WO2012105279A1 - ハイブリッド式建設機械 - Google Patents
ハイブリッド式建設機械 Download PDFInfo
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- WO2012105279A1 WO2012105279A1 PCT/JP2012/050128 JP2012050128W WO2012105279A1 WO 2012105279 A1 WO2012105279 A1 WO 2012105279A1 JP 2012050128 W JP2012050128 W JP 2012050128W WO 2012105279 A1 WO2012105279 A1 WO 2012105279A1
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- hydraulic
- turning
- torque
- motor
- construction machine
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- 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
-
- 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
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
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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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/93—Conjoint control of different elements
Definitions
- the present invention relates to a hybrid construction machine, and more particularly to a hybrid construction machine having a rotating body such as a hydraulic excavator.
- a fuel such as gasoline or light oil is used as a power source, and a hydraulic pump is driven by an engine to generate hydraulic pressure to drive a hydraulic actuator such as a hydraulic motor or a hydraulic cylinder.
- Hydraulic actuators are small and light and capable of high output, and are widely used as construction machine actuators.
- Electric motors are more energy efficient than hydraulic actuators and have excellent energy characteristics such as the ability to regenerate kinetic energy during braking as electric energy (in the case of hydraulic actuators, release it as heat).
- Patent Document 1 an embodiment of a hydraulic excavator in which an electric motor is mounted as a drive actuator for a revolving structure is shown.
- An actuator that swings and drives an upper swing body of a hydraulic excavator with respect to a lower traveling body (usually using a hydraulic motor) is frequently used, and frequently starts and stops and accelerates and decelerates during work.
- Patent Document 2 discloses an energy regeneration device for a hydraulic construction machine in which an electric motor is directly connected to a rotating body driving hydraulic motor, and a controller commands an output torque to the electric motor according to an operation amount of an operation lever. At the time of deceleration (braking), the electric motor regenerates the kinetic energy of the revolving structure and stores it in the battery as electric energy.
- Patent Document 3 a hybrid construction machine that calculates a torque command value to an electric motor by using a differential pressure between an in-side and an out-side of a swing driving hydraulic motor and distributes output torque between the hydraulic motor and the electric motor. Is disclosed.
- Patent Documents 2 and 3 can be operated without an uncomfortable feeling even for an operator accustomed to a conventional hydraulic actuator-driven construction machine by using both an electric motor and a hydraulic motor as a turning drive actuator. Energy saving is achieved with a simple and practical configuration.
- the electric motor has characteristics different from those of the hydraulic motor, the following problems may occur when the electric motor is used to drive the revolving structure of the construction machine.
- the hybrid hydraulic excavators described in Patent Documents 2 and 3 are equipped with both a hydraulic motor and an electric motor, and solve the above problems by driving the swivel body with a total torque, and are accustomed to conventional hydraulic actuator-driven construction machines.
- the operator can operate the system without a sense of incongruity, and energy saving is achieved with a simple and practical configuration.
- the present invention has been made based on the above-mentioned matters, and the purpose thereof is a hybrid construction machine that uses a hydraulic motor and an electric motor for driving the swing body, and in the combined operation of the swing body and other actuators, It is an object of the present invention to provide a hybrid construction machine that can ensure the operability of the combined operation regardless of the operating state of the electric motor.
- a first invention provides a prime mover, a hydraulic pump driven by the prime mover, a turning body, an electric motor for driving the turning body, and the hydraulic pump driven by the hydraulic pump.
- a hydraulic motor for driving the swing body an electricity storage device connected to the electric motor, a swing operation lever device for commanding the drive of the swing body, and a driven body other than the swing body driven by the hydraulic pump
- a hydraulic / electric combined swing control that drives the swing body with the total torque of the electric motor and the hydraulic motor is operated, and the operation lever device for the swing is operated
- a hybrid construction machine comprising: a control device that controls only one of the hydraulic single-turn control that drives only the hydraulic motor and drives the swivel body with the torque of only the hydraulic motor; The control device is a position of the second hydraulic actuator with respect to a turning angle or a
- the driving torque of the electric motor, the driving torque of the hydraulic motor, and the second hydraulic actuator are set so that the relationship between positions or speeds is substantially equal. And it controls the driving force of the motor.
- control device is configured such that when the swing operation lever device and the second operation lever device are simultaneously operated in the hydraulic / electric combined swing control state, The drive torque of the electric motor is controlled so that the ratio of the drive torque of the electric motor to the drive torque of the hydraulic motor decreases as the operation amount of the operation lever device increases.
- the control device increases the drive torque of the electric motor when the turning operation lever device is operated in the hydraulic / electric combined turning control state,
- the drive torque of the hydraulic motor is controlled so as to decrease the drive torque of the hydraulic motor corresponding to the increase.
- control device in the first aspect of the invention, is configured such that when the turning operation lever device and the second operation lever device are simultaneously operated in the hydraulic single turning control state, The driving force of the second hydraulic actuator is controlled so as to reduce the driving force of the actuator.
- a fifth aspect of the invention is that, in any one of the first to fourth aspects of the invention, the second hydraulic actuator is a boom actuator, and the second operation lever device is a boom raising operation lever device.
