WO2015064507A1 - 作業機械 - Google Patents
作業機械 Download PDFInfo
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- WO2015064507A1 WO2015064507A1 PCT/JP2014/078380 JP2014078380W WO2015064507A1 WO 2015064507 A1 WO2015064507 A1 WO 2015064507A1 JP 2014078380 W JP2014078380 W JP 2014078380W WO 2015064507 A1 WO2015064507 A1 WO 2015064507A1
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- power
- power storage
- storage device
- engine
- management unit
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
- B60K6/485—Motor-assist type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0677—Engine power
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
Definitions
- the present invention relates to a work machine such as a hydraulic excavator, and more particularly to a work machine capable of driving a hydraulic pump with an engine and a motor generator.
- a so-called hybrid construction machine uses a motor generator as a power source in addition to the engine.
- a hybrid construction machine equipped with this type of motor generator is designed to compensate for the difference between the pump absorption power and the engine output upper limit with the power of the motor generator when the pump absorption power exceeds the engine output upper limit. By doing this, the power increase speed of the engine is set to a predetermined value or less.
- Patent Document 1 As a conventional technique related to this type of hybrid construction machine, Patent Document 1 is disclosed which aims to avoid a reduction in engine combustion efficiency and to prevent generation of exhaust gas having an environmental load, particularly black smoke. Yes.
- an upper limit value of engine output at which the engine power increase rate is equal to or less than a predetermined increase rate is calculated, and when the pump absorption power exceeds the engine output upper limit value, the upper limit value of the pump absorption power is set to the engine.
- the hydraulic pump or the motor generator is controlled so that the engine power increase speed is suppressed to a predetermined value or less by suppressing to the output upper limit value, thereby avoiding a sharp increase in engine power.
- Patent Document 1 According to the engine output upper limit value that increases at a predetermined increase rate, the increase speed is limited so that the engine power does not increase sharply, and the suppression of exhaust gas is achieved.
- the hydraulic pump is not controlled. For this reason, if the remaining amount of power stored in the power storage device is insufficient and sufficient power cannot be supplied to the motor generator, it is not only possible to avoid a decrease in engine combustion efficiency, but also due to a sharp increase in pump absorption power. The power may fluctuate sharply and the engine may stall.
- the present invention has been made from the above-described actual state of the prior art, and an object thereof is to provide a work machine capable of suppressing a rapid fluctuation in engine power.
- the present invention drives an engine, a hydraulic pump driven by the engine, a hydraulic working unit driven by pressure oil discharged from the hydraulic pump, and the hydraulic pump.
- engine target power for limiting the increase and decrease of the engine power based on the load power calculated by the load calculation unit and the vehicle body state managed by the vehicle body state management unit
- the present invention provides an engine target power for limiting an increase and a decrease in engine power based on the engine load power calculated by the load calculation unit and the vehicle body state managed by the vehicle body state management unit. Based on this engine target power, the power is calculated by the power calculation unit, and the power of the hydraulic pump is limited by the hydraulic power limiting unit, and the power of the motor generator is limited by the assist power limiting unit. With this configuration, the present invention limits the power of the hydraulic pump and limits the power of the motor generator based on the engine target power for limiting the increase and decrease of the engine power. Variations can be suppressed. Problems, configurations, and effects other than those described above will be made clear from the following description of embodiments.
- FIG. 1 is a side view of a hydraulic excavator according to a first embodiment of the present invention. It is a block diagram which shows the hydraulic drive device mounted in the said hydraulic excavator. It is the schematic which shows the structure of the controller of the said hydraulic drive device. It is the schematic which shows the process in the load calculating part of the said controller. It is a graph showing the change of the variable rate limiter by the mode selection of the mode determination part of the said controller. It is a graph showing the change of the increase rate of a variable rate limiter by the power running possible amount calculated in the electrical storage apparatus management part of the said controller. It is a graph showing the change of the decreasing rate of the variable rate limiter by the regenerative amount calculated in the electrical storage apparatus management part of the said controller.
- FIG. 4 is a time chart when a continuous excavation operation is performed using the above controller, where (a) is the relationship between engine power and pump absorption power, (b) is the power of the motor generator, and (c) is the remaining power storage of the power storage device. Amount. It is the schematic which shows the process in the load calculating part of the controller of the hydraulic shovel which concerns on 2nd Embodiment of this invention.
- FIG. 1 is a side view of a hydraulic excavator 1 according to a first embodiment of the present invention.
- FIG. 2 is a configuration diagram showing a hydraulic drive device mounted on the hydraulic excavator.
- FIG. 3 is a schematic diagram showing the configuration of the controller of the hydraulic drive device.
- FIG. 4 is a schematic diagram showing processing of the load calculation unit of the controller.
- a hydraulic excavator 1 which is a first embodiment of a work machine according to the present invention is a so-called hybrid excavator, and as shown in FIG. 1, a lower traveling body 2 having a crawler traveling device 2a, and a lower portion
- the upper revolving unit 3 is mounted on the traveling unit 2 so as to be capable of revolving.
- the lower traveling body 2 and the upper swing body 3 are attached so as to be turnable via a turning device 4.
- a cab 3a is provided on the front side of the upper swing body 3 so that an operator can get on and operate the hydraulic excavator 1.
- a base end portion of the boom 5 is rotatably attached to the front side of the cab 3a.
- the boom 5 operates via a boom cylinder 5a that is driven by hydraulic oil (pressure oil) as a supplied fluid.
- the base end portion of the arm 6 is rotatably attached to the distal end portion of the boom 5.
- the arm 6 operates via the arm cylinder 6a.
- a proximal end portion of the bucket 7 is rotatably attached to the distal end portion of the arm 6.
- the bucket 7 operates via a bucket cylinder 7a.
- the boom 5, the boom cylinder 5a, the arm 6, the arm cylinder 6a, the bucket 7 and the bucket cylinder 7a constitute a front work machine 8 as an operating unit for performing, for example, excavation work.
- the upper swing body 3 is equipped with a hydraulic drive device 10 for driving the hydraulic excavator 1.
- the hydraulic drive device 10 is a hydraulic drive control device used for driving the front working machine 8, the turning device 4, the traveling device 2a, and the like.
- the hydraulic drive device 10 includes an engine 11 as a power source.
- the engine 11, the hydraulic system, various electrical components, and the like are also controlled by a controller 15 described later, but are not shown in FIG. 2 because they are not directly related to the present invention. .
- the engine 11 is provided with a turbocharger (not shown), a speed sensor 11a for detecting the engine speed, and a governor 11b for adjusting the fuel injection amount of the engine 11 as a sensing device.
- a variable displacement hydraulic pump 12 driven by the engine 11 is attached on the drive shaft 11c of the engine 11.
