WO2015174551A1 - 電圧制御装置および電圧制御方法 - Google Patents
電圧制御装置および電圧制御方法 Download PDFInfo
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- WO2015174551A1 WO2015174551A1 PCT/JP2015/065675 JP2015065675W WO2015174551A1 WO 2015174551 A1 WO2015174551 A1 WO 2015174551A1 JP 2015065675 W JP2015065675 W JP 2015065675W WO 2015174551 A1 WO2015174551 A1 WO 2015174551A1
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- 238000000034 method Methods 0.000 title claims description 23
- 239000003990 capacitor Substances 0.000 claims abstract description 147
- 230000007423 decrease Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 11
- 230000005284 excitation Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 230000007704 transition Effects 0.000 description 6
- 238000004804 winding Methods 0.000 description 5
- 230000008929 regeneration Effects 0.000 description 4
- 238000011069 regeneration method Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 230000002123 temporal effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 244000145845 chattering Species 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000002500 effect on skin Effects 0.000 description 1
- 238000010992 reflux Methods 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
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Classifications
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/15—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with additional electric power supply
-
- 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
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
-
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Definitions
- the present invention relates to a voltage control device and a voltage control method for controlling a DC voltage obtained by converting a voltage of a capacitor which is a storage battery.
- a hybrid work vehicle equipped with an engine and a rotating electrical machine as a drive source is provided with a storage battery such as a battery that stores power generated by the rotating electrical machine while supplying power to the rotating electrical machine.
- a storage battery such as a battery that stores power generated by the rotating electrical machine while supplying power to the rotating electrical machine.
- voltage control of a rotating electrical machine is generally performed by paying attention to the efficiency of an inverter that drives the rotating electrical machine.
- Patent Document 1 describes a booster that boosts and outputs a capacitor voltage to a system voltage of a rotating electrical machine in a hybrid work vehicle.
- the booster described in Patent Document 1 does not take into consideration any load fluctuations of the rotating electrical machine. That is, the booster described in Patent Document 1 boosts and outputs the capacitor voltage to the rated voltage with respect to the system voltage, and the output voltage of the booster has no margin. In this state, when the load on the rotating electrical machine increases, the booster cannot increase the output voltage and cannot supply sufficient output to the rotating device.
- the present invention has been made in view of the above, and an object thereof is to provide a voltage control device and a voltage control method capable of obtaining an output corresponding to a load change.
- a voltage control device includes a capacitor that supplies electric power to a rotating electrical machine, an inverter connected to the rotating electrical machine, and a DC terminal in series with a polarity.
- Two voltage source inverters to be connected and an AC terminal of the two voltage source inverters are coupled to each other, and a transformer having a predetermined leakage inductance is included.
- One of the two voltage source inverters is connected in parallel to the capacitor, and the capacitor A transformer coupled booster that outputs a DC voltage obtained by boosting the capacitor voltage to the inverter, and a value that is less than an output limit of the transformer coupled booster when the rotating electrical machine is in a driving state.
- the control unit when the control unit further determines that the rotational speed of the rotating electrical machine is less than a predetermined rotational speed, an upper limit predetermined voltage and a lower limit predetermined voltage of the DC voltage are determined. Within the range of the voltage, a variable DC voltage command value corresponding to the capacitor voltage within a predetermined range is generated and output.
- the predetermined range of the capacitor voltage is such that the boost ratio of the DC voltage to the capacitor voltage is an optimum boost ratio in which the efficiency of the transformer coupled booster is high.
- the range is less than a variable control upper limit threshold value that is a value of a capacitor voltage with respect to the upper limit predetermined voltage, and the control unit is configured to reduce the capacitor voltage from the variable control upper limit threshold with a decrease in the capacitor voltage within the predetermined range of the capacitor voltage.
- a command value of the DC voltage that is the optimum boost ratio is generated, and the capacitor voltage is equal to or less than a variable control lower limit threshold that is a value of the capacitor voltage when the DC voltage at the optimum boost ratio becomes a lower limit predetermined voltage.
- the lower limit predetermined voltage is generated as a command value for the DC voltage.
- the control unit determines whether the output of the transformer coupled booster is less than a predetermined output which is a value less than an output limit.
- the predetermined output is provided with a hysteresis characteristic in a range equal to or less than the predetermined output.
- the control unit determines whether or not the rotation speed of the rotating electrical machine is less than a predetermined rotation speed
- the voltage control apparatus is within a range of the predetermined rotation speed or less.
- the predetermined rotation speed is provided with a hysteresis characteristic.
- control unit may be configured such that the rotating electrical machine is in a driving state and the output of the transformer coupled booster is not less than a predetermined output that is less than an output limit. And when the said capacitor voltage is more than a derating operation
- the control unit may be configured such that the rotating electrical machine is in a driving state and the output of the transformer coupled booster is not less than a predetermined output that is less than an output limit. Or when the rotational speed of the rotating electrical machine is not less than a predetermined rotational speed and the capacitor voltage is equal to or higher than a derating operation threshold, the upper limit predetermined voltage is generated and output as a command value of the DC voltage It is characterized by doing.
- the rotating electrical machine is a permanent magnet motor.
- the voltage control method includes a capacitor for supplying electric power to a rotating electrical machine or a load, an inverter connected to the rotating electrical machine, two voltage source inverters whose DC terminals are connected in series with additional polarity, and the above
- An AC terminal of two voltage source inverters is coupled, and includes a transformer having a predetermined leakage inductance, one of the two voltage source inverters is connected in parallel to the capacitor, and a DC voltage obtained by boosting the capacitor voltage of the capacitor is
- a voltage control method for a system including a transformer coupled booster that outputs to an inverter, wherein the rotating electrical machine is in a driving state, and the output of the transformer coupled booster is less than the output limit of the transformer coupled booster Is less than a predetermined output that is less than the upper limit predetermined voltage of the DC voltage and not less than the lower limit predetermined voltage.
- ⁇ characterized by generating and outputting a command value of the variable of the DC voltage in response to the capacitor voltage within a predetermined range.