- a sixth invention is characterized in that, in the third invention, the control device reduces the drive torque of the hydraulic motor by reducing the output of the hydraulic pump.
- a seventh invention is characterized in that, in the fourth invention, the control device reduces the driving force of the second hydraulic actuator by reducing the output of the hydraulic pump.
- the operability of the combined operation can be ensured during the combined operation of the revolving body and the other actuators regardless of the operating state of the electric motor.
- FIG. 1 is a side view showing a first embodiment of a hybrid construction machine of the present invention.
- 1 is a system configuration diagram of an electric / hydraulic device that constitutes a first embodiment of a hybrid construction machine of the present invention.
- FIG. 1 is a system configuration and control block diagram of a first embodiment of a hybrid construction machine of the present invention.
- the control gain characteristic figure of the controller which comprises 1st Embodiment of the hybrid type construction machine of this invention is shown, FIG. 4 (A) is the characteristic figure of the gain K1, FIG. 4 (B) is the characteristic figure of the gain K2, FIG. 4C is a characteristic diagram of the gain K3. It is a characteristic view which shows the torque control characteristic of the hydraulic pump in 1st Embodiment of the hybrid type construction machine of this invention.
- FIG. It is a characteristic view which shows an example of the relationship between the electric motor torque at the time of turning of the 1st Embodiment of the hybrid type construction machine of this invention, hydraulic motor torque, turning angular velocity, etc.
- FIG. It is a characteristic view which shows an example of the relationship between the electric motor torque at the time of turning boom raising operation in a hybrid type construction machine, hydraulic motor torque, turning angular velocity, etc.
- FIG. 1 is a side view showing a first embodiment of a hybrid construction machine of the present invention
- FIG. 2 is a system configuration diagram of electric / hydraulic equipment constituting the first embodiment of the hybrid construction machine of the present invention
- FIG. 3 is a system configuration and control block diagram of the first embodiment of the hybrid construction machine of the present invention.
- the electric hydraulic excavator includes a traveling body 10, a revolving body 20 that is turnably provided on the traveling body 10, and a shovel mechanism 30 that is installed on the revolving body 20.
- the traveling body 10 includes a pair of crawlers 11a and 11b and crawler frames 12a and 12b (only one side is shown in FIG. 1), a pair of traveling hydraulic motors 13 and 14 that independently drive and control the crawlers 11a and 11b, and It consists of a speed reduction mechanism.
- the swing body 20 includes a swing frame 21, an engine 22 as a prime mover provided on the swing frame 21, an assist power generation motor 23 driven by the engine, a swing electric motor 25, an assist power generation motor 23, and a swing.
- the capacitor 24 as an electric storage device connected to the electric motor 25 for rotation, the reduction mechanism 26 for reducing the rotation of the electric motor 25 for turning, and the like.
- the driving force of the electric motor 25 for rotation is transmitted via the reduction mechanism 26.
- the turning body 20 (the turning frame 21) is driven to turn with respect to the traveling body 10 by the driving force.
- an excavator mechanism (front device) 30 is mounted on the revolving unit 20.
- the shovel mechanism 30 includes a boom 31, a boom cylinder 32 for driving the boom 31, an arm 33 rotatably supported near the tip of the boom 31, and an arm cylinder 34 for driving the arm 33.
- the bucket 35 includes a bucket 35 rotatably supported at the tip of the arm 33, a bucket cylinder 36 for driving the bucket 35, and the like.
- the hydraulic system 40 includes a hydraulic pump 41 (see FIG. 2) serving as a hydraulic source that generates hydraulic pressure, and a control valve 42 (see FIG. 2) for driving and controlling each actuator.
- the hydraulic pump 41 is driven by the engine 22.
- the control valve 42 operates the turning spool 61 (see FIG. 3) in response to a turning operation command (hydraulic pilot signal) from the turning operation lever device 72 (see FIG. 3).
- the flow rate and direction of the pressure oil supplied to the turning hydraulic motor 27 are controlled.
- the control valve 42 operates various spools in response to an operation command (hydraulic pilot signal) from an operation lever device other than for turning, and the boom cylinder 32, the arm cylinder 34, the bucket cylinder 36, and the traveling hydraulic motor.
- the flow rate and direction of the pressure oil supplied to 13 and 14 are controlled.
- the electric system includes the assist power generation motor 23, the capacitor 24, the electric motor 25 for turning, the power control unit 55, the main contactor 56, and the like described above.
- the power control unit 55 includes a chopper 51, inverters 52 and 53, a smoothing capacitor 54, and the like, and the main contactor 56 includes a main relay 57, an inrush current prevention circuit 58, and the like.
- the DC power from the capacitor 24 is boosted to a predetermined bus voltage by the chopper 51 and input to the inverter 52 for driving the electric motor 25 for turning and the inverter 53 for driving the assist power generation motor 23.
- the smoothing capacitor 54 is provided to stabilize the bus voltage.
- the rotating shafts of the turning electric motor 25 and the turning hydraulic motor 27 are coupled to drive the turning body 20 via the speed reduction mechanism 26.
