WO2016024640A1 - 作業車両及びその制御方法 - Google Patents
作業車両及びその制御方法 Download PDFInfo
- Publication number
- WO2016024640A1 WO2016024640A1 PCT/JP2015/074848 JP2015074848W WO2016024640A1 WO 2016024640 A1 WO2016024640 A1 WO 2016024640A1 JP 2015074848 W JP2015074848 W JP 2015074848W WO 2016024640 A1 WO2016024640 A1 WO 2016024640A1
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- engine
- output
- electric actuator
- torque
- work vehicle
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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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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
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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
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0858—Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units
- E02F9/0866—Engine compartment, e.g. heat exchangers, exhaust filters, cooling devices, silencers, mufflers, position of hydraulic pumps in the engine compartment
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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
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0858—Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units
- E02F9/0883—Tanks, e.g. oil tank, urea tank, fuel tank
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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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N3/00—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust
- F01N3/08—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous
- F01N3/10—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust
- F01N3/18—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust characterised by methods of operation; Control
- F01N3/20—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust characterised by methods of operation; Control specially adapted for catalytic conversion ; Methods of operation or control of catalytic converters
- F01N3/2066—Selective catalytic reduction [SCR]
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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
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine 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
- B60W2510/081—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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0616—Position of fuel or air injector
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2430/00—Influencing exhaust purification, e.g. starting of catalytic reaction, filter regeneration, or the like, by controlling engine operating characteristics
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2610/00—Adding substances to exhaust gases
- F01N2610/02—Adding substances to exhaust gases the substance being ammonia or urea
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2610/00—Adding substances to exhaust gases
- F01N2610/14—Arrangements for the supply of substances, e.g. conduits
- F01N2610/1406—Storage means for substances, e.g. tanks or reservoirs
- F01N2610/142—Controlling the filling of the tank
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2900/00—Details of electrical control or of the monitoring of the exhaust gas treating apparatus
- F01N2900/06—Parameters used for exhaust control or diagnosing
- F01N2900/18—Parameters used for exhaust control or diagnosing said parameters being related to the system for adding a substance into the exhaust
- F01N2900/1806—Properties of reducing agent or dosing system
- F01N2900/1814—Tank level
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/20—Air quality improvement or preservation, e.g. vehicle emission control or emission reduction by using catalytic converters
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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
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/12—Improving ICE efficiencies
Definitions
- the present invention relates to a work vehicle and a control method thereof.
- Some work vehicles include an engine, a hydraulic pump driven by the engine, and a hydraulic actuator driven by hydraulic oil discharged from the hydraulic pump.
- the hydraulic actuator is a hydraulic cylinder, for example, and drives a working machine having a boom, an arm, and the like.
- the hydraulic pump is controlled so that the absorption torque of the hydraulic pump does not exceed the output torque of the engine.
- some work vehicles include an exhaust treatment device that purifies engine exhaust using a reducing agent.
- the reducing agent is stored in the reducing agent tank.
- the amount of reducing agent stored in the reducing agent tank decreases, there is a possibility that the exhaust treatment may not be performed appropriately. Therefore, for example, in the work vehicle of Patent Document 1, when the amount of reducing agent stored is less than a predetermined amount, control is performed to reduce the output of the engine and the absorption torque of the hydraulic pump. This can prompt the operator to supply the reducing agent.
- a hybrid work vehicle includes a generator motor driven by an engine and an electric actuator driven by electric power generated by the generator motor together with a hydraulic pump and a hydraulic actuator.
- a hybrid hydraulic excavator includes a hydraulic cylinder for driving a work machine and an electric motor for turning a turning body.
- a work vehicle includes an engine, a hydraulic pump, a hydraulic actuator, a generator motor, an electric actuator, an exhaust treatment device, a reducing agent tank, a storage amount detection unit, and an engine control unit. And an actuator control unit.
- the hydraulic pump is driven by the engine.
- the hydraulic actuator is driven by hydraulic oil discharged from the hydraulic pump.
- the generator motor is driven by the engine.
- the electric actuator is driven by electric power generated by the generator motor.
- the exhaust treatment device purifies the exhaust of the engine.
- the reducing agent tank stores the reducing agent supplied to the exhaust treatment device.
- the storage amount detection unit detects the storage amount of the reducing agent in the reducing agent tank.
- the engine control unit performs output restriction control for reducing the output of the engine when the storage amount becomes equal to or less than the first threshold value.
- the electric actuator control unit limits the output of the electric actuator during the execution of the output restriction control.
- the output of the engine is reduced and the output of the electric actuator is limited. Therefore, compared with the case where the output of an electric actuator is not restrict
- the amount of reducing agent stored is reduced, the operations of both the hydraulic device and the electric device can be efficiently ensured.
- the work vehicle may further include an output calculation unit, an absorption torque determination unit, and a pump control unit.
- the output calculation unit may calculate the output of the generator motor necessary for driving the electric actuator when the storage amount becomes equal to or less than the first threshold value.
- the absorption torque determination unit may determine the absorption torque of the hydraulic pump based on the reduced engine output and the generator motor output necessary for driving the electric actuator.
- the pump control unit may control the hydraulic pump with the determined absorption torque.
- the absorption torque of the hydraulic pump is determined based on the reduced engine output and the generator motor output necessary for driving the electric actuator.
- the output torque of the hydraulic pump necessary for driving the hydraulic actuator varies greatly depending on the load applied to the work implement. Therefore, it is not easy to accurately estimate the torque to be distributed to the hydraulic pump in the output restriction control.
- the output of the generator motor required for driving the electric actuator can be estimated with higher accuracy than the output torque of the hydraulic pump required for driving the hydraulic actuator. Therefore, first, the output of the generator motor necessary for driving the electric actuator is calculated, and the absorption torque of the hydraulic pump is determined based on the calculation result. The output and the absorption torque of the hydraulic pump can be determined. As a result, in the hybrid work vehicle, when the amount of reducing agent stored is reduced, the operations of both the hydraulic device and the electric device can be ensured as efficiently as possible.
