WO2016039490A1 - 作業車両の制御システム、制御方法、及び作業車両 - Google Patents
作業車両の制御システム、制御方法、及び作業車両 Download PDFInfo
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- WO2016039490A1 WO2016039490A1 PCT/JP2015/080909 JP2015080909W WO2016039490A1 WO 2016039490 A1 WO2016039490 A1 WO 2016039490A1 JP 2015080909 W JP2015080909 W JP 2015080909W WO 2016039490 A1 WO2016039490 A1 WO 2016039490A1
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- Prior art keywords
- output
- electric motor
- temperature
- drive system
- controller
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
-
- 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
- E02F9/0841—Articulated frame, i.e. having at least one pivot point between two travelling gear units
-
- 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
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine
- H02K9/04—Arrangements for cooling or ventilating by ambient air flowing through the machine having means for generating a flow of cooling medium
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
-
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
Definitions
- the present invention relates to a work vehicle control system, a control method, and a work vehicle.
- Some work vehicles have movable bodies such as revolving bodies.
- the work vehicle of Patent Document 1 includes a hydraulic pump and a hydraulic motor.
- the swinging body is turned by driving the hydraulic motor with the hydraulic oil discharged from the hydraulic pump.
- Patent Document 2 a hybrid work vehicle including an electric motor instead of a hydraulic motor has been developed in recent years.
- the turning body is turned by an electric motor.
- the electric motor is driven by, for example, electric power stored in the power storage device.
- JP 2010-285828 A Japanese Patent No. 5044727
- An object of the present invention is to suppress overheating of an electric drive system while enabling work to be continued in a work vehicle.
- the first aspect is a work vehicle control system having a movable body and an electric drive system including an electric motor that operates the movable body.
- the control system includes a temperature detection unit and a controller.
- the temperature detector detects the temperature of the electric drive system.
- the controller limits the output of the electric motor when the temperature of the electric drive system detected by the temperature detection unit is higher than a predetermined first threshold value and the operation member of the movable body is located at the neutral position.
- the controller does not limit the output of the electric motor when the operation member of the movable body is operated even when the temperature of the electric drive system is higher than the first threshold.
- the output of the electric motor is limited.
- the temperature rise of an electric drive system is suppressed and generation
- the electric motor is not completely stopped, but the output of the electric motor is limited. Therefore, the speed of the movable body can be suppressed, but the work can be continued.
- the output of the electric motor is not limited. Therefore, it is possible to suppress the behavior of the movable body from changing during operation of the operation member. Thereby, it can suppress giving an uncomfortable feeling to an operator during operation of an operation member.
- the controller may limit the output of the electric motor regardless of the position of the operation member of the movable body when the temperature of the electric drive system becomes higher than the second threshold value higher than the first threshold value. In this case, the temperature rise of the electric drive system can be suppressed immediately, and the occurrence of overheating can be suppressed.
- the controller may cancel the limitation on the output of the electric motor when the temperature of the electric drive system becomes lower than the cancellation threshold lower than the first threshold while limiting the output of the electric motor. In this case, when the risk of overheating is reduced, the speed of the movable body can be restored.
- the controller may continue to limit the output of the electric motor when the operation member of the movable body is being operated even when the temperature of the electric drive system is lower than the release threshold while the output of the electric motor is limited. .
- the controller cancels the restriction on the output of the electric motor when the temperature of the electric drive system is lower than the release threshold and the operation member of the movable body is located at the neutral position while the output of the electric motor is restricted. May be. In this case, it is possible to suppress the behavior of the movable body from changing during the operation of the operation member. Thereby, it can suppress giving an uncomfortable feeling to an operator during operation of an operation member.
- the controller may increase the output of the cooling fan for cooling the electric drive system when the temperature of the electric drive system becomes higher than a predetermined first threshold value. In this case, it is possible to suppress the occurrence of overheating by increasing the cooling capacity of the electric drive system by the cooling fan.
- the controller may be capable of switching the control mode of the electric motor to at least the first control mode and the second control mode.
- the controller may limit the output of the electric motor rather than the output corresponding to the operation amount of the operation member of the movable body.
- the controller may control the output of the electric motor according to the operation amount of the operation member of the movable body.
- the controller may switch the control mode of the electric motor from the second control mode to the first control mode when the temperature of the electric drive system becomes higher than the first threshold during execution of the second control mode.
- the movable body is operated at a high output in the second control mode. Further, when the temperature of the electric drive system becomes higher than the first threshold during execution of the second control mode, the output of the electric motor can be limited by switching the control mode to the first control mode. Thereby, generation
- the work vehicle may include a hydraulic pump and a work machine that is driven by hydraulic oil discharged from the hydraulic pump.
- the controller may limit the output of the electric motor according to the discharge pressure of the hydraulic pump.
- the output of the electric motor can be limited as compared with the second control mode.
- the temperature detector may detect the temperature of the electric motor.
- the electric drive system may have a power control device connected to the electric motor.
- the temperature detection unit may detect the temperature of the power control device.
