WO2014171557A1 - ハイブリッド作業機械及びハイブリッド作業機械の制御方法 - Google Patents
ハイブリッド作業機械及びハイブリッド作業機械の制御方法 Download PDFInfo
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- WO2014171557A1 WO2014171557A1 PCT/JP2014/063869 JP2014063869W WO2014171557A1 WO 2014171557 A1 WO2014171557 A1 WO 2014171557A1 JP 2014063869 W JP2014063869 W JP 2014063869W WO 2014171557 A1 WO2014171557 A1 WO 2014171557A1
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- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/08—Prime-movers comprising combustion engines and mechanical or fluid energy storing means
- B60K6/12—Prime-movers comprising combustion engines and mechanical or fluid energy storing means by means of a chargeable fluidic accumulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/28—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the electric energy storing means, e.g. batteries or capacitors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
- B60K6/485—Motor-assist type
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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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries 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
- 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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- 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
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
- H02J7/1438—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle in combination with power supplies for loads other than 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
- H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
- H02J7/1469—Regulation of the charging current or voltage otherwise than by variation of field
- H02J7/1492—Regulation of the charging current or voltage otherwise than by variation of field by means of controlling devices between the generator output and the battery
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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
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
- H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
- H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/22—Conversion of dc power input into dc power output with intermediate conversion into ac
- H02M3/24—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters
- H02M3/28—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac
- H02M3/325—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal
- H02M3/335—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/33569—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements
- H02M3/33576—Conversion of dc power input into dc power output with intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate ac using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements having at least one active switching element at the secondary side of an isolation transformer
- H02M3/33584—Bidirectional converters
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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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
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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
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/11—Electric energy storages
- B60Y2400/114—Super-capacities
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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
- H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
- H02J2310/40—The network being an on-board power network, i.e. within a vehicle
- H02J2310/48—The network being an on-board power network, i.e. within a vehicle for electric vehicles [EV] or hybrid vehicles [HEV]
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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
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/904—Component specially adapted for hev
- Y10S903/906—Motor or generator
Definitions
- the present invention relates to a hybrid work machine including an internal combustion engine, a generator motor, a capacitor, and an electric motor driven by receiving power from at least one of the generator motor and the capacitor, and a control method thereof.
- a hybrid work machine in which a generator motor is driven by an engine, and the work machine is operated by driving the motor with electric power generated by the generator motor.
- the hybrid work machine is, for example, provided with a booster between a generator motor and an electric motor and a capacitor or a battery or the like, and exchanges electric power between the generator motor or the motor and the capacitor via the booster.
- Patent Document 1 describes a technique in which a voltage of a battery is transformed by a DC-DC converter and supplied to an inverter that drives an electric motor.
- An object of the present invention is to suppress loss of a booster in a hybrid work machine when both a generator motor and an electric motor have servo control turned off.
- the present invention relates to a generator motor connected to a drive shaft of an internal combustion engine, a capacitor that stores at least the power generated by the generator motor, and at least one of the power generated by the generator motor and the power stored in the capacitor.
- Servo control for both the generator motor and the motor, and a booster provided between the motor to be driven and two sets of bridge circuits having a plurality of switching elements and provided between the generator motor and the motor and the accumulator
- the two sets of bridge circuits are coupled by a transformer, and the booster control unit, when the value obtained by multiplying the voltage output from the capacitor by K is greater than or equal to a predetermined threshold during the standby time, It is preferable to control the phase difference so that a difference between a voltage value output from the booster and the predetermined threshold becomes zero.
- K is the step-up ratio of the transformer.
- the present invention provides at least one of a generator motor connected to an output shaft of an internal combustion engine, a capacitor that stores power generated by the generator motor, power generated by the generator motor, and power stored in the capacitor.
- a transformer-coupled DC-DC converter in which a motor to be driven and two sets of bridge circuits having a plurality of switching elements are coupled by a transformer, and a booster provided between the generator motor and the motor and the accumulator
- K is a step-up ratio of a transformer that couples two sets of bridge circuits included in the booster.
- the present invention relates to a generator motor connected to a drive shaft of an internal combustion engine, a capacitor that stores at least the power generated by the generator motor, and at least one of the power generated by the generator motor and the power stored in the capacitor.
- a hybrid work machine including two motors to be driven and two bridge circuits having a plurality of switching elements, and including the generator motor and a booster provided between the motor and the battery, A procedure for determining the state of the generator motor and the motor, and a procedure for setting the phase difference between the voltages output by the respective bridge circuits to zero when servo control for both the generator motor and the motor is OFF, and A control method for a hybrid work machine.
- the two sets of bridge circuits are coupled by a transformer, and when the servo control for both the generator motor and the motor is OFF, a value obtained by multiplying the voltage output by the capacitor by K is a predetermined threshold value or more.
- the phase difference is controlled so that a difference between a voltage value output from the booster and the predetermined threshold value becomes zero.
- K is the step-up ratio of the transformer.
- the present invention can suppress the loss of the booster in the hybrid work machine when both the generator motor and the motor are in the servo control OFF state.
- FIG. 1 is a perspective view showing a hybrid excavator as an example of a hybrid work machine.
- FIG. 2 is a block diagram showing a device configuration of the hybrid excavator shown in FIG.
- FIG. 3 is a diagram showing a transformer coupled booster as a booster.
- FIG. 4 is a diagram for explaining the operation of the booster.
- FIG. 5 is a diagram showing the relationship between the output power of the booster and the phase difference.
- FIG. 6 is a diagram illustrating a booster control unit and a booster included in the hybrid controller.
- FIG. 7 is a flowchart showing the procedure of the control method for the hybrid work machine according to the present embodiment.
- FIG. 1 is a perspective view showing a hybrid excavator 1 which is an example of a hybrid work machine.