- the voltage control method when the rotation speed of the rotating electrical machine is less than a predetermined rotation speed, the voltage control method is set within a range between an upper limit predetermined voltage and a lower limit predetermined voltage of the DC voltage. A variable DC voltage command value is generated and output according to the capacitor voltage within a range.
- the predetermined range of the capacitor voltage is such that the boost ratio of the DC voltage to the capacitor voltage is an optimum boost ratio in which the efficiency of the transformer coupled booster is high.
- the range is less than a variable control upper limit threshold value that is a value of a capacitor voltage with respect to the upper limit predetermined voltage, and the control unit is configured to reduce the capacitor voltage from the variable control upper limit threshold with a decrease in the capacitor voltage within the predetermined range of the capacitor voltage.
- a command value of the DC voltage that is the optimum boost ratio is generated, and the capacitor voltage is equal to or less than a variable control lower limit threshold that is a value of the capacitor voltage when the DC voltage at the optimum boost ratio becomes a lower limit predetermined voltage.
- the lower limit predetermined voltage is generated as a command value for the DC voltage.
- a capacitor for supplying electric power to a rotating electrical machine an inverter connected to the rotating electrical machine, two voltage source inverters whose DC terminals are connected in series in a positive polarity, and an alternating current of the two voltage source inverters
- Transformer coupling type including a transformer having a predetermined leakage inductance, one of the two voltage source inverters connected in parallel to the capacitor, and a DC voltage obtained by boosting the capacitor voltage of the capacitor being output to the inverter
- An upper limit of the DC voltage when the rotating electrical machine is in a driving state and the output of the transformer coupled booster is less than a predetermined output that is less than the output limit of the transformer coupled booster.
- the direct current that is variable depending on the capacitor voltage within a predetermined range within a range that is less than a predetermined voltage and equal to or more than a lower limit predetermined voltage It generates a command value of the pressure is to be output.
- the transformer coupled booster can obtain an output corresponding to the load fluctuation of the rotating electrical machine.
- FIG. 1 is a block diagram showing a configuration of a voltage control apparatus according to an embodiment of the present invention.
- FIG. 2 is a diagram illustrating a configuration of a hydraulic excavator on which the voltage control device illustrated in FIG. 1 is mounted.
- FIG. 3 is a circuit diagram showing the configuration of the voltage converter.
- FIG. 4 is a block diagram showing the control of the controller.
- FIG. 5 is a flowchart showing a variable voltage control processing procedure by the voltage converter control unit.
- FIG. 6 is a diagram illustrating a relationship between the output limit with respect to the capacitor voltage and the predetermined output.
- FIG. 7 is a diagram showing the relationship of the DC voltage command value with respect to the capacitor voltage during the variable voltage control process by the voltage converter control unit.
- FIG. 1 is a block diagram showing a configuration of a voltage control apparatus according to an embodiment of the present invention.
- FIG. 2 is a diagram illustrating a configuration of a hydraulic excavator on which the voltage control device illustrated in FIG. 1 is
- FIG. 8 is a diagram illustrating hysteresis characteristics when determining the predetermined rotation speed.
- FIG. 9 is a diagram showing a hysteresis characteristic when determining a predetermined output of the transformer coupled booster.
- FIG. 10 is a timing chart showing an example of the time change of the output of the transformer coupled booster, the capacitor voltage, the DC voltage, the PM rotation speed, and the loss of the transformer coupled booster.
- FIG. 1 is a block diagram showing a configuration of a voltage control apparatus 1 according to an embodiment of the present invention.
- the voltage control device 1 shown in FIG. 1 is a power supply control system mounted on a hybrid work vehicle.
- the hybrid work vehicle equipped with the voltage control device 1 is, for example, the excavator 100 shown in FIG.
- the excavator 100 has a self-propelled portion 101a that self-propels by rotation of a crawler belt, a working machine such as a bucket, a boom, and an arm, and a driver's cab. And a swivel part 101b that can swivel around.
- the voltage control device 1 mounted on the hydraulic excavator 100 having such a configuration includes a rotating electrical machine having a drive shaft connected to the drive shaft of the engine, and has a drive shaft that matches the swing shaft of the swivel unit 101b. A rotating electrical machine is provided.
- the voltage control device 1 includes a three-phase excitation type SR (Switched Reluctance) motor 2 as a rotating electrical machine.
- the drive shaft of the SR motor 2 is connected to the drive shaft of the engine 3.
- the voltage control device 1 includes a PM (Permanent Magnet) motor 4 as a rotating electric machine for turning.
- the SR motor 2 and the PM motor 4 are each provided with a rotation sensor (not shown) that detects the rotation speed.
- SR motor 2 and PM motor 4 are supplied with power from a large-capacity capacitor 5 formed of an electric double layer capacitor.
- the capacitor 5 also has a function of storing electric power generated by the SR motor 2 and the PM motor 4.
- SR motor 2 is connected to SR driver 6 which is an inverter for SR motor.
- the SR driver 6 is connected in parallel to an SR capacitor 7 composed of a film capacitor suitable for waveform shaping and surge absorption.
- a voltage converter 8 that boosts and outputs the voltage of the capacitor 5 is connected to the SR capacitor 7 in parallel.
- FIG. 3 is a circuit diagram showing a configuration of the voltage converter 8.
- the voltage converter 8 includes a transformer-coupled booster 81 having a positive polarity in which two voltage source inverters are AC-coupled via a transformer 84.
- the transformer-coupled booster 81 has a lower inverter 82 and an upper inverter 83 that are two voltage source inverters.
- the transformer coupled booster 81 includes a transformer 84 that couples the AC side of the lower inverter 82 and the upper inverter 83.
- the lower inverter 82 includes a total of four IGBTs (Insulated Gate Bipolar Transistors) 821a, 821b, 821c, and 821d, which are two on the upper and lower arms, as switching elements for switching energization.
- Diodes 822a, 822b, 822c, and 822d that flow a reflux current generated when energization is switched are connected in parallel to the IGBTs 821a, 821b, 821c, and 821d, respectively.
