WO2014175195A1 - Engin de chantier de type hybride - Google Patents

Engin de chantier de type hybride Download PDF

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Publication number
WO2014175195A1
WO2014175195A1 PCT/JP2014/061097 JP2014061097W WO2014175195A1 WO 2014175195 A1 WO2014175195 A1 WO 2014175195A1 JP 2014061097 W JP2014061097 W JP 2014061097W WO 2014175195 A1 WO2014175195 A1 WO 2014175195A1
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Prior art keywords
vehicle
speed
engine
work vehicle
hybrid
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PCT/JP2014/061097
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English (en)
Japanese (ja)
Inventor
金子　悟
徳孝 伊藤
伊君　高志
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日立建機株式会社
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Publication of WO2014175195A1 publication Critical patent/WO2014175195A1/fr

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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18118—Hill holding
    • 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
    • B60K6/46—Series type
    • 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
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
    • B60L15/2081—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off for drive off on a slope
    • 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
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • 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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/441—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/443—Torque
    • 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
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/26—Transition between different drive modes
    • 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
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to a hybrid work vehicle, and more particularly to a hybrid work vehicle suitable for controlling a work vehicle on a slope.
  • the conventional wheel loader excavates and conveys earth and sand etc. in the bucket part of the hydraulic working device at the front part while traveling by transmitting the engine power to the tires with a torque converter (torque converter) and transmission (T / M). Vehicle.
  • torque converter torque converter
  • T / M transmission
  • the traveling drive portion of such a wheel loader when the traveling drive portion of such a wheel loader is electrified, the power transmission efficiency of the torque converter and the transmission portion can be improved to the power transmission efficiency by electric drive. Further, since the wheel loader repeats the starting and stopping traveling operations frequently during the work, when the traveling drive part is electrified, regenerative power recovery during braking can be expected from the traveling motor. Therefore, when traveling on a hill with a vehicle with a traveling drive portion electrified, if the traveling direction of the vehicle is opposite to the torque direction of the traveling motor (that is, the brake is applied by the motor), the traveling motor is Becomes a power generation operation and generates electric power.
  • This power can be charged as regenerative power to a storage device such as a battery or capacitor, or when the storage device is fully charged, the storage device cannot be charged at a portion that can be an electrical load of the hybrid system. Operates to consume regenerative power in minutes.
  • the traveling drive unit is driven by an electric motor, and the front work machine is driven by hydraulic pressure generated by a hydraulic pump, but both use electric power or hydraulic pressure generated by driving the engine.
  • a certain level of engine output is required.
  • the hybrid wheel loader stands by with the engine speed reduced to an idling speed as low as idling in consideration of fuel consumption and the like when stopped before work. For this reason, even if the technique of Japanese Patent Application Laid-Open No. 2012-51457 is applied to the hybrid wheel loader as it is, the engine output is not effective when the climbing operation and the excavation operation by the front work machine are started from the standby state on the uphill road. It is sufficient, and there is a possibility that smooth transition from the stand-by state to the climbing operation and the excavation operation is not possible.
  • an object of the present invention is to smoothly perform the climbing operation and the excavation work by the front part without causing insufficient power supply from the hybrid system when the climbing and excavation work is performed on a steep slope.
  • An object of the present invention is to provide a hybrid work vehicle that can be used.
  • the present invention controls a series hybrid system in which a generator is driven by an engine, and a traveling motor is driven by the electric power generated by the generator, and the series hybrid system is controlled. And a control device for controlling the electric motor for traveling so that the vehicle speed does not exceed a preset reverse speed when detecting a slip of the vehicle on a slope.
  • a control device for controlling the electric motor for traveling so that the vehicle speed does not exceed a preset reverse speed when detecting a slip of the vehicle on a slope.
  • the subsequent climbing operation and excavation work by the front part can be smoothly performed without causing insufficient power supply from the hybrid system. it can.
