ SOC (
- the charging rate determined based on the amount of current flowing through the capacitor substantially matches, and the abnormality determination unit 240 can determine that the power storage device including the capacitor 19 is operating normally. . Therefore, the process proceeds to step S16, and the power storage device is continuously operated as it is.
- FIG. 8 shows a summary of the judgments in the above processing.
- the horizontal axis indicates the change rate ⁇ SOC of the charging rate based on the measured value.
- step S1 to S6 determination (short span detection) at the first fixed time interval T1 (for example, 0.5 seconds)
- charging or discharging current flows and charging or discharging is performed. Nevertheless, if the change amount ⁇ SOC of the charging rate obtained by the measurement is smaller than the predetermined value B, it is determined that the sensor is broken or broken, or a major failure such as a ground fault.
- step S7 to S16 determination (long span detection) in the second T2 (for example, 1 minute) is performed.
- the long span detection the current flowing through the capacitor 19 is changed.
- the change rate ⁇ SOC theoretical value of the charging rate obtained by calculation based on this
- the change rate ⁇ SOC of the charge rate obtained based on the actual measurement value the failure of the storage circuit or the deterioration of the capacitor 19 can be detected.
- the change amount ⁇ SOC of the charging rate obtained based on the actual measurement value exceeds 125% of the change amount ⁇ SOC (theoretical value) of the charging rate obtained based on the current, and it is determined that the capacitor 19 is deteriorated.
- the latest value R of the internal resistance of the capacitor 19 is less than 150% of the initial value R0 (when the third threshold G is 1.50)
- a minor failure of the capacitor 19 (cell It is determined that the deterioration is caused by short circuit or equalization circuit failure.
- the charge rate SOC is used as an index for determining failure or deterioration.
- the charging rate SOC is a value proportional to the square of the capacitor voltage, and the voltage of the capacitor 19 and the amount of change of the voltage may be used instead of the charging rate SOC and the amount of change ⁇ SOC of the charging rate.
- FIG. 10 is a block diagram showing the configuration of a drive system when the turning mechanism of the hybrid excavator shown in FIG. 2 is a hydraulic drive type.
- a turning hydraulic motor 2A is connected to the control valve 17, and the turning mechanism 2 is driven by the turning hydraulic motor 2A. Even with such a hybrid excavator, it is possible to determine the abnormality of the power storage device including the capacitor 19 as described above.
- the present invention is applied to a so-called parallel type hybrid excavator that drives the main pump by connecting the engine 11 and the motor generator 12 to the main pump 14 that is a hydraulic pump.
- the motor 11 is driven by the engine 11
- the electric power generated by the motor generator 12 is accumulated in the power storage system 120
- the pump motor 400 is driven only by the accumulated electric power.
- the present invention can also be applied to a so-called series type hybrid excavator that drives the main pump 14.
- the motor generator 12 has a function as a generator that performs only a power generation operation by being driven by the engine 11 in this embodiment.
- hydraulic regeneration is performed using the return hydraulic pressure from the boom cylinder 7. That is, the boom regenerative hydraulic motor 310 is provided in the hydraulic piping 7A for return hydraulic pressure from the boom cylinder 7, and the generator 300 is driven by the boom regenerative hydraulic motor to generate regenerative power.
- the electric power generated by the generator 300 is supplied to the power storage system 120 via the inverter 18C.
- the present invention is not limited to the hybrid excavator but can be applied to an electric excavator as shown in FIG.
- the engine 11 is not provided, and the main pump 14 is driven only by the pump motor 400. All power to the pump motor is covered by power from the power storage system 120.
- An external power source 500 can be connected to the power storage system 120 via a converter 120A. Electric power is supplied from the external power source 500 to the power storage system 120 to charge the power storage device, and power is supplied from the power storage device to the pump motor 400. Is done.
- the present invention is applicable to an excavator that drives an electric working element with electric power from a capacitor.
