WO2015156357A1 - ハイブリッド型作業機 - Google Patents
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- Publication number
- WO2015156357A1 WO2015156357A1 PCT/JP2015/061116 JP2015061116W WO2015156357A1 WO 2015156357 A1 WO2015156357 A1 WO 2015156357A1 JP 2015061116 W JP2015061116 W JP 2015061116W WO 2015156357 A1 WO2015156357 A1 WO 2015156357A1
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- WIPO (PCT)
- Prior art keywords
- bus
- electric motor
- torque
- voltage
- work machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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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
- B60K25/00—Auxiliary drives
- B60K25/02—Auxiliary drives directly from an engine shaft
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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
- B60K6/46—Series 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
- B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
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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
- E02F3/34—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 bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
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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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
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- 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
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0067—Converter structures employing plural converter units, other than for parallel operation of the units on a single load
- H02M1/007—Plural converter units in cascade
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/086—Power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/90—Vehicles comprising electric prime movers
- B60Y2200/92—Hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/18—Propelling the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/60—Control of electric machines, e.g. problems related to electric motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/87—Auxiliary drives
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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
- E02F3/34—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 bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
- E02F3/3417—Buckets emptying by tilting
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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
- E02F9/2079—Control of mechanical transmission
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/904—Component specially adapted for hev
- Y10S903/915—Specific drive or transmission adapted for hev
Definitions
- the present invention relates to a hybrid work machine such as a wheel loader in which a part of a drive mechanism is motorized.
- Such a hybrid working machine in which an engine assist motor / generator is attached to an engine that drives a hydraulic pump, and a part of the drive mechanism is replaced with a hydraulic drive mechanism such as a hydraulic cylinder or a hydraulic motor. It has been.
- a hybrid work machine includes a battery that stores power generated from a motor generator and regenerative power of the motor, a power conversion device that converts the power, a step-up / down converter, and the like.
- the motor generator is connected to a DC bus via a power converter, and the DC bus is connected to a capacitor via a buck-boost converter.
- the electric motor is connected to the DC bus via another power converter.
- the motor generator or the motor performs a power running operation
- the voltage supplied from the capacitor is boosted to the DC input voltage of the power converter by the step-up / step-down converter, and the power converter converts the DC into AC and the motor generator Drive the machine.
- the electric motor performs a regenerative operation
- the regenerative power is converted into a DC voltage by the power conversion device, and the voltage is stepped down by the step-up / down converter to be stored in the capacitor.
- a step-up / down converter and a DC bus are individually provided from a common capacitor for a motor generator for engine assist and a motor for turning, and each DC bus is different. A voltage is obtained.
- the DC bus input DC voltage of the power converter
- the DC bus is set to a substantially constant voltage value for an engine assist motor generator that is used only at a constant rotational speed.
- a swing drive motor whose output fluctuates frequently according to the amount of lever operation, it is possible to drive efficiently by changing the voltage value of the DC bus depending on the rotation speed of the swing motor. I have to.
- the DC bus voltage required for the electric motor strongly depends not only on the rotational speed of the electric motor but also on the size of the load. Therefore, as described in Patent Document 1, in the method in which the DC bus voltage is variably controlled according to the rotation speed of the electric motor, a large load is applied in a short time regardless of the rotation speed of the electric motor, such as a traveling motor of a wheel loader. When used in such a case, the electric motor may not be able to produce the output required for traveling.
- the present invention is capable of improving the maximum output of the electric motor in a short time while suppressing the heat generation of the power conversion device connected to the electric motor, and can improve the work efficiency.
- the purpose is to provide a machine.
- a hybrid work machine includes an engine that drives a hydraulic pump serving as a hydraulic power source of a hydraulic actuator, an engine-assisted motor generator attached to the engine, and a part of the work machine.
- An electric motor used in the system an accumulator for accumulating the electric power generated by the motor generator, an electric power converter provided between the electric motor and the DC bus, and provided between the DC bus and the accumulator.
- the torque required for the motor can be output with the voltage of the DC bus connected to the power converter And a control device that temporarily increases the voltage of the DC bus when the torque exceeds a certain torque.
- the output torque of the electric motor can be temporarily increased, the working machine can be operated without lowering the rotational speed of the electric motor, and the working efficiency can be improved.
- FIG. 1 is a side view showing a wheel loader, which is an example of a hybrid working machine to which the present invention is applied, in a state before inserting a bucket into a pile of earth and sand.