- FIG. 2 is a block diagram showing a device configuration of the hybrid excavator 1 shown in FIG.
- the concept of a simple work machine that is not a hybrid includes a construction machine such as a hydraulic excavator, a bulldozer, a dump truck, or a wheel loader, and the construction machine having a configuration unique to the hybrid is referred to as a hybrid work machine.
- a hybrid hydraulic excavator 1 as a hybrid work machine includes a vehicle main body 2 and a work implement 3.
- the vehicle main body 2 includes a lower traveling body 4 and an upper swing body 5.
- the lower traveling body 4 has a pair of traveling devices 4a.
- Each traveling device 4a has a crawler belt 4b.
- Each traveling device 4a is configured to drive the crawler belt 4b by the rotational drive of the right traveling hydraulic motor 34 and the left traveling hydraulic motor 35 shown in FIG.
- the upper swing body 5 is provided on the upper part of the lower traveling body 4.
- the upper turning body 5 turns with respect to the lower traveling body 4.
- the upper swing body 5 includes a swing motor 23 as an electric motor in order to rotate itself.
- the turning motor 23 is connected to a drive shaft of a swing machinery 24 (reduction gear).
- the rotational force of the swing motor 23 is transmitted through the swing machinery 24, and the transmitted rotational force is transmitted to the upper swing body 5 through a swing pinion, a swing circle, and the like (not shown), thereby turning the upper swing body 5.
- the upper slewing body 5 is provided with a cab 6.
- the upper swing body 5 includes a fuel tank 7, a hydraulic oil tank 8, an engine room 9, and a counterweight 10.
- the fuel tank 7 stores fuel for driving an engine 17 as an internal combustion engine.
- the hydraulic oil tank 8 includes a hydraulic cylinder such as a boom hydraulic cylinder 14, an arm hydraulic cylinder 15 and a bucket hydraulic cylinder 16, and a hydraulic motor (hydraulic actuator) such as a right traveling hydraulic motor 34 and a left traveling hydraulic motor 35.
- the hydraulic oil discharged from the hydraulic pump 18 is stored in the hydraulic equipment.
- the engine room 9 houses various devices such as an engine 17, a hydraulic pump 18, a generator motor 19, and a capacitor 25 as a capacitor.
- the counterweight 10 is disposed behind the engine chamber 9.
- the work implement 3 is attached to the front center position of the upper swing body 5 and includes a boom 11, an arm 12, a bucket 13, a boom hydraulic cylinder 14, an arm hydraulic cylinder 15, and a bucket hydraulic cylinder 16.
- the base end portion of the boom 11 is connected to the upper swing body 5 so as to be swingable. Further, the distal end portion of the boom 11 opposite to the proximal end portion is rotatably connected to the proximal end portion of the arm 12.
- a bucket 13 is rotatably connected to a distal end portion on the opposite side of the base end portion of the arm 12. The bucket 13 is connected to the bucket hydraulic cylinder 16 via a link.
- the boom hydraulic cylinder 14, the arm hydraulic cylinder 15, and the bucket hydraulic cylinder 16 are hydraulic cylinders (hydraulic actuators) that extend and contract with hydraulic fluid discharged from the hydraulic pump 18.
- the boom hydraulic cylinder 14 swings the boom 11.
- the arm hydraulic cylinder 15 swings the arm 12.
- the bucket hydraulic cylinder 16 swings the bucket 13.
- the hybrid excavator 1 includes an engine 17, a hydraulic pump 18, and a generator motor 19 as drive sources.
- a diesel engine is used as the engine 17, and a variable displacement hydraulic pump is used as the hydraulic pump 18.
- the hydraulic pump 18 is, for example, a swash plate type hydraulic pump that changes the pump capacity by changing the tilt angle of the swash plate 18a, but is not limited thereto.
- the engine 17 includes a rotation sensor 41 for detecting the rotation speed (the number of rotations per unit time) of the engine 17.
- a signal indicating the rotation speed (engine rotation speed) of the engine 17 detected by the rotation sensor 41 is input to the hybrid controller C2.
- the rotation sensor 41 operates by receiving electric power from a battery (not shown), and detects the engine rotation speed of the engine 17 as long as a key switch 31 described later is operated to an on (ON) or start (ST) position.
- the hydraulic pump 18 and the generator motor 19 are mechanically connected to the drive shaft 20 of the engine 17, and the hydraulic pump 18 and the generator motor 19 are driven when the engine 17 is driven.
- the hydraulic drive system includes an operation valve 33, a boom hydraulic cylinder 14, an arm hydraulic cylinder 15, a bucket hydraulic cylinder 16, a right traveling hydraulic motor 34, a left traveling hydraulic motor 35, and the like. These hydraulic devices are driven as a hydraulic oil supply source to the hydraulic drive system.
- the operation valve 33 is a flow direction control valve, moves a spool (not shown) according to the operation direction of the operation lever 32, regulates the flow direction of hydraulic oil to each hydraulic actuator, and controls the operation amount of the operation lever 32.
- PTO Power Take Off
- the electric drive system includes a first inverter 21 connected to the generator motor 19 via a power cable, a second inverter 22 connected to the first inverter 21 via a wiring harness, the first inverter 21 and the second inverter. 22, a booster 26 provided via a wiring harness, a capacitor 25 connected to the booster 26 via a contactor 27 (electromagnetic contactor), and a second inverter 22 connected via a power cable. Rotation motor 23 and the like. Note that the contactor 27 is normally energized by closing the electric circuit of the capacitor 25 and the booster 26.
- the hybrid controller C2 determines that it is necessary to open an electric circuit due to leakage detection or the like, and when the hybrid controller C2 makes a determination, the hybrid controller C2 switches the state in which the contactor 27 can be energized to the disconnected state. An instruction signal is output. Then, the contactor 27 receiving the instruction signal from the hybrid controller C2 opens the electric circuit.
