WO2016114406A1 - ハイブリッド作業機械の制御装置、ハイブリッド作業機械、及びハイブリッド作業機械の制御方法 - Google Patents
ハイブリッド作業機械の制御装置、ハイブリッド作業機械、及びハイブリッド作業機械の制御方法 Download PDFInfo
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- WO2016114406A1 WO2016114406A1 PCT/JP2016/051624 JP2016051624W WO2016114406A1 WO 2016114406 A1 WO2016114406 A1 WO 2016114406A1 JP 2016051624 W JP2016051624 W JP 2016051624W WO 2016114406 A1 WO2016114406 A1 WO 2016114406A1
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- Prior art keywords
- combustion engine
- internal combustion
- output
- generator motor
- work machine
- Prior art date
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Images
Classifications
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- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
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- F01N3/08—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous
- F01N3/10—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
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- F01N3/08—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous
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- F01N3/18—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust characterised by methods of operation; Control
- F01N3/20—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust characterised by methods of operation; Control specially adapted for catalytic conversion ; Methods of operation or control of catalytic converters
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F02D29/06—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving electric generators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/40—Engine management systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/904—Component specially adapted for hev
- Y10S903/906—Motor or generator
Definitions
- the present invention relates to a control device for a hybrid work machine, a hybrid work machine, and a control method for the hybrid work machine.
- the work machine includes, for example, an internal combustion engine as a power source that generates power for traveling or power for operating the work machine.
- an internal combustion engine and a generator motor are combined to use the power generated by the internal combustion engine as power for a work machine, and the generator motor is driven by the internal combustion engine.
- the hybrid work machine has a power storage device that stores, for example, power generated by a generator motor.
- Such a hybrid work machine supplies the electric power stored in the power storage device to the generator motor based on the work request of the work machine, such as an assist operation when increasing the rotational speed of the internal combustion engine. Can be driven.
- the above-described hybrid work machine performs control to limit the output of the internal combustion engine when the operation is continued in a state where untreated exhaust gas is discharged from the internal combustion engine.
- the output of the internal combustion engine is limited, it is difficult to secure an output for storing power in the power storage device, so that the power storage capacity of the power storage device may decrease and the power generation output may be insufficient.
- aspects of the present invention provide a control device for a hybrid work machine, a hybrid work machine, and a control of the hybrid work machine that can prevent the power storage device from becoming insufficient in power generation output when the output of the internal combustion engine is limited. It aims to provide a method.
- a work machine an internal combustion engine that supplies power to the work machine, a generator motor that is connected to an output shaft of the internal combustion engine, and the electric power generated by the generator motor are stored.
- a control device for controlling a hybrid work machine having a power storage device that supplies power to the generator motor, a determination unit that determines whether the output of the internal combustion engine is limited, and the output
- an assist control unit that restricts an assist operation for supplying electric power stored in the power storage device to the generator motor when increasing the output of the internal combustion engine based on a work request of the work machine during work
- the assist Provided is a control device for a hybrid work machine comprising: an engine control unit that controls the internal combustion engine and the generator motor in a state where the assist operation is restricted by the control unit. It is.
- the assist control unit is provided with the hybrid work machine control device that stops the assist operation when the output is limited. Is done.
- the determination unit determines that the internal combustion engine and peripheral devices of the internal combustion engine are in an abnormal state. And when the exhaust gas treatment device is provided in the internal combustion engine, it is determined that the output is limited in at least one of the cases where the purification capability of the exhaust gas treatment device is reduced or may be reduced.
- a control device for a hybrid work machine is provided.
- the peripheral device injects fuel into the internal combustion engine, an exhaust gas treatment device for treating exhaust gas of the internal combustion engine, and There is provided a control device for a hybrid work machine including an injection device and a cooling device for cooling the internal combustion engine.
- the engine control unit is configured so that the engine control unit There is provided a control device for a hybrid work machine that changes from the control for increasing the rotational speed of the internal combustion engine based on the work request to the matching rotational speed in the output restriction mode.
- an internal combustion engine a generator motor connected to the output shaft of the internal combustion engine, and power stored in the power generated by the generator motor or supplied to the generator motor
- a hybrid work machine includes an apparatus and a control device for a hybrid work machine according to any one of the first to fifth aspects, which controls the internal combustion engine, the generator motor, and the power storage device.
- the work machine in the hybrid work machine according to the sixth aspect, includes a traveling body, and a revolving body that is provided on an upper portion of the traveling body and is capable of turning with respect to the traveling body.
- a hybrid work machine further including an electric motor that is provided so that electric power is supplied from at least one of the generator motor and the power storage device, and that drives the swivel body.
- a hybrid work machine comprising: an internal combustion engine that drives a work machine; and a generator motor that is connected to the internal combustion engine and transfers power to and from a power storage device.
- the power stored in the power storage device when increasing the output of the internal combustion engine based on the work request of the work implement at the time of work.
- the power storage device when the output of the internal combustion engine is limited, the power storage device can be prevented from being insufficient in power generation output.
- FIG. 1 is a perspective view showing a hydraulic excavator 1 that is a work machine according to an embodiment.
- the excavator 1 includes a vehicle body 2 and a work machine 3.
- the vehicle main body 2 includes a lower traveling body 4 and an upper swing body 5.
- the lower traveling body 4 includes a pair of traveling devices 4a and 4a.
- Each traveling device 4a, 4a has crawler belts 4b, 4b, respectively.
- Each traveling device 4 a, 4 a has a traveling motor 21.
- the traveling motor 21 shown in FIG. 2 drives the left crawler belt 4b.
- the hydraulic excavator 1 also has a traveling motor that drives the right crawler belt 4b.
- the traveling motor that drives the left crawler belt 4b is referred to as a left traveling motor
- the traveling motor that drives the right crawler belt 4b is referred to as a right traveling motor.
- the right traveling motor and the left traveling motor drive or turn the hydraulic excavator 1 by driving the crawler belts 4b and 4b, respectively.
- the upper turning body 5 which is an example of the turning body is provided on the lower traveling body 4 so as to be turnable.
- the excavator 1 is turned by a turning motor for turning the upper turning body 5.
- the swing motor may be an electric motor that converts electric power into rotational force, a hydraulic motor that converts hydraulic oil pressure (hydraulic pressure) into rotational force, or a combination of a hydraulic motor and an electric motor. It may be.
- the turning motor is an electric motor.
- the upper swing body 5 has a cab 6. Further, the upper swing body 5 includes a fuel tank 7, a hydraulic oil tank 8, an engine room 9, and a counterweight 10.
- the fuel tank 7 stores fuel for driving the engine.
- the hydraulic oil tank 8 stores hydraulic oil discharged from the hydraulic pump to hydraulic equipment such as the boom cylinder 14, the hydraulic cylinders of the arm cylinder 15 and the bucket cylinder 16, and the traveling motor 21.
- the engine room 9 houses an engine serving as a power source for the hydraulic excavator and devices such as a hydraulic pump that supplies hydraulic oil to the hydraulic device.
- the counterweight 10 is disposed behind the engine room 9.
- a handrail 5T is attached to the upper part of the upper swing body 5.
- the work machine 3 is attached to the front center position of the upper swing body 5.
- the work machine 3 includes a boom 11, an arm 12, a bucket 13, a boom cylinder 14, an arm cylinder 15, and a bucket cylinder 16.