  • FIG. 1 is a system configuration diagram showing an overall configuration of a hybrid work vehicle according to an embodiment of the present invention. It is explanatory drawing of the characteristic work pattern of the wheel loader which is an example of the hybrid type work vehicle by one Embodiment of this invention. It is explanatory drawing of the characteristic work pattern of the wheel loader which is an example of the hybrid type work vehicle by one Embodiment of this invention. It is a block diagram which shows the structure of the control apparatus mounted in the hybrid type work vehicle by one Embodiment of this invention. It is a flowchart which shows the control content of the control apparatus mounted in the hybrid type work vehicle by one Embodiment of this invention. It is a flowchart which shows the control content of the control apparatus mounted in the hybrid type work vehicle by one Embodiment of this invention. It is a flowchart which shows the control content of the control apparatus mounted in the hybrid type work vehicle by one Embodiment of this invention.
  • FIGS. the configuration and operation of a hybrid work vehicle according to an embodiment of the present invention will be described with reference to FIGS. Initially, the whole structure of the hybrid type work vehicle by this embodiment is demonstrated using FIG.
  • a hybrid wheel loader will be described as an example of a hybrid work vehicle.
  • FIG. 1 is a system configuration diagram showing the overall configuration of a hybrid work vehicle according to an embodiment of the present invention.
  • a hybrid wheel loader which is an example of a hybrid work vehicle, travels by supplying electric power obtained by driving the motor generator 6 with the engine 1 or electric power stored in the power storage device 11 to the electric motor 9 for traveling.
  • This is a working vehicle for excavating and transporting soil and the like at the bucket portion of the hydraulic working device 5 at the front part.
  • the wheel loader generally has a traveling part (wheel part) and a front hydraulic working unit (lift / bucket part) as main drive parts.
  • the wheel loader excavates and transports sand and the like with the hydraulic working device 5 at the front of the vehicle driven by the hydraulic pump 4 while traveling with the four wheels WH using the output of the engine 1 as a main power source. It is a working vehicle.
  • the motor generator (MG) 6 and the inverter 7 that controls the motor generator (MG) 6 are mounted on the output shaft of the engine 1, the traveling motor 9 that is mounted on the propeller shaft 8 of the traveling unit, and the inverter 10 that controls the motor.
  • the power storage device 11 is electrically connected to the inverters 7 and 10 via the DCDC converter 12, and receives DC power between these power converters.
  • an electric double layer capacitor is assumed as the power storage device 11, and the DCDC converter 12 controls the step-up / step-down control of the capacitor voltage, and exchanges DC power with the inverters 7 and 10. .
  • the hybrid system targeted by the present embodiment is a configuration generally referred to as a series type.
  • the present invention is not limited to the configuration of FIG. 1, and the system includes at least the above-described series type configuration.
  • the hybrid wheel loader shown in FIG. 1 includes a hydraulic pump 4 that supplies hydraulic pressure to a hydraulic working device 5 at a front portion that performs excavation work such as earth and sand, and performs work according to the purpose.
  • the traveling operation of the vehicle is performed by driving the traveling motor 9 mainly using the power generated by the MG 6 by the power of the engine 1.
  • the power storage device 11 absorbs regenerative power during vehicle braking and assists the output of the engine 1 to contribute to reduction of vehicle energy consumption.
  • the control device 15 controls the hybrid system in an integrated manner in order to exhibit the performance required for the wheel loader. The detailed configuration of the control device 15 will be described later with reference to FIG.
  • the control device 15 controls the engine 1, the pump 4, the inverters 7 and 10, the DCDC converter 12, and the like.
  • FIGS. 2 and 3 are explanatory diagrams of characteristic work patterns of a wheel loader which is an example of a hybrid work vehicle according to an embodiment of the present invention.
  • FIG. 2 shows the contents of the V cycle excavation work which is the most typical work pattern among the characteristic work patterns of the wheel loader which is the subject of the present invention.