- 2 and 3 show a state where the bucket is inserted into a pile of earth and sand and a state where the bucket is lifted.
- reference numeral 1 denotes a vehicle body of the wheel loader
- 2 and 3 denote front wheels and rear wheels of the wheel loader attached to the front and rear portions of the vehicle body 1, respectively.
- a power source device 4 and a cab 5 described later are mounted on the vehicle body 1.
- a boom (also called a lift arm) 6 is attached to the front of the vehicle body 1 so as to be movable up and down by a boom cylinder 7 formed of a hydraulic cylinder.
- a bucket 8 is attached to the boom 6 by a bucket cylinder 9 made of a hydraulic cylinder so as to be rotatable up and down.
- the wheel loader includes an electric motor (running motor) 50 (see FIG. 4) as an electric motor used for a part of the drive system of the work machine. As shown in FIG. 1, the wheel loader moves forward as indicated by an arrow 11 by rotating the rear wheel 3 by driving the electric motor 50 with the bucket 8 lowered.
- running motor 50 running motor
- the bucket 8 is inserted into the pile 12 of earth and sand, and the bucket 8 is rotated upward as indicated by the arrow 13 by the extension of the bucket cylinder 9 and the boom cylinder 7 is extended to extend the boom 6. Lift up. Thereafter, as shown in FIG. 3, the wheel loader is moved backward as indicated by an arrow 14, and then travels to a truck bed or a collection place and is released.
- FIG. 4 is a circuit diagram showing an embodiment of the hydraulic electric circuit of the hybrid working machine of the present invention.
- the hybrid work machine according to the present embodiment has a hydraulic drive unit and a travel drive unit.
- a thick line indicates a hydraulic circuit
- a thin line indicates a power line
- a broken line indicates an electric signal line.
- Reference numeral 15 denotes an engine
- 16 denotes a hydraulic pump driven by the engine
- 20 denotes an engine assist motor generator attached to the engine
- 18 denotes an engine control unit ECU (Engine (Controller Unit)
- 19 denotes an engine starter. .
- a control valve 17 controls the direction and flow rate of hydraulic oil to the boom cylinder 7 and bucket cylinder 9.
- the motor generator 20 drives the engine 15 as an electric motor when assisting the engine 15, and operates as a generator that receives power from the engine 15 and generates electric power during steady running or deceleration.
- the motor generator 20 is directly connected to the crankshaft of the engine 15 or is connected to the crankshaft of the engine 15 via a belt or a gear.
- the motor generator 20 is a permanent magnet type synchronous generator.
- Reference numeral 21 denotes a rotation sensor that detects the rotation speed of the motor generator 20.
- Reference numeral 70 denotes a comprehensive control unit HCU (Hybrid Control Unit), which includes an engine 15, an inverter 30, a step-up / down converter 40 and an inverter 60, which are respectively connected to an engine control unit ECU (Engine Control Unit) 18, a power controller PC (Power Controller) 33, It controls via 43,63.
- Reference numeral 90 denotes a CAN (Controller Area Network) that connects the HCU 70, the ECU 18, and the PCs 33, 43, and 63.
- the inverter 30 converts the generated AC power into DC and charges the battery 42 via the DC buses 80 and 81 and the step-up / down converter 40.
- the DC power stored in the battery 42 is converted into AC by the inverter 30 to drive the motor generator 20.
- the inverter 30 is composed of six semiconductor switches 34. In this example, the IGBT is used as the semiconductor switch 34 of the inverter 30, but other power semiconductor elements may be used.
- 31 is a motor current sensor for detecting the current of the motor generator 20
- 32 is a bus voltage sensor for detecting the voltage of the DC buses 80 and 81
- 36 is a capacitor for smoothing the DC voltage of the DC buses 80 and 81.
- the inverter 30 When the built-in PC 33 receives a torque command from the HCU 70 via the CAN 90 and the motor generator 20 operates as a motor, the inverter 30 includes a motor current sensor 31, a rotation sensor 21 of the motor generator 20, Based on the information of the bus voltage sensor 32, the gate of the semiconductor switch 34 is turned on / off to perform PWM control, and control is performed so that a desired motor torque is generated.
- a storage battery (also referred to as a storage element) 42 stores the generated power of the motor generator 20 and the regenerative power of the motor 50 via the step-up / down converter 40. Further, the step-up / down converter 40 supplies electric power from the battery 42 to the motor generator 20 through the inverter 30 and supplies electric power from the battery 42 to the motor 50 through the inverter 60 when necessary.
