WO2013121916A1 - ショベル及びショベルの制御方法 - Google Patents
ショベル及びショベルの制御方法 Download PDFInfo
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- WO2013121916A1 WO2013121916A1 PCT/JP2013/052508 JP2013052508W WO2013121916A1 WO 2013121916 A1 WO2013121916 A1 WO 2013121916A1 JP 2013052508 W JP2013052508 W JP 2013052508W WO 2013121916 A1 WO2013121916 A1 WO 2013121916A1
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- voltage
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- excavator
- capacitance
- capacitor
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
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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
- E02F9/2075—Control of propulsion units of the hybrid type
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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
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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
- H01M10/425—Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing
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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
- H01M10/441—Methods for charging or discharging for several batteries or cells simultaneously or sequentially
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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
- H01M10/482—Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte for several batteries or cells simultaneously or sequentially
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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
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
- H02J7/0014—Circuits for equalisation of charge between batteries
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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
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
- H02J7/0014—Circuits for equalisation of charge between batteries
- H02J7/0016—Circuits for equalisation of charge between batteries using shunting, discharge or bypass circuits
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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
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
- H02J7/0014—Circuits for equalisation of charge between batteries
- H02J7/0019—Circuits for equalisation of charge between batteries using switched or multiplexed charge circuits
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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
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/006—Structural association of a motor or generator with the drive train of a motor vehicle
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/18—Structural association of electric generators with mechanical driving motors, e.g. with turbines
- H02K7/1807—Rotary generators
- H02K7/1815—Rotary generators structurally associated with reciprocating piston engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/246—Temperature
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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
- H01M10/486—Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte for measuring temperature
-
- 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
- H01M10/425—Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing
- H01M2010/4278—Systems for data transfer from batteries, e.g. transfer of battery parameters to a controller, data transferred between battery controller and main controller
-
- 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
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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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
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/005—Detection of state of health [SOH]
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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
Definitions
- the present invention relates to an excavator provided with a capacitor as a driving power source.
- Capacitors are often used as capacitors installed in excavators. Since a capacitor used in an excavator or the like requires a large capacity and a high voltage, a large number of capacitor cells (hereinafter simply referred to as cells) are connected to form one capacitor (see, for example, Patent Document 1). ).
- an equalization function is activated for cells having a charge rate (SOC) of a predetermined value or more to equalize the charge rates of a plurality of cells.
- the equalizing function is a function for forcibly discharging a cell having a charging rate equal to or higher than a predetermined value until the charging rate reaches a predetermined value.
- an equalization circuit for realizing the equalization function is provided in the capacitor itself.
- the present invention has been made in view of the above-described problems, and an object thereof is to provide an excavator that operates a cell voltage equalization function only when necessary.
- a lower traveling body an upper revolving body that performs a turning operation on the lower traveling body, a boom having one end rotatably attached to the upper revolving body, and the boom
- An arm having one end rotatably attached to the other end, a working element rotatably attached to the other end of the arm, an engine mounted on the upper swing body and generating a driving force,
- a generator that is mounted on the upper swing body and performs a power generation operation with the driving force transmitted from the engine, and a plurality of storage cells that are mounted on the upper swing body and store the electric power generated by the generator.
- a storage device an equalization circuit provided for each storage cell, and provided with a discharge resistor and a switching circuit, and an excavator for causing the equalization circuit to function when the output of each storage cell varies.
- a lower traveling body an upper revolving body that performs a turning operation on the lower traveling body, a boom having one end rotatably attached to the upper revolving body, An arm having one end rotatably attached to the other end of the boom, a working element rotatably attached to the other end of the arm, an engine mounted on the upper swing body and generating a driving force;
- a generator mounted on the upper swing body and generating electric power with a driving force transmitted from the engine, and a plurality of storage cells mounted on the upper swing body and storing electric power generated by the generator.
- a shovel control method comprising a storage battery having an equalizing circuit provided for each storage cell and having a discharge resistor and a switching circuit, and determining variations in the output of each storage cell.
- the equalizer circuit functions. The method of the bell is provided.
- the capacitance of each storage cell can be measured individually. Therefore, based on the measured capacitance, the equalization function can be applied to the cell only when necessary. Therefore, the electric power forcibly discharged by the equalizing function can be suppressed, and wasteful power consumption can be reduced.
- FIG. 1 is a side view of an excavator according to an embodiment.
- the shovel shown in FIG. 1 is a hybrid excavator
- the present invention is not limited to the hybrid excavator, and can be applied to any type of excavator as long as it has a capacitor as a power source for driving an electric load. be able to.
- an upper swing body 3 is mounted on a lower traveling body 1 of a hybrid excavator via a swing mechanism 2.
- the upper swing body 3 is provided with a boom 4, an arm 5 and a bucket 6, and a boom cylinder 7, an arm cylinder 8 and a bucket cylinder 9 for hydraulically driving them.
- the upper swing body 3 is equipped with a cabin 10 and a power source.
- FIG. 2 is a block diagram showing the configuration of the drive system of the hybrid excavator.