  • the wheel loader WL first moves forward with respect to an object to be excavated such as a gravel mountain, and loads a transported object such as gravel into a bucket so as to thrust into the object to be excavated OBJ of the gravel mountain. Thereafter, the vehicle moves backward to return to the original position, and moves forward toward the transport vehicle CV such as a dump truck while operating the steering and raising the front bucket portion. Then, after loading (unloading) the transported material on the transport vehicle CV, the vehicle moves backward again, and the wheel loader WL returns to the original position. The wheel loader WL repeats this operation while drawing a V-shaped locus as described above.
  • the control device 15 described above outputs the outputs from the engine 1 and the power storage device 11 and the hydraulic work device 5 and traveling so that the fuel consumption and work efficiency are highest in the entire hybrid system. Distribute to the motor 9.
  • This V-cycle excavation work is basically performed on a flat surface, and requires relatively large power during excavation that thrusts into the earth and sand pile with a large traction force or in a dump approach operation that simultaneously drives the traveling part and the front part.
  • a large output shortage does not occur by maintaining the engine 1 at a high rotational speed.
  • FIG. 3 shows the contents of “scraping work” performed on a slope such as an earth and sand mountain, which is another typical work pattern, among the characteristic work patterns of the wheel loader targeted by the present invention. .
  • the lifting work is classified as a heavy load work of the wheel loader WL.
  • the hoisting operation is an operation of climbing on a steep slope such as a sand and sand surface while repeating excavation and earthing with a front hydraulic working device. As described above, the hoisting operation travels up a steep slope while performing excavation work at the front portion, so that the power required for the entire vehicle becomes very large. For example, in order to supply the power required for the hoisting operation with the engine, it is necessary to increase in advance to the rotational speed until the rated output of the engine can be output.
  • the hybrid vehicle has an object of improving fuel efficiency while ensuring workability required for a wheel loader as a work vehicle. Therefore, when the vehicle is stopped on the slope immediately before the lifting work, the idling speed is reduced to a low speed (for example, 1000 min ⁇ 1 or less) so that the fuel consumption when the vehicle is stopped is minimized.
  • the engine is controlled. As described above, when the vehicle is stopped and the engine speed is reduced when the vehicle is stopped, when the vehicle is shifted to the hoisting operation, the vehicle cannot produce power immediately and has a steep slope. It is conceivable that the vehicle moves backward in the direction opposite to the traveling direction due to the influence of. At this time, depending on the slope of the slope, the vehicle may accelerate to a large reverse speed, and the operator may perform a braking operation more than necessary.
  • the electric power of the power storage device 11 is used immediately to avoid the backward movement of the vehicle from the electric motor 9 for traveling, and even when the vehicle starts the climbing operation, the engine rotation at that time still reaches the desired rotational speed. If it is not, it becomes difficult to give the power necessary for performing the front work in addition to the climbing operation, and the workability is remarkably lowered.
  • FIG. 4 is a block diagram showing a configuration of a control device mounted on a hybrid work vehicle according to an embodiment of the present invention.
  • 5 and 6 are flowcharts showing the control contents of the control device mounted on the hybrid work vehicle according to the embodiment of the present invention.
  • the same reference numerals as those in FIG. 1 indicate the same parts.
  • control device 15 As each functional part, a system control unit 30 that controls the entire hybrid system, a power distribution unit 31 that distributes the output of the engine 1 and the output of the power storage device 11 to each drive unit, and vehicle requirements
  • An engine control unit 32 that determines a rotational speed command of the engine 1 according to an output value
  • an MG control unit 33 that determines a torque command of the MG 6 according to a power generation request value
  • a front hydraulic working device 5 calculated from a lever operation amount and the like
  • the hydraulic pressure control unit 34 for calculating the tilt angle command value of the hydraulic pump 4 from the required power value of the vehicle, calculating the torque command of the electric motor 9 for traveling from the required driving power value calculated from the accelerator / brake pedal operation amount and the current vehicle speed.
