WO2017199546A1 - 建設機械 - Google Patents
建設機械 Download PDFInfo
- Publication number
- WO2017199546A1 WO2017199546A1 PCT/JP2017/009171 JP2017009171W WO2017199546A1 WO 2017199546 A1 WO2017199546 A1 WO 2017199546A1 JP 2017009171 W JP2017009171 W JP 2017009171W WO 2017199546 A1 WO2017199546 A1 WO 2017199546A1
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- WO
- WIPO (PCT)
- Prior art keywords
- controller
- engine
- storage device
- power storage
- power
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—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
- F02D29/04—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 pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—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
- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
Definitions
- the present invention relates to a construction machine including an engine (internal combustion engine) and an electric motor.
- a construction machine such as a hydraulic excavator includes an engine using gasoline, light oil or the like as a fuel, a hydraulic pump driven by the engine, a hydraulic motor driven by pressure oil discharged from the hydraulic pump, a hydraulic actuator such as a hydraulic cylinder, and the like. And an operation device such as an operation lever or a pedal for controlling the flow rate and direction of the pressure oil with respect to the hydraulic actuator using a control valve or the like.
- a hybrid hydraulic excavator that uses both an engine and a generator motor is known (Patent Document 1).
- a generator motor and a hydraulic pump are attached to an output shaft of an engine, and a power storage device is electrically connected to the generator motor.
- the generator motor has a generator function that charges the power storage device with the power generated by the driving force of the engine, and a motor function that assists the engine by powering using the power of the power storage device.
- the construction machine described in Patent Document 1 improves the fuel consumption performance by reducing the engine speed to a set speed when the operation lever or the like is returned to the neutral position and the vehicle is not operated. While suppressing noise.
- vibration and noise may occur in the electric motor due to switching of the power converter.
- the engine speed is decreased, the engine sound also decreases, so that high-frequency noise from the motor is easily perceived, which may cause discomfort to the operator and the like.
- the present invention has been made in view of the above-described problems of the prior art, and an object of the present invention is a construction capable of reducing the engine speed and suppressing the noise of the motor when the vehicle is not operated. To provide a machine.
- the present invention provides an engine mounted on a vehicle, an electric motor mechanically connected to the engine, a hydraulic pump mechanically connected to the engine, and an operation of the vehicle.
- a construction machine comprising: an operating device for operating the power storage device; a power storage device electrically connected to the electric motor; and a power converter that converts the voltage of the power storage device by switching to drive the electric motor.
- a low idle controller that reduces the engine speed when no operation is detected by the device, and a switching that stops switching of the power converter when the low idle controller is reducing the engine speed And a controller.
- the engine speed when the vehicle is not operated, the engine speed can be reduced and the noise of the electric motor can be suppressed.
- FIG. 3 is a block diagram showing a configuration of a main controller in FIG. 2. It is a flowchart which shows the low idle control processing by the main controller in FIG. In this Embodiment, it is a characteristic diagram which shows an example of a time change of lever operation, an idle state flag, a rotational speed command, an engine speed, and a switching state.
- a hybrid hydraulic excavator 1 (hereinafter referred to as a hydraulic excavator 1) as a vehicle is a typical example of a hybrid construction machine.
- the excavator 1 is a self-propelled crawler-type lower traveling body 2, a turning device 3 provided on the lower traveling body 2, and a lower portion mounted on the lower traveling body 2 via the turning device 3.
- the upper revolving body 4 that constitutes the vehicle body (base body) together with the traveling body 2 and the working device 5 that is attached to the front side of the upper revolving body 4 so as to be able to move up and down and perform excavation work of earth and sand and the like.
- the lower traveling unit 2 includes a track frame 2A, left and right driving wheels 2B on one side of the front and rear directions of the track frame 2A, and left and right sides of the front and rear sides of the track frame 2A. It consists of idler wheels 2C provided on both right sides, and drive wheels 2B and crawler belts 2D wound around the idler wheels 2C (both shown only on the left side).