- the capacitor 24 is charged and discharged depending on the driving state (whether it is powering or regenerating) of the assist power generation motor 23 and the turning electric motor 25.
- the controller 80 generates control commands for the control valve 42 and the power control unit 55 using various operation command signals, the pressure signal of the turning hydraulic motor 27, the angular velocity signal of the turning electric motor 25, and the like, and the turning electric motor. 25 torque control, discharge flow rate control of the hydraulic pump 41, etc. are performed.
- Fig. 3 shows the system configuration and control block diagram of the hydraulic excavator.
- the system configuration of the electric / hydraulic device shown in FIG. 3 is basically the same as that shown in FIG. 2, but shows in detail the devices, control means, control signals, and the like necessary for performing the turning control according to the present invention.
- the hybrid hydraulic excavator shown in FIG. 3 includes the above-described controller 80, hydraulic / electrical converters 74a, 74bL, 74bR, 74c and an electric / hydraulic converter 75a related to the input / output of the controller 80, and these are swing control. Configure the system.
- Each of the hydraulic / electrical converters 74a, 74bL, 74bR, 74c is, for example, a pressure sensor, and the electric / hydraulic converter 75a is, for example, an electromagnetic proportional pressure reducing valve.
- the controller 80 includes a target power running power calculation block 83a, a target power running torque calculation block 83b, a limit gain calculation block 83c, a limit torque calculation block 83d, a torque command value calculation block 83e, a hydraulic pump power reduction control block 83f, and the like.
- the hydraulic pilot signal generated by the input of the turning operation lever device 72 is converted into an electric signal by the hydraulic / electric conversion device 74a and input to the limit gain calculation block 83c.
- the hydraulic pilot signal generated by the input of the boom operation lever device 78 which is an operation lever device other than the turning operation is converted into an electric signal by the hydraulic / electric conversion device 74c and input to the limit gain calculation block 83c.
- the operating pressure of the turning hydraulic motor 27 is converted into an electric signal by the hydraulic / electric converters 74bL and 74bR, and is input to the limit torque calculation block 83d.
- the angular velocity signal ⁇ of the electric motor 25 for turning that is output from the inverter for driving the electric motor in the power control unit 55 is input to the target power running torque calculation block 83b and the limit gain calculation block 83c.
- a capacitor voltage Vc indicating the amount of electricity stored in the capacitor 24 is input to the target powering power calculation block 83a via the power control unit 55.
- the torque command value calculation block 83e calculates a command torque of the turning electric motor 25 by performing a calculation described later, and outputs a torque command EA to the power control unit 55.
- a reduction torque command EB for reducing the output torque of the hydraulic pump 41 by the amount of torque output by the turning electric motor 25 is output from the hydraulic pump power reduction control block 83f to the electric / hydraulic converter 75a.
- the hydraulic pilot signal of the electric / hydraulic converter 75 a is input to a regulator 64 that controls the discharge flow rate of the hydraulic pump 41.
- the hydraulic pilot signal generated by the input of the turning operation lever device 72 is also inputted to the control valve 42, and the spool 61 for the turning hydraulic motor 27 is switched from the neutral position to turn the discharge oil of the hydraulic pump 41 for turning.
- the hydraulic motor 27 is supplied, and the turning hydraulic motor 27 is also driven simultaneously.
- the hydraulic pilot signal generated by the input of the boom operation lever device 78 is also input to the control valve 42, and the boom spool 62 is switched to supply the discharge oil from the hydraulic pump 41 to the boom cylinder 32. Drive.
- the hydraulic pump 41 is a variable displacement pump, and by operating the regulator 64, the tilt angle of the hydraulic pump 41 changes, the capacity of the hydraulic pump 41 changes, and the discharge flow rate and torque of the hydraulic pump 41 change.
- the turning hydraulic motor 27 and the boom cylinder 32 are described based on an example in which the turning hydraulic motor 27 and the boom spool 62 are connected to the hydraulic pump 41 in parallel via the turning spool 61 and the boom spool 62, but the present invention is not limited to this. .
- the present invention can be applied even if another actuator is connected in parallel to the turning hydraulic motor 27 instead of the boom cylinder 32.
- FIG. 4 is a control gain characteristic diagram of the controller constituting the first embodiment of the hybrid construction machine of the present invention
- FIG. 4 (A) is a characteristic diagram of gain K1
- FIG. 4 (B) is a graph of gain K2.
- FIG. 4C is a characteristic diagram of the gain K3
- FIG. 5 is a characteristic diagram showing a torque control characteristic of the hydraulic pump in the first embodiment of the hybrid construction machine of the present invention. 4 and 5, the same reference numerals as those shown in FIGS. 1 to 3 are the same or corresponding parts, and the description of those parts is omitted.
- the target power running power calculation block 83 a receives the voltage value Vc of the capacitor 24 from the power control unit 55 as an input signal, and allows an operation threshold Vp that allows a preset operation of the electric motor 25 for turning. And output value P is output.
- the charged amount of the capacitor 24 is large (when the capacitor voltage Vc is higher than the operating threshold value Vp)
- a positive value is output as the output value P
- the charged amount is small (when the capacitor voltage Vc is lower than the operating threshold value Vp) )
- 0 is output as the output value P.