- the turning motor 23 is mechanically coupled to the swing machinery 24 as described above. At least one of the electric power generated by the generator motor 19 and the electric power stored in the capacitor 25 is electric power for driving the turning motor 23.
- the turning motor 23 is driven by power supplied from at least one of the generator motor 19 and the capacitor 25 to perform a power running operation, thereby turning the upper turning body 5. Further, the turning motor 23 performs a regenerative operation when the upper revolving structure 5 turns and decelerates, and supplies (charges) electric power (regenerative energy) generated by the regenerative operation to the capacitor 25.
- the turning motor 23 is provided with a rotation sensor 55 that detects the rotation speed of the turning motor 23 (the turning motor rotation speed).
- the rotation sensor 55 can measure the rotation speed of the turning motor 23 during a power running operation (turning acceleration) or a regenerative operation (turning deceleration).
- a signal indicating the rotation speed measured by the rotation sensor 55 is input to the hybrid controller C2.
- a resolver can be used as the rotation sensor 55.
- the generator motor 19 supplies (charges) the generated power to the capacitor 25 and supplies power to the turning motor 23 according to the situation.
- the generator motor 19 functions as a motor when the output of the engine 17 is insufficient, and assists the output of the engine 17.
- an SR (switched reluctance) motor is used as the generator motor 19. Note that even if a synchronous motor using a permanent magnet is used instead of the SR motor, the power can be supplied to at least one of the capacitor 25 and the turning motor 23.
- the SR motor is effective in terms of cost because it does not use a magnet containing an expensive rare metal.
- the generator motor 19 has a rotor shaft that is mechanically coupled to a drive shaft 20 of the engine 17.
- the generator motor 19 generates power by rotating the rotor shaft of the generator motor 19 by driving the engine 17.
- a rotation sensor 54 is attached to the rotor shaft of the generator motor 19.
- the rotation sensor 54 measures the rotation speed of the generator motor 19, and a signal indicating the rotation speed measured by the rotation sensor 54 is input to the hybrid controller C2.
- a resolver can be used as the rotation sensor 54.
- the booster 26 is provided between the generator motor 19 and the turning motor 23 and the capacitor 25.
- the booster 26 boosts the voltage of electric power (charge stored in the capacitor 25) supplied to the generator motor 19 or the swing motor 23 via the first inverter 21 or the second inverter 22.
- the boosted voltage is applied to the turning motor 23 when the turning motor 23 performs a power running operation (turning acceleration), and is applied to the generator motor 19 when assisting the output of the engine 17.
- the booster 26 also has a role of lowering (decreasing) the voltage when the capacitor 25 is charged with the electric power generated by the generator motor 19 or the swing motor 23.
- the magnitude of the voltage boosted by the booster 26 or the magnitude of the voltage of the electric power generated by the regeneration of the swing motor 23 is measured.
- a booster voltage detection sensor 53 is attached.
- a signal indicating the voltage measured by the booster voltage detection sensor 53 is input to the hybrid controller C2.
- the booster 26 has a function of boosting or stepping down the input DC power and outputting it as DC power. If it has such a function, the kind of booster 26 will not be specifically limited.
- a booster called a transformer-coupled booster in which a transformer and two inverters are combined is used for the booster 26.
- An example of such a booster is an AC link bidirectional DC-DC converter.
- a transformer coupled booster will be briefly described.
- FIG. 3 is a diagram showing a transformer coupled booster as a booster.
- the 1st inverter 21 and the 2nd inverter 22 are connected via the positive electrode line 60 and the negative electrode line 61 as a wiring harness.
- the booster 26 is connected between the positive electrode line 60 and the negative electrode line 61.
- the booster 26 is an AC (Alternating Current) link between a low voltage side inverter 62 that is a primary side inverter as two inverters and a high voltage side inverter 63 that is a secondary side inverter by a transformer 64 and coupled.
- the booster 26 is a transformer coupled booster.
- the winding ratio between the low voltage side coil 65 and the high voltage side coil 66 of the transformer 64 is set to 1: 1.
- the low-voltage side inverter 62 and the high-voltage side inverter 63 are electrically connected in series so that the positive electrode of the low-voltage side inverter 62 and the negative electrode of the high-voltage side inverter 63 have a positive polarity. That is, the booster 26 is connected in parallel so as to have the same polarity as the first inverter 21.
- the low voltage side inverter 62 is a bridge circuit having IGBTs (Insulated Gate Bipolar Transistors) 71, 72, 73, 74 as a plurality of switching elements.
- the low voltage side inverter 62 is connected in parallel to the four IGBTs 71, 72, 73, 74 bridged to the low voltage side coil 65 of the transformer 64, and the IGBTs 71, 72, 73, 74, respectively, with the polarity reversed.
- Diodes 75, 76, 77 and 78 Diodes 75, 76, 77 and 78.
- the bridge connection here refers to a configuration in which one end of the low voltage side coil 65 is connected to the emitter of the IGBT 71 and the collector of the IGBT 72 and the other end is connected to the emitter of the IGBT 73 and the collector of the IGBT 74.
- the IGBTs 71, 72, 73, and 74 are turned on when a switching signal is applied to their gates, and current flows from the collector to the emitter.
- the positive terminal 25 a of the capacitor 25 is electrically connected to the collector of the IGBT 71 through the positive line 91.
- the emitter of the IGBT 71 is electrically connected to the collector of the IGBT 72.
- the emitter of the IGBT 72 is electrically connected to the negative terminal 25 b of the capacitor 25 through the negative line 92.
- the negative electrode line 92 is connected to the negative electrode line 61.
- the positive terminal 25 a of the capacitor 25 is electrically connected to the collector of the IGBT 73 through the positive line 91.
