WO2018051644A1 - Système de commande et procédé de commande pour machine de construction hybride - Google Patents

Système de commande et procédé de commande pour machine de construction hybride Download PDF

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Publication number
WO2018051644A1
WO2018051644A1 PCT/JP2017/027050 JP2017027050W WO2018051644A1 WO 2018051644 A1 WO2018051644 A1 WO 2018051644A1 JP 2017027050 W JP2017027050 W JP 2017027050W WO 2018051644 A1 WO2018051644 A1 WO 2018051644A1
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WIPO (PCT)
Prior art keywords
fluid pressure
regenerative
regeneration
motor
actuator
Prior art date
Application number
PCT/JP2017/027050
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English (en)
Japanese (ja)
Inventor
祐弘 江川
Original Assignee
Ｋｙｂ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ｋｙｂ株式会社 filed Critical Ｋｙｂ株式会社
Priority to CN201780018214.3A priority Critical patent/CN109790860A/zh
Priority to KR1020187025538A priority patent/KR20180110037A/ko
Publication of WO2018051644A1 publication Critical patent/WO2018051644A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation means
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2271—Actuators and supports therefor and protection therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity

Definitions

  • the present invention relates to a control system and control method for a hybrid construction machine.
  • JP2015-137752A discloses a hybrid construction machine in which an engine and a rotating electric machine driven by electric power of a power storage unit are used together as a power source.
  • regenerative control is performed in which the regenerative motor is rotationally driven by the hydraulic fluid recirculated from the actuator, and the electric power regenerated by the rotating electrical machine connected to the regenerative motor is charged in the power storage unit.
  • the assist control for supplying hydraulic oil to the actuator from the assist pump connected to the rotating electric machine and the regenerative motor is performed. Done.
  • the present invention aims to improve the durability of a power storage unit of a hybrid construction machine.
  • a control system for a hybrid construction machine includes a variable displacement fluid pressure pump that supplies a working fluid to a fluid pressure actuator, and a working fluid returned from the fluid pressure actuator or the fluid pressure pump.
  • a regenerative motor that is rotationally driven by the working fluid supplied from the regenerative motor, a rotating electrical machine coupled to the regenerative motor, a power storage unit that stores electric power generated by the rotating electrical machine, and a fluid pressure pump to the regenerative motor
  • a control unit that controls supply of a working fluid, and the control unit determines that the charge amount of the power storage unit is smaller than a first predetermined amount when the fluid pressure actuator is not operating. Is the flow rate of the working fluid supplied from the fluid pressure pump to the regenerative motor when the fluid pressure actuator is operating. Controlling the fluid pressure pump such that the above flow rate of the working fluid discharged from the body pressure pump.
  • a variable displacement fluid pressure pump for supplying a working fluid to a fluid pressure actuator, a working fluid recirculated from the fluid pressure actuator, or a working fluid supplied from the fluid pressure pump
  • a control method for controlling a hybrid construction machine comprising: a regenerative motor that is rotationally driven by the motor; a rotary electric machine that is coupled to the regenerative motor; and a power storage unit that stores electric power generated by the rotary electric machine. And detecting the charge amount of the power storage unit, the fluid pressure actuator is not operating, and the detected charge amount of the power storage unit is smaller than a first predetermined amount, The flow rate of the working fluid supplied from the fluid pressure pump to the regenerative motor is set so that the fluid flows when the fluid pressure actuator is operating. The above flow rate of the working fluid discharged from the pump.
  • FIG. 1 is a circuit diagram showing a control system for a hybrid construction machine according to an embodiment of the present invention.
  • FIG. 2 is a flowchart of regenerative control during non-operation in the hybrid construction machine control system.
  • FIG. 3 is a graph for explaining non-operation regenerative control in the control system of the hybrid construction machine.
  • FIG. 4 shows a part of a circuit diagram of a modification of the control system for the hybrid construction machine according to the embodiment of the present invention.
  • the hydraulic excavator includes first and second main pumps 71 and 72 as fluid pressure pumps.
  • the first and second main pumps 71 and 72 are variable displacement pumps capable of adjusting the tilt angle of the swash plate.
  • the first and second main pumps 71 and 72 are driven by the engine 73 and rotate coaxially.
  • the engine 73 is provided with a generator 74 that generates power using the remaining power of the engine 73.
  • the electric power generated by the generator 74 is charged to the battery 26 as a power storage unit via the charger 25.
  • the charger 25 can charge the battery 26 with electric power even when connected to a normal household power supply 27.
  • the capacitor 26 is constituted by an electric double layer capacitor.
  • the battery 26 includes a temperature sensor 26 a that detects the temperature of the battery 26, a voltage sensor (not shown) that detects the voltage of the battery 26, and a current sensor (not shown) that detects the current value supplied to the battery 26. Are provided.
  • the temperature sensor 26a outputs an electrical signal corresponding to the detected temperature of the battery 26 to the controller 90 as a control unit.
  • the battery 26 may be a secondary battery such as a lithium ion battery or a nickel metal hydride battery.
  • the hydraulic fluid discharged from the first main pump 71 is supplied to the first circuit system 75.
  • the first circuit system 75 includes an operation valve 2 that controls the swing motor 76, an operation valve 3 that controls an arm cylinder (not shown), and a boom second speed operation valve that controls the boom cylinder 77 in order from the upstream side. 4, an operation valve 5 that controls a preliminary attachment (not shown), and an operation valve 6 that controls a first travel motor (not shown) for left travel.