- the output value P may be changed according to the deviation between the operation threshold value Vp and the capacitor voltage Vc.
- the operation threshold Vp of the electric motor 25 for turning is a capacitor 24 that can balance charging and discharging of the capacitor 24 when powering and regenerating the predetermined operation pattern of the electric motor 25 for turning.
- the operation threshold Vp of the turning electric motor 25 is set to be higher than the operation guaranteed minimum voltage value of the capacitor 24 and lower than the operation guaranteed maximum voltage value of the capacitor 24. For example, when the operation guarantee minimum voltage value of the capacitor 24 is 100V, the operation threshold Vp is set to 120V or the like. In this case, if the operation threshold value Vp is set to 100V, the swing electric motor 25 can be driven if the capacitor voltage Vc is 100V or more, so that the capacitor voltage Vc is likely to fall below the minimum operation guaranteed voltage of the capacitor 24. End up. In order to prevent this, the operation of the turning electric motor 25 is allowed only at a voltage value equal to or higher than a voltage value at which charging and discharging of the capacitor 24 can be balanced.
- the target power running torque calculation block 83b receives the angular velocity signal ⁇ of the turning electric motor 25 and the output value P of the target power running power calculation block 83a from the power control unit 55 as input signals, and outputs the output value P as an angular velocity signal. By calculating with ⁇ , the target power running torque T is calculated and output. Note that the value of the target power running torque T is limited to a range of torque that can be generated by the electric motor 25 for turning.
- the limit gain calculation block 83c receives as input signals an angular velocity signal ⁇ of the electric motor 25 for turning from the power control unit 55, a turning operation command converted into an electric signal by the hydraulic / electric converter 74a, and a hydraulic / electric converter 74c.
- the boom raising operation command converted into an electrical signal is input, gain outputs K1 to K3 are calculated from these values, and the control gain K is calculated and output by multiplying by K1 to K3.
- An example of the characteristic table for determining these gains K1 to K3 is shown in FIGS. 4 (A), 4 (B), and 4 (C).
- FIG. 4A is a characteristic table for determining the gain K1, and the gain K1 is determined for a signal obtained by converting the angular velocity signal ⁇ of the turning electric motor 25 into an absolute value.
- the angular velocity ⁇ 1 is an angular velocity at which the gain K1 becomes 0 or more, and indicates the allowable starting angular velocity of the electric motor 25 for turning. Further, since the turning electric motor 25 and the turning hydraulic motor 27 are coupled by a rotating shaft, the angular velocity signal ⁇ of the turning electric motor 25 is equal to the angular velocity of the turning hydraulic motor 27.
- FIG. 4B is a characteristic table for determining the gain K2, and determines the gain K2 with respect to the turning operation command signal is.
- FIG. 4C is a characteristic table for determining the gain K3, and determines the gain K3 with respect to the boom raising operation command signal ib. As the boom raising operation command signal ib is larger, K3 becomes a smaller value as shown in FIG. Since the control gain K is a multiplication of the gains K1 to K3, the larger the boom raising operation command signal ib is, the smaller the limiting gain K is, and finally zero output. *
- the limit torque calculation block 83 d receives the operation pressure signal of the turning hydraulic motor 27 and the output value control gain K of the limit gain calculation block 83 c described above as input signals, and turns the hydraulic motor 27 for turning. By multiplying the torque of the turning hydraulic motor calculated from the operating pressure signal by the limit gain K, the limit torque KL is calculated and output.
- the torque command value calculation block 83e receives the target power running torque T calculated by the target power running torque calculation block 83b and the limit torque KL calculated by the limit torque calculation block 83d as input signals, and limits the target power running torque T. A calculation that is limited by the value of the torque KL is performed, and the torque command value EA is output to the power control unit 55 and the hydraulic pump power reduction control block 83f. The power control unit 55 causes the turning electric motor 25 to generate torque according to the torque command value EA.
- the hydraulic pump power reduction control block 83f inputs the torque command value EA calculated by the torque command value calculation block 83e as an input signal, and the amount of the increased torque of the electric motor 25 for turning is equivalent to that of the hydraulic motor 27 for turning.
- a power reduction command EB for reducing the discharge flow rate of the hydraulic pump 41 is output so that the torque decreases.
- a hydraulic pump power reduction command EB is output from the hydraulic pump power reduction control block 83f to the electric / hydraulic converter 75a, and the electric / hydraulic converter 75a outputs a control pressure corresponding to this electric signal to the regulator 64.
- the regulator 64 controls the tilt angle of the swash plate, so that the maximum power of the hydraulic pump 41 is reduced. As a result, the torque of the turning hydraulic pump 27 is reduced.
- the torque control characteristics of the hydraulic pump 41 are shown in FIG.
- the horizontal axis represents the discharge pressure Pp of the hydraulic pump 41
- the vertical axis represents the pump capacity Pv of the hydraulic pump 41.