- the battery 42 may store only the power generated by the motor generator 20. Further, as the battery 42, a large-capacity capacitor called an ultracapacitor (also called an electric double layer capacitor) is used in the present embodiment. However, a secondary battery such as a lithium ion battery may be used as the battery 42 instead of the capacitor.
- the PC 43 receives the voltage command and the ON / OFF command of the relay 49 from the HCU 70 via the CAN 90, and turns on and off the gates of the semiconductor switches 44 and 45 based on the information of the current sensor 48 and the voltage sensor 47 to perform PWM. Control is performed to increase or decrease the voltage of the battery 42 using the inductance 46.
- the electric motor 50 is driven by electric power from the battery 42 and / or the motor generator 20 to drive the rear wheel 3.
- the electric motor 50 includes a rotation sensor 51 that detects the number of rotations.
- the electric motor 50 is connected to the rear wheel 3 via a propeller shaft 52 for traveling.
- the electric motor 50 is a permanent magnet type synchronous motor or an induction motor.
- the motor 50 requires a higher voltage as the voltage of the DC buses 80 and 81 when outputting at a high speed and a large torque. Therefore, in the present embodiment, when the torque required for electric motor 50 exceeds the torque that can be output by the voltage of DC buses 80 and 81, the voltage of DC buses 80 and 81 is temporarily increased. The voltage increase control of the DC buses 80 and 81 in the present embodiment will be described later.
- the inverter 60 drives the motor 50 and converts the regenerative power of the motor 50 into direct current.
- a capacitor 66 smoothes the input voltage.
- the inverter 60 is composed of six semiconductor switches 64. As this semiconductor switch 64, an IGBT is used in this example, but another power semiconductor element may be used.
- the built-in PC 63 receives a torque command from the HCU 70 via the CAN 90, and receives information from the current sensor 61 of the electric motor 50, the rotation sensor 51 of the electric motor 50, and the voltage sensor 62 of the DC buses 80 and 81. Further, the gate of the semiconductor switch 64 is turned on / off to perform PWM control, and control is performed so that a desired motor torque is generated.
- the main input of the HCU 70 is a start signal ST and an accelerator pedal depression signal AS indicating the depression amount of the accelerator pedal.
- the HCU 70 sends a rotation command to the ECU 18 via the CAN 90 to control the engine 15.
- the ECU 18 receives an engine stop command from the HCU 70, the ECU 18 stops the engine 15.
- the engine 15 is started by the starter 19.
- FIG. 5 is a block diagram illustrating the function of the circuit of FIG. 5, the same reference numerals as those in FIG. 4 denote the same devices or parts.
- the IV temperature sensor 37 is a temperature sensor provided in the inverter 30 for protecting the semiconductor switch 34.
- the IV temperature sensor 67 is a temperature sensor provided in the inverter 60 for protecting the semiconductor switch 64.
- the motor temperature sensor 53 is a temperature sensor provided in the electric motor 50 for protection.
- the required torque calculation unit (first calculation unit) 73 calculates the required torque ⁇ b from the accelerator pedal depression signal AS corresponding to the depression amount of the accelerator pedal.
- An example of the calculation is a method using a preset characteristic table (not shown) of the rotational speed N of the electric motor 50 and the required torque ⁇ b.
- the characteristic between the rotational speed N of the electric motor 50 and the required torque ⁇ b is approximately inversely proportional. If the rotational speed is the same, the required torque ⁇ b increases as the accelerator pedal depression signal AS increases.
- the required torque calculation unit 73 can obtain the corresponding required torque ⁇ b from the characteristic table from the input accelerator pedal depression signal AS and the rotation speed N of the electric motor 50 detected by the rotation sensor 51.
- the outputable torque calculation unit (second calculation unit) 74 calculates the electric motor 50 from the voltage V of the DC buses 80 and 81 detected by the voltage sensor 62 provided in the inverter 60 and the rotational speed N of the electric motor 50. It is a part which calculates the output possible torque ⁇ a that can be output by.
- the inverters 30 and 60 are provided with the bus voltage sensors 32 and 62, respectively, but these are originally provided in the inverters 30 and 60, and both of them are the same DC bus voltage V of the DC buses 80 and 81. Is detected.
- FIG. 6 is a diagram showing the relationship between the outputtable torque ⁇ a of the electric motor 50 and the rotational speed N, and ⁇ max is the maximum torque originally set in the electric motor 50.