- the second aspect is a method for controlling a work vehicle having a movable body and an electric drive system including an electric motor that operates the movable body.
- the control method includes first to third steps.
- a signal indicating the temperature of the electric drive system is received.
- the electric motor is controlled to limit the output of the electric motor. Outputs a command signal to the motor.
- the output of the electric motor is not limited when an operation instruction for the movable body is received.
- the output of the electric motor is limited.
- the temperature rise of an electric drive system is suppressed and generation
- the electric motor is not completely stopped, but the output of the electric motor is limited. Therefore, the speed of the movable body can be suppressed, but the work can be continued.
- the output of the electric motor is not limited. Therefore, it is possible to suppress the behavior of the movable body from changing during operation of the operation member. Thereby, it can suppress giving an uncomfortable feeling to an operator during operation of an operation member.
- the third aspect is a work vehicle.
- the work vehicle includes a movable body and an electric drive system.
- the electric drive system includes an electric motor that operates the movable body.
- the temperature detector detects the temperature of the electric drive system.
- the output of the electric motor is limited when the temperature of the electric drive system detected by the temperature detection unit is higher than a predetermined first threshold and the operation member of the movable body is located at the neutral position. Even when the temperature of the electric drive system is higher than the first threshold, the output of the electric motor is not limited when the operation member of the movable body is operated.
- the output of the electric motor is limited.
- the temperature rise of an electric drive system is suppressed and generation
- the electric motor is not completely stopped, but the output of the electric motor is limited. Therefore, the speed of the movable body can be suppressed, but the work can be continued.
- the output of the electric motor is not limited. Therefore, it is possible to suppress the behavior of the movable body from changing during operation of the operation member. Thereby, it can suppress giving an uncomfortable feeling to an operator during operation of an operation member.
- the electric drive system may include a power storage device and a power control device.
- the power storage device may store electric power regenerated by the electric motor.
- the power control device may be connected to the electric motor and the power storage device.
- overheating of the electric drive system can be suppressed while allowing work to be continued in the work vehicle.
- FIG. 1 is a perspective view of a work vehicle according to an embodiment. It is a schematic diagram which shows schematic structure of a working vehicle. It is a figure which shows an engine output torque line and a pump absorption torque line. It is a figure which shows the output of the hydraulic pump of the 1st control mode at the time of compound operation, and a 2nd control mode. It is a block diagram which shows the control system of a working vehicle. It is a flowchart which shows control of a turning electric motor. It is a figure which shows the relationship between the HB temperature and derate request
- 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 main 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 electric 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 chamber 16.
- the engine compartment 16 is disposed behind the cab 5.
- the engine chamber 16 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 rotatably connected to the swing body 3.
- the distal end portion of the boom 7 is rotatably connected to the proximal end portion of the arm 8.
- the distal end portion of the arm 8 is rotatably 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, 11, and 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 a schematic configuration 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 40.
- 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 there is no deviation between the target engine speed and the actual engine speed.
- the actual rotation speed of the engine 21 is detected by the engine rotation speed sensor 24.
- the engine rotation speed detected by the engine rotation speed sensor 24 is input to the controller 40 described later as a detection signal.
- the drive shaft of 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. As the tilt angle of the swash plate 26 changes, the capacity of the hydraulic pump 25 changes.
- the pump control valve 27 operates in response to a command signal input from the controller 40 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 40 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. That is, the pump control valve 27 controls the output torque of the hydraulic pump 25 in accordance with the input command current value.
- the hydraulic oil discharged from the hydraulic pump 25 is supplied to the hydraulic actuator 10-12 via the work machine control valve 28. Specifically, the hydraulic oil is supplied to the boom cylinder 10, the arm cylinder 11, and the attachment cylinder 12. Thereby, the boom cylinder 10, the arm cylinder 11, and the attachment cylinder 12 are each driven, and the boom 7, the arm 8, and the work attachment 9 operate.
- the discharge pressure of the hydraulic pump 25 is detected by the discharge pressure detector 39.
- the discharge pressure of the hydraulic pump 25 detected by the discharge pressure detection unit 39 is input to the controller 40 as a detection signal.
- the work machine control valve 28 is a flow direction control valve having a plurality of control valves corresponding to the hydraulic actuators 10-12.
- the work implement control valve 28 controls the flow rate of the hydraulic oil supplied to the hydraulic actuator 10-12.
- the work vehicle 100 includes an electric drive system 20.
- the electric drive system 20 includes a generator motor 29, a power control device 33, a turning electric motor 32, and a power storage device 34.
- the generator motor 29 is connected to the output shaft of the engine 21.
- the generator motor 29 performs a power generation action and an electric action.
- the generator motor 29 is connected to the swing electric motor 32 and the power storage device 34 via the power control device 33. Electric power is stored in the power storage device 34 by the generator motor 29 generating power.
- the power storage device 34 supplies power to the turning electric motor 32.
- the power storage device 34 supplies power to the generator motor 29.
- the turning electric motor 32 is driven by power supplied from the power storage device 34, and turns the turning body 3 described above.
