WO2015011810A1 - ハイブリッド作業機械 - Google Patents
ハイブリッド作業機械 Download PDFInfo
- Publication number
- WO2015011810A1 WO2015011810A1 PCT/JP2013/070114 JP2013070114W WO2015011810A1 WO 2015011810 A1 WO2015011810 A1 WO 2015011810A1 JP 2013070114 W JP2013070114 W JP 2013070114W WO 2015011810 A1 WO2015011810 A1 WO 2015011810A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- transformer
- motor
- state
- engine
- generator motor
- Prior art date
Links
Images
Classifications
-
- 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
- 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
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- 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
-
- 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
-
- 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
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
-
- 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
- B60K25/00—Auxiliary drives
- B60K25/02—Auxiliary drives directly from an engine shaft
- B60K2025/026—Auxiliary drives directly from an engine shaft by a hydraulic transmission
-
- 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
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0015—Disposition of motor in, or adjacent to, traction wheel the motor being hydraulic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2210/00—Converter types
- B60L2210/20—AC to AC converters
-
- 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
-
- 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
-
- 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
-
- 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
Definitions
- the present invention relates to a hybrid work machine that can improve fuel efficiency by stopping a transformer in an idling state without giving a sense of incongruity to an operator's operation.
- 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.
- a hydraulic pump and a generator motor are driven by an engine, a battery is charged by a power generation action of the generator motor, and a working motor is mounted by driving a turning motor by battery power.
- the thing which turns an upper turning body is described.
- the work implement is driven by hydraulic oil supplied from a hydraulic pump, and the lower traveling body is driven by a hydraulic motor driven by the hydraulic pump.
- Patent Document 2 relates to an inverter system for a hybrid vehicle.
- the boosting operation of the step-up / step-down chopper circuit is stopped, and the loss of the semiconductor element of the step-up / step-down chopper circuit is reduced to improve the efficiency of the entire inverter. Things are listed.
- a hybrid work machine that supplies power from a capacitor via a transformer has an auto-decel function that shifts to an idling state where the engine speed is low when the work machine operation or traveling operation is stopped for a certain period of time.
- the transformer is in the activated state even in the idling state. In this idling state, almost no current is input to or output from the capacitor.
- the transformer is supplied with power from the capacitor.
- the capacitor voltage gradually decreases due to the loss. This decrease in the capacitor voltage causes the need to supply power to the capacitor, and in order to cause the generator motor coupled to the engine to generate power, control is performed to increase the engine speed by removing the idling state. .
- the transformer is in the activated state, so that the engine speed increases and the fuel efficiency decreases.
- the transformer stops even when a state in which the turning operation and the work implement operation are continuously performed is maintained. For example, when the turning motor servo command is in an on state or when the hydraulic lock switch is in an off state, in this case, the operator continuously performs a turning operation or a work implement operation. In spite of the operator's intention to operate, if the transformer is stopped, it takes time to start up the transformer, contrary to the operator's intention to start up immediately. As a result, a sense of incongruity that does not conform to the operator's intention occurs.
- the present invention has been made in view of the above, and an object of the present invention is to provide a hybrid work machine that can improve fuel efficiency by stopping a transformer in an idling state without giving an uncomfortable feeling to an operator's operation. To do.
- a hybrid work machine stores an engine, a generator motor connected to an output shaft of the engine, and electric power generated by the generator motor. Or a battery that supplies power to the generator motor; a motor that is driven by at least one of the power generated by the generator motor and the power stored in the battery; the generator motor and the motor; When satisfying a plurality of conditions including a transformer provided between the capacitor and a condition that the engine is in a low idle state and a motor drive command for driving the motor is not output, And a control unit for stopping the device.
- the hybrid work machine stores an engine, a generator motor connected to the output shaft of the engine, and electric power generated by the generator motor, or supplies electric power to the generator motor.
- a power storage device a motor driven by at least one of the power generated by the power generator motor and the power stored in the power storage device, the power generator motor, and a transformer provided between the motor and the power storage device.
- a controller that stops the transformer when a plurality of conditions including a condition in which the engine is in an idle state and a condition in which the hydraulic lock switch is in a locked state are satisfied.
- the hybrid work machine stores an engine, a generator motor connected to the output shaft of the engine, and electric power generated by the generator motor, or supplies electric power to the generator motor.
- a power storage device a motor driven by at least one of the power generated by the power generator motor and the power stored in the power storage device, the power generator motor, and a transformer provided between the motor and the power storage device.
- the transformer is stopped when a plurality of conditions including a condition in which the engine is in an idle state, a condition in which a motor drive command for driving the motor is not output, and a condition in which the hydraulic lock switch is in a locked state are satisfied.
- a control unit for controlling the operation.
- the motor is a turning motor for turning a turning body
- the control unit further includes a plurality of conditions including a condition that the zero clamp is turned off. When the above condition is satisfied, the transformer is stopped.
- the hybrid work machine according to the present invention is characterized in that, in the above-described invention, the control section permits the start-up of the transformer based on a rotation speed of a generator motor.
- the hybrid work machine according to the present invention is characterized in that, in the above-described invention, the control unit permits the activation of the transformer when at least one of the plurality of conditions is not satisfied.
- the control unit cuts off the power supply to the transformer while the contactor for connecting and disconnecting the capacitor and the transformer is connected. Then, the transformer is stopped.
- the transformer when a plurality of conditions including a condition that the engine is in an idle state and a condition in which a motor drive command for driving the motor is not output are satisfied, the transformer is stopped, and the transformer is stopped.
- the transformer can be started only by denying at least one of the above-mentioned conditions. Therefore, the transformer is stopped in the idling state without giving a sense of incongruity to the operation of the operator. This can improve fuel efficiency.
- 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 circuit diagram showing a detailed configuration of the transformer.
- FIG. 4 is a block diagram showing a configuration of transformer stop / start control by the hybrid controller.
- FIG. 5 is a state transition diagram of transformer stop / start control by the hybrid controller.
- FIG. 6 is a diagram illustrating a detailed configuration of a transformer-time transformer stop flag determination unit.