- 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 one-dot chain line.
- the engine 11 as the mechanical drive unit and the motor generator 12 as the assist drive unit are both connected to the input shaft of the transmission 13.
- a main pump 14 and a pilot pump 15 are connected to the output shaft of the transmission 13.
- a control valve 17 is connected to the main pump 14 via a high pressure hydraulic line 16.
- the control valve 17 is a control device that controls the hydraulic system. Connected to the control valve 17 are hydraulic motors 1A (for right) and 1B (for left), a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 for the lower traveling body 1 via a high-pressure hydraulic line.
- the motor generator 12 is connected to a power storage device 120 including a power storage capacitor or battery via an inverter 18.
- the power storage device 120 includes the capacitor 19 as a power storage device.
- a turning electric motor 21 is connected to the power storage device 120 via an inverter 20.
- a rechargeable secondary battery such as a lithium ion battery, or another form of power source capable of receiving and transferring power may be used.
- a resolver 22, a mechanical brake 23, and a turning speed reducer 24 are connected to the rotating shaft 21A of the turning electric motor 21.
- An operation device 26 is connected to the pilot pump 15 through a pilot line 25.
- the control device 17 and a pressure sensor 29 as a lever operation detection unit are connected to the operation device 26 via hydraulic lines 27 and 28, respectively.
- the pressure sensor 29 is connected to a controller 30 that performs electric system drive control.
- the inverter 18 is provided between the motor generator 12 and the power storage device 120 as described above, and controls the operation of the motor generator 12 based on a command from the controller 30. Thereby, when the inverter 18 controls the power running operation of the motor generator 12, the electric power required by the motor generator 12 is supplied from the power storage device 120 to the motor generator 12. On the other hand, when the regenerative operation of the motor generator 12 is controlled, the electric power generated by the motor generator 12 is stored in the capacitor 19 of the power storage device 120.
- the power storage device 120 is disposed between the inverter 18 and the inverter 20. Thereby, when at least one of the motor generator 12 and the turning electric motor 21 is performing a power running operation, the power storage device 120 supplies electric power necessary for the power running operation. Further, when at least one of the motor generator 12 and the turning electric motor 21 is performing the regenerative operation, the power storage device 120 accumulates the regenerative power generated by the regenerative operation as electric energy.
- the inverter 20 is provided between the turning electric motor 21 and the power storage device 120 as described above, and controls the operation of the turning electric motor 21 based on a command from the controller 30.
- the inverter 20 controls the power running operation of the turning electric motor 21
- the electric power required by the turning electric motor 21 is supplied from the power storage device 120 to the turning electric motor 21.
- the turning electric motor 21 is performing a regenerative operation
- the electric power generated by the turning electric motor 21 is stored in the capacitor 19 of the power storage device 120.
- the charge / discharge control of the capacitor 19 of the power storage device 120 is performed in the charged state of the capacitor 19, the operating state of the motor generator 12 (powering operation or regenerative operation), and the operating state of the turning motor 21 (powering operation or regenerative operation). Based on the controller 30.
- the controller 30 is a control device that performs drive control of the excavator, and includes a drive control device 32, an electric turning control device 40, a main control unit 60, and a capacitance calculation unit 154.
- the controller 30 includes a processing unit including a CPU (Central Processing Unit) and an internal memory.
- the drive control device 32, the electric turning control device 40, and the main control unit 60 are realized by the CPU of the controller 30 executing a drive control program stored in an internal memory.
- the speed command conversion unit 31 is an arithmetic processing unit that converts a signal input from the pressure sensor 29 into a speed command. Thereby, the operation amount of the lever 26A is converted into a speed command (rad / s) for rotating the turning electric motor 21.
- the speed command is input to the drive control device 32, the electric turning control device 40, and the main control unit 60.
- the drive control device 32 performs operation control of the motor generator 12 (switching between power running operation or regenerative operation) and charge / discharge control of the capacitor 19.
- the drive control device 32 switches between the power running operation and the regenerative operation of the motor generator 12 according to the load state of the engine 11 and the charge state of the capacitor 19.
- the drive control device 32 performs charge / discharge control of the capacitor 19 via the inverter 18 by switching between the power running operation and the regenerative operation of the motor generator 12.
- FIG. 3 is a circuit diagram of the power storage device 120.
- the power storage device 120 includes a capacitor 19 as a power storage, a buck-boost 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 detector 112 for detecting a capacitor voltage value and a capacitor current detector 113 for detecting a capacitor current value.
- the capacitor voltage value and the capacitor current 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 to switch 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 and the turning electric motor 21.
- the DC bus 110 is disposed between the inverters 18 and 20 and the step-up / down converter 100, and transfers power between the capacitor 19, the motor generator 12, and the turning electric motor 21.
- 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 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 device 120 via the inverter 18 and then supplied to the capacitor 19 via the buck-boost 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 then supplied to the capacitor 19 via the buck-boost converter 100.
- the buck-boost 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 inverter 105, and a pair. And a smoothing capacitor 107 inserted in parallel with the output terminal 106.