- a motor generator 13 that is mechanically connected on the drive shaft 11 c of the engine 11 and performs power assist of the engine 11 is attached between the hydraulic pump 12 and the engine 11.
- the hydraulic pump 12 is driven by the engine 11 and the motor generator 13.
- a rotational angle sensor 13a such as a resolver is attached to the motor generator 13 as a sensing device.
- the rotation angle sensor 13 a measures the rotation angle of the motor generator 13, and sensor information relating to the measured rotation angle is output to the controller 15.
- the motor generator 13 can transmit torque to and from the engine 11, and is electrically connected to the power storage device 14 via an inverter 14a as a motor generator control unit.
- the motor generator 13 is driven by power supplied from the power storage device 14, and the power generated by the motor generator 13 is supplied to the power storage device 14 and charged.
- the power storage device 14 is a secondary battery such as a chargeable / dischargeable battery or a capacitor.
- the power storage device 14 includes a current sensor 14 b that detects a current of power output from the power storage device 14 and a power output from the power storage device 14 as a sensing device that is a measurement unit for measuring the state of the power storage device 14.
- a voltage sensor 14c for detecting the voltage of the power storage device 14 and a temperature sensor 14d for detecting the temperature of the power storage device 14 are attached.
- the inverter 14a controls the power storage device 14 and the motor generator 13, and transmits and receives power between the power storage device 14 and the motor generator 13 as necessary.
- a controller 15 is connected to the inverter 14a as a control unit that controls the inverter 14a to control the torque of the motor generator 13.
- the controller 15 controls the engine speed by controlling the governor 11b and adjusting the fuel injection amount to the engine 11.
- a valve device 16 to which hydraulic oil discharged from the hydraulic pump 12 is supplied is attached to the hydraulic pump 12.
- a hydraulic actuator 17 that is a hydraulic working unit is attached to the valve device 16.
- the hydraulic actuator 17 is driven by hydraulic oil discharged from the hydraulic pump 12, and the drive of the hydraulic actuator 17 is controlled by the control of the valve device 16.
- various hydraulic actuators such as the boom cylinder 5a, the arm cylinder 6a, the bucket cylinder 7a, the traveling device 2a, and the turning device 4 shown in FIG.
- the hydraulic pump 12 includes a swash plate 12a for adjusting the pump volume, and a regulator 12b for controlling the tilt angle of the swash plate 12a and an electromagnetic proportional valve 12c for driving the regulator 12b are attached.
- a drive signal to the electromagnetic proportional valve 12c is calculated by the controller 15 for the set arbitrary absorption power, and the swash plate 12a is tilted through the regulator 12b with a control pressure corresponding to the drive signal.
- the pump volume of the hydraulic pump 12 is operated to adjust the absorption power.
- a discharge pressure sensor 12 d that measures the hydraulic pressure (discharge pressure) discharged from the hydraulic pump 12, and a flow meter that measures the flow rate (discharge flow rate) of the passing hydraulic oil. Is connected to the flow sensor 12e.
- the hydraulic pump 12 is attached with a tilt angle sensor (not shown) for measuring the tilt angle of the swash plate 12a. Sensor information such as the discharge pressure, flow rate, and tilt angle detected by the discharge pressure sensor 12d, the flow rate sensor 12e, and the tilt angle sensor is output to the controller 15.
- the controller 15 includes a power mode as a first mode for operating the front working machine 8 of the hydraulic excavator 1 and the like, and a second mode in which priority is given to improving the fuel consumption rate over the excavating force by the front working machine 8.
- a mode switch 18 for switching a plurality of modes such as the eco mode is attached.
- the mode switch 18 is attached to a position that can be operated by an operator in the cab 3a.
- the controller 15 includes a load calculation unit 21 that calculates load power on the drive shaft 11 a of the engine 11, a vehicle body state management unit 22 that manages the vehicle body state including the state of the power storage device 14, and the engine An engine power fluctuation limiting unit for generating engine target power (second target power) that limits the rate of change (increase rate and decrease rate) of power.
- the controller 15 is configured to calculate the limit value of the absorption power of the hydraulic pump 12 according to the calculation results of the load calculation unit 21 and the vehicle body state management unit 22 and to assist the calculation of the power command value of the motor generator 13.
- a power calculation unit 25 is provided.
- the controller 15 is provided with an on / off switch 19 for turning on / off the leveling control for changing the engine target power change rate according to the vehicle body condition to level the engine power.
- This leveling control is performed by the load calculating unit 21, the vehicle body state managing unit 22, the engine power fluctuation limiting unit 23, the hydraulic power limiting unit 24, and the assist power calculating unit 25.
- the on / off switch 19 is attached to a position that can be operated by an operator in the cab 3a.
- the load calculation unit 21 calculates load power including shaft power of the drive shaft 11c of the engine 11. That is, the load calculation unit 21 considers energy transfer from an inertial body such as a flywheel mainly by acceleration / deceleration of the engine 11 while including the load of auxiliary equipment such as an air conditioner. And load power is calculated from the sum of the power of the motor generator 13.
- the load calculation unit 21 includes an engine speed detection unit 21a, an engine torque detection unit 21b, a motor generator speed detection unit 21c, and a motor generator torque detection unit 21d.
- the engine speed detector 21a detects the engine speed via the speed sensor 11a.
- the engine torque detector 21b may measure the engine torque directly by attaching a torque meter (not shown) to the engine 11, or indirectly from the fuel injection amount detected via the governor 11b. Torque may be calculated.
- the motor generator rotation speed detection unit 21c detects the motor generator rotation speed based on the rotation angle of the motor generator 13 detected by the rotation angle sensor 13a.
- the motor generator torque detector 21d may measure the motor generator torque directly by attaching a torque meter (not shown) to the motor generator 13, or from the current value of the motor generator 13 or the inverter 14a. The motor generator torque may be calculated indirectly.
- the engine speed detected by the engine speed detection unit 21a and the engine torque detected by the engine torque detection unit 21b are output to the engine power conversion unit 21e, and are sent to the engine power conversion unit 21e.
- the engine power is calculated from the product of the engine speed and the engine torque.
- the motor generator rotational speed detected by the motor generator rotational speed detector 21c and the motor generator torque detected by the motor generator torque detector 21d are output to the motor generator power converter 21f.
- the motor generator power converter 21f calculates motor generator power as assist power from the product of the motor generator speed and the motor generator torque.
- the engine power conversion unit 21e and the motor generator power conversion unit 21f convert the product of the rotation speed and torque into power, and calculate the load on the drive shaft 11c of the engine 11 in consideration of various efficiencies. It also includes conversion. Furthermore, the engine power calculated by the engine power conversion unit 21e and the motor generator power calculated by the motor generator power conversion unit 21f are output to the addition calculation unit 21g, and the addition calculation unit 21g The engine power and the motor generator power are added to estimate the load power.