- the electric actuator control unit may stop the electric actuator when the storage amount is less than or equal to the second threshold value that is less than the first threshold value. In this case, the operator can be urged to supply the reducing agent.
- the work vehicle may further include a power control device that is electrically connected to the generator motor and the electric actuator.
- the electric actuator control unit may stop the power control device. In this case, the operator can be urged to supply the reducing agent.
- the system stop condition may include that the operating speed of the electric actuator has decreased to a predetermined speed.
- the electric power control apparatus can be stopped while the electric actuator is stopped or almost stopped. Thereby, it can avoid that a power control apparatus stops during operation
- the system stop condition may further include that the torque command value to the generator motor is zero. In this case, it is possible to avoid stopping the power control device during power generation by the generator motor. Thereby, it is possible to prevent the power control device from being damaged by the power generated by the generator motor after the power control device is stopped.
- the electric actuator control unit may set the torque command value of the electric actuator to zero. Thereby, the electric actuator can be stopped.
- the engine control unit may control the output of the engine with the first engine torque curve at the normal time when the storage amount is larger than the first threshold value.
- the engine control unit may control the output of the engine with a second engine torque curve that defines an engine output lower than the first engine torque curve. In this case, the engine output can be reduced in the output restriction control by changing the engine torque curve.
- the electric actuator control unit may reduce the upper limit of the output torque of the electric actuator in the output restriction control. Thereby, the output of the electric actuator can be reduced in the output restriction control.
- the work vehicle may further include a traveling body and a revolving body supported so as to be turnable with respect to the traveling body.
- the electric actuator may be an electric motor that turns the turning body. In this case, the fluctuation of the load applied to the electric motor is small compared to the load applied to the hydraulic actuator. Therefore, the output of the generator motor necessary for driving the electric actuator can be accurately calculated.
- the work vehicle control method includes the following steps.
- the first step the amount of reducing agent stored in the reducing agent tank is detected.
- output restriction control is performed to output a signal for reducing the output of the engine when the storage amount becomes equal to or less than the first threshold value.
- a signal for limiting the output of the electric actuator is output during the output limit control.
- the output of the engine is reduced and the output of the electric actuator is limited. Therefore, compared with the case where the output of an electric actuator is not restrict
- the amount of reducing agent stored is reduced, the operations of both the hydraulic device and the electric device can be efficiently ensured.
- the work vehicle control method may further include the following steps.
- the output of the generator motor necessary for driving the electric actuator is calculated.
- the absorption torque of the hydraulic pump is determined based on the reduced engine output and the generator motor output required for driving the electric actuator.
- a command signal indicating the determined absorption torque of the hydraulic pump is output.
- the generator motor output necessary for driving the electric actuator is first calculated, and the absorption torque of the hydraulic pump is determined based on the calculation result, thereby efficiently generating the generator motor necessary for driving the electric actuator. And the absorption torque of the hydraulic pump can be determined.
- the work vehicle control method may further include the following steps.
- a stop command is output to the electric actuator when the storage amount is equal to or smaller than a second threshold value that is smaller than the first threshold value.
- the eighth step after the stop command is output, when the operating speed of the electric actuator decreases to a predetermined speed and the torque command value to the generator motor is 0, the stop signal of the power control device is output.
- the present invention in a hybrid type work vehicle, when the amount of reducing agent stored is reduced, the operation of both the hydraulic equipment and the electric equipment is ensured as efficiently as possible while reducing the output of the engine. can do.
- FIG. 1 is a perspective view of a work vehicle according to an embodiment. It is a schematic diagram which shows the structure of the electric equipment system and hydraulic equipment system of a working vehicle. It is a mimetic diagram showing composition of an exhaust treatment system of a work vehicle. It is a schematic diagram which shows the structure of the control system of a work vehicle. It is a figure which shows an example of an engine torque curve. It is a figure which shows an example of the pump absorption torque line at the time of compound operation. It is a flowchart which shows the process in output restriction control. It is a figure which shows an example of the derate engine torque curve in output restriction control. It is a figure which shows distribution of the engine output torque which concerns on embodiment and a comparative example.
- FIG. 1 is a perspective view of a work vehicle 100 according to the embodiment.
- the work vehicle 100 is a hydraulic excavator.
- the work vehicle 100 includes a vehicle body 1 and a work implement 4.
- the vehicle body 1 has a traveling body 2 and a revolving body 3.
- the traveling body 2 includes a pair of traveling devices 2a and 2b.
- Each traveling device 2a, 2b has crawler belts 2d, 2e.
- Traveling devices 2a and 2b drive work vehicle 100 by driving crawler belts 2d and 2e.
- the turning body 3 is placed on the traveling body 2.
- the swivel body 3 is provided so as to be turnable with respect to the traveling body 2.
- the turning body 3 turns when a turning motor 32 (see FIG. 2) described later is driven.
- the revolving unit 3 is provided with a cab 5.
- the swivel body 3 has an engine room 20.
- the engine compartment 20 is disposed behind the cab 5.
- the engine chamber 20 houses devices such as an engine 21 and a hydraulic pump 25 described later.
- the work machine 4 is attached to the revolving unit 3.
- the work machine 4 includes a boom 7, an arm 8, a work attachment 9, a boom cylinder 10, an arm cylinder 11, and an attachment cylinder 12.
- a base end portion of the boom 7 is operably connected to the swing body 3.
- the distal end portion of the boom 7 is operably connected to the proximal end portion of the arm 8.
- the distal end portion of the arm 8 is operably connected to the work attachment 9.
