WO2016110926A1 - 作業機械の駆動制御システム、それを備える作業機械、及びその駆動制御方法 - Google Patents
作業機械の駆動制御システム、それを備える作業機械、及びその駆動制御方法 Download PDFInfo
- Publication number
- WO2016110926A1 WO2016110926A1 PCT/JP2015/006453 JP2015006453W WO2016110926A1 WO 2016110926 A1 WO2016110926 A1 WO 2016110926A1 JP 2015006453 W JP2015006453 W JP 2015006453W WO 2016110926 A1 WO2016110926 A1 WO 2016110926A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- speed
- motor
- power
- hydraulic
- power storage
- Prior art date
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
- B66C23/86—Slewing gear hydraulically actuated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/128—Braking systems
-
- 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
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- 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
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B2015/206—Combined actuation, e.g. electric and fluid actuated
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
- F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/52—Pressure control characterised by the type of actuation
- F15B2211/526—Pressure control characterised by the type of actuation electrically or electronically
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/565—Control of a downstream pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7058—Rotary output members
Definitions
- the present invention relates to a drive control system for a work machine that drives a revolving body of a work machine by an electric motor and regenerates energy by the electric motor when braking the revolving body, a work machine including the work machine, and a drive control method thereof.
- Work machines such as hydraulic excavators and cranes are publicly known, and these work machines can perform various operations by moving work equipment such as excavators and cranes. Moreover, these work machines have a lower body configured to be able to travel, and an upper revolving body to which work equipment such as an excavator and a crane is attached is provided thereon.
- the upper swing body is configured to be swingable with respect to the lower body, and the direction of the work equipment can be changed.
- the upper-part turning body configured as described above is configured to be capable of turning driving by a drive control system.
- Patent Document 1 An example of a drive control system is described in Patent Document 1.
- the drive control system of Patent Document 1 includes a hydraulic motor and an electric motor.
- the electric motor and the hydraulic motor cooperate with each other to rotate the upper swing body.
- the hydraulic motor is driven by pressure oil discharged from a hydraulic pump, and the electric motor is driven by electric power supplied from the power storage device.
- the electric motor has a power generation function, and converts the kinetic energy of the upper turning body during turning into electric power to brake the upper turning.
- the converted electric power is stored in the power storage device and used when it is next driven.
- a driving device for example, an inverter for driving the electric motor.
- the drive device has a conversion function such as AC / DC conversion or voltage conversion.
- the rotational speed of the electric motor is increased to accelerate the upper swing body, and the electric power is generated by the electric motor to the power storage device.
- the upper revolving body is braked by accumulating.
- standby power is supplied from the power storage device regardless of whether or not they are driven, and energy is constantly lost, that is, steady loss occurs.
- the electric power generated by the electric motor during braking decreases as the speed of the upper swing body decreases.
- the generated power of the motor may eventually become smaller than the steady loss of the motor and the drive device.
- the electric power stored in the power storage device is consumed despite braking, and the overall regeneration efficiency of the drive control system is reduced.
- an object of the present invention is to provide a drive control system capable of improving the regeneration efficiency.
- a drive control system for a work machine includes a motor that turns a swing body of the work machine by receiving power supply and generates electric power to brake the swing body, and a power storage device that can be charged and discharged. , Driven by driving power supplied from the power storage device, power is supplied from the power storage device to the electric motor to move the motor, and electric power generated by the motor is stored in the power storage device to brake the revolving body
- a charging stop condition including: a driving device for detecting the turning speed; a speed detector for detecting a turning speed of the turning body; and a turning speed that the turning body decelerates and the turning speed detected by the speed detector is equal to or lower than a predetermined speed. Is satisfied, the control device stops the drive power supplied from the power storage device to the drive device.
- the supply of drive power to the drive device stops when the speed is lower than the predetermined speed, so that it is possible to prevent power consumption of the power storage device due to steady loss of the drive device and the motor during deceleration braking.
- the electric power consumed by the steady loss can be used when the revolving body is driven next, and the regeneration efficiency of the drive control system can be improved.
- a hydraulic motor that rotates the swivel body in cooperation with the electric motor by receiving pressure liquid supply, and a hydraulic pressure supply device that supplies pressure liquid to the hydraulic motor
- the pressure motor is configured to brake the swivel body by increasing a discharge pressure discharged from the hydraulic motor higher than a supply pressure supplied to the hydraulic motor
- the hydraulic pressure supply device includes: The controller is configured to adjust the discharge pressure of the hydraulic motor, and the controller is configured to control the operation of the hydraulic pressure supply device to increase the discharge pressure of the hydraulic motor when the charge stop condition is satisfied. May be.
- the rotating body can be braked by the hydraulic motor after the drive device is stopped. Thereby, even after the supply of the drive power to the drive device is stopped, the turning force can be applied to the revolving structure to stop the turning.
- the control device controls the operation of the rotation braking means when the charge stop condition is satisfied.
- the rotation of the output shaft may be braked.
- the rotating body can be braked by the rotation braking means after the driving device stops. Thereby, even after the supply of the drive power to the drive device is stopped, the turning force can be applied to the revolving structure to stop the turning.
- an input device for inputting an adjustment value relating to the turning speed of the revolving structure is provided, and the control device is configured so that the turning speed of the revolving structure becomes a turning speed according to an adjustment command from the input device.
- the operation of the driving device and the hydraulic pressure supply device may be controlled, and the charge stop condition may include an adjustment value from the input device being a predetermined value or less.
- the supply of drive power to the drive device is stopped.
- the drive control system of the present invention includes a hydraulic motor that rotates a swivel body by receiving pressurized fluid supply, a hydraulic pressure supply device that supplies pressurized fluid to the hydraulic motor, and the hydraulic pressure by receiving power supply. It is driven by an electric motor that rotates the revolving body in cooperation with a motor and generates electric power to brake the revolving body, a power storage device that can be discharged and charged, and drive power supplied from the power storage device.
- a driving device for supplying electric power from the power storage device to the electric motor to move the motor and storing electric power generated by the electric motor in the power storage device to brake the revolving body, and detecting a turning speed of the revolving body And when the assist stop condition including that the revolving body is in the acceleration / constant speed state and the power storage amount of the power storage device is equal to or less than a predetermined value is satisfied from the power storage device. And a control device for stopping the driving power supplied to the device is intended.