  • Each control unit of the traveling control unit 35 is provided. Further, control commands are given from the respective control units to the engine control unit 36, the converter control unit 37, the hydraulic control unit 38, and the inverter control unit 39, which are the component control units. In this control system, since the final output of the slope start control unit 20 becomes a torque command of the traveling motor 9, the control signal is output to the traveling control unit 35.
  • the slope start control unit 20 is input with an accelerator signal, a forward / reverse lever signal, a running motor speed signal, an engine speed signal, and the like.
  • the slope start control unit 20 executes control as described below in order to solve the problems on the slope described above.
  • step S21 the slope start control unit 20 executes a vehicle reverse detection process to detect the vehicle reverse state.
  • vehicle reverse detection process the input direction of the forward / reverse lever operated by the operator (forward or reverse or neutral) and the vehicle speed (convertible with the rotational speed of the electric motor 9 for traveling) as inputs are input. Look at the difference between the two signs.
  • the backward movement state of the vehicle is detected when the input of the forward / reverse lever is in the forward or reverse position and the sign of the vehicle speed is changed from the coincidence state to the disagreement state.
  • step S21A it is determined whether the current vehicle reverse speed is larger than the reverse speed set value set in the control device 15 in advance (whether the vehicle is reversing at a higher speed). to decide.
  • step S21B if the vehicle speed is larger than the reverse speed setting value, the torque of the electric motor 9 for traveling is increased in step S21B to suppress the reverse speed of the vehicle.
  • step S21A if the vehicle speed is within the set reverse speed value, the vehicle is not greatly retracted (slid down), so that the torque of the traveling motor 9 is particularly increased. Don't do it.
  • the reverse speed setting value is a value set in the control device 15 in advance. For example, a vehicle reverse speed of about ⁇ 2 km / h or ⁇ 3 km / h is appropriate. With such a reverse speed, even if the vehicle makes an unintended reverse, the operator can proceed to the next operation without applying an unnecessary brake.
  • the vehicle moves backward at a slower (slower) speed than the reverse speed set value. That is, the slope start control unit 20 controls the reverse speed so as to continue the reverse at a lower reverse speed than the preset reverse speed set value. Since the traveling electric motor 9 rotates in the backward direction, regenerative electric power is generated. Here, in order for the electric motor 9 for driving to drive in the forward direction, it is necessary to use electric power stored in the power storage device 11. On the other hand, the electric power of the power storage device 11 is not consumed by controlling the traveling motor 9 to generate regenerative power. As will be described later, in step S21C, the MG 6 is powered.
  • the traveling electric motor 9 since the electric power of the power storage device 11 is used, if the traveling electric motor 9 is operated in a powering operation, the electric power for operating the MG 6 in a powering operation is insufficient. On the other hand, in the present embodiment, since the traveling motor 9 is controlled so as to generate regenerative power, it is possible to prevent power shortage when the MG 6 is powered in step S21C. is there.
  • step S21C the MG 6 is caused to perform a power running operation, and the MG torque is further increased.
  • the rotational speed of the engine shaft mechanically connected to the MG 6 can be increased using the regenerative electric power from the traveling motor 9 generated during the reverse operation of the vehicle.
  • the above is the processing content of reverse speed suppression control and engine preliminary acceleration control.
  • step S23 of FIG. 5 it is confirmed whether the engine rotation accelerated by the power running operation of the MG 6 has reached the target rotation speed. .
  • the process returns to the vehicle reverse detection process in step S21 and the above process is repeated.
  • step S23 if the current engine speed reaches the target speed in the engine rotation determination process in step S23, it is determined that the power necessary for the next climbing operation and the lifting operation can be supplied. The process of No. 20 is terminated and the process proceeds to the next process.
  • the target engine speed of the engine 1 needs to be set in the control device 15 so as not to cause a shortage of engine output according to the work contents at that time.
  • the traveling electric motor 9 during the vehicle reverse restraining control outputs a corresponding torque so as not to slide down. Therefore, for example, the engine rotation target value can be set according to the magnitude of the torque generated by the traveling motor 9. That is, this is a method for estimating the current slope of the slope from the magnitude of the torque generated by the traveling motor 9 and estimating the power necessary for the subsequent operation. For example, in an operation on a steep slope as assumed in the present embodiment, an engine output near the rated value is required, and therefore the engine rotation target value is set near the rated rotation.