- the boom cylinder 10, the arm cylinder 11, and the attachment cylinder 12 are hydraulic actuators that are driven by hydraulic oil discharged from a hydraulic pump 25 described later.
- the boom cylinder 10 operates the boom 7.
- the arm cylinder 11 operates the arm 8.
- the attachment cylinder 12 operates the work attachment 9.
- the work machine 4 is driven by driving these cylinders 10-12.
- the work attachment 9 is a bucket, but may be another attachment such as a crusher or a breaker.
- FIG. 2 is a schematic diagram showing the configuration of the electric equipment system and the hydraulic equipment system of the work vehicle 100.
- the engine 21 is, for example, a diesel engine.
- the output horsepower of the engine 21 is controlled by adjusting the amount of fuel injected into the cylinder of the engine 21. This adjustment is performed by the electronic governor 23 attached to the fuel injection pump 22 of the engine 21 being controlled by a command signal from the controller 60.
- the governor 23 an all-speed control type governor is generally used, and the engine rotation speed and the fuel injection amount are adjusted according to the load so that the engine rotation speed becomes a target rotation speed described later. That is, the governor 23 increases or decreases the fuel injection amount so that the deviation between the target rotation speed and the actual engine rotation speed is eliminated.
- the actual rotational speed of the engine 21 is detected by the engine rotational speed detector 24.
- the engine speed detected by the engine speed detector 24 is input to the controller 60 as a detection signal.
- the output of the engine 21 is distributed to the hydraulic equipment system and the electrical equipment system, and drives those equipment.
- the hydraulic equipment system will be described below.
- the work vehicle 100 has a hydraulic pump 25.
- the hydraulic pump 25 is connected to the output shaft of the engine 21.
- the hydraulic pump 25 is driven by the rotation of the output shaft of the engine 21.
- the hydraulic pump 25 is a variable displacement hydraulic pump.
- the hydraulic pump 25 has a swash plate 26, and the displacement of the hydraulic pump 25 changes as the tilt angle of the swash plate 26 changes.
- the pump control valve 27 operates in response to a command signal input from the controller 60 and controls the hydraulic pump 25 via a servo piston.
- the pump control valve 27 has a pump absorption torque corresponding to the command value (command current value) of the command signal input from the controller 60 to the pump control valve 27, as the product of the discharge pressure of the hydraulic pump 25 and the capacity of the hydraulic pump 25.
- the tilt angle of the swash plate 26 is controlled so as not to exceed.
- the hydraulic oil discharged from the hydraulic pump 25 is supplied to the hydraulic actuator 10-14 via the operation valve 28. Specifically, the hydraulic oil is supplied to the boom cylinder 10, the arm cylinder 11, the attachment cylinder 12, the right traveling motor 13, and the left traveling motor 14. By driving the boom cylinder 10, the arm cylinder 11, and the attachment cylinder 12, the boom 7, the arm 8, and the work attachment 9 are operated. Further, when the right traveling motor 13 and the left traveling motor 14 are driven, the traveling devices 2a and 2b are operated, and the vehicle travels.
- the discharge pressure of the hydraulic pump 25 is detected by the discharge pressure detection unit 29.
- the discharge pressure of the hydraulic pump 25 detected by the discharge pressure detection unit 29 is input to the controller 60 as a detection signal.
- the operation valve 28 is a flow direction control valve having a plurality of control valves corresponding to the respective hydraulic actuators 10-14.
- the operation valve 28 controls the flow rate of hydraulic oil supplied to each of the hydraulic actuators 10-14.
- the work vehicle 100 includes a generator motor 31, a turning motor 32, a power storage device 33, and a power control device 34.
- the generator motor 31 is connected to the output shaft of the engine 21.
- the generator motor 31 performs a power generation action and an electric action depending on the situation.
- the electric power is accumulated in the power storage device 33 by the generator motor 31 performing a power generation action.
- the power storage device 33 is, for example, a capacitor. However, the power storage device 33 is not limited to a capacitor, and may be another type of power storage device.
- the power storage device 33 supplies power to the turning motor 32. When the generator motor 31 performs an electric action, the power storage device 33 supplies power to the generator motor 31.
- the generator motor 31 performs an electric operation when the output of the engine 21 is insufficient.
- the generator motor 31 is driven by power supplied from the power storage device 33, thereby assisting the engine 21.
- the turning motor 32 is an electric motor that is driven by power supplied from the power storage device 33 or the generator motor 31.
- the turning motor 32 is driven by electric power from the power storage device 33 or the generator motor 31 to turn the turning body 3 described above. Further, when the swing body 3 is decelerated, the swing motor 32 performs a regenerative operation. That is, the turning motor 32 generates power by regenerating the deceleration energy of the turning body 3 and supplies the generated power to the power storage device 33.
- the turning motor 32 is provided with a motor rotation detector 35 that detects the rotation speed of the turning motor 32.
- the rotation speed of the turning motor 32 detected by the motor rotation detector 35 is input to the controller 60.
- the power control device 34 is electrically connected to the generator motor 31, the turning motor 32, and the power storage device 33.
- the power control device 34 controls the power supplied to the generator motor 31, the turning motor 32, and the power storage device 33.
- the power control device 34 includes a first inverter 36, a second inverter 37, and a booster 38.
- the first inverter 36 is connected to the generator motor 31.
- a second inverter 37 is connected to the first inverter 36, and a turning motor 32 is connected to the second inverter 37.
- the booster 38 is connected between the first inverter 36 and the second inverter 37.
- the booster 38 is connected to the power storage device 33 via the contactor 39.
- the contactor 39 is normally energized by closing an electric circuit between the power storage device 33 and the booster 38 in a normal state.
- the contactor 39 opens an electric circuit in accordance with a command from the controller 60 in an abnormal state, and puts it into a cut-off state.