- the vehicle body state management unit 22 monitors and manages the state of the entire vehicle body including the state of the power storage device 14 of the excavator 1. As shown in FIG. 3, the vehicle body state management unit 22 mainly determines the operation mode of the vehicle body based on the on / off of the mode switch 18 and the power management unit 22 a and the power storage device management unit 22 b that mainly manage the state of the power storage device 14. A mode determination unit 22c and a remaining power storage unit 22d that calculates a remaining power storage based on the charging rate (SOC) of the power storage device 14 at each predetermined time are provided. The vehicle body state management unit 22 operates to manage the vehicle body state even when the control is switched based on temperature information such as the temperature of the hydraulic oil discharged from the hydraulic pump 12 and the temperature of the outside air.
- temperature information such as the temperature of the hydraulic oil discharged from the hydraulic pump 12 and the temperature of the outside air.
- the power management unit 22a calculates a power running request (power action force) or a regeneration request (regenerative power) to the motor generator 13 in order to keep the output power of the power storage device 14 in an appropriate range in a predetermined state.
- the power management unit 22a makes a power running request or a regeneration request so that the remaining power level calculated by the remaining power level calculation unit 22d can be made to follow and match a predetermined target remaining power level calculated separately in the power management unit 22a. Is calculated.
- the power running request or the regeneration request is, for example, a power running request when the remaining power level is higher than the target remaining power level, and is a regeneration request when the remaining power level is lower than the target remaining power level.
- the power storage device management unit 22b can perform a power running amount for powering the hydraulic pump 12 in the power storage device 14 via the motor generator 13, or can be regenerated from the hydraulic pump 12 to the power storage device 14 via the motor generator 13. Calculate the quantity. In addition to the remaining amount of electricity calculated at each time by the remaining amount calculation unit 22d, the power storage device management unit 22b can perform a power running amount or a regenerative amount in a predetermined output range in which the power storage device 14 can be used in an appropriate state. Is calculated.
- the control of lowering the heat generation amount of the power storage device 14 is performed by restricting the transfer of power to the motor generator 13 to limit the output current amount of the power storage device 14.
- the power storage device management unit 22b limits the use range of the power storage device 14 in consideration of maintenance of other devices even when the remaining power storage amount of the power storage device 14 is sufficient.
- the power storage device management unit 22b When the power storage device 14 is a lithium ion battery, the power storage device management unit 22b reduces the output voltage when the temperature is extremely low even when the power storage device 14 is fully charged (full charge). Therefore, the possible powering amount is calculated to be low.
- the power storage device management unit 22b calculates a power running possible amount based on information other than the remaining power storage amount of the power storage device 14, and appropriately manages the power that can be supplied from the engine 11 and the motor generator 13 to Excessive absorption power is limited to prevent the engine 11 from stalling.
- the power storage device management unit 22b affects the usable lifetime of the power storage device 14, for example, calculates a power running amount or a regenerative amount based on factors such as temperature and current amount, and excessive deterioration of the power storage device 14 To prevent.
- the power storage device management unit 22b calculates the powering possible amount as zero (0) when the power storage remaining amount of the power storage device 14 is zero (0), and the power storage remaining amount of the power storage device 14 is the maximum value (in the case of full charge). In this case, the regenerative amount is calculated as zero (0).
- the remaining power storage calculation unit 22d calculates the remaining power storage of the power storage device 14 based on the current value, voltage value, and temperature detected by the current sensor 14b, the voltage sensor 14c, and the temperature sensor 14d attached to the power storage device 14. And the electrical storage residual amount of the electrical storage apparatus 14 is calculated in each predetermined time.
- the engine power fluctuation limiting unit 23 is an engine target power calculation unit for calculating the engine target power, and the load power calculated by the load calculation unit 21 is added to the power running request calculated by the power management unit 22a.
- the second target power is a signal that has passed through the variable rate limiter 23a, and is calculated as a flattened target value that suppresses steep fluctuations like the first target power.
- the variable rate limiter 23a can sequentially change an increase rate (increase) and a decrease rate (decrease) when the second target power is generated from the first target power, and is calculated by the power storage device management unit 22b.
- the increase rate or the decrease rate is corrected to be smaller as the absolute value of the power running possible amount or the regeneration possible amount is larger.
- the variable rate limiter 23a may vary the rate of change of the second target power relative to the first target power in accordance with the power running possible amount or the regenerative possible amount output from the vehicle body state management unit 22.
- FIG. 5 is a graph showing changes in the variable rate limiter 23a due to mode selection in the mode determination unit 22c of the controller 15.
- the mode switch 18 shown in FIG. 2 When the mode switch 18 shown in FIG. 2 is set to the “power mode”, the effects of improving the fuel consumption rate (fuel consumption) and suppressing the exhaust gas are reduced, but the power of the engine 11 is greatly changed.
- the rate of change output rate of change with respect to the input rate of change
- the power mode value b1 is higher than the reference value a1.
- the mode switch 18 when the mode switch 18 is set to “eco mode”, the rate of change in the variable rate limiter 23a is set to the eco mode value c1 lower than the reference value a1.
- the rate of change in the variable rate limiter 23a is negative, that is, the rate of decrease is a requirement when the supply power of the hydraulic pump 12 is lowered and does not affect the operability of the hydraulic actuator 17, the mode switch 18 The setting may be independent of switching between “power mode” and “eco mode”.
- FIG. 6 is a graph showing a change in the increase rate of the variable rate limiter 23a according to the possible power running amount calculated by the power storage device management unit 22b of the controller 15.
- FIG. 7 is a graph showing a change in the reduction rate of the variable rate limiter 23a according to the regenerative amount calculated by the power storage device management unit 22b of the controller 15.
- the reference value a2 is a reference value of the rate of change (increase rate) in the variable rate limiter 23a determined by the mode determination unit 22c or the like.
- the assist amount of the engine 11 by the motor generator 13 can be increased, and the load power calculated by the load calculation unit 21 can be increased. Since the power of the engine 11 can be increased slowly even if the engine speed increases sharply, the rate of increase in the variable rate limiter 23a is changed to a high power running value b2 lower than the reference value a2.
- the rate of increase in the variable rate limiter 23a is changed to a low power running value c2 higher than the reference value a2 so as to positively use the power of the engine 11.
- the power management device 22b calculates that the power running possible amount is zero (0), the motor 11 cannot assist the engine 11 and the engine power is output according to the first target power.
- the increase rate at the limiter 23a is set to a value of slope 1 shown in FIG.