- the upper inverter 83 has four IGBTs 831a, 831b, 831c, and 831d as switching elements.
- Diodes 832a, 832b, 832c, and 832d are connected in parallel to the IGBTs 831a, 831b, 831c, and 831d, respectively.
- the positive DC terminal of the lower inverter 82 and the negative DC terminal of the upper inverter 83 are connected in series with a positive polarity.
- a voltage applied from the outside to the transformer coupled booster 81 is divided by the lower inverter 82 and the upper inverter 83.
- a capacitor 85 mainly for surge absorption is connected in parallel to the lower inverter 82.
- the capacity of the capacitor 85 is significantly smaller than the capacity of the capacitor 5.
- a small capacity capacitor 86 for absorbing surge is connected to the upper inverter 83 in parallel.
- the capacity of the capacitor 85 is preferably larger than the capacity of the capacitor 86. This is because the amount of surge generated in the capacitor 85 on the side connected to the wiring that goes outside the voltage converter 8 is larger than the amount of surge generated in the capacitor 86. Further, since the capacity of the capacitor 86 does not need to be increased more than necessary by suppressing the capacity of the capacitor 86, there is an advantage that space saving can be achieved.
- the lower inverter 82 is connected to the coil 84a of the transformer 84.
- the upper inverter 83 is connected to the coil 84 b of the transformer 84.
- the winding ratio of the coil 84a and the coil 84b is 1: 1.
- the turns ratio of the coil 84a and the coil 84b is 1: 1, but the turn ratio can be changed as appropriate.
- the transformer 84 has a certain leakage inductance (L).
- the leakage inductance is equally divided so as to be L / 2 on the coil 84a side and L / 2 on the coil 84b side.
- the transformer 84 transmits the electric power temporarily stored in the leakage inductance to the capacitor 5 and the like by high-speed switching control of the lower inverter 82 and the upper inverter 83.
- a leakage inductance of a transformer increases when a gap between a primary coil and a secondary coil widens. For this reason, when the transformer is formed, the primary coil and the secondary coil are often formed in close contact with each other.
- a desired leakage inductance is positively created by adjusting the gap between the primary coil and the secondary coil, that is, the gap between the coil 84a and the coil 84b. It is possible to add inductance outside the transformer 84.
- the capacitor 85 of the voltage converter 8 is connected to the capacitor 5 in parallel.
- a contactor 9 is connected in series between the capacitor 5 and the capacitor 85. When the contactor 9 is connected, the voltage converter 8 boosts the voltage (primary side voltage) of the capacitor 5 and supplies the boosted voltage (secondary side voltage) to the SR motor 2 and the PM motor 4.
- the voltage converter 8 is connected in series to an excitation power source 10 that excites the SR motor 2 on the secondary side.
- the excitation power supply 10 is provided in the voltage control apparatus 1 .
- the SR motor 2 has a characteristic of generating large regenerative energy when electric energy is supplied, and does not operate as a generator when the internal rotor is simply driven to rotate.
- it is necessary to excite a coil in the SR motor 2 in advance.
- an excitation power source 10 is provided to excite the SR motor 2 when the engine 3 is started.
- a diode 11 and a relay 12 are connected in series between the voltage converter 8 and the excitation power supply 10.
- the diode 11 cuts off the excitation power supply 10 when the voltage of the SR capacitor 7 becomes larger than the voltage of the excitation power supply 10.
- the relay 12 controls the turning on / off of the excitation power supply 10 by an on / off operation.
- the PM motor 4 is connected to the PM inverter 13.
- the PM inverter 13 is connected in parallel to a PM capacitor 14 composed of a film capacitor.
- a voltage converter 8 is connected to the PM capacitor 14 in parallel.
- a current sensor 15 is connected in series between the SR motor 2 and the SR driver 6.
- a current sensor 16 is connected in series between the PM motor 4 and the PM inverter 13.
- An insulation sensor 20 is connected to the capacitor 5.
- the voltage control device 1 includes a controller 21.
- the controller 21 controls the vehicle body control unit 22 that controls the vehicle body of the excavator 100, the SR motor control unit 23 that controls the speed and torque of the SR motor 2 by controlling the SR driver 6, and the PM inverter 13.
- a PM motor control unit 24 for controlling the speed of the PM motor 4, a voltage converter control unit 25 for controlling the voltage converter 8, and a contactor control unit 26 for controlling on / off of the contactor 9.
- FIG. 4 is a block diagram showing the control of the controller 21.
- the vehicle body control unit 22 of the controller 21 includes a power management unit 221 that generates operation commands for the engine 3 and the SR motor 2, and a turning operation unit 222 that generates operation commands for the PM motor 4.
- Car body control is performed based on the operation of the operation lever Lv by the operator.
- the power management unit 221 generates an engine speed command according to the voltage of the capacitor 5, the operation state of the operation lever Lv, and the turning operation state sent from the turning operation unit 222, and outputs the engine rotation speed command to the engine 3.
- the power management unit 221 generates a speed command and a torque command for the SR motor 2 and outputs them to the SR motor control unit 23.
- the turning operation unit 222 generates a speed command for the PM motor 4 according to the voltage of the capacitor 5 and the lever operation state, and outputs it to the PM motor control unit 24.
- the SR motor control unit 23 uses the speed command and torque command output from the vehicle body control unit 22, the rotation speed of the SR motor 2, and the DC voltage output from the voltage converter 8 as an SR motor 2 operation command. An output command is generated and output to the SR driver 6.
- the PM motor control unit 24 is an operation command for the PM motor 4 using the speed command for the PM motor 4 output from the vehicle body control unit 22, the rotational speed of the PM motor 4, and the DC voltage output from the voltage converter 8.
- a PM output command is generated and output to the PM inverter 13.
- the voltage converter control unit 25 corresponds to the control unit, the DC voltage output from the voltage converter 8, the operation command of the SR motor 2 output from the SR motor control unit 23, and the PM motor 4 output from the PM motor control unit 24.