- the first inverter 36 converts AC power generated by the generator / motor 31 into DC power when the power generated by the generator / motor 31 is charged into the power storage device 33.
- the first inverter 36 converts the DC power stored in the power storage device 33 into AC power when power is supplied from the power storage device 33 to the generator motor 31.
- the second inverter 37 converts AC power generated by the swing motor 3229 into DC power when the electric power generated by the swing motor 32 is charged in the power storage device 33.
- the second inverter 37 converts the DC power stored in the power storage device 33 into AC power.
- the booster 38 is controlled by the controller 60 to control the output power from the booster 38.
- the booster 38 boosts the voltage of power supplied from the power storage device 33 to the generator motor 31 via the first inverter 36 when the generator motor 31 is electrically operated.
- the booster 38 boosts the voltage of the electric power supplied from the power storage device 33 to the swing motor 32 via the second inverter 37.
- the booster 38 drops the voltage supplied to the power storage device 33 when charging the power storage device 33 with the power generated by the generator motor 31 or the swing motor 32.
- a voltage detection unit 41 is provided between the booster 38 and the first and second inverters 36 and 37.
- the voltage detector 41 detects the magnitude of the voltage boosted by the booster 38.
- the voltage detected by the voltage detector 41 is input to the controller 60.
- the second inverter 37 is provided with a current detection unit 42.
- the current detection unit 42 detects a current input to the second inverter 37.
- the current input to the second inverter 37 detected by the current detector 42 is input to the controller 60.
- the power storage device 33 is provided with a storage voltage detection unit 43.
- the stored voltage detection unit 43 detects the voltage of the power stored in the power storage device 33.
- the voltage of the power stored in the power storage device 33 detected by the stored voltage detection unit 43 is input to the controller 60.
- the controller 60 monitors the charge amount of the power storage device 33 from the voltage of the power stored in the power storage device 33.
- the work vehicle 100 includes a work machine operation unit 15.
- the work machine operation unit 15 is operated by an operator to operate the work machine 4.
- the work machine operation unit 15 includes, for example, an operation lever.
- the operation amount of the work machine operation unit 15 is input to the controller 60.
- the operation amount of the work implement operation unit 15 for operating the boom 7 hereinafter referred to as “boom operation amount”
- the operation amount of the work implement operation unit 15 for operating the arm 8 hereinafter referred to as “boom operation amount”.
- the operation amount of the work machine operation unit 15 for operating the work attachment 9 (hereinafter referred to as “attachment operation amount”) is input to the controller 60.
- the operation valve 28 described above is controlled in accordance with the operation amount of the work machine operation unit 15.
- the operation valve 28 changes the opening area of the control valve corresponding to each hydraulic cylinder 10-12 of the work implement 4 according to the operation amount of the work implement operation unit 15.
- each hydraulic cylinder 10-12 is operated at a speed corresponding to the operation amount of the work machine operation unit 15.
- the work vehicle 100 has a travel operation unit 16.
- the travel operation unit 16 is operated by an operator to operate the right travel motor 13 and the left travel motor 14.
- the traveling operation unit 16 includes, for example, an operation lever or an operation pedal. Either the right traveling motor 13 or the left traveling motor 14 is driven according to the operation direction of the traveling operation unit 16.
- the operation amount of the travel operation unit 16 is input to the controller 60.
- an operation amount of the travel operation unit 16 for operating the right travel motor 13 hereinafter referred to as “right travel operation amount”
- an operation amount of the travel operation unit 16 for operating the left travel motor 14. (Hereinafter referred to as “left travel operation amount”) is input to the controller 60.
- the operation valve 28 changes the opening area of the control valve corresponding to the left and right traveling motors 13 and 14 according to the operation amount of the traveling operation unit 16. Accordingly, the left and right traveling motors 13 and 14 are operated at a speed corresponding to the operation amount of the traveling operation unit 16.
- a pilot pressure corresponding to the operation amount of the work implement operation unit 15 and the operation amount of the travel operation unit 16 may be applied to the pilot port of the operation valve 28.
- the opening area of each control valve of the operation valve 28 is changed according to each operation amount.
- the operation valve 28 may be electrically controlled by the controller 60.
- the controller 60 inputs a command signal corresponding to the operation amount of the work implement operation unit 15 and the operation amount of the travel operation unit 16 to the operation valve 28.
- the turning operation unit 17 is operated by an operator to operate the turning motor 32.
- the turning operation unit 17 includes, for example, an operation lever.
- the rotation direction of the turning motor 32 is switched according to the operation direction of the turning operation unit 17.
- the operation amount of the turning operation unit 17 is input to the controller 60.
- the controller 60 controls the power supplied to the turning motor 32 according to the operation amount of the turning operation unit 17. Thereby, the turning body 3 turns at a speed corresponding to the operation amount of the turning operation unit 17.
- the work vehicle 100 has a display device 18.
- the display device 18 displays information on the work vehicle 100 such as the engine rotation speed.
- the work vehicle 100 has an input device 19.
- the input device 19 is a device for inputting various settings of the work vehicle 100 such as a work mode setting described later.
- the display device 18 and the input device 19 may be integrally provided by a touch panel type monitor device.
- FIG. 3 is a schematic diagram showing an exhaust treatment system of work vehicle 100.
- the work vehicle 100 includes a first exhaust treatment device 45 and a second exhaust treatment device 46.
- the first exhaust treatment device 45 is, for example, a diesel particulate filter device.
- the first exhaust treatment device 45 is connected to the engine 21 and purifies particulate matter (Particulate Matter; PM) in the exhaust.
- the second exhaust treatment device 46 is connected to the first exhaust treatment device 45 via a mixing pipe 47.
- the second exhaust treatment device 46 is, for example, a selective catalyst reduction device.