- a curve 101 shows the characteristic of the outputtable torque ⁇ a when the conventional control method in which the voltage V of the DC buses 80 and 81 is kept within a certain range is adopted.
- a curve 102 shows the characteristic of the outputtable torque ⁇ a when the voltage V of the DC buses 80 and 81 is increased by the control in the present embodiment as will be described later.
- the torque comparison unit 75 is a part that compares the required torque ⁇ b with the outputtable torque ⁇ a. Based on the comparison result of torque comparison unit 75, DC bus voltage increase determination unit 76 determines whether or not detected temperatures T1, T2 by temperature sensor 67 of inverter 60 and temperature sensor 53 of electric motor 50 have reached upper limit temperatures T10, T20. This is a part for determining whether or not to increase the voltage V of the DC buses 80 and 81.
- the timer unit 77 is a part that measures the time during which the DC bus voltage is rising in order to limit the time during which the DC bus voltage V is in the raised state.
- the voltage increase command unit 78 refers to the DC bus voltage V detected by the bus voltage sensor 32 or 62, and based on the determination result of the DC bus voltage increase determination unit 76, a command to increase the voltage if necessary. Vs is sent to the PC 43 of the step-up / down converter 40.
- Such units 73 to 78 can be realized by a computer program.
- the operator depresses the accelerator pedal and advances the wheel loader toward the earth and sand mountain 12 as shown by the arrow 11, and as shown in FIG. 12, the running resistance increases as the bucket 8 bites into the mountain 12 at a constant vehicle speed, and the torque required for the electric motor 50 also increases.
- the accelerator pedal depression amount (accelerator pedal depression signal AS) is increased from the time point a.
- the vehicle body speed (electric motor) is maintained during the period from 0 to b, that is, as long as the outputtable torque ⁇ a is larger than the required torque ⁇ b, as shown in FIG. 50) can maintain a constant speed of N1 (see FIG. 8A).
- the wheel loader travels at a substantially constant vehicle speed (rotation speed N1) at points a and b in the torque-rotation speed relationship diagram of FIG.
- the required torque ⁇ b is lowered.
- the output torque at time e corresponds to the point e in FIG.
- the vehicle body speed is sufficiently lowered and the output possible torque ⁇ a does not change, so that the necessary torque can be output.
- the voltage V of the DC buses 80 and 81 becomes substantially constant as shown in FIG.
- FIGS. 4 and 5 the operation of the apparatus according to the embodiment of the present invention shown in FIGS. 4 and 5 will be described with reference to the flowchart of FIG. 7 and the time chart of FIG.
- Each point af, b ', c' in the time chart of FIG. 9 corresponds to af, b ', c' of FIG. 1 and 2, the operator depresses the accelerator pedal, advances the wheel loader toward the earth and sand peak 12 as shown by the arrow 11, and inserts the bucket 8 into the peak 12 at the time of FIG. Then, the traveling resistance increases as the bucket 8 bites into the mountain 12 at a constant vehicle speed, and thus the torque required for the electric motor 50 also increases.
- the required torque calculator 73 shown in FIG. 5 calculates the required torque ⁇ b from the accelerator pedal depression signal AS. As shown in FIG. 9, the required torque ⁇ b increases from the time point a as the accelerator pedal depression signal AS increases.
- the outputtable torque calculator 74 calculates the outputtable torque ⁇ a with reference to the rotation speed N of the electric motor 50 and the voltage V of the DC buses 80 and 81 detected by the voltage sensor 62. As shown in FIG. 6, when the output possible torque ⁇ a becomes equal to or higher than a certain vehicle body speed (the rotational speed N ⁇ b> 2 of the electric motor 50), the output possible torque ⁇ a decreases as the rotational speed N increases.
- the torque comparison unit 75 compares the required torque ⁇ b with the output possible torque ⁇ a. However, in normal work, it is considered that there is no request for torque increase while the accelerator pedal depression signal AS is small. Therefore, torque comparison unit 75 does not perform this torque comparison unless accelerator pedal depression signal AS ⁇ AS0 (threshold) (step SP1 in FIG. 7).
- the threshold value AS0 is a predetermined value for determining whether or not the required torque ⁇ b by the torque comparison unit 75 is compared with the outputtable torque ⁇ a.