- the power storage device 34 is a capacitor. Note that other power storage devices such as a battery may be used instead of the capacitor.
- the torque of the generator motor 29 is controlled by the controller 40.
- the generator / electric motor 29 is controlled to generate power, a part of the output torque generated by the engine 21 is transmitted to the drive shaft of the generator / motor 29 to absorb the torque of the engine 21 to generate power. Is called.
- AC power generated by the generator motor 29 is converted to DC power by the power control device 33 and supplied to the power storage device 34.
- the DC power stored in the power storage device 34 is converted into AC power by the power control device 33 and supplied to the generator electric motor 29.
- the drive shaft of the generator electric motor 29 is rotationally driven, and the generator electric motor 29 generates torque.
- This torque is transmitted from the drive shaft of the generator motor 29 to the output shaft of the engine 21 and added to the output torque of the engine 21.
- the power generation amount (absorption torque amount) and the electric amount (assist amount; generated torque amount) of the generator motor 29 are controlled according to a command signal from the controller 40.
- the electric power control device 33 uses the electric power generated when the electric generator-motor 29 generates electric power, or the electric power stored in the power storage device 34, and the electric power having a desired voltage, frequency, and number of phases suitable for the swing electric motor 32. And is supplied to the swing electric motor 32.
- the kinetic energy of the swing body 3 is converted into electric energy by the swing electric motor 32.
- This electric energy is stored in the power storage device 34 as regenerative power, or is supplied as electric power for the electric action of the generator motor 29.
- the power control device 33 is an inverter.
- the power control device 33 may be a device other than the inverter.
- the operation devices 51-53 include a first operation device 51, a second operation device 52, and a target rotation speed setting device 53.
- the first operating device 51 is operated by an operator to operate the swing body 3.
- the first operating device 51 has an operating member such as a lever, for example.
- An operation signal indicating the operation direction and the operation amount of the first operation device 51 is input to the controller 40. That is, a turning operation signal indicating a right turning operation amount or a left turning operation amount is input to the controller 40 in accordance with the operation direction and the operation amount with respect to the neutral position of the first operating device 51.
- the controller 40 controls the electric power supplied from the power storage device 34 to the turning electric motor 32 according to the operation amount of the first operating device 51. Thereby, the revolving structure 3 turns at a speed corresponding to the operation amount of the first operating device 51. Further, the revolving structure 3 turns in a direction corresponding to the operation direction of the first operating device 51.
- the first operating device 51 may also be used as an operating device for the arm 8 depending on the operating direction.
- the operation in the left-right direction of the first operating device 51 may be assigned to the operation of the arm 8 and the operation in the front-rear direction may be assigned to the operation of the revolving structure 3.
- the work implement control valve 28 described above changes the opening area of the control valve that controls the arm cylinder 11 according to the operation amount of the first operating device 51.
- the arm 8 operates at a speed corresponding to the operation amount of the first operating device 51.
- the arm cylinder 11 expands and contracts according to the operation direction of the first operating device 51.
- the second operating device 52 is operated by an operator to operate the boom 7.
- the second operating device 52 has an operating member such as a lever.
- An operation signal indicating the operation direction and the operation amount of the second operation device 52 is input to the controller 40. That is, a boom operation signal indicating a boom raising operation amount or a boom lowering operation amount is input to the controller 40 in accordance with the operation direction and the operation amount with respect to the neutral position of the second operation device 52.
- the work implement control valve 28 changes the opening area of the control valve that controls the boom cylinder 10 according to the operation amount of the second operating device 52. Thereby, the boom 7 operates at a speed according to the operation amount of the second operating device 52. Further, the boom cylinder 10 expands and contracts according to the operation direction of the second operating device 52.
- the second operating device 52 may also be used as an operating device for the work attachment 9 depending on the operating direction.
- the left / right operation of the second operating device 52 may be assigned to the operation of the boom 7, and the front / rear operation may be assigned to the operation of the work attachment 9.
- the work implement control valve 28 changes the opening area of the control valve that controls the attachment cylinder 12 according to the operation amount of the second operating device 52.
- the work attachment 9 operates at a speed corresponding to the operation amount of the second operation device 52.
- the attachment cylinder 12 expands and contracts according to the operation direction of the second operating device 52.
- the target rotational speed setting device 53 is a device for setting the target rotational speed of the engine 21.
- the target rotation speed setting device 53 has an operation member such as a dial. The operator can manually set the target rotational speed of the engine 21 by operating the target rotational speed setting device 53.
- the operation content of the target rotation speed setting device 53 is input to the controller 40 as an operation signal.
- the input device 43 functions as a display device that displays information on the work vehicle 100 such as the engine rotation speed.
- the input device 43 has a touch panel monitor, and also functions as an input device operated by an operator.
- the operation content of the input device 43 is input to the controller 40 as an operation signal.
- the controller 40 is realized by a computer having a storage unit 42 such as a RAM and a ROM, and a calculation unit 41 such as a CPU.
- the controller 40 is programmed to control the engine 21 and the hydraulic pump 25.