- the DC voltage command is generated on the basis of the operation command, the rotational speed of the PM motor 4, and the capacitor voltage detected by the voltmeter 17, and is output to the voltage converter 8.
- variable voltage control processing by the voltage converter controller (Variable voltage control processing by the voltage converter controller) Next, the variable voltage control processing procedure by the voltage converter control unit 25 will be described with reference to the flowchart shown in FIG.
- the SR motor 2 and the PM motor 4 operate at 500 V (lower limit predetermined voltage Vlow) to 550 V (upper limit predetermined voltage Vhigh).
- the upper limit predetermined voltage is defined by a withstand voltage limit of the IGBT element or the like in the transformer coupled booster 81. Further, when the lower limit predetermined voltage is equal to or lower than this voltage, for example, it is a voltage that makes it difficult to perform good motor control with desired motor characteristics.
- the voltage converter control unit 25 first acquires the PM rotation speed Sp that is the rotation speed of the PM motor 4 (step S101). Thereafter, the voltage converter control unit 25 determines whether or not the absolute value of the PM rotation speed Sp is less than 6000 rpm (predetermined rotation speed) (step S102). When the absolute value of the PM rotation speed Sp is less than 6000 rpm (step S102, Yes), the voltage converter control unit 25 further acquires the output P of the transformer coupled booster 81 and the current capacitor voltage Vcap (step). S103). The output P of the transformer coupled booster 81 can be obtained by the SR output command output from the SR motor control unit 23 and the PM output command output from the PM motor control unit 24.
- the output P may be obtained directly from the detection values of the voltmeters 18 and 19 and the current sensors 15 and 16.
- the above-described values such as 500 V (lower limit predetermined voltage Vlow), 550 V (upper limit predetermined voltage Vhigh), and 6000 rpm (predetermined rotation speed) are examples, and are not limited to these values.
- the voltage converter control unit 25 determines whether or not the output P of the transformer coupled booster 81 is less than 50% (predetermined output) of the output limit Pmax corresponding to the current capacitor voltage Vcap (step). S104).
- the output limit Pmax here is the output limit when the DC voltage is 500V. Note that the output limit Pmax is not limited to this, and may be the output limit when the DC voltage is 550V.
- the output limit Pmax becomes the characteristic curves L1 and L1 ′ when the DC voltage is 500V, and becomes the characteristic curves L2 and L2 ′ when the DC voltage is 550V, according to the capacitor voltage Vcap. Therefore, when the DC voltage is 500 V, 50% of the output limit Pmax changes as shown by the characteristic curves L50 and L50 ′ according to the capacitor voltage Vcap.
- the characteristic curves L50 and L50 ′ have a characteristic that decreases as the capacitor voltage Vcap decreases.
- the voltage converter control unit 25 sets the capacitor voltage Vcap. It is determined whether or not the double value exceeds 500V and less than 550V. That is, it is determined whether or not the value of the capacitor voltage Vcap exceeds 250 V (variable control lower limit threshold Vth2) and less than 275 V (variable control upper limit threshold Vth1) (step S105).
- step S105 When the value of the capacitor voltage Vcap exceeds 250V and is less than 275V (Yes in step S105), the voltage converter control unit 25 sets the DC voltage command Vdc for the transformer coupled booster 81 to 2 of the capacitor voltage Vcap. Variable voltage control is performed so that the output is doubled (step S106), the process returns to step S101, and the above-described processing is repeated.
- the voltage converter control unit 25 determines whether or not the value of the capacitor voltage Vcap exceeds 155V (variable control second lower limit threshold Vth3) and is equal to or less than 250V (variable control lower limit threshold Vth2) ( Step S107).
- step S107 When the value of the capacitor voltage Vcap exceeds 155V and is equal to or lower than 250V (step S107, Yes), the voltage converter control unit 25 sets the DC voltage command Vdc for the transformer coupled booster 81 to 500V (the lower limit predetermined voltage). (Vlow) is performed so that the variable voltage is output (step S108), the process returns to step S101 and the above-described processing is repeated.
- step S104 when the value of the capacitor voltage Vcap exceeds 155 V and is not 250 V or less (No in step S107), whether the value of the capacitor voltage Vcap is 180 V (derating operation threshold Vth4) or more. It is determined whether or not (step S109).
- step S109 the voltage converter control unit 25 outputs so that the DC voltage command Vdc for the transformer coupled booster 81 becomes 550 V (upper predetermined voltage Vhigh).
- step S110 The constant voltage control is performed (step S110), the process returns to step S101 and the above-described processing is repeated.
- step S109, No the voltage converter control unit 25 performs a derating operation to protect the transformer coupled booster 81 (step S111). Returning to S101, the above-described processing is repeated.
- step S102 may be deleted and a variable voltage control process in which only the determination process in step S104 is performed may be performed.
- variable voltage control process by the voltage converter control part 25 is demonstrated.
- a straight line L10 and a straight line L11 are routes of variable voltage control shown in steps S106 and S108.
- the straight line L10 is the variable voltage control route shown in step S106.
- the straight line L10 performs voltage doubler control so that the DC voltage indicated by the DC voltage command Vdc is twice the capacitor voltage Vcap in the range ⁇ V1 between the capacitor voltage Vcap and the variable control upper limit threshold Vth1 and the variable control lower limit threshold Vth2.
- a straight line L10 connects a point P1 where the DC voltage indicated by the DC voltage command Vdc when the variable control upper limit threshold Vth1 is 275V is 550V and a point P2 where the DC voltage when the variable control lower limit threshold Vth2 is 250V is 500V. Yes.
- the current flowing through the transformer 84 is the smallest and the total device loss is reduced.
- the “total device loss” here includes the conduction loss of each IGBT and the resistance of the transformer 84 (including AC resistance such as DC resistance, skin effect, eddy current loss), and the magnitude of the current flowing through the transformer 84. It is proportional to the depth. That is, by performing this voltage doubler control, the loss of the transformer coupled booster 81 can be reduced and the efficiency of the transformer coupled booster 81 can be increased.