- the emitter of the IGBT 73 is electrically connected to the collector of the IGBT 74.
- the emitter of the IGBT 74 is electrically connected to the capacitor 25 negative terminal 25 b through the negative line 92.
- the emitter of the IGBT 71 (the anode of the diode 75) and the collector of the IGBT 72 (the cathode of the diode 76) are connected to one terminal of the low voltage side coil 65 of the transformer 64, and the emitter of the IGBT 73 (the anode of the diode 77) and the IGBT 74.
- the collector (the cathode of the diode 78) is connected to the other terminal of the low voltage side coil 65 of the transformer 64.
- the high voltage side inverter 63 is a bridge circuit having IGBTs 81, 82, 83, 84 as a plurality of switching elements.
- the high-voltage side inverter 63 is connected in parallel to the four IGBTs 81, 82, 83, and 84 that are bridge-connected to the high-voltage side coil 66 of the transformer 64 and the IGBTs 81, 82, 83, and 84, and the polarity is reversed.
- Diodes 85, 86, 87 and 88 Diodes 85, 86, 87 and 88.
- the bridge connection here refers to a configuration in which one end of the high voltage side coil 66 is connected to the emitter of the IGBT 81 and the collector of the IGBT 82 and the other end is connected to the emitter of the IGBT 83 and the collector of the IGBT 84.
- the IGBTs 81, 82, 83, and 84 are turned on when a switching signal is applied to their gates, and current flows from the collector to the emitter.
- the booster 26 has two sets of bridge circuits, that is, the low-voltage side inverter 62 and the high-voltage side inverter 63.
- the collectors of the IGBTs 81 and 83 are electrically connected to the positive electrode line 60 of the first inverter 21 via the positive electrode line 93.
- the emitter of the IGBT 81 is electrically connected to the collector of the IGBT 82.
- the emitter of the IGBT 83 is electrically connected to the collector of the IGBT 84.
- the emitters of the IGBTs 82 and 84 are electrically connected to the positive electrode line 91, that is, the collectors of the IGBTs 71 and 73 of the low voltage side inverter 62.
- the emitter of the IGBT 81 (the anode of the diode 85) and the collector of the IGBT 82 (the cathode of the diode 86) are electrically connected to one terminal of the high voltage side coil 66 of the transformer 64, and the emitter of the IGBT 83 (the anode of the diode 87). ) And the collector of the IGBT 84 (the cathode of the diode 88) are electrically connected to the other terminal of the high voltage side coil 66 of the transformer 64.
- a capacitor 67 is electrically connected between the positive electrode line 91 to which the collectors of the IGBTs 71 and 73 are connected and the negative electrode line 92 to which the emitters of the IGBTs 72 and 74 are connected.
- a capacitor 68 is electrically connected between the positive electrode line 93 to which the collectors of the IGBTs 81 and 83 are connected and the positive electrode line 91 to which the emitters of the IGBTs 82 and 84 are connected.
- Capacitors 67 and 68 are for absorbing ripple current.
- the transformer 64 has a leakage inductance of a constant value L.
- the leakage inductance can be obtained by adjusting the gap between the low voltage side coil 65 and the high voltage side coil 66 of the transformer 64. In FIG. 3, it is divided so that L / 2 is on the low voltage side coil 65 side and L / 2 is on the high voltage side coil 66 side. Next, the operation of the booster 26 will be described.
- FIG. 4 is a diagram for explaining the operation of the booster.
- the voltages (output voltages) v1 and v2 output from the low-voltage inverter 62 and the high-voltage inverter 63 have a duty of 50%, that is, the ratio of the high signal to the low signal is 1: 1. It is a square wave.
- the output voltages v1 and v2 are both square waves with a cycle of 2 ⁇ T.
- the booster 26 adjusts the phase difference between the output voltage v1 of the low-voltage inverter 62 and the output voltage v2 of the high-voltage inverter 63, and outputs the power (output power) Po output from the booster 26 and the output voltage (output voltage). ) Adjust Vo.
- the output voltage of the booster 26 is a voltage (system voltage) of the electric drive system of the hybrid excavator 1.
- the phase difference D between the output voltage v1 and the output voltage v2 is expressed as in Expression (1).
- D T1 / T (1)
- the output power Po of the booster 26 is expressed by Expression (2).
- Vo is an output voltage of the booster 26
- V1 is a voltage of the capacitor 25
- ⁇ is an angular frequency
- ⁇ / T is an angular frequency
- L is a leakage inductance of the transformer 64.
- Po ⁇ ⁇ Vo ⁇ V1 ⁇ (DD ⁇ 2 ) / ( ⁇ ⁇ L) (2)
- the generator motor 19 and the turning motor 23 are torque-controlled by the first inverter 21 and the second inverter 22, respectively, under the control of the hybrid controller C2.
- an ammeter 52 is provided in the second inverter 22.
- a signal indicating the current detected by the ammeter 52 is input to the hybrid controller C2.
- the amount of electric power (charge amount or electric capacity) stored in the capacitor 25 can be managed using the magnitude of the voltage as an index.
- a capacitor voltage sensor 28 is provided at a predetermined output terminal of the capacitor 25.
- a signal indicating the voltage detected by the capacitor voltage sensor 28 is input to the hybrid controller C2.
- the hybrid controller C2 monitors the charge amount of the capacitor 25 (the amount of electric power (charge amount or electric capacity)) and supplies (charges) the electric power generated by the generator motor 19 to the capacitor 25 or supplies it to the turning motor 23. Execute energy management such as (power supply for powering action).
- the hybrid controller C2, more specifically, the booster controller C21 outputs the output voltage v1 of the low-voltage inverter 62 and the high-voltage inverter 63 so that the output voltage Vo of the booster 26 becomes a predetermined voltage. The phase difference from the output voltage v2 is adjusted.