  • the swing motor 76, the arm cylinder, the boom cylinder 77, the hydraulic equipment connected to the spare attachment, and the first traveling motor correspond to fluid pressure actuators (hereinafter simply referred to as “actuators”).
  • the operation valves 2 to 6 control the operation of each actuator by controlling the flow rate of the discharged oil supplied from the first main pump 71 to each actuator.
  • Each of the operation valves 2 to 6 is operated by a pilot pressure supplied when the operator of the excavator manually operates the operation lever.
  • the operation valves 2 to 6 are connected to the first main pump 71 through a neutral flow path 7 and a parallel flow path 8 that are parallel to each other.
  • a first supply pressure sensor 63 that detects the pressure of hydraulic fluid supplied from the first main pump 71 to the neutral flow path 7 is provided on the upstream side of the operation valve 2 in the neutral flow path 7. Further, on the upstream side of the operation valve 2 in the neutral flow path 7, the main relief valve 65 opens when the operating hydraulic pressure of the neutral flow path 7 exceeds a predetermined main relief pressure, and keeps the operating hydraulic pressure below the main relief pressure. Is provided.
  • an on-off valve 9 having a solenoid connected to the controller 90 and capable of shutting off the hydraulic oil in the neutral flow path 7 is provided.
  • the on-off valve 9 is kept fully open in the normal state.
  • the on-off valve 9 is switched to a closed state by a command from the controller 90.
  • a pilot pressure generating mechanism 10 for generating a pilot pressure is provided on the downstream side of the on-off valve 9 in the neutral flow path 7.
  • the pilot pressure generating mechanism 10 generates a high pilot pressure if the flow rate of the passing hydraulic oil is large, and generates a low pilot pressure if the flow rate of the passing hydraulic fluid is small.
  • the neutral flow path 7 guides all or part of the hydraulic oil discharged from the first main pump 71 to the tank when all the operation valves 2 to 6 are in the neutral position or in the vicinity of the neutral position. In this case, since the flow rate passing through the pilot pressure generating mechanism 10 increases, a high pilot pressure is generated.
  • the pilot pressure generating mechanism 10 generates a pilot pressure corresponding to the flow rate of the hydraulic oil in the neutral flow path 7. That is, the pilot pressure generation mechanism 10 generates a pilot pressure corresponding to the operation amount of the operation valves 2 to 6.
  • a pilot flow path 11 is connected to the pilot pressure generating mechanism 10.
  • the pilot pressure generated by the pilot pressure generating mechanism 10 is guided to the pilot flow path 11.
  • the pilot pressure generation mechanism 10 is connected via a pilot flow path 11 to a regulator 12 that controls the discharge capacity (tilt angle of the swash plate) of the first main pump 71.
  • the regulator 12 controls the tilt angle of the swash plate of the first main pump 71 in proportion to the pilot pressure of the pilot flow path 11 (proportional constant is a negative number). Thereby, the regulator 12 controls the amount of push-off per one rotation of the first main pump 71. That is, the discharge amount of the first main pump 71 changes according to the pilot pressure in the pilot flow path 11.
  • the tilt angle of the first main pump 71 becomes maximum. At this time, the push-out amount per rotation of the first main pump 71 is maximized.
  • the pilot flow path 11 is provided with a first pressure sensor 13 that detects the pressure of the pilot flow path 11.
  • the pressure detected by the first pressure sensor 13 is output to the controller 90 as a pressure signal.
  • the hydraulic fluid discharged from the second main pump 72 is supplied to the second circuit system 78.
  • the second circuit system 78 includes, in order from the upstream side, an operation valve 14 that controls a second traveling motor (not shown) for right traveling, an operation valve 15 that controls a bucket cylinder (not shown), and a boom cylinder 77. And an arm second speed operation valve 17 for controlling an arm cylinder (not shown).
  • actuators fluid pressure actuators
  • the operation valves 14 to 17 control the operation of each actuator by controlling the flow rate of the discharge oil supplied from the second main pump 72 to each actuator.
  • the operation valves 14 to 17 are operated by pilot pressure supplied when the operator of the hydraulic excavator manually operates the operation lever.
  • the operation valves 14 to 16 are connected to the second main pump 72 through the neutral flow path 18 and the parallel flow path 19 which are parallel to each other.
  • a second supply pressure sensor 64 that detects the pressure of hydraulic oil supplied from the second main pump 72 to the neutral flow path 18 is provided on the upstream side of the operation valve 14 in the neutral flow path 18. Further, on the upstream side of the operation valve 14 in the neutral flow path 18, the main relief valve 66 is opened when the hydraulic pressure of the neutral flow path 18 exceeds a predetermined main relief pressure, and keeps the hydraulic pressure below the main relief pressure. Is provided.
  • the main relief valves 65 and 66 may be provided in at least one of the first circuit system 75 and the second circuit system 78.
  • the main relief valve When the main relief valve is provided in only one of the first circuit system 75 and the second circuit system 78, the main relief valve from which the hydraulic oil is the same from the other of the first circuit system 75 and the second circuit system 78 Connected to be led to.
  • the main relief valve when a single main relief valve is provided, the main relief valve is shared by the first circuit system 75 and the second circuit system 78. In this case, only one supply pressure sensor is provided and is shared by the first circuit system 75 and the second circuit system 78.
  • an on-off valve 21 having a solenoid connected to the controller 90 and capable of shutting off the hydraulic oil in the neutral flow path 18 is provided.
  • the on-off valve 21 is kept fully open in the normal state.
  • the on-off valve 21 is switched to a closed state by a command from the controller 90.
