WO2016110927A1 - Système de commande d'entraînement de machine de travail, machine de travail équipée de celui-ci, et procédé de commande d'entraînement associé - Google Patents

Système de commande d'entraînement de machine de travail, machine de travail équipée de celui-ci, et procédé de commande d'entraînement associé Download PDF

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Publication number
WO2016110927A1
WO2016110927A1 PCT/JP2015/006457 JP2015006457W WO2016110927A1 WO 2016110927 A1 WO2016110927 A1 WO 2016110927A1 JP 2015006457 W JP2015006457 W JP 2015006457W WO 2016110927 A1 WO2016110927 A1 WO 2016110927A1
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WIPO (PCT)
Prior art keywords
power
drive
electric motor
motor
hydraulic
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PCT/JP2015/006457
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English (en)
Japanese (ja)
Inventor
陽治 弓達
和也 岩邊
英泰 村岡
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川崎重工業株式会社
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Publication of WO2016110927A1 publication Critical patent/WO2016110927A1/fr

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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
    • 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
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor

Definitions

  • the present invention relates to a drive control system in which a hydraulic motor and an electric motor cooperate to drive a structure of a work machine, and energy is regenerated by the electric motor when the structure is braked, and a work machine including the drive control system
  • the present invention relates to a drive control method.
  • 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. These work machines have a lower body capable of traveling, and an upper revolving body is provided on the upper body so as to be able to turn. A work device is attached to the upper swing body, and the orientation of the work device can be changed by turning the upper swing body. Further, the work machine is provided with a drive control system for turning the upper turning body.
  • 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. By this conversion function, the rotational speed of the motor is increased to accelerate the upper swing body, or the electric motor generates electric power to brake the upper swing body. It has come to be.
  • drive devices and electric motors are supplied with drive power from the power storage device regardless of whether or not they are driven, and constantly lose energy.
  • the drive power (so-called standby power) is supplied to the drive device and the motor even during constant speed turning or stopping by hydraulic drive that does not require the motor to generate torque, and as a result, steady loss occurs. ing. Then, the electric power stored in the power storage device is consumed where it is not related to the turning acceleration of the upper-part turning body, and the overall regeneration efficiency of the drive control system may be reduced.
  • an object of the present invention is to provide a drive control system capable of improving the regeneration efficiency.
  • the drive control system for a work machine can discharge and charge a hydraulic motor that operates a structure by receiving a supply of hydraulic fluid, a hydraulic fluid supply device that supplies the hydraulic fluid to the hydraulic motor, and the like.
  • a power storage device and an electric motor that operates the structure of the work machine in cooperation with the hydraulic motor by supplying electric power from the power storage device, and brakes the structure by generating power and regenerating the power storage device.
  • Driving the electric motor by being supplied with driving electric power, setting the electric power supplied to the electric motor and the regenerative electric power to the power storage device, and setting the electric motor target torque of the electric motor, And a control device that controls the operation of the drive device by supplying the drive power to the drive device in accordance with the motor target torque, and the control device includes the motor target torque being zero. If it is determined that satisfies the force stop condition, but adapted to stop the supply of the drive power to the drive device.
  • the present invention it is possible to prevent the power of the power storage device from being consumed due to the steady loss of the drive device and the motor during constant speed turning or stopping by hydraulic drive that does not require the motor to generate torque. .
  • the electric power consumed by the steady loss can be used when the structure is operated next, and the regeneration efficiency of the drive control system can be improved.
  • the control device acquires a storage amount of the power storage device, and when the storage amount falls below a predetermined amount, sets the motor target torque to zero and stops the supply of drive power to the drive device. Also good.
  • a speed detector that detects an operating speed of the structure body is provided, and the control device decelerates the structure body and an operating speed detected by the speed detector is equal to or less than a predetermined speed. If it is determined that the power stop condition including the above is satisfied, the motor target torque may be set to zero, and supply of drive power to the drive device may be stopped.
  • the steady loss becomes larger than the electric power obtained from the electric motor
  • Power consumption can be prevented.
  • the electric power consumed by the steady loss can be used when the structure is operated next, and the regeneration efficiency of the drive control system can be improved.
  • a work machine includes the drive control system according to any one of the above and the structure, the structure is a turning body, and the electric motor and the hydraulic motor include a speed reducer. In this way, the revolving body is driven to turn.
  • a drive control method for a drive control system is supplied from an electric motor and a hydraulic fluid supply device that actuate a structure by supplying power from a power storage device, generate power, regenerate the power storage device, and brake the structure.
  • the structure is operated in cooperation with a hydraulic motor that is driven by the hydraulic fluid, and the drive device that is operated by being supplied with the drive power uses the electric motor target torque to supply the electric power supplied by the electric motor and the regenerative electric power of the power storage device.
  • a drive control method for a drive control system that adjusts according to the following: a setting step of setting a motor target torque of the motor, and whether or not a power stop condition including satisfying that the motor target torque is zero is satisfied When it is determined that the power stop condition is satisfied in the first determination step and the first determination step, the power supply from the power storage device to the drive device is stopped.
  • a method and a stopping step of stopping the driving of the serial drive are described in detail below.
