WO2012105537A1 - 作業機械 - Google Patents
作業機械 Download PDFInfo
- Publication number
- WO2012105537A1 WO2012105537A1 PCT/JP2012/052096 JP2012052096W WO2012105537A1 WO 2012105537 A1 WO2012105537 A1 WO 2012105537A1 JP 2012052096 W JP2012052096 W JP 2012052096W WO 2012105537 A1 WO2012105537 A1 WO 2012105537A1
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- WIPO (PCT)
- Prior art keywords
- time
- maximum value
- absorption horsepower
- pump absorption
- work
- Prior art date
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
- H02J7/00714—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery charging or discharging current
- H02J7/00716—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery charging or discharging current in response to integrated charge or discharge current
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
- F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
- F04B1/26—Control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B27/00—Multi-cylinder pumps specially adapted for elastic fluids and characterised by number or arrangement of cylinders
- F04B27/08—Multi-cylinder pumps specially adapted for elastic fluids and characterised by number or arrangement of cylinders having cylinders coaxial with, or parallel or inclined to, main shaft axis
- F04B27/14—Control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
- F04B49/065—Control using electricity and making use of computers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/10—Other safety measures
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/10—Other safety measures
- F04B49/103—Responsive to speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
- H02J7/04—Regulation of charging current or voltage
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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
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
-
- 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
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/80—Time limits
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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
- E02F9/2062—Control of propulsion units
- E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2201/00—Pump parameters
- F04B2201/12—Parameters of driving or driven means
- F04B2201/1203—Power on the axis
-
- 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 a hybrid-type or battery-type work machine including a motor that is driven by power by receiving power supplied from a power storage device as a drive source of a hydraulic pump, and in particular, effective power stored in the power storage device. Regarding usage.
- the hybrid work machine is a motor and an electric motor that is driven by power using electric power stored in a power storage device (generally, an electric motor / generator is used, but in this specification, it is referred to as an “electric motor”. )) And the hydraulic actuator is driven by the pressure oil discharged from the hydraulic pump to perform the required work. If the storage capacity of the power storage device reaches the lower limit value at which discharge is impossible during operation of the hybrid work machine, the discharge from the power storage device is stopped, the power running drive of the motor is stopped, and the pump absorption horsepower maximum value is increased. It is necessary to change it below the maximum rated torque of the prime mover.
- the power running torque value of the electric motor is set according to the remaining power stored in the power storage device at that time.
- the pump absorption horsepower maximum value is reduced so as to limit and the remaining amount of electricity stored in the power storage device is reduced to a predetermined second predetermined value or less, the power running operation of the electric motor is prohibited and the pump absorption horsepower maximum value is increased.
- a technique for further reducing the motor to a value that can be driven at the rated output of the prime mover has been proposed (see, for example, Patent Document 1).
- the pump absorption horsepower maximum value suddenly does not decrease below the maximum rated torque of the prime mover during operation of the hybrid work machine, but gradually decreases according to the remaining amount of power stored in the power storage device. Stalls can be avoided and operational discomfort given to the operator can be alleviated.
- Patent Document 1 describes a technique for controlling the operation of the electric motor according to the operation mode of the work machine and suppressing waste of power.
- Patent Document 1 in consideration of a preset scheduled work time, There is no description about the technology for maintaining the assist drive of the electric motor even at the end time of the scheduled time, and it is impossible to prevent the amount of power stored in the power storage device from reaching the lower limit during the scheduled work time. .
- the present invention has been made to solve the problems of the prior art, and the purpose thereof is to make it difficult for an operator to feel uncomfortable in operation even when the remaining power of a storage battery falls below a predetermined value.
- Another object of the present invention is to provide a hybrid type or battery type work machine that can effectively use the electric power stored in the storage battery within a preset scheduled work time.
- the present invention provides a hydraulic pump, an electric motor that drives the hydraulic pump, an electric storage device that supplies electric power during powering to the electric motor, and a storage amount of the electric storage device
- a control device that controls the pump absorption horsepower maximum value
- the control device obtains a reduction amount of the power storage amount of the power storage device within a preset power storage amount change measurement time.
- the workable time is determined from the amount of decrease and the remaining power storage amount of the power storage device, and the determined workable time is determined by subtracting the actual work time so far from the preset work scheduled time. It is determined whether or not the time is reached, and when it is determined that the time is not reached, the pump absorption horsepower maximum value is reduced to a value that allows the workable time to reach the remaining time of the work schedule. And wherein the door.