- the left and right drive wheels 2B are rotationally driven by left and right traveling hydraulic motors 2E and 2F (see FIG. 2) as hydraulic actuators.
- the turning device 3 is attached to the upper side of the center portion of the track frame 2A.
- the turning device 3 is provided on the lower traveling body 2 and includes a speed reducer (not shown), a turning hydraulic motor 3A, and the like. This turning device 3 turns the upper turning body 4 with respect to the lower traveling body 2.
- the working device 5 includes a boom 5A attached to the front side of the revolving frame 6 of the upper revolving structure 4 so as to be able to move up and down, an arm 5B attached to the tip of the boom 5A so as to be able to move up and down, and a tip of the arm 5B. And a boom cylinder 5D, an arm cylinder 5E, and a bucket cylinder 5F composed of a hydraulic cylinder (hydraulic actuator) that drives the bucket 5C.
- a hydraulic cylinder hydraulic actuator
- the turning frame 6 constitutes a part of the upper turning body 4 as a support structure.
- the turning frame 6 is mounted on the lower traveling body 2 via the turning device 3 so as to be turnable.
- the slewing frame 6 is provided with a cab 7, an engine 8, an assist power generation motor 10, a hydraulic pump 11, a power storage device 20, an inverter 23, and the like.
- the cab 7 is provided on the left front side of the revolving frame 6.
- a driver's seat (not shown) on which an operator (operator) sits is provided in the cab 7.
- an operation device 14 Around the driver's seat, an operation device 14, a rotation speed instruction device 27, and the like are disposed.
- the engine 8 is located on the rear side of the cab 7 and is provided on the turning frame 6.
- the engine 8 is configured using, for example, a diesel engine, and is mounted as an internal combustion engine of the hybrid excavator 1 on the upper swing body 4 in a horizontally placed state extending in the left and right directions.
- An assist generator motor 10 and a hydraulic pump 11 are mechanically connected to the output side of the engine 8.
- the ECU 9 variably controls the amount of fuel supplied by, for example, a fuel injection device (not shown). That is, the ECU 9 injects the amount of fuel injected into the cylinder (not shown) of the engine 8 (fuel injection) based on a control signal output from the main controller 26 (rotational speed command from the rotational speed controller 26B). The amount) is variably controlled. As a result, the engine 8 operates at a rotational speed corresponding to the driving operation of the operator, the operating state of the vehicle, and the like. Further, when a key switch (not shown) is stopped, the ECU 9 stops the fuel injection of the fuel injection device according to a command from the main controller 26 and stops the engine 8.
- a key switch not shown
- the assist generator motor 10 constitutes an electric motor and is mechanically connected to the engine 8 and the hydraulic pump 11.
- the assist generator motor 10 is constituted by, for example, a permanent magnet type synchronous motor.
- the assist power generation motor 10 generates power by being rotationally driven by the engine 8, or assists (assists) driving of the engine 8 by being supplied with electric power. That is, the assist power generation motor 10 is operated to rotate by the engine 8 to generate power (generator function), and the power is supplied through the inverter 23 to assist the drive of the engine 8 as an electric motor ( Motor action).
- the power generated by the assist power generation motor 10 is supplied to the inverter 23, and the power storage device 20 is charged (power storage).
- the assist power generation motor 10 is driven by the electric power charged in the power storage device 20.
- the hydraulic pump 11 is mechanically connected to the engine 8 together with the assist generator motor 10 and the pilot pump 12.
- the hydraulic pump 11 constitutes a hydraulic pressure source together with the pilot pump 12 and the hydraulic oil tank 13.
- the hydraulic pump 11 is configured by various hydraulic pumps such as a swash plate type, an oblique axis type, or a radial piston type.
- the hydraulic pump 11 is driven by the engine 8 and the assist generator motor 10.
- the hydraulic pump 11 serves as a power source for driving hydraulic actuators such as the traveling hydraulic motors 2E and 2F, the swing hydraulic motor 3A, and the cylinders 5D to 5F, and boosts the hydraulic oil in the hydraulic oil tank 13 to the control valve 16.