- the output terminal 106 of the buck-boost converter 100 and the inverters 18 and 20 are connected by a DC bus 110.
- 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.
- Capacitor 19 may be a chargeable / dischargeable capacitor so that power can be exchanged with DC bus 110 via buck-boost converter 100.
- 3 shows a capacitor 19 as a capacitor.
- a rechargeable secondary battery 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 connection terminal 104 and the output terminal 106 are terminals to which the capacitor 19 and the inverters 18A and 20 can be connected.
- 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 for smoothing the DC bus voltage, and is inserted between the positive terminal and the negative terminal of the output terminal 106. The voltage on the DC bus 110 is maintained at a predetermined voltage by the smoothing capacitor 107.
- the capacitor current detection unit 113 is a detector that detects 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 117 is a detector that detects 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 117 detects the current value I2 flowing through the negative electrode 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.
- the relay 130-1 is provided on the power supply line 114 that connects the positive terminal of the capacitor 19 to the power supply connection terminal 104 of the buck-boost converter 100.
- the relay 130-1 is a circuit breaker that can cut off the power supply line 114.
- 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 actuated by a signal from the controller 30 and can cut off the power supply line 114 from the capacitor 19. As a result, the capacitor 19 can be disconnected from the step-up / down converter 100.
- a relay 130-2 is provided on the power supply line 117 that connects the negative terminal of the capacitor 19 to the power supply connection terminal 104 of the buck-boost converter 100.
- the relay 130-2 is a circuit breaker capable of interrupting the power supply line 117.
- 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 actuated by a signal from the controller 30 and can cut off the power supply line 117 from the capacitor 19. As a result, the capacitor 19 can be disconnected from the step-up / down converter 100.
- the relays 130-1 and 130-2 may be a single relay, so that both the positive terminal side power line 114 and the negative terminal side power line 117 may be cut off simultaneously 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.
- FIG. 4 is a circuit diagram showing the configuration of the capacitor 19.
- the capacitor 19 as a capacitor is actually composed of n capacitor cells (hereinafter referred to as energy storage cells or simply cells) 19-1 to 19-n (n Is an integer of 2 or more) and a capacitor control circuit 140.
- the capacitor control circuit 140 has a capacitance measuring function for measuring the capacitance of each capacitor 19n and an equalizing function for equalizing the capacitance of each capacitor.
- all of the n cells 19-1 to 19-n are connected in series, but the cells connected in series are regarded as one group, and a plurality of groups are connected in parallel. It may be.
- all the cells 19-1 to 19-n may be collectively referred to as a cell 19-n, and each cell may be referred to as a cell 19-n for convenience.
- Both ends of each cell 19-n are connected to a voltage detector 152 in the capacitor control circuit 140.
- one of the electrodes of the cell 19-1 is connected to the voltage detection unit 152 by a wiring 144-1 and the other electrode is connected to the voltage detection unit 152 by a wiring 144-2.
- one of the electrodes of the cell 19-n is connected to the voltage detector 152 by a wiring 144-n, and the other electrode is connected to the voltage detector 152 by a wiring 144- (n + 1).
- the voltage detection unit 152 is connected to the capacitance calculation unit 154 of the controller 30 via the interface 142.
- a balancing FET (field effect transistor) 146-1 and a discharge resistor 148-1 are connected in series (in parallel to the cell 19-1).
- the The gate of the balancing FET 146-1 is connected to the voltage detection unit 152.
- a balancing FET (field effect transistor) 146-n and a discharge resistor 148-n are connected in series (for the cell 19-n). Connected in parallel).
- the gate of the balancing FET 146-n is connected to the voltage detection unit 152.
- FIG. 5 is a block diagram for explaining functions related to capacitance calculation.
- the capacitance is calculated by a voltage detector 152 that measures the voltage between the terminals of each cell 19-n and a capacitance calculator 154 that calculates the capacitance based on the voltage detected by the voltage detector 152. Done. As described above, the capacitance is a calculated value using the detected voltage and is an output of each storage cell.
- the voltage detection unit 152 detects the interelectrode voltage of each cell 19-n (hereinafter, the interelectrode voltage is referred to as cell voltage Vn), and the detected cell voltage of each cell 19-n.
- Vn is sent to the capacitance calculation unit 154 via the interface 142.
- the cell voltage V1 of the cell 19-1 can be detected as a voltage difference between the wiring 144-1 and the wiring 144-2.
- the cell electrode Vn of the cell 19-n can be detected as a voltage difference between the wiring 144-n and the wiring 144- (n + 1).
- the capacitance calculation unit 154 calculates the capacitance Cn of each cell based on the value of the cell voltage Vn of each cell 19n sent from the voltage detection unit 152 via the interface 142.
- the calculation of the capacitance Cn is performed as follows.