- FIG. 7 is a flowchart showing detailed processing of the transformer activation permission flag determination unit.
- FIG. 8 is a diagram showing the auto-decel state determination process shown in FIG.
- FIG. 9 is a diagram illustrating an auto-decel state determination process of the pump controller illustrated in FIG.
- FIG. 10 is a diagram showing a determination process of the auto-decel enabled state of the hybrid system shown in FIG.
- 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 construction machines such as a hydraulic excavator, a bulldozer, a dump truck, and a wheel loader, and these construction machines have a driving force from an engine and other power supply elements.
- a hybrid work machine having a configuration unique to a hybrid having an electric motor that is driven by exchanging electric power between them is referred to as a hybrid work machine.
- the hybrid excavator 1 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 drives the crawler belt 4b by the rotational driving of the right traveling hydraulic motor 34 and the left traveling hydraulic motor 35 shown in FIG.
- the upper turning body 5 is provided on the upper part of the lower traveling body 4 so as to be turnable.
- the upper turning body 5 includes a turning motor 23 for turning 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 turning motor in this embodiment is electrically driven.
- the turning motor may be driven by a combination of an electric motor and a hydraulic motor. Further, the electric actuator driven by the electric motor is not limited to the upper swing body, and may drive a hydraulic pump or the like that drives the work implement.
- 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 on the side opposite to the proximal end portion of the boom 11 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 speed) of the engine 17 detected by the rotation sensor 41 is acquired by the engine controller C12 and input from the engine controller C12 to the hybrid controller C2 via the in-vehicle network.
- the rotation sensor 41 detects the engine speed of the engine 17.
- the hydraulic pump 18 and the generator motor 19 are mechanically coupled 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 lever 32 includes a right operation lever 32R and a left operation lever 32L on the left and right sides of the driver's seat.
- the boom 11 can be raised and lowered and the bucket 13 can be excavated and dumped in response to the front, rear, left and right operations of the right operation lever 32R.
- 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.
- the hydraulic oil corresponding to the hydraulic pressure cylinder 14 for the boom, the hydraulic cylinder 15 for the arm, the hydraulic cylinder for bucket 16, the right traveling hydraulic motor 34 or the left traveling hydraulic motor 35 by operating the left and right traveling levers (not shown), etc.
- the hydraulic actuator is supplied.
- the output of the engine 17 may be transmitted to the generator motor 19 via a PTO (Power Take Off) shaft.
- PTO Power Take Off
- the pump pressure of the hydraulic oil discharged from the hydraulic pump 18 is detected by the pressure sensor 61 and input to another controller C1.
- the other controller C1 includes controllers such as a pump controller C11 and an engine controller C12 other than the hybrid controller C2.
- 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, a first inverter 21 and a second inverter.
- a transformer 26 provided between the inverter 22 via a wiring harness, a capacitor 25 connected to the transformer 26 via a contactor 27 (electromagnetic contactor), and a power cable connected to the second inverter 22 via a power cable.
- a turning motor 23 to be connected.
- the contactor 27 normally closes the electric circuit of the capacitor 25 and the transformer 26 and is in an energized state.
- the hybrid controller C2 determines that it is necessary to open the electric circuit due to leakage detection or the like. When the determination is made, the hybrid controller C2 provides an instruction signal for switching the contactor 27 from the energizable state to the disconnected state. 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 power generated by the generator motor 19 and the power stored in the capacitor 25 serves as a power source for the swing motor 23, and the upper swing body 5 is swung via the swing machinery 24. That is, the turning motor 23 turns and accelerates the upper turning body 5 by performing a power running operation with electric power supplied from at least one of the generator motor 19 and the capacitor 25.
- the revolving motor 23 performs a regenerative operation when the upper revolving structure 5 decelerates and decelerates, and supplies (charges) electric power (regenerative energy) generated by the regenerative operation to the capacitor 25 or the engine 17 via the generator motor 19. Return axis output to.
- 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.
- an SR (switched reluctance) motor is used as the generator motor 19.
- 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 mechanically coupled to the drive shaft 20 of the engine 17.
- the generator motor 19 generates electric 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 (generator motor rotation speed) of the generator motor 19, and a signal indicating the generator motor 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 transformer 26 is provided between the generator motor 19 and the turning motor 23 and the capacitor 25.
- the transformer 26 arbitrarily 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 and 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 transformer 26 also has a role of dropping (decreasing) the voltage to 1 ⁇ 2 when charging the capacitor 25 with the electric power generated by the generator motor 19 or the swing motor 23.
- a transformer temperature sensor 50 that detects the temperature of the transformer 26 is attached to the transformer 26.
- a signal indicating the transformer temperature measured by the transformer temperature sensor 50 is input to the hybrid controller C2. Further, in the wiring harness between the transformer 26 and the first inverter 21 and the second inverter 22, the magnitude of the voltage boosted by the transformer 26 or the magnitude of the voltage of the electric power generated by the regeneration of the swing motor 23. A voltage detection sensor 53 for measuring the above is attached. A signal indicating the voltage measured by the voltage detection sensor 53 is input to the hybrid controller C2.
- the transformer 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 the transformer 26 will not be specifically limited. In the present embodiment, for example, a transformer called a transformer-coupled transformer in which a transformer and two inverters are combined is used for the transformer 26. In addition, the transformer 26 may use a DC-DC converter. Next, a transformer coupled transformer will be briefly described.
- FIG. 3 is a diagram showing a transformer-coupled transformer as a transformer.
- the first inverter 21 and the second inverter 22 are connected via a positive line 60 and a negative line 61.
- the transformer 26 is connected between the positive electrode line 60 and the negative electrode line 61.
- the transformer 26 has an AC (Alternating Current) link between a low voltage side inverter 62 as a primary side inverter as two inverters and a high voltage side inverter 63 as a secondary side inverter by a transformer 64.
- the transformer 26 is a transformer coupling type transformer.
- 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. Further, the winding ratio may be arbitrarily changed.
- 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 transformer 26 is connected in parallel so as to have the same polarity as the first inverter 21.