- the base end portion of the boom 11 is pin-coupled to the upper swing body 5. With such a structure, the boom 11 operates with respect to the upper swing body 5.
- the boom 11 is pin-coupled with the arm 12. More specifically, the distal end portion of the boom 11 and the proximal end portion of the arm 12 are pin-coupled. The tip of the arm 12 and the bucket 13 are pin-coupled. With such a structure, the arm 12 operates with respect to the boom 11. Further, the bucket 13 operates with respect to the arm 12.
- the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16 are hydraulic cylinders that are driven by hydraulic oil discharged from a hydraulic pump.
- the boom cylinder 14 operates the boom 11.
- the arm cylinder 15 operates the arm 12.
- the bucket cylinder 16 operates the bucket 13.
- FIG. 2 is a schematic diagram illustrating a drive system of the hydraulic excavator 1 according to the embodiment.
- the excavator 1 is discharged from the internal combustion engine 17, the generator motor 19 that is driven by the internal combustion engine 17 to generate power, the power storage device 22 that stores power, and the power generated by the generator motor 19 or the power storage device 22.
- This is a hybrid work machine combined with an electric motor that is supplied with electric power to be driven.
- the excavator 1 causes the upper swing body 5 to swing with an electric motor 24 (hereinafter, referred to as a swing motor 24 as appropriate).
- the hydraulic excavator 1 includes an internal combustion engine 17, a hydraulic pump 18, a generator motor 19, and a turning motor 24.
- the internal combustion engine 17 is a power source of the excavator 1.
- the internal combustion engine 17 is a diesel engine.
- the generator motor 19 is connected to the output shaft 17S of the internal combustion engine 17. With such a structure, the generator motor 19 is driven by the internal combustion engine 17 to generate electric power.
- the generator motor 19 is driven by the power supplied from the power storage device 22 to assist the internal combustion engine 17 when the power generated by the internal combustion engine 17 is insufficient.
- the internal combustion engine 17 is a diesel engine, but is not limited thereto.
- the generator motor 19 is, for example, an SR (switched reluctance) motor, but is not limited thereto.
- the generator motor 19 has the rotor 19R directly coupled to the output shaft 17S of the internal combustion engine 17, but is not limited to such a structure.
- the rotor 19R and the output shaft 17S of the internal combustion engine 17 may be connected via a PTO (Power Take Off).
- the rotor 19R of the generator motor 19 may be coupled to a transmission means such as a speed reducer connected to the output shaft 17S of the internal combustion engine 17 and may be driven by the internal combustion engine 17.
- a combination of the internal combustion engine 17 and the generator motor 19 is a power source of the excavator 1.
- a combination of the internal combustion engine 17 and the generator motor 19 is appropriately referred to as an engine 36.
- the engine 36 is a hybrid engine in which the internal combustion engine 17 and the generator motor 19 are combined to generate power required by the hydraulic excavator 1 that is a work machine.
- the internal combustion engine 17 includes, as peripheral devices, for example, an exhaust gas processing device 40 that processes exhaust gas, an injection device 45 that injects fuel, and a cooling device 46 that circulates cooling water that cools the internal combustion engine 17.
- the exhaust gas treatment device 40 will be described later.
- the injection device 45 is a so-called common rail type device having, for example, a pressure accumulation chamber and an injector.
- the injection device 45 is controlled by the engine controller 30. Specifically, the engine controller 30 injects an appropriate amount of fuel from the injector according to operating conditions such as the rotational speed and load of the internal combustion engine 17.
- the injection device 45 is not limited to the common rail system.
- the cooling device 46 has a drive source (not shown) such as a pump that drives the cooling water.
- the cooling device 46 has a temperature sensor (not shown) that detects the temperature of the cooling water and outputs it from the engine controller 30.
- the hydraulic pump 18 supplies hydraulic oil to the hydraulic equipment.
- a variable displacement hydraulic pump such as a swash plate hydraulic pump is used as the hydraulic pump 18.
- the input part 18 ⁇ / b> I of the hydraulic pump 18 is connected to a power transmission shaft 19 ⁇ / b> S connected to the rotor of the generator motor 19. With such a structure, the hydraulic pump 18 is driven by the internal combustion engine 17.
- the drive system 1PS includes a power storage device 22 and a swing motor control device 24I as an electric drive system for driving the swing motor 24.
- the power storage device 22 is a capacitor, more specifically, an electric double layer capacitor, but is not limited thereto, and may be a secondary battery such as a nickel metal hydride battery, a lithium ion battery, and a lead storage battery. Good.
- the turning motor control device 24I is, for example, an inverter. For example, when the hydraulic excavator 1 is operated, the target voltage value stored in the power storage device 22 is controlled to be a constant value.
- the electric power generated by the generator motor 19 or the electric power discharged from the power storage device 22 is supplied to the turning motor 24 through the power cable to turn the upper turning body 5 shown in FIG. That is, the turning motor 24 turns the upper turning body 5 by performing a power running operation with electric power supplied (generated) from the generator motor 19 or electric power supplied (discharged) from the power storage device 22.
- the swing motor 24 regenerates when the upper swing body 5 decelerates to supply (charge) electric power to the power storage device 22.
- the generator motor 19 supplies (charges) the power generated by itself to the power storage device 22. That is, the power storage device 22 can also store the power generated by the generator motor 19.
- the generator motor 19 is driven by the internal combustion engine 17 to generate electric power, or is driven by the electric power supplied from the power storage device 22 to drive the internal combustion engine 17.
- the hybrid controller 23 controls the generator motor 19 via the generator motor controller 19I. That is, the hybrid controller 23 generates a control signal for driving the generator motor 19 and supplies it to the generator motor controller 19I.
- the generator motor control device 19I generates power (regeneration) in the generator motor 19 or generates power (powering) in the generator motor 19 based on the control signal.
- the generator motor control device 19I is, for example, an inverter.
- the generator motor 19 is provided with a rotation sensor 25m.
- the rotation sensor 25m detects the rotation speed of the generator motor 19, that is, the rotation number of the rotor 19R per unit time.
- the rotation sensor 25m converts the detected rotation speed into an electrical signal and outputs it to the hybrid controller 23.
- the hybrid controller 23 acquires the rotational speed of the generator motor 19 detected by the rotation sensor 25m, and uses it to control the operating state of the generator motor 19 and the internal combustion engine 17.
- a resolver or a rotary encoder is used as the rotation sensor 25m.
- a PTO or the like is interposed between the generator motor 19 and the internal combustion engine 17.
- the rotational speed of the generator motor 19 and the rotational speed of the internal combustion engine 17 have a certain ratio due to a gear ratio such as PTO.
- the rotation sensor 25m may detect the rotation speed of the rotor 19R of the generator motor 19, and the hybrid controller 23 may convert the rotation speed into a rotation speed.
- the rotation speed of the generator motor 19 can be substituted with the value detected by the rotation speed detection sensor 17n of the internal combustion engine 17.
- the generator motor 19 and the internal combustion engine 17 may be directly connected without using a PTO or the like.
- the turning motor 24 is provided with a rotation sensor 25m.
- the rotation sensor 25m detects the rotation speed of the turning motor 24.
- the rotation sensor 25m converts the detected rotation speed into an electrical signal and outputs it to the hybrid controller 23.
- an embedded magnet synchronous motor is used as the turning motor 24.
- a resolver or a rotary encoder is used as the rotation sensor 25m.