- the capacitor 25 stores at least the power generated by the generator motor 19.
- the capacitor 25 stores the electric power generated by the regenerative operation of the turning motor 23 when the upper turning body 5 is turned and decelerated.
- the capacitor 25 is, for example, an electric double layer capacitor.
- a capacitor that functions as another secondary battery such as a lithium ion battery or a nickel metal hydride battery may be used.
- the turning motor 23 for example, a permanent magnet type synchronous motor is used, but is not limited thereto.
- the hydraulic drive system and the electric drive system are driven according to the operation of operation levers 32 such as a work machine lever, a travel lever, and a turning lever provided in the cab 6 provided in the vehicle body 2.
- operation levers 32 such as a work machine lever, a travel lever, and a turning lever provided in the cab 6 provided in the vehicle body 2.
- the operation lever 32 tilt lever
- the operation direction and operation amount of the swing lever are a potentiometer, a pilot pressure sensor, or the like.
- the detected operation amount is transmitted as an electric signal to the controller C1 and further to the hybrid controller C2.
- the controller C1 and the hybrid controller C2 can rotate the turning motor 23 (power running action or regenerative action), To control the transmission and reception of electric power (energy management) such as electric energy management (control for charging or discharging) and electric energy management of the generator motor 19 (power generation or engine output assist or power running action to the turning motor 23).
- energy management such as electric energy management (control for charging or discharging) and electric energy management of the generator motor 19 (power generation or engine output assist or power running action to the turning motor 23).
- the control of the second inverter 22, the booster 26 and the first inverter 21 is executed.
- the monitor device 30 includes a liquid crystal panel, operation buttons, and the like.
- the monitor device 30 may be a touch panel in which a display function of the liquid crystal panel and various information input functions of operation buttons are integrated.
- the monitor device 30 has a function of notifying an operator or a service person of information indicating the operation state of the hybrid excavator 1 (the state of the engine water temperature, the presence / absence of a failure of the hydraulic device, the state of the remaining amount of fuel, etc.).
- Is an information input / output device having a function of performing desired setting or instruction (engine output level setting, traveling speed speed level setting, etc. or capacitor charge removal instruction described later) to the hybrid excavator 1.
- the key switch 31 has a key cylinder as a main component.
- the key switch 31 inserts the key into the key cylinder and rotates the key to start a starter (engine starting motor) attached to the engine 17 to drive the engine 17 (engine start). Further, the key switch 31 issues a command to stop the engine (engine stop) by rotating the key in the direction opposite to the engine start while the engine is being driven.
- the so-called key switch 31 is command output means for outputting commands to various electric devices of the engine 17 and the hybrid excavator 1.
- the key switch 31 is not shown when the position when the key is rotated is off (OFF), and the power supply from the battery (not shown) to various electric devices is cut off.
- the key switch 31 is not shown.
- the starter can be started via the controller C1 to start the engine. Is. After the engine 17 is started, the key rotation position is in the on (ON) position while the engine 17 is being driven.
- a push button type key switch may be used instead of the key switch 31 having the key cylinder as a main component as described above. That is, when the engine 17 is stopped, pressing the button once turns it on (ON), and further pushing the button starts it (ST), and pressing the button while the engine 17 is running turns it off (OFF). ) May function.
- the engine 17 can be started from the off (OFF) to the start (ST) on condition that the engine 17 is stopped and the button is continuously pressed for a predetermined time. There may be.
- the controller C1 is a combination of a calculation device such as a CPU (Central Processing Unit) and a memory (storage device).
- the controller C1 includes an instruction signal output from the monitor device 30, an instruction signal output according to the key position of the key switch 31, and an instruction signal output according to the operation of the operation lever 32 (the above operation amount and operation direction).
- the engine 17 and the hydraulic pump 18 are controlled based on a signal indicating
- the engine 17 is an engine that can be electronically controlled by the common rail fuel injection device 40.
- the engine 17 can obtain a target engine output by appropriately controlling the fuel injection amount by the controller C1, and the engine rotation speed and the torque that can be output according to the load state of the hybrid excavator 1. Is set and can be driven.
- the hybrid controller C2 is a combination of an arithmetic device such as a CPU and a memory (storage device).
- the hybrid controller C2 controls the first inverter 21, the second inverter 22 and the booster 26 as described above under the cooperative control with the controller C1, and the electric power of the generator motor 19, the swing motor 23 and the capacitor 25 is controlled. Control giving and receiving.
- the hybrid controller C2 acquires the detection value by various sensors, such as the condenser voltage sensor 28, and controls the hybrid excavator 1 based on this.
- the hybrid controller C2 includes a booster controller C21.
- the above-described CPU or the like realizes the function of the booster control unit C21.
- the control of the output voltage of the booster 26 by the booster controller C21 of the hybrid controller C2 will be described in more detail.
- FIG. 5 is a diagram showing the relationship between the output power of the booster and the phase difference.
- the output power Po of the booster 26 during powering increases with an increase in the phase difference D when the phase difference D is between 0 ° and 90 °, and the phase difference When D is from 90 ° to 180 °, it decreases as the phase difference D increases.
- the output power Po of the booster 26 at the time of regeneration increases with an increase in the phase difference D when the phase difference D is between ⁇ 90 ° and 0 °, and the phase difference D increases from ⁇ 180 °. It decreases as the phase difference D increases up to -90 °.
- the booster controller C21 included in the hybrid controller C2 has a phase difference D of ⁇ 90 ° or more and 90 ° or less when at least one of the state where the generator motor 19 is generating power and the state where the swing motor 23 is operating.
- the booster 26 is controlled to operate within the range.
- FIG. 6 is a diagram illustrating a booster control unit and a booster included in the hybrid controller.
- the booster control unit C21 included in the hybrid controller C2 illustrated in FIG. 2 includes a processing unit 100, a phase difference control unit 101, and a switching pattern generation unit 102.