- the threshold value AS0 for example, the value of the accelerator pedal depression signal AS corresponding to the depression amount of at least about 50%, preferably the depression amount of about 75 to 85%, with respect to the depression amount when the accelerator pedal is fully depressed.
- the torque comparison unit 75 compares the torque (step SP2) and determines whether the required torque ⁇ b has reached the outputtable torque ⁇ a. That is, when the accelerator pedal depression amount is small and the accelerator pedal depression signal AS is smaller than the threshold value AS0 (at time 0 to b in FIG. 9), the required torque ⁇ b is small and has not reached the output possible torque ⁇ a ( ⁇ a> ⁇ b Therefore, the torque comparison unit 75 does not activate the DC bus voltage rise determination unit 76.
- step SP2 When the accelerator pedal depression signal AS ⁇ AS0 and ⁇ b ⁇ ⁇ a (step SP2) (step b in FIG. 9), the routine proceeds to step SP3, where the rotational speed N of the electric motor 50 is greater than or equal to the threshold N0 (N ⁇ N0).
- the DC bus voltage rise determination unit 76 is activated.
- the rotation speed threshold N0 is set between the rotation speed N2 and the rotation speed N3 in the torque-rotation speed characteristic diagram of FIG. 6 and in the vicinity of the rotation speed N2.
- the determination in the DC bus voltage rise determination unit 76 is performed as to whether the temperature T1 of the inverter 60 is equal to or lower than the upper limit value T10 and the temperature T2 of the electric motor 50 is equal to or lower than the upper limit value T20 (step SP4).
- the DC bus voltage increase determination unit 76 activates the voltage increase command unit 78, and the voltage increase command unit 78 sends the increase command signal Vs to the PC 43.
- the step-up / step-down converter 40 increases the DC bus voltage V from V1 to V2 and keeps it high as shown in FIG. 9D.
- the state where the DC bus voltage is increased is limited to the time t0 set in the timer unit 77, and the temperatures T1 and T2 of the inverter 60 and the electric motor 50 do not exceed the upper limit values T10 and T20. Is maintained as a condition (steps SP7 and SP8).
- the time t0 set by the timer unit 77 is a sufficient time necessary to fully insert the bucket 8 into the mountain 12 by traveling, and is preferably set to 4 to 14 seconds, more preferably about 8 to 12 seconds.
- the output possible torque ⁇ a can be made larger than the required torque ⁇ b. That is, in FIG. 6, the output possible torque ⁇ a can be increased from ⁇ 1 at point b to ⁇ 2 at point b ′.
- the vehicle can be postponed until ⁇ a, and the vehicle can be driven without reducing the vehicle body speed.
- the rotational speed N of the electric motor 50 that is, the vehicle body speed
- the rotational speed N of the electric motor 50 increases with the increase in the required torque ⁇ b. Decrease along line 102 in FIG.
- the required torque ⁇ b and the outputtable torque ⁇ a reach the maximum value ⁇ max at the time point c ′, the required torque ⁇ b and the outputtable torque ⁇ a do not increase any more, and are indicated by a line 107 in FIG. 9A. In this way, the vehicle body speed further decreases. The decrease in the vehicle speed continues until the point d 'in FIG. 9 where the running resistance decreased by the decrease in the vehicle speed and the driving force of the vehicle balance. After that, it will be excavated at a substantially constant vehicle speed.
- step SP4 accelerator depression signal AS ⁇ AS0 (SP1), required torque ⁇ b ⁇ outputtable torque ⁇ a (SP2), rotation speed N ⁇ N0 (SP3), inverter temperature T1> T10, or motor temperature T2> If it is any of T20 (SP4), the process proceeds to step SP9.
- step SP9 it is determined whether or not the DC bus voltage is high. If the DC bus voltage is in the high state of V2, the DC bus voltage is returned to the normal voltage V1 (SP10). If the DC bus voltage is not in the high state of V2, the process is terminated and the next accelerator pedal depression signal is awaited.
- the DC bus 80 , 81 are temporarily increased from V1 to V2.
- the output possible torque ⁇ a of the electric motor 50 can be temporarily increased, and the wheel loader can be operated without reducing the rotational speed N of the electric motor 50. That is, when the DC bus voltage V is increased, a speed difference indicated by the hatched portion 109 in FIG. 9A is generated in the electric motor 50 as compared with a case where the DC bus voltage V is not increased, and the work efficiency can be improved.