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Abstract
Description
続いて、ステップS10において、異常判断定部240は、SOC2-SOC0の絶対値をΔSOCの絶対値で除算した値(|SOC2-SOC0|/|ΔSOC|)が、第1の閾値Fより小さいか否かを判定する。ここで、第1の閾値Fは例えば0.9(ΔSOCに対して90%)に設定される。ここで、第1の閾値Fは、許容できるバラツキを経験的に考慮して設定した値である。充電率の変化量が閾値Fより小さい場合には、計測で求めた充電量の変化量|SOC2-SOC0|が、演算で求めた充電量の変化量|ΔSOC|より小さくなっていることであり、このような状況は通常の状態ではあり得ないことである。したがって、SOC2-SOC0の絶対値をΔSOCの絶対値で除算した値(|SOC2-SOC0|/|ΔSOC|)が第1の閾値Fより小さい場合は、異常判断部240は、蓄電装置の電気回路に何かしらの故障(重大な故障)が生じており、蓄電装置をそのまま作動させておくとキャパシタ19に異常が発生するおそれがあると判断する。そこで、処理はステップS11に進み、異常検出部200は、蓄電装置の作動を停止し且つキャパシタ19を蓄電装置の電気回路から切り離す。これと同時に、異常検出部200は、蓄電装置に重故障が発生したことを、警報音を鳴らしたり運転室の表示パネルに表示することで、ショベルの操作者に通知することとしてもよい。
1A、1B 油圧モータ
2 旋回機構
2A 旋回油圧モータ
3 上部旋回体
4 ブーム
5 アーム
6 バケット
7 ブームシリンダ
7A 油圧配管
8 アームシリンダ
9 バケットシリンダ
10 キャビン
11 エンジン
12 電動発電機
13 変速機
14 メインポンプ
15 パイロットポンプ
16 高圧油圧ライン
17 コントロールバルブ
18A,18C,20 インバータ
19 キャパシタ
21 旋回用電動機
22 レゾルバ
23 メカニカルブレーキ
24 旋回変速機
25 パイロットライン
26 操作装置
26A、26B レバー
26C ペダル
26D ボタンスイッチ
27 油圧ライン
28 油圧ライン
29 圧力センサ
30 コントローラ
100 昇降圧コンバータ
110 DCバス
111 DCバス電圧検出部
112 キャパシタ電圧検出部
113,116 キャパシタ電流検出部
114,117 電源ライン
115,118 接続点
120 蓄電系
120A コンバータ
130-1,130-2 リレー
300 発電機
310 油圧モータ
400 ポンプ用電動機
500 外部電源
Claims (10)
- アタッチメントが連結されるアームと、
該アームが連結されたブームと、
該ブームが連結された上部旋回体と、
該上部旋回体に配置されたエンジンと、
発電機で発電した電力を蓄積する蓄電器と該蓄電器の充放電を制御する電気回路とを含む蓄電装置と、
該蓄電器と前記発電機との間に配置され、前記蓄電器の電圧を計測する電圧検出部と、
前記蓄電器に流れる電流を計測する電流検出部と、
前記蓄電装置の異常を検出する異常検出部と
を有し、
該異常検出部は、
前記電圧検出部と前記電流検出部とにより得られる検出値に基づいて、前記蓄電器の蓄電状態を推定して推定値を求める蓄電状態推定部と、
前記蓄電状態推定部で求められた前記推定値に基づいて異常判断を行う異常判断部と
を含むことを特徴とするショベル。 - 請求項1記載のショベルであって、
前記異常判断部は、前記蓄電器の充電状態の変化量と前記推定値とを比較して前記異常判断を行うことを特徴とするショベル。 - 請求項1又は2記載のショベルであって、
前記蓄電器の充放電を制御するスイッチング素子と、
該スイッチング素子と前記蓄電器との間の電源ラインを遮断する遮断器と
をさらに有し、
前記異常検出部は、前記異常判断部の異常判断結果に基づいて、前記スイッチング素子と前記遮断器とを制御することを特徴とするショベル。 - 請求項3記載のショベルであって、
前記異常判断部は、前記蓄電器の充電状態の変化量が第1の閾値より小さいときは、前記スイッチング素子の作動を停止し、且つ前記遮断器により前記電源ラインを遮断することを特徴とするショベル。 - 請求項4記載のショベルであって、
前記異常判断部は、前記蓄電器の充電状態の変化量が第2の閾値より大きいときは、前記蓄電器に流れる電流を制限するように前記スイッチング素子の作動を制御することを特徴とするショベル。 - 請求項4記載のショベルであって、
前記異常判断部は、前記蓄電器の充電状態の変化量が前記第1の閾値以上であり且つ第2の閾値以下であるときは、前記遮断器により前記電源ラインを遮断せずに前記スイッチング素子の作動を継続させることを特徴とするショベル。 - 請求項4記載のショベルであって、
前記異常検出部は、前記蓄電器の内部抵抗の初期値に対する現在値の比率が、第3の閾値より小さいときは、故障が発生していることを操作者に通知することを特徴とするショベル - 請求項1乃至7のうちいずれか一項記載のショベルであって、
前記異常判断部は、前記電流検出部が計測した電流値と前記蓄電器の充電状態の変化量とに基づいて異常判断を行うことを特徴とするショベル。 - 請求項1乃至8のうちいずれか一項記載のショベルであって、
前記異常検出部は、前記電流検出部が計測した電流の積分値に基づいて、前記異常判断部による異常判断の実施可否を判断することを特徴とするショベル。 - 請求項3乃至9のうちいずれか一項記載のショベルであって、
前記異常判断部は、前記蓄電器の充電状態の変化量が第4の閾値より小さいときに、前記スイッチング素子の制御を停止し且つ前記遮断器を駆動して前記電源ラインを遮断することを特徴とするショベル。
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CN201280005235.9A CN103548232B (zh) | 2011-01-28 | 2012-01-26 | 挖土机 |
JP2012554847A JP5661810B2 (ja) | 2011-01-28 | 2012-01-26 | ショベル、ショベルの制御方法 |
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JP7041029B2 (ja) | 2018-09-18 | 2022-03-23 | 日立建機株式会社 | 異常予兆通知システム |
Also Published As
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US9212468B2 (en) | 2015-12-15 |
EP2670020A1 (en) | 2013-12-04 |
JP5661810B2 (ja) | 2015-01-28 |
CN103548232B (zh) | 2016-03-16 |
EP2670020B1 (en) | 2019-09-18 |
US20130282241A1 (en) | 2013-10-24 |
CN103548232A (zh) | 2014-01-29 |
JPWO2012102352A1 (ja) | 2014-06-30 |
KR101892594B1 (ko) | 2018-08-28 |
KR20140040076A (ko) | 2014-04-02 |
EP2670020A4 (en) | 2018-01-03 |
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