  • a pilot pressure generating mechanism 20 for generating pilot pressure is provided on the downstream side of the on-off valve 21 in the neutral flow path 18.
  • the pilot pressure generating mechanism 20 has the same function as the pilot pressure generating mechanism 10 on the first main pump 71 side.
  • a pilot flow path 22 is connected to the pilot pressure generating mechanism 20.
  • the pilot pressure generated by the pilot pressure generating mechanism 20 is guided to the pilot flow path 22.
  • the pilot pressure generation mechanism 20 is connected to the regulator 23 that controls the discharge capacity (tilt angle of the swash plate) of the second main pump 72 via the pilot flow path 22.
  • the regulator 23 controls the tilt angle of the swash plate of the second main pump 72 in proportion to the pilot pressure of the pilot flow path 22 (proportional constant is a negative number). Thereby, the regulator 23 controls the amount of push-off per rotation of the second main pump 72. In other words, the discharge amount of the second main pump changes according to the pilot pressure in the pilot flow path 22.
  • the tilt angle of the second main pump 72 is maximized. At this time, the push-out amount per rotation of the second main pump 72 is maximized.
  • the pilot flow path 22 is provided with a second pressure sensor 24 that detects the pressure of the pilot flow path 22.
  • the pressure detected by the second pressure sensor 24 is output to the controller 90 as a pressure signal.
  • the actuator ports of the operation valve 2 are connected to flow paths 28 and 29 communicating with the turning motor 76.
  • Relief valves 30 and 31 are connected to the flow paths 28 and 29, respectively.
  • the actuator ports of the operation valve 16 are connected to flow paths 32 and 35 communicating with the boom cylinder 77.
  • the actuator port is closed, and the boom cylinder 77 is maintained in a stopped state.
  • the boom second speed operation valve 4 of the first circuit system 75 is switched in conjunction with the operation valve 16 according to the operation amount of the boom operation lever.
  • An electromagnetic proportional throttle valve 36 whose opening degree is controlled by a controller 90 is provided in the flow path 32 connecting the piston side chamber 33 of the boom cylinder 77 and the operation valve 16. The electromagnetic proportional throttle valve 36 maintains the fully open position in the normal state.
  • the hybrid construction machine control system 100 includes a regenerative device that performs regenerative control for recovering the energy of hydraulic oil discharged from the swing motor 76 and the boom cylinder 77. Below, the regeneration apparatus is demonstrated.
  • the regeneration control by the regeneration device is executed by the controller 90.
  • the controller 90 includes a CPU (central processing unit) that executes regenerative control, a ROM (read-only memory) that stores control programs and setting values necessary for processing operations of the CPU, and information detected by various sensors. RAM (random access memory) for temporarily storing.
  • the flow paths 28 and 29 connected to the turning motor 76 are connected to the turning regeneration flow path 47 for guiding the hydraulic oil from the turning motor 76 to the regeneration motor 88 for regeneration.
  • Each of the flow paths 28 and 29 is provided with check valves 48 and 49 that allow only the flow of hydraulic oil to the swivel regeneration flow path 47.
  • the swivel regeneration channel 47 is connected to the regeneration motor 88 through the merge regeneration channel 46.
  • the regenerative motor 88 is a variable capacity motor that can adjust the tilt angle of the swash plate, and is connected so as to rotate coaxially with a motor generator 91 as a rotating electric machine that also serves as a generator.
  • the regenerative motor 88 is rotationally driven by hydraulic oil that is discharged from the turning motor 76 and the boom cylinder 77 and recirculated through the merging regenerative flow path 46.
  • the regenerative motor 88 is also rotationally driven by directly supplying hydraulic oil discharged from the first and second main pumps 71 and 72 as will be described later.
  • the tilt angle of the swash plate of the regenerative motor 88 is controlled by the tilt angle controller 38.
  • the tilt angle controller 38 is controlled by an output signal from the controller 90.
  • the regenerative motor 88 can drive the motor generator 91 to rotate.
  • the motor generator 91 functions as a generator, the generated regenerative power is charged to the battery 26 via the inverter 92.
  • the regenerative motor 88 and the motor generator 91 may be directly connected or may be connected via a speed reducer.
  • a suction flow path 61 Upstream of the regenerative motor 88 is a suction flow path 61 that sucks up the hydraulic oil from the tank to the regenerative flow path 46 and supplies it to the regenerative motor 88 when the supply amount of the hydraulic oil to the regenerative motor 88 becomes insufficient.
  • the suction channel 61 is provided with a check valve 61a that allows only the flow of hydraulic oil from the tank to the merged regeneration channel 46.
  • the regenerative flow path 47 is provided with an electromagnetic switching valve 50 that is switch-controlled by a signal output from the controller 90.
  • a pressure sensor 51 is provided between the electromagnetic switching valve 50 and the check valves 48 and 49 to detect a turning pressure when the turning motor 76 is turning or a brake pressure when the turning operation is performed. The pressure detected by the pressure sensor 51 is output to the controller 90 as a pressure signal.
  • the hydraulic oil discharged by the pump action of the turning motor 76 is a check valve. It flows into the swivel regeneration passage 47 through 48 and 49 and is guided to the regeneration motor 88.
  • a safety valve 52 is provided on the downstream side of the electromagnetic switching valve 50 in the turning regeneration flow path 47.
  • the safety valve 52 prevents the swing motor 76 from running away by maintaining the pressure in the flow paths 28 and 29 when an abnormality occurs in the electromagnetic switching valve 50 of the swing regeneration flow path 47, for example.