- the supply of drive power to the drive device stops when the amount of power stored in the power storage device falls below a predetermined value, the power of the power storage device due to steady loss of the drive device and the motor during acceleration / constant speed drive braking Consumption can be prevented.
- the electric power consumed by the steady loss can be used when the revolving body is driven next, and the regeneration efficiency of the drive control system can be improved.
- a work machine includes any one of the drive control system described above and the swivel body, the swivel body is a swivel body, and the electric motor and the hydraulic motor include a speed reducer. In this way, the revolving body is driven to turn.
- a hydraulic motor that is driven by the hydraulic fluid supplied from the hydraulic pressure supply device and an electric motor that is driven by the electric power supplied from the power storage device by the drive device cooperate with each other.
- a speed detecting step for detecting a turning speed, and the electric power generated by the electric motor is stored in the power storage device by the drive device to brake the turning body, and the turning body is decelerated and detected in the speed detecting step.
- the supply of drive power to the drive device is stopped when the predetermined speed or less or the storage amount becomes a predetermined value or less, so that power consumption of the power storage device due to steady loss of the drive device and the motor during deceleration braking is prevented. be able to.
- the power consumed by the steady loss can be used when the revolving body is subsequently moved, and the regeneration efficiency of the drive control system can be further improved.
- the regeneration efficiency can be improved.
- FIG. 4 is a hydraulic circuit diagram showing a hydraulic circuit of the drive control system of the first to third embodiments provided in the hydraulic excavator of FIG. 1. It is a flowchart which shows the procedure of the deceleration control process which the drive control system of 1st Embodiment performs.
- It is a sequence diagram which shows a change.
- the configuration of the drive control systems 1, 1 ⁇ / b> A, 1 ⁇ / b> B and the hydraulic excavator 2 including the drive control systems according to the first, second, and third embodiments of the present invention will be described with reference to the drawings described above.
- the concept of the direction in the embodiment is used for convenience of explanation, and regarding the structure of the drive control systems 1, 1 ⁇ / b> A, 1 ⁇ / b> B and the hydraulic excavator 2, the arrangement and orientation of those configurations are limited to that direction. It does not suggest that.
- a hydraulic excavator 2 which is an example of a work machine, can perform various operations such as excavation and transportation with an attachment, for example, a bucket 3, attached to a distal end portion.
- the excavator 2 includes a traveling device 4 such as a crawler, and a revolving body 5 is placed on the traveling device 4.
- the revolving body 5 is formed with a driver's seat 5 a for a driver to board, and further provided with a bucket 3 via a boom 6 and an arm 7.
- the revolving structure 5 configured as described above is configured to be capable of revolving with respect to the traveling device 4, and the hydraulic excavator 2 has a drive control system 1 that drives the revolving structure 5 to revolve.
- the structure of the drive control system 1 of the hydraulic excavator 2 will be described with reference to FIG.
- the drive control system 1 mainly includes a hydraulic pump 10, a control valve 11, a remote control valve 12, two electromagnetic pressure reducing valves 13 and 14, two electromagnetic relief valves 15 and 16, and an electro-hydraulic turning motor 17. It has.
- the hydraulic pump 10 that is a hydraulic pump is a variable displacement swash plate hydraulic pump, and is driven by an engine (not shown) to discharge hydraulic oil.
- the hydraulic pump 10 includes a swash plate 10a. The hydraulic oil discharge amount can be changed by tilting the swash plate 10a.
- a regulator 18 is connected to the swash plate 10a.
- the regulator 18 has a servo piston (not shown).
- the servo piston is connected to a swash plate 10a, and the swash plate 10a is tilted at a tilt angle corresponding to the position of the servo piston. Further, the regulator 18 is connected to the pilot pump 20 via the electromagnetic pressure reducing valve 19, and the servo piston is moved to a position corresponding to the command pressure p 0 discharged from the electromagnetic pressure reducing valve 19.
- the electromagnetic pressure reducing valve 19 outputs a command pressure p0 that is reduced to a pressure corresponding to a command signal given thereto.
- the swash plate 10 a is tilted to a tilt angle corresponding to the command signal, and hydraulic oil having a flow rate corresponding to the tilt angle is discharged from the discharge port 10 b of the hydraulic pump 10.
- a control valve 11 is connected to the discharge port 10b through a discharge passage 21.
- the control valve 11 is a spool valve having a spool 22, and by moving the spool 22, the flow rate of the hydraulic oil flowing to the connection destination and the connection destination of the hydraulic pump 10 can be changed. Further, two pilot passages 23 and 24 are connected to the control valve 11, and the remote control valve 12 is connected via the pilot passages 23 and 24.
- the remote control valve 12 that is an input device is a device for inputting a target turning speed.
- the input device is not limited to a hydraulic type and may be an electric type.
- the remote control valve 12 has an operation lever 25, and the operation lever 25 is configured to be tiltable in one direction and the other in a predetermined direction.
- the remote control valve 12 outputs pilot oil having a pressure corresponding to the tilt amount (adjustment value) of the operation lever 25 to the pilot passages 23 and 24 corresponding to the tilt direction of the operation lever 25.
- pilot pressure sensors 26 and 27 are connected to the pilot passages 23 and 24, respectively, and electromagnetic pressure reducing valves 13 and 14 are interposed, respectively.
- the pilot pressure sensors 26 and 27 detect the hydraulic pressure output from the remote control valve 12.
- the electromagnetic pressure reducing valves 13 and 14 are so-called normally open pressure reducing valves, and the pressure corresponding to the current (command value) that flows through the electromagnetic pressure reducing valves 13 and 14 by reducing the pressure of the pilot oil output from the remote control valve 12. Configured to adjust to.
- the pilot oil output from the remote control valve 12 is guided to both ends of the spool 22 by the pilot passages 23 and 24, respectively.
- the spool 22 receives pilot pressures p1 and p2, which are the hydraulic pressures of pilot oil guided to both ends thereof, and moves to a position corresponding to the pilot pressures p1 and p2.
- the control valve 11 moves the spool 22 so as to change the connection destination of the hydraulic pump 10 and the flow rate of hydraulic fluid flowing to the connection destination.
- the configuration of the control valve 11 will be described in detail.