  • the present invention it is possible to prevent the power of the power storage device from being consumed due to the steady loss of the drive device and the motor during constant speed turning or stopping by hydraulic drive that does not require the motor to generate torque. .
  • the electric power consumed by the steady loss can be used when the structure is operated next, and the regeneration efficiency of the drive control system can be improved.
  • a speed detecting step for detecting an operating speed of the structure, and the operating speed detected by the operating speed detector is braked by the electric motor to decelerate the structure and decelerate, and is less than a predetermined speed.
  • a second determination step for determining whether or not a power stop condition including the above is satisfied, and when it is determined that the power stop condition is satisfied in the second determination step, the motor target torque The power supply from the power storage device to the drive device may be stopped to stop driving the drive device.
  • the regeneration efficiency can be improved.
  • FIG. 3 is a hydraulic circuit diagram showing a hydraulic circuit of the drive control system of the first and second embodiments provided in the hydraulic excavator of FIG. 1.
  • FIG. 3 is an electric circuit diagram showing an electric circuit of a drive device provided in the drive control system of FIG. 2.
  • the speed command input from the operation lever provided in the drive control system of the second embodiment, the speed record of the swing body with respect to the speed command, the output torque of the motor, the assist torque of the hydraulic motor, the output torque of the electro-oil swing motor, and the stored energy It is a sequence diagram which shows a time-dependent change. It is a flowchart which shows the procedure of the deceleration control process which the drive control system of 2nd Embodiment performs.
  • the configuration of the drive control systems 1 and 1A and the hydraulic excavator 2 including the same according to the first and second 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 system 1, 1 ⁇ / b> A and the hydraulic excavator 2, the arrangement and direction of those configurations should be limited to that direction. It is not a suggestion.
  • the structure and control of the drive control systems 1 and 1A and the hydraulic excavator 2 described below are only one embodiment of the present invention, and the present invention is not limited to the embodiment and is within the scope of the invention. Can be added, deleted and changed.
  • 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 structure 5 that is a structural body is provided with a driver's seat 5 a for a driver to board, and is 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 able to turn with respect to the traveling device 4.
  • the excavator 2 has a drive control system 1 that drives the swing body 5 to swing. Below, the structure of the drive control system 1 is demonstrated, referring 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 the pilot pressure sensors 26 and 27 detect the hydraulic pressure output from the remote control valve 12.
  • electromagnetic pressure reducing valves 13 and 14 are interposed in the pilot passages 23 and 24, respectively.
  • 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 at 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. That is, 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. 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 battery 28 can store electric power, and is configured to discharge a direct current to the driving device 36.
  • the drive device 36 has a step-up chopper 36a and an inverter 36b as shown in FIG.
  • the step-up chopper unit 36 a is connected to the capacitor 28 and has a function of boosting the direct current supplied from the capacitor 28 and stepping down the direct current supplied to the capacitor 28.
  • an inverter unit 36b is connected to the step-up chopper unit 36a, and a DC current boosted by the step-up chopper unit 36a is guided to the inverter unit 36b.
  • the inverter unit 36b is composed of a plurality of switching elements.
  • the inverter unit 36b is supplied with, for example, pulse-width-modulated driving power from a control device 50, which will be described later, and converts the DC current into AC current by switching on and off the switching element in accordance with the driving power to convert the DC current into AC current. 34 is supplied.
  • the inverter unit 36b adjusts the power supplied to the electric motor 34 in accordance with the pulse width of the driving electric power. Specifically, the inverter 36b changes the frequency of the alternating current supplied to the electric motor 34 so as to apply a desired acceleration torque to the electric motor 34. Can be generated.
  • the inverter unit 36b converts the alternating current generated in the electric motor 34 into a direct current by switching on and off of the switching element according to the driving power.
  • the driving device 36 guides the converted direct current to the battery 28 via the step-up chopper 36a and stores it in the battery 28.
  • the inverter unit 36b adjusts the regenerative power to the battery 28 in accordance with the pulse width of the drive power. Specifically, the inverter unit 36b changes the frequency of the alternating current generated in the motor 34 to give a desired braking torque to the motor 34. Can be generated (that is, a regenerative operation can be performed).
  • the drive device 36 can switch on and off the switching elements of the step-up chopper section 36a and the inverter section 36b to supply electric power to the motor 34 and charge the capacitor 28.
  • the drive device 36 cuts off the supply of drive power to the boost chopper unit 36a and the inverter unit 36b by completely turning off the function of the switching elements of the boost chopper unit 36a and the inverter unit 36b. Steady loss can be suppressed.
  • the drive device 36 is switched between a servo-on state in which drive power is supplied and a servo-off state in which supply of drive power is stopped.
  • 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 fluid supply device 9 which is a pressure fluid supply device 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.
  • 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 a set pressure. 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. . As a result, 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 as a speed detector is connected to the rotation speed of the output shaft 35 (that is, the rotation speed of the output shaft 35). ) Is detected.
  • 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 battery 28 and detects the amount of power stored in the battery 28 based on the power output from the battery 28. In addition, the control device 50 is supplied with power from the battery 28 and is operated by the supplied power. Further, the control device 50 is electrically connected to a plurality of components as will be described later, and supplies power (signal) to each connected component to drive each component.
  • 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, and is further connected to the sensors 26, 27, 42 ⁇ . 44 is also connected.