  • the controller 90 determines that the detected pressure of the pressure sensor 51 is equal to or higher than the rotation regeneration start pressure, the controller 90 excites the solenoid of the electromagnetic switching valve 50. As a result, the electromagnetic switching valve 50 is switched to the open position and the swivel regeneration is started.
  • the controller 90 determines that the detected pressure of the pressure sensor 51 is less than the turning regeneration start pressure, the controller 90 de-energizes the solenoid of the electromagnetic switching valve 50. As a result, the electromagnetic switching valve 50 is switched to the closed position and the turning regeneration is stopped.
  • the boom regenerative flow path 53 branched from between the piston side chamber 33 and the electromagnetic proportional throttle valve 36 is connected to the flow path 32.
  • the boom regenerative flow path 53 is a flow path for guiding the return hydraulic oil from the piston side chamber 33 to the regenerative motor 88.
  • the swivel regenerative flow path 47 and the boom regenerative flow path 53 are joined and connected to the merge regenerative flow path 46.
  • the boom regenerative flow path 53 is provided with an electromagnetic switching valve 54 that is switched and controlled by a signal output from the controller 90.
  • the electromagnetic switching valve 54 is switched to the closed position (the state shown in the figure) when the solenoid is not excited, and the boom regenerative flow path 53 is shut off.
  • the electromagnetic switching valve 54 is switched to the open position when the solenoid is excited, and allows only the flow of hydraulic oil from the piston side chamber 33 to the merging regenerative flow path 46 by opening the boom regenerative flow path 53.
  • the controller 90 determines whether the operator is about to extend or contract the boom cylinder 77 based on the detection result of a sensor (not shown) that detects the operation direction of the operation valve 16 and the operation amount thereof. To do.
  • the controller 90 determines the extension operation of the boom cylinder 77
  • the controller 90 keeps the electromagnetic proportional throttle valve 36 in the fully open position, which is the normal state, and keeps the electromagnetic switching valve 54 in the closed position.
  • the controller 90 determines the contraction operation of the boom cylinder 77
  • the controller 90 calculates the contraction speed of the boom cylinder 77 requested by the operator according to the operation amount of the operation valve 16, and closes the electromagnetic proportional throttle valve 36 to electromagnetically.
  • the switching valve 54 is switched to the open position. As a result, the entire amount of return hydraulic oil from the boom cylinder 77 is guided to the regenerative motor 88, and boom regeneration is executed.
  • the assist pump 89 is driven by the energy regenerated by the regenerative control described above, and the assist control assists the outputs of the first main pump 71 and the second main pump 72 by the energy of the hydraulic oil discharged from the assist pump 89. Will be described.
  • the assist pump 89 is a variable displacement pump that can adjust the tilt angle of the swash plate, and rotates coaxially with the regenerative motor 88 and the motor generator 91.
  • the assist pump 89 can be driven to rotate by the driving force when the motor generator 91 is used as an electric motor and the driving force by the regenerative motor 88.
  • the rotation speed of the assist pump 89 that is, the rotation speed of the motor generator 91 to which the assist pump 89 is coupled is controlled by a controller 90 connected to the inverter 92.
  • the tilt angle of the swash plate of the assist pump 89 is controlled by the tilt angle controller 37.
  • the tilt angle controller 37 is controlled by an output signal from the controller 90.
  • the discharge flow path 39 of the assist pump 89 branches into a first assist flow path 40 that merges with the discharge side of the first main pump 71 and a second assist flow path 41 that merges with the discharge side of the second main pump 72. Is done.
  • a high pressure selection switching valve 42 is interposed in the branch portion.
  • the first assist flow path 40 is provided with a first check valve 44 that allows only the flow of hydraulic oil from the discharge flow path 39 to the discharge side of the first main pump 71
  • the second assist flow path 41 includes A second check valve 45 that permits only the flow of hydraulic oil from the discharge flow path 39 to the discharge side of the second main pump 72 is provided.
  • the high-pressure selection switching valve 42 is a 3-port, 3-position spool type switching valve.
  • the high pressure selection switching valve 42 is provided with pilot chambers 42a and 42b facing both ends of the spool.
  • the hydraulic oil in the first assist passage 40 on the first main pump 71 side is supplied from the first check valve 44 to the one pilot chamber 42a through the first pilot passage 43a.
  • the hydraulic fluid in the second assist passage 41 on the second main pump 72 side is supplied from the second check valve 45 to the other pilot chamber 42b through the second pilot passage 43b.
  • Each pilot passage 43a, 43b is provided with a damping throttle (not shown) in order to prevent the spool of the high pressure selection switching valve 42 from moving suddenly.
  • the high pressure selection switching valve 42 is held in a neutral position by centering springs provided at both ends of the spool. In a state where the high pressure selection switching valve 42 is held at the neutral position, the discharge oil of the assist pump 89 is equally distributed to the first assist flow path 40 and the second assist flow path 41.
  • the high pressure selection switching valve 42 cuts off the communication between the discharge flow path 39 and the second assist flow path 41, and the discharge flow It is switched to the first switching position where the path 39 and the first assist channel 40 communicate with each other.
  • the high-pressure selection switching valve 42 blocks communication between the discharge passage 39 and the first assist passage 40, The discharge channel 39 and the second assist channel 41 are switched to the second switching position.
  • the high-pressure selection switching valve 42 selects the high-pressure channel out of the first assist channel 40 and the second assist channel 41 and supplies the discharge oil of the assist pump 89. Further, depending on the differential pressure between the one pilot chamber 42a and the other pilot chamber 42b, the high pressure selection switching valve 42 is positioned between the neutral position and the first switching position, or between the neutral position and the second switching position. May be held at an intermediate position. In this case, a large amount of discharge oil is supplied to the flow path with higher pressure, and a small amount of discharge oil is supplied to the flow path with lower pressure.