- the hybrid controller 23 is provided with a temperature sensor such as a thermistor or a thermocouple provided in the generator motor 19, the swing motor 24, the power storage device 22, the booster 22c, the swing motor control device 24I, and the generator motor control device 19I described later. Get the signal.
- the hybrid controller 23 manages the temperature of each device such as the power storage device 22 based on the acquired temperature, and controls charging / discharging of the power storage device 22, power generation control by the generator motor 19, auxiliary control of the internal combustion engine 17, and turning Power running control and regenerative control of the motor 24 are executed. Moreover, the hybrid controller 23 executes the control method according to the embodiment.
- the drive system 1PS has operation levers 26R and 26L provided at the left and right positions with respect to the operator seating position in the cab 6 provided in the vehicle main body 2 shown in FIG.
- the operation levers 26 ⁇ / b> R and 26 ⁇ / b> L are devices that operate the work machine 3 and travel the hydraulic excavator 1.
- the operation levers 26R and 26L operate the work implement 3 and the upper swing body 5 according to respective operations.
- the pilot hydraulic pressure is generated based on the operation amount of the operation levers 26R and 26L.
- the pilot hydraulic pressure is supplied to a control valve described later.
- the control valve adjusts the flow rate of the hydraulic oil supplied to the work machine 3 according to the pilot hydraulic pressure, and supplies the hydraulic oil to the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16.
- the boom 11 is lowered and raised according to the operation before and after the operation lever 26R, and the bucket 13 is excavated and dumped according to the left and right operations of the operation lever 26R.
- the dumping / digging operation of the arm 12 is performed by the front / rear operation of the operation lever 26L.
- the operation amount of the operation levers 26R and 26L is converted into an electric signal by the lever operation amount detection unit 27.
- the lever operation amount detection unit 27 includes a pressure sensor 27S.
- the pressure sensor 27S detects pilot oil pressure generated in response to the operation of the operation levers 26L and 26R.
- the pressure sensor 27S outputs a voltage corresponding to the detected pilot hydraulic pressure.
- the lever operation amount detector 27 calculates the lever operation amount by converting the voltage output from the pressure sensor 27S into the operation amount.
- the lever operation amount detector 27 outputs the lever operation amount as an electrical signal to at least one of the pump controller 33 and the hybrid controller 23.
- the lever operation amount detection unit 27 includes an electric detection device such as a potentiometer.
- the lever operation amount detection unit 27 calculates the lever operation amount by converting the voltage generated by the electric detection device in accordance with the lever operation amount into the lever operation amount.
- the turning motor 24 is driven in the left and right turning directions by the left and right operation of the operation lever 26L.
- the traveling motor 21 is driven by left and right traveling levers (not shown).
- the fuel adjustment dial 28 is provided in the cab 6 shown in FIG.
- the fuel adjustment dial 28 is appropriately referred to as a throttle dial 28.
- the throttle dial 28 sets the fuel supply amount to the internal combustion engine 17.
- a set value (also referred to as a command value) of the throttle dial 28 is converted into an electric signal and output to an internal combustion engine control device (hereinafter also referred to as an engine controller) 30.
- the rotation speed of the internal combustion engine 17 is set by the throttle dial 28.
- the engine controller 30 acquires sensor output values such as the rotational speed and water temperature of the internal combustion engine 17 from sensors 17C that detect the state of the internal combustion engine 17. Then, the engine controller 30 grasps the state of the internal combustion engine 17 from the acquired output values of the sensors 17C, and controls the output of the internal combustion engine 17 by adjusting the fuel injection amount to the internal combustion engine 17.
- the engine controller 30 includes a computer having a processor such as a CPU and a memory.
- the engine controller 30 generates a control command signal for controlling the operation of the internal combustion engine 17 based on the set value of the throttle dial 28.
- the engine controller 30 transmits the generated control signal to the common rail control unit 32.
- the common rail control unit 32 that has received this control signal adjusts the fuel injection amount for the internal combustion engine 17. That is, in the embodiment, the internal combustion engine 17 is a diesel engine capable of electronic control by a common rail type.
- the engine controller 30 can cause the internal combustion engine 17 to generate a target output by controlling the fuel injection amount to the internal combustion engine 17 via the common rail control unit 32.
- the engine controller 30 can also freely set a torque that can be output at the rotational speed of the internal combustion engine 17 at a certain moment.
- the hybrid controller 23 and the pump controller 33 receive the set value of the throttle dial 28 from the engine controller 30.
- the internal combustion engine 17 includes a rotation speed detection sensor 17n.
- the rotational speed detection sensor 17n detects the rotational speed of the output shaft 17S of the internal combustion engine 17, that is, the rotational speed of the output shaft 17S per unit time.
- the engine controller 30 and the pump controller 33 acquire the rotational speed of the internal combustion engine 17 detected by the rotational speed detection sensor 17n and use it to control the operating state of the internal combustion engine 17.
- the rotational speed detection sensor 17n may detect the rotational speed of the internal combustion engine 17, and the engine controller 30 and the pump controller 33 may convert the rotational speed into the rotational speed.
- the actual rotation speed of the internal combustion engine 17 can be substituted with a value detected by the rotation sensor 25 m of the generator motor 19.
- the pump controller 33 controls the flow rate of hydraulic oil discharged from the hydraulic pump 18.
- the pump controller 33 includes a computer having a processor such as a CPU and a memory.
- the pump controller 33 receives signals transmitted from the engine controller 30 and the lever operation amount detection unit 27.
- the pump controller 33 generates a control command signal for adjusting the flow rate of the hydraulic oil discharged from the hydraulic pump 18.
- the pump controller 33 changes the flow rate of the hydraulic oil discharged from the hydraulic pump 18 by changing the swash plate angle of the hydraulic pump 18 using the generated control signal.
- the pump controller 33 receives a signal from a swash plate angle sensor 18 a that detects the swash plate angle of the hydraulic pump 18.
- the pump controller 33 can calculate the pump capacity of the hydraulic pump 18.
- a pump pressure detection unit 20 a for detecting a discharge pressure of the hydraulic pump 18 (hereinafter, appropriately referred to as pump discharge pressure) is provided. The detected pump discharge pressure is converted into an electrical signal and input to the pump controller 33.
- the engine controller 30, the pump controller 33, and the hybrid controller 23 are connected by, for example, an in-vehicle LAN (Local Area Network) 35 such as a CAN (Controller Area Network).
- an in-vehicle LAN Local Area Network
- CAN Controller Area Network
- At least the engine controller 30 controls the operating state of the internal combustion engine 17.
- the engine controller 30 controls the operating state of the internal combustion engine 17 also using information generated by at least one of the pump controller 33 and the hybrid controller 23.
- at least one of the engine controller 30, the pump controller 33, and the hybrid controller 23 functions as a control device for the hybrid work machine. That is, at least one of these implements the hybrid work machine control method according to the embodiment, and controls the operating state of the engine 36.
- the engine controller 30, the pump controller 33, and the hybrid controller 23 are not distinguished from each other, they may be referred to as a control device for a hybrid work machine.
- the engine controller 30 realizes the function of the control device of the hybrid work machine.
- the monitor 38 has a display unit 38M and an operation unit 38SW.
- the display unit 38M displays information related to the state of the hydraulic excavator 1, for example, the rotational speed of the internal combustion engine 17, the coolant temperature of the internal combustion engine 17, the pressure of hydraulic oil discharged from the hydraulic pump 18, the storage capacity of the power storage device 22, and the like.