  • the control device 50 controls the operation of the valves 13 to 16 and 19 according to the detection results of the sensors 26, 27 and 42 to 44, and generates a desired assist torque (acceleration torque or braking torque) to the hydraulic motor 33. It is supposed to let you.
  • the control device 50 supplies drive power to the drive device 36 (specifically, the inverter unit 36b), and controls the operation of the drive device 36 by adjusting the supplied drive power so as to obtain a desired power.
  • An acceleration torque or a braking torque is generated in the electric motor 34.
  • the control device 50 controls the operations of the hydraulic motor 33 and the electric motor 34 to rotate the revolving structure 5 with desired operations (rotation direction, speed and torque).
  • control device 50 can control the operations of the valves 13 to 16, 19 and the drive device 36, respectively, so that the hydraulic motor 33 and the electric motor 34 function as a brake, and can brake the turning body 5 turning. It has become. Further, the control device 50 can stop the supply of drive power to the drive device 36 and switch the drive device 36 to the servo-off state.
  • control operation of the control device 50 will be described with reference to the sequence diagram of FIG.
  • the control device 50 starts the drive control process when the excavator 2 is powered on.
  • the control device 50 should first calculate the target total torque based on the speed difference between the speed command signal VCOM and the speed feedback signal VFB, and then generate the target total torque from the motor 34 based on the amount of power stored in the battery 28.
  • Torque is set as the motor target torque (acceleration torque or braking torque).
  • the control device 50 sets the motor target torque when driving the revolving body 5 to zero.
  • the predetermined amount is an amount of electricity that cannot be efficiently driven by the battery 28. In this way, the motor target torque is set.
  • the control device 50 stops supplying the drive power to the drive device 36 and switches the state of the drive device 36 to the servo-off state. (Or keep). That the motor target torque is zero includes that the motor target torque is zero or a value in the vicinity thereof. This eliminates the steady loss that occurs in the drive unit 36 and the motor 34 during acceleration, constant speed turning, and stopping, which does not require torque generation in the motor, and the capacitor is stored during acceleration, constant speed turning, and stopping. 28 can prevent power consumption. In addition, when the amount of electricity stored in the battery 28 becomes equal to or less than a predetermined amount, the electric motor target torque is set to zero, and in this case also, the supply of drive power to the drive device 36 is stopped. Thereby, it is possible to prevent the electric power of the battery 28 from being excessively discharged due to the steady loss of the driving device 36 and the electric motor 34.
  • the control device 50 switches (or maintains) the state of the drive device 36 to the servo-on state, and the motor 34 is set to the motor target.
  • the operation of the drive device 36 is controlled so as to generate torque.
  • the control device 50 gives drive power to the drive device 36 to accelerate the revolving body 5, and accelerates torque (motor target) from the motor 34. Torque) is output, and the revolving structure 5 is accelerated to a desired speed. Further, as shown in FIG.
  • control device 50 applies drive power according to the motor target torque to the drive device 36 to adjust the supply power of the motor 34 or the regenerative power from the motor 34, and causes the motor 34 to accelerate or brake the revolving body 5.
  • the drive control system 1 that performs such drive control, 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 when the revolving structure 5 is turning at a constant speed, at the time of stopping, and at the time of low power storage. it can.
  • 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, but executes a deceleration control process as shown below in addition to the drive control process described above. It is like that. Below, the point of the deceleration control process which is a different point from the drive control system 1 of 1st Embodiment in the drive control system 1A of 2nd Embodiment is demonstrated, referring FIG.5 and FIG.6. In addition, regarding the configuration of the drive control system 1A of the second embodiment, the same components as those of the drive control system 1 of the first embodiment are denoted by the same reference numerals, and description thereof is omitted.
  • 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. Then, the deceleration control process starts and the process proceeds to step S1 in FIG.
  • the flowchart in FIG. 6 is for the case where the servo is turned off when the discharge power due to the steady loss of the drive device 36 is larger than the charge power due to the regenerative operation of the motor 34 during deceleration by the motor 34.
  • step S1 which is a regenerative braking process
  • the control device 50 decelerates the output shaft 35 by causing the electric motor 34 to perform a regenerative operation. 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.
  • the 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.
  • the process proceeds to step S2.
  • step S2 which is a process for determining a power stop condition
  • the control device 50 determines whether or not the power stop condition is satisfied.
  • the power 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 operates the swing body 5 by the hydraulic motor 33. More 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 pressure 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 motor 34 can be eliminated at the time of braking that does not require the motor to generate torque. It is possible to prevent power consumption. 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, it is determined whether or not the speed of the turning body 5 is substantially zero (below the speed at which the turning body 5 can be determined to have stopped) regardless of the forward direction and the reverse direction.
  • the control device 50 determines whether or not the speed of the swing body 5 is substantially zero based on the rotation speed detected by the rotation speed sensor 44, and determines that the speed of the swing body 5 is approximately zero. The deceleration control of the 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 power consumed by the steady loss (see the dotted line portion in the stored energy in FIG. 4) is the power required to turn the revolving body 5 next (see the shaded portion in the stored energy in FIG. 5). Can be used as Therefore, the regeneration efficiency of the drive control system 1 can be further improved.
  • 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 electro-hydraulic turning motor 17 in which the hydraulic motor 33 and the electric motor 34 are integrally formed is used.
  • the electric oil turning motor 17 may be configured only by the electric motor 34.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Stopping Of Electric Motors (AREA)