- the low voltage side inverter 62 is connected in parallel to four IGBTs (Isolated Gate Bipolar Transistors) 71, 72, 73, 74 bridged to the low voltage side coil 65 of the transformer 64, and IGBTs 71, 72, 73, 74, respectively. And diodes 75, 76, 77, and 78 connected in opposite directions.
- 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 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 are connected in reverse polarity. 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 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 line 91, that is, the collectors of the IGBTs 71 and 73 of the low voltage side inverter 62.
- the emitter of IGBT 81 (the anode of diode 85) and the collector of IGBT 82 (the cathode of diode 86) are electrically connected to one terminal of high voltage side coil 66 of transformer 64, and the emitter of IGBT 83 (the collector of 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 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.
- the capacitor 67 is for absorbing ripple current.
- the ripple current absorbing capacitor 67 may be connected to the collector side of the IGBT 71 and the emitter side of the IGBT 72.
- 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.
- the transformer temperature sensor 50 described above includes the low voltage side coil 65 and the high voltage side coil 66 included in the transformer 64, the IGBTs 71, 72, 73, 74 of the low voltage side inverter 62, and the IGBTs 81, 82, 83, 84 of the high voltage side inverter 63, respectively. Is attached.
- the generator motor 19 and the turning motor 23 are current-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.
- the current value flowing through the second inverter 22 may be calculated based on the rotational speed of the swing motor 23 and the command torque value and the estimated conversion efficiency of the inverter without using an ammeter.
- 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 voltage sensor 28 is provided at a predetermined output terminal of the capacitor 25.
- a signal indicating the capacitor voltage detected by the 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 to the turning motor 23. Execute energy management, such as whether to supply (power supply for power running).
- 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.
- a capacitor temperature sensor 51 that detects the temperature of the capacitor 25 as a capacitor is attached to the capacitor 25.
- a signal indicating the capacitor temperature measured by the capacitor temperature sensor 51 is input to the hybrid controller C2.
- the hydraulic drive system and the electric drive system are driven in accordance with the operation of the operation lever 32 such as a work machine lever or a turning lever provided in the cab 6 provided in the vehicle body 2.
- the lifting / lowering operation of the boom 11 and the excavating / dumping operation of the bucket 13 are performed according to the front / rear / left / right operation of the right operation lever 32R, and the left / right turning operation is performed according to the front / rear / left / right operation of the left operation lever 32L.
- the arm 12 is excavated and dumped. In addition to this, it has left and right traveling levers (not shown).
- the operation direction and operation amount of the swing lever are determined by a potentiometer or a pilot pressure sensor.
- the detected operation amount is transmitted as an electric signal to the other controller C1 and further to the hybrid controller C2.
- the hybrid controller C ⁇ b> 2 rotates the turning motor 23 (power running action or regenerative action) and the electric energy of the capacitor 25.
- control energy management
- generator motor 19 power generation or engine output assist, power running action to turning motor 23.
- 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.
- the monitor device 30 includes an auto-decel switch SW1 that sets an auto-decel function.
- the auto-decel function is intended to improve fuel efficiency by shifting the engine speed to an idling state when the work machine is stopped for a certain period of time.
- the throttle dial 56 is a switch for setting the amount of fuel supplied to the engine 17, and the set value of the throttle dial 56 is converted into an electrical signal and output to another controller C1.
- the turning lock switch 57 is a switch for locking the upper turning body 5 with a lock pin or the like.
- a PPC lock lever (not shown) that shuts off the supply of pilot hydraulic pressure for driving the work machine 3 is provided.
- the PPC lock lever is provided with a hydraulic lock switch 58. When the PPC lock lever is operated to the locked state, the hydraulic lock switch 58 is interlocked to transmit a signal indicating that the operation from the work implement lever is in the locked state to the hybrid controller C2 and the pump controller C11.
- 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 (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 When the key is rotated in order to stop the engine 17 (specifically, it is operated to an OFF position described later), fuel is supplied to the engine 17 and electricity is supplied (energized) from a battery (not shown) to various electric devices. It is shut off and the engine stops.
- 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 By energizing various electric devices from the battery, and further rotating the key from that position to start (ST) the key position, the starter (not shown) can be started to start the engine. 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 other 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
- the engine 17 and the hydraulic pump 18 are controlled based on a signal indicating the operation direction.
- the engine 17 is mainly controlled by an engine controller C12 in another controller C1.
- the hydraulic pump 18 is controlled mainly by a pump controller C11 in another controller C1.
- the engine 17 is an engine that can be electronically controlled by the common rail fuel injection device 40.
- the engine 17 can obtain the target engine output by appropriately controlling the fuel injection amount by the other controller C1, and the engine speed and output can be made according to the load state of the hybrid excavator 1. Torque can be set and driven.
- the hybrid controller C2 controls the first inverter 21, the second inverter 22, and the transformer 26 as described above under the cooperative control with the other controller C1, and the generator motor 19, the swing motor 23, and the capacitor 25 are controlled. Controls the transfer of power. Further, the hybrid excavator 1 has a transformer stop function, and the hybrid controller C2 performs control to stop the transformer 26 and allow the start of the transformer 26 at the time of decelerating.
- FIG. 4 is a block diagram showing a configuration of transformer stop / start control by the hybrid controller C2.
- FIG. 5 is a state transition diagram of transformer stop / start control by the hybrid controller C2.
- the hybrid controller C2 includes a decel time transformer stop flag determination unit 100, a transformer activation permission flag determination unit 110, a transformer target control state determination unit 120, and a transformer control unit 130.
- the hybrid controller C2 receives an auto-decel state D1, a turning motor servo command D2, a zero clamp flag D3, a hydraulic lock switch state D4, and a generator motor rotation speed D10.
- the control state of the transformer 26 by the transformer control unit 130 is, as necessary, to the decel time transformer stop flag determination unit 100, the transformer activation permission flag determination unit 110, and the transformer target control state determination unit 120. Provide feedback.
- the transformer 26 is in the transformer start state ST1 or the transformer stop state ST2, the auto decel state D1 is auto decel (TRUE), and the turning motor servo command D2 is OFF.