- the pressure oil is discharged toward.
- the pilot pump 12 is connected to the hydraulic pump 11.
- the pilot pump 12 discharges pilot pressure oil (pilot pressure) supplied to the control valve 16 as a hydraulic signal when the operating device 14 is operated.
- the operating device 14 is located in the cab 7 and connected to the flow control valve 15.
- the operating device 14 is configured by an operating lever / pedal for traveling, an operating lever for turning and working, and the like (both not shown).
- the flow rate control valve (pilot valve) 15 By operating the flow rate control valve (pilot valve) 15 using this operating device 14, the flow rate and direction of the pressure oil discharged from the pilot pump 12 are controlled, and the pilot pressure is supplied to the control valve 16.
- the control valve 16 switches and controls the direction of the pressure oil to the hydraulic motors 2E, 2F, 3A and the cylinders 5D to 5F. That is, the operating device 14 outputs a pilot pressure to the control valve 16 as a drive command to the hydraulic motors 2E, 2F, 3A and the cylinders 5D to 5F.
- the operating device 14 operates the traveling operation, turning operation, excavation operation, etc. of the excavator 1.
- the control valve 16 is provided on the revolving frame 6 and includes a plurality of directional control valves for controlling the hydraulic motors 2E, 2F, 3A and the cylinders 5D to 5F.
- the control valve 16 switches supply and discharge of the pressure oil supplied from the hydraulic pump 11 according to a drive command (pilot pressure) based on the operation of the operation device 14 (controls the discharge amount and discharge direction of the pressure oil). . Accordingly, the pressure oil supplied from the hydraulic pump 11 to the control valve 16 is appropriately distributed to the respective hydraulic motors 2E, 2F, 3A and cylinders 5D to 5F, and the hydraulic motors 2E, 2F, 3A and cylinders 5D to 5F are distributed. Drive (rotate, extend, reduce).
- the gate lock lever 17 constitutes a lock device, is located in the cab 7 and is connected to the pilot cut valve 18.
- the gate lock lever 17 switches between supply and stop of the pilot pressure supplied to the flow control valve 15.
- the gate lock lever 17 switches between enabling and disabling the drive command to the hydraulic motors 2E, 2F, 3A and the cylinders 5D to 5F by the operating device 14.
- the pilot cut valve 18 shuts off the pressure oil from the pilot pump 12 to the flow control valve 15 and the hydraulic motors 2E, 2F, 3A and cylinders 5D to 5F cannot be operated (no operation).
- the gate lock lever 17 when the gate lock lever 17 is moved to the unlocking position (lowering position), the pilot cut valve 18 supplies pressure oil from the pilot pump 12 to the flow rate control valve 15, and the hydraulic motors 2E, 2F, 3A, cylinders 5D to 5F can be operated.
- the locking device is not limited to the lever-type gate lock lever 17 that rotates in the upward and downward directions, and may be configured by various switches, pedals, and the like.
- the pilot pressure sensor 19 is provided between the flow control valve 15 and the control valve 16 on the downstream side of the pilot cut valve 18.
- the pilot pressure sensor 19 is an operation detector that detects whether or not the operation device 14 is operated.
- the pilot pressure sensor 19 is a pressure sensor that detects the pilot pressure output from the pilot pump 12. That is, the pilot pressure sensor 19 detects whether or not the operation device 14 is operated depending on whether the pilot pressure is higher or lower than a predetermined pressure value, and outputs the detection result to the main controller 26.
- the power storage device 20 is provided on the turning frame 6 and is electrically connected to the assist power generation motor 10 via the inverter 23.
- the power storage device 20 stores electric power, and is configured using a secondary battery such as a lithium ion battery or a nickel metal hydride battery, for example. That is, the power storage device 20 is charged (power storage) by the power generated by the assist power generation motor 10 or discharges (power feeds) the charged power to the assist power generation motor 10.
- the power storage device 20 is provided with a battery control unit 21 (hereinafter referred to as BCU 21).