- the rate of increase in the variable rate limiter 23a is set to a value d2 lower than the slope 1 shown in FIG. 6 and the hydraulic power limiter 24 prevents the engine 11 from being applied with excessive load power.
- the operation of the shovel 1 is somewhat slow, the generation of exhaust gas can be suppressed.
- the reference value a3 is a reference value of the rate of change (decrease rate) in the variable rate limiter 23a determined by the mode determination unit 22c or the like.
- the motor 11 may be driven by the power of the hydraulic pump 12 to generate electric power, and the engine 11 may be loaded. Even if the load power calculated by the load calculation unit 21 decreases sharply, the power of the engine 11 can be decreased slowly. Therefore, the rate of decrease in the variable rate limiter 23a is set to a high regenerative value b3 lower than the reference value a3. To change.
- the variable rate limiter 23a when the regenerative amount calculated by the power storage device management unit 22b is low, the amount of power generated by the motor generator 13 is small and the engine 11 cannot be loaded, so the variable rate limiter 23a.
- the decrease rate at is changed to a low regeneration value c3 higher than the reference value a3.
- the rate of decrease in the variable rate limiter 23a is set to a value of the slope 1 shown in FIG.
- the hydraulic power limiting unit 24 limits the absorption power of the hydraulic pump 12. As shown in FIG. 2, the hydraulic power limiting unit 24 adds the second target power calculated by the engine power fluctuation limiting unit 23 to the maximum value (maximum power running) of the powerable amount calculated by the power storage device management unit 22 b. Value) is calculated as the maximum pump absorption power, and the calculated maximum pump absorption power is input to the limit pressure calculation unit 24a, and the limit pressure for limiting the absorption power of the hydraulic pump 12 by the limit pressure calculation unit 24a. Is calculated.
- the hydraulic power limiting unit 24 is configured to prevent the engine power output from the engine 11 from exceeding the second target power even when the motor 11 is maximally assisting the engine 11. Limit absorption power.
- the pump absorption power becomes equal to the second target power, and the motor generator 13 Even if it is a case where 11 cannot be assisted, the excessive load to the engine 11 can be prevented.
- the assist power calculation unit 25 is an assist power limiting unit that limits the power of the motor generator 13 and causes the actual engine power of the engine 11, that is, the actual power to follow the second target power.
- FIG. 8 is a diagram illustrating the calculation of the assist power calculation unit 25 of the controller 15, (a) is when the motor generator 13 is driven by torque control, (b) is the speed of the motor generator 13. This is a case of driving by control.
- the assist power calculation unit 25 As shown in FIG. 8A, the load power calculated by the load calculation unit 21 and the engine power fluctuation A difference (load power ⁇ second target power) from the second target power calculated by the limiting unit 23 is input to the limiter 25a, a predetermined torque command value is calculated based on this difference, and this torque command value is calculated. Is output to the inverter 14a shown in FIG. 2, and the motor generator 13 is torque controlled via the inverter 14a.
- the assist power calculation unit 25 determines the rotational speed of the engine 11 with respect to the engine power, that is, the engine power characteristic, as shown in FIG. Based on the determined predetermined engine power characteristic table 25b, the engine speed with respect to the second target power calculated by the engine power fluctuation limiting unit 23, that is, the target speed is calculated. Then, the calculated target rotational speed is set as a target speed command value, the target speed command value is output to the inverter 14a, and the motor generator 13 is speed controlled via the inverter 14a. Therefore, the assist power calculation unit 25 limits the power of the motor generator 13 based on the second target power calculated by the engine power fluctuation limiting unit 22.
- FIG. 9 is an activity diagram showing a calculation procedure in the controller 15.
- the load power in the engine power fluctuation limiting unit 23 is added to the power running request or the regeneration request, and the first target power calculation (S6) is started.
- the first target power calculated in S6 is input to the variable rate limiter 23a, and the second target power calculation (S7) is started.
- an assist power calculation in the assist power calculation unit 25 that calculates a predetermined torque command value from the difference between the second target power calculated in S7 and the load power calculated in S1 ( S8) is started.
- restriction of the pump absorption power in the hydraulic power restriction unit 24 is started.
- the maximum pump absorption power calculation (S9) is performed in which the maximum value of the power running possible amount (maximum power running amount) is added to the second target power, and then the maximum pump which is the calculation result in S11.
- the limit pressure calculation unit 24a starts pump limit value calculation (S10) for limiting the absorption power of the hydraulic pump 12.
- FIG. 10 is a time chart when a continuous excavation operation is performed using the controller 15, where (a) is the relationship between engine power and pump absorption power, (b) is the power of the motor generator 13, and (c) is This is the remaining amount of electricity stored in the electricity storage device 14.
- a positive value is indicated as power running, and a negative value is indicated as regeneration.
- the power running request or regeneration request calculated by the power management unit 22a is always zero (0), and the power running possible amount or regeneration possible amount calculated by the power storage device management unit 22b is It is assumed that the maximum value is always set to the maximum value and the mode switch 18 is not operated during the operation.
- the excavation operation is started at time t1, and after time t1, the combined operation of clouding the arm 6 or the bucket 7 while raising the boom 5 is started. For this reason, a large amount of hydraulic oil must be supplied to each hydraulic actuator 17, and the pump absorption power rises sharply as shown in FIG. 10 (a).
- the load power calculated by the load calculation unit 21 rises sharply according to the absorption power (pump absorption power) of the hydraulic pump 12, and the first target power calculated by the engine power fluctuation limiting unit 23. Will change sharply.
- the second target power for limiting the increase rate of the first target power is generated by the variable rate limiter 23a of the engine power fluctuation limiting unit 23, the actual power of the engine 11 is generated at the rising of the pump absorption power. It will increase slowly. At this time, the shortage of the requested pump absorption power is covered by engine assist by the motor generator 13 by driving the motor generator 13 with the electric power from the power storage device 14.
- the engine power increase rate is not limited to an upper limit value or less, and the engine power change rate (increase rate and decrease rate) is set to the second target power. That is, the target value is followed. Therefore, depending on the control response of the motor generator 13, there is a situation where the actual engine power increase rate becomes larger than the desired engine power increase rate. In order to avoid this situation, a design is adopted in which a margin is provided for the rate of increase in the variable rate limiter 23a.
- the increase rate of the engine power is, for example, 30 kW / s or less
- the actual engine power change rate is set to 30 kW / s by setting the increase rate in the variable rate limiter 23a to, for example, 25 kW / s. Reduce the possibility of exceeding.