- the second exhaust treatment device 46 purifies nitrogen oxide (NOx) in the exhaust with a catalyst using a reducing agent such as urea water.
- the exhaust gas purified by the first exhaust treatment device 45 and the second exhaust treatment device 46 is discharged to the outside of the work vehicle 100 through the exhaust pipe 48 shown in FIG.
- a reducing agent injection device 49 is attached to the mixing pipe 47.
- the reducing agent injection device 49 injects the reducing agent into the mixing pipe 47.
- the reducing agent injection device 49 is connected to a reducing agent pump 51 and a reducing agent tank 52 via a reducing agent hose 50.
- the reducing agent tank 52 stores a reducing agent.
- the reducing agent pump 51 pumps the reducing agent from the reducing agent tank 52 and sends it to the reducing agent injection device 49.
- a storage amount detection unit 53 In the reducing agent tank 52, a storage amount detection unit 53 is provided.
- the storage amount detection unit 53 detects the storage amount of the reducing agent in the reducing agent tank 52.
- the storage amount detection unit 53 inputs the detected storage amount of the reducing agent to the controller 60.
- FIG. 4 is a schematic diagram showing the configuration of the control system of work vehicle 100.
- the controller 60 is realized by a computer having a storage unit 62 such as a RAM and a ROM, and a calculation unit 61 such as a CPU.
- the controller 60 is programmed to control the engine 21, the hydraulic equipment system, and the electrical equipment system.
- the controller 60 may be realized by a plurality of computers.
- the controller 60 includes an engine control unit 63, a pump control unit 64, and an electric actuator control unit 65.
- the engine control unit 63 controls the engine 21 based on the engine torque curves P1 and E1 shown in FIG.
- Engine torque curves P1 and E1 represent upper limit values of torque that the engine 21 can output according to the rotational speed. That is, the engine torque curves P1 and E1 define the relationship between the engine speed and the upper limit value of the output torque of the engine 21.
- the engine torque curves P1 and E1 are stored in the storage unit 62.
- the engine control unit 63 determines the target rotational speed of the engine 21 from the operation amount of the work implement operation unit 15, the operation amount of the travel operation unit 16, and the operation amount of the turning operation unit 17.
- the operation amount of the work implement operation unit 15 is the sum of the above-described boom operation amount, arm operation amount, and attachment operation amount.
- the operation amount of the travel operation unit 16 is the sum of the left travel operation amount and the right travel operation amount.
- the engine control unit 63 determines the target rotation speed of the engine 21 according to, for example, the total of the operation amount of the work implement operation unit 15, the operation amount of the travel operation unit 16, and the operation amount of the turning operation unit 17.
- the governor 23 controls the output of the engine 21 so that the actual rotational speed of the engine 21 becomes the target rotational speed while preventing the output torque of the engine 21 from exceeding the engine torque curve.
- P1 indicates a first engine torque curve.
- the first engine torque curve P1 corresponds to the rating of the engine 21 or the maximum power output.
- the first engine torque curve P1 has a maximum torque point Pt and a rated point Pp.
- the output torque of the engine 21 becomes maximum at the maximum torque point Pt.
- the output horsepower of the engine 21 becomes maximum at the rated point Pp.
- the output torque of the engine 21 is increased according to the increase in the engine rotation speed. Increase.
- the output torque of the engine 21 decreases as the engine rotation speed increases.
- a regulation line Rm in which the output torque of the engine 21 rapidly decreases due to an increase in the engine speed is defined.
- the regulation line Rm is a line that connects the rated point Pp and the maximum engine speed NHi in the no-load state.
- the engine control unit 63 selects an engine torque curve according to the set work mode.
- the work mode is set by the operator operating the input device 19.
- the work mode includes a P mode and an E mode.
- the P mode is a work mode in which the output torque of the engine 21 is large and the workability is excellent.
- the first engine torque curve P1 shown in FIG. 5 is selected.
- the E mode is a work mode in which the output torque of the engine 21 is smaller than that in the P mode and has excellent fuel efficiency.
- the second engine torque curve E1 shown in FIG. 5 is selected. In the second engine torque curve E1, the output torque of the engine 21 is smaller than that in the first engine torque curve P1.
- a plurality of E modes in which the output torque of the engine 21 is reduced stepwise may be selectable.
- the pump control unit 64 controls the upper limit of the absorption torque of the hydraulic pump 25 based on the pump absorption torque line as indicated by Lp1 and Le1 in FIG.
- Lp1 is a pump absorption torque line corresponding to the first engine torque curve P1.
- Le1 is a pump absorption torque line corresponding to the second engine torque curve E1.
- the pump absorption torque lines Lp1 and Le1 define the relationship with the upper limit value of the absorption torque of the hydraulic pump 25 corresponding to the engine rotation speed.
- the pump absorption torque lines Lp1 and Le1 are stored in the storage unit 62.
- the pump control unit 64 controls the capacity of the hydraulic pump 25 so that the upper limit of the engine output torque matches the upper limit of the absorption torque of the hydraulic pump 25 at the matching point Mp1 at the target rotational speed N1 of the engine 21. To do. Similarly, in the E mode, the pump control unit 64 adjusts the hydraulic pump 25 so that the upper limit of the engine output torque matches the upper limit of the absorption torque of the hydraulic pump 25 at the matching point Me1 at the target rotational speed N1 of the engine 21. Control the capacity.
- the pump absorption torque lines Lp1 and Le1 shown in FIG. 5 indicate the pump absorption torque lines when the electric actuators such as the swing motor 32 and the generator motor 31 are not used but only the hydraulic actuator is used. ing.
- the electric actuator controller 65 controls the turning motor 32 and the generator motor 31 by controlling the power control device 34.
- the electric actuator controller 65 controls the turning motor 32 based on the operation amount of the turning operation unit 17.