  • the above is the processing contents of the slope start control unit 20.
  • the accelerator is stepped on by the operator. After the engine speed reaches the target value during the reverse speed suppression control, the torque of the electric motor 9 for traveling is increased and It is described so as to move uphill (forward).
  • the operator is not stepping on the accelerator, it is determined that there is no intention to move forward at that time, and the torque of the traveling motor 9 is increased even after the engine speed reaches the target value during the reverse speed suppression control. Therefore, it is possible to continue the reverse speed suppression control without moving forward.
  • regenerative electric power is continuously generated from the traveling electric motor 9 during retreat. This regenerative power is consumed by charging the power storage device 11 or by continuously driving the MG to rotate the engine shaft.
  • the slope start control unit 20 in the control device 15, it is possible to suppress the vehicle slippage that occurs at the start of work on the steep slope of the hybrid wheel loader, and to perform subsequent climbing operation and lifting It is possible to carry out the work without power shortage.
  • the subsequent climbing operation and excavation work by the front part are performed without insufficient power supply from the hybrid system. Can be done smoothly.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

La présente invention se rapporte à un engin de chantier de type hybride qui comprend : un système hybride de série pour lequel un générateur électrique (6) est entraîné par un moteur (1) et un moteur électrique de déplacement (9) est entraîné avec l'énergie électrique produite par le générateur électrique pour permettre un déplacement ; et un dispositif de commande (15). Une unité de commande de démarrage en côte (20) du dispositif de commande (15) provoque, lors de la détection que le véhicule recule en côte, la réalisation par le moteur électrique de déplacement (9) d'une opération régénérative de telle sorte que la vitesse du véhicule ne dépasse pas une vitesse de recul prédéterminée. A cet instant, si la vitesse de rotation du moteur n'est pas plus élevée qu'une vitesse de rotation cible déterminée par le dispositif de commande (15), le générateur électrique (6) est entraîné par le moteur à l'aide de l'énergie électrique régénérative produite par le moteur électrique de déplacement (9) de sorte à augmenter la vitesse de rotation d'un arbre moteur.
PCT/JP2014/061097 2013-04-26 2014-04-18 Engin de chantier de type hybride WO2014175195A1 (fr)

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JP2013093532A JP2016130030A (ja) 2013-04-26 2013-04-26 ハイブリッド式作業車両
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GB2573979A (en) * 2018-02-26 2019-11-27 Jaguar Land Rover Ltd A controller and a method of controlling speed of a vehicle
WO2020194680A1 (fr) 2019-03-28 2020-10-01 日立建機株式会社 Véhicule de travail
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CN118422746A (zh) * 2024-07-05 2024-08-02 中联重科股份有限公司 电动滑移装载机及其控制方法、处理器和控制装置

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Publication number Priority date Publication date Assignee Title
CN106256627A (zh) * 2015-06-19 2016-12-28 现代自动车株式会社 用于在混合动力车辆中控制发动机启动时间的方法和装置
CN106256627B (zh) * 2015-06-19 2020-03-24 现代自动车株式会社 用于在混合动力车辆中控制发动机启动时间的方法和装置
GB2573979A (en) * 2018-02-26 2019-11-27 Jaguar Land Rover Ltd A controller and a method of controlling speed of a vehicle
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WO2020194680A1 (fr) 2019-03-28 2020-10-01 日立建機株式会社 Véhicule de travail
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CN113370966A (zh) * 2021-07-06 2021-09-10 恒大恒驰新能源汽车研究院(上海)有限公司 混动汽车动力系统的油电切换控制方法、存储介质及电子设备
CN118422746A (zh) * 2024-07-05 2024-08-02 中联重科股份有限公司 电动滑移装载机及其控制方法、处理器和控制装置

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