- the power consumption rate of a hybrid or battery type work machine depends on the situation at the work site (whether it is flat or inclined, etc.) and the content of the work to be performed, and is almost constant throughout the day. . Therefore, if the amount of decrease in the amount of electricity stored in the electricity storage device within the measurement time of the amount of electricity stored immediately after the start of work is obtained, the power running drive of the motor can be performed by dividing the remaining amount of electricity stored in the electricity storage device by the obtained amount of reduction. Can be obtained. Also, the available work time is compared with the remaining time of the work schedule obtained by subtracting the actual work time so far from the preset work scheduled time. It can be determined whether or not it exceeds.
- the pump absorption horsepower maximum value is reduced, the power consumption rate of the work machine is reduced, so that the workable time can be extended, and the workable time is made to match the remaining time of the work schedule.
- the pump maximum absorption horsepower maximum value can be obtained. And in this way, the pump absorption horsepower maximum value can be reduced almost uniformly from the start time to the end time of the preset work time as the power storage amount of the power storage device decreases. It is difficult for the operator to feel uncomfortable in operation, and since the drive of the electric motor can be ensured until the end time of the work time, high workability can be maintained.
- the present invention further includes a prime mover for driving the hydraulic pump in the work machine having the above-described configuration, wherein the rated output torque is smaller than the pump absorption horsepower maximum value.
- the prime mover is also operated at its rated output torque even when it is determined that the given workable time does not reach the remaining work scheduled time.
- the prime mover of the hybrid work machine can be reduced in size, and the fuel consumption, exhaust gas amount, and noise can be reduced.
- the present invention is the work machine having the above-described configuration, in which the control device has a new pump absorption horsepower maximum value that is the pump absorption horsepower maximum value after being reduced from the storage amount of the power storage device, the scheduled work time, and the actual work time.
- the remaining power storage monitoring means for calculating the value, and the new pump absorption horsepower maximum value output from the remaining power storage monitoring means, the rotational speed of the prime mover and the discharge pressure of the hydraulic pump, the tilt angle signal of the hydraulic pump.
- a load torque control means for calculating the minimum value.
- a control device applicable to the work machine according to the present invention can be constructed simply by adding a remaining power storage monitoring means and a load torque control means to a conventionally known general work machine control device. Therefore, the working machine according to the present invention can be implemented at low cost.
- a time from a scheduled work start time to a scheduled work end time is set as the scheduled work time, and a daily work is set as the storage amount change measurement time.
- a certain time from the start time is set.
- the work mode is such that the charging is completed at night and the work is performed in the daytime from morning to evening.
- the time from the scheduled work start time in the morning to the scheduled work end time in the evening is set as the scheduled work time.
- a certain time from the start of the first working machine in the morning is set as the storage amount change measurement time.
- a time from a scheduled work start time to a scheduled work end time is set as the scheduled work time, and a daily work is set as the storage amount change measurement time.
- the fixed time is set to a fixed time from a start time and an arbitrarily set time after the pump absorption horsepower maximum value is decreased.
- the storage amount change measurement time can be set not only for a fixed time from the start of the first work machine in the morning but also at any time within the scheduled work time, so the maximum pump absorption horsepower The value can be corrected more finely according to the remaining amount of electricity stored.
- the control device when the control device decreases the pump absorption horsepower maximum value, the control device after the decrease from the old pump absorption horsepower maximum value that is the pump absorption horsepower maximum value before the decrease.
- the pump absorption horsepower maximum value which is the new pump absorption horsepower maximum value, is reduced in multiple steps or continuously.
- the pump absorption horsepower maximum value can be gradually lowered, so that the operator does not feel uncomfortable in operation and the operator's fatigue can be alleviated.
- the control device when the control device decreases the pump absorption horsepower maximum value, the control device divides the pump absorption horsepower maximum value into a plurality of regions having different target flow rates, Of the old pump absorption horsepower maximum value that is the pump absorption horsepower maximum value, a time difference is added in order from the region where the target flow rate is high, and the pump absorption horsepower maximum value after the decrease is reduced to the new pump absorption horsepower maximum value. It is characterized by that.