- the output from the capacitor voltage sensor 28 is input to the processing unit 100.
- the output from the capacitor voltage sensor 28 is the voltage (capacitor voltage detection value) Vcm of the capacitor 25 detected by the capacitor voltage sensor 28.
- the capacitor voltage detection value Vcm corresponds to the terminal voltage (capacitor voltage) Vcr (true value) of the capacitor 25.
- the output from the booster voltage detection sensor 53 is input to the phase difference control unit 101.
- the output from the booster voltage detection sensor 53 is the output voltage (boost voltage detection value) Vsm of the booster 26 detected by the booster voltage detection sensor 53.
- the booster voltage detection value Vsm corresponds to the output voltage Vo (true value) of the booster 26.
- the output voltage Vo of the booster 26 is a voltage between the positive line 60 and the negative line 61, and is the output voltage or input voltage of the first inverter 21 and the second inverter 22 shown in FIGS.
- the booster control unit C21 included in the hybrid controller C2 outputs the command value Vcom of the voltage output from the booster 26 to the phase difference control unit 101 so that the voltage output from the booster 26 has a predetermined value. To do.
- the processing unit 100 outputs the limit value Ddl of the phase difference D during power running and the limit value Dgl of the phase difference D during regeneration to the switching pattern generation unit 102.
- the former is + 90 ° and the latter is -90 °.
- the switching pattern generation unit 102 controls the low-voltage side inverter 62 and the high-voltage side inverter 63 of the booster so that the phase difference D of the booster 26 does not exceed the limit values Ddl and Dgl.
- the phase difference control unit 101 obtains the phase difference D of the booster 26 so that the difference between the command value Vcom and the booster voltage detection value Vsm becomes 0, and uses the obtained phase difference D as the phase difference command value Dc as a switching pattern.
- the data is output to the generation unit 102.
- the switching pattern generation unit 102 generates switching patterns SPL and SPH for turning on and off the respective switching elements included in the low voltage side inverter 62 and the high voltage side inverter 63.
- the switching pattern generation unit 102 supplies the switching patterns SPL and SPH generated so that the phase difference D of the booster 26 becomes the phase difference command value Dc to the low voltage side inverter 62 and the high voltage side inverter 63, respectively.
- the switching element that has it is turned on and off.
- the switching pattern generation unit 102 drives the booster 26 so that the phase difference becomes the phase difference command value Dc.
- the output voltage Vo of the booster 26 becomes the command value Vcom output by the processing unit 100.
- the booster control unit C21 performs feedback control of the booster 26 so that the output voltage Vo of the booster becomes a predetermined value (in this example, the command value Vcom).
- the above-described control of the booster control unit C21 is performed during power running (when the swing motor 23 is generating power) or during regeneration (when the swing motor 23 is generating power).
- the stand-by time is when the generator motor 19 does not generate power or power and the swing motor 23 is stopped. That is, the standby time is when the servo control of both the generator motor and the motor is OFF.
- a turning parking brake (not shown) provided on the swing machinery 24 is actuated to prevent the upper turning body 5 from turning carelessly.
- the booster controller C21 sets the phase difference between the output voltage v1 of the low voltage side inverter 62 and the output voltage v2 of the high voltage side inverter 63 to zero.
- the processing unit 100 of the booster control unit C21 outputs the limit values Ddl and Dgl to the switching pattern generation unit 102 with 0 ° as the limit values Ddl and Dgl.
- the low-voltage side inverter 62 and the high-voltage side inverter 63 are driven so that the phase difference D of the booster 26 becomes the phase difference command value Dc, that is, 0 °.
- the step-up ratio K can be obtained by Expression (3).
- N1 is the number of turns of the low voltage side coil 65
- N2 is the number of turns of the high voltage side coil 66.
- the step-up ratio K 2, but N1, N2, and K are not limited to these.
- K (N1 + N2) / N1 (3)
- the booster control unit C21 controls the booster 26 so that the output voltage Vo of the booster 26 has a minimum loss of the booster 26.
- the output voltage Vo of the booster 26 that minimizes the loss of the booster 26 is the capacitor voltage Vcr ⁇ K.
- the processing unit 100 outputs Vcr ⁇ K as the command value Vcom to the phase difference control unit 101.
- the capacitor voltage Vcr the capacitor voltage detection value Vcm detected by the capacitor voltage sensor 28 is actually input to the processing unit 100. Therefore, the processing unit 100 outputs Vcm ⁇ K as the command value Vcom to the phase difference control unit 101. In this way, the booster 26 operates at the boost ratio K, so that the loss is minimized.
- the command value Vcom is shifted by that amount.
- the feedback control of the booster 26 is controlled so that the difference between the command value Vcom and the booster voltage detection value Vsm becomes zero, but the booster voltage detection value Vsm detected by the booster voltage detection sensor 53 is also controlled. An error may occur. For this reason, when the booster 26 is feedback-controlled using the command value Vcom and the booster voltage detection value Vsm, the output voltage Vo of the booster 26 is likely to be shifted. If a loss occurs in the booster 26 during standby, the power of the capacitor 25 is consumed and the capacitor voltage Vcr decreases. Since the loss of the booster 26 varies due to the deviation of the output voltage Vo of the booster 26, the speed at which the capacitor voltage Vcr decreases during standby varies.
- the hybrid controller C2 causes the generator motor 19 to generate power and charges the capacitor 25.
- the engine 17 is caused to work accordingly, so that the fuel consumed for the work that the engine 17 has charged the capacitor 25 is consumed.
- the error between the capacitor voltage detection value Vcm and the booster voltage detection value Vsm may occur between the bodies of the hybrid hydraulic excavator 1 of the same type. That is, in the comparative example, there is a possibility that variations in fuel consumption during standby occur between the bodies of the same type of hybrid excavator 1.