- the transformer stop flag F1 for stopping the transformer 26 is set to TRUE and the transformer target control state determination unit 120 is set to TRUE. Output.
- the zero clamp means that the current position of the upper swing body 5 is maintained by a position control command so that the swing motor 23 does not swing, and power is supplied to the swing motor 23 so that it is in the same state as the swing lock. It is to be.
- the turning motor servo command D2 When the turning motor servo command D2 is OFF, it is determined that the operator does not intend to operate from the fact that the lever operation for driving the turning motor 23 is not performed, and the turning command to the turning motor 23 is not output.
- the servo command is not output from the second inverter 22 to the turning motor 23.
- the transformer activation permission flag determination unit 110 sets the transformer activation permission flag F2 to TRUE based on the generator motor rotation speed D10 and the control state of the transformer 26, and outputs it to the transformer target control state determination unit 120.
- the transformer target control state determination unit 120 determines a new control state of the transformer 26 based on the control state of the decel time transformer stop flag F1, the transformer activation permission flag F2, and the transformer 26. Then, the transformer control unit 130 outputs the control state determined by the transformer target control state determination unit 120 as a control command for the transformer 26.
- the transformer target control state determination unit 120 changes the control state of the transformer 26 based on the state transition diagram shown in FIG.
- the preparation state ST0 is a state in which the contactor 27 is disconnected in an energized state immediately after key-on or immediately after key-off.
- the transformer activation state ST1 is a state in which the transformer 26 is activated and current is input to and output from the capacitor 25.
- the transformer stop state ST2 the transformer 26 is stopped while the contactor 27 is in the connected state, so that the transformer loss in the transformer 26 and the switching loss of the semiconductor element are not caused.
- the transformer target control state determination unit 120 transitions to the transformer stop state ST2 when the current control state is the transformer start state ST1 and the decel time transformer stop flag F1 is TRUE. Then, the transformer 26 is stopped (S1). Further, when the current control state is the transformer stop state ST2, when the decelerating transformer stop flag F1 is FALSE and the transformer start permission flag F2 is TRUE, the process proceeds to the transformer start state ST1. Then, the transformer 26 is activated (S2). When the current control state is the transformer stop state ST2 and the hybrid system state D21 is the measurement of the capacitor capacity estimation, the state shifts to the transformer start state ST1 to start the transformer 26 (S3). ).
- the transformer target control state determination unit 120 shifts to the preparation state ST0 and sets the transformer 26 to the preparation state. (S4).
- the preparation state ST0 is entered as in S4. Transition to bring the transformer 26 into a ready state.
- the current control state is the preparation state ST0 and the transformer activation permission flag F2 is TRUE, the state is shifted to the transformer activation state ST1, and the transformer 26 is activated.
- FIG. 6 is a diagram showing a detailed configuration of the transformer-time transformer stop flag determination unit 100.
- these five are AND conditions.
- these conditions are states in which the turning motor 23 is not driven. If one of these conditions is, for example, when the turning motor servo command D2 is turned ON, in this state, it is assumed that there is an intention to drive the turning motor 23, and the decel time transformer stop flag F1 is output as FALSE.
- the number of conditions is not limited to these five AND conditions.
- the decel time transformer stop flag F1 needs to be FALSE. In this case, the rise time after the transformer 26 is energized is considered. Then, it is preferable to set the hydraulic lock switch state D4 as a condition for setting the decelerating time transformer stop flag F1 to TRUE. That is, when the hydraulic lock switch 58 is used, the time required to operate the hydraulic lock switch 58 can compensate for the rise time after the transformer 26 is energized, and the operator does not feel uncomfortable in operation.
- the power supply from the capacitor 25 to the turning motor 23 can be cut off without the contactor 27 being cut off when the transformer is stopped.
- the transformer it is necessary to make a state in which the power supply from the capacitor 25 is not performed.
- the frequency of the transformer stop is increased, the number of times the contactor 27 is cut off and the life of the contactor 27 is shortened.
- the power supply can be cut off without switching off the contactor 27 since the energization can be cut off by the switching element. Thereby, it is not necessary to reduce the life of the contactor 27.
- FIG. 7 is a flowchart showing detailed processing of the transformer activation permission flag determination unit 110. As shown in FIG. 7, the transformer activation permission flag determination unit 110 first determines whether or not the control state of the transformer 26 is the preparation state ST0 (step S101).
- Step S102 When the control state of the transformer 26 is the preparation state ST0 (step S101, Yes), it is determined whether or not the generator motor rotation speed D10 is less than a second stop rotation speed N2 (for example, 800 rpm) ( Step S102). When the generator motor rotational speed D10 is less than the second stop rotational speed N2 (for example, 800 rpm) (step S102, Yes), the transformer activation permission flag F2 is output as FALSE. On the other hand, when the generator motor rotation speed D10 is not less than the second stop rotation speed N2 (for example, 800 rpm) (step S102, No), the transformer activation permission flag F2 is output as TRUE.
- a second stop rotation speed N2 for example, 800 rpm
- Step S103 When the control state of the transformer 26 is not the preparation state ST0 (step S101, No), it is determined whether or not the generator motor rotational speed D10 is less than the first stop rotational speed N1 (for example, 300 rpm). (Step S103). When the generator motor rotation speed D10 is less than the first stop rotation speed N1 (for example, 300 rpm) (step S103, Yes), the transformer activation permission flag F2 is output as FALSE. On the other hand, when the generator motor rotation speed D10 is not less than the first stop rotation speed N1 (for example, 300 rpm) (step S103, No), the transformer activation permission flag F2 is output as TRUE.
- the generator motor rotation speed D10 is less than the first stop rotation speed N1 (for example, 300 rpm) (step S103, Yes)
- the transformer activation permission flag F2 is output as TRUE.
- the threshold value of the generator motor rotation speed D10 that outputs the transformer activation permission flag F2 as TRUE is changed according to the state of charge of the transformer 26. Specifically, when the control state of the transformer 26 is the preparation state ST0, the threshold value of the generator motor rotation number D10 is set to a high second stop rotation number N2 (for example, 800 rpm), assuming that the charging state is a good state. For example, when the generator motor speed D10 is 600 rpm, the transformer activation permission flag F2 is not output as TRUE.