- the control valve 11 has four ports 11a to 11d.
- the first port 11a is connected to the hydraulic pump 10 through the discharge passage 21, and the second port. 11 b is connected to the tank 29 through the tank passage 30.
- the third port 11c and the fourth port 11d are connected to the electro-hydraulic turning motor 17 through the first oil passage 31 and the second oil passage 32, respectively.
- the connection destinations of these four ports 11a to 11d change according to the position of the spool 22. More specifically, when the spool 22 is located at the neutral position M1, the first port 11a and the second port 11b are connected, and the hydraulic pump 10 enters the unload state.
- the electro-oil turning motor 17 has a hydraulic motor 33, an electric motor 34, and an output shaft 35.
- the output shaft 35 is connected to the revolving body 5 via a reduction gear (not shown), and the revolving body 5 is revolved by rotating the output shaft 35.
- the hydraulic motor 33 and the electric motor 34 are integrally formed, and rotate the output shaft 35 in cooperation. That is, the output shaft 35 serves as the output shaft of the hydraulic motor 33 and the output shaft of the electric motor 34, and is shared by the hydraulic motor 33 and the electric motor 34. Below, the structure of the hydraulic motor 33 and the electric motor 34 is explained in full detail.
- the electric motor 34 is, for example, a three-phase AC motor, and has a stator and a rotor (not shown).
- the rotor is provided on the output shaft 35 so as not to be relatively rotatable, and the stator is provided on the hydraulic motor 33 so as not to be relatively rotatable.
- the rotor and the stator are configured to be rotatable relative to each other, and a three-phase alternating current (hereinafter also simply referred to as “alternating current”) is passed through the stator coil to rotate according to the frequency of the alternating current.
- the output shaft 35 is rotated forward or backward at a speed.
- the electric motor 34 has a power generation function for generating an alternating current by converting rotational energy (kinetic energy) of the output shaft 35 into electric energy, so that the rotating output shaft 35 is decelerated by generating power. It has become.
- the electric motor 34 configured as described above is electrically connected to the driving device 36 and further electrically connected to the battery 28 via the driving device 36.
- the drive device is a device including an inverter and a chopper.
- the battery 28 can store electric power, and is configured to discharge a direct current to the driving device 36.
- the inverter and the chopper of the drive device 36 have a switching element. By switching on and off the switching element, the direct current discharged from the capacitor 28 is converted into an alternating current and supplied to the motor 34. It has become.
- the drive device 36 has a frequency adjustment function for adjusting the frequency of the alternating current supplied to the electric motor 34 to a frequency according to the command value, and the rotation of the output shaft 35 by adjusting the frequency of the alternating current. The number is to be changed. Further, the drive device 36 converts the alternating current generated in the electric motor 34 into a direct current by switching on and off of the switching element, and outputs the direct current to the capacitor 28. The output direct current is stored.
- the drive device 36 configured as described above is configured to switch on and off the switching elements of the inverter and the chopper in accordance with a command from the control device 50 described later. By switching, the battery 28 and the drive device 36 are switched. Is connected to or disconnected from the The supply of drive power for driving the drive device 36 is stopped by shutting off the capacitor 28 and the drive device 36. Thereby, the steady loss of the drive device 36 can be stopped.
- the servo-off circuit is composed of inverters and chopper switching elements, but is not necessarily composed of switching elements.
- the servo-off circuit is not necessarily provided in the driving device 36, and a servo-off circuit having a switching element or the like is provided outside the driving device 36 to perform control related to the power supply to the driving device 36 as described above. May be.
- the hydraulic motor 33 is, for example, a fixed displacement hydraulic motor, and has two supply / discharge ports 33a and 33b.
- the first oil passage 31 is connected to the first supply / discharge port 33a
- the second oil passage 32 is connected to the second supply / discharge port 33b.
- the hydraulic motor 33 causes the torque corresponding to the hydraulic pressure and flow rate of the hydraulic oil to act on the output shaft 35 in the positive direction, and operates on the second supply / discharge port 33b.
- a torque corresponding to the hydraulic pressure and flow rate of the hydraulic oil is applied to the output shaft 35 in the reverse direction. That is, the hydraulic motor 33 assists the rotation of the output shaft 35 by applying an assist torque corresponding to the hydraulic pressure and flow rate of the supplied hydraulic oil to the output shaft 35.
- the hydraulic oil for driving the hydraulic motor 33 is supplied to the hydraulic motor 33 by the hydraulic oil supply device 9.
- the hydraulic oil supply device (hydraulic pressure supply device) 9 is mainly composed of the hydraulic pump 10 described above, a control valve 11 and two electromagnetic pressure reducing valves 13 and 14, and further has two electromagnetic relief valves 15 and 16. is doing.
- the electromagnetic relief valves 15, 16 are connected to the first oil passage 31 and the second oil passage 32, respectively, and the hydraulic oil in the first oil passage 31 and the second oil passage 32 is supplied to the tank 29 via the electromagnetic relief valves 15, 16. It is arranged so that it can be discharged.
- the electromagnetic relief valves 15 and 16 arranged in this way have a pressure adjusting function for adjusting the hydraulic pressure of the hydraulic oil discharged to the tank 29 to a pressure corresponding to the current (command value) flowing therethrough.
- the output shaft 35 is configured such that the hydraulic oil is discharged through the electromagnetic relief valves 15, 16 by blocking between the discharge side oil passages 31, 32 and the tank 29 by the control valve 11. Can be decelerated by braking.
- the braking force acting on the output shaft 35 can be changed by adjusting the oil pressure of the oil passages 31 and 32 on the discharge side by the electromagnetic relief valves 15 and 16 that are rotation braking means of the output shaft 35. Yes.
- the hydraulic oil supply device 9 includes relief valves 38 and 39 and check valves 40 and 41.
- the relief valves 38 and 39 and the check valves 40 and 41 include the first oil passage 31 and the second oil. Each is connected to a path 32.
- the relief valves 38 and 39 open the oil passages 31 and 32 to the tank 29 when the hydraulic oil flowing through the oil passages 31 and 32 exceeds the use limit pressure. The damage is suppressed.
- the check valves 40 and 41 are connected to the tank 29, permitting the flow of hydraulic oil from the tank 29 to the oil passages 31 and 32, and blocking the flow of hydraulic oil in the reverse direction. .