- BCU 21 constitutes a remaining power detector. For this reason, the BCU 21 detects the power storage rate (SOC: State of Charge) as the remaining power of the power storage device 20 and outputs it to the main controller 26.
- SOC State of Charge
- the power storage device 20 is provided with a temperature sensor 22.
- the temperature sensor 22 detects the temperature T of the power storage device 20, and is constituted by a temperature detector such as a thermistor, for example.
- the temperature sensor 22 is connected to the main controller 26, and the temperature T of the power storage device 20 detected by the temperature sensor 22 is output to the main controller 26 as a detection signal (for example, a change in resistance value). In this case, the temperature sensor 22 detects whether or not the warm-up operation of the power storage device 20 is necessary.
- the electric system of the hydraulic excavator 1 includes an inverter 23, a gate controller 24, and the like in addition to the assist power generation motor 10 and the power storage device 20 described above.
- the inverter 23 is mounted on the upper swing body 4 and its switching operation is controlled by the gate controller 24.
- the inverter 23 converts the voltage from the power storage device 20 to drive the assist power generation motor 10, or converts the voltage from the assist power generation motor 10 to charge the power storage device 20.
- the inverter 23 constitutes a power converter.
- the inverter 23 is electrically connected to the assist power generation motor 10 and controls driving of the assist power generation motor 10.
- the inverter 23 is configured by using a plurality of (for example, six) switching elements made of, for example, a transistor, an insulated gate bipolar transistor (IGBT), and the like, and is connected to the pair of DC buses 25A and 25B.
- the switching element of the inverter 23 is controlled by a three-phase (U phase, V phase, W phase) PWM signal (gate voltage signal) output from the gate controller 24.
- the inverter 23 converts the power generated by the assist power generation motor 10 into direct current power and supplies it to the direct current buses 25A and 25B.
- the inverter 23 when the assist generator motor 10 is driven, the inverter 23 generates three-phase AC power from the DC power of the DC buses 25 ⁇ / b> A and 25 ⁇ / b> B and supplies it to the assist generator motor 10.
- the gate controller 24 is mounted on the upper swing body 4 as a switching controller.
- the input side of the gate controller 24 is connected to the main controller 26, and the output side of the gate controller 24 is connected to the inverter 23.
- the gate controller 24 generates a three-phase PWM signal based on a control command (output command) from the main controller 26. Thereby, the gate controller 24 controls the generated power at the time of power generation of the assist power generation motor 10 and the driving power at the time of power running.
- the idle state flag is input to the gate controller 24 from the low idle controller 26A of the main controller 26.
- the gate controller 24 controls whether or not the inverter 23 is switched based on the idle state flag. That is, when the idle state flag is “cleared”, the gate controller 24 sets the inverter 23 to the ON state in a state where the inverter 23 performs the switching operation. In this ON state, since the gate controller 24 outputs a three-phase PWM signal, the inverter 23 performs a switching operation based on the three-phase PWM signal. On the other hand, when the idle state flag is “set”, the gate controller 24 sets the inverter 23 in the OFF state to stop the switching operation of the inverter 23. In this OFF state, since the gate controller 24 outputs a signal for stopping the switching element, the inverter 23 is fixed to open (OFF) and stops the switching operation.
- the inverter 23 is connected to the power storage device 20 through a pair of DC buses 25A and 25B on the positive electrode side (plus side) and the negative electrode side (minus side).
- a smoothing capacitor (not shown) is connected to the DC buses 25A and 25B.
- a predetermined DC voltage of about several hundred volts is applied to the DC buses 25A and 25B.
- the main controller 26 is provided in the cab 7, for example, and is connected to the ECU 9, the BCU 21, the gate controller 24, and the like.
- the main controller 26 is constituted by, for example, a microcomputer, and includes a low idle controller 26A, a rotation speed controller 26B, a control command output unit 26C, and the like.
- the main controller 26 generates control commands for the ECU 9, the BCU 21, the gate controller 24, and the like.
- the main controller 26 performs control such as low idle control of the engine 8, drive control of the assist power generation motor 10, temperature monitoring of the power storage device 20, energy management, and the like according to control commands.