- the controller 40 may be realized by a plurality of computers.
- the controller 40 controls the engine 21 based on the engine output torque line as indicated by P1 or E1 in FIG.
- the engine output torque line represents a torque upper limit value that the engine 21 can output according to the rotational speed. That is, the engine output torque line defines the relationship between the engine rotation speed and the maximum value of the output torque of the engine 21.
- the governor 23 controls the output of the engine 21 so that the output torque of the engine 21 does not exceed the engine output torque line.
- the engine output torque line is stored in the storage unit 42 of the controller 40.
- the controller 40 sends a command signal to the governor 23 so that the engine rotation speed becomes the set target rotation speed.
- FH in FIG. 3 indicates the fastest regulation line when the target rotational speed is the maximum target rotational speed NH.
- F1 in FIG. 3 indicates a regulation line when the target rotational speed is N1 smaller than NH.
- the controller 40 changes the engine output torque line according to the set target rotational speed.
- the controller 40 calculates a target absorption torque of the hydraulic pump 25 corresponding to the target rotation speed of the engine 21. This target absorption torque is set so that the output horsepower of the engine 21 and the absorption horsepower of the hydraulic pump 25 are balanced.
- the controller 40 calculates a target absorption torque based on a pump absorption torque line as indicated by Lp in FIG.
- the pump absorption torque line defines the relationship between the engine rotation speed and the absorption torque of the hydraulic pump 25, and is stored in the storage unit 42 of the controller 40.
- the controller 40 selects an engine output torque line according to the set work mode.
- the work mode is set by the input device 43.
- 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 output torque line P1 shown in FIG. 3 is selected.
- the first engine output torque line P1 corresponds to, for example, the rating of the engine 21 or the maximum power output.
- the E mode is a work mode in which the output torque of the engine 21 is smaller than that of the P mode and has excellent fuel efficiency.
- the second engine output torque line E1 shown in FIG. 3 is selected.
- the output torque of the engine 21 is smaller than that in the first engine output torque line P1.
- the operator can select a plurality of control modes in the P mode described above.
- the plurality of control modes have a first control mode and a second control mode.
- the controller 40 controls the engine 21 by the first engine output torque line P1.
- the first control mode as will be described later, the output of the hydraulic pump 25 is reduced, and the output torque of the engine is reduced accordingly. That is, in the second control mode, the output of the hydraulic pump 25 is increased as compared with the first control mode.
- FIG. 4 is a diagram showing the output of the hydraulic pump 25 in the first control mode and the second control mode during the combined operation.
- FIG. 5 is a diagram illustrating a configuration of the control system 200 of the work vehicle 100. In FIG. 4, a combined operation of raising the boom and turning is illustrated, but the combined operation may be a combination of an operation of another hydraulic actuator and a turning operation.
- Tmax is the maximum output of the hydraulic pump 25 determined by the pump absorption torque described above.
- the output of the hydraulic pump 25 is reduced to a value T1 smaller than the maximum output Tmax.
- the reduction amount dT is determined based on the swing pump output obtained by converting the output of the swing electric motor 32 into the output of the hydraulic pump 25. Specifically, the reduction amount dT is expressed by the following equation (1).
- ⁇ is a predetermined gain. In the first control mode, ⁇ is set to 1 or a value close to 1.
- Ls is the swing pump output.
- the rotary pump output Ls is expressed by the following equation (2).
- Nm is the rotational speed of the swing electric motor 32.
- the rotational speed Nm of the swing electric motor 32 is detected by the motor rotational speed detector 54 shown in FIGS.
- the controller 40 receives a detection signal indicating the rotation speed Nm from the motor rotation speed detection unit 54.
- Tm is the output torque of the swing electric motor 32.
- the output torque Tm of the swing electric motor 32 is detected by the motor torque detector 55 shown in FIGS.
- the controller 40 receives a detection signal indicating the output torque Tm of the swing electric motor 32 from the motor torque detector 55.
- ⁇ is an efficiency considering the hydraulic loss, and a predetermined value is set.
- the output of the hydraulic pump 25 is reduced to a value T1 smaller than the maximum output Tmax.
- the controller 40 outputs a command signal corresponding to a value T1 smaller than the maximum output Tmax as an output of the hydraulic pump 25 to the pump control valve 27.
- the output of the hydraulic pump 25 is not reduced as in the first control mode, and the maximum output Tmax is the output of the hydraulic pump 25. That is, in the second control mode, the output of the hydraulic pump 25 during the combined operation is increased by an amount corresponding to the reduction amount dT compared to the first control mode. In the second control mode, the boom cylinder 10 is driven with the maximum output Tmax.
- the output of the hydraulic pump 25 is determined according to the operation amount of the first operating device 51 and the second operating device 52.
- the maximum output Tmax is the maximum value of the output of the hydraulic pump 25 that is determined according to the operation amount of the first operating device 51 and the second operating device 52.
- the controller 40 outputs a command signal corresponding to Tmax as an output of the hydraulic pump 25 to the pump control valve 27.