  • the assist pump 89 When the assist pump 89 is rotated by the driving force of the motor generator 91, the assist pump 89 assists the output of at least one of the first main pump 71 and the second main pump 72.
  • the extent to which of the first main pump 71 and the second main pump 72 is assisted is automatically determined by the high pressure selection switching valve 42 without requiring a proportional electromagnetic throttle valve or the like controlled by the controller 90.
  • the assist pump 89 when the assist pump 89 is rotated by the driving force of the motor generator 91, hydraulic oil is supplied to the regenerative motor 88 through the merged regenerative flow path 46, and when the regenerative motor 88 rotates, the rotational force of the regenerative motor 88 is Acts as an assisting force for the motor generator 91. Therefore, the power consumption of the motor generator 91 that rotates the assist pump 89 can be reduced by the amount of the rotational force of the regenerative motor 88.
  • the regenerative motor 88 When the regenerative motor 88 is used as a drive source and the motor generator 91 is used as a generator, the tilt angle of the swash plate of the assist pump 89 is set to zero, and the assist pump 89 is almost in a no-load state.
  • the surplus hydraulic oil discharged from the first and second main pumps 71 and 72 is directly supplied to the regenerative motor 88 without passing through each actuator, thereby regenerating the energy of the hydraulic oil.
  • the surplus flow rate regeneration control will be described.
  • the surplus flow rate regeneration control is executed by the controller 90 similarly to the turning regeneration control and the boom regeneration control.
  • the first main pump regenerative flow path branched from the first assist flow path 40 communicating with the discharge side of the first main pump 71 in order to directly guide the hydraulic oil discharged from the first main pump 71 to the regenerative motor 88. 55 is provided.
  • One end of the first main pump regenerative flow path 55 is connected to the first main pump 71 side from the first check valve 44 of the first assist flow path 40, and the other end is joined via the merge flow path 57.
  • the second main pump branched from the second assist passage 41 communicating with the discharge side of the second main pump 72 in order to directly guide the hydraulic oil discharged from the second main pump 72 to the regenerative motor 88.
  • a regenerative flow path 56 is provided.
  • One end of the second main pump regenerative flow path 56 is connected to the second main pump 72 side from the second check valve 45 of the second assist flow path 41, and the other end is joined through the merge flow path 57. Connected to.
  • the merging channel 57 is provided with a check valve 60 that allows only the flow of hydraulic oil from the first and second main pumps 71, 72 toward the merging regeneration channel 46.
  • Solenoid valves 58 and 59 are provided in the first and second main pump regeneration channels 55 and 56, respectively.
  • the solenoid valves 58 and 59 have a solenoid connected to the controller 90. When the solenoid is not energized, the solenoid valves 58 and 59 are switched to the closed position (the position shown in the figure), and when the solenoid is energized, the solenoid valves 58 and 59 are switched to the open position.
  • the controller 90 determines that the detected value of the first supply pressure sensor 63 has substantially reached the main relief pressure of the main relief valve 65, the controller 90 excites the solenoid of the solenoid valve 58. As a result, the electromagnetic valve 58 is switched to the open position, and excess hydraulic oil discharged from the first main pump 71 and discharged to the tank through the main relief valve 65 joins through the first main pump regenerative flow path 55. The energy is recovered by the regenerative motor 88 after being guided to the regenerative flow path 46.
  • the controller 90 excites the solenoid of the electromagnetic valve 59.
  • the electromagnetic valve 59 is switched to the open position, and excess hydraulic oil discharged from the second main pump 72 and discharged to the tank through the main relief valve 66 joins through the second main pump regenerative flow path 56.
  • the energy is recovered by the regenerative motor 88 after being guided to the regenerative flow path 46.
  • Non-operation-time regenerative control is performed by the controller 90 to supply the hydraulic oil discharged from the first and second main pumps 71 and 72 directly to the regenerative motor 88 and regenerate the energy of the hydraulic oil.
  • the above-described assist control is executed when the voltage of the battery 26 is low, the voltage of the battery 26 becomes near the lower limit of use voltage, and as a result, the durability of the battery 26 may be reduced.
  • the time during which each actuator is not operated is short, the voltage of the battery 26 cannot be sufficiently increased, and it may be unavoidable that the battery 26 is overdischarged.
  • the regenerative motor 88 is supplied from the first and second main pumps 71 and 72 in order to quickly increase the voltage of the battery 26 even when the time when each actuator is not operated is short.
  • the flow rate of the hydraulic oil supplied to is increased so as to be equal to or higher than the flow rates of the hydraulic oil discharged from the first and second main pumps 71 and 72 when each actuator is operating.
  • FIG. 2 is a flowchart when the non-operation regenerative control is executed
  • FIG. 3 is a diagram showing the relationship between the non-operation regenerative control and the voltage of the battery 26.
  • the controller 90 excites the solenoid of the electromagnetic valve 58 to switch the electromagnetic valve 58 to the open position and excites the solenoid of the on-off valve 9 when the conditions for executing non-operation regenerative control to be described later are met. Then, the on-off valve 9 is switched to the closed position. When the on-off valve 9 is switched to the closed position, the flow of hydraulic oil to the pilot pressure generating mechanism 10 is blocked, so the pilot pressure becomes zero and the tilt angle of the first main pump 71, that is, the discharge amount is Maximum. The hydraulic oil discharged from the first main pump 71 is guided to the merging regenerative flow path 46 through the first main pump regenerative flow path 55, and the energy is recovered by the regenerative motor 88.