- the actual work time is counted using an hour meter, and when the hour meter is switched to an operation prohibited state by the gate lock means, It is characterized in that the counting of the actual work time is stopped.
- the time when each part of the machine is switched to the operation prohibited state by the gate lock means that is, the time when the work machine is not working is not counted as the actual work time, so it is more suitable for the actual situation of the work. Accurate calculation of new pump absorption horsepower maximum value becomes possible.
- the present invention provides a hybrid type or battery type work machine that calculates a reduction amount of a storage amount of a power storage device within a preset storage amount change measurement time, and calculates the calculated reduction amount and a remaining power storage amount of the storage device.
- the workable time is calculated from the above, and it is determined whether or not the obtained workable time reaches the remaining work schedule time obtained by subtracting the actual work time so far from the preset work schedule time.
- the pump absorption horsepower maximum value is reduced to a value at which the workable time can reach the remaining time of the work schedule, the pump absorption horsepower maximum value is reduced with a reduction in the amount of power stored in the power storage device.
- the work time can be lowered almost uniformly from the start time to the end time of the preset work time, and the operability of the work machine can be improved.
- the drive of the electric motor can be ensured until the end time of the work time, high workability can be maintained.
- FIG. 1 is a configuration diagram of a plug-in hybrid hydraulic excavator according to an embodiment.
- FIG. 1 is a system configuration diagram of a plug-in hybrid hydraulic excavator according to an embodiment. It is a flowchart which shows the control procedure of the electrical storage apparatus monitoring means with which the plug-in hybrid hydraulic shovel which concerns on embodiment is equipped. It is a transition diagram of the pump absorption horsepower maximum value according to the first embodiment.
- FIG. 6 is a transition diagram of the minimum tilt angle according to the first embodiment. It is a figure which shows the change of the electrical storage amount at the time of applying the control method which concerns on Example 1, a motor output, and an electric motor power running output. It is a transition diagram of the pump absorption horsepower maximum value according to the second embodiment.
- the working machine of the present invention is a hybrid type hydraulic excavator in which a hydraulic pump is driven by an electric motor that is driven by the power discharged from a prime mover and a power storage device, and a hydraulic actuator is driven using pressure oil discharged from the hydraulic pump.
- a plug-in hybrid excavator machine in which the pump's rated absorption horsepower is higher than the rated output of the prime mover and is consumed in the set operation time will be described as an example.
- the present invention can be applied not only to a plug-in hybrid type hydraulic excavator but also to a battery type hydraulic excavator in which a hydraulic pump is driven only by an electric motor. Further, the present invention can be applied to a hybrid type or battery type work machine other than the hydraulic excavator.
- the first boom 101 has a boom 101, an arm 102, a bucket 103, a crawler 104, and a revolving body 100 as operating parts.
- the boom 101, the arm 102, and the bucket 103 are driven by hydraulic cylinders 20a, 20b, and 20c, which are hydraulic actuators, respectively.
- the traveling crawler 104 is driven by a hydraulic motor 20d that is a hydraulic actuator, and the revolving structure 100 is also driven by a hydraulic motor (not shown) that is a hydraulic actuator.
- Each of these hydraulic actuators 20 a to 20 d is driven by pressure oil discharged from the hydraulic pump 30.
- the hydraulic pump 30 is a variable displacement hydraulic pump, and its capacity (the amount of pressure oil discharged in one rotation) can be changed by changing the tilt angle.
- the drive shaft of the hydraulic pump 30 is connected coaxially to the prime mover 40 and the electric motor 50, and the hydraulic pump 30 operates by the rotation of the prime mover 40 and the power running of the electric motor 50.
- the electric motor 50 is electrically connected to the power storage device 60 via the inverter 51 and the chopper 61, and the power running output of the electric motor 50 is transformed by the chopper 61 and converted to alternating current by the inverter 51. It is performed by the discharge power from.
- the hydraulic pump 30, the prime mover 40, the electric motor 50, the inverter 51, the power storage device 60, the chopper 61, and the control device 70 that controls these are mounted on the swing body 100.
- the electric motor 50 can also generate electric power with the driving force of the prime mover 40 and charge the power storage device 60.
- the electric motor for turning can be driven by the electric power generated by the electric motor 50.
- the prime mover 40 As the prime mover 40, a motor whose rated output torque is smaller than the pump absorption horsepower maximum value of the hydraulic pump 30 is provided.