- FIG. 6 is a characteristic diagram showing an example of the relationship among the electric motor torque, the hydraulic motor torque, the turning angular velocity, and the like during turning of the first embodiment of the hybrid construction machine of the present invention
- FIG. 8 is a characteristic diagram showing an example of the relationship between the electric motor torque, hydraulic motor torque, and the turning angular velocity during the turning boom raising operation
- FIG. 8 is an example of the relationship of the boom raising amount with respect to the turning angle obtained from the characteristic diagram shown in FIG.
- FIG. 9 is a characteristic diagram showing an example of the relationship among the electric motor torque, hydraulic motor torque, turning angular velocity, and the like during the turning boom raising operation of the first embodiment of the hybrid construction machine of the present invention. .
- FIG. 6 shows each characteristic when only turning operation is performed.
- the broken line in the figure indicates the operation when the voltage value Vc of the capacitor 24 is lower than the operation threshold value Vp
- the solid line indicates the operation when the voltage value Vc of the capacitor 24 is higher than the operation threshold value Vp.
- the gain K2 from the turning operation command is is larger than 0 as shown in FIG. 4B, and since the boom raising operation command ib is not inputted, the gain K3 is also from 0 as shown in FIG. 4C. large. Therefore, the control gain K obtained by multiplying the gains K1 to K3 is greater than zero.
- a positive output value P is output from the target power running power calculation block 83a in FIG. 3, and a signal T of 0 or more is output from the target power running torque calculation block 83b. Is done.
- a torque command value T of 0 or more and a limit value KL of 0 or more are input, so that the torque command value EA as an output becomes 0 or more and is sent to the power control unit 55. As a result, torque Te is generated in the turning electric motor 25.
- the hydraulic pump power reduction control block 83f in FIG. 3 discharges the hydraulic pump 41 so that the torque of the turning hydraulic motor 27 is reduced by the increased torque Te of the turning electric motor 25.
- a power reduction command EB for decreasing the flow rate is output. Therefore, in FIG. 6, the torque To of the turning hydraulic motor 27 is smaller by the amount of the torque Te of the turning electric motor 25 than when the voltage value Vc of the capacitor 24 is lower than the operation threshold value Vp (broken line). Therefore, the total torque Tt of the turning hydraulic motor 27 and the turning electric motor 25 becomes the same value, and the turning motor angular velocity ⁇ also becomes the same value when the voltage value Vc of the capacitor 24 is higher and lower than the operation threshold value Vp. Become.
- the turning angular velocity ⁇ of the turning body 20 does not change, so that the operator is easy to operate. Further, when the voltage value Vc of the capacitor 24 is equal to or higher than the operation threshold value Vp, the power of the hydraulic pump 41 can be reduced, so that the fuel consumption of the engine 22 can be reduced.
- FIG. 7 is a characteristic diagram showing an example of the relationship between the torque Te of the turning electric motor 25, the torque To of the turning hydraulic motor 27, and the turning angular velocity ⁇ during the turning boom raising operation in the hybrid construction machine.
- the limit gain determination block 83c in FIG. 3 is a system in which the limit gain is not changed by the boom raising operation amount (when the gain K3 in FIG. 4C is set to a fixed value). 2 shows an example of a combined operation of the turning operation of the revolving structure 20 and the boom raising operation of the boom 31.
- the broken line in the figure indicates the operation when the voltage value Vc of the capacitor 24 is lower than the operation threshold value Vp
- the solid line indicates the operation when the voltage value Vc of the capacitor 24 is higher than the operation threshold value Vp.
- a positive output value P is output from the target power running power calculation block 83a in FIG. 3, and a signal T of 0 or more is output from the target power running torque calculation block 83b. Is done.
- a torque command value T of 0 or more and a limit value KL of 0 or more are input, so that the torque command value EA as an output becomes 0 or more and is sent to the power control unit 55. As a result, torque Te is generated in the turning electric motor 25.
- the hydraulic pump power reduction control block 83f in FIG. 3 discharges the hydraulic pump 41 so that the torque of the turning hydraulic motor 27 is reduced by the increased torque Te of the turning electric motor 25.
- a power reduction command EB for decreasing the flow rate is output. Therefore, in FIG. 7, the torque To of the turning hydraulic motor 27 is smaller than that when the voltage value Vc of the capacitor 24 is lower than the operation threshold value Vp (broken line).
- the hydraulic pump 41 supplies pressure oil to both the turning hydraulic motor 27 and the boom cylinder 32, both the torque To of the turning hydraulic motor 27 and the bottom pressure Pb of the boom cylinder 32 are reduced. However, since the bottom pressure Pb of the boom cylinder 32 decreases, the amount of torque that the turning hydraulic motor 27 decreases becomes smaller than that in the case of FIG.
- the total torque Tt of the turning hydraulic motor 27 and the turning electric motor 25 when the voltage value Vc of the capacitor 24 is higher than the operation threshold Vp (solid line) is larger than the total torque Tt when it is low (broken line).
- the turning motor angular velocity ⁇ increases.
- the bottom pressure Pb of the boom cylinder 32 becomes smaller than when the voltage value Vc is lower (broken line), so the boom raising amount Db becomes smaller.