- the electric actuator control unit 65 controls the generator motor 31 based on the actual engine rotation speed, the target rotation speed, the voltage of the power storage device 33, and the like.
- the electric actuator control unit 65 causes the generator motor 31 to be electrically operated. Assist the engine 21.
- the electric actuator controller 65 determines that the output of the engine 21 is not insufficient based on the actual engine speed, the target speed, the voltage of the power storage device 33, etc., the electric motor control unit 65 By doing so, the power storage device 33 is charged.
- the electric actuator controller 65 determines the torque command value of the generator motor 31 based on the voltage of the power storage device 33. The electric actuator controller 65 determines the torque command value of the generator motor 31 so that the voltage of the battery is maintained within a predetermined range. The electric actuator controller 65 controls the generator motor 31 so that the actual torque of the generator motor 31 becomes the torque command value.
- the electric actuator control unit 65 determines the target turning speed from the operation amount of the turning operation unit 17. For example, the electric actuator control unit 65 increases the target turning speed according to an increase in the operation amount of the turning operation unit 17.
- the electric actuator controller 65 determines a torque command value of the turning motor 32 for reaching the target turning speed from the actual turning speed.
- the electric actuator controller 65 controls the swing motor 32 so that the torque of the swing motor 32 becomes a torque command value.
- the controller 60 executes energy management that distributes the engine output torque to the hydraulic device system and the electric device system.
- the upper limit of the absorption torque of the hydraulic pump 25 is determined in consideration of the engine output torque distributed to the drive of the generator motor 31.
- the controller 60 includes an output calculation unit 66.
- the output calculation unit 66 calculates the output of the generator motor 31 necessary for driving the turning motor 32. For example, the output calculation unit 66 calculates the power required to drive the swing motor 32 from the output torque of the swing motor 32.
- the output calculation unit 66 determines the amount of power obtained from the power storage device 33 and the amount of power generated by the generator motor 31 in order to obtain the calculated power. The ratio between the amount of power obtained from the power storage device 33 and the amount of power generated by the power generation action of the generator motor 31 is determined according to the amount of power stored in the power storage device 33.
- the output calculation unit 66 calculates the required output horsepower of the engine 21 from the amount of electric power generated by the generator motor 31 and distributes the engine output torque Thb (which is distributed to the drive of the generator motor 31 from the required output horsepower of the engine 21.
- generator torque Thb is determined.
- the controller 60 has an absorption torque determination unit 67.
- the absorption torque determination unit 67 determines the absorption torque of the hydraulic pump 25 based on the generator torque Thb. Specifically, as shown in FIG. 6, a value Tp2 obtained by subtracting the generator torque Thb from the upper limit Tp1 of the pump absorption torque determined based on the pump absorption torque line Lp1 described above is used for the hydraulic pump 25 in the combined operation. Determined as the upper limit of absorption torque.
- Lp2 is a pump absorption torque line at the time of combined operation, and defines an upper limit of the absorption torque that is lower than the above-described pump absorption torque line Lp1 by the generator torque Thb.
- the pump absorption torque line Lp2 at the time of the combined operation is changed according to the increase / decrease in the generator torque Thb.
- the energy management as described above is executed at the time of combined operation in which the electric device system and the hydraulic device system are operated simultaneously.
- the sum of the absorption torque of the hydraulic pump 25 and the generator torque is controlled so as not to exceed the engine output torque.
- the controller 60 executes output restriction control for restricting the output of the engine 21 according to the amount of reducing agent stored in the reducing agent tank 52.
- the output restriction control will be described in detail.
- FIG. 7 is a flowchart showing processing in output restriction control.
- a reducing agent storage amount A in the reducing agent tank 52 is detected.
- the storage amount A and the threshold value a1 are, for example, the ratio of the remaining amount of reducing agent with the maximum storage amount of the reducing agent tank 52 being 100%.
- the storage amount A and the threshold value a1 are not limited to the ratio of the residual amount, but may be the volume of the reducing agent remaining. The same applies to threshold values a2-a4 described later.
- a first warning is issued in step S3.
- the controller 60 causes the display device 18 to display the first warning.
- the first warning is, for example, a display of a message or the like notifying the operator of a decrease in the storage amount.
- step S4 it is determined whether or not the storage amount A is equal to or less than the threshold value a2.
- the threshold value a2 is smaller than the threshold value a1.
- a second warning is issued in step S5.
- the controller 60 causes the display device 18 to display the second warning.
- the second warning is a display of a message or the like for notifying that the output restriction is executed when the storage amount further decreases.
- step S6 it is determined whether or not the storage amount A is equal to or less than the threshold value a3.
- the threshold value a3 is smaller than the threshold value a2.
- the first level output restriction is executed in step S7.
- the engine control unit 63 reduces the engine output torque. Specifically, as shown in FIG. 8, the engine control unit 63 outputs a command signal to the governor 23 so as to control the output of the engine 21 with a derate engine torque curve D1.
- the derated engine torque curve D1 defines an upper limit of output torque lower than the normal engine torque curves P1 and E1 where the storage amount A is larger than the threshold value a3.
- the derated engine torque curve D1 defines an upper limit of output torque lower than the engine torque curves P1 and E1 that can be selected by the operator.
- the derated engine torque curve D1 defines an upper limit of the output torque that is lower than the engine torque curves P1 and E1 at the normal time at least in an engine rotation speed range equal to or greater than the maximum torque point Pt.
- the electric actuator control unit 65 outputs a command signal to the second inverter 37 so as to restrict the output of the turning motor 32. Specifically, the electric actuator control unit 65 reduces the upper limit of the torque of the turning motor 32. For example, the electric actuator control unit 65 reduces the upper limit of the torque command value of the turning motor 32. Accordingly, the turning speed is lower than the target turning speed corresponding to the operation amount of the turning operation unit 17.