- the control device 70 operates the prime mover 40 with the rated output torque regardless of the change in the pump absorption horsepower maximum value. As a result, the prime mover of the hybrid work machine can be reduced in size, and fuel consumption, exhaust gas amount, and noise can be reduced.
- the control device 70 includes a hydraulic pump discharge pressure detected from the hydraulic pump 30, a prime mover rotational speed detected from the prime mover 40, and a power storage amount of the power storage device 60 detected from an inverter circuit including a chopper 61. , Scheduled work time output from a timer (not shown), storage amount change measurement time, operation time and division calculation time, actual work time output from an hour meter (not shown), and an operation lever signal output from an operation lever (not shown) Taking in and outputting the final tilt angle signal to the hydraulic pump 30.
- the control device 70 includes a storage amount, scheduled work time, storage amount change measurement time, operation Monitoring means (storage power monitoring means) 70a for calculating and outputting a new pump absorption horsepower maximum value that is a corrected pump absorption horsepower maximum value from the time and actual work time, and a new pump absorption output from the monitoring means 70a Load torque control means 70b for calculating and outputting the minimum value of the tilt angle of the hydraulic pump 30 from the maximum horsepower value.
- the normal control means 70 c generates a tilt angle signal for controlling the absorption horsepower of the hydraulic pump 30 from the operation lever signal output from the operation lever operated by the operator and the hydraulic pump discharge pressure detected from the hydraulic pump 30.
- output control of the prime mover 40 and the electric motor 50 is performed according to the absorption horsepower of the hydraulic pump 30.
- the tilt angle signal output from the normal control means 70c is limited by the minimum value of the tilt angle signal output from the monitoring means 70a and the load torque control means 70b.
- the electric motor 50 is powered by this control, the amount of power stored in the power storage device 60 is reduced by the amount of energy consumed. 2, since it is a matter that belongs to the public domain and is not the gist of the present invention, the output control portions of the prime mover 40 and the electric motor 50 are not shown.
- the scheduled work time shown in FIG. 2 is a time for which the electric motor 50 is required to be powered by the power stored in the power storage device 60, and is usually 7.5 hours or 8 which is a work time of one day.
- the storage amount change measurement time is a time for measuring a decrease amount of the storage amount of the storage device 60, and is set to at least a certain time, for example, 10 minutes from the time when the prime mover 40 is activated.
- the operation time is the total time for which the control device 70 repeats the calculation of the new pump absorption horsepower maximum value, and is set to 10 minutes, for example.
- the division calculation time is a pitch at which the control device 70 calculates the new pump absorption horsepower maximum value, and is set to 1 minute, for example. Accordingly, the number n of repeated calculation of the new pump absorption horsepower maximum value performed by the control device 70 is 10 in this case.
- an initial value (old pump absorption horsepower maximum value) P maxold is set as the pump absorption horsepower maximum value, and the tilt angle signal minimum value is as shown in FIG. Furthermore, the characteristic a corresponding to this is obtained. That is, when the operator operates the operation lever to the maximum extent, the final tilt angle signal output from the control device 70 has a value corresponding to P maxold, which is larger than the rated output of the prime mover 40, and the shortage is determined by the electric motor. It will be supplemented with 50 power running drives.
- step S1 of FIG. 3 the monitoring unit 70a calculates the amount of decrease in the amount of power storage accompanying the power running of the electric motor 50 at the power storage amount change measurement time t1 set in advance from the work start time.
- a workable time during which the work can be continued is calculated from the calculated decrease amount of the stored electricity amount and the storage amount change measurement time t1, and in step S2 of FIG. It is determined whether or not the remaining scheduled time t2 of the scheduled work is set.
- the available work time is shorter than the remaining time t2 of the scheduled work time.
- the process proceeds to step S3 in FIG.
- a new pump absorption horsepower maximum value P maxnew that enables powering driving of the electric motor 50 in the range of the remaining time t2 scheduled for work is calculated from the storage amount change measurement time t1.
- the new pump absorption horsepower maximum value P maxnew can be calculated by the following method. That is, as apparent from FIG. 6B, the new pump absorption horsepower maximum value P maxnew is obtained as the sum of the rated output P engmax of the prime mover 40 and the addition PM2 by the electric motor 50. Therefore, the ratio between the average output of the power storage device 60 at the storage amount change measurement time t1 and the average output of the power storage device 60 at the scheduled remaining time t2 is the addition PM1 by the electric motor 50 in the initial state and the measurement of the storage amount change. Assume that the ratio of the addition PM2 by the electric motor 50 after the time t1 has elapsed. That is, as shown in FIG.