  • the controller 90 can maximize the discharge amount of the second main pump 72 and guide the hydraulic oil discharged from the second main pump 72 to the regenerative motor 88 through the second main pump regenerative flow path 56. is there.
  • the hydraulic oil discharged from the first and second main pumps 71 and 72 controlled to maximize the discharge amount is guided to the regenerative motor 88 via the electromagnetic valves 58 and 59 and is regenerated.
  • the motor generator 91 is rotated together with the motor 88.
  • the electric power generated in the motor generator 91 can be increased by increasing the torque command value to the motor generator 91 according to the flow rate of the hydraulic oil supplied to the regenerative motor 88.
  • the electric power generated by the motor generator 91 is quickly charged into the battery 26 via the inverter 92.
  • the first and second main pumps 71 and 72 are controlled so that the discharge amount is maximized. Therefore, even when the actuators are not operated for a short time, The voltage can be increased rapidly.
  • the discharge amount of only one of the first and second main pumps 71 and 72 is maximized.
  • the regenerative motor 88 is supplied from both the first and second main pumps 71 and 72. Therefore, the regenerative motor 88 connected to the motor generator 91 is driven with the maximum tilt angle or high motor efficiency, and the electric power generated in the motor generator 91 is quickly and efficiently generated. Can be increased.
  • the pilot pressure is made zero by closing the on-off valves 9 and 21, and instead of the configuration in which the discharge amount of the first and second main pumps 71 and 72 is maximized, the first and second main pumps 71 and 72
  • the tilt angle may be electrically controlled to maximize the discharge amount of the first and second main pumps 71 and 72 or maximize the pump efficiency.
  • the tilt angles of the first and second main pumps 71 and 72 are electrically controlled, respectively, and the discharge amounts of the first and second main pumps 71 and 72 are adjusted in accordance with the capacity of the regenerative motor 88. May be. Even in these cases, the flow rate of the hydraulic oil supplied from both the first and second main pumps 71 and 72 to the regenerative motor 88 increases, so that the regenerative motor 88 connected to the motor generator 91 is tilted. It is driven with the maximum turning angle or high motor efficiency, and the electric power generated in the motor generator 91 can be increased quickly and efficiently.
  • step S11 the controller 90 determines whether or not each actuator is operated by the operator. Whether or not each actuator is operated is determined based on the displacement of each of the operation valves 2 to 6 and 14 to 17 and the displacement of each operation lever operated by the operator.
  • the parameters used for the determination in this step are not limited to the displacements of the operation valves 2 to 6, 14 to 17, and any parameters can be used as long as they change in relation to the operation of each actuator. For example, it may be the pressure of the hydraulic oil in the pipe connected to each actuator.
  • step S11 If it is determined in step S11 that each actuator is operated, the process proceeds to step S12, and when regeneration by non-operation regeneration control has already been executed (when the non-operation regeneration flag is “1”). ), The regeneration is stopped and the non-operational regeneration flag is set to “0”. When regeneration by non-operation regeneration control is not executed, that is, when the non-operation regeneration flag is “0”, the state in which regeneration is not executed is continued.
  • step S11 If it is determined in step S11 that each actuator is not operated, the process proceeds to step S13, and the devices constituting the regenerative device, such as the motor generator 91, the inverter 92, the capacitor 26, the temperature sensor 26a, and the regenerative motor 88 are processed. Is detected, and it is determined whether or not regeneration can be normally executed.
  • the devices constituting the regenerative device such as the motor generator 91, the inverter 92, the capacitor 26, the temperature sensor 26a, and the regenerative motor 88 are processed. Is detected, and it is determined whether or not regeneration can be normally executed.
  • step S13 when it is determined that there is an abnormality in the devices constituting the regenerative device and regeneration cannot be normally performed, the process proceeds to step S14.
  • step S14 the same control as in step S12 is executed.
  • step S13 If it is determined in step S13 that there is no abnormality in the devices constituting the regeneration device and regeneration can be normally performed, the process proceeds to step S15.
  • step S15 it is determined whether or not the voltage value Vc indicating the charge amount of the battery 26 is equal to or higher than the regeneration stop voltage Vmax as the second predetermined amount.
  • the regeneration stop voltage Vmax is set to a value lower than the use upper limit voltage Vmax0 of the battery 26 as shown in FIG.
  • the regeneration stop voltage Vmax may be the same value as the voltage at which regeneration is stopped when turning regeneration control or boom regeneration control is performed. However, in this case, if turning regeneration control or boom regeneration control is performed in a state where the voltage of the battery 26 becomes the regeneration stop voltage Vmax, almost no regeneration is performed, and the energy of the hydraulic oil cannot be recovered. The system efficiency of the hybrid construction machine may be reduced. For this reason, it is preferable that the regeneration stop voltage Vmax is set to a value lower than a voltage at which regeneration is stopped when turning regeneration control or boom regeneration control is performed.
  • the capacitor 26 by the swing regeneration control or the boom regeneration control is predicted.
  • the regeneration stop voltage Vmax may be changed as appropriate in anticipation of an increase in voltage.
  • Step S15 when it is determined that the voltage value Vc of the battery 26 is equal to or higher than the regenerative stop voltage Vmax, the process proceeds to Step 16.
  • step 16 when regeneration by the non-operation regeneration control has already been executed, the regeneration is stopped and the non-operation regeneration flag is set to “0”.