- the maximum output Tmax is set to the maximum value of the output of the hydraulic pump 25 when the swing electric motor 32 is not operated and only the boom cylinder 10 is operated.
- FIG. 6 is a flowchart showing the control of the swing electric motor 32.
- step S1 it is determined whether or not the first control mode is selected.
- the operator can set either the first control mode or the second control mode by operating the input device 43.
- the controller 40 receives a selection signal indicating the selected control mode from the input device 43, and sets the selected control mode as the control mode for the combined operation.
- the process proceeds to step S2.
- the first control mode is not selected in step S1, that is, when the second control mode is selected, the process proceeds to step S6.
- step S1 When the first control mode is selected in step S1, the output of the swing electric motor 32 is limited in steps S2 to S4. Specifically, in step S2, the discharge pressure of the hydraulic pump 25 is detected. The discharge pressure of the hydraulic pump 25 is detected by the discharge pressure detector 39. The controller 40 receives a detection signal indicating the discharge pressure of the hydraulic pump 25.
- step S3 the upper limit Tm1 of the motor output is calculated.
- the controller 40 determines an upper limit Tm1 of the motor output according to the discharge pressure of the hydraulic pump 25. For example, the controller 40 decreases the upper limit Tm1 of the motor output as the discharge pressure of the hydraulic pump 25 decreases.
- step S4 a motor output command value is determined.
- the controller 40 determines the smaller one of the motor output Tm2 determined by the operation amount of the first controller 51 and the above-described upper limit Tm1 of the motor output as the motor output command value. That is, in the first control mode, the controller 40 limits the output of the swing electric motor 32 to the motor output upper limit Tm1 or less according to the discharge pressure of the hydraulic pump 25.
- step S5 the controller 40 outputs a command signal corresponding to the motor output command value to the power control device 33.
- the output of the hydraulic pump 25 is distributed to the hydraulic motor and other hydraulic actuators.
- the output of the hydraulic pump 25 distributed to the hydraulic motor is determined according to the discharge pressure of the hydraulic pump 25. Therefore, by determining the upper limit Tm1 of the motor output in the first control mode as described above, the output of the turning electric motor 32 equivalent to the output of the turning hydraulic pump 25 in the hydraulic turning type work vehicle is obtained. Can do.
- step S1 when the second control mode is selected, the output of the swing electric motor 32 is not limited as in steps S2 to S4. Accordingly, in step S6, the controller 40 determines the motor output Tm2 determined by the operation amount of the first operating device 51 as the motor output command value.
- step S5 the controller 40 outputs a command signal corresponding to the motor output command value to the power control device 33.
- the controller 40 outputs a command signal corresponding to the motor output command value to the power control device 33.
- the controller 40 does not limit the output of the swing electric motor 32 according to the discharge pressure of the hydraulic pump 25 in the second control mode, but the controller 40 does not limit the output of the swing electric motor 32 according to the remaining power of the power storage device 34 or the like. It is not excluded to limit the output.
- overheat suppression control for suppressing overheating of the electric drive system 20 will be described.
- the output of the swing electric motor 32 is not limited as described above, and the output of the swing electric motor 32 is determined according to the operation amount of the first operating device 51.
- the controller 40 monitors the temperature of the electric drive system 20 and limits the output of the swing electric motor 32 according to the temperature of the electric drive system 20. Thereby, overheating of the electric drive system 20 is suppressed.
- the limitation on the output of the swing electric motor 32 by the overheat suppression control is that the output of the swing electric motor 32 determined in the second control mode is that of the swing electric motor 32 determined in the first control mode. It shall be performed when it is larger than the output. That is, when the output of the swing electric motor 32 determined according to the operation amount of the first operating device 51 in the second control mode is less than or equal to the output of the swing electric motor 32 determined in the first control mode,
- the output of the turning electric motor 32 may not be limited.
- the controller 40 may output a command signal indicating an output of the turning electric motor 32 determined according to the operation amount of the first operating device 51 to the electric drive system 20.
- FIG. 7 is a state transition diagram in overheat suppression control. In FIG. 7, it is assumed that the control state of work vehicle 100 transitions from the first state to the sixth state. In FIG. 7, “control mode” indicates a control mode executed by the controller 40. However, the control mode selected by the operator, that is, the control mode selected by the input device 43 is the second control mode.
- the controller 40 determines a motor output command value based on the above-described second control mode, and sends a command signal corresponding to the motor output command value to the power control device 33. Is output.
- the controller 40 determines a motor output command value based on the first control mode described above, and sends a command signal corresponding to the motor output command value to the power control device 33. Is output.
- “Operation state” indicates an operation position of the first operation device 51 for operating the revolving structure 3.
- the “operating state” being “operating” means that the first operating device 51 is located at an operating position indicating a right turn or a left turn.
- the “operating state” being “neutral” means that the first operating device 51 is located at the neutral position.
- HB temperature means the temperature of the electric drive system 20.
- the work vehicle 100 includes a temperature detection unit 35 that detects the temperature of the electric drive system 20.