- the operation unit 38SW is a mechanism for switching the operation mode of the excavator 1 and displaying various menus for selection.
- Examples of the operation mode of the hydraulic excavator 1 include a fuel saving mode in which the rotational speed of the internal combustion engine 17 is in an idling state.
- the auto-decel function is set.
- the auto-decel function is intended to improve the fuel consumption by shifting to the rotation decel mode when a predetermined condition is satisfied in the working state.
- the setting of the auto-decel function can be canceled as appropriate by the operator of the excavator 1.
- the operation mode of the hydraulic excavator 1 is not limited to those exemplified in the embodiment, and there are various other operation modes.
- the operation mode of the excavator 1 may be switched by, for example, an operation mode switching switch installed in the cab 6 of the excavator 1 shown in FIG. 1 other than the operation unit 38SW of the monitor 38.
- FIG. 3 is a diagram illustrating an example of the internal combustion engine 17 and the exhaust gas treatment device 40.
- the exhaust gas treatment device 40 is a device that purifies the exhaust gas discharged from the internal combustion engine 17 to the exhaust pipe 44.
- the exhaust gas treatment device 40 reduces NOx (nitrogen oxide) contained in the exhaust gas, for example.
- the exhaust gas treatment device 40 supplies the reducing agent R to the particulate collection filter 41 that removes particulates such as soot from the exhaust gas of the internal combustion engine 17, the reduction catalyst 42 that reduces NOx in the exhaust gas, and the exhaust pipe 44.
- a fuel dozer 45 for supplying fuel to the exhaust pipe 44.
- the particulate collection filter 41 includes a diesel oxidation catalyst 41a, a particulate matter removal filter 41b, a temperature sensor 41c, and a differential pressure sensor 41d.
- the diesel oxidation catalyst 41 a and the particulate matter removal filter 41 b are provided inside the exhaust pipe 44.
- a diesel oxidation catalyst 41a is disposed upstream of the exhaust pipe 44, and a particulate matter removal filter 41b is disposed downstream.
- the diesel oxidation catalyst 41a is realized by, for example, Pt (platinum) or the like, and oxidizes CO (carbon monoxide), HC (hydrocarbon) contained in exhaust gas, and SOF (organic soluble component) contained in particulate matter. Remove.
- FIG. 4 is a diagram illustrating an example of a torque diagram used for controlling the engine 36 according to the embodiment.
- the torque diagram is used to control the engine 36, more specifically the internal combustion engine 17.
- the torque diagram shows the relationship between the torque T (N ⁇ m) of the output shaft 17S of the internal combustion engine 17 and the rotational speed n (rpm: rev / min) of the output shaft 17S.
- the rotor 19R of the generator motor 19 is connected to the output shaft 17S of the internal combustion engine 17.
- the rotational speed n of the output shaft 17S of the internal combustion engine 17 is the same as the rotational speed of the rotor 19R of the generator motor 19.
- the rotation speed n means at least one of the rotation speed of the output shaft 17S of the internal combustion engine 17 and the rotation speed of the rotor 19R of the generator motor 19.
- the output of the internal combustion engine 17 and the output when the generator motor 19 operates as a motor are horsepower, and the unit is power.
- the generator motor 19 operates as a generator, the output is electric power, and the unit is power.
- the torque diagram includes a maximum torque line TL, a limit line VL, a pump absorption torque line PL, a matching route ML, and an output instruction line IL.
- the maximum torque line TL indicates the maximum output that can be generated by the internal combustion engine 17 during operation of the excavator 1 shown in FIG.
- the maximum torque line TL indicates the relationship between the rotational speed n of the internal combustion engine 17 and the torque T that can be generated by the internal combustion engine 17 at each rotational speed n.
- the torque diagram is used for controlling the internal combustion engine 17.
- the engine controller 30 stores a torque diagram in a storage unit and uses it for controlling the internal combustion engine 17.
- At least one of the hybrid controller 23 and the pump controller 33 may also store a torque diagram in the storage unit.
- the torque T of the internal combustion engine 17 indicated by the maximum torque line TL is determined in consideration of the durability of the internal combustion engine 17 and the exhaust smoke limit. For this reason, the internal combustion engine 17 can generate a torque larger than the torque T corresponding to the maximum torque line TL.
- the engine control device for example, the engine controller 30 controls the internal combustion engine 17 so that the torque T of the internal combustion engine 17 does not exceed the maximum torque line TL.
- the intersection Pcnt is referred to as a rated point.
- the output of the internal combustion engine 17 at the rated point Pcnt is referred to as the rated output.
- the maximum torque line TL is determined from the exhaust smoke limit as described above.
- the limit line VL is determined based on the maximum rotation speed. Therefore, the rated output is the maximum output of the internal combustion engine 17 determined based on the exhaust smoke limit and the maximum rotation speed of the internal combustion engine 17.
- the limit line VL limits the rotational speed n of the internal combustion engine 17. That is, the rotational speed n of the internal combustion engine 17 is controlled by an engine control device such as the engine controller 30 so as not to exceed the limit line VL.
- the limit line VL defines the maximum rotational speed of the internal combustion engine 17.
- the engine control device for example, the engine controller 30, controls the maximum rotation speed of the internal combustion engine 17 so as not to exceed the rotation speed defined by the limit line VL.
- the pump absorption torque line PL indicates the maximum torque (pump absorption torque command value) that can be absorbed by the hydraulic pump 18 shown in FIG. 2 with respect to the rotational speed n of the internal combustion engine 17.
- the internal combustion engine 17 balances the output of the internal combustion engine 17 and the load of the hydraulic pump 18 on the matching route ML.
- the matching route ML may be set so as to pass through a point where the fuel consumption rate is good.
- the output instruction line IL indicates the target of the rotational speed n and torque T of the internal combustion engine 17. That is, the internal combustion engine 17 is controlled to have the rotational speed n and the torque T obtained from the output instruction line IL.
- the output instruction line IL corresponds to a second relationship indicating the relationship between the torque T of the internal combustion engine 17 and the rotation speed n, which is used to define the magnitude of the power generated by the internal combustion engine 17.
- the output instruction line IL is a horsepower generated in the internal combustion engine 17, that is, an output command value (hereinafter, referred to as an output command value as appropriate).
- the engine control device for example, the engine controller 30 controls the torque T and the rotational speed n of the internal combustion engine 17 so as to be the torque T and the rotational speed n on the output instruction line IL corresponding to the output command value.
- the torque T and the rotation speed n of the internal combustion engine 17 are controlled to be values on the output instruction line ILt.
- the torque diagram includes a plurality of output instruction lines IL.
- a value between adjacent output instruction lines IL is obtained by interpolation, for example.
- the output instruction line IL is an equal horsepower line.
- the constant horsepower line is a line in which the relationship between the torque T and the rotational speed n is determined so that the output of the internal combustion engine 17 is constant.
- the output instruction line IL is not limited to the equal horsepower line, and an arbitrary line of the equal throttle line may be set.
- the internal combustion engine 17 is controlled to have the torque T and the rotation speed nm of the matching point MP.
- Matching point MP is an intersection of matching route ML indicated by a solid line in FIG. 4, output instruction line ILt indicated by a solid line in FIG. 4, and pump absorption torque line PL indicated by a solid line.
- the matching point MP is a point where the output of the internal combustion engine 17 and the load of the hydraulic pump 18 are balanced.