- the horizontal axis represents the turning angle ⁇ of the swing body 20 calculated from the turning motor angular speed ⁇ in FIG. 7 (the value obtained by integrating the turning speed obtained by multiplying the turning motor angular speed ⁇ by the reduction ratio), and the vertical axis represents the figure.
- the boom raising amount Db shown in FIG. Compared to the solid line when the voltage value Vc of the capacitor 24 is higher than the operation threshold value Vp, the broken line when the voltage value Vc of the capacitor 24 is lower than the operation threshold value Vp has a larger boom raising amount Db for the same turning angle ⁇ .
- the operator assumes the amount of boom raising when the voltage value Vc of the capacitor 24 is lower than the operation threshold value Vp.
- the swinging angular velocity ⁇ of the revolving structure 20 is faster than the boom raising speed of the boom 31, so that the bucket contacts the loading platform of the dump truck. There is a risk of doing. Even without contact, the operator needs to operate more carefully than usual, and the operator feels difficult to operate.
- FIG. 9 shows the operation of the hybrid construction machine according to the first embodiment of the present invention.
- FIG. 9 shows an example of the turning boom raising operation.
- the limit torque KL output from the limit torque calculation block 83d in FIG. 3 becomes 0, and the output EA from the torque command value calculation block 83e is limited to 0. Therefore, the torque Te is not generated in the turning electric motor 25 regardless of the magnitude relationship between the voltage value Vc of the capacitor 24 and the operation threshold value Vp. For this reason, even if the voltage value Vc of the capacitor 24 changes, the relationship between the turning motor angular velocity ⁇ and the boom raising amount Db does not change, so that the operator can easily operate.
- the torque command EA of the turning electric motor 25 is limited.
- the operability of the combined operation can be ensured regardless of the operating state of the electric motor 25 for turning.
- the actuator operated simultaneously with the turning of the swing body 20 is not limited to the boom cylinder 32.
- the present invention can also be applied to the case of combined operation with other actuators.
- FIG. 10 is a system configuration and control block diagram of the second embodiment of the hybrid construction machine of the present invention.
- the same reference numerals as those shown in FIGS. 1 to 9 are the same or corresponding parts, and the description thereof is omitted.
- a hydraulic pump 41a that supplies pressure oil to the turning hydraulic motor 27 and a hydraulic pump 41b that supplies pressure oil to the boom cylinder 32 are separately arranged.
- the hydraulic pump 41a is controlled from the controller 80 via the regulator 64.
- the limit function determination block 83c is different from the first embodiment in the internal function of the controller 80.
- an angular velocity signal ⁇ of the electric motor 25 for turning from the power control unit 55 and a turning operation command is converted into an electric signal by the hydraulic / electric converter 74a are input signals.
- the gain outputs K1 and K2 are calculated from these values, and the control gain K is calculated and output by multiplying K1 and K2. That is, the limiting gain K is determined only from the angular velocity signal ⁇ of the turning electric motor 25 and the turning operation command is, and the boom raising operation command ib is not referred to.
- the electric motor 25 for turning is used when the voltage value Vc of the capacitor 24 is higher than the operation threshold value Vp.
- the torque Te is generated and the power of the hydraulic pump 41a is reduced by the increased torque.
- the torque To of the turning hydraulic motor 27 is equal to that of the turning electric motor 25. Although the torque is decreased by the increased torque, the bottom pressure of the boom cylinder 32 is not decreased. Therefore, even if the voltage value Vc of the capacitor 24 changes up and down with respect to the operation threshold value Vp, the total torque Tt of the turning hydraulic motor 27 and the turning electric motor 25 does not change, and the boom cylinder 32 The bottom pressure Pb does not change. As a result, even if the voltage value Vc of the capacitor 24 changes up and down with respect to the operation threshold value Vp, the relationship between the turning motor angular velocity ⁇ and the boom raising amount Db does not change, and the operator can easily operate.
- the hydraulic pump 41a that supplies pressure oil to the turning hydraulic motor 27 and the hydraulic pump 41b that supplies pressure oil to the boom cylinder 32 are provided. Even when the turning operation of the revolving structure 20 and the boom raising operation of the boom 31 are performed separately, the turning electric motor 25 is used when the voltage value Vc of the capacitor 24 is higher than the operation threshold value Vp. Is generated, and the power of the hydraulic pump 41a is reduced by the increased torque, so that the turning electric motor 25 is operated during the combined operation of the turning operation of the turning body 20 and the boom raising operation of the boom 31. Regardless of the situation, the operability of the combined operation can be ensured.
- FIG. 11 is a system configuration and control block diagram of the third embodiment of the hybrid construction machine of the present invention.
- the same reference numerals as those shown in FIGS. 1 to 10 are the same or corresponding parts, and the description of those parts is omitted.
- a hydraulic pump 41a that supplies pressure oil to the turning hydraulic motor 27 and a hydraulic pump 41b that supplies pressure oil to the boom cylinder 32 are separately provided.
- the hydraulic pump 41b is controlled from the controller 80 via the regulator 64.
- the internal function of the controller 80 is different from the first embodiment in a hydraulic pump power reduction control block 83f.