  • step 16 when regeneration by non-operation regenerative control is not executed, that is, when the non-operation regenerative flag is “0”, the voltage value Vc of the battery 26 is high, and the non-operation regenerative control is still being performed. Since there is no need to execute, the state where regeneration is not executed is continued.
  • step S15 If it is determined in step S15 that the voltage value Vc of the battery 26 is less than the regenerative stop voltage Vmax, the process proceeds to step 17.
  • step S17 it is determined whether or not the voltage value Vc of the battery 26 is equal to or lower than the regeneration start voltage Vmin as the first predetermined amount.
  • the regeneration start voltage Vmin is set to a value higher than the use lower limit voltage Vmin0 of the battery 26 as shown in FIG.
  • the voltage of the battery 26 immediately after the charging is stopped decreases by the amount of the current I multiplied by the internal resistance R (T) that changes according to the internal temperature T of the battery 26. That is, when the difference between the regeneration stop voltage Vmax and the regeneration start voltage Vmin is smaller than the value obtained by multiplying the internal resistance R (T) by the current I, the voltage of the battery 26 after being charged to become the regeneration stop voltage Vmax is Since the voltage drop is smaller than the regeneration start voltage Vmin, the regeneration control is started again at the same time as the regeneration control is stopped.
  • the regeneration start voltage Vmin is obtained by multiplying the internal resistance R (T) that changes according to the internal temperature T of the battery 26 by the current I supplied to the battery 26, and the regeneration stop voltage Vmax. It is preferable that the voltage value is updated at any time to a value smaller than the voltage value subtracted from. Note that the characteristic of the internal resistance R (T) changes according to the amount of charge (SOC) of the battery 26 and the internal temperature T of the battery 26, so the characteristic of the internal resistance R (T) is stored in the controller 90. Thus, it is possible to predict how much voltage drop will occur based on the detection values of the temperature sensor 26a and the current sensor.
  • step S17 If it is determined in step S17 that the voltage value Vc of the battery 26 is equal to or lower than the regeneration start voltage Vmin, the process proceeds to step 18 to start regeneration by the non-operation-time regeneration control and set the non-operation-time regeneration flag to “1”.
  • the controller 90 excites the solenoid of the electromagnetic valve 58 to switch the electromagnetic valve 58 to the open position, and excites the solenoid of the on-off valve 9 to close the on-off valve 9 to the closed position. Switch to. When the on-off valve 9 is switched to the closed position, the flow of hydraulic oil to the pilot pressure generating mechanism 10 is blocked, so the pilot pressure becomes zero and the tilt angle of the first main pump 71, that is, the discharge amount is Maximum.
  • the hydraulic oil discharged from the first main pump 71 is guided to the merging regenerative flow path 46 through the first main pump regenerative flow path 55, and the energy is recovered by the regenerative motor 88.
  • the voltage value Vc of the battery 26 rises to the regeneration stop voltage Vmax after the regeneration by the non-operation regeneration control is started, the regeneration by the non-operation regeneration control is stopped in step S15 as described above.
  • step S17 If it is determined in step S17 that the voltage value Vc of the battery 26 is larger than the regeneration start voltage Vmin, the process proceeds to step 19 to determine whether or not the non-operation time regeneration flag is “1”, that is, non-operation time regeneration control. It is determined whether or not regeneration by is being performed.
  • step S19 If it is determined in step S19 that the non-operation time regeneration flag is “1”, the process proceeds to step 20, and if it is determined that the non-operation time regeneration flag is not “1”, the process proceeds to step 21.
  • step 20 the voltage value Vc of the battery 26 is greater than the regeneration start voltage Vmin and less than the regeneration stop voltage Vmax. Further, since the non-operation time regeneration flag is “1”, regeneration by the non-operation time regeneration control is being executed. That is, the battery 26 is being charged along the arrow indicated by A in FIG. 3 by the non-operation regeneration control. Therefore, in step 20, regeneration is continued and the non-operation time regeneration flag remains “1”.
  • the voltage value Vc of the battery 26 is greater than the regeneration start voltage Vmin and less than the regeneration stop voltage Vmax, but the non-operation time regeneration flag is not “1” but “0”. For this reason, regeneration by non-operation regeneration control is not performed. That is, the storage battery 26 is in the region indicated by B in FIG. 3, and there is no need to execute the non-operation-time regenerative control, so that the non-operation-time regenerative flag remains “0” and regeneration is not executed. To continue. Such a situation can occur, for example, when the voltage value Vc of the battery 26 when the regeneration by the swing regeneration control or the boom regeneration control is finished is larger than the regeneration start voltage Vmin and less than the regeneration stop voltage Vmax.
  • the voltage value Vc of the battery 26 while each actuator is not being operated is changed from the regeneration start voltage Vmin sufficiently higher than the use lower limit voltage Vmin0 to the use upper limit voltage Vmax0. Is maintained within a certain range up to a sufficiently lower regenerative stop voltage Vmax. For this reason, even if the assist control is executed, the voltage value Vc of the battery 26 is reduced to the use lower limit voltage Vmin0 and the battery 26 is prevented from being overdischarged, and the turning regeneration control and the boom regeneration control are performed. Even if it is executed, the voltage value Vc of the battery 26 is suppressed to the use upper limit voltage Vmax0 and the battery 26 is prevented from being overcharged.
  • the regeneration stop voltage Vmax is set to a value lower than the voltage at which regeneration is stopped when turning regeneration control or boom regeneration control is performed, turning regeneration control or boom regeneration control is performed. Since the energy of the hydraulic oil can be sufficiently recovered, the system efficiency of the hybrid construction machine can be improved.