- the capacitance calculating unit 154 detects the cell voltage Vn0 of the cell 19-n for calculating the capacitance Cn at the time when the calculation of the capacitance Cn is started. Then, the capacitance calculating unit 154 sends a signal to the gate of the balancing FET 146-n to close (turn on) the balancing FET 146-n, thereby short-circuiting and discharging the cell 19-n. Since the discharge resistor 148-n is provided in the short circuit, the discharge current of the cell 19-n is a minute current. Therefore, the cell voltage Vn of the cell 19-n due to the discharge gradually decreases rather than suddenly.
- the capacitance Cn of the cell 19-n can be calculated by the following equation (1). That is, the capacitance can be used as an index for determining deterioration.
- the capacitance decreases and the internal resistance increases. If the capacitance and internal resistance vary between cells, the cell voltage tends to vary. Therefore, although the same current is applied, the voltage level is increased between the cells. As a result, the deteriorated cell is further deteriorated. For this reason, it is desirable to positively equalize the voltage of each cell in accordance with variation in cell deterioration.
- the degree of deterioration of each cell 19-n is determined based on the calculated current capacitance Cn of each cell 19-n, and the equalization circuit is applied only to necessary cells according to the degree of deterioration.
- the cell voltage is equalized by discharging the function.
- the cell voltage of each cell 19-n is managed by a cell monitoring unit (CMU: capacitor control circuit 140) provided in the capacitor 19.
- the CMU is provided for each cell 19-n and is managed by a battery management unit (BMU) that manages the capacitor 19.
- the BMU is provided in the excavator controller 30. Further, the BMU includes a capacitance calculation unit 154.
- the BMU and the CMU can always operate by receiving power supply from the capacitor 19 even when the excavator is not operating. However, in order to suppress the power consumption of the capacitor 19, the BMU and the CMU sleep when the excavator is not operating. It is set to be in a state.
- the capacitance calculation process is started when there is no input / output of current to the capacitor, for example, when the excavator is not operated by key-off. That is, the capacitance calculation process is performed in a state where no charge / discharge current flows through each cell 19-n of the capacitor 19.
- step S1 it is determined whether or not the temperature of all the cells 19-n is higher than the measurement start determination temperature td1 (step S1).
- step S17 information “impossible to measure” is stored in the memory of the BMU.
- step S1 determines whether or not the temperature of all the cells 19-n is higher than the measurement start determination temperature td1. If it is determined in step S1 that the temperature of all the cells 19-n is higher than the measurement start determination temperature td1, the process proceeds to step S2. In step S2, it is determined whether or not the difference between the maximum temperature and the minimum temperature among the temperatures of the cells 19-n is smaller than the temperature variation determination temperature range tr2.
- step S17 If the difference between the maximum temperature and the minimum temperature is not smaller than tr2, that is, if the difference between the maximum temperature and the minimum temperature is equal to or greater than the temperature variation determination temperature range tr2, there is a condition for performing the capacitance calculation process. If not, the process proceeds to step S17 (see FIG. 7).
- step S2 determines whether the difference between the maximum temperature and the minimum temperature is smaller than tr2. If it is determined in step S2 that the difference between the maximum temperature and the minimum temperature is smaller than tr2, the process proceeds to step S3.
- Whether or not the temperature of all the cells 19-n is higher than the measurement start determination temperature td1 in step 1 is based on the relationship between the cell capacitance and the measurement temperature as shown in FIG. In other words, the capacitance of the cell decreases as the cell temperature decreases, and in the region where the cell temperature is lower than the predetermined temperature, the capacitance change due to the temperature change is too large. Variations will increase. Therefore, in this embodiment, the measurement of the cell voltage is started in a state where the temperature of the cell is not so low, and the temperature is set as the measurement start determination temperature td1.
- the capacitance calculation error ⁇ F increases.
- the cell voltage measurement is started and the capacitance is calculated only when it is determined in step S2 that the temperature difference between the maximum temperature and the minimum temperature of the cell is smaller than the predetermined temperature difference range tr2. I try to do it. That is, the measurement of the cell voltage is started only when the temperatures of all the cells 19-n are within the predetermined temperature difference range tr2.
- step S3 the cell voltages of all the cells 19-n are detected. Subsequently, in step S4, it is determined whether or not the cell voltages of all the cells 19-n are higher than the measurement start determination cell voltage Vd1. If the cell voltages of all the cells 19-n are not higher than the measurement start determination cell voltage Vd1, that is, if one cell has a voltage less than the measurement start determination cell voltage Vd1, the condition for performing the capacitance calculation process is satisfied. If not, the process proceeds to step S17 (see FIG. 7).
- step S4 if it is determined in step S4 that the cell voltages of all the cells 19-n are higher than the measurement start determination cell voltage Vd1, the process proceeds to step S5.
- step S5 the cell voltage Vds for starting measurement and the cell voltage Vde for ending measurement are determined.
- the cell voltage Vds at which measurement is started is determined as the minimum cell voltage Vdmin of all cells.
- step S6 a cell voltage measurement (detection) is started by sending a signal to the gates of the balancing FETs 146-n of all the cells 19-n and closing (turning on) the balancing FETs 146-n. .
- step S7 it is determined whether or not the elapsed time ⁇ Td from when the balancing FET 146-n is turned on is equal to or shorter than the time Td1 until the cell voltage measurement is started.