- the booster control unit C21 drives the low-voltage side inverter 62 and the high-voltage side inverter 63 so that the phase difference D of the booster 26 becomes 0 °. Therefore, the booster 26 outputs K times the capacitor voltage Vcr (true value), that is, a value that minimizes the loss of the booster 26 regardless of variations in the capacitor voltage detection value Vcm and the booster voltage detection value Vsm. The voltage becomes Vo (true value). As a result, the loss of the booster 26 is minimized regardless of variations in the capacitor voltage detection value Vcm and the booster voltage detection value Vsm.
- this embodiment can suppress the loss of the booster 26 in a state in which the generator motor 19 does not generate power and the turning motor 23 is stopped, that is, in the standby state. For example, even when a variation in the capacitor voltage detection value Vcm or the booster voltage detection value Vsm occurs due to the time-dependent change of the capacitor voltage sensor 28 or the booster voltage detection sensor 53, the present embodiment does not increase the voltage during standby.
- the loss of the vessel 26 can be suppressed.
- this embodiment is effective in suppressing variations in fuel consumption during standby between the bodies of the same type of hybrid excavator 1.
- the booster control unit C21 increases the predetermined threshold value Vcri by K when the capacitor voltage Vcr (capacitor voltage detection value Vcm in the control) becomes equal to or higher than the predetermined threshold value Vcri during standby.
- the phase difference D is controlled such that the difference between the value and the output voltage Vo of the booster 26 (in the control, the booster voltage detection value Vsm) becomes zero.
- the predetermined threshold value Vcri is determined so that a value obtained by multiplying the predetermined threshold value Vcri by K becomes, for example, the rated voltage (rated value of the system voltage) of the electric drive system of the hybrid excavator 1.
- the rated voltage of the electric drive system is determined based on the withstand voltage or the like of the electronic components provided in the electric drive system, for example, the first inverter 21 and the second inverter 22.
- the output voltage Vo of the booster 26 becomes equal to or lower than the rated voltage of the electric drive system of the hybrid hydraulic excavator 1, that is, K ⁇ Vcri. Will be used within.
- K ⁇ Vcri. the rated voltage of the electric drive system of the hybrid hydraulic excavator 1
- FIG. 7 is a flowchart showing the procedure of the control method of the hybrid work machine according to the present embodiment.
- the booster control unit C21 determines the states of the generator motor 19 and the swing motor 23 in step S101. Whether the generator motor 19 and the turning motor 23 are on standby can be determined, for example, based on the control state of the hybrid controller C2 shown in FIG. For example, the hybrid controller C2 sets the power generation amount of the generator motor 19 to 0, does not power the generator motor 19, and further sets the speed command of the swing motor 23 to 0, that is, both the generator motor 19 and the swing motor 23 The servo control is stopped during standby.
- step S102 the booster control unit C21 acquires the capacitor voltage detection value Vcm from the capacitor voltage sensor 28, and multiplied Vcm by K. The value is compared with the rated value (Vcom) of the system voltage as a predetermined threshold value.
- Vcom rated value
- step S102, Yes the booster control unit C21 controls the booster 26 so that the phase difference D becomes 0 in step S103.
- the processing unit 100 of the booster control unit C21 outputs the limit values Ddl and Dgl to the switching pattern generation unit 102 with 0 degrees as the limit values Ddl and Dgl.
- the output voltage Vo (true value) of the booster 26 is the capacitor voltage Vcr. (True value) K times, that is, a value at which the loss of the booster 26 is minimized. As a result, the loss of the booster 26 is minimized during standby.
- step S104 the booster control unit C21 performs feedback control of the booster 26 so that the booster 26 has a predetermined voltage.
- the predetermined voltage at this time is, for example, the rated value (Vcom, predetermined threshold) of the above-described rated voltage.
- Vcom rated value
- step S104 the booster control unit C21 performs feedback control of the booster 26 so that the booster 26 has a predetermined voltage (for example, a rated value of the rated voltage).
- the hybrid excavator 1 has been described as including the turning motor 23 that is an electric motor for causing the upper turning body 5 to perform turning acceleration (power running) and turning deceleration (regeneration).
- the hybrid excavator 1 may include a swing motor 23 and a hydraulic motor integrated with each other. That is, when the upper swing body 5 of the hybrid excavator 1 is to be swung and accelerated, the hydraulic motor may assist the rotation of the swing motor 23.
- the constituent elements of the above-described embodiments include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those in a so-called equivalent range. Furthermore, the above-described components can be appropriately combined. In addition, various omissions, substitutions, and changes of the components can be made without departing from the scope of the present embodiment. Further, the electric motor is not limited to a turning motor for turning the upper turning body of the hybrid excavator.