Abstract

La présente invention concerne un système de commande d'entraînement pourvu d'un moteur hydraulique, d'un dispositif d'alimentation en huile hydraulique, d'un moteur électrique, d'une unité de stockage d'électricité, d'un dispositif d'entraînement, et d'un dispositif de commande. Le dispositif d'entraînement permet à l'unité de stockage d'électricité de fournir de l'énergie au moteur électrique pour faire fonctionner le moteur électrique et freine un corps tournant tout en stockant l'énergie générée dans le moteur électrique dans l'unité de stockage d'électricité. Le dispositif de commande définit un couple cible de moteur électrique du moteur électrique et commande le fonctionnement du dispositif d'entraînement en fournissant une puissance d'entraînement au dispositif d'entraînement de telle sorte que le moteur électrique génère un couple cible du moteur électrique. Lorsqu'il est déterminé qu'une condition d'arrêt de couple est satisfaite, le dispositif de commande arrête également la puissance motrice fournie au dispositif d'entraînement à partir de l'unité de stockage d'électricité. La condition d'arrêt de couple est une condition dans laquelle le couple cible de moteur électrique est sensiblement nul.
PCT/JP2015/006457 2015-01-06 2015-12-24 Système de commande d'entraînement de machine de travail, machine de travail équipée de celui-ci, et procédé de commande d'entraînement associé WO2016110927A1 (fr)

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JP2015000774A JP6514895B2 (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
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Cited By (1)

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CN106320418A (zh) * 2016-09-18 2017-01-11 长沙理工大学 一种微型挖掘机的燃料电池驱动系统

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JP2011211787A (ja) * 2010-03-29 2011-10-20 Hitachi Constr Mach Co Ltd 建設機械
JP2014007847A (ja) * 2012-06-25 2014-01-16 Denso Corp 回転機の制御装置
WO2014162745A1 (fr) * 2013-04-05 2014-10-09 川崎重工業株式会社 Système de commande d'entraînement pour un engin de chantier, engin de chantier doté dudit système de commande d'entraînement, et procédé de commande d'entraînement pour ledit engin de chantier

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DE69515668T2 (de) * 1994-11-29 2000-10-26 Mitsubishi Motors Corp Bremsregelvorrichtung für ein elektrisches fahrzeug
JP6270029B2 (ja) * 2011-05-26 2018-01-31 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

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JP2011211787A (ja) * 2010-03-29 2011-10-20 Hitachi Constr Mach Co Ltd 建設機械
JP2014007847A (ja) * 2012-06-25 2014-01-16 Denso Corp 回転機の制御装置
WO2014162745A1 (fr) * 2013-04-05 2014-10-09 川崎重工業株式会社 Système de commande d'entraînement pour un engin de chantier, engin de chantier doté dudit système de commande d'entraînement, et procédé de commande d'entraînement pour ledit engin de chantier

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106320418A (zh) * 2016-09-18 2017-01-11 长沙理工大学 一种微型挖掘机的燃料电池驱动系统

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