- the temperature detection unit 35 detects the temperature of the power control device 33.
- the temperature detection unit 35 is an ammeter that detects a current value of an element such as an IGBT included in the power control device 33. Since the temperature of the power control device 33 changes according to the current value of the element of the power control device 33, the temperature detection unit 35 detects the current value of the element of the power control device 33, thereby The temperature can be detected.
- the temperature detector 35 is a thermistor and may directly detect the temperature of the power control device 33.
- the controller 40 receives a signal indicating the HB temperature from the temperature detection unit 35.
- “Derate request” indicates the level of the derate request determined by the controller 40.
- “derate” means output limitation of the swing electric motor 32.
- Derate request levels include “none”, “request 1”, and “request 2”.
- FIG. 8 is a diagram showing the relationship between the derate request and the HB temperature.
- the controller 40 determines a derate request according to the HB temperature.
- the controller 40 determines whether or not the HB temperature is higher than the first threshold T1. Further, it is determined whether or not the HB temperature is higher than the second threshold value T2. When the HB temperature is equal to or lower than the first threshold T1, the controller 40 determines that the derate request is “none”.
- the fact that the derate request is “none” means that the output of the swing electric motor 32 is not limited.
- the controller 40 determines the derate request as “request 1” when the HB temperature is higher than the first threshold value T1 and equal to or lower than the second threshold value T2. When the HB temperature is higher than the second threshold T2 and lower than or equal to the third threshold T3, the controller 40 determines the derate request as “request 2”.
- the derate requests “request 1” and “request 2” mean that the output of the swing electric motor 32 is limited.
- the output of the swing electric motor 32 is not immediately limited but the output of the swing electric motor 32 is output when the first operating device 51 is returned to the neutral position. Enforce restrictions.
- the derate request is “request 2”
- the output of the turning electric motor 32 is immediately limited regardless of the position of the first operating device 51.
- the controller 40 stops the turning electric motor 32. That is, when the HB temperature is higher than the third threshold T3, the controller 40 stops the turning of the turning body 3.
- the “derate state” shown in FIG. 7 indicates whether or not the output of the swing electric motor 32 is limited. When the “derate state” is “none”, it means that the output of the swing electric motor 32 is not limited. The “derate state” being “implemented” means that the output limitation of the swing electric motor 32 is being implemented.
- “Fan rotation” indicates the state of rotation control of the cooling fan 36.
- the work vehicle 100 has a cooling fan 36.
- the cooling fan 36 cools the power control device 33 by generating cooling air that passes around the power control device 33.
- the controller 40 controls the output of the cooling fan 36 according to the temperature of the cooling water of the engine 21, the temperature of the hydraulic oil, or the temperature of the electric drive system 20. For example, the controller 40 outputs a command signal to the cooling fan 36 so that the output of the cooling fan 36 increases as these temperatures increase.
- the “operation state” is “in operation”. Therefore, in the first state, the turning electric motor 32 is driven and the turning body 3 is turning.
- the HB temperature is equal to or lower than the first threshold T1.
- the controller 40 determines that the derate request is “none”. Therefore, the output of the swing electric motor 32 is not limited. That is, as shown in FIG. 7, in the first state, the control mode is maintained in the second control mode. Further, “fan rotation” is set to “automatic”.
- the controller 40 determines the derate request as “request 1”.
- the derate request is “request 1”
- the controller 40 does not implement a derate request. Therefore, the derate state is “none”. That is, even when the HB temperature is higher than the first threshold T1, when the “operation state” is “in operation”, the controller 40 maintains the control mode in the second control mode.
- “fan rotation” is switched to “Max”.
- the derate state becomes “execution” as shown in the third state in FIG. That is, when the HB temperature is higher than the first threshold value T1 and the “operation state” is “neutral”, the control mode is switched from the second control mode to the first control mode. Thereby, as shown in FIG. 4, the output of the swing electric motor 32 is limited. In the third state, “fan rotation” is maintained at “Max”.
- the derate state is maintained at “execution”. That is, even when the HB temperature is higher than the first threshold value T1 and the “operation state” is “in operation”, if the output of the swing electric motor 32 is already limited, the swing electric motor 32 is used. Output limits are maintained. In the fourth state, “fan rotation” is maintained at “Max”.
- the controller 40 determines the derate request as “none”.
- the derate state is maintained at “execution” as shown in the fifth state of FIG. . That is, even if the HB temperature becomes lower than the release threshold T0, if the “operation state” is “in operation”, the controller 40 maintains the control mode in the first control mode and Maintain output limits. In the fifth state, “fan rotation” is maintained at “Max”.
- the derate state is switched to “none” as shown in the sixth state of FIG. That is, when the HB temperature is lower than the release threshold T0 and the “operation state” is “neutral”, the controller 40 switches the control mode from the first control mode to the second control mode, and turns the electric motor. Release the limit of 32 outputs. In the sixth state, “fan rotation” is switched to “automatic”.
- the controller 40 switches the control mode from the second control mode to the first control mode.
- the output of the turning electric motor 32 is limited, and the turning speed of the turning body 3 is suppressed.