- the output instruction line ILt indicated by a solid line corresponds to the output target of the internal combustion engine 17 and the target output of the internal combustion engine 17 that are absorbed by the hydraulic pump 18 at the matching point MP.
- the pump absorption torque line PL is arranged at a position obtained by adding the horsepower absorbed by the generator motor 19, that is, the power generation output Wga and the output of the internal combustion engine 17 absorbed by the hydraulic pump 18.
- the A pump absorption torque line PL corresponding to the output of the internal combustion engine 17 absorbed by the hydraulic pump 18 is arranged at a position indicated by a dotted line.
- the output instruction line ILg corresponds to the output of the pump absorption torque line PL indicated by the dotted line.
- the pump absorption torque line PL intersects with the output instruction line ILg at the rotation speed nm at the matching point MPa.
- the output instruction line ILt passing through the matching point MPa is obtained by adding the power generation output Wga absorbed by the generator motor 19 to the output instruction line ILg.
- an example is shown in which the output of the internal combustion engine 17 and the load of the hydraulic pump 18 are balanced at a matching point MPa that is an intersection of the matching route MLa, the output instruction line ILt, and the pump absorption torque line PL. .
- the present invention is not limited to this example, and the output of the internal combustion engine 17 and the load of the hydraulic pump 18 may be balanced at a matching point MPb that is an intersection of the matching route MLb and the output instruction line ILt.
- the engine 36 that is, the internal combustion engine 17 and the generator motor 19 are configured such that the maximum torque line TL, the limit line VL, the pump absorption torque line PL, the matching route ML, and the output instruction line IL included in the torque diagram. And is controlled based on.
- FIG. 5 is a diagram illustrating a configuration example of the hybrid controller 23.
- the hybrid controller 23 includes a processing unit 23P, a storage unit 23M, and an input / output unit 23IO.
- the processing unit 23P is a CPU (Central Processing Unit), a microprocessor, a microcomputer, or the like.
- the processing unit 23P includes a determination unit 23J, an engine control unit 23C, and an assist control unit 23A.
- the processing unit 23P more specifically, the determination unit 23J, the engine control unit 23C, and the assist control unit 23A execute the hybrid work machine control method according to the embodiment.
- the determination unit 23J determines whether the operation mode of the excavator 1 is the output restriction mode.
- the engine control unit 23 ⁇ / b> C controls the operation of the internal combustion engine 17 and the generator motor 19. For example, when the internal combustion engine 17 shifts from the fuel saving mode to the working mode, the engine control unit 23C increases at least one of the rotational speed and the torque in order to obtain an output necessary for the work.
- the engine control unit 23C can also increase the rotational speed of the internal combustion engine 17 while maintaining a state in which no work is performed, for example, when there is no load.
- the control for increasing the rotational speed of the internal combustion engine 17 in order to obtain an output necessary for the work when the work is performed is referred to as a rotational speed increase control.
- the control for increasing the torque of the internal combustion engine 17 in order to obtain the output required for the work when the work is performed is referred to as torque increase control.
- torque increase control the control for increasing the torque of the internal combustion engine 17 in order to obtain the output required for the work when the work is performed.
- the output of the internal combustion engine 17 and the load of the hydraulic pump 18 may be balanced on the matching route ML in the torque diagram, but the present invention is not limited to this.
- the output of the internal combustion engine 17 and the load of the hydraulic pump 18 may be balanced at a position deviating from the route ML.
- the engine control unit 23 ⁇ / b> C reduces, for example, when the internal combustion engine 17 and peripheral devices (exhaust gas treatment device 40, injection device 45, cooling device 46) of the internal combustion engine 17 are abnormal and the purification capability of the exhaust gas treatment device 40 decreases.
- the internal combustion engine 17 is set to the output restriction mode.
- This output restriction mode is a mode in which, for example, the torque generated by the internal combustion engine 17 is restricted to a value smaller than the torque determined by the maximum torque line TL of the torque diagram, and the output of the internal combustion engine 17 is restricted.
- the engine control unit 23C controls the internal combustion engine 17 using, for example, a torque restriction line TLa in a torque diagram in FIG.
- the engine control unit 23C detects, for example, an abnormality in the exhaust temperature at the inlet of the particulate collection filter 41 or an abnormality in the accumulation state of particulate matter such as soot in the particulate matter removal filter 41b.
- the internal combustion engine 17 is set to the output restriction mode.
- the reduction in the purification capacity of the exhaust gas treatment device 40 includes a case where the remaining amount of the reducing agent R stored in the reducing agent tank 43a is reduced.
- FIG. 6 is a table showing the relationship between the remaining amount of the reducing agent R and the output restriction mode of the internal combustion engine 17.
- the engine control unit 23C causes the internal combustion engine 17 to be turned off when the remaining amount of the reducing agent R in the reducing agent tank 43a falls below a predetermined ratio (for example, several percent of a predetermined reference amount).
- the first stage output restriction mode (mild induction mode) is set.
- the engine control unit 23C sets, for example, the maximum torque line TL of the internal combustion engine 17 to a value of about 70% of the normal time.
- the engine control unit 23C sets the internal combustion engine 17 to the second-stage output restriction mode (severe induction mode).
- severe induction mode for example, the maximum torque line TL of the internal combustion engine 17 is reduced to about half of the normal time to limit the rotational speed of the internal combustion engine 17.
- the internal combustion engine 17 is set to the third stage output restriction mode (final induction mode).
- the engine control unit 23C further restricts the rotational speed of the internal combustion engine 17 to a value at the time of idling from the state of the severe induction mode.
- the engine control unit 23C may have a part of the exhaust when an abnormality occurs in the quality of the reducing agent R, or an abnormality occurs in the injection unit 43d that injects the reducing agent R.
- the internal combustion engine 17 may be put into the output restriction mode even when an abnormality occurs in the circulation system when the circulation system that circulates the air to the intake air and when an abnormality occurs in the reduction catalyst 42 system. Further, the output of the internal combustion engine 17 may be suppressed in a stepwise manner according to the time after the occurrence of these abnormalities.
- the engine control unit 23C causes the internal combustion engine 17 to enter the output restriction mode when the injection device 45 detects, for example, an abnormality in the injection operation and an abnormality in the control circuit. Further, for the cooling device 46, the engine control unit 23C sets the internal combustion engine 17 in the output restriction mode when, for example, detecting that the temperature of the cooling water is higher than a predetermined threshold value.
- the determination unit 23J detects the abnormality and the reduction in the purification capability. The determination unit 23J determines that the internal combustion engine 17 is in the output restriction mode when detecting any of the above.
- FIG. 7 is a diagram illustrating an example of a control block of the determination unit 23J.
- the determination unit 23J includes a selection unit 57.
- the selection unit 57 receives the valid flag and invalid flag of the output restriction mode.
- the selection unit 57 outputs a valid flag for the output restriction mode when the induction level of the internal combustion engine 17 is the above-described mild induction, severe induction, or final induction.
- the selection unit 57 outputs an invalid flag in the output restriction mode when the induction level is not set in the internal combustion engine 17.
- FIG. 8 is a diagram illustrating an example of a control block 23Q of the engine control unit 23C included in the hybrid controller 23.
- the control block 23Q calculates and outputs a command value for the rotational speed of the internal combustion engine 17.
- the control block 23Q has a first conversion table 51, a selection unit 52, and a second conversion table 53.