- the elapsed time ⁇ Td from when the balancing FET 146-n is turned on is not shorter than the time Td1 until the measurement of the cell voltage is started, that is, the elapsed time ⁇ Td from when the balancing FET 146-n is turned on is the cell voltage measurement. If it is longer than the time Td1 until the start of the process, the process proceeds to step S18 (see FIG. 7), assuming that the condition for performing the capacitance calculation process is not satisfied. In step S18, the balancing FETs 146-n of all the cells 19-n are turned off. Subsequently, in step S19, information “impossible to measure” is stored in the memory of the BMU.
- step S7 if it is determined in step S7 that the elapsed time ⁇ Td from when the balancing FET 146-n is turned on is equal to or less than the time Td1 until the measurement of the cell voltage is started, the cells sequentially determined as Td1 or less are sequentially Proceed to step S8.
- step S8 it is determined for each cell 19-n whether or not the cell voltage Vn of each cell 19-n is lower than the measurement start cell voltage Vds determined in step S5.
- step S8 the determination condition whether or not the cell voltage Vn of the cell 19-n is lower than the measurement start cell voltage Vds (Vn ⁇ Vds) is defined as a condition D1.
- step S8 If it is determined in step S8 that the cell voltage Vn of the cell 19-n is not lower than the measurement start cell voltage Vds, that is, if the cell voltage Vn of the cell 19-n is equal to or higher than the measurement start cell voltage Vds, the process proceeds to step S7. Returning to step S8, the cell voltage of the next cell 19-n is checked in step S8.
- step S8 determines whether the cell voltage Vn of the cell 19-n is lower than the measurement start cell voltage Vds. If it is determined in step S8 that the cell voltage Vn of the cell 19-n is lower than the measurement start cell voltage Vds, the process proceeds to step S9 sequentially from the cells determined to be lower than Vds. In step S9, the measurement of elapsed time is started for the cell in which the condition D1 in step S8 is satisfied. Thus, the determination from step S7 to step S9 is executed in each cell. For this reason, if it is determined in step S7 that one cell is longer than Td1, the process proceeds to step S19 even if the remaining other cells have reached step S9, and “measurement is impossible”. Is stored in the memory of the BMU.
- step S10 it is determined whether or not the elapsed time ⁇ Td is equal to or less than the time Td2 until the measurement is completed.
- the elapsed time ⁇ Td is a time from when the ON of the balancing FETs of all the cells 19-n is instructed until the measurement of the cell voltage is finished, and is a preset time.
- step S18 the balancing FETs 146-n for all the cells 19-n are turned off.
- step S19 information indicating that measurement is not possible is stored in the BMU memory.
- step S10 determines whether or not the cell voltage Vn of each cell 19-n is equal to or lower than the measurement end cell voltage Vde determined in step S5. This determination condition Vn ⁇ Vde? Is (condition D2).
- the process returns to step S10 and again It is determined whether the elapsed time ⁇ Td is equal to or less than the cell voltage measurement end time Td2.
- step S11 when it is determined in step S11 that the cell voltage Vn of each cell 19-n is equal to or lower than the measurement end cell voltage Vde determined in step S5, the cells determined to be equal to or lower than Vde are sequentially step S12 (FIG. Go to step 7).
- the cell voltage measurement is started when the cell voltages Vn of all the cells 19-n are equal to or higher than a predetermined voltage (Vds).
- Vds a predetermined voltage
- the cell voltage decrease rate is almost the same, so that a cell with a low cell voltage is higher than a cell with a high cell voltage. It becomes a small voltage quickly. If the cell voltage decreases too much, the deterioration of the cell is promoted. Therefore, even if the cell voltage is measured, the cell voltages of all the cells need to be maintained at a predetermined voltage or higher.
- this predetermined voltage is determined as the cell voltage Vde at which the measurement is terminated. That is, the measurement start cell voltage Vds is determined so that the cell voltage Vde at the end of measurement does not fall below the lower limit voltage when the cell having the lowest cell voltage is discharged for the measurement time ⁇ Td.
- step S12 the measurement of the cell voltage Vn for the cell 19-n in which (Condition D2) is satisfied is terminated.
- step S13 the capacitance Cn of the cell 19-n is calculated based on the measurement time tn for each cell, and the calculated value of the capacitance Cn is stored in the memory of the BMU.
- the calculation of the capacitance can be performed by the above equation (1). Or it is computable also by the following formula
- Cn ⁇ tn / ⁇ R ⁇ ln (Vde / Vds) ⁇ + Ic ⁇ tn / (Vds ⁇ Vde) (2)
- R is the discharge resistance ( ⁇ ) of the cell 19-n
- Ic is the current consumption (A) of the CMU.
- step S13 When the process of step S13 ends, the process proceeds to step S14. Note that the processing proceeds to step S14 even after the processing of step S17 and step S19 is completed.
- step S14 the maximum temperature, the minimum temperature, and the average temperature of the cells 19-n when the cell voltage measurement of all the cells 19-n is completed are calculated and stored in the memory of the BMU.