- the winding ratio between the coil 84a and the coil 84b of the transformer 84 is 1: 1
- voltage doubler control is performed with a step-up ratio of 1: 2. Therefore, in the case of a general winding ratio, the efficiency of the booster can be increased by performing constant boost ratio control with a boost ratio corresponding to the winding ratio.
- the straight line L11 is the variable voltage control route shown in step S108.
- the straight line L11 performs variable voltage control in which the DC voltage indicated by the DC voltage command Vdc is 500 V in the range ⁇ V2 between the capacitor voltage Vcap and the variable control lower limit threshold Vth2 and the variable control second lower limit threshold Vth3.
- the boost ratio is closest to the winding ratio.
- Variable voltage control is performed at a constant voltage of 500V.
- the predetermined range of the capacitor voltage Vcap is a range ⁇ V1 and a range ⁇ V2.
- the straight line L20 and the straight line L21 are routes of constant voltage control that outputs to 550 V (upper predetermined voltage Vhigh) shown in step S109.
- the straight line L21 indicates that when the capacitor voltage Vcap is less than the derating operation threshold Vth4 (180V), the capacitor voltage Vcap is the variable control second lower limit threshold Vth3 from the point P4 that becomes the DC voltage 550V at the derating operation threshold Vth4.
- This is a route for performing a derating operation for dropping the DC voltage in a straight line up to a point P3 at which the DC voltage becomes 500V. This derating operation protects the transformer-coupled booster 81.
- the straight lines L10 and L11 described above are variable voltage control routes for improving the efficiency of the transformer coupled booster 81. Therefore, it is preferable to control on the route of this variable voltage control.
- the PM rotation speed Sp is 6000 rpm or more
- the PM motor 4 is a permanent magnet motor, and thus a counter electromotive force (induced voltage) is generated by the rotation of the rotor.
- the PM motor 4 is rotated at a high speed of 6000 rpm or more, the induced voltage increases. Therefore, when the DC voltage becomes less than the induced voltage, no current can be supplied to the PM motor 4 and the PM motor 4 cannot be driven. Therefore, when the PM rotation speed Sp is high at 6000 rpm or more, in order to obtain a DC voltage that overcomes this induced voltage, a constant voltage control is performed to output 550 V (upper predetermined voltage Vhigh) indicated by a straight line L20. Thus, it is preferable to perform stable driving.
- step S102 it is determined whether the PM rotation speed Sp is less than 6000 rpm. It is not preferable to perform field-weakening control to weaken the large back electromotive force because another power is required for this purpose, and the motor efficiency is deteriorated.
- an output limit Pmax exists at the output of the transformer coupled booster 81.
- the output limit Pmax is also lowered. Therefore, in a state where the output P is large, it is preferable to perform constant voltage control with a high DC voltage without reducing the DC voltage.
- the variable voltage control in which the DC voltage is less than 550 V (upper predetermined voltage Vhigh) is the state of the output limit Pmax of the transformer coupled booster 81, the load fluctuations in the PM motor 4 or the like If this occurs, the DC voltage cannot be increased to, for example, 550 V, and the output P of the transformer coupled booster 81 cannot be further increased. Therefore, in step S104, it is determined whether or not the output P of the transformer coupled booster 81 is less than 50% of the output limit Pmax corresponding to the current capacitor voltage Vcap.
- the output P of the transformer coupled booster 81 when performing variable voltage control, it is preferable to perform it in a state where there is room to increase the output P of the transformer coupled booster 81 even if load fluctuation occurs.
- the output when it is desired to increase the output, the output can be increased rapidly only by increasing the DC voltage.
- 50% of the output limit Pmax of the transformer coupled booster 81 is set as a threshold value for variable voltage control or constant voltage control. Therefore, when the load variation is small, the threshold value may be increased. For example, 70% of the output limit Pmax of the transformer coupled booster 81 may be set as the threshold value.
- steps S102 and S104 are due to the use of the PM motor 4, and there is no limitation on the SR motor 2. That is, since the direct-current voltage (system voltage) is common to the SR motor 2 and the PM motor 4, the SR motor 2 operates under the restriction on the PM motor 4.
- step S102 the determination is made with one threshold value of a predetermined rotation speed (6000 rpm).
- a predetermined rotation speed (6000 rpm) that is a first threshold value and a second threshold value (5800 rpm) that is equal to or less than the predetermined rotation speed are provided, and hysteresis characteristics are provided for the state transition. It is trying to have.
- step S104 a determination is made based on one threshold value of a predetermined output (Pmax ⁇ 50%).
- a predetermined output (Pmax ⁇ 50%) that is a first threshold and a second threshold (Pmax ⁇ 30%) that is equal to or lower than the predetermined output are provided, The transition is given a hysteresis characteristic.
- FIG. 10 is a timing chart showing an example of the time change of the output P of the transformer coupled booster 81, the capacitor voltage Vcap, the DC voltage, the PM rotation speed Sp, and the loss of the transformer coupled booster 81.
- FIG. 10B for comparison, the change of the DC voltage over time during the conventional fixed control in which the DC voltage is always kept constant at 550 V is shown.
- FIG. 10 (d) also shows, for comparison, the time variation of the loss of the transformer-coupled booster during the conventional fixed control in which the DC voltage is always kept constant at 550V.
- Characteristics L52 and L55 indicate temporal changes in the predetermined output (Pmax ⁇ 50%) during power running and regeneration, respectively. Further, characteristics L53 and L54 indicate temporal changes of a threshold value (Pmax ⁇ 30%) less than a predetermined output for performing hysteresis control during power running and regeneration, respectively.
- a characteristic L61 in FIG. 10 (b) indicates a time change of the DC voltage of the transformer coupled booster 81 according to the present embodiment.
- a characteristic L161 indicates a change over time of the DC voltage during the conventional fixed control.
- a characteristic L62 indicates a time change of the capacitor voltage Vcap.