- hydraulic oil that is insufficient when driving the hydraulic motor 33 can be guided from the tank 29 to the hydraulic motor 33 via the check valves 40 and 41.
- first oil passage 31 and the second oil passage 32 are provided with hydraulic pressure sensors 42 and 43, respectively, and the hydraulic pressure supplied to the supply / discharge ports 33a and 33b of the hydraulic motor 33 is the hydraulic pressure sensors 42 and 43, respectively.
- the electric oil turning motor 17 is provided with a rotation speed sensor 44 on the output shaft 35, and the rotation speed sensor 44 detects the rotation speed of the output shaft 35 (that is, the rotation speed of the output shaft 35). It has become.
- These sensors 42 to 44 and the pilot pressure sensors 26 and 27 described above are electrically connected to a control device 50 that controls various configurations, and transmit detected values to the control device 50.
- the hydraulic pressure detected by the hydraulic pressure sensors 42 and 43 is input to the control device 50, and the differential pressure between them is the differential pressure feedback signal DP.
- the pilot pressure detected by the pilot pressure sensors 26 and 27 is input to the control device 50, and the differential pressure between them is the speed command signal VCOM.
- the rotational speed detected by the rotational speed sensor 44 is input to the control device 50 and becomes a speed feedback signal VFB.
- the control device 50 is electrically connected to the electromagnetic pressure reducing valves 13 and 14, the electromagnetic relief valves 15 and 16, the electromagnetic pressure reducing valve 19, and the driving device 36.
- the control device 50 sends command values corresponding to various signals from the sensors 26, 27, 42 to 44 to the valves 13 to 16, 19 and the driving device 36. It is designed to control the operation.
- the hydraulic motor 33 and the electric motor 34 are driven so that the swing body 5 rotates with a desired operation (rotation direction and speed).
- the control device 50 controls the operations of the valves 13 to 16 and 19 and the driving device 36 so that the hydraulic motor 33 and the electric motor 34 function as a brake, and can brake the revolving turning body 5. It has become. Further, it is possible to eliminate the steady loss that occurs in the electric motor 34 and the driving device 36 during braking.
- the control operation of the control device 50 will be described with reference to the flowchart of FIG. 3 and the sequence diagram of FIG.
- control device 50 determines that the deceleration control should be performed based on the speed difference between speed command signal VCOM and speed feedback signal VFB, and starts the deceleration control.
- step S1 which is a regenerative braking process
- the control device 50 causes the electric motor 34 to perform a regenerative operation to decelerate the output shaft 35. That is, the control device 50 controls the operation of the drive device 36 (the operation of the switching element) to convert all of the alternating current generated by the electric motor 34 into a direct current so that all the electric power generated by the electric motor 34 is stored in the battery 28.
- the output shaft 35 is decelerated.
- control device 50 gives an instruction to the electromagnetic relief valves 15 and 16 connected to the oil passages 31 and 32 on the discharge side to open the hydraulic motor 33. Adjust the braking force by. When the output shaft 35 decelerates, the process proceeds to step S2.
- step S2 which is a charge stop condition (servo-off condition) determination step
- the control device 50 determines whether or not the charge stop condition is satisfied.
- the charging stop condition is a condition that the speed of the revolving structure 5 is equal to or lower than a predetermined speed (that is, the absolute value of the speed of the revolving structure 5 is equal to or lower than a predetermined speed) regardless of the forward direction and the reverse direction.
- the predetermined speed is a speed at which the steady loss energy consumed by the electric motor 34 and the driving device 36 when braking the revolving structure 5 is larger than the charging power generated by the electric motor 34. It is set according to the structure and various configurations connected to them.
- the control device 50 determines whether or not the speed of the swing body 5 is equal to or lower than a predetermined speed based on the rotation speed detected by the rotation speed sensor 44, and determines that the speed of the swing body 5 exceeds the predetermined speed. Returning to step S1, the regenerative operation by the electric motor 34 is continued. On the other hand, if it determines with the speed of the revolving body 5 being below a predetermined speed, it will transfer to step S3.
- step S3 which is a hydraulic braking process
- the control device 50 controls the operation of the hydraulic oil supply device 9 and turns the swing body 5 by the hydraulic motor 33. Specifically, the control device 50 gives a command to the electromagnetic relief valves 15 and 16 on the discharge side to reduce the opening thereof (increase the set pressure of the electromagnetic relief valve), and increase the brake torque of the hydraulic motor 33. Make it high. Thereby, a braking force can be applied to the output shaft 35, and the revolving structure 5 can be braked even after the drive device 36 is stopped.
- the process proceeds to step S4.
- step S4 which is a servo-off process
- the control device 50 stops the supply of drive power to the drive device 36. More specifically, the control device 50 transmits a servo-off command to the drive device 36, and switches the switching element in the drive device 36 to OFF so that the drive device 36 and the capacitor 28 are disconnected from each other, thereby driving the drive device 36. Stop. As a result, the steady loss that occurs in the drive device 36 and the electric motor 34 during braking can be eliminated, and the electric power is not consumed in the capacitor 28 even though the regenerative operation by the electric motor 34 is performed. it can. When the drive device 36 and the battery 28 are disconnected, the process proceeds to step S5.
- step S5 which is the turning body stopping step
- the output shaft 35 is braked until the speed of the turning body 5 becomes substantially zero (below the speed at which it can be determined that the turning body 5 has stopped) regardless of the forward direction or the reverse direction.
- the control device 50 determines whether or not the speed of the swing body 5 is substantially zero based on the rotational speed detected by the rotational speed sensor 44, and determines that the speed of the swing body 5 is not substantially zero.
- a braking force is continuously applied to the output shaft 35. Then, when it is determined that the speed of the swing body 5 is substantially zero, that is, when it is determined that the swing body 5 has stopped, the deceleration control of the swing body 5 ends.
- the drive control system 1 that performs such deceleration control stops the supply of drive power to the drive device 36 when the speed of the revolving structure 5 becomes a predetermined speed or less, and therefore the drive device 36 and the motor 34 during deceleration braking. It is possible to prevent the power consumption of the battery 28 due to the steady loss. As a result, conventionally, the electric power consumed by the steady loss (refer to the dotted line portion in the stored energy in FIG. 4) and the electric power required to turn the revolving body 5 next (see the shaded portion in the stored energy in FIG. 4). Can be used as Therefore, the regeneration efficiency of the drive control system 1 can be further improved.