- the absorption torque determination unit 67 determines the absorption torque of the hydraulic pump 25 based on the output of the engine 21 reduced by the first level output limitation and the generator torque Thb. . Specifically, as shown in FIG. 9, with the first level output restriction, the engine output torque is reduced from the normal upper limit value Te to Te ′.
- the absorption torque determination unit 67 determines the absorption torque Tp ′ of the hydraulic pump 25 at the first level output restriction by subtracting the generator torque Thb ′ from the reduced engine output torque Te ′.
- the pump control unit 64 outputs a command signal indicating the determined absorption torque Tp ′ of the hydraulic pump 25 to the pump control valve 27. Thereby, the hydraulic pump 25 is controlled by the determined absorption torque Tp ′.
- the generator torque Thb 'at the first level output restriction is calculated by the output calculation unit 66 in the same manner as the normal generator torque Thb described above. As described above, since the torque command value of the swing motor 32 is reduced when the output of the first level is limited, the generator torque Thb ′ at the output limit of the first level is the normal generator torque. It becomes smaller than Thb.
- step S8 it is determined whether or not the storage amount A is equal to or less than the threshold value a4.
- the threshold value a4 is smaller than the threshold value a3.
- the output restriction of the second level is executed in step S9.
- the engine control unit 63 further reduces the engine output torque as compared with the first level output restriction. Specifically, as shown in FIG. 8, the engine control unit 63 controls the output of the engine 21 with a derated engine torque curve D2.
- the derated engine torque curve D2 defines an upper limit of output torque lower than the derated engine torque curve D1. Further, the derated engine torque curve D2 limits the upper limit of the engine rotation speed to Nd.
- the electric actuator controller 65 stops the turning motor 32. Specifically, the electric actuator control unit 65 sets the torque command value of the turning motor 32 to zero.
- step S10 the electric actuator controller 65 determines whether or not a predetermined system stop condition is satisfied.
- the electric actuator control unit 65 outputs a stop command to the power control device 34 in step S11. As a result, the entire electrical equipment system is stopped.
- the system stop condition is that both of the following two conditions are satisfied.
- (Condition 1) The operation speed of the turning motor 32 is reduced to a predetermined speed or less.
- (Condition 2) The torque command value to the generator motor 31 is zero.
- the operating speed of the turning motor 32 is reduced to a predetermined speed or less, and the generator motor 31 When power generation is stopped, the entire electrical equipment system is stopped.
- step S12 it is determined whether or not the duration T in which the storage amount A is equal to or less than the threshold value a4 is equal to or greater than a predetermined time threshold value t1.
- the third level output restriction is executed in step S13.
- the engine control unit 63 controls the output of the engine 21 with a derated engine torque curve D3 as shown in FIG.
- the engine rotation speed is limited to the low idle rotation speed NLi.
- the output restriction of the first level is performed when the reducing agent storage amount A is equal to or less than the threshold value a3.
- the absorption torque Tp 'of the hydraulic pump 25 is determined based on the reduced engine output torque Te' and the generator torque Thb '.
- the output torque of the hydraulic pump 25 required for driving the hydraulic actuator 10-14 varies greatly depending on the load applied to the work machine 4. Therefore, it is not easy to accurately estimate the torque to be distributed to the hydraulic pump 25 in the output restriction control.
- the output torque Thb ′′ of the generator motor 31 is determined by subtracting the absorption torque Tp ′′ of the hydraulic pump 25 from the reduced engine output torque Te ′.
- the absorption torque of the hydraulic pump 25 is actually Tp ′ ′′ smaller than the estimated value Tp ′′, it corresponds to the hatched portion (Tp ′′ ⁇ Tp ′ ′′) in FIG.
- the engine output torque is wasted because it is not absorbed by the hydraulic pump 25 and is not used for driving the generator motor 31.
- the generator torque Thb ' is calculated, and the absorption torque Tp' of the hydraulic pump 25 is calculated based on the calculation result.
- the generator torque Thb ' can be accurately calculated from the current value of the swing motor 32 or the like. Therefore, the generator torque Thb 'and the absorption torque Tp' of the hydraulic pump 25 can be determined efficiently.
- the operations of both the hydraulic device and the electric device can be ensured as efficiently as possible.
- the second level output restriction is performed. With the output restriction at the second level, the engine output torque is further reduced and the turning motor 32 is stopped. This can further prompt the operator to replenish the reducing agent.
- the electric actuator control unit 65 stops the power control device 34. As a result, the entire electrical equipment system is stopped, so that the operator can be further urged to replenish the reducing agent.
- the system stop condition includes that the operation speed of the turning motor 32 has decreased to a predetermined speed. Therefore, the power control device 34 can be stopped while the turning motor 32 is stopped or almost stopped. Thereby, it is possible to avoid stopping the power control device 34 during the operation of the turning motor 32.
- the system stop condition includes that the torque command value to the generator motor 31 is zero. Therefore, it is possible to avoid stopping the power control device 34 during power generation by the generator motor 31. Thereby, it is possible to prevent the power control device 34 from being damaged by the power generated by the generator motor 31 after the power control device 34 is stopped.
- a hydraulic excavator is exemplified as the work vehicle 100, but the present invention may be applied to other types of work vehicles such as a wheel loader.
- the electric actuator is not limited to the turning motor, and may be a traveling motor, a steering motor, or an electric actuator other than the motor.
- the system stop condition is not limited to the two conditions described above, but may be other conditions. Alternatively, other conditions may be added to the two conditions described above. Alternatively, one of the two conditions described above may be omitted.
- a part of the processing in the output restriction control may be omitted or changed.
- the third level output restriction may be omitted.
- the limitation of the output of the turning motor 32 may be executed on condition that the engine control unit 63 has executed a process of reducing the engine output torque.