- a high second stop rotation number N2 for example, 800 rpm
- the threshold value of the generator motor rotation speed D10 is set to a low high first stop rotation because the charging state is not good.
- the transformer activation permission flag F2 is output as TRUE.
- the auto-decel state D1 used for the determination of the decelerating transformer stop flag F1 shown in FIG. 6 includes the auto-decel state D101 of the pump controller C11 and the auto-decel enable state of the hybrid system (hybrid controller C2). D102 is used.
- the auto-decel state D101 is TRUE and the auto-decel enable state D102 is TRUE
- the auto-decel state D1 is output as TRUE. In other cases, the auto-decel state D1 is output as FALSE.
- the pump controller C ⁇ b> 11 includes an auto decel counter update unit 201 and an auto decel state determination unit 202.
- the auto decel counter updating unit 201 includes an engine state flag sent from the engine controller C12, a forced auto decel prohibition command sent from the hybrid controller C2, an all lever neutral flag, an auto decel switch sent from the monitor device 30, and a throttle auto decel flag. Entered.
- the all lever neutral flag is based on the lever value signal obtained from the turning lever value, boom lever value, arm lever value, bucket lever value, traveling right lever value, traveling left lever value, and signal obtained from the service switch. If all lever values are neutral, set the flag to TRUE.
- the throttle auto-decel flag sets the flag to TRUE when the throttle dial value is less than or equal to the on threshold, and sets the flag to FALSE when the throttle dial value is greater than or equal to the off threshold. This flag becomes TRUE when, for example, the throttle dial value is 25% or less of the maximum value.
- the state where the forced auto-decel prohibition command is TRUE is, for example, a capacitor capacity measurement state.
- the auto-decel counter updating unit 201 stops the auto-decel switch or the throttle auto-decel all lever neutral flag is TRUE, the all lever neutral flag is TRUE, and the forced auto decel prohibition command is FALSE, or the engine state flag is stopped. When it is in the middle, the auto-decel counter is incremented. On the other hand, if this condition is not satisfied, the current auto-decel counter is cleared. Then, the auto decel counter updating unit 201 outputs the updated auto decel counter to the auto decel state determining unit 202.
- the auto-decel state determination unit 202 receives an engine state flag and an auto-decel counter. Then, the auto-decel state determination unit 202 outputs the auto-decel state D101 of the pump controller C11 as TRUE to the hybrid controller C2 when the value of the auto-decel counter is equal to or longer than the auto-decel enable time or the engine state flag is stopped.
- the hybrid controller C2 includes an auto-decel enable counter flag 301 and an auto-decel enable state determination unit 302.
- the auto-decel enable state determination unit 302 includes a capacitor charge removal switch, an engine temperature ready flag, an engine start counter, a low idle enable capacitor temperature flag, a generator motor ready state, a turning lock switch, a generator motor torque, a capacitor voltage, An auto-decel enable counter flag 301 is input.
- the capacitor charge removal switch is sent from the monitor device 30.
- the engine temperature ready flag becomes TRUE when the engine water temperature is equal to or higher than T12 and becomes FALSE when the engine water temperature is equal to or lower than t11.
- the counter after engine start counts the time during continuous stop after engine start based on the engine state flag.
- the low idle enable capacitor temperature flag is set to TRUE when the capacitor temperature is equal to or higher than T2 and is set to FALSE when the capacitor temperature is equal to or lower than T1.
- the auto-decel enable counter flag 301 counts the auto-decel enable counter CT1 when the transformer is stopped and the auto-decel enable counter CT2 when the transformer is not stopped based on the control state of the transformer 26.
- the auto-decel enable state is TRUE and the control state of the transformer 26 is the transformer stop state ST2
- the auto-decel enable counter CT1 is counted up when the transformer is stopped, and the transformer is not stopped.
- the auto-decel enable counter CT2 is cleared.
- the auto-decel enable state is TRUE and the control state of the transformer 26 is not the transformer stop state ST2
- the auto-decel enable counter CT1 when the transformer is stopped is cleared and the auto-decel enable counter CT2 when the transformer is not stopped. Is counted up.
- the auto-decel enable state is not TRUE
- the auto-decel enable counter CT1 when the transformer is stopped and the auto-decel enable counter CT2 when the transformer is not stopped are cleared.
- the auto-decel enable state determination unit 302 indicates that the low idle enable capacitor temperature flag is TRUE, the capacitor charge removal switch is FALSE, and the capacitor voltage exceeds the auto-decel enable capacitor voltage.
- the auto-decel enable state determination unit 302 is not FALSE, the low idle enable capacitor temperature flag is FALSE, the capacitor charge removal switch is TRUE, or the capacitor voltage is less than the auto-decel enable capacitor voltage, Or, when the turning lock switch is ON, the engine temperature ready flag is FALSE, the counter after engine start is less than the auto-decel enable start time, or the auto-decel enable counter flag is TRUE, the auto-decel enable state D102 is set to FALSE. In other cases, the auto-decel enable state D102 is set to TRUE and output.
- the transformer stop flag F1 is set to TRUE.
- the transformer 26 is stopped. For this reason, when returning from the transformer stopped state, only the above-described at least one condition is denied, and the decel time transformer stop flag F1 becomes FALSE.
- the transformer 26 since the transformer 26 is activated by the operator's intention, the operator's operation is involved. And since the time until operation of an operator generate
- the transformer start permission flag F2 is set to TRUE based on the generator / motor rotation speed. However, immediately after the return, the generator / motor rotation speed decreases due to charging. In this case, the transformer activation permission flag F2 can be set to TRUE even if the generator / motor rotation speed is low.