- the drive control system 1A of the second embodiment has the same configuration as that of the drive control system 1 of the first embodiment, and the procedure of the deceleration control process is different as shown in FIG.
- the deceleration control process of the drive control system 1A of the second embodiment will be described, but the reference numerals of the components in the description are assigned the same reference numerals as those of the configuration of the drive control system 1 of the first embodiment. To do. The same applies to the drive control system 1B of the third embodiment.
- the speed of the revolving body 5 is equal to or lower than the predetermined speed, and regardless of the direction of tilting. It includes that the tilt amount of the operation lever 25 (adjustment value of the input device) is a predetermined amount or less (that is, the absolute value of the tilt amount of the operation lever 25 is a predetermined amount or less).
- the predetermined amount is a tilt amount in which the opening area of the control valve 11 does not change (the spool 22 does not move) even when the operation lever 25 is tilted.
- step S44 which is a hydraulic braking determination step, is performed after step S3, which is a hydraulic braking step.
- the control device 50 determines whether or not the brake torque of the hydraulic motor 33 is generated based on the pressure detected by the hydraulic sensors 42 and 43. More specifically, the hydraulic pressure sensor 42, 43 detects the hydraulic pressure on the supply side and the hydraulic pressure on the discharge side of the hydraulic motor 33, and determines that the brake torque is generated when the hydraulic pressure on the discharge side is greater than the hydraulic pressure on the supply side. Is done. If it is determined that the brake torque is generated, the process proceeds to step S45a which is a servo-off process. If the discharge-side hydraulic pressure is smaller than the supply-side hydraulic pressure, the control device 50 determines that no brake torque is generated, and the process proceeds to step S45b, which is a regenerative braking process.
- step S45a as in step S4 of the first embodiment, the control device 50 switches the switching element of the drive device 36 to shut off the drive device 36 and the battery 28. Thereby, the turning body 5 is decelerated only by the brake torque by the hydraulic motor 33.
- step S45b as in step S1 of the first embodiment, the control device 50 causes the electric motor 34 to perform a regenerative operation so that the swing body 5 is decelerated. And if it transfers to step S45a and step S45b and decelerates the turning body 5, it will transfer to step S46.
- step S46 which is a turning body stop determination step, it is determined whether or not the turning body 5 has stopped. Specifically, the speed of the swing body 5 is substantially zero (below the speed at which the swing body 5 can be determined to have stopped) and the absolute value of the tilt amount is equal to or less than a predetermined amount (even if the operation lever 25 is tilted)
- the control device 50 determines that the swing body 5 has stopped when the amount of tilt before the start of supply of pressure oil to the hydraulic motor 33 is reached, and the process proceeds to the servo-off step S47. .
- the control device 50 transmits a servo-off command to the drive device 36, shuts off the drive device 36 and the battery 28, and stops the drive device 36 (servo-off process).
- the servo-off process is executed when passing through step S45b. If the drive device 36 and the battery 28 have already been disconnected in step S45a (that is, the servo-off process has already been performed), the drive device 36 and the battery 28 have been disconnected. Continue state. When the servo-off process is performed in this way, the deceleration control process ends.
- the drive control system 1A that performs such a deceleration control process, the supply of drive power to the drive device 36 is stopped when the tilt amount of the operation lever 25 is equal to or less than a predetermined amount and the swing body 5 is stopped. Therefore, it is possible to prevent the power consumption of the battery 28 due to the steady loss of the drive device 36 and the electric motor 34 that occurs while the swing body 5 is stopped.
- the drive control system 1A has the same effects as the drive control system 1 of the first embodiment.
- acceleration / constant speed control processing described below is executed.
- the target torque of the electric motor 34 is set to zero when the amount of power stored in the capacitor 28 becomes a predetermined value or less during acceleration / constant speed of the swing body 5.
- the swing body 5 is switched to the swing drive only by the hydraulic motor 33.
- the drive device 36 is disconnected from the capacitor 28 to prevent the power consumption of the capacitor 28 due to the steady loss of the drive device 36.
- the procedure of acceleration / constant speed control processing will be specifically described.
- the control device 50 calculates the target acceleration torque based on the speed difference between the speed command signal VCOM and the speed feedback signal VFB. Next, the control device 50 controls the operations of the hydraulic motor 33 and the electric motor 34 so that the target acceleration torque is output. Thereby, the revolving structure 5 can be accelerated to the speed according to the tilting amount of the operation lever 25, that is, the speed according to the speed command signal VCOM, or the revolving structure 5 can be swung at a constant speed.
- the acceleration / constant speed control process is executed during the acceleration or constant speed control of the revolving structure. When the acceleration / constant speed control process is started, the process proceeds to step S51.
- step S51 which is a power running drive process
- the target torque of the motor 34 is set in consideration of the operation efficiency of the motor 34 (so that the motor 34 is driven with high efficiency), and the operation of the motor 34 is controlled.
- the process proceeds to step S52.
- step S52 which is a storage amount determination step
- the control device 50 determines whether or not the storage amount of the battery 28 is equal to or less than a predetermined value. If it is determined that the charged amount exceeds the predetermined value, the process returns to step S51. If it is determined that the charged amount is equal to or less than the predetermined value, the process proceeds to step S53.
- step S53 which is a hydraulic drive process
- the target torque of the electric motor 34 is set to zero, and the swing body 5 is driven to rotate only by the hydraulic motor 33.
- the process proceeds to step S54.
- step S54 which is a servo-off process
- the control device 50 transmits a servo-off command to the drive device 36, and the drive device 36 is disconnected from the drive device 36 by switching off the switching element of the drive device 36. Stop. When the drive device 36 is stopped, the acceleration / constant speed control process ends.
- the drive control system 1B that executes such acceleration / constant speed control processing, when the amount of power stored in the capacitor 28 becomes equal to or less than a predetermined value when the swing body 5 is accelerated / constant, the drive power to the drive device 36 is increased. Stop supplying. Therefore, it is possible to prevent the power consumption of the battery 28 due to the steady loss of the drive device 36 and the motor 34 that occurs while the revolving unit 5 is accelerating / constant.