- the main controller 26 also includes a storage unit (not shown) for storing a program for the low idle control process shown in FIG. Thus, the main controller 26 performs low idle control for reducing the rotational speed of the engine 8 and stops switching of the inverter 23 when the operation device 14 is not operated (no operation).
- the input side of the low idle controller 26A is connected to the pilot pressure sensor 19, and the output side of the low idle controller 26A is connected to the rotation speed controller 26B and the control command output unit 26C.
- the low idle controller 26A always sets the idle state flag to “clear”.
- the low idle controller 26A “sets” the idle state flag after a certain time (between time t1 and time t2) when detecting no operation of the controller device 14. That is, when the pilot pressure sensor 19 does not detect an increase in pilot pressure, the operating device 14 is not operated. At this time, the low idle controller 26A “sets” the idle state flag.
- Low idle controller 26A outputs an idle state flag to rotation speed controller 26B and control command output unit 26C.
- the input side of the rotational speed controller 26B is connected to the low idle controller 26A and the rotational speed indicating device 27.
- the output side of the rotation speed controller 26B is connected to the ECU 9 of the engine 8.
- the rotational speed controller 26B outputs a rotational speed command of the engine 8 based on the idle state flag of the low idle controller 26A and the set rotational speed of the rotational speed instruction device 27. In this case, when the idle state flag is “cleared”, the rotational speed controller 26B outputs the set rotational speed set by the rotational speed instruction device 27 as the rotational speed command.
- the ECU 9 controls the engine 8 so that the engine speed matches the set speed.
- the rotational speed controller 26B uses a low idle rotational speed that is lower than the engine rotational speed (set rotational speed) when the vehicle performs various operations as a rotational speed command. Print a number. Thereby, the ECU 9 controls the engine 8 so that the engine speed matches the low idle speed.
- the input side of the control command output unit 26C is connected to the low idle controller 26A, the BCU 21 and the temperature sensor 22.
- the output side of the control command output unit 26C is connected to the gate controller 24.
- This control command output unit 26C provides the gate controller 24 with the idle state flag from the low idle controller 26A, the SOC of the power storage device 20 from the BCU 21, and the temperature T of the power storage device 20 from the temperature sensor 22. Output control commands.
- the idle state flag is “cleared”
- the control command output unit 26C calculates, for example, the generated power or the motor output torque required for the assist power generation motor 10 in accordance with the operation amount of the operation device 14, etc.
- a control command corresponding to the calculation result is output to the gate controller 24.
- control command output unit 26C determines whether or not the battery warm-up operation or the charging operation is necessary based on the SOC and temperature T of power storage device 20. When it is determined that one of the battery warm-up operation and the charging operation is necessary, the control command output unit 26C outputs a control command corresponding to the necessary operation to the gate controller 24. When it is determined that both the battery warm-up operation and the charging operation are unnecessary, the control command output unit 26C outputs a control command for stopping the switching of the inverter 23 to the gate controller 24.
- the rotation speed indicating device 27 is provided in the cab 7 of the excavator 1 and is configured by an operation dial, an up / down switch, an engine lever (none of which are shown) or the like operated by an operator.
- This rotational speed instruction device 27 instructs the set rotational speed of the engine 8 and outputs an instruction signal for the set rotational speed according to the operation of the operator to the rotational speed controller 26B of the main controller 26.
- the hydraulic excavator 1 has the above-described configuration, and the operation thereof will be described next.
- the operator gets on the cab 7 and sits in the driver's seat, and rotates the key switch (not shown) to the START position with the gate lock lever 17 fixed at the lock position.
- fuel is supplied to the engine 8 and the engine 8 is started.
- the operator switches the gate lock lever 17 from the locked position to the unlocked position.
- a predetermined speed for example, idle speed
- the excavator 1 performs a traveling operation such as advancing and retreating.
- the pressure oil from the hydraulic pump 11 is supplied to the swing hydraulic motor 3A and the cylinders 5D to 5F through the control valve 16.