- a so-called “landing” operation is performed in which gravel or earth and sand scooped in the bucket 7 is loaded onto the loading platform of the dump truck. Since the “unloading” operation does not require a large amount of power other than operating the bucket 7, the pump absorption power decreases more sharply than during the “turning boom raising” operation. For this reason, the load power calculated by the load calculation unit 21 decreases sharply as the pump absorption power decreases, and the first target power calculated by the engine power fluctuation limiting unit 23 also changes sharply. However, the second target power that limits the decrease rate of the first target power is generated by the variable rate limiter 23a.
- the assist power calculation unit 25 calculates a command value for controlling the motor generator 13 so that the engine power matches the second target power, the engine power gradually increases from time t3 to time t4. As shown in FIG. 10C, the remaining amount of power stored in the power storage device 14 increases due to the power generation operation of the motor generator 13.
- the first cycle of the excavation operation is completed, and a large pump absorption power similar to that at time t1 is required again.
- the control operation similar to that between the time t1 and the time t2 of the first cycle is required between the time t5 and the time t6 of the second cycle, as between the time t3 and the time t4 of the first cycle, Since engine power does not decrease sharply at time t5 and control can be started from a state where engine power is high, the amount of engine assistance by the motor generator 13 can be small.
- the controller 15 according to the first embodiment when used, as shown in FIG. 10C, the remaining amount of charge in the power storage device 14 is centered at a certain value after the excavation operation in the second cycle. Stay as. As a result, in each cycle after the second cycle, the engine 11 is assisted by the motor generator 13 and the continuous excavation operation can be continued without applying a sudden load to the engine 11.
- FIG. 12 is a time chart when a continuous excavation operation is performed with the construction machine described in Patent Document 1, wherein (a) shows the relationship between engine power and pump absorption power, and (b) shows the power of the motor generator. , (C) is the remaining power of the power storage device.
- FIG. 12 corresponds to FIG. 10, and time t1 to time t6 in FIG. 12 corresponds to time t1 to time t6 in the control operation when the excavation operation is continuously performed in the first embodiment described above. It corresponds.
- the engine power increases according to a predetermined increase rate with respect to the rapidly changing pump absorption power.
- the pump absorption power is not limited even when the difference between the pump absorption power and the upper limit value of the engine output is larger than the output limit value of the motor generator 13. A drop in rotational speed can occur.
- the engine power since the vehicle state such as the setting state of the mode switch 18 and the remaining amount of power stored in the power storage device 14 is not monitored, the engine power always increases at a constant increase rate. The engine speed is likely to drop due to power shortage.
- the change in pump absorption power is very slow, so the pump absorption power is borne only by the engine power.
- the motor generator power is zero ( 0). Note that between time t2 and time t3, when the controller 15 according to the first embodiment is used, a power running request or a regeneration request is always output from the power management unit 22a, and the variable rate limiter 23a is within an allowable range. Since power running or regeneration by the motor generator 13 is performed, the engine power and the pump absorption power have different waveforms in the first embodiment and the patent document 1 in practice.
- the power running request or the regeneration request from the power management unit 22a is not considered in the generation of the second target power of the engine 11 as in the first embodiment. Since the power generation operation by the generator 13 is not performed, the remaining amount of power stored in the power storage device 14 decreases as the cycle proceeds from the first cycle to the fourth cycle. In particular, in the fourth cycle, the remaining amount of power stored in the power storage device 14 becomes substantially zero (0), and the motor generator 13 cannot assist the engine 11 during the excavation operation in the fifth cycle.
- each of the increase rate and the decrease rate of the engine power is controlled by the variable rate limiter 23a. Therefore, the rapid fluctuation of the engine power can be suppressed, and the engine 11 can be operated in a situation according to the steady operation.
- the operation of the engine 11 in a situation corresponding to the steady operation is more stable in the combustion state of the fuel than in the transient operation, so that the fuel consumption rate can be improved and the generation amount of exhaust gas that imposes a load on the environment can be reduced. Can be suppressed.
- the operating point of the engine 11 is stabilized by the operation of the engine 11 according to the steady state, it is possible to suppress the generation of noise due to vibration or the like due to the fluctuation of the operation of the engine 11.
- the assist power calculation unit 25 limits the power of the motor generator 13 to cause the actual engine power of the engine 11 to follow the second target power, and the hydraulic power limit unit 24 absorbs the pump of the hydraulic pump 12. By limiting the power, it is possible to prevent a sharp increase in engine power and prevent the engine load from becoming excessive. Therefore, it is possible to prevent a lag down (overload deceleration) in which the engine speed drops sharply, and to appropriately avoid the stall of the engine 11.
- the hydraulic drive apparatus 10 is configured not to limit the upper limit value of the engine power as in the construction machine according to Patent Document 1, but to provide a target power for the engine power. Therefore, when the hydraulic load applied to the hydraulic pump 12 suddenly decreases and the second target power with a limited reduction rate exceeds the pump absorption power, the power obtained by subtracting the second target power from the pump absorption power The electric power can be generated by the motor generator 13 and the generated electric power can be supplied to the power storage device 14 to be stored.
- each of the increase rate and the decrease rate of the second target power can be sequentially changed, so that it corresponds to the state of the power storage device 14 and the like.
- the second target power can be generated.
- the fuel consumption of the engine 11 can be further reduced.
- the decrease rate of the second target power can be reduced, so that the engine power can be maintained at a higher output state, and surplus Power can be generated by driving the motor generator 13 with power, and the generated power can be supplied to the power storage device 14 to increase the remaining power. Therefore, it is possible to prevent the engine generator 13 from being unable to assist the engine due to a shortage of the remaining amount of power stored in the power storage device 14, and to operate the engine 11 in an appropriate range for a longer period of time. .
- the engine power fluctuation limiting unit 23 calculates the first target power by adding the power running request or the regeneration request calculated by the power management unit 22a to the load power calculated by the load calculation unit 21. .
- the first target power is calculated as a value in consideration of power storage (regeneration request) to the power storage device 14 in addition to the hydraulic load of the hydraulic pump 12. Therefore, since it can control so that the electrical storage residual amount of the electrical storage apparatus 14 becomes an appropriate range, generation
- the second target power generated by the engine power fluctuation limiting unit 23 includes the assist of the engine 11 by the motor generator 13. That is, when the remaining amount of power stored in the power storage device 14 is sufficient, the second target power in consideration of the assist of the engine 11 by the motor generator 13 is calculated, and the assist amount by the motor generator 13 is subtracted. The second target power is calculated. Therefore, the engine power can be lowered, and the fuel consumption accompanying the driving of the engine 11 can be further reduced.
- the power management unit 22a calculates the power running request or the regeneration request of the motor generator 13 at each time so that the remaining amount of power calculated by the remaining power storage unit 22d matches the target remaining power amount, Power running operation or regenerative operation according to time becomes possible. Therefore, it is possible to prevent the remaining amount of power stored in the power storage device 14 from rapidly decreasing, and it is possible to prevent the motor generator 13 from being unable to assist the motor 11 due to a shortage of the remaining power stored in the power storage device 14.