- the drive control system 1 of the present embodiment is a system that adjusts the tilt angle of the swash plate 10a by a positive control method, but may be a system that adjusts the tilt angle of the swash plate 10a by a negative control method.
- the hydraulic pump 10 may be a fixed displacement pump that cannot adjust the inclination angle of the swash plate 10a.
- the electro-hydraulic turning motor 17 in which the hydraulic motor 33 and the electric motor 34 are integrally formed is used, but the hydraulic motor 33 and the electric motor 34 are configured separately. May be.
- the motor 34 is not necessarily limited to a three-phase AC motor, and may be a DC motor.
- the work machine to which the drive control system 1 is applied is not limited to the hydraulic excavator 2 described above, and may be applied to a hydraulic crane or the like.
- the hydraulic fluid used with the drive control system 1 of this embodiment is oil, it is not limited to oil, What is necessary is just a liquid.
- the brake torque for braking the turning body 5 using the hydraulic brake by the hydraulic motor 33 is generated, it is output using the rotational braking means such as a mechanical brake.
- a brake torque for braking the shaft 35 (that is, braking the revolving structure 5) may be generated.
- Hydraulic excavator 4 Revolving body 9 Hydraulic oil supply device (hydraulic pressure supply device) 11 Control valve 15, 16 Electromagnetic relief valve (rotating braking means) 17 Electro-hydraulic turning motor 22 Spool 28 Electric storage device (electric storage device) 29 Tank 33 Hydraulic motor 34 Electric motor 35 Output shaft 36 Drive device 44 Speed sensor 50 Control device
Abstract
Description
且つ前記電動機で発生した電力を前記蓄電装置に蓄えさせて前記旋回体を制動させる駆動装置と、前記旋回体の旋回速度を検出する速度検出器と、前記旋回体が加速・定速状態にあり且つ前記蓄電装置の蓄電量が所定値以下であることを含むアシスト停止条件を充足すると、前記蓄電装置から前記駆動装置に供給される駆動電力を止める制御装置とを備える、ものである。
をその方向に限定することを示唆するものではない。また、以下に説明する駆動制御システム1,1A,1B及び油圧ショベル2の構造及び制御は、本発明の一実施形態に過ぎず、本発明は実施形態に限定されず、発明の趣旨を逸脱しない範囲で追加、削除、変更が可能である。
図1に示すように、作業機械の一例である油圧ショベル2は、先端部に取り付けられたアタッチメント、例えばバケット3によって掘削や運搬等の様々な作業を行うことができるようになっている。油圧ショベル2は、クローラ等の走行装置4を有しており、走行装置4の上に旋回体5が載せられている。旋回体5には、運転者が搭乗するための運転席5aが形成され、更にブーム6及びアーム7を介してバケット3が設けられている。このように構成されている旋回体5は、走行装置4に対して旋回可能に構成されており、油圧ショベル2は、旋回体5を旋回駆動する駆動制御システム1を有している。以下では、油圧ショベル2の駆動制御システム1の構成について、図2を参照しながら説明する。
駆動制御システム1は、主に油圧ポンプ10と、コントロール弁11と、リモートコントロール弁12と、2つの電磁減圧弁13,14と、2つの電磁リリーフ弁15,16と、電油旋回モータ17とを備えている。液圧ポンプである油圧ポンプ10は、可変容量型の斜板式油圧ポンプであり、図示しないエンジンによって駆動されて作動油を吐出するようになっている。油圧ポンプ10は、斜板10aを有しており、この斜板10aを傾転させることで作動油の吐出量を変えることができるようになっている。斜板10aには、レギュレータ18が接続されている。
図2に示すように操作レバー25が一方に傾倒されると、2つのパイロット通路23,24のうち一方にだけパイロット油が出力される。そうすると、2つのパイロット圧センサ26,27のいずれかで検出され、その検出されたパイロット圧が制御装置50に入力され、それらの差圧が速度指令信号VCOMとなる。同様に、回転数センサ44で検出された回転数が制御装置50に入力され、速度フィードバック信号VFBとなる。制御装置50は、これら2つの速度指令信号VCOMと速度フィードバック信号VFBとの速度差に基づいて目標加速トルクを演算する。そして、制御装置50は、この目標加速トルクが出力されるように油圧モータ33及び電動機34の動作を制御する。これにより、操作レバー25の傾倒量に応じた速度、即ち速度指令信号VCOMに応じた速度で旋回体5を旋回させることができる。
第2実施形態の駆動制御システム1Aは、第1実施形態の駆動制御システム1と同様の構成を有しており、図5に示すように、その減速制御処理の手順が異なっている。以下では、第2実施形態の駆動制御システム1Aの減速制御処理の説明をするが、その説明における各構成の符号については、第1実施形態の駆動制御システム1の構成の符号と同じ符号を付する。なお、第3実施形態の駆動制御システム1Bについても同様である。
第3実施形態の駆動制御システム1Bでは、以下に説明する加速・定速制御処理を実行する。加速・定速制御処理では、図6のフローチャートに示すように、旋回体5の加速・定速時において蓄電器28の蓄電量が所定値以下となったときに、電動機34の目標トルクをゼロに設定する。これにより、旋回体5は、油圧モータ33だけによる旋回駆動に切換わる。更に、駆動装置36を蓄電器28から遮断することで、駆動装置36の定常損失による蓄電器28の電力消費を防ぐものである。以下では、加速・定速制御処理の手順について具体的に説明する。
本実施形態の駆動制御システム1は、斜板10aの傾転角をポジティブコントロール方式で調整するシステムであるが、斜板10aの傾転角をネガティブコントロール方式で調整するシステムであってもよい。また、油圧ポンプ10は、斜板10aの傾斜角を調整できない固定容量型のポンプであってもよい。
2 油圧ショベル
4 旋回体
9 作動油供給装置(液圧供給装置)
11 コントロール弁
15,16 電磁リリーフ弁(回動制動手段)
17 電油旋回モータ
22 スプール
28 蓄電器(蓄電装置)
29 タンク
33 油圧モータ
34 電動機
35 出力軸
36 駆動装置
44 回転数センサ
50 制御装置
Claims (8)
- 電力供給を受けることによって作業機械の旋回体を旋回させ、且つ電力を発生させて前記旋回体を制動する電動機と、
放充電することができる蓄電装置と、
前記蓄電装置から供給される駆動電力によって駆動し、前記蓄電装置から前記電動機に電力を供給させて前記電動機を動かし且つ前記電動機で発生した電力を前記蓄電装置に蓄えさせて前記旋回体を制動させる駆動装置と、