- the excavator 1 performs a turning operation, an excavation operation by the up-and-down movement of the work device 5, and the like.
- the low idle control process executed by the main controller 26 will be described with reference to FIGS. 4 and 5.
- the low idle control process is repeatedly executed at a predetermined control period while the main controller 26 is driven.
- step 1 it is determined whether or not there is an operation by the operation device 14.
- the pilot pressure sensor 19 is used to detect whether or not the operating device 14 is operated depending on whether the pilot pressure is higher or lower than a predetermined pressure value.
- the low idle controller 26A of the main controller 26 determines that there is no operation of the controller device 14 when the controller device 14 is not operated for a certain time (for example, about 1 second).
- Step 1 constitutes an operation determination element.
- step 8 the main controller 26 performs normal control to set the engine speed to the set speed set by the speed instruction device 27.
- the low idle controller 26A to which a signal indicating that the operating device 14 is being operated is input from the pilot pressure sensor 19, "clears" the idle state flag.
- the rotation speed controller 26B sets the rotation speed command to the set rotation speed by the rotation speed instruction device 27 according to the idle state flag.
- the ECU 9 controls the engine 8 so that the engine speed matches the set speed.
- step 8 constitutes a normal control element.
- Step 2 the main controller 26 performs low idle control for reducing the engine speed. That is, when a signal indicating that the operating device 14 is not operated is input from the pilot pressure sensor 19 to the low idle controller 26A, the low idle controller 26A “sets” the idle state flag. Thereby, the rotation speed controller 26B sets the rotation speed command to the low idle rotation speed in accordance with the idle state flag. As a result, the ECU 9 controls the engine 8 so that the engine speed matches the low idle speed.
- Step 2 constitutes a low idle control element.
- control command output unit 26C determines whether or not the temperature T of the power storage device 20 is equal to or higher than a preset threshold value T0.
- the power storage device 20 has a predetermined temperature range suitable for use from the viewpoints of deterioration in electrical performance, durability, and the like. Therefore, control command output unit 26C determines whether or not temperature T detected by temperature sensor 22 is lower than the lower limit value (threshold value T0) of the predetermined temperature range of power storage device 20. That is, this step 3 constitutes a temperature determination element.
- Step 4 If “NO” is determined in Step 3, the temperature T of the power storage device 20 is lower than the threshold value T0, and thus the process proceeds to Step 4.
- control command output unit 26C outputs a control command for performing warm-up operation of power storage device 20.
- the gate controller 24 performs switching of the inverter 23 to alternately discharge and charge the power storage device 20. Thereby, an internal loss can be generated in power storage device 20 to heat power storage device 20 itself, and temperature T of power storage device 20 can be raised.
- Step 4 constitutes a warm-up operation element.
- Step 3 the temperature T of the power storage device 20 is equal to or higher than the threshold value T0, and thus the process proceeds to Step 5.
- the control command output unit 26C determines whether the SOC of the power storage device 20 detected by the BCU 21 is equal to or more than an appropriate value ⁇ (for example, a lower limit value of the SOC range required at idling, about 60%). Determine whether or not.
- control command output unit 26 ⁇ / b> C determines whether or not the SOC of power storage device 20 detected by BCU 21 is lower than the appropriate value ⁇ of the charge / discharge range of power storage device 20.
- the appropriate value ⁇ of the power storage device 20 does not have to be the lower limit value of the appropriate charge / discharge range of the SOC, and may be a different value.
- the appropriate value ⁇ is appropriately set according to the use of the vehicle, for example.
- Step 5 constitutes an SOC determination element.
- Step 5 If “NO” is determined in Step 5, the SOC is less than the appropriate value ⁇ , so the process proceeds to Step 6.
- step 6 since the SOC of the power storage device 20 is below the appropriate value ⁇ , the control command output unit 26C outputs a control command for performing the charging operation of the power storage device 20.
- the gate controller 24 performs switching of the inverter 23 and causes the assist power generation motor 10 to perform a power generation operation by the engine 8.