- step S15 the CMUs of all the cells 19-n are set in the sleep state, and in step S16, the BMUs are set in the sleep state. Therefore, when step S16 is completed, the processing by the BMU and CMU is temporarily stopped until the excavator is started.
- the capacitances of the plurality of cells 19-n can be calculated individually for each cell. For this reason, the degree of deterioration of the cell can be known based on the calculated capacitance, and the cell voltage can be positively balanced according to the variation in deterioration.
- the difference between the maximum value and the minimum value of the capacitance calculated for each cell is larger than a predetermined threshold value, it is determined that the capacitance of the cells of the plurality of cells 19-n has variation. Is done. If it is determined that there is a variation, an instruction to start balance is output from the controller 30.
- the determination of the presence or absence of variation may use an average value or the like instead of the difference between the maximum value and the minimum value of the capacitance.
- the equalization processing (balance processing) shown in FIG. 8 is performed at the timing when the shovel operation is restarted by key-on.
- step S20 in response to the key-on, the BMU receives a work request signal ON from the main control unit 60 of the shovel and sends the work request signal ON to the CMU.
- step S21 the BMU and the CMU shift from the sleep state to the operating state and start measuring the cell voltage.
- step S22 it is determined whether or not the balance start instruction signal is ON.
- the balance start instruction signal ON is a signal for performing a process of discharging each cell 19-n to a predetermined voltage by using an equalizing function.
- step S23 the cell voltage Vn of the cells 19-n is, whether or not the voltage Vg1 or more to forcibly turn ON the FET148-n for balance is determined. This determination condition is defined as condition G. If the cell voltage Vn is equal to or higher than the voltage Vg1 forcibly turning on the balancing FET 148-n, the process proceeds to step S24. In step S24, the balancing FET 148-n provided for the cell 19-n that satisfies the condition G is turned ON, and the cell 19-n is forcibly discharged to lower the cell voltage.
- step S23 if it is determined in step S23 that the condition G is not satisfied, the process proceeds to step S25.
- step S25 the balancing FET 148-n provided for 19-n determined as not satisfying the condition G is turned OFF so that the cell 19-n is not discharged. That is, when the cell voltage Vn is less than the voltage Vg1, the balancing FET 148-n of the cell 19-n is turned off.
- the equalization function works for the cell whose cell voltage is equal to or higher than the predetermined cell voltage Vg1, and the cell is forcibly discharged to reduce the interelectrode voltage (charge rate). .
- the equalization function does not work for cells whose cell voltage is lower than the cell voltage Vg1, and forced discharge is not performed.
- step S26 it is determined whether or not the cell voltage Vn of each cell 19-n is equal to or higher than the voltage Vf1 forcibly turning on the balancing FET 148-n.
- This determination condition is defined as condition F.
- the voltage Vf1 is set to a value higher than the voltage Vg1 used in step S23.
- the voltage Vg1 is within the voltage range during use and is set to a voltage smaller than the voltage Vf1.
- step S27 the balancing FET 148-n provided for the cell 19-n that satisfies the condition F is turned ON, and the cell 19-n is discharged.
- the balancing FET 148-n provided for the cell 19-n where the condition F is not satisfied is turned OFF, and the cell 19-n is not discharged.
- steps S26 to S28 Through the processing of steps S26 to S28, cells whose cell voltage Vn is equal to or higher than the preset voltage Vf1 are forcibly discharged and lowered to a predetermined cell voltage.
- step S24, S25, S27, and S28 When the processes of steps S24, S25, S27, and S28 are completed, the process returns to step S22. Further, when the key is turned off, the balance process is interrupted. Furthermore, if the present invention is used, the capacitance of each cell can be measured, so that the replacement time for each cell can be estimated. Furthermore, even when an abnormality occurs in the storage battery, abnormal cells can be individually identified, so that maintenance costs for replacement can be reduced.
- the information on the cell voltage is the latest voltage information when the excavator is stopped (key OFF), and includes the maximum value of the cell voltage, the minimum value of the cell voltage, the average value of the cell voltage, and the like.
- the information on the capacitance includes a capacitance value, a maximum cell temperature value, a minimum cell temperature value, an average cell temperature value, and the like.
- FIG. 11 is a block diagram showing the configuration of a drive system when the turning mechanism of the hybrid excavator shown in FIG. 2 is hydraulically driven.
- 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.
- each of the cells having a voltage of a predetermined value or higher in the battery can function as an equalization circuit by turning on and off the switching circuit, as in the above-described embodiment.
- the capacitance of the storage cell can be measured individually. Based on the measured capacitance, the equalization function can be applied to the cell only when necessary. Therefore, the electric power forcibly discharged by the equalizing function can be suppressed, and wasteful power consumption can be reduced.
- the present invention is applicable to an excavator provided with a capacitor as a driving power source.