前記旋回体の旋回速度を検出する速度検出器と、
前記旋回体が減速し且つ前記速度検出器が検出する旋回速度が予め定められる所定速度以下であることを含む充電停止条件を充足すると、前記蓄電装置から前記駆動装置に供給される駆動電力を止める制御装置とを備える、作業機械の駆動制御システム。 - 圧液供給を受けることで前記旋回体を前記電動機と協働して旋回させる液圧モータと、
前記液圧モータに圧液を供給する液圧供給装置と、を備え、
前記液圧モータは、前記液圧モータに供給される供給圧より前記液圧モータから排出される排出圧を高くすることで前記旋回体を制動するように構成され、
前記液圧供給装置は、前記液圧モータの排出圧を調整するように構成され、
前記制御装置は、前記充電停止条件を充足すると前記液圧供給装置の動作を制御して前記液圧モータの排出圧を高くするように構成されている、請求項1に記載の作業機械の駆動制御システム。 - 前記液圧モータと前記電動機とによって共有される出力軸の回転を制動する回転制動手段を備え、
前記制御装置は、前記充電停止条件を充足すると前記回転制動手段の動作を制御して前記出力軸の回転を制動するように構成されている、請求項2に記載の作業機械の駆動制御システム。 - 前記旋回体の旋回速度に関する調整値を入力するための入力装置を備え、
前記制御装置は、前記旋回体の旋回速度が前記入力装置からの調整指令に応じた旋回速度になるように前記駆動装置及び前記液圧供給装置の動作を制御し、
前記充電停止条件は、前記入力装置からの調整値が所定値以下であることを含む、請求項2又は3のいずれか1つに記載の作業機械の駆動制御システム。 - 前記所定速度は、前記蓄電装置の電力状態が充電から放電に転じる直前の速度である、請求項1乃至4のいずれか1つに記載の作業機械の駆動制御システム。
- 圧液供給を受けることで旋回体を旋回させる液圧モータと、
前記液圧モータに圧液を供給する液圧供給装置と、
電力供給を受けることによって前記液圧モータと協働して前記旋回体を旋回させ、且つ電力を発生させて前記旋回体を制動する電動機と、
放充電することができる蓄電装置と、
前記蓄電装置から供給される駆動電力によって駆動し、前記蓄電装置から前記電動機に電力を供給させて前記電動機を動かし且つ前記電動機で発生した電力を前記蓄電装置に蓄えさせて前記旋回体を制動させる駆動装置と、
前記旋回体の旋回速度を検出する速度検出器と、
前記旋回体が加速・定速状態にあり且つ前記蓄電装置の蓄電量が所定値以下であることを含むアシスト停止条件を充足すると、前記蓄電装置から前記駆動装置に供給される駆動電力を止める制御装置とを備える、作業機械の駆動制御システム。 - 請求項1乃至6のいずれか1つに記載の作業機械の駆動制御システムと、
前記旋回体とを備え、
前記電動機は、減速機を介して前記旋回体を旋回するようになっている、作業機械。 - 蓄電装置から供給される電力によって駆動する電動機が旋回させる作業機械の旋回体の旋回速度を検出する速度検出工程と、
前記電動機で発生する電力を駆動装置により前記蓄電装置に蓄電させて前記旋回体を制動させることによって前記旋回体が減速し且つ前記速度検出工程で検出される旋回速度が予め定められる所定速度以下であることを含む充電停止条件又は前記旋回体が加速・定速状態にあり且つ前記蓄電装置の蓄電量が所定値以下であることを含むアシスト停止条件を充足するか否かを判定する判定工程と、
前記判定工程において充電停止条件又はアシスト停止条件を充足すると判定されると、前記蓄電装置から前記駆動装置への電力供給を停止させる停止工程とを有する、作業機械の駆動制御システムの駆動制御方法。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1712043.7A GB2550730B (en) | 2015-01-06 | 2015-12-24 | Drive control system of operating machine, operating machine including drive control system, and drive control method of operating machine |
US15/541,460 US10435866B2 (en) | 2015-01-06 | 2015-12-24 | Drive control system of operating machine, operating machine including drive control system, and drive control method of operating machine |
CN201580072501.3A CN107109823B (zh) | 2015-01-06 | 2015-12-24 | 作业机械的驱动控制系统、具备该驱动控制系统的作业机械、及其驱动控制方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015-000773 | 2015-01-06 | ||
JP2015000773A JP6557472B2 (ja) | 2015-01-06 | 2015-01-06 | 作業機械の駆動制御システム、それを備える作業機械、及びその駆動制御方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016110926A1 true WO2016110926A1 (ja) | 2016-07-14 |
Family
ID=56355654
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2015/006453 WO2016110926A1 (ja) | 2015-01-06 | 2015-12-24 | 作業機械の駆動制御システム、それを備える作業機械、及びその駆動制御方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10435866B2 (ja) |
JP (1) | JP6557472B2 (ja) |
CN (1) | CN107109823B (ja) |
GB (1) | GB2550730B (ja) |
WO (1) | WO2016110926A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6982474B2 (ja) * | 2017-11-22 | 2021-12-17 | 川崎重工業株式会社 | 油圧駆動システム |
CN108678064B (zh) * | 2018-08-28 | 2018-12-07 | 大连理工江苏研究院有限公司 | 法拉电容器驱动的挖掘机系统 |
JP7275882B2 (ja) * | 2019-06-13 | 2023-05-18 | コベルコ建機株式会社 | 建設機械の旋回制御装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011241653A (ja) * | 2010-05-21 | 2011-12-01 | Hitachi Constr Mach Co Ltd | ハイブリッド式建設機械 |
JP2012062653A (ja) * | 2010-09-15 | 2012-03-29 | Kawasaki Heavy Ind Ltd | 作業機械の駆動制御方法 |
WO2012161062A1 (ja) * | 2011-05-26 | 2012-11-29 | 住友重機械工業株式会社 | 電動式旋回装置を備えたショベル及びその制御方法 |
JP2014201978A (ja) * | 2013-04-05 | 2014-10-27 | 川崎重工業株式会社 | 作業機械の駆動制御システム、それを備える作業機械、及びその駆動制御方法 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5931245A (en) * | 1995-09-18 | 1999-08-03 | Seiko Epson Corporation | Battery control system for electric vehicle |
WO2008140359A1 (en) * | 2007-05-10 | 2008-11-20 | Volvo Construction Equipment Ab | A method and a control system for controlling a work machine |
CN104763014A (zh) * | 2008-11-10 | 2015-07-08 | 住友重机械工业株式会社 | 混合式施工机械的控制方法 |