- the power storage device 20 can be charged with the power generated by the assist power generation motor 10 to increase the SOC.
- Step 6 constitutes a charging operation element.
- step 7 the control command output unit 26 ⁇ / b> C outputs a control command for stopping the switching of the inverter 23 toward the gate controller 24.
- the gate controller 24 fixes all the switching elements of the inverter 23 to the OFF state, and stops the switching of the inverter 23.
- step 7 constitutes a switching stop element.
- the lever operation is “operated”, and the low idle controller 26A sets the idle state flag to “clear”.
- the rotation speed controller 26B sets the rotation speed command to the set rotation speed set by the rotation speed instruction device 27.
- the gate controller 24 sets the switching state of the inverter 23 to “ON” and drives the assist power generation motor 10 in accordance with a control command from the main controller 26.
- the lever operation becomes “no operation”.
- the low idle controller 26A switches the idle state flag from “clear” to “set”.
- the rotation speed controller 26B switches the rotation speed command from the set rotation speed to the low idle rotation speed, and reduces the engine rotation speed to the low idle rotation speed.
- the gate controller 24 changes the switching state of the inverter 23 from “ON” to “OFF”.
- the lever operation becomes “operated”, and the low idle controller 26A switches the idle state flag from “set” to “clear”. Further, the rotation speed controller 26B switches the rotation speed command from the low idle rotation speed to the set rotation speed, and increases the engine rotation speed to the set rotation speed by the rotation speed instruction device 27. Thereby, the gate controller 24 returns the switching state of the inverter 23 to “ON” and drives the assist power generation motor 10 in accordance with a control command from the main controller 26. Thereby, the assist power generation motor 10 can be driven without any trouble in the operation of the excavator 1.
- the low idle controller 26 ⁇ / b> A that reduces the rotational speed of the engine 8 and the low idle controller 26 ⁇ / b> A are operated by the rotational speed of the engine 8.
- a gate controller 24 for stopping the switching of the inverter 23 for stopping the switching of the inverter 23.
- the hydraulic excavator 1 includes a BCU 21 that detects the SOC of the power storage device 20.
- the inverter 23 can be switched even when the operation device 14 is in the non-operation state.
- the assist power generation motor 10 can be operated to generate electric power, and the SOC of the power storage device 20 can be raised to ensure the necessary SOC.
- the power storage device 20 includes a temperature sensor 22 that detects a temperature T of the power storage device 20.
- the inverter 23 can be switched even when the operation device 14 is in the non-operation state.
- the battery warm-up operation in which the power storage device 20 is repeatedly charged and discharged can be performed, and the temperature T of the power storage device 20 can be raised to a predetermined temperature range.
- the pilot pressure sensor 19 is used to determine whether or not there is an operation by the operating device 14.
- the present invention is not limited to this.
- the operation device may determine that there is no operation.
- the case where the power storage device 20 is configured by a secondary battery has been described as an example.
- the present invention is not limited to this, and the power storage device may be configured using an electric double layer capacitor.
- the power converter is configured by the inverter 23 in the present embodiment, the case where the power converter is configured by the inverter 23 is described as an example.
- the present invention is not limited to this, and the power converter may be configured by an inverter and a chopper that steps up and down a DC voltage.
- the gate controller 24 and the main controller 26 are provided separately.
- the main controller may include a gate controller.
- the gate controller 24 that controls the gate voltage of the switching element of the inverter 23 has been described as an example of the switching controller.
- the present invention is not limited to this.
- the switching controller may be configured by a current controller that controls the base current. That is, any configuration can be adopted for the switching controller as long as the on / off operation of the switching element can be controlled.
- the crawler type hydraulic excavator 1 capable of self-propelling is described as an example of the construction machine.
- the present invention is not limited to this, and may be applied to a self-propelled wheel-type hydraulic excavator and a mobile crane, and may be applied to an installation-type excavator, a crane, and the like in which a swivel is mounted on a base that does not travel. May be.