- the power storage device management unit 22 b calculates the powerable amount or the regenerative amount so that the power storage device 14 falls within an allowable range that can be used in an appropriate state.
- the use of the motor generator 13 can be restricted in consideration of parameters (elements) that can adversely affect the life of the power storage device 14 such as the temperature of the power storage device 14 and the integrated current value, and the life of the power storage device 14 can be extended. .
- the engine power fluctuation limiting unit 23 sets the second target power to be higher or lower, but the engine 11 Since the motor generator 13 adjusts the power so that the power of the motor follows the target second target power, the necessary pump absorption power can be ensured. Therefore, it is possible to prevent the operability of the hydraulic excavator 1 from being lowered.
- the load calculation unit 21 calculates the load by continuing the leveling control by the load calculation unit 21, the vehicle body state management unit 22, the engine power fluctuation limit unit 23, the hydraulic power limit unit 24, and the assist power calculation unit 25.
- a calculation error may occur in the load power.
- this calculation error may affect the power of the motor generator 13 and the remaining amount of power stored in the power storage device 14, the engine power fluctuation limiting unit due to a power running request or a regeneration request calculated by the power management unit 22a. Since the remaining amount of electricity stored in the power storage device 14 can be secured by the feedback to 23, the remaining amount of power stored in the power storage device 14 can be maintained in an appropriate range.
- FIG. 11 is a schematic diagram illustrating processing in the load calculation unit 21A of the controller 15 of the excavator 1 according to the second embodiment of the present invention.
- the second embodiment differs from the first embodiment described above in that the first embodiment is different from the load calculator 21 that calculates load power from engine power and motor generator power, whereas the second embodiment is hydraulic.
- the load calculating unit 21A calculates load power from the output of the pump 12.
- the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals.
- the load calculation unit 21 ⁇ / b> A includes a pump pressure detection unit 41 that detects the discharge pressure of the hydraulic pump 12 and a pump flow rate detection unit 42 that detects the discharge flow rate of the hydraulic pump 12.
- the pump pressure detection unit 41 detects the discharge pressure via the discharge pressure sensor 12d.
- the pump flow rate detection unit 42 detects the discharge flow rate via the flow rate sensor 12e.
- the pump flow rate detection unit 42 is an operation amount of an operation lever (not shown) for operating the hydraulic actuator 17, a control command value such as a pump command pressure supplied to the electromagnetic proportional valve 12c, and a tilt of the swash plate 12a of the hydraulic pump 12.
- the discharge flow rate may be detected indirectly based on a turning angle or the like.
- the discharge pressure detected by the pump pressure detection unit 41 and the discharge flow rate detected by the pump flow rate detection unit 42 are output to the power conversion unit 43.
- the power conversion unit 43 calculates the pump power of the hydraulic pump 12 from the product of the discharge pressure and the discharge flow rate.
- the pump power calculated by the power conversion unit 43 is output to the pump absorption power calculation unit 44.
- the pump absorption power calculation unit 44 calculates the absorption power of the hydraulic pump 12 from the product of the pump power of the hydraulic pump 12 and the reciprocal of pump efficiency (1 / pump efficiency), that is, the division of the pump efficiency. Power is estimated as load power.
- the pump power of the hydraulic pump 12 is calculated based on the discharge pressure and the discharge flow rate of the hydraulic pump 12, and the pump absorption power is calculated from the pump power.
- the load power on the drive shaft 11c of the engine 11 can be calculated in the same manner as the load calculation unit 21 according to the first embodiment described above.
- the third embodiment differs from the first embodiment described above in that the first embodiment allows the variable rate limiter 23a to change the increase rate and the decrease rate of the second target power.
- the variable rate limiter 23a can change the upper limit value (increase) of the increase amount of the second target power and the lower limit value (decrease amount) of the decrease amount.
- other configurations are the same as those in the first embodiment.
- variable rate limiter 23a changes the target to be the upper limit value of the increase amount and the lower limit value of the decrease amount instead of the increase rate of the second target power.
- the second target power is generated by the fluctuation limiting unit 23
- the upper limit value of the increase amount of the engine power and the lower limit value of the decrease amount are limited by the variable rate limiter 23a, so that the same as in the first embodiment described above.
- the hybrid hydraulic excavator 1 having the front work machine 8 and the turning device 4 has been described.
- the present invention is not limited to this, and for example, a wheel loader, a wheel excavator, a dump truck, etc. It can also be used for a work machine having the hydraulic actuator 17.
- the power management unit according to each of the above embodiments is connected to the engine 11 as long as it is a work machine including the motor generator 13 even if it is other than the motor generator 13 mechanically connected to the engine 11.
- the power running request or the regeneration request for the motor generator 13 mechanically connected to the engine 11 may be calculated according to the power running operation or the regeneration operation of the motor generator 13 that is not present.
- variable rate limiter 23a The configuration using the variable rate limiter 23a as the conversion from the first target power to the second target power has been described.
- a low-pass filter that can change the time constant
- a moving average filter that can change the number of samples, and the like. It is good also as a structure which produces
- the load power is calculated by the load calculating unit 21 from the engine power and the motor generator power.
- the load power is calculated by the load calculating unit 21A from the pump power.
- the load power having a larger value is selected from these load calculation units 21 and 21A, the second target power is calculated by the engine power fluctuation limiting unit 23 based on the selected load power, and the load power is calculated. It is good also as a structure which always estimates overly, and prevents the stall of the engine 11 resulting from power shortage, and the deterioration of operation feeling.