- the characteristic L71 in FIG. 10 (c) shows the time change of the PM rotation speed Sp. Further, a characteristic L81 in FIG. 10 (d) shows a time change of the loss of the transformer coupled booster 81 according to the present embodiment. A characteristic L181 indicates a time change of the loss of the transformer coupled booster 81 during the conventional fixed control.
- the PM rotation speed Sp is less than the predetermined rotation speed (6000 rpm), and the output P of the transformer coupled booster 81 is also less than the predetermined output (Pmax ⁇ 50%).
- the capacitor voltage Vcap is a value between 250 V (Vth2) and 275 V (Vth1), variable voltage control using a double voltage (see characteristic L61) is performed.
- the loss of the transformer coupled booster 81 is reduced as compared with the conventional characteristic L181.
- the PM rotation speed Sp is less than a predetermined rotation speed (6000 rpm)
- the output P of the transformer coupled booster 81 is also less than a predetermined output (Pmax ⁇ 50%)
- variable voltage control is performed.
- the capacitor voltage Vcap is 250 V (Vth2) or less
- variable voltage control (refer to the characteristic L61) for setting the DC voltage to 500 V is performed.
- the loss of the transformer coupled booster 81 is reduced in the characteristic L81 of FIG. 10D compared to the conventional characteristic L181.
- the output P becomes equal to or higher than the predetermined output (Pmax ⁇ 50%) at the time of regeneration at time t3, and therefore, constant voltage control is performed to set the DC voltage to 550V. Since hysteresis processing is performed, constant voltage control is performed until time t4 when the output P is equal to or less than a threshold value (Pmax ⁇ 30%) less than a predetermined output during regeneration.
- the characteristic L81 in FIG. 10D is the same loss as the conventional characteristic L181.
- the output P of the transformer coupled booster 81 is also less than the predetermined output (Pmax ⁇ 50%), and variable voltage control is performed. Is done. Thereafter, from time t6 to time t7, the output P of the transformer coupled booster 81 is determined to be equal to or higher than a predetermined output (Pmax ⁇ 50%) by hysteresis processing, and thus constant voltage control is performed. After time t7, since the output P of the transformer coupled booster 81 is determined to be less than a predetermined output (Pmax ⁇ 50%) by the hysteresis process, the variable voltage control is started again. As a result, the loss of the transformer coupled booster 81 is reduced between the time points t5 and t6 and the characteristic L81 in FIG. 10D after the time point t7 as compared with the conventional characteristic L181.
- the transformer coupled booster 81 has a low loss under a predetermined condition in which the PM rotational speed Sp is less than the predetermined rotational speed and the output P of the transformer coupled booster 81 is less than the predetermined output.
- the constant voltage control capable of high output is performed by keeping the DC voltage constant at a high 550V.
- the transformer coupled booster 81 can obtain an output corresponding to the load fluctuation of the PM motor 4 and can increase the efficiency of the transformer coupled booster 81.
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Abstract
Description
図1は、本発明の実施の形態である電圧制御装置1の構成を示すブロック図である。図1に示した電圧制御装置1は、ハイブリッド作業車両に搭載される電源制御システムである。電圧制御装置1を搭載するハイブリッド作業車両は、例えば、図2に示した油圧ショベル100である。油圧ショベル100は、履帯の回転等によって自走する自走部101aと、バケット、ブーム、アーム等の作業機や運転室を有し、自走部101aに対して所定の方向を指向する旋回軸の周りに旋回可能な旋回部101bとを備える。このような構成を有する油圧ショベル100に搭載される電圧制御装置1は、駆動軸がエンジンの駆動軸に連結された回転電機を備えるとともに、旋回部101bの旋回軸と一致する駆動軸を有する旋回用の回転電機を備える。