US9000716B2 (en) * | 2009-01-28 | 2015-04-07 | Sumitomo Heavy Industries, Ltd. | Hybrid working machine and electric power accumulation controller |
KR101360698B1 (ko) * | 2009-06-09 | 2014-02-07 | 스미도모쥬기가이고교 가부시키가이샤 | 하이브리드식 쇼벨 및 그 제어방법 |
JP2012006253A (ja) | 2010-06-24 | 2012-01-12 | Olympus Corp | 画像記録装置、及び画像記録装置の制御方法 |
KR20130103305A (ko) * | 2010-06-28 | 2013-09-23 | 볼보 컨스트럭션 이큅먼트 에이비 | 하이브리드식 굴삭기의 제어시스템 |
JP2012082644A (ja) * | 2010-10-14 | 2012-04-26 | Hitachi Constr Mach Co Ltd | 建設機械 |
CN103620125B (zh) * | 2011-08-09 | 2016-05-04 | 住友建机株式会社 | 回转驱动装置 |
JP5841399B2 (ja) * | 2011-10-14 | 2016-01-13 | 日立建機株式会社 | ハイブリッド式建設機械及びその制御方法 |
WO2013061893A1 (ja) * | 2011-10-26 | 2013-05-02 | 住友重機械工業株式会社 | ハイブリッドショベル及びハイブリッドショベルの制御方法 |
KR20140101279A (ko) * | 2013-02-08 | 2014-08-19 | 스미토모 겐키 가부시키가이샤 | 쇼벨 및 쇼벨의 제어방법 |
US9702349B2 (en) * | 2013-03-15 | 2017-07-11 | ClearMotion, Inc. | Active vehicle suspension system |
CN103174186B (zh) * | 2013-03-22 | 2015-07-22 | 徐工集团工程机械股份有限公司 | 一种挖掘机的监控装置、方法及挖掘机 |
DE112013000188B4 (de) * | 2013-07-23 | 2020-06-04 | Komatsu Ltd. | Hybride Arbeitsmaschine und Verfahren zum Steuern eines Auto-Stopps eines Motors für diese |
US20160122980A1 (en) * | 2013-08-05 | 2016-05-05 | Kawasaki Jukogyo Kabushiki Kaisha | Construction machine energy regeneration apparatus |
-
2015
- 2015-01-06 JP JP2015000773A patent/JP6557472B2/ja active Active
- 2015-12-24 CN CN201580072501.3A patent/CN107109823B/zh active Active
- 2015-12-24 GB GB1712043.7A patent/GB2550730B/en active Active
- 2015-12-24 US US15/541,460 patent/US10435866B2/en not_active Expired - Fee Related
- 2015-12-24 WO PCT/JP2015/006453 patent/WO2016110926A1/ja active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011241653A (ja) * | 2010-05-21 | 2011-12-01 | Hitachi Constr Mach Co Ltd | ハイブリッド式建設機械 |
JP2012062653A (ja) * | 2010-09-15 | 2012-03-29 | Kawasaki Heavy Ind Ltd | 作業機械の駆動制御方法 |
WO2012161062A1 (ja) * | 2011-05-26 | 2012-11-29 | 住友重機械工業株式会社 | 電動式旋回装置を備えたショベル及びその制御方法 |
JP2014201978A (ja) * | 2013-04-05 | 2014-10-27 | 川崎重工業株式会社 | 作業機械の駆動制御システム、それを備える作業機械、及びその駆動制御方法 |
Also Published As
Publication number | Publication date |
---|---|
JP6557472B2 (ja) | 2019-08-07 |
GB2550730A (en) | 2017-11-29 |
JP2016125283A (ja) | 2016-07-11 |
GB2550730B (en) | 2019-05-01 |
CN107109823A (zh) | 2017-08-29 |
US10435866B2 (en) | 2019-10-08 |
CN107109823B (zh) | 2020-03-17 |
GB201712043D0 (en) | 2017-09-06 |
US20170350094A1 (en) | 2017-12-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2524995B1 (en) | Drive controller of operating machine | |
KR101613560B1 (ko) | 쇼벨 및 쇼벨의 제어방법 | |
KR101834598B1 (ko) | 하이브리드식 건설 기계 | |
EP2982867B1 (en) | Drive control system for working machine, working machine with said drive control system, and drive control method for said working machine | |
JP2009052339A (ja) | 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 | |
US9777463B2 (en) | Construction machine | |
WO2019171547A1 (ja) | 作業機械 | |
WO2015030143A1 (ja) | 作業機械 | |
WO2016110926A1 (ja) | 作業機械の駆動制御システム、それを備える作業機械、及びその駆動制御方法 | |
JP2009264024A (ja) | ハイブリッド建設機械の制御装置 | |
WO2017099063A1 (ja) | 作業機械 | |
WO2016092808A1 (ja) | 建設機械の油圧駆動システム | |
JP2013170406A (ja) | ハイブリッド型駆動装置を備えた建設機械及びその建設機械に備わる回生装置と回生方法 | |
JP6514895B2 (ja) | 作業機械の駆動制御システム、それを備える作業機械、及びその駆動制御方法 | |
JP2014169555A (ja) | ハイブリッド型駆動装置とそのハイブリッド型駆動装置を搭載した建設機械 | |
JP2006083550A (ja) | 建設機械の油圧駆動装置 | |
JP2020141477A (ja) | 作業機械 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 15876805 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15541460 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 201712043 Country of ref document: GB Kind code of ref document: A Free format text: PCT FILING DATE = 20151224 |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 15876805 Country of ref document: EP Kind code of ref document: A1 |