Abstract
Description
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、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。
ここで、図4及び図5を参照して、ハイブリッドコントローラC2によるデセル時の変圧器26の停止制御及び変圧器26の起動制御の概要について説明する。図4は、ハイブリッドコントローラC2による変圧器停止/起動制御の構成を示すブロック図である。また、図5は、ハイブリッドコントローラC2による変圧器停止/起動制御の状態遷移図である。
図6は、デセル時変圧器停止フラグ判定部100の詳細構成を示す図である。図6に示すように、デセル時変圧器停止フラグ判定部100は、
1)変圧器26の制御状態が変圧器起動状態ST1または変圧器停止状態ST2
2)オートデセル状態D1=TRUE
3)旋回モータサーボ指令D2=OFF
4)ゼロクランプフラグD3=OFF
5)油圧ロックスイッチ状態D4=ロック
の5つのAND条件を満たす場合に、デセル時変圧器停止フラグF1=TRUEとして出力し、5つのAND条件を満たさない場合に、デセル時変圧器停止フラグF1=FALSEとして出力する。
1)変圧器26の制御状態が変圧器起動状態ST1または変圧器停止状態ST2
2)オートデセル状態D1=TRUE
3)旋回モータサーボ指令D2=OFF
とする3つのAND条件でもよいし、
1)変圧器26の制御状態が変圧器起動状態ST1または変圧器停止状態ST2
2)オートデセル状態D1=TRUE
3)油圧ロックスイッチ状態D4=ロック
とする3つのAND条件でもよいし、
1)変圧器26の制御状態が変圧器起動状態ST1または変圧器停止状態ST2
2)オートデセル状態D1=TRUE
3)旋回モータサーボ指令D2=OFF
4)油圧ロックスイッチ状態D4=ロック
とする4つのAND条件でもよい。
図7は、変圧器起動許可フラグ判定部110の詳細処理を示すフローチャートである。図7に示すように、変圧器起動許可フラグ判定部110は、まず、変圧器26の制御状態が準備状態ST0であるか否かを判断する(ステップS101)。
図6に示したデセル時変圧器停止フラグF1の判定に用いられるオートデセル状態D1は、図8に示すように、ポンプコントローラC11のオートデセル状態D101、及びハイブリッドシステム(ハイブリッドコントローラC2)のオートデセルイネーブル状態D102が用いられる。図8において、オートデセル状態D101がTRUE、かつ、オートデセルイネーブル状態D102がTRUEの場合に、オートデセル状態D1はTRUEとして出力され、それ以外の場合、オートデセル状態D1はFALSEとして出力される。
図9に示すように、ポンプコントローラC11は、オートデセルカウンタ更新部201とオートデセル状態判定部202とを有する。オートデセルカウンタ更新部201には、エンジンコントローラC12から送られるエンジン状態フラグ、ハイブリッドコントローラC2から送られる強制オートデセル禁止指令、全レバーニュートラルフラグ、モニタ装置30から送られるオートデセルスイッチ、スロットルオートデセルフラグが入力される。全レバーニュートラルフラグは、旋回レバー値、ブームレバー値、アームレバー値、バケットレバー値、走行右レバー値、走行左レバー値から得られるレバー値信号と、サービススイッチから得られる信号とをもとに全レバー値がニュートラルになっている場合、フラグをTRUEにする。スロットルオートデセルフラグは、ヒステリシス処理によって、スロットルダイヤル値が、オン閾値以下となった場合にフラグをTRUEにし、オフ閾値以上となった場合にフラグをFALSEに設定する。このフラグがTRUEになるのは、例えば、スロットルダイヤル値が最大値の25%以下である。なお、強制オートデセル禁止指令がTRUEの状態とは、例えば、キャパシタ容量計測状態である。
図10に示すように、ハイブリッドコントローラC2は、オートデセルイネーブルカウンタフラグ301とオートデセルイネーブル状態判定部302とを有する。オートデセルイネーブル状態判定部302には、キャパシタ電荷抜きスイッチ、エンジン温度レディフラグ、エンジン始動後カウンタ、ローアイドルイネーブルキャパシタ温度フラグ、発電機モータレディ状態、旋回ロックスイッチ、発電機モータトルク、キャパシタ電圧、オートデセルイネーブルカウンタフラグ301が入力される。
2 車両本体
3 作業機
4 下部走行体
4a 走行装置
4b 履帯
5 上部旋回体
6 運転室
7 燃料タンク
8 作動油タンク
9 エンジン室
10 カウンタウェイト
11 ブーム
12 アーム
13 バケット
14 ブーム用油圧シリンダ
15 アーム用油圧シリンダ
16 バケット用油圧シリンダ
17 エンジン
18a 斜板
18 油圧ポンプ
19 発電機モータ
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
24 スイングマシナリ
25 キャパシタ
26 変圧器
27 コンタクタ
28 電圧センサ
30 モニタ装置
31 キースイッチ
32 操作レバー
32R 右操作レバー
32L 左操作レバー
33 操作弁
34 右走行用油圧モータ
35 左走行用油圧モータ
40 燃料噴射装置
41 回転センサ
50 変圧器温度センサ
51 キャパシタ温度センサ
52 電流計
53 電圧検出センサ
54,54 回転センサ
56 スロットルダイヤル
61 圧力センサ
57 旋回ロックスイッチ
58 油圧ロックスイッチ
100 デセル時変圧器停止フラグ判定部
110 変圧器起動許可フラグ判定部
120 変圧器目標制御状態決定部
130 変圧器制御部
201 オートデセルカウンタ更新部
202 オートデセル状態判定部
301 オートデセルイネーブルカウンタフラグ
302 オートデセルイネーブル状態判定部
C1 他のコントローラ
C11 ポンプコントローラ
C12 エンジンコントローラ
C2 ハイブリッドコントローラ
D1 オートデセル状態
D10 発電機モータ回転数
D2 旋回モータサーボ指令
D3 ゼロクランプフラグ
D4 油圧ロックスイッチ状態
D20 ハイブリッド制御状態
D101 オートデセル状態
D102 オートデセルイネーブル状態
F1 デセル時変圧器停止フラグ
F2 変圧器起動許可フラグ
ST0 準備状態
ST1 変圧器起動状態
ST2 変圧器起動状態
SW1 オートデセルスイッチ
Claims (7)
- エンジンと、
前記エンジンの出力軸に連結された発電機モータと、
前記発電機モータが発電した電力を蓄電し、あるいは前記発電機モータに電力を供給する蓄電器と、
前記発電機モータ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モータと、
前記発電機モータ及び前記モータと前記蓄電器との間に設けられた変圧器と、
前記エンジンがアイドル状態である条件と前記モータを駆動するモータ駆動指令が出力されていない条件とからなる複数の条件を満足する場合、前記変圧器を停止させる制御部と、
を備えたことを特徴とするハイブリッド作業機械。 - エンジンと、
前記エンジンの出力軸に連結された発電機モータと、
前記発電機モータが発電した電力を蓄電し、あるいは前記発電機モータに電力を供給する蓄電器と、
前記発電機モータ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モータと、
前記発電機モータ及び前記モータと前記蓄電器との間に設けられた変圧器と、
前記エンジンがアイドル状態である条件と油圧ロックスイッチがロック状態である条件とからなる複数の条件を満足する場合、前記変圧器を停止させる制御部と、
を備えたことを特徴とするハイブリッド作業機械。 - エンジンと、
前記エンジンの出力軸に連結された発電機モータと、
前記発電機モータが発電した電力を蓄電し、あるいは前記発電機モータに電力を供給する蓄電器と、
前記発電機モータ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モータと、
前記発電機モータ及び前記モータと前記蓄電器との間に設けられた変圧器と、
前記エンジンがアイドル状態である条件と前記モータを駆動するモータ駆動指令が出力されていない条件と油圧ロックスイッチがロック状態である条件とからなる複数の条件を満足する場合、前記変圧器を停止させる制御部と、
を備えたことを特徴とするハイブリッド作業機械。 - 前記モータは、旋回体を旋回させる旋回モータであり、