- the limitation on the output of the turning motor 32 may be executed on the condition that the storage amount is equal to or less than a threshold value.
- the present invention in a hybrid type work vehicle, when the amount of reducing agent stored is reduced, the operation of both the hydraulic equipment and the electric equipment is ensured as efficiently as possible while reducing the output of the engine. can do.
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Abstract
Description
(条件1)旋回モータ32の動作速度が所定速度以下まで低下している。
(条件2)発電機モータ31へのトルク指令値が0である。
Claims (13)
- エンジンと、
前記エンジンによって駆動される油圧ポンプと、
前記油圧ポンプから吐出された作動油によって駆動される油圧アクチュエータと、
前記エンジンによって駆動される発電機と、
前記発電機によって生成された電力によって駆動される電動アクチュエータと、
前記エンジンの排気を浄化する排気処理装置と、
前記排気処理装置に供給される還元剤を貯留する還元剤タンクと、
前記還元剤タンク内の還元剤の貯留量を検出する貯留量検出部と、
前記貯留量が第1閾値以下になったときに前記エンジンの出力を低減する出力制限制御を行うエンジン制御部と、
前記出力制限制御の実行中に、前記電動アクチュエータの出力を制限する電動アクチュエータ制御部と、
を備える作業車両。 - 前記貯留量が第1閾値以下になったときに前記電動アクチュエータの駆動に必要な前記発電機の出力を算出する出力算出部と、
低減された前記エンジンの出力と、前記電動アクチュエータの駆動に必要な前記発電機の出力とに基づいて、前記油圧ポンプの吸収トルクを決定する吸収トルク決定部と、
決定された前記吸収トルクで前記油圧ポンプを制御するポンプ制御部と、
をさらに備える請求項1に記載の作業車両。 - 前記貯留量が前記第1閾値より少ない第2閾値以下であるときには、前記電動アクチュエータ制御部は、前記電動アクチュエータを停止させる、
請求項1又は2に記載の作業車両。 - 前記発電機と前記電動アクチュエータとに電気的に接続される電力制御装置をさらに備え、
前記貯留量が前記第2閾値以下であり且つ所定のシステム停止条件が満たされたときに、前記電動アクチュエータ制御部は、前記電力制御装置を停止させる、
請求項3に記載の作業車両。 - 前記システム停止条件は、前記電動アクチュエータの動作速度が所定速度まで低下したことを含む、
請求項4に記載の作業車両。 - 前記システム停止条件は、前記発電機へのトルク指令値が0であることをさらに含む、
請求項5に記載の作業車両。 - 前記貯留量が前記第2閾値以下であるときには、前記電動アクチュエータ制御部は、前記電動アクチュエータへのトルク指令値を0とする、
請求項3から6のいずれかに記載の作業車両。 - 前記エンジン制御部は、前記貯留量が前記第1閾値より大きい通常時には、第1のエンジントルクカーブにて前記エンジンの出力を制御し、
前記エンジン制御部は、前記出力制限制御では、前記第1のエンジントルクカーブよりも低い前記エンジンの出力を規定する第2のエンジントルクカーブにて前記エンジンの出力を制御する、
請求項1から7のいずれかに記載の作業車両。 - 前記電動アクチュエータ制御部は、前記出力制限制御において、前記電動アクチュエータの出力トルクの上限を低減する、
請求項1から8のいずれかに記載の作業車両。 - 走行体と、
前記走行体に対して旋回可能に支持される旋回体と、
をさらに備え、
前記電動アクチュエータは、前記旋回体を旋回させる電動モータである、
請求項1から9のいずれかに記載の作業車両。 - 還元剤タンク内の還元剤の貯留量を検出するステップと、
前記貯留量が第1閾値以下になったときに、エンジンの出力を低減する信号を出力する出力制限制御を行うステップと、
前記出力制限制御の実行中に、電動アクチュエータの出力を制限する信号を出力するステップと、
を備える作業車両の制御方法。 - 前記電動アクチュエータの駆動に必要な発電機の出力を算出するステップと、
低減された前記エンジンの出力と、前記電動アクチュエータの駆動に必要な前記発電機の出力とに基づいて、油圧ポンプの吸収トルクを決定するステップと、
決定された前記油圧ポンプの吸収トルクを示す指令信号を出力するステップと、
をさらに備える請求項11に記載の作業車両の制御方法。 - 前記貯留量が前記第1閾値より小さい第2閾値以下であるときに、前記電動アクチュエータに停止指令を出力するステップと、
前記停止指令の出力後、前記電動アクチュエータの動作速度が所定速度まで低下し、且つ、前記発電機へのトルク指令値が0であるときに、前記発電機と前記電動アクチュエータとの電力制御装置の停止信号を出力するステップと、
をさらに備える請求項12に記載の作業車両の制御方法。
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JP2017207002A (ja) * | 2016-05-18 | 2017-11-24 | トヨタ自動車株式会社 | 内燃機関の排気浄化装置 |
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CN108973684B (zh) * | 2017-06-05 | 2021-07-13 | 湖南中车时代电动汽车股份有限公司 | 一种车辆辅助系统的控制方法 |
WO2019022348A1 (ko) * | 2017-07-26 | 2019-01-31 | 엘에스엠트론 주식회사 | 농업용작업차량, 농업용작업차량의 상태 모니터링 시스템 및 모니터링 방법 |
DE112017000037B4 (de) | 2017-07-27 | 2021-12-16 | Komatsu Ltd. | Steuersystem, arbeitsmaschine und steuerverfahren |
JP7054632B2 (ja) * | 2018-01-31 | 2022-04-14 | 株式会社小松製作所 | 積込機械の制御装置および制御方法 |
CN110747932B (zh) * | 2019-10-18 | 2022-01-11 | 广西柳工机械股份有限公司 | 挖掘机控制系统及方法 |
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