Abstract
Description
ここで、R1はセル19-nの内部抵抗であり、R2は放電抵抗148-nの内部抵抗である。ただし、R1<<R2のため、R1を無視すると、以下の式(1)が導き出される。
算出したセル19-nの静電容量Cnを、予め求められているセル19-nの初期静電容量Cn0(セル19-nが使用される前の静電容量)と比較することで、現在のセル19-nがどの程度劣化しているかを判定することができる。
Ic×tn/(Vds-Vde) ・・・(2)
ここで、Rはセル19-nの放電抵抗(Ω)であり、IcはCMUの消費電流(A)である。
1A、1B 油圧モータ
2 旋回機構
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
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
18,20 インバータ
19 キャパシタ
19-n セル
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
31 速度指令変換部
32 駆動制御装置
40 電動旋回制御装置
60 主制御部
101 リアクトル
102A 昇圧用IGBT
102B 降圧用IGBT
103 電源接続端子
104 出力端子
105 コンデンサ
106 バッテリ電圧検出部
107 バッテリ電流検出部
110 DCバス
111 DCバス電圧検出部
120 蓄電装置
140 キャパシタ制御回路
142 インタフェース
144-1~144-(n+1) 配線
146-1~146-n バランス用FET
148-1~148-n 放電抵抗
152 電圧検出部
154 静電容量算出部
Claims (14)
- 下部走行体と、
該下部走行体の上で旋回動作を行う上部旋回体と、
該上部旋回体に一端が回動自在に取り付けられたブームと、
該ブームの他端に一端が回動自在に取り付けられたアームと、
該アームの他端に回動自在に取り付けられた作業要素と、
前記上部旋回体に搭載され、駆動力を発生するエンジンと、
前記上部旋回体に搭載され、前記エンジンから伝達された駆動力で発電動作を行う発電機と、
前記上部旋回体に搭載され、前記発電機で発電された電力が蓄積される複数の蓄電セルを有する蓄電器と、
各蓄電セルに対して設けられ、放電抵抗と開閉回路とを備えた均等化回路と、
前記各蓄電セルの出力にばらつきがある場合に、該均等化回路を機能させるショベル。 - 請求項1記載のショベルであって、
前記均等化回路は、電圧が所定値以上の蓄電セルに対して機能されるショベル。 - 請求項1又は2記載のショベルであって、
前記開閉回路のON、OFFにより前記均等化回路を機能させることにより、各蓄電セルの静電容量を出力として算出する静電容量算出部を有するショベル。 - 請求項3記載のショベルであって、
各蓄電セルの電極間電圧を計測する電圧検出部をさらに有し、
前記静電容量算出部は、電極間電圧を計測する時間を計測する計時部を備えるとともに、前記蓄電セルの各々を前記放電抵抗を介して放電させたときに所定の電圧降下が得られたときの時間に基づいて、各蓄電セルの静電容量を算出するショベル。 - 請求項4記載のショベルであって、
前記電圧検出部は、前記蓄電器への電流の入出力が無い状態で、各蓄電セルの電圧の計測を行なうショベル。 - 請求項1乃至5のうちいずれか一項記載のショベルであって、
全ての前記蓄電セルの温度が所定温度より高いか否か判定し、判定結果に基づいて前記蓄電セルの静電容量を算出する処理に移行するショベル。 - 請求項6記載のショベルであって、
全ての前記蓄電セルの温度が所定温度より高い場合に、前記蓄電セルの最大温度と最小温度との温度差を算出し、算出した温度差に基づいて前記蓄電セルの静電容量を算出する処理に移行するショベル。 - 請求項7記載のショベルであって、
全ての前記蓄電セルの電圧が所定電圧より高いか否か判定し、判定結果に基づいて前記蓄電セルの静電容量を算出する処理に移行するショベル。 - 下部走行体と、
該下部走行体の上で旋回動作を行う上部旋回体と、
該上部旋回体に一端が回動自在に取り付けられたブームと、
該ブームの他端に一端が回動自在に取り付けられたアームと、
該アームの他端に回動自在に取り付けられた作業要素と、
前記上部旋回体に搭載され、駆動力を発生するエンジンと、
前記上部旋回体に搭載され、前記エンジンから伝達された駆動力で発電動作を行う発電機と、
前記上部旋回体に搭載され、前記発電機で発電された電力が蓄積される複数の蓄電セルを有する蓄電器と、
各蓄電セルに対して設けられ、放電抵抗と開閉回路とを備えた均等化回路と
を有するショベルの制御方法であって、
前記各蓄電セルの出力のばらつきを判定し、
ばらつきがある場合に該均等化回路を機能させる
ショベルの制御方法。 - 請求項9記載のショベルの制御方法であって、
電圧が所定値以上の蓄電セルに対して前記均等化回路を機能せるショベルの制御方法。 - 請求項9又は10記載のショベルの制御方法であって、
前記蓄電器への電流の入出力が無い状態で、各蓄電セルの電圧の計測を行なうショベルの制御方法。 - 請求項9乃至11のうちいずれか一項記載のショベルの制御方法であって、
全ての前記蓄電セルの温度が所定温度より高いか否か判定し、判定結果に基づいて前記蓄電セルの静電容量を算出する処理に移行するショベルの制御方法。 - 請求項12記載のショベルの制御方法であって、
全ての前記蓄電セルの温度が所定温度より高い場合に、前記蓄電セルの最大温度と最小温度との温度差を算出し、算出した温度差に基づいて前記蓄電セルの静電容量を算出する処理に移行するショベルの制御方法。 - 請求項13記載のショベルの制御方法であって、
全ての前記蓄電セルの電圧が所定電圧より高いか否か判定し、判定結果に基づいて前記蓄電セルの静電容量を出力として算出する処理に移行するショベルの制御方法。
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US (1) | US9548615B2 (ja) |
EP (1) | EP2816705B1 (ja) |
JP (1) | JP5944980B2 (ja) |
KR (1) | KR101888044B1 (ja) |
CN (1) | CN104115366B (ja) |