前記制御部は、さらに、ゼロクランプがオフとなっている条件を加えた複数の条件を満足する場合、前記変圧器を停止させることを特徴とする請求項1~3のいずれか一つに記載のハイブリッド作業機械。 - 前記制御部は、発電機モータの回転数をもとに、前記変圧器の起動を許可することを特徴とする請求項1~4のいずれか一つに記載のハイブリッド作業機械。
- 前記制御部は、前記複数の条件の少なくとも1つの条件を満足しない場合に、前記変圧器の起動を許可することを特徴とする請求項5に記載のハイブリッド作業機械。
- 前記制御部は、前記蓄電器と前記変圧器との間の接続と遮断とを行うコンタクタを接続したまま前記変圧器への通電を遮断して前記変圧器を停止させることを特徴とする請求項1~6のいずれか一つに記載のハイブリッド作業機械。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2013/070114 WO2015011810A1 (ja) | 2013-07-24 | 2013-07-24 | ハイブリッド作業機械 |
CN201380064772.5A CN104838580A (zh) | 2013-07-24 | 2013-07-24 | 混合动力作业机械 |
KR1020157013914A KR20150076245A (ko) | 2013-07-24 | 2013-07-24 | 하이브리드 작업 기계 |
JP2013550429A JP5956466B2 (ja) | 2013-07-24 | 2013-07-24 | ハイブリッド作業機械 |
DE112013005395.0T DE112013005395T5 (de) | 2013-07-24 | 2013-07-24 | Hybridarbeitsmaschine |
US14/650,394 US20150299985A1 (en) | 2013-07-24 | 2013-07-24 | Hybrid work machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2013/070114 WO2015011810A1 (ja) | 2013-07-24 | 2013-07-24 | ハイブリッド作業機械 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015011810A1 true WO2015011810A1 (ja) | 2015-01-29 |
Family
ID=52392890
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2013/070114 WO2015011810A1 (ja) | 2013-07-24 | 2013-07-24 | ハイブリッド作業機械 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20150299985A1 (ja) |
JP (1) | JP5956466B2 (ja) |
KR (1) | KR20150076245A (ja) |
CN (1) | CN104838580A (ja) |
DE (1) | DE112013005395T5 (ja) |
WO (1) | WO2015011810A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108884656A (zh) * | 2016-07-26 | 2018-11-23 | 株式会社小松制作所 | 作业车辆的控制系统、控制方法及作业车辆 |
JP2021080707A (ja) * | 2019-11-18 | 2021-05-27 | 株式会社クボタ | 作業機 |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101526697B1 (ko) * | 2013-10-25 | 2015-06-05 | 현대자동차주식회사 | 친환경 차량용 내부 장착 충전기 |
WO2016191290A2 (en) | 2015-05-22 | 2016-12-01 | Polaris Industries Inc. | Power boost regulator |
US10870465B2 (en) * | 2015-05-22 | 2020-12-22 | Polaris Industries Inc. | Power boost regulator |
CN109070872B (zh) * | 2016-09-16 | 2021-07-02 | 株式会社日立建机Tierra | 混合动力式作业机械 |
DE102018102153A1 (de) * | 2018-01-31 | 2019-08-01 | Hammelmann GmbH | Einrichtung zum Bearbeiten eines Werkstücks |
JP7112996B2 (ja) * | 2019-09-17 | 2022-08-04 | 日立建機株式会社 | 作業機械 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002171606A (ja) * | 2000-11-28 | 2002-06-14 | Toshiba Corp | ハイブリッド車用インバータシステム |
JP2005207383A (ja) * | 2004-01-26 | 2005-08-04 | Yanmar Co Ltd | ハイブリッドシステムにおける機関制御方法 |
JP2005299102A (ja) * | 2004-04-07 | 2005-10-27 | Kobelco Contstruction Machinery Ltd | 旋回式作業機械 |
WO2010114088A1 (ja) * | 2009-04-03 | 2010-10-07 | 株式会社小松製作所 | トランス結合型昇圧器の制御装置 |
JP2010265811A (ja) * | 2009-05-14 | 2010-11-25 | Mitsubishi Electric Corp | 車載エンジン制御装置 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0106595B1 (en) * | 1982-09-28 | 1989-07-19 | Tai-Her Yang | Multi-function machine tooling |
DE4311230C2 (de) * | 1993-04-02 | 1996-12-19 | Mannesmann Ag | Nicht-spurgebundenes Fahrzeug mit Elektromotor |
US6118238A (en) * | 1998-08-26 | 2000-09-12 | Satcon Technology Corporation | Motor starting apparatus for an engine driven generator |
JP4112930B2 (ja) * | 2002-09-04 | 2008-07-02 | 東芝三菱電機産業システム株式会社 | インバータ装置 |
US7170262B2 (en) * | 2003-12-24 | 2007-01-30 | Foundation Enterprises Ltd. | Variable frequency power system and method of use |
US20060006009A1 (en) * | 2004-07-12 | 2006-01-12 | Garth Mennenga | Hybrid drive system for a vehicle and method therefor |
US20080011007A1 (en) * | 2006-03-10 | 2008-01-17 | International Truck Intellectual Property Company, Llc | Cold plate refrigeration system optimized for energy efficiency |
US7980905B2 (en) * | 2007-11-25 | 2011-07-19 | C-Mar Holdings, Ltd. | Method and apparatus for providing power to a marine vessel |
JP5350034B2 (ja) * | 2009-03-25 | 2013-11-27 | 日本ムーグ株式会社 | 電動機システム |