- the change from the old pump absorption horsepower maximum value P maxold to the new pump absorption horsepower maximum value P maxnew is repeated several times until the set operation time ends for each set division calculation time. Do it separately. That is, after calculating the new pump absorption horsepower maximum value P maxnew in step S3 of FIG. 3, the process proceeds to step S4, and the difference between the old pump absorption horsepower maximum value P maxold and the new pump absorption horsepower maximum value P maxnew is divided by n. Then, an adjustment amount ⁇ P of the maximum pump absorption horsepower per time is calculated. Next, the process proceeds to step S5, where the pump absorption horsepower maximum value P max is set to P maxold ⁇ P, and the tilt angle signal minimum value corresponding to this is output by the load torque control means 70b.
- step S6 this operation is performed every divided calculation time (in this example, 1 minute) until the preset operation time ends.
- the minimum tilt angle signal value decreases sequentially from the characteristic a to the characteristic b and from the characteristic b to the characteristic c, and as a result, the pump absorption horsepower maximum value, as shown in FIG. It gradually changes from the absorption horsepower maximum value P maxold to the new pump absorption horsepower maximum value P maxnew .
- this change is stepwise depending on the setting of the division calculation time and the magnitude of the difference between the old pump absorption horsepower maximum value P maxold and the new pump absorption horsepower maximum value P maxnew . By doing so, the pump absorption horsepower maximum value can be gradually lowered, so that the operator does not feel uncomfortable in operation, and the operator's fatigue can be alleviated.
- step S2 of FIG. 3 If it is determined in step S2 of FIG. 3 that the calculated workable time is longer than the preset remaining work time t2 (NO), the process proceeds to step S7 of FIG. It is determined whether or not the maximum value P max is lower than the initial value. And when it determines with having decreased (YES), it transfers to step S3, and when it determines with having not decreased (NO), it returns to step S1. Thereby, the remaining amount of electricity stored in the electricity storage device 60 can be used effectively.
- the storage amount change measurement time t1 is assigned only to a certain time from the work start time of the day, but in addition to this, it is arbitrarily set after the pump absorption horsepower maximum value has been reduced. It can also be set to a certain time from the set time. In this way, the pump absorption horsepower maximum value can be more finely corrected according to the amount of power stored in the power storage device 60.
- the actual work time when each part of the machine is switched to the operation prohibited state by the gate lock unit, the actual work time can be counted.
- the time when each part of the machine is switched to the operation prohibited state by the gate lock means that is, the time when the work machine is not working is not counted as the actual work time, so it is more suitable for the actual situation of the work. Accurate calculation of new absorption horsepower maximum value becomes possible.
- Embodiment 2 of the working machine according to the present invention will be described with reference to FIG.
- the difference between the old and new pump absorption horsepower maximum values is divided into a region A where the target flow rate Q is high, a region B where the target flow rate Q is intermediate, and a region C where the target flow rate Q is low.
- the work machine of the present invention can reduce the pump absorption horsepower maximum value almost uniformly from the start time to the end time of the preset work time as the amount of power stored in the power storage device decreases. It is difficult for the operator to feel uncomfortable in operation, and the fatigue of the operator can be reduced. In addition, since the drive of the electric motor can be ensured until the end time of the work time, high workability can be maintained.
- the present invention can be used for a work machine such as a plug-in hybrid type or a battery type hydraulic excavator.