- the construction machine can be widely applied to various work vehicles, work machines, and the like that do not include a turning body, such as a wheel loader and a forklift.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
Description
8 エンジン
10 アシスト発電モータ(電動機)
11 油圧ポンプ
14 操作装置
20 蓄電装置
21 BCU(電力残量検出器)
23 インバータ(電力変換器)
24 ゲート制御器(スイッチング制御器)
26A ローアイドル制御器
Claims (3)
- 車両に搭載されたエンジンと、
該エンジンに機械的に接続された電動機と、
前記エンジンに機械的に接続された油圧ポンプと、
前記車両の動作を操作する操作装置と、
前記電動機に電気的に接続された蓄電装置と、
該蓄電装置の電圧をスイッチングにより変換して前記電動機を駆動する電力変換器と、を備えた建設機械において、
前記操作装置による無操作を検出したときに、前記エンジンの回転数を下げるローアイドル制御器と、
該ローアイドル制御器が前記エンジンの回転数を下げているときには、前記電力変換器のスイッチングを停止させるスイッチング制御器と、を備えることを特徴とする建設機械。 - 前記蓄電装置の電力残量を検出する電力残量検出器をさらに備え、
前記スイッチング制御器は、前記電力残量検出器により検出される電力残量が前記蓄電装置の充放電範囲の適正値を下回るときは、前記電力変換器のスイッチングを行うことを特徴とする請求項1に記載の建設機械。 - 前記スイッチング制御器は、前記蓄電装置の温度が予め設定した閾値よりも低いときは、前記電力変換器のスイッチングを行うことを特徴とする請求項1に記載の建設機械。
Priority Applications (4)
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EP17798981.1A EP3460129B1 (en) | 2016-05-18 | 2017-03-08 | Hybrid construction machine with energy storage management |
CN201780013296.2A CN108699809B (zh) | 2016-05-18 | 2017-03-08 | 工程机械 |
US16/081,754 US11220803B2 (en) | 2016-05-18 | 2017-03-08 | Construction machine |
KR1020187024170A KR102089992B1 (ko) | 2016-05-18 | 2017-03-08 | 건설 기계 |
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JP2016-099529 | 2016-05-18 | ||
JP2016099529A JP6524019B2 (ja) | 2016-05-18 | 2016-05-18 | 建設機械 |
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US (1) | US11220803B2 (ja) |
EP (1) | EP3460129B1 (ja) |
JP (1) | JP6524019B2 (ja) |
KR (1) | KR102089992B1 (ja) |
CN (1) | CN108699809B (ja) |
WO (1) | WO2017199546A1 (ja) |
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JP6524019B2 (ja) * | 2016-05-18 | 2019-06-05 | 日立建機株式会社 | 建設機械 |
JP7171518B2 (ja) * | 2019-06-28 | 2022-11-15 | 株式会社クボタ | 作業機 |
JP7112996B2 (ja) * | 2019-09-17 | 2022-08-04 | 日立建機株式会社 | 作業機械 |
JP7110164B2 (ja) * | 2019-09-25 | 2022-08-01 | 株式会社日立建機ティエラ | 建設機械 |
CN111021459A (zh) * | 2019-12-31 | 2020-04-17 | 三一重机有限公司 | 一种并联式混合动力挖掘机控制系统及其控制方法 |
EP4130397A4 (en) * | 2020-03-26 | 2023-09-13 | Hitachi Construction Machinery Tierra Co., Ltd. | CONSTRUCTION MACHINERY |
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EP3460129A1 (en) | 2019-03-27 |
EP3460129A4 (en) | 2020-05-20 |
US20210180293A1 (en) | 2021-06-17 |
KR20180104698A (ko) | 2018-09-21 |
EP3460129B1 (en) | 2021-12-15 |
JP6524019B2 (ja) | 2019-06-05 |
CN108699809B (zh) | 2020-12-25 |
US11220803B2 (en) | 2022-01-11 |
CN108699809A (zh) | 2018-10-23 |
JP2017206868A (ja) | 2017-11-24 |
KR102089992B1 (ko) | 2020-03-17 |
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