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Abstract
Description
図1は、本発明の第1実施形態に係る油圧ショベル1の側面図である。図2は、油圧ショベルに搭載された油圧駆動装置を示す構成図である。図3は、油圧駆動装置のコントローラの構成を示す概略図である。図4は、コントローラの負荷演算部の処理を示す概略図である。
本発明に係る作業機械の第1実施形態である油圧ショベル1は、いわゆるハイブリッド式のショベルであって、図1に示すように、クローラ式の走行装置2aを備えた下部走行体2と、下部走行体2上に旋回可能に取り付けられた上部旋回体3とを備えている。下部走行体2と上部旋回体3とは、旋回装置4を介して旋回可能に取り付けられている。
図6に示すように、モード判定部22c等にて決定された可変レートリミッタ23aでの変化率(増加率)の基準値を基準値a2とする。この状態で、蓄電装置管理部2bにて演算された力行可能量が高くなった場合には、電動発電機13によるエンジン11のアシスト量を大きくでき、負荷演算部21にて演算された負荷動力が急峻に増加してもエンジン11の動力をゆっくりと増加できるため、可変レートリミッタ23aでの増加率を、基準値a2より低い高力行値b2へ変化させる。
図7に示すように、モード判定部22c等にて決定された可変レートリミッタ23aでの変化率(減少率)の基準値を基準値a3とする。この状態で、蓄電装置管理部22bにて演算された回生可能量が高くなった場合には、油圧ポンプ12の動力にて電動発電機13を駆動させて発電させエンジン11に負荷を掛けることができ、負荷演算部21にて演算された負荷動力が急峻に減少してもエンジン11の動力をゆっくりと減少できるため、可変レートリミッタ23aでの減少率を、基準値a3より低い高回生値b3へ変化させる。
次に、上記第1実施形態に係る油圧ショベル1のコントローラ15での平準化制御の演算手順について、図9を参照して説明する。図9は、コントローラ15での演算手順を示すアクティビティ図である。
次いで、上記特許文献1に開示された先行技術を適用したハイブリッド式の建設機械により、連続して掘削動作させた場合の制御動作について、図12を参照して説明する。図12は、上記特許文献1に記載の建設機械にて連続掘削動作を行った場合のタイムチャートで、(a)はエンジン動力とポンプ吸収動力との関係、(b)は電動発電機の動力、(c)は蓄電装置の蓄電残量である。図12は、図10に対応しており、図12中の時刻t1~時刻t6は、上述した第1実施形態での連続して掘削動作させた場合の制御動作での時刻t1~時刻t6に対応している。
以上により、上記第1実施形態に係る油圧駆動装置10によれば、エンジン動力変動制限部23にて第2目標動力を生成するに際し、エンジン動力の増加率および減少率のそれぞれを可変レートリミッタ23aにて制限するため、エンジン動力の急峻な変動を抑制でき、エンジン11を定常運転に準じた状況で運転できる。すなわち、定常運転に準ずる状況でのエンジン11の運転は、過渡運転時に比べ、燃料の燃焼状態が安定しているため、燃料消費率を向上できるとともに、環境に負荷を与える排気ガスの発生量を抑制できる。また、定常状態に準じたエンジン11の運転によって、エンジン11の動作点が安定するため、エンジン11の動作変動に伴う振動等に起因した騒音の発生をも抑制できる。
図11は、本発明の第2実施形態に係る油圧ショベル1のコントローラ15の負荷演算部21Aでの処理を示す概略図である。本第2実施形態が前述した第1実施形態と異なるのは、第1実施形態は、エンジン動力および電動発電機動力から負荷動力を演算する負荷演算部21に対し、第2実施形態は、油圧ポンプ12の出力から負荷動力を演算する負荷演算部21Aとされている。なお、本第2実施形態において、第1実施形態と同一又は対応する部分には同一符号を付している。
負荷演算部21Aは、油圧ポンプ12の吐出圧を検出するポンプ圧力検出部41と、油圧ポンプ12の吐出流量を検出するポンプ流量検出部42とを備えている。ポンプ圧力検出部41は、吐出圧センサ12dを介して吐出圧を検出する。ポンプ流量検出部42は、流量センサ12eを介して吐出流量を検出する。ポンプ流量検出部42は、油圧アクチュエータ17を操作する操作レバー(図示せず)の操作量や、電磁比例弁12cに供給するポンプ指令圧等の制御指令値、油圧ポンプ12の斜板12aの傾転角等に基づいて間接的に吐出流量を検出しても良い。
上記第2実施形態に係る負荷演算部21Aによれば、油圧ポンプ12の吐出圧および吐出流量に基づき、油圧ポンプ12のポンプ動力を演算し、このポンプ動力からポンプ吸収動力を演算し、このポンプ吸収動力を負荷動力として推定することにより、上述した第1実施形態に係る負荷演算部21と同様に、エンジン11の駆動軸11c上の負荷動力を演算することができる。
本第3実施形態が前述した第1実施形態と異なるのは、第1実施形態は、可変レートリミッタ23aにて第2目標動力の増加率および減少率を変更可能としているのに対し、第3実施形態は、可変レートリミッタ23aにて第2目標動力の増加量の上限値(増加分)および減少量の下限値(減少分)を変更可能としている。なお、本第3実施形態において、その他の構成は第1実施形態と同様である。
なお、本発明は前述した実施形態に限定されるものではなく、様々な変形態様が含まれる。例えば、前述した実施形態は、本発明を分りやすく説明するために説明したものであり、本発明は、必ずしも説明した全ての構成を備えるものに限定されるものではない。
2 下部走行体
2a 走行装置
3 上部旋回体
3a キャブ
4 旋回装置
5 ブーム
5a ブームシリンダ
6 アーム
6a アームシリンダ
7 バケット
7a バケットシリンダ
8 フロント作業機
10 油圧駆動装置
11 エンジン
11a 回転数センサ
11b ガバナ
11c 駆動軸
12 油圧ポンプ
12a 斜板
12b レギュレータ
12c 電磁比例弁
12d 吐出圧センサ
12e 流量センサ
12f 傾転角センサ
13 電動発電機
13a 回転角センサ
14 蓄電装置
14a インバータ
14b 電流センサ(計測部)
14c 電圧センサ(計測部)
14d 温度センサ(計測部)
15 コントローラ
16 バルブ装置
17 油圧アクチュエータ(油圧作業部)
18 モードスイッチ
18a 斜板
18b 第2レギュレータ
18c 第2電磁比例弁
18d 圧力センサ
18e 流量計(流量検出部)
18f 傾転角センサ
19 オンオフスイッチ
21,21A 負荷演算部
21a エンジン回転数検出部
21b エンジントルク検出部
21c 電動発電機回転数検出部
21d 電動発電機トルク検出部
21e エンジン動力変換部
21f 電動発電機動力変換部
21g 加算演算部
22 車体状態管理部
22a 電力管理部
22b 蓄電装置管理部
22c モード判定部
22d 蓄電残量演算部
23 エンジン動力変動制限部(エンジン目標動力演算部)
23a 可変レートリミッタ
24 油圧動力制限部
24a 制限圧演算部
25 アシスト動力演算部(アシスト動力制限部)
25a リミッタ
25b エンジン動力特性テーブル
41 ポンプ圧力検出部
42 ポンプ流量検出部
43 動力変換部
44 ポンプ吸収動力演算部