Abstract
Description
つまり、図6(a)に示すように、蓄電量変化計測時間t1中の消費蓄電量をΔQe1、蓄電量変化計測時間t1を経過した後の残蓄電量をΔQe2としたとき、
ΔQe1/t1:ΔQe2/t2=PM1:PM2とする。
Pmaxnew=PM2+Pengmax
=(ΔQe1/t1)/(ΔQe2/t2)×PM1+Pengmax
として求められる。
20 油圧アクチュエータ
20a ブーム駆動用油圧シリンダ
20b アーム駆動用油圧シリンダ
20c バケット駆動用油圧シリンダ
20d クローラ駆動用油圧モータ
30 油圧ポンプ
40 原動機
50 電動機
60 蓄電装置
70 制御装置
70a 監視手段
70b 負荷トルク制御手段
100 旋回体
101 ブーム
102 アーム
103 バケット
104 クローラ
Qemax 蓄電装置の蓄電量最大値
Qemin 蓄電装置の蓄電量下限値
t1 蓄電量変化計測時間
t2 作業予定の残り時間
ΔQe1 t1中に消費された蓄電量
ΔQe2 t2中に消費できる蓄電量
Pengmax 原動機の最大定格出力
PM1 t1中の電動機出力
PM2 t2中の電動機出力
Pmaxold 旧ポンプ吸収馬力最大値
Pmaxnew 新ポンプ吸収馬力最大値
Claims (8)
- 油圧ポンプと、当該油圧ポンプを駆動する電動機と、前記電動機に力行時の電力を供給する蓄電装置と、当該蓄電装置の蓄電量に応じてポンプ吸収馬力最大値を制御する制御装置とを備えた作業機械において、
前記制御装置は、予め設定された蓄電量変化計測時間内における前記蓄電装置の蓄電量の減少量を求め、この求められた減少量と前記蓄電装置の蓄電残量とから作業可能時間を求めると共に、この求められた作業可能時間が、予め設定された作業予定時間からこれまでの実作業時間を減算した作業予定時間の残り時間に達するか否かを判定し、達しないと判定したときには、前記作業可能時間が前記作業予定時間の残り時間に達することが可能な値に前記ポンプ吸収馬力最大値を低下させることを特徴とする作業機械。 - 前記油圧ポンプを駆動するための原動機であって、定格出力トルクが前記ポンプ吸収馬力最大値よりも小さいものを更に備え、前記制御装置は、前記求められた作業可能時間が、前記作業予定時間の残り時間に達しないと判定したときにも、前記原動機をその定格出力トルクで運転することを特徴とする請求項1に記載の作業機械。
- 前記制御装置は、前記蓄電装置の蓄電量、前記作業予定時間及び前記実作業時間から低下後の前記ポンプ吸収馬力最大値である新ポンプ吸収馬力最大値を算出する蓄電残量監視手段と、この蓄電残量監視手段から出力される前記新ポンプ吸収馬力最大値、前記原動機の回転数及び前記油圧ポンプの吐出圧から前記油圧ポンプの傾転角信号の最小値を算出する負荷トルク制御手段を備えることを特徴とする請求項2に記載の作業機械。
- 前記作業予定時間として、一日の作業開始予定時刻から作業終了予定時刻までの時間を設定すると共に、前記蓄電量変化計測時間として、一日の作業開始時刻からの一定時間を設定することを特徴とする請求項1乃至請求項3のいずれか1項に記載の作業機械。
- 前記作業予定時間として、一日の作業開始予定時刻から作業終了予定時刻までの時間を設定すると共に、前記蓄電量変化計測時間として、一日の作業開始時刻からの一定時間と、前記ポンプ吸収馬力最大値を低下させた後の任意に設定された時刻からの一定時間に設定することを特徴とする請求項1乃至請求項3のいずれか1項に記載の作業機械。
- 前記制御装置は、前記ポンプ吸収馬力最大値を低下させる際、低下前の前記ポンプ吸収馬力最大値である旧ポンプ吸収馬力最大値から、低下後の前記ポンプ吸収馬力最大値である新ポンプ吸収馬力最大値まで、多段階に又は連続的に低下させることを特徴とする請求項1乃至請求項5のいずれか1項に記載の作業機械。
- 前記制御装置は、前記ポンプ吸収馬力最大値を低下させる際、当該ポンプ吸収馬力最大値を、目標流量が異なる複数の領域に分割し、低下前の前記ポンプ吸収馬力最大値である旧ポンプ吸収馬力最大値のうちの、目標流量が高い領域から順に時間差をつけて、低下後の前記ポンプ吸収馬力最大値である新ポンプ吸収馬力最大値まで低下させることを特徴とする請求項1乃至請求項6のいずれか1項に記載の作業機械。
- 前記実作業時間のカウントは、アワーメータを用いて行い、該アワーメータは、ゲートロック手段により機械各部が操作禁止状態に切り替えられた場合は、その間の実作業時間のカウントを中止することを特徴とする作業機械。
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