- the increase in the HB temperature is suppressed, and the occurrence of overheating in the electric drive system 20 can be suppressed.
- the electric power input to the swing electric motor 32 is suppressed by limiting the output of the swing electric motor 32. Thereby, generation
- the output of the swing electric motor 32 is limited, the output of the swing electric motor 32 is controlled in the first control mode. Therefore, although the turning speed of the turning body 3 can be suppressed, the work can be continued by turning the turning body 3.
- the controller 40 does not limit the output of the swing electric motor 32 when the first operating member 51 is operated even if the HB temperature is higher than the first threshold T1.
- the controller 40 limits the output of the swing electric motor 32 when the HB temperature is higher than the first threshold value T1 and the first operating member 51 is located at the neutral position. Thereby, it is possible to suppress the behavior of the revolving structure 3 from changing, for example, the revolving structure 3 suddenly decelerates during operation. Thereby, it can suppress giving an uncomfortable feeling to an operator during operation.
- the controller 40 limits the output of the turning electric motor 32 regardless of the position of the first operation member 51. For this reason, the rise in HB temperature can be suppressed immediately, and the occurrence of overheating can be suppressed.
- the controller 40 releases the restriction on the output of the swing electric motor 32.
- the revolving structure 3 can be quickly turned while suppressing the occurrence of overheating.
- the controller 40 While the output of the swing electric motor 32 is limited, the controller 40 continues to limit the output of the swing electric motor 32 when the first operation member 51 is operated even if the HB temperature becomes lower than the release threshold T0. . While the output of the swing electric motor 32 is limited, the controller 40 limits the output of the swing electric motor 32 when the HB temperature is lower than the release threshold T0 and the first operating member 51 is located at the neutral position. Is released. Thereby, it is possible to suppress the behavior of the swing body 3 from changing, for example, the swing body 3 suddenly accelerates during operation. Thereby, it can suppress giving an uncomfortable feeling to an operator during operation.
- the controller 40 increases the output of the cooling fan 36 when the HB temperature becomes higher than the first threshold value T1. Accordingly, the occurrence of overheating can be suppressed by cooling the electric drive system 20 by the cooling fan 36.
- the controller 40 is not limited to being provided in the work vehicle 100 but may be provided outside the work vehicle 100. Alternatively, some of the functions of the controller 40 described above may be executed by a device outside the work vehicle 100.
- the output of the hydraulic pump 25 is reduced as compared with the second control mode.
- the output of the hydraulic pump 25 may be similarly controlled in the first control mode and the second control mode.
- the output of the swing electric motor 32 is limited by switching the control mode from the second control mode to the first control mode.
- the output of the swing electric motor 32 may be limited in the same control mode.
- the output of the swing electric motor 32 may be limited while the output of the hydraulic pump 25 is maintained.
- the control mode is not limited to the first control mode and the second control mode, and may include three or more control modes.
- the temperature detection unit 35 is not limited to the power control device 33 and may detect the temperature of another device of the electric drive system 20.
- the temperature detection unit 35 may detect the temperature of the swing electric motor 32.