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Abstract
Description
ハイブリッド作業機械としてのハイブリッド油圧ショベル1は、車両本体2と作業機3とを備えている。車両本体2は、下部走行体4と上部旋回体5とを有する。下部走行体4は、一対の走行装置4aを有する。各走行装置4aは、それぞれ履帯4bを有する。各走行装置4aは、図2に示す右走行用油圧モータ34と左走行用油圧モータ35の回転駆動によって履帯4bを駆動させハイブリッド油圧ショベル1を走行させるものである。
図4は、昇圧器の動作を説明するための図である。図4に示すように、低圧側インバータ62と高圧側インバータ63とが出力する電圧(出力電圧)v1、v2は、デューティーが50%、すなわち、High信号とLow信号との比が1:1の方形波である。出力電圧v1、v2は、それぞれHigh信号の期間がa、cで示す部分であり、Low信号の期間がb、dで示す部分である。出力電圧v1、v2は、High信号の期間及びLow信号の期間がいずれも時間t=Tである。したがって、デューティーが50%となる。出力電圧v1、v2は、いずれも周期が2×Tの方形波である。
D=T1/T・・・(1)
Po=π×Vo×V1×(D-D2)/(ω×L)・・・(2)
図5は、昇圧器の出力パワーと位相差との関係を示す図である。図5に示すように、力行(矢印C側)時における昇圧器26の出力パワーPoは、位相差Dが0°から90°までの間は位相差Dの増加にともなって増加し、位相差Dが90°から180°までは位相差Dの増加にともなって減少する。回生(矢印G側)時における昇圧器26の出力パワーPoは、位相差Dが-90°から0°までの間は位相差Dの増加にともなって増加し、位相差Dが-180°から-90°までは位相差Dの増加にともなって減少する。ハイブリッドコントローラC2が有する昇圧器制御部C21は、発電電動機19が発電している状態及び旋回モータ23が動作している状態の少なくとも一方である場合、位相差Dが-90°以上90°以下の範囲で昇圧器26が動作するように制御する。
K=(N1+N2)/N1・・・(3)
5 上部旋回体
17 エンジン
19 発電電動機
20 駆動軸
21 第1インバータ
22 第2インバータ
23 旋回モータ
25 キャパシタ
25a 正極端子
25b 負極端子
26 昇圧器
27 コンタクタ
28 蓄電器電圧センサ
52 電流計
53 昇圧器電圧検出センサ
60、91、93 正極ライン
61、92 負極ライン
62 低圧側インバータ
63 高圧側インバータ
64 トランス
65 低圧側コイル
66 高圧側コイル
67、68 キャパシタ
71~74、81~84 IGBT
75~78、85~88 ダイオード
100 処理部
101 位相差制御部
102 スイッチングパターン生成部
C1 コントローラ
C2 ハイブリッドコントローラ
C21 昇圧器制御部
D 位相差
K 昇圧比
Claims (5)
- 内燃機関の駆動軸に連結された発電電動機と、
前記発電電動機が発電した電力を少なくとも蓄電する蓄電器と、
前記発電電動機が発電した電力及び前記蓄電器が蓄えている電力の少なくとも一方で駆動される電動機と、
複数のスイッチング素子を有するブリッジ回路を2組備え、かつ前記発電電動機及び前記電動機と前記蓄電器との間に設けられる昇圧器と、
前記発電電動機及び前記電動機の両方に対するサーボ制御がOFFである待機時には、それぞれの前記ブリッジ回路が出力する電圧の位相差を0にする昇圧器制御部と、
を含む、ハイブリッド作業機械。 - 前記2組のブリッジ回路はトランスによって結合されており、
前記昇圧器制御部は、
前記待機時において、前記蓄電器が出力する電圧をK倍した値が所定の閾値以上になった場合には、前記昇圧器が出力する電圧の値と前記所定の閾値との差が0になるように前記位相差を制御する、請求項1に記載のハイブリッド作業機械。
Kは、前記トランスの昇圧比。 - 内燃機関の出力軸に連結された発電電動機と、
前記発電電動機が発電した電力を蓄電する蓄電器と、
前記発電電動機が発電した電力と前記蓄電器が蓄えている電力との少なくとも一方で駆動される電動機と、
複数のスイッチング素子を有する2組のブリッジ回路をトランスによって結合したトランス結合型のDC-DCコンバータであり、前記発電電動機及び前記電動機と前記蓄電器との間に設けられる昇圧器と、
前記発電電動機及び前記電動機の両方に対するサーボ制御がOFFである待機時には、それぞれの前記ブリッジ回路が出力する電圧の位相差を0とし、前記待機時において、前記蓄電器が出力する電圧をK倍した値が所定の閾値以上になった場合には、前記昇圧器が出力する電圧の値と前記所定の閾値との差が0になるように前記位相差を制御する昇圧器制御部と、
を含む、ハイブリッド作業機械。
Kは、昇圧器が有する2組のブリッジ回路を結合するトランスの昇圧比。 - 内燃機関の駆動軸に連結された発電電動機と、前記発電電動機が発電した電力を少なくとも蓄電する蓄電器と、前記発電電動機が発電した電力及び前記蓄電器が蓄えている電力の少なくとも一方で駆動される電動機と、複数のスイッチング素子を有するブリッジ回路を2組備え、かつ前記発電電動機及び前記電動機と前記蓄電器との間に設けられる昇圧器と、を含むハイブリッド作業機械を制御するにあたり、
前記発電電動機及び前記電動機の状態を判定する手順と、
前記発電電動機及び前記電動機の両方に対するサーボ制御がOFFである場合には、それぞれの前記ブリッジ回路が出力する電圧の位相差を0にする手順と、
を含む、ハイブリッド作業機械の制御方法。 - 前記2組のブリッジ回路はトランスによって結合されており、
前記発電電動機及び前記電動機の両方に対するサーボ制御がOFFである場合に、前記蓄電器が出力する電圧をK倍した値が所定の閾値以上になると、前記昇圧器が出力する電圧の値と前記所定の閾値との差が0になるように前記位相差を制御する、請求項4に記載のハイブリッド作業機械の制御方法。
Kは、前記トランスの昇圧比。
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DE112014002894.0T DE112014002894T5 (de) | 2013-06-19 | 2014-05-26 | Hybridarbeitsmaschine und Verfahren zum Steuern einer Hybridarbeitsmaschine |
US14/899,300 US20160138245A1 (en) | 2013-06-19 | 2014-05-26 | Hybrid work machine and method of controlling hybrid work machine |
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US10851521B2 (en) * | 2017-03-07 | 2020-12-01 | Hitachi Construction Machinery Co., Ltd. | Construction machine |
US20190234227A1 (en) * | 2018-01-29 | 2019-08-01 | Siemens Energy, Inc. | Powering generator instrumentation via magnetic induction |
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