- a target output value of the internal combustion engine 17 based on the work request of the work machine 3 determined by the operation amount of the operation levers 26R and 26L or the pressure of the hydraulic pump 18 is input to the first conversion table 51.
- the first conversion table 51 converts the target output value into a matching rotation speed based on a known data table or the like, and outputs it.
- the selection unit 52 receives the output value of the first conversion table 51 and the value of the predetermined matching rotation speed in the output restriction mode.
- the predetermined matching rotation speed for example, a value set by a throttle may be used.
- the selection unit 52 outputs the output value of the first conversion table 51 when the output restriction mode valid flag is invalid (FALSE). Further, when the output restriction mode valid flag is invalid, the selection unit 52 can lower the matching rotation speed based on the work request of the work implement 3. In addition, when the output restriction mode valid flag is valid (TRUE), the selection unit 52 outputs a predetermined matching rotation speed value. Further, when the output restriction mode valid flag is valid, the selection unit 52 can invalidate the logic for lowering the matching rotation speed when the work request of the work implement 3 is not necessary.
- the second conversion table 53 is input with one of the output value of the selection unit 52, that is, the matching rotational speed corresponding to the target output of the internal combustion engine 17 and a predetermined matching rotational speed.
- the second conversion table 53 converts the input matching rotation speed into a no-load rotation speed value based on a known data table or the like and outputs the converted value.
- the output value of the second conversion table 53 is a command value for the no-load rotation speed of the internal combustion engine 17.
- FIG. 9 is a diagram illustrating an example of a control block 23R of the engine control unit 23C included in the hybrid controller 23.
- the control block 23R calculates and outputs a command value for the power generation torque of the generator motor 19.
- the control block 23R includes a selection unit 58 and a maximum value selection unit 59.
- the selection unit 58 receives the value of the maximum power generation torque and the value of the minimum power generation torque.
- the maximum power generation torque is a value that has the maximum absolute value within the range of the power generation torque set in the generator motor 19.
- the minimum power generation torque is a value that has the minimum absolute value in the range of the power generation torque set in the generator motor 19.
- the maximum power generation torque and the minimum power generation torque are negative values.
- the generator motor 19 is controlled so that power generation is performed when the power generation torque is not less than the minimum power generation torque and not more than the maximum power generation torque in order to suppress a decrease in power generation efficiency.
- the selection unit 58 outputs a minimum power generation torque when the induction level of the internal combustion engine 17 is the above-described mild induction, severe induction, or final induction. Further, the selection unit 58 outputs the maximum power generation torque when the induction level is not set in the internal combustion engine 17.
- the target power generation torque in the generator motor 19 and the output value of the selection unit 58 are input to the maximum value selection unit 59.
- the target power generation torque is a negative value. Therefore, the maximum value selection unit 59 outputs the value having the smaller absolute value among the input values as the power generation torque command value. For this reason, when the induction level of the internal combustion engine 17 is the mild induction, the severe induction or the final induction, the minimum power generation torque is output. Further, when the induction level is not set in the internal combustion engine 17, the target power generation torque is output.
- the hybrid controller 23 increases the output of the internal combustion engine 17 based on a work request at the time of work, for example, when performing engine speed increase control or torque increase control by the engine control unit 23C, the power storage device 22 and the generator motor 19 Can be assisted.
- the assist operation is control for supplying electric power stored in the power storage device 22 to the generator motor 19 and driving the generator motor 19 with the electric power.
- the assist operation is performed, the rotational speed or torque of the internal combustion engine 17 can be increased in a shorter time. However, since the generator motor 19 consumes power, the power stored in the power storage device 22 decreases.
- FIG. 10 is a diagram illustrating an example of a control block of the assist control unit 23A.
- the assist control unit 23 ⁇ / b> A includes a first calculation unit 54, a second calculation unit 55, and a selection unit 56.
- the actual rotation speed of the generator motor 19 and a preset target value (target assist rotation speed) of the rotation speed are input to the first calculation unit 54.
- the first calculation unit 54 obtains and outputs the difference between the target assist rotation speed and the actual rotation speed of the generator motor 19.
- the output value of the first calculation unit 54 is input to the second calculation unit 55.
- the second calculation unit 55 outputs a signal indicating that the vehicle is in the assist state when the output value of the first calculation unit 54, that is, the difference between the target assist rotation speed and the actual rotation speed of the generator motor 19 is greater than a predetermined value. Output.
- the second calculation unit 55 outputs a signal indicating that the assist state is not set.
- the selection unit 56 receives the output value of the second calculation unit 55 and a signal indicating that it is not in the assist state. When the output restriction mode valid flag is valid, the selection unit 56 outputs a signal indicating that the assist state is not set. The selection unit 56 outputs the output value of the second calculation unit 55 when the output restriction mode valid flag is invalid.
- the engine control unit 23C performs an assist operation when a signal indicating that the assist state is output from the assist control unit 23A. Further, the hybrid controller 23 limits the assist operation when the engine control unit 23C outputs a signal indicating that it is not in the assist state from the assist control unit 23A. Thus, the assist operation is performed until the rotation speed of the generator motor 19 reaches the target assist rotation speed.
- the assist control unit 23A can prevent the assist operation itself from being performed as an example of limiting the assist operation. In this case, since the electric power stored in the power storage device 22 is not consumed, power is secured in the power storage device 22. As another example of restricting the assist operation, the assist control unit 23A can reduce the power supplied to the generator motor 19 in the assist operation as compared with the case where the assist operation is not in the output restriction mode. Further, the assist control unit 23A can set the power supplied to the generator motor 19 in the assist operation to a constant value. Thus, the power storage device 22 can supply power to the generator motor 19 even when the assist operation is restricted. When the power of the power storage device 22 is supplied to the generator motor 19 when the assist operation is limited, the assist control unit 23A supplies the power according to the power stored in the power storage device 22 so that the power storage device 22 does not run out of voltage. The power can be set.
- processing unit 23P is dedicated hardware, for example, one or a combination of various circuits, a programmed processor (Processor), and an ASIC (Application Specific Integrated Circuit) corresponds to the processing unit 23P.
- a programmed processor Processor
- ASIC Application Specific Integrated Circuit
- the storage unit 23M is, for example, at least one of various non-volatile or volatile memories such as RAM (Random Access Memory) and ROM (Read Only Memory), and various disks such as a magnetic disk.
- the storage unit 23M stores a computer program for causing the processing unit 23P to execute control of the hybrid work machine according to the embodiment, and information used when the processing unit 23P executes control according to the embodiment.
- the processing unit 23P implements the control according to the embodiment by reading and executing the above-described computer program from the storage unit 23M.
- the input / output unit 23IO is an interface circuit for connecting the engine controller 30 and devices.
- the fuel adjustment dial 28, the rotation speed detection sensor 17n, the common rail control unit 32, the exhaust gas treatment device 40, the injection device 45, the cooling device 46, various sensors, and the like shown in FIG. 2 are connected to the input / output unit 23IO.
- various sensors such as a temperature sensor 41c, a differential pressure sensor 41d, a temperature sensor 42a, an ammonia sensor 42b, a NOx detection sensor 44a, and a pressure sensor 44b shown in FIG. 3 are connected to the input / output unit 23IO.
- the configuration example of the engine controller 30 has been described in the embodiment, the hybrid controller 23 and the pump controller 33 have the same configuration as the engine controller 30.
- FIG. 11 is a flowchart illustrating an example of a control method of the hybrid work machine according to the embodiment.