電圧制御装置1は、3相励磁タイプのSR(Switched Reluctance:スイッチトリラクタンス)モータ2を回転電機として備える。SRモータ2の駆動軸は、エンジン3の駆動軸に連結されている。また、電圧制御装置1は、旋回用の回転電機として、PM(Permanent Magnet:永久磁石)モータ4を備える。SRモータ2およびPMモータ4には、回転数を検出する図示しない回転センサがそれぞれ設けられている。
図3は、電圧変換器8の構成を示す回路図である。図3に示すように、電圧変換器8は、トランス84を介して、二つの電圧形インバータを交流結合した加極性のトランス結合型昇圧器81を有する。トランス結合型昇圧器81は、二つの電圧形インバータである下側インバータ82および上側インバータ83を有する。また、トランス結合型昇圧器81は、下側インバータ82および上側インバータ83の交流側を結合するトランス84を有する。
電圧変換器8のコンデンサ85は、キャパシタ5に並列接続される。キャパシタ5とコンデンサ85との間には、コンタクタ9が直列に接続されている。コンタクタ9が接続されると、電圧変換器8は、キャパシタ5の電圧(一次側電圧)を昇圧し、この昇圧した電圧(二次側電圧)をSRモータ2やPMモータ4へ供給する。
電圧制御装置1は、コントローラ21を備える。コントローラ21は、油圧ショベル100の車体制御を行う車体制御部22と、SRドライバ6を制御することによってSRモータ2の速度およびトルクを制御するSRモータ制御部23と、PMインバータ13を制御することによってPMモータ4の速度を制御するPMモータ制御部24と、電圧変換器8の制御を行う電圧変換器制御部25と、コンタクタ9のオン・オフを制御するコンタクタ制御部26と、を有する。
つぎに、図5に示したフローチャートを参照して、電圧変換器制御部25による可変電圧制御処理手順について説明する。なお、SRモータ2及びPMモータ4は、500V(下限所定電圧Vlow)~550V(上限所定電圧Vhigh)で動作する。上限所定電圧は、トランス結合型昇圧器81内のIGBT素子などの耐圧限界により規定される。また、下限所定電圧は、この電圧以下であると、例えば、所望のモータ特性による良好なモータ制御が困難となる電圧である。
ところで、ステップS102では、所定回転数(6000rpm)という1つの閾値で判断を行っている。この場合、PM回転数Spが所定回転数近傍を上下すると、可変電圧制御状態(ステップS106,S108)への移行と、一定電圧制御状態(ステップS109)への移行とが頻繁に行われ、不安定な制御状態となる。そこで、本実施の形態では、図8に示すように、第1の閾値である所定回転数(6000rpm)と、所定回転数以下の第2の閾値(5800rpm)とを設け、状態移行にヒステリシス特性を持たせるようにしている。
図10は、トランス結合型昇圧器81の出力P、キャパシタ電圧Vcap、直流電圧、PM回転数Sp、トランス結合型昇圧器81の損失の時間変化の一例を示すタイミングチャートである。なお、図10(b)には、比較のため、常に直流電圧を550V一定とする従来の固定制御時における直流電圧の時間変化を含めて示している。また、図10(d)には、比較のため、常に直流電圧を550V一定とする従来の固定制御時におけるトランス結合型昇圧器の損失の時間変化を含めて示している。
2 SRモータ
3 エンジン
4 PMモータ
5 キャパシタ
6 SRドライバ
7 SRコンデンサ
8 電圧変換器
9 コンタクタ
10 励磁電源
11 ダイオード
12 リレー
13 PMインバータ
14 PMコンデンサ
15,16 電流センサ
17,18,19,89,90 電圧計
20 絶縁センサ
21 コントローラ
22 車体制御部
23 SRモータ制御部
24 PMモータ制御部
25 電圧変換器制御部
26 コンタクタ制御部
81 トランス結合型昇圧器
82 下側インバータ
83 上側インバータ
84 トランス
84a,84b コイル
85,86 コンデンサ
100 油圧ショベル
101a 自走部
101b 旋回部
221 パワーマネジメント部
222 旋回操作部
821a,821b,821c,821d,831a,831b,831c,831d IGBT
822a,822b,822c,822d,832a,832b,832c,832d ダイオード
L1,L1´,L2,L2´,L50,L50´ 特性曲線
L10,L11,L20,L21,L30 直線
Lv 操作レバー
P 出力
P1~P4 点
Pmax 出力限界
Sp PM回転数
t1~t7 時点
Vcap キャパシタ電圧
Vdc 直流電圧指令
Vhigh 上限所定電圧
Vlow 下限所定電圧
Vth1 可変制御上限閾値
Vth2 可変制御下限閾値
Vth3 可変制御第2下限閾値
Vth4 ディレーティング動作閾値
ΔV1,ΔV2 範囲
Claims (11)
- 回転電機に電力を供給するキャパシタと、
前記回転電機に接続されたインバータと、
直流端子が加極性に直列接続される二つの電圧形インバータおよび前記二つの電圧形インバータの交流端子を結合し、所定の漏れインダクタンスを有するトランスを含み、前記二つの電圧形インバータの一方が前記キャパシタに並列接続され、前記キャパシタのキャパシタ電圧を昇圧した直流電圧を前記インバータへ出力するトランス結合型昇圧器と、
前記回転電機が駆動状態で、前記トランス結合型昇圧器の出力が前記トランス結合型昇圧器の出力限界未満の値である所定出力未満である場合、前記直流電圧の上限所定電圧未満、かつ、下限所定電圧以上の範囲内で、所定範囲内の前記キャパシタ電圧に応じた可変の前記直流電圧の指令値を生成して出力する制御部と、
を備えたことを特徴とする電圧制御装置。 - 前記制御部は、さらに前記回転電機の回転数が所定回転数未満であると判断した場合、前記直流電圧の上限所定電圧と下限所定電圧との範囲内で、所定範囲内の前記キャパシタ電圧に応じた可変の前記直流電圧の指令値を生成して出力することを特徴とする請求項1に記載の電圧制御装置。
- 前記キャパシタ電圧の所定範囲は、前記キャパシタ電圧に対する前記直流電圧の昇圧比が前記トランス結合型昇圧器の効率が高い最適昇圧比となる前記上限所定電圧に対するキャパシタ電圧の値である可変制御上限閾値未満の範囲であり、
前記制御部は、前記キャパシタ電圧の所定範囲内において、前記可変制御上限閾値から前記キャパシタ電圧の下降に伴って前記最適昇圧比となる前記直流電圧の指令値を生成し、前記最適昇圧比における前記直流電圧が下限所定電圧となるときの前記キャパシタ電圧の値である可変制御下限閾値以下の前記キャパシタ電圧である場合、前記下限所定電圧を前記直流電圧の指令値として生成することを特徴とする請求項1または2に記載の電圧制御装置。 - 前記制御部は、前記トランス結合型昇圧器の出力が出力限界未満の値である所定出力未満であるか否かの判断の際、前記所定出力以下の範囲で前記所定出力にヒステリシス特性をもたせることを特徴とする請求項1~3のいずれか一つに記載の電圧制御装置。
- 前記制御部は、前記回転電機の回転数が所定回転数未満であるか否かの判断の際、前記所定回転数以下の範囲で前記所定回転数にヒステリシス特性をもたせることを特徴とする請求項2に記載の電圧制御装置。
- 前記制御部は、前記回転電機が駆動状態で、前記トランス結合型昇圧器の出力が出力限界未満の値である所定出力未満でない場合、かつ、前記キャパシタ電圧がディレーティング動作閾値以上の場合、前記上限所定電圧を前記直流電圧の指令値として生成することを特徴とする請求項1~5のいずれか一つに記載の電圧制御装置。
- 前記制御部は、前記回転電機が駆動状態で、前記トランス結合型昇圧器の出力が出力限界未満の値である所定出力未満でない場合、または、前記回転電機の回転数が所定回転数未満でない場合であって、かつ、前記キャパシタ電圧がディレーティング動作閾値以上の場合、前記上限所定電圧を前記直流電圧の指令値を生成して出力することを特徴とする請求項2~6のいずれか一つに記載の電圧制御装置。
- 前記回転電機は、永久磁石モータであることを特徴とする請求項1~7のいずれか一つに記載の電圧制御装置。