- the DC bus voltage V is increased only when the rotational speed N of the electric motor 50 is equal to or higher than a threshold rotational speed N0 that requires an increase in the outputtable torque ⁇ a. Therefore, the DC bus voltage V is increased only when the outputable torque ⁇ a needs to be truly increased, and the electric motor 50 can be stably controlled.
- the present invention can also be applied to other hybrid working machines other than the wheel loader.
- the working machine is a wheel loader and the electric motor 50 is a traveling motor.
- the traveling motor is a traveling motor.
- the torque required for the traveling motor is large, such as when the bucket 8 is inserted into the earth and sand pile 12 to be excavated while running the wheel loader, the bucket is smoothly piled. It is possible to improve the excavation efficiency (working efficiency).
- the example in which the rear wheel 3 is driven by the electric motor 50 has been described.
- the front wheel 2 may be driven by the electric motor 50.
- the present embodiment may be applied to a four-wheel drive hybrid working machine that drives the front wheels 2 and the rear wheels 3.
- the traveling operation is performed by the accelerator pedal
- a lever or software may be used as the traveling operation member instead of the accelerator pedal.
- the required torque ⁇ b may be obtained from a speed command value or an acceleration command value of the electric motor 50 instead of being obtained from an operation signal from the traveling operation member.
- the required torque ⁇ b may be obtained from the deviation between the speed command value of the electric motor 50 and the actual measurement value, or the deviation between the acceleration command value and the actual measurement value.
- the upper limit temperature of the inverter 30 and the upper limit temperature of the motor generator 20 may be further used to determine whether the temperature of the DC buses 80 and 81 can be increased. Further, the voltage rise time only needs to be suppressed within a certain time range, and the voltage rise time is not set to be constant by the timer unit 77 but may be a time that varies depending on the operation state.
- FIG. 10 is a circuit diagram showing another embodiment in which two DC buses exist individually without sharing the DC bus in one system in the hydraulic electric circuit of the working machine to which the present invention is applied.
- FIG. 10 components having the same functions as those of the hydraulic electric circuit of FIG. 4 are denoted by the same reference numerals.
- second DC buses 80a and 81a that are not common to the first DC buses 80 and 81 connected to the inverter 30 as the first power converter are provided separately.
- the second DC buses 80a and 81a and the inverter 60 as the second power converter are connected.
- a second step-up / step-down converter 40a that transfers power between the second DC buses 80a and 81a and the battery 42 is also provided. Similar to the first step-up / step-down converter 40, the second step-up / step-down converter 40a transfers power between the battery 42 and the second DC buses 80a, 81a.
- the second DC bus 80a, 81a connected to the inverter 60 when the torque required for the electric motor 50 exceeds the torque that can be output by the voltage of the second DC bus 80a, 81a connected to the inverter 60, the second DC bus 80a. , 81a are temporarily increased.
- the voltage increase control of the second DC buses 80a and 81a is basically the same as the voltage increase control of the first DC buses 80 and 81 in the above-described embodiment.
- the same operational effects as the above-described embodiment can be achieved. Furthermore, in another embodiment, since the voltage of the second DC buses 80a and 81a different from the first DC buses 80 and 81 is increased, the voltage rise of the second DC buses 80a and 81a causes the inverter 60 to increase. Even if the heat is temporarily generated, the influence does not reach the devices connected to the first DC buses 80 and 81. Further, by providing two systems of DC buses, the present invention can be applied even when the voltages of the first DC buses 80 and 81 are different from the voltages of the second DC buses 80a and 81a.
- the present invention is not limited to this, and the battery 42 is used.
- the battery 42 and the inverter 30 may be directly connected without providing the first step-up / step-down converter.