- the movable body is not limited to the revolving body, and may be another member.
- the movable body may be a work machine.
- overheating of the electric drive system can be suppressed while allowing work to be continued in the work vehicle.
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Abstract
Description
Nmは、旋回電動モータ32の回転速度である。旋回電動モータ32の回転速度Nmは、図2及び図5に示すモータ回転速度検出部54によって検出される。コントローラ40は、回転速度Nmを示す検出信号をモータ回転速度検出部54から受信する。
32 電動モータ
20 電気駆動系
100 作業車両
200 制御システム
35 温度検出部
40 コントローラ
25 油圧ポンプ
4 作業機
33 電力制御装置
34 蓄電装置
Claims (12)
- 可動体と、前記可動体を動作させる電動モータを含む電気駆動系と、を有する作業車両の制御システムであって、
前記電気駆動系の温度を検出する温度検出部と、
前記温度検出部が検出した前記電気駆動系の温度が所定の第1閾値より高くなり、且つ、前記可動体の操作部材が中立位置に位置しているときに、前記電動モータの出力を制限するコントローラと、
を備え、
前記コントローラは、前記電気駆動系の温度が前記第1閾値より高くなっても、前記可動体の操作部材が操作されているときには、前記電動モータの出力の制限を行わない、
作業車両の制御システム。 - 前記コントローラは、前記電気駆動系の温度が前記第1閾値より高い第2閾値より高くなると、前記可動体の操作部材の位置に関わらず、前記電動モータの出力の制限を行う、
請求項1に記載の作業車両の制御システム。 - 前記コントローラは、前記電動モータの出力の制限中に、前記電気駆動系の温度が前記第1閾値より低い解除閾値より低くなると、前記電動モータの出力の制限を解除する、
請求項1又は2に記載の作業車両の制御システム。 - 前記コントローラは、
前記電動モータの出力の制限中に、前記電気駆動系の温度が前記解除閾値より低くなっても、前記可動体の操作部材が操作されているときには、前記電動モータの出力の制限を継続し、
前記電動モータの出力の制限中に、前記電気駆動系の温度が前記解除閾値より低くなり、且つ、前記可動体の操作部材が中立位置に位置しているときに、前記電動モータの出力の制限を解除する、
請求項3に記載の作業車両の制御システム。 - 前記コントローラは、前記電気駆動系の温度が所定の第1閾値より高くなると、前記電気駆動系を冷却するための冷却ファンの出力を増大させる、
請求項1から4のいずれかに記載の作業車両の制御システム。 - 前記コントローラは、前記電動モータの制御モードを少なくとも第1制御モードと第2制御モードとに切り換え可能であり、
前記第1制御モードでは、前記コントローラは、前記可動体の操作部材の操作量に応じた出力よりも前記電動モータの出力を制限し、
前記第2制御モードでは、前記コントローラは、前記可動体の操作部材の操作量に応じて前記電動モータの出力を制御し、
前記コントローラは、前記第2制御モードの実行中に、前記電気駆動系の温度が前記第1閾値より高くなると、前記電動モータの制御モードを前記第2制御モードから前記第1制御モードに切り換える、
請求項1から5のいずれかに記載の作業車両の制御方法。 - 前記作業車両は、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作業機を有し、
前記第1制御モードでは、前記コントローラは、前記油圧ポンプの吐出圧に応じて、前記電動モータの出力を制限する、
請求項1から6のいずれかに記載の作業車両の制御システム。 - 前記温度検出部は、前記電動モータの温度を検出する、
請求項1から7のいずれかに記載の作業車両の制御システム。 - 前記電気駆動系は、前記電動モータに接続される電力制御装置を有し、
前記温度検出部は、前記電力制御装置の温度を検出する、
請求項1から7のいずれかに記載の作業車両の制御システム。 - 可動体と、前記可動体を動作させる電動モータを含む電気駆動系と、を有する作業車両の制御方法であって、
前記電気駆動系の温度を示す信号を受信するステップと、
前記温度検出部が検出した前記電気駆動系の温度が所定の第1閾値より高いか否かを判定するステップと、
前記温度検出部が検出した前記電気駆動系の温度が所定の第1閾値より高く、且つ、前記可動体の操作指示を受けていないときに、前記電動モータの出力を制限するように、前記電動モータへの指令信号を出力するステップと、
を備え、
前記電気駆動系の温度が前記第1閾値より高くなっても、前記可動体の操作指示を受けているときには、前記電動モータの出力の制限は行われない、
作業車両の制御方法。 - 可動体と、
前記可動体を動作させる電動モータを含む電気駆動系と、
前記電気駆動系の温度を検出する温度検出部と、
を備え、
前記温度検出部が検出した前記電気駆動系の温度が所定の第1閾値より高くなり、且つ、前記可動体の操作部材が中立位置に位置しているときに、前記電動モータの出力が制限され、
前記電気駆動系の温度が前記第1閾値より高くなっても、前記可動体の操作部材が操作されているときには、前記電動モータの出力の制限は行われない、
作業車両。 - 前記電気駆動系は、
前記電動モータによって回生された電力を蓄える蓄電装置と、
前記電動モータと前記蓄電装置とに接続される電力制御装置と、
を有する、
請求項11に記載の作業車両。
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JP6355347B2 (ja) * | 2014-01-30 | 2018-07-11 | 日立建機株式会社 | ハイブリッド式建設機械 |
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2015
- 2015-11-02 CN CN201580002509.2A patent/CN105705704B/zh not_active Expired - Fee Related
- 2015-11-02 WO PCT/JP2015/080909 patent/WO2016039490A1/ja active Application Filing
- 2015-11-02 JP JP2016504832A patent/JP6046857B2/ja active Active
- 2015-11-02 US US15/037,425 patent/US9528247B1/en not_active Expired - Fee Related
- 2015-11-02 DE DE112015000220.0T patent/DE112015000220T5/de not_active Withdrawn
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JP2009052339A (ja) * | 2007-08-28 | 2009-03-12 | Toshiba Mach Co Ltd | ハイブリッド型作業機械の運転制御方法および同方法を用いた作業機械 |
WO2015133584A1 (ja) * | 2014-03-06 | 2015-09-11 | 住友建機株式会社 | ショベル |
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JP2018123467A (ja) * | 2017-01-30 | 2018-08-09 | 三菱ロジスネクスト株式会社 | 荷役車両のインターロック装置 |
US10472805B1 (en) | 2018-05-11 | 2019-11-12 | Takeuchi Mfg. Co., Ltd. | Hydraulic drive unit of hydraulic excavator |
Also Published As
Publication number | Publication date |
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JPWO2016039490A1 (ja) | 2017-04-27 |
DE112015000220T5 (de) | 2016-08-18 |
US9528247B1 (en) | 2016-12-27 |
JP6046857B2 (ja) | 2016-12-21 |
CN105705704B (zh) | 2017-06-09 |
CN105705704A (zh) | 2016-06-22 |
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