CN102548819A (zh) * | 2009-10-13 | 2012-07-04 | 本田技研工业株式会社 | 混合动力车辆 |
WO2011159323A1 (en) * | 2010-06-14 | 2011-12-22 | Parker-Hannifin Corporation | High voltage power supply system and method |
KR101382305B1 (ko) * | 2010-12-06 | 2014-05-07 | 현대자동차주식회사 | 하이브리드 차량용 모터 제어 장치 |
US9540998B2 (en) * | 2011-05-27 | 2017-01-10 | Daniel K. Schlak | Integral gas turbine, flywheel, generator, and method for hybrid operation thereof |
JP2013177037A (ja) * | 2012-02-28 | 2013-09-09 | Nabtesco Corp | ハイブリッド駆動機構の始動制御装置 |
US9621026B2 (en) * | 2012-03-02 | 2017-04-11 | Toshiba Mitsubishi-Electric Industrial Systems Corporation | Power conversion apparatus |
CN103562036B (zh) * | 2012-05-23 | 2016-03-16 | 株式会社小松制作所 | 混合动力作业机械及混合动力作业机械的控制方法 |
US9777698B2 (en) * | 2013-11-12 | 2017-10-03 | Daniel Keith Schlak | Multiple motor gas turbine engine system with auxiliary gas utilization |
-
2013
- 2013-07-24 DE DE112013005395.0T patent/DE112013005395T5/de not_active Ceased
- 2013-07-24 WO PCT/JP2013/070114 patent/WO2015011810A1/ja active Application Filing
- 2013-07-24 KR KR1020157013914A patent/KR20150076245A/ko not_active Application Discontinuation
- 2013-07-24 US US14/650,394 patent/US20150299985A1/en not_active Abandoned
- 2013-07-24 CN CN201380064772.5A patent/CN104838580A/zh active Pending
- 2013-07-24 JP JP2013550429A patent/JP5956466B2/ja active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002171606A (ja) * | 2000-11-28 | 2002-06-14 | Toshiba Corp | ハイブリッド車用インバータシステム |
JP2005207383A (ja) * | 2004-01-26 | 2005-08-04 | Yanmar Co Ltd | ハイブリッドシステムにおける機関制御方法 |
JP2005299102A (ja) * | 2004-04-07 | 2005-10-27 | Kobelco Contstruction Machinery Ltd | 旋回式作業機械 |
WO2010114088A1 (ja) * | 2009-04-03 | 2010-10-07 | 株式会社小松製作所 | トランス結合型昇圧器の制御装置 |
JP2010265811A (ja) * | 2009-05-14 | 2010-11-25 | Mitsubishi Electric Corp | 車載エンジン制御装置 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108884656A (zh) * | 2016-07-26 | 2018-11-23 | 株式会社小松制作所 | 作业车辆的控制系统、控制方法及作业车辆 |
US10787789B2 (en) | 2016-07-26 | 2020-09-29 | Komatsu Ltd. | Control system for work vehicle, control method, and work vehicle |
JP2021080707A (ja) * | 2019-11-18 | 2021-05-27 | 株式会社クボタ | 作業機 |
JP7321899B2 (ja) | 2019-11-18 | 2023-08-07 | 株式会社クボタ | 作業機 |
Also Published As
Publication number | Publication date |
---|---|
CN104838580A (zh) | 2015-08-12 |
KR20150076245A (ko) | 2015-07-06 |
DE112013005395T5 (de) | 2015-08-13 |
JPWO2015011810A1 (ja) | 2017-03-02 |
US20150299985A1 (en) | 2015-10-22 |
JP5956466B2 (ja) | 2016-07-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5956466B2 (ja) | ハイブリッド作業機械 | |
JP5759019B1 (ja) | ハイブリッド作業機械 | |
JP6133704B2 (ja) | 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 | |
JP5591354B2 (ja) | 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 | |
WO2010087364A1 (ja) | ハイブリッド式作業機械及びサーボ制御システム | |
EP2228492A1 (en) | Hybrid construction machine | |
WO2016088827A1 (ja) | 建設機械 | |
JP6524019B2 (ja) | 建設機械 | |
JP6707065B2 (ja) | 建設機械 | |
JP5037555B2 (ja) | ハイブリッド型建設機械 | |
WO2016117490A1 (ja) | 建設機械 | |
KR101942674B1 (ko) | 하이브리드 건설 기계 | |
WO2016117232A1 (ja) | ハイブリッド建設機械 | |
WO2015125601A1 (ja) | 建設機械 | |
JP5037558B2 (ja) | ハイブリッド型建設機械 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2013550429 Country of ref document: JP Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 13889807 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 20157013914 Country of ref document: KR Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14650394 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1120130053950 Country of ref document: DE Ref document number: 112013005395 Country of ref document: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 13889807 Country of ref document: EP Kind code of ref document: A1 |