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Abstract
Description
インバータ60は電動機50を駆動すると共に、電動機50の回生電力を直流に変換する。66は入力電圧を平滑化するコンデンサである。このインバータ60は6個の半導体スイッチ64により構成する。この半導体スイッチ64として、この例ではIGBTを用いているが、他のパワー半導体素子を用いてもよい。
また、本実施の形態においては、電動機50によって後輪3を駆動させる例を説明したが、電動機50によって前輪2を駆動するように構成してもよい。また、本実施の形態を、前輪2と後輪3とを駆動する4輪駆動のハイブリッド型作業機に適用してもよい。
日本国特許出願2014年第82371号(2014年4月11日出願)
Claims (7)
- 油圧アクチュエータの油圧源となる油圧ポンプを駆動するエンジン(15)と、
前記エンジン(15)に付設されるエンジンアシスト用の電動発電機(20)と、
作業機の一部の駆動系に用いる電動機(50)と、
前記電動発電機(20)の発電電力を蓄積する蓄電器(42)と、
前記電動機(50)と直流母線(80,81,80a,81a)との間に設けられた電力変換装置(60)と、
前記直流母線(80,81,80a,81a)と前記蓄電器(42)との間に設けられ、前記直流母線(80,81,80a,81a)の電圧を昇降圧して前記直流母線(80,81,80a,81a)と前記蓄電器(42)との間で電力の授受を行なう昇降圧コンバータ(40,40a)とを備えるハイブリッド型作業機において、
前記電動機(50)に要求されるトルクが、前記電力変換装置(60)に接続される前記直流母線(80,81,80a,81a)の電圧で出力可能なトルクを上回る場合に、前記直流母線(80,81,80a,81a)の電圧を一時的に上昇させる制御装置(70)を備えたハイブリッド型作業機。 - 請求項1に記載のハイブリッド型作業機において、
前記制御装置は、前記電動機(50)の回転数および前記直流母線(80,81,80a,81a)の電圧に基づいて前記電動機(50)の出力可能トルクを演算する出力可能トルク演算部(74)を備えるハイブリッド型作業機。 - 請求項1に記載のハイブリッド型作業機において、
前記電動発電機(20)と前記直流母線(80,81)との間に設けられて前記直流母線(80,81)に接続された、前記電力変換装置(60)とは異なる別の電力変換装置(30)をさらに備えるハイブリッド型作業機。 - 請求項1に記載のハイブリッド型作業機において、
前記直流母線(80a,81a)とは異なる別の直流母線(80,81)と前記電動発電機(20)との間に設けられて前記別の直流母線(80,81)に接続された、前記電力変換装置(60)とは異なる別の電力変換装置(30)をさらに備えるハイブリッド型作業機。 - 請求項1に記載のハイブリッド型作業機において、
前記制御装置(70)は、
前記電動機(50)の要求トルクを演算する第1の演算部(73)と、
前記電動機(50)の回転数、および前記電動機(50)に前記電力変換装置を介して接続された前記直流母線(80,81,80a,81a)の電圧から前記電動機(50)の出力可能トルクを演算する第2の演算部(74)と、
前記第1の演算部(73)により演算される要求トルクと前記第2の演算部(74)により演算される出力可能トルクとを比較するトルク比較部(75)と、
前記要求トルクが前記出力可能トルク以上である際に、前記電動機(50)の回転数が閾値以上であることを条件として、前記直流母線(80,81,80a,81a)の電圧を一時的に上昇させる指令を与える電圧上昇指令部(78)とを備えたハイブリッド型作業機。 - 請求項1に記載のハイブリッド型作業機において、
前記制御装置(70)は、前記昇降圧コンバータ(40,40a)を介して前記直流母線(80,81,80a,81a)の電圧を一時的に上昇させるハイブリッド型作業機。 - 請求項1に記載のハイブリッド型作業機において、
前記ハイブリッド型作業機がホイルローダであり、
前記電動機(50)が走行モータであるハイブリッド型作業機。
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JP2016512774A JP6502324B2 (ja) | 2014-04-11 | 2015-04-09 | ハイブリッド型作業機 |
US15/122,240 US10286894B2 (en) | 2014-04-11 | 2015-04-09 | Hybrid work machine |
EP15776987.8A EP3130708B1 (en) | 2014-04-11 | 2015-04-09 | Hybrid work machine with dc voltage controller |
KR1020167024210A KR101846107B1 (ko) | 2014-04-11 | 2015-04-09 | 하이브리드형 작업기 |
CN201580011777.0A CN106062287B (zh) | 2014-04-11 | 2015-04-09 | 混合动力型作业机 |
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CN106062287A (zh) | 2016-10-26 |
CN106062287B (zh) | 2018-06-22 |
EP3130708B1 (en) | 2019-03-06 |
JPWO2015156357A1 (ja) | 2017-04-13 |
KR20160117557A (ko) | 2016-10-10 |
KR101846107B1 (ko) | 2018-04-05 |
JP6502324B2 (ja) | 2019-04-17 |
EP3130708A1 (en) | 2017-02-15 |
EP3130708A4 (en) | 2017-11-29 |
US20160368472A1 (en) | 2016-12-22 |
US10286894B2 (en) | 2019-05-14 |
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