- 回転電機に電力を供給するキャパシタと、前記回転電機に接続されたインバータと、直流端子が加極性に直列接続される二つの電圧形インバータおよび前記二つの電圧形インバータの交流端子を結合し、所定の漏れインダクタンスを有するトランスを含み、前記二つの電圧形インバータの一方が前記キャパシタに並列接続され、前記キャパシタのキャパシタ電圧を昇圧した直流電圧を前記インバータへ出力するトランス結合型昇圧器と、を備えたシステムの電圧制御方法であって、
前記回転電機が駆動状態で、前記トランス結合型昇圧器の出力が前記トランス結合型昇圧器の出力限界未満の値である所定出力未満である場合、前記直流電圧の上限所定電圧未満、かつ、下限所定電圧以上の範囲内で、所定範囲内の前記キャパシタ電圧に応じて可変の前記直流電圧の指令値として生成して出力することを特徴とする電圧制御方法。 - さらに前記回転電機の回転数が所定回転数未満の場合に、前記直流電圧の上限所定電圧と下限所定電圧との範囲内で、所定範囲内の前記キャパシタ電圧に応じて可変の前記直流電圧の指令値を生成して出力することを特徴とする請求項9に記載の電圧制御方法。
- 前記キャパシタ電圧の所定範囲は、前記キャパシタ電圧に対する前記直流電圧の昇圧比が前記トランス結合型昇圧器の効率が高い最適昇圧比となる前記上限所定電圧に対するキャパシタ電圧の値である可変制御上限閾値未満の範囲であり、
前記制御部は、前記キャパシタ電圧の所定範囲内において、前記可変制御上限閾値から前記キャパシタ電圧の下降に伴って前記最適昇圧比となる前記直流電圧の指令値を生成し、前記最適昇圧比における前記直流電圧が下限所定電圧となるときの前記キャパシタ電圧の値である可変制御下限閾値以下の前記キャパシタ電圧である場合、前記下限所定電圧を前記直流電圧の指令値として生成することを特徴とする請求項9または10に記載の電圧制御方法。
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WO2008111649A1 (ja) * | 2007-03-13 | 2008-09-18 | Komatsu Ltd. | 発電電動機駆動装置および発電電動機駆動装置のキャパシタの電荷の放電方法 |
WO2008117748A1 (ja) * | 2007-03-23 | 2008-10-02 | Komatsu Ltd. | ハイブリッド建設機械の発電制御方法およびハイブリッド建設機械 |
WO2008123368A1 (ja) * | 2007-03-28 | 2008-10-16 | Komatsu Ltd. | ハイブリッド建設機械の制御方法およびハイブリッド建設機械 |
US20090207636A1 (en) * | 2007-04-23 | 2009-08-20 | Active-Semi International, Inc. | Constant current and voltage controller in a small package with dual-use pin |
JP2015006037A (ja) * | 2013-06-19 | 2015-01-08 | 株式会社小松製作所 | ハイブリッド作業機械及びハイブリッド作業機械の制御方法 |
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US5670851A (en) * | 1995-03-29 | 1997-09-23 | Kabushiki Kaisha Toshiba | Power conversion control system for plural electric motors and auxiliary circuit |
US6348743B1 (en) | 1999-05-13 | 2002-02-19 | Komatsu Ltd. | Voltage control apparatus of engine generator and control method thereof |
JP2001289000A (ja) * | 2000-04-07 | 2001-10-19 | Taiyo Seisakusho:Kk | トンネル内汚染空気排出時浄化装置 |
EP3046251B1 (en) * | 2007-07-09 | 2018-06-06 | Power Concepts NZ Limited | Multi output inverter |
JP6219099B2 (ja) | 2013-08-27 | 2017-10-25 | 株式会社東芝 | 電力変換装置 |
-
2015
- 2015-05-29 CN CN201580000548.9A patent/CN106797192A/zh active Pending
- 2015-05-29 US US14/783,541 patent/US9621098B2/en not_active Expired - Fee Related
- 2015-05-29 KR KR1020157029397A patent/KR20160140337A/ko not_active Application Discontinuation
- 2015-05-29 DE DE112015000065.8T patent/DE112015000065T5/de not_active Withdrawn
- 2015-05-29 JP JP2015530223A patent/JP6002846B2/ja active Active
- 2015-05-29 WO PCT/JP2015/065675 patent/WO2015174551A1/ja active Application Filing
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2001028900A (ja) * | 1999-05-13 | 2001-01-30 | Komatsu Ltd | エンジン発電機の電圧制御装置及びその制御方法 |
WO2008099884A1 (ja) * | 2007-02-16 | 2008-08-21 | Komatsu Ltd. | 電圧制御装置および電圧制御方法 |
WO2008111649A1 (ja) * | 2007-03-13 | 2008-09-18 | Komatsu Ltd. | 発電電動機駆動装置および発電電動機駆動装置のキャパシタの電荷の放電方法 |
WO2008117748A1 (ja) * | 2007-03-23 | 2008-10-02 | Komatsu Ltd. | ハイブリッド建設機械の発電制御方法およびハイブリッド建設機械 |
WO2008123368A1 (ja) * | 2007-03-28 | 2008-10-16 | Komatsu Ltd. | ハイブリッド建設機械の制御方法およびハイブリッド建設機械 |
US20090207636A1 (en) * | 2007-04-23 | 2009-08-20 | Active-Semi International, Inc. | Constant current and voltage controller in a small package with dual-use pin |
JP2015006037A (ja) * | 2013-06-19 | 2015-01-08 | 株式会社小松製作所 | ハイブリッド作業機械及びハイブリッド作業機械の制御方法 |
Also Published As
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JP6002846B2 (ja) | 2016-10-05 |
KR20160140337A (ko) | 2016-12-07 |
DE112015000065T5 (de) | 2016-01-07 |
JPWO2015174551A1 (ja) | 2017-04-20 |
US20160352277A1 (en) | 2016-12-01 |
CN106797192A (zh) | 2017-05-31 |
US9621098B2 (en) | 2017-04-11 |
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