- the determination unit 23J of the engine controller 30 determines whether or not the output restriction mode is set.
- the assist control unit 23A restricts the assist operation by the generator motor 19 and the power storage device 22.
- the engine control unit 23C controls the operations of the internal combustion engine 17 and the generator motor 19 in accordance with the assist operation restriction content restricted by the assist control unit 23A.
- the assist control unit 23A does not restrict the assist operation. That is, when the engine control unit 23C performs the rotation speed increase control during work, the assist control unit 23A causes the power storage device 22 and the generator motor 19 to perform an assist operation.
- FIG. 12 is a diagram showing a comparative example of a torque diagram in the output restriction mode.
- the maximum torque line TLa representing the maximum output that can be generated by the internal combustion engine 17 moves below the normal maximum torque line TL, that is, in a direction in which the torque decreases.
- the position is set. Therefore, the output and torque that can be generated by the internal combustion engine 17 are limited to be lower than normal.
- the engine control unit 23C operates the internal combustion engine 17 at a horsepower corresponding to the output instruction line ILa and a rotational speed nc in an idling state, for example. It can be operated. At this time, the engine control unit 23C sets the matching point MPc of the internal combustion engine 17 at a position where the rotational speed is nc on the output instruction line ILa, for example.
- the engine control unit 23C sets a matching point according to the load of the hydraulic pump 18 and the like. For example, the engine control unit 23C sets the matching point MPd at the intersection of the maximum torque line TLa and the pump absorption torque line PLa. Note that the rotational speed nd of the internal combustion engine 17 is larger than the rotational speed nc in the idling state.
- the engine control unit 23C performs rotation speed increase control by controlling the rotation speed and torque of the internal combustion engine 17 so as to shift from the matching point MPc to the matching point MPd.
- the assist control unit 23A causes the assist operation to be performed when the rotation speed increase control is performed.
- the assist operation is performed, the power of the power storage device 22 is consumed, and power shortage occurs in the power storage device 22.
- the rotational speed nc of the internal combustion engine 17 is a value at the time of idling.
- the assist control unit 23A limits the assist operation by the power storage device 22.
- the assist control unit 23A can reduce the power supplied to the generator motor 19 in the assist operation without performing the assist operation, as compared with the case where the assist motor is not in the output restriction mode.
- the hydraulic excavator 1 generates electric power stored in the power storage device 22 when increasing the output of the internal combustion engine 17 based on the work request of the work implement 3 during work when the output is limited. Since the assist operation supplied to the electric motor 19 can be restricted, the power consumption in the power storage device 22 is suppressed. As a result, it is possible to suppress a decrease in the storage capacity of the power storage device 22 when the output is limited. Therefore, it is possible to suppress the power storage device 22 from becoming insufficient in power generation output.
- FIG. 13 is a diagram illustrating an example of a torque diagram in the output restriction mode, and illustrates an example of a case where control for increasing the rotation speed of the internal combustion engine 17 based on a work request of the work machine 3 is not performed during work.
- the engine control unit 23C sets the matching point MPe when the internal combustion engine 17 is unloaded at, for example, the intersection (rotational speed ne) between the output instruction line ILa and the restriction line VL. May be. With this configuration, the rotation speed at the time of no load is set to the high rotation side, so that an output for charging the power storage device 22 is ensured.
- the engine control unit 23C shifts the matching point from MPe to MPd without increasing the rotational speed of the internal combustion engine 17, for example, when the matching point MPd is set at the same position as the comparative example shown in FIG. Can be made.
- the hydraulic excavator 1 increases the rotation speed at the time of no load to the high rotation side so that the control for increasing the rotation speed of the internal combustion engine 17 based on the work request of the work machine 3 is not performed at the time of work. Set. For this reason, even when the output of the internal combustion engine 17 is limited and the power generation output of the generator motor 19 is limited, an output for charging the power storage device 22 can be ensured.
- the matching point (rotation speed) set at no load may be a value that ensures an output for charging the power storage device 22 and is not limited to the matching point MPe (rotation speed ne).
- the above control for preventing the control for increasing the rotation speed of the internal combustion engine 17 based on the work request of the work machine 3 during work is performed independently of the control of the above embodiment for limiting the assist operation. Can do. That is, the hydraulic excavator 1 increases the rotation speed of the internal combustion engine 17 based on the work request of the work implement 3 during work in addition to the control that restricts the assist action when the output is restricted or instead of the control that restricts the assist action. You may perform control which sets the rotational speed at the time of no load to the high rotation side so that control to perform may not be performed.
- FIG. 14 is a diagram showing another example of a torque diagram in the output restriction mode, and shows an example in the case where the assist operation is performed so that the power supplied to the generator motor 19 is smaller than that in the case where the output restriction mode is not used.
- the engine control unit 23C sets the matching point MPf when the internal combustion engine 17 is unloaded to a rotational speed nf higher than the matching point MPc on the output instruction line ILa, for example.
- the position may be set.
- the matching point MPd is set at the same position as that of the comparative example of FIG. 12 at the time of work, the amount of increase in the rotational speed of the internal combustion engine 17 is smaller than when the matching point is set to MPc. For this reason, the power supply required for the assist operation can be reduced. Therefore, power consumption in power storage device 22 is suppressed.
- the excavator 1 including the internal combustion engine 17 is an example of a work machine, but the work machine to which the embodiment can be applied is not limited thereto.
- the work machine may be a bulldozer or the like.
- the type of engine mounted on the work machine is not limited.