- the torque command value EA calculated by the torque command value calculation block 83e is input as an input signal, and the turning hydraulic motor 27 has a torque corresponding to the increased torque of the turning electric motor 25.
- the power reduction command EB for reducing the discharge flow rate of the hydraulic pump 41 is output so as to reduce the torque.
- the torque command value calculated by the torque command value calculation block 83e as an input signal.
- EA is input and a power increase command EB for increasing the discharge flow rate of the hydraulic pump 41b that supplies pressure oil to the boom cylinder 32 by the increased torque of the electric motor 25 for turning is different. That is, control is performed such that the power of the hydraulic pump 41 b is large when the torque of the turning electric motor 25 is increased, and the power of the hydraulic pump 41 b is small when the torque of the turning electric motor 25 is reduced.
- the limit gain determination block 83c of the controller 80 determines the limit gain K only from the angular velocity signal ⁇ of the turning electric motor 25 and the turning operation command is, and the boom raising operation command. ib is not referenced.
- the hydraulic pump 41a that supplies pressure oil to the turning hydraulic motor 27 and the hydraulic pump 41b that supplies pressure oil to the boom cylinder 32 are provided. Even when the turning boom raising operation is performed separately, the torque of the turning electric motor 25 is generated when the voltage value Vc of the capacitor 24 is higher than the operation threshold value Vp, and the increased torque is increased. Since the control to increase the power of the hydraulic pump 41b is performed, the combined operation of the turning operation of the turning body 20 and the boom raising operation of the boom 31 is performed regardless of the operation state of the turning electric motor 25. Sex can be secured.
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Abstract
Description
(1)電動モータの不十分な速度フィードバック制御によるハンチング(特に低速域、停止状態)。
(2)油圧モータとの特性の違いによる操作上の違和感。
(3)モータが回転しない状態でトルクを連続出力する作業(例えば、押し当て作業)におけるモータやインバータの過熱。
(4)油圧モータ相当の出力を保証する電動モータを使用すると外形が大きくなりすぎる、あるいはコストが著しく高くなる。
油圧ポンプパワー減少指令EBが大きい時は、電気・油圧変換装置75aの制御圧力が大きく、このときレギュレータ64の設定は、実線PTSより最大出力トルクが減少した実線PTの特性に変更される。一方、油圧ポンプパワー減少指令EBが小さくなると、レギュレータ64の設定は、実線PTの特性から実線PTSの特性に変化し、油圧ポンプ41の最大出力トルクは、斜線で示す面積の分、増加することになる。
本実施の形態は、第1の実施の形態と異なり、旋回用油圧モータ27に圧油を供給する油圧ポンプ41aと、ブームシリンダ32に圧油を供給する油圧ポンプ41bとがそれぞれ別置き構成となっていて、コントローラ80からレギュレータ64を介して油圧ポンプ41aを制御する構成となっている。
本実施の形態は、第2の実施の形態と同様に、旋回用油圧モータ27に圧油を供給する油圧ポンプ41aと、ブームシリンダ32に圧油を供給する油圧ポンプ41bとがそれぞれ別置き構成となっているが、コントローラ80からレギュレータ64を介して油圧ポンプ41bを制御する点が第2の実施の形態と異なる。
11 クローラ
12 クローラフレーム
13 右走行用油圧モータ
14 左走行用油圧モータ
20 旋回体
21 旋回フレーム
22 エンジン
23 アシスト発電モータ
24 キャパシタ
25 旋回電動モータ
26 減速機
27 旋回油圧モータ
30 ショベル機構
31 ブーム
32 ブームシリンダ
33 アーム
35 バケット
40 油圧システム
41 油圧ポンプ
42 コントロールバルブ
43 油圧配管
51 チョッパ
52 旋回電動モータ用インバータ
53 アシスト発電モータ用インバータ
54 平滑コンデンサ
55 パワーコントロールユニット
56 メインコンタクタ
57 メインリレー
58 突入電流防止回路
61 旋回用スプール
62 ブーム用スプール
64 レギュレータ
72 旋回用操作レバー装置
78 ブーム用操作レバー装置
80 コントローラ(制御装置)
83a 目標力行パワー演算ブロック
83b 目標力行トルク演算ブロック