WO (1) | WO2013121916A1 (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2765243A1 (en) * | 2013-02-08 | 2014-08-13 | Sumitomo (S.H.I.) Construction Machinery Co., Ltd. | Shovel and method of controlling shovel |
JP2014187734A (ja) * | 2013-03-21 | 2014-10-02 | Sumitomo (Shi) Construction Machinery Co Ltd | ショベル |
WO2015072061A1 (ja) * | 2013-11-13 | 2015-05-21 | パナソニックIpマネジメント株式会社 | 均等化処理装置 |
JP2015163754A (ja) * | 2014-02-28 | 2015-09-10 | 住友建機株式会社 | ショベル |
CN110015175A (zh) * | 2017-08-31 | 2019-07-16 | 比亚迪股份有限公司 | 电池均衡方法、系统、车辆、存储介质及电子设备 |
WO2020066211A1 (ja) * | 2018-09-25 | 2020-04-02 | 日立建機株式会社 | 蓄電システム、蓄電管理システム、およびハイブリッド式建設機械 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3392415B1 (en) * | 2015-12-18 | 2023-07-12 | Sumitomo Heavy Industries, Ltd. | Shovel and control method for same |
JP7452273B2 (ja) * | 2020-06-12 | 2024-03-19 | トヨタ自動車株式会社 | 電池システム |
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- 2013-02-04 WO PCT/JP2013/052508 patent/WO2013121916A1/ja active Application Filing
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Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2765243A1 (en) * | 2013-02-08 | 2014-08-13 | Sumitomo (S.H.I.) Construction Machinery Co., Ltd. | Shovel and method of controlling shovel |
US9290904B2 (en) | 2013-02-08 | 2016-03-22 | Sumitomo(S.H.I.) Construction Machinery Co., Ltd. | Shovel and method of controlling shovel |
JP2014187734A (ja) * | 2013-03-21 | 2014-10-02 | Sumitomo (Shi) Construction Machinery Co Ltd | ショベル |
US9979210B2 (en) | 2013-11-13 | 2018-05-22 | Panasonic Intellectual Property Management Co., Ltd. | Equalizing apparatus |
WO2015072061A1 (ja) * | 2013-11-13 | 2015-05-21 | パナソニックIpマネジメント株式会社 | 均等化処理装置 |
CN105706330A (zh) * | 2013-11-13 | 2016-06-22 | 松下知识产权经营株式会社 | 均等化处理装置 |
JPWO2015072061A1 (ja) * | 2013-11-13 | 2017-03-16 | パナソニックIpマネジメント株式会社 | 均等化処理装置 |
JP2015163754A (ja) * | 2014-02-28 | 2015-09-10 | 住友建機株式会社 | ショベル |
CN110015175A (zh) * | 2017-08-31 | 2019-07-16 | 比亚迪股份有限公司 | 电池均衡方法、系统、车辆、存储介质及电子设备 |
CN110015175B (zh) * | 2017-08-31 | 2021-09-03 | 比亚迪股份有限公司 | 电池均衡方法、系统、车辆、存储介质及电子设备 |
WO2020066211A1 (ja) * | 2018-09-25 | 2020-04-02 | 日立建機株式会社 | 蓄電システム、蓄電管理システム、およびハイブリッド式建設機械 |
JP2020054056A (ja) * | 2018-09-25 | 2020-04-02 | 日立建機株式会社 | 蓄電システム、蓄電管理システム、およびハイブリッド式建設機械 |
JP7105665B2 (ja) | 2018-09-25 | 2022-07-25 | 日立建機株式会社 | 建設機械 |
Also Published As
Publication number | Publication date |
---|---|
US9548615B2 (en) | 2017-01-17 |
KR20140126709A (ko) | 2014-10-31 |
JPWO2013121916A1 (ja) | 2015-05-11 |
CN104115366A (zh) | 2014-10-22 |
KR101888044B1 (ko) | 2018-08-13 |
EP2816705A1 (en) | 2014-12-24 |
EP2816705A4 (en) | 2015-03-25 |
EP2816705B1 (en) | 2018-07-25 |
JP5944980B2 (ja) | 2016-07-05 |
CN104115366B (zh) | 2017-07-04 |
US20140346775A1 (en) | 2014-11-27 |
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