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Abstract
Description
図1は、実施形態に係る作業機械である油圧ショベル1を示す斜視図である。油圧ショベル1は、車両本体2と作業機3とを有する。車両本体2は、下部走行体4と上部旋回体5とを有する。下部走行体4は、一対の走行装置4a,4aを有する。各走行装置4a,4aは、それぞれ履帯4b、4bを有する。各走行装置4a,4aは、走行モータ21を有する。図2に示される走行モータ21は、左側の履帯4bを駆動する。図1には記載されていないが、油圧ショベル1は、右側の履帯4bを駆動する走行モータも有している。左側の履帯4bを駆動する走行モータを左走行モータ、右側の履帯4bを駆動する走行モータを右走行モータと称する。右走行モータと左走行モータとは、それぞれ履帯4b、4bを駆動することによって、油圧ショベル1を走行又は旋回させる。
図2は、実施形態に係る油圧ショベル1の駆動システムを示す概略図である。実施形態において、油圧ショベル1は、内燃機関17と、内燃機関17によって駆動されて発電する発電電動機19と、電力を蓄える蓄電装置22と、発電電動機19が発電した電力又は蓄電装置22から放電される電力が供給されて駆動する電動機とが組み合わせられたハイブリッド作業機械である。より詳細には、油圧ショベル1は、上部旋回体5を電動機24(以下、適宜旋回モータ24と称する)で旋回させる。
図3は、内燃機関17及び排ガス処理装置40の一例を示す図である。図3に示すように、排ガス処理装置40は、内燃機関17から排気管44に排出された排ガスを浄化する装置である。排ガス処理装置40は、例えば排ガスに含まれるNOx(窒素酸化物)を低減させる。排ガス処理装置40は、内燃機関17の排ガスを排ガス中のスス等の微粒子を除去する微粒子捕集フィルタ41と、排ガス中のNOxを還元する還元触媒42と、排気管44に還元剤Rを供給する還元剤供給部43と、排気管44に燃料を供給する燃料ドーザ45とを有している。
図4は、実施形態に係る機関36の制御に用いられるトルク線図の一例を示す図である。トルク線図は、機関36、より詳細には内燃機関17の制御に用いられる。トルク線図は、内燃機関17の出力シャフト17SのトルクT(N×m)と、出力シャフト17Sの回転速度n(rpm:rev/min)との関係を示している。実施形態において、内燃機関17の出力シャフト17Sには、発電電動機19のロータ19Rが連結されている。このため、内燃機関17の出力シャフト17Sの回転速度nは、発電電動機19のロータ19Rの回転速度と同一回転にある。以下において、回転速度nというときには、内燃機関17の出力シャフト17Sの回転速度及び発電電動機19のロータ19Rの回転速度のうち、少なくとも一方をいうものとする。実施形態において、内燃機関17の出力、発電電動機19が電動機として動作する場合の出力は馬力であり、単位は仕事率である。発電電動機19が発電機として動作する場合の出力は電力であり、単位は仕事率である。
図5は、ハイブリッドコントローラ23の構成例を示す図である。ハイブリッドコントローラ23は、処理部23Pと、記憶部23Mと、入出力部23IOとを有する。処理部23Pは、CPU(Central Processing Unit)、マイクロプロセッサ(microprocessor)、又はマイクロコンピュータ(microcomputer)等である。
図11は、実施形態に係るハイブリッド作業機械の制御方法の一例を示すフローチャートである。ステップS101において、エンジンコントローラ30の判定部23Jは、出力制限モードであるか否かを判定する。出力制限モードである場合(ステップS101のYes)、ステップS102において、アシスト制御部23Aは、発電電動機19及び蓄電装置22によるアシスト動作を制限する。そして、機関制御部23Cは、アシスト制御部23Aで制限されたアシスト動作の制限内容に応じて、内燃機関17及び発電電動機19の動作を制御する。一方、出力制限モードでない場合(ステップS101のNo)、アシスト制御部23Aは、アシスト動作を制限しない。つまり、機関制御部23Cが作業時に回転速度上昇制御を行う場合、アシスト制御部23Aは、蓄電装置22及び発電電動機19にアシスト動作を行わせる。
5 上部旋回体
17 内燃機関
18 油圧ポンプ
19 発電電動機
22 蓄電装置
23 ハイブリッドコントローラ
26L,26R 操作レバー
30 エンジンコントローラ
23A アシスト制御部
23C 機関制御部
23M 記憶部
23P 処理部
23IO 入出力部
23J 判定部
33 ポンプコントローラ
36 機関
40 排ガス処理装置
41 微粒子捕集フィルタ
42 還元触媒
45 噴射装置
46 冷却装置
Claims (8)
- 作業機と、
前記作業機に動力を供給する内燃機関と、
前記内燃機関の出力軸に接続された発電電動機と、
前記発電電動機が発電した電力を蓄電し、又は前記発電電動機に電力を供給する蓄電装置と、を有するハイブリッド作業機械を制御する制御装置において、
前記内燃機関の出力が制限された出力制限時かの判定を行う判定部と、
前記出力制限時には、作業時に前記作業機の作業要求に基づく前記内燃機関の出力を増加させる際に前記蓄電装置に蓄電された電力を前記発電電動機に供給するアシスト動作を制限するアシスト制御部と、
前記アシスト制御部により前記アシスト動作が制限された状態で前記内燃機関及び前記発電電動機を制御する機関制御部と
を備えるハイブリッド作業機械の制御装置。 - 前記アシスト制御部は、前記出力制限時に、前記アシスト動作を停止する
請求項1に記載のハイブリッド作業機械の制御装置。 - 前記判定部は、前記内燃機関及び当該内燃機関の周辺機器が異常状態である場合、及び、前記内燃機関に排ガス処理装置が設けられる場合において当該排ガス処理装置の浄化能力が低下する又は低下の可能性がある場合のうち、少なくとも一方の場合に前記出力制限時であると判定する
請求項1又は請求項2に記載のハイブリッド作業機械の制御装置。 - 前記周辺機器は、前記内燃機関の排ガスを処理する排ガス処理装置、前記内燃機関に燃料を噴射する噴射装置及び前記内燃機関を冷却する冷却装置を含む
請求項3に記載のハイブリッド作業機械の制御装置。 - 前記機関制御部は、前記出力制限時に、作業時に前記作業機の作業要求に基づく前記内燃機関の回転速度を上昇させる制御より出力制限モードにおけるマッチング回転速度へ変更する
請求項1から請求項4のいずれか一項に記載のハイブリッド作業機械の制御装置。 - 排ガス処理装置を有する内燃機関と、
前記内燃機関の出力軸に連結された発電電動機と、
前記発電電動機が発電した電力を蓄電し、又は前記発電電動機に電力を供給する蓄電装置と、
前記内燃機関、前記発電電動機及び前記蓄電装置を制御する、請求項1から請求項4のいずれか一項に記載のハイブリッド作業機械の制御装置と
を備えるハイブリッド作業機械。 - 走行体と、前記走行体の上部に設けられ前記走行体に対して旋回可能な旋回体とを有する車両本体と、
前記発電電動機及び前記蓄電装置のうち少なくとも一方から電力が供給されるように設けられ、前記旋回体を駆動する電動機と、をさらに備える
請求項6に記載のハイブリッド作業機械。 - 作業機を駆動する内燃機関と、前記内燃機関に接続され蓄電装置と電力の授受を行う発電電動機とを備えるハイブリッド作業機械の制御方法において、
前記内燃機関の出力が制限された出力制限時かの判定を行うことと、
前記出力制限時には、作業時に前記作業機の作業要求に基づく前記内燃機関の出力を増加させる際に前記蓄電装置に蓄電された電力を前記発電電動機に供給するアシスト動作を制限することと、
前記アシスト動作が制限された状態で前記内燃機関及び前記発電電動機を制御することと
を含むハイブリッド作業機械の制御方法。
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CN201680000444.2A CN105849338A (zh) | 2016-01-20 | 2016-01-20 | 混合动力作业机械的控制装置、混合动力作业机械、以及混合动力作业机械的控制方法 |
PCT/JP2016/051624 WO2016114406A1 (ja) | 2016-01-20 | 2016-01-20 | ハイブリッド作業機械の制御装置、ハイブリッド作業機械、及びハイブリッド作業機械の制御方法 |
DE112016000004.9T DE112016000004T5 (de) | 2016-01-20 | 2016-01-20 | Motor-Steuervorrichtung für Hybrid-Arbeitsmaschine, Hybrid-Arbeitsmaschine und Steuerverfahren für Hybrid-Arbeitsmaschine |
JP2016503475A JP6093904B2 (ja) | 2016-01-20 | 2016-01-20 | ハイブリッド作業機械の制御装置、ハイブリッド作業機械、及びハイブリッド作業機械の制御方法 |
US15/112,240 US20170203748A1 (en) | 2016-01-20 | 2016-01-20 | Control device for hybrid work machine, hybrid work machine, and control method for hybrid work machine |
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WO2020262427A1 (ja) * | 2019-06-28 | 2020-12-30 | 株式会社クボタ | 作業機 |
JP2021008190A (ja) * | 2019-06-28 | 2021-01-28 | 株式会社クボタ | 作業機 |
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DE112016000004T5 (de) | 2016-09-15 |
CN105849338A (zh) | 2016-08-10 |
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