83c 制限ゲイン演算ブロック
83d 制限トルク演算ブロック
83e トルク指令値演算ブロック
83f 油圧ポンプパワー減少ブロック
Claims (7)
- 原動機(22)と、前記原動機(22)により駆動される油圧ポンプ(41)と、旋回体(20)と、前記旋回体駆動用の電動モータ(25)と、前記油圧ポンプ(41)により駆動される前記旋回体駆動用の油圧モータ(27)と、前記電動モータ(25)に接続された蓄電デバイス(24)と、前記旋回体(20)の駆動を指令する旋回操作レバー装置(72)と、前記油圧ポンプ(41)により駆動され、前記旋回体(20)以外の被駆動体を駆動する第2油圧アクチュエータ(32)と、前記第2油圧アクチュエータ(32)の駆動を指令する第2操作レバー装置(78)と、
前記旋回操作レバー装置(72)が操作されたときに前記電動モータ(25)と前記油圧モータ(27)の両方を駆動して、前記電動モータ(25)と前記油圧モータ(27)のトルクの合計で前記旋回体(20)の駆動を行う油圧電動複合旋回制御と、前記旋回用の操作レバー装置(72)が操作されたときに前記油圧モータ(27)のみを駆動して、前記油圧モータ(27)のみのトルクで前記旋回体(20)の駆動を行う油圧単独旋回制御とのいずれかの制御を行う制御装置(80)とを備えたハイブリッド式建設機械であって、
前記制御装置(80)は、前記油圧電動複合旋回制御状態で、前記旋回操作レバー装置(72)と前記第2操作レバー装置(78)が同時に操作された時の、前記旋回体(20)の旋回角または旋回速度に対する前記第2油圧アクチュエータ(32)の位置または速度の関係と、前記油圧単独旋回制御状態で、前記旋回操作レバー装置(72)と前記第2操作レバー装置(78)が同時に操作された時の、前記旋回体(20)の旋回角または旋回速度に対する前記第2油圧アクチュエータ(32)の位置または速度の関係が略等しくなるように、前記電動モータ(25)の駆動トルクと前記油圧モータ(27)の駆動トルクと前記第2油圧アクチュエータ(32)の駆動力とを制御する
ことを特徴とするハイブリッド式建設機械。 - 請求項1記載のハイブリッド式建設機械において、
前記制御装置(80)は、前記油圧電動複合旋回制御状態で前記旋回操作レバー装置(72)と前記第2操作レバー装置(78)が同時に操作された時は、前記第2操作レバー装置(78)の操作量が大きいほど、前記油圧モータ(27)の駆動トルクに対する前記電動モータ(25)の駆動トルクの割合を減少させるように前記電動モータ(25)の駆動トルクを制御する
ことを特徴とするハイブリッド式建設機械。 - 請求項1記載のハイブリッド式建設機械において、
前記制御装置(80)は、前記油圧電動複合旋回制御状態で前記旋回操作レバー装置(72)が操作された時は、前記電動モータ(25)の駆動トルクを増加させ、その増加分に対応した前記油圧モータ(27)の駆動トルクを減少させるように前記油圧モータ(27)の駆動トルクを制御する
ことを特徴とするハイブリッド式建設機械。 - 請求項1記載のハイブリッド式建設機械において、
前記制御装置(80)は、前記油圧単独旋回制御状態で前記旋回操作レバー装置(72)と前記第2操作レバー装置(78)が同時に操作された時は、前記第2油圧アクチュエータ(32)の駆動力を減少させるように前記第2油圧アクチュエータ(32)の駆動力を制御する
ことを特徴とするハイブリッド式建設機械。 - 請求項1乃至4のいずれか1項に記載のハイブリッド式建設機械において、
前記第2油圧アクチュエータは、ブームアクチュエータ(32)であり、前記第2操作レバー装置は、ブーム上げ用操作レバー装置(78)である
ことを特徴とするハイブリッド式建設機械。 - 請求項3に記載のハイブリッド式建設機械において、
前記制御装置(80)は、前記油圧ポンプ(41)の出力を減少制御することにより、前記油圧モータ(27)の駆動トルクを減少させている
ことを特徴とするハイブリッド式建設機械。 - 請求項4に記載のハイブリッド式建設機械において、
前記制御装置(80)は、前記油圧ポンプ(41)の出力を減少制御することにより、前記第2油圧アクチュエータ(32)の駆動力を減少させている
ことを特徴とするハイブリッド式建設機械。
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EP12742161.8A EP2672025B1 (en) | 2011-02-03 | 2012-01-05 | Hybrid construction machine |
US13/982,563 US8958958B2 (en) | 2011-02-03 | 2012-01-05 | Hybrid construction machine |
CN201280007457.4A CN103348065B (zh) | 2011-02-03 | 2012-01-05 | 混合动力式工程机械 |
KR1020137018916A KR101834598B1 (ko) | 2011-02-03 | 2012-01-05 | 하이브리드식 건설 기계 |
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EP2918733A4 (en) * | 2012-11-08 | 2016-07-20 | Hitachi Construction Machinery | CONSTRUCTION MACHINE |
US10006472B2 (en) | 2012-11-08 | 2018-06-26 | Hitachi Construction Machinery Co., Ltd. | Construction machine |
CN105102826A (zh) * | 2013-04-05 | 2015-11-25 | 川崎重工业株式会社 | 作业机械的驱动控制系统、具备该驱动控制系统的作业机械以及该作业机械的驱动控制方法 |
Also Published As
Publication number | Publication date |
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KR101834598B1 (ko) | 2018-04-13 |
CN103348065A (zh) | 2013-10-09 |
US8958958B2 (en) | 2015-02-17 |
KR20140009290A (ko) | 2014-01-22 |
JP5356427B2 (ja) | 2013-12-04 |
US20140199148A1 (en) | 2014-07-17 |
EP2672025B1 (en) | 2019-10-23 |
EP2672025A4 (en) | 2018-04-04 |
CN103348065B (zh) | 2015-10-14 |
EP2672025A1 (en) | 2013-12-11 |
JP2012162861A (ja) | 2012-08-30 |
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