Claims (10)
- エンジン(11)と、
前記エンジン(11)にて駆動される油圧ポンプ(12)と、
前記油圧ポンプ(12)から吐出される圧油にて駆動される油圧作業部(17)と、
前記油圧ポンプ(12)を駆動させる電動発電機(13)と、
前記電動発電機(13)との間で電力を授受する蓄電装置(14)と、
前記エンジン(11)の負荷動力を演算する負荷演算部(21,21A)と、
前記蓄電装置(14)の状態を含む車体状態を管理する車体状態管理部(22)と、
前記負荷演算部(21,21A)にて演算された負荷動力、および前記車体状態管理部(22)にて管理する車体状態に基づき、前記エンジン(11)の動力の増加分および減少分を制限するためのエンジン目標動力を演算するエンジン目標動力演算部(23)と、
前記エンジン目標動力演算部(23)にて演算されたエンジン目標動力に基づき、前記油圧ポンプ(12)の動力を制限する油圧動力制限部(24)と、
前記エンジン目標動力演算部(23)にて演算されたエンジン目標動力に基づき、前記電動発電機(13)の動力を制限するアシスト動力制限部(25)と、
を備えたことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記車体状態管理部(22)は、前記電動発電機(13)を介し前記蓄電装置(14)にて前記油圧ポンプ(12)を力行させる力行可能量を演算する蓄電装置管理部(22b)を有し、
前記エンジン目標動力演算部(23)は、前記蓄電装置管理部(22b)にて演算される力行可能量の絶対値が大きいほど、前記エンジン目標動力の増加分を小さく補正する
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記車体状態管理部(22)は、前記電動発電機(13)を介し前記油圧ポンプ(12)から前記蓄電装置(14)に回生される回生可能量を演算する蓄電装置管理部(22b)を有し、
前記エンジン目標動力演算部(23)は、前記蓄電装置管理部(22b)にて演算される回生可能量の絶対値が大きいほど、前記エンジン目標動力の減少分を小さく補正する
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記車体状態管理部(22)は、前記電動発電機(13)に対する力行動力または回生動力を演算する電力管理部(22a)を有し、
前記エンジン目標動力演算部(23)は、前記負荷演算部(21,21A)にて演算された負荷動力と、前記電力管理部(22a)にて演算された力行動力または回生動力とに基づいて前記エンジン目標動力を演算する
ことを特徴とする作業機械。 - 請求項4に記載の作業機械において、
前記蓄電装置(14)の状態を計測する計測部(14b~14d)を備え、
前記車体状態管理部(22)は、前記計測部(14b~14d)にて計測した前記蓄電装置(14)の状態に基づいて、所定の各時刻での前記蓄電装置(14)の蓄電残量を演算する蓄電残量演算部(22d)と、前記電動発電機(13)を介し前記蓄電装置(14)にて前記油圧ポンプ(12)を力行させる力行可能量、および前記電動発電機(13)を介し前記油圧ポンプ(12)から前記蓄電装置(14)に回生される回生可能量を演算する蓄電装置管理部(22b)とを有し、
前記電力管理部(22a)は、前記蓄電残量演算部(22d)にて各時刻に演算された蓄電残量が、所定の目標蓄電残量と一致するように前記力行動力または回生動力を演算し、
前記蓄電装置管理部(22b)は、前記蓄電残量演算部(22d)にて各時刻に演算された蓄電残量、および前記蓄電装置(14)が利用可能な所定範囲において、力行可能量または回生可能量を算出する
ことを特徴とする作業機械。 - 請求項2に記載の作業機械において、
前記車体状態管理部(22)は、前記電動発電機(13)を介し前記油圧ポンプ(12)から前記蓄電装置(14)に回生される回生可能量を演算する蓄電装置管理部(22b)を有し、
前記エンジン目標動力演算部(23)は、前記蓄電装置管理部(22b)にて演算される回生可能量の絶対値が大きいほど、前記エンジン目標動力の減少分を小さく補正する
ことを特徴とする作業機械。 - 請求項2に記載の作業機械において、
前記車体状態管理部(22)は、前記電動発電機(13)に対する力行動力または回生動力を演算する電力管理部(22a)を有し、
前記エンジン目標動力演算部(23)は、前記負荷演算部(21,21A)にて演算された負荷動力と、前記電力管理部(22a)にて演算された力行動力または回生動力とに基づいて前記エンジン目標動力を演算する
ことを特徴とする作業機械。 - 請求項3に記載の作業機械において、
前記車体状態管理部(22)は、前記電動発電機(13)に対する力行動力または回生動力を演算する電力管理部(22a)を有し、
前記エンジン目標動力演算部(23)は、前記負荷演算部(21,21A)にて演算された負荷動力と、前記電力管理部(22a)にて演算された力行動力または回生動力とに基づいて前記エンジン目標動力を演算する
ことを特徴とする作業機械。 - 請求項7に記載の作業機械において、
前記蓄電装置(14)の状態を計測する計測部(14b~14d)を備え、
前記車体状態管理部(22)は、前記計測部(14b~14d)にて計測した前記蓄電装置(14)の状態に基づいて、所定の各時刻での前記蓄電装置(14)の蓄電残量を演算する蓄電残量演算部(22d)と、前記電動発電機(13)を介し前記蓄電装置(14)にて前記油圧ポンプ(12)を力行させる力行可能量、および前記電動発電機(13)を介し前記油圧ポンプ(12)から前記蓄電装置(14)に回生される回生可能量を演算する蓄電装置管理部(22b)とを有し、
前記電力管理部(22a)は、前記蓄電残量演算部(22d)にて各時刻に演算された蓄電残量が、所定の目標蓄電残量と一致するように前記力行動力または回生動力を演算し、
前記蓄電装置管理部(22b)は、前記蓄電残量演算部(22d)にて各時刻に演算された蓄電残量、および前記蓄電装置(14)が利用可能な所定範囲において、力行可能量または回生可能量を算出する
ことを特徴とする作業機械。 - 請求項8に記載の作業機械において、
前記蓄電装置(14)の状態を計測する計測部(14b~14d)を備え、
前記車体状態管理部(22)は、前記計測部(14b~14d)にて計測した前記蓄電装置(14)の状態に基づいて、所定の各時刻での前記蓄電装置(14)の蓄電残量を演算する蓄電残量演算部(22d)と、前記電動発電機(13)を介し前記蓄電装置(14)にて前記油圧ポンプ(12)を力行させる力行可能量、および前記電動発電機(13)を介し前記油圧ポンプ(12)から前記蓄電装置(14)に回生される回生可能量を演算する蓄電装置管理部(22b)とを有し、
前記電力管理部(22a)は、前記蓄電残量演算部(22d)にて各時刻に演算された蓄電残量が、所定の目標蓄電残量と一致するように前記力行動力または回生動力を演算し、
前記蓄電装置管理部(22b)は、前記蓄電残量演算部(22d)にて各時刻に演算された蓄電残量、および前記蓄電装置(14)が利用可能な所定範囲において、力行可能量または回生可能量を算出する
ことを特徴とする作業機械。
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