  • the first and second controlled so that the discharge amount is maximized when the voltage value Vc of the battery 26 when each actuator is not operated is smaller than the regeneration start voltage Vmin. Hydraulic fluid is supplied from the main pumps 71 and 72 to the regenerative motor 88. For this reason, even if the time when each actuator is not operated is short, the voltage of the battery 26 can be quickly increased. As a result, the capacitor 26 is prevented from being overdischarged, and the durability of the capacitor 26 can be improved.
  • the solenoid valves 58 and 59 and the on / off valves 9 and 21 that are operated when the non-operation regenerative control is performed are directly controlled to open and close by the controller 90.
  • the solenoid valves 58 and 59 and the on-off valves 9 and 21 are changed to valve bodies that open and close when pilot pressure is supplied, and a single solenoid valve that supplies pilot pressure to these is provided separately.
  • the controller 90 may control the supply of pilot pressure by the electromagnetic valve.
  • the voltage value Vc of the battery 26 is used as the charge amount of the battery 26, and it is determined whether or not to perform the non-operation-time regenerative control based on the voltage value Vc.
  • the charge rate (SOC, State Of Charge) of the battery 26 may be used as the charge amount of the battery 26, and it may be determined whether or not to perform non-operation-time regenerative control based on the charge rate.
  • the hydraulic oil discharged from the first and second main pumps 71 and 72 is supplied to the regenerative motor 88 through the electromagnetic valves 58 and 59 provided in the first and second main pump regenerative flow paths 55 and 56.
  • a flow path capable of communicating the parallel flow path 8 and the first main pump regenerative flow path 55 is formed in the boom second speed operation valve 4. 4 may be configured to supply hydraulic oil discharged from the first main pump 71 to the regenerative motor 88.
  • the boom second speed operation valve 4 when the pilot pressure source PP is supplied to the pilot chamber 4a through the electromagnetic valve 58a, the boom second speed operation valve 4 includes the branch flow path 8a branched from the parallel flow path 8 and the first main pump regeneration. The position is switched to the position where the flow path 55 communicates.
  • the control system 100 for the hybrid construction machine can be made compact.
  • the flow paths and the like at other switching positions of the boom second speed operation valve 4 are not shown.
  • the control system 100 of the hybrid construction machine includes variable capacity type first and second main pumps 71 and 72 that supply a working fluid to an actuator, and hydraulic oil or first and second main pumps 71 and 72 that are recirculated from the actuator.
  • a regenerative motor 88 that is rotationally driven by hydraulic oil supplied from the motor, a motor generator 91 that is coupled to the regenerative motor 88, a capacitor 26 that stores the power generated by the motor generator 91, and the regenerative motor 88 and the motor generator 91.
  • An assist pump 89 that is connected and capable of supplying hydraulic oil to the actuator, and a controller 90 that controls the supply of hydraulic oil from the first and second main pumps 71 and 72 to the regenerative motor 88.
  • the voltage of the battery 26 is If it is determined that it is smaller than the regeneration start voltage Vmin, the flow rate of the hydraulic oil supplied from the first and second main pumps 71 and 72 to the regeneration motor 88 is the first and first when the actuator is operating.
  • the first and second main pumps 71 and 72 are controlled so as to be equal to or higher than the flow rate of the hydraulic oil discharged from the two main pumps 71 and 72.
  • the hydraulic oil supplied from the first and second main pumps 71 and 72 to the regenerative motor 88 is reduced.
  • the first and second main pumps 71 and 72 are controlled so that the flow rate is equal to or higher than the flow rate of hydraulic oil discharged from the first and second main pumps 71 and 72 when the actuator is operating. Since hydraulic oil having a relatively large flow rate is supplied to the regenerative motor 88 in this way, the voltage of the battery 26 can be quickly increased even if the time during which each actuator is not operated is short. As a result, the voltage of the battery 26 when each actuator is not operated is maintained in a state higher than the regeneration start voltage Vmin, and the battery 26 is prevented from being overdischarged. Can be improved.
  • the controller 90 determines that the voltage of the battery 26 is smaller than the regeneration start voltage Vmin when the actuator is not operating, and then reaches the regenerative stop voltage Vmax where the voltage of the battery 26 is larger than the regeneration start voltage Vmin. Until it is determined that the flow rate of the hydraulic oil supplied from the first and second main pumps 71 and 72 to the regenerative motor 88 is discharged from the first and second main pumps 71 and 72 when the actuator is operating.
  • the first and second main pumps 71 and 72 are controlled so as to be equal to or higher than the flow rate of the hydraulic oil.
  • the regenerative motor 88 is switched from the first and second main pumps 71 and 72.
  • a relatively large flow rate of hydraulic oil is supplied.
  • the state where the hydraulic oil having a relatively large flow rate is supplied to the regenerative motor 88 is continued.
  • the voltage of the battery 26 can be quickly increased.
  • the voltage of the battery 26 when each actuator is not operated is maintained in a state higher than the regeneration start voltage Vmin, and the battery 26 is prevented from being overdischarged. Can be improved.
  • the regeneration start voltage Vmin is smaller than a value obtained by subtracting, from the regeneration stop voltage Vmax, a value obtained by multiplying the internal resistance R (T) that changes according to the internal temperature T of the capacitor 26 by the current I supplied to the capacitor 26. Value.
  • the regeneration start voltage Vmin is set to a value smaller than a value obtained by subtracting the value obtained by multiplying the internal resistance R (T) of the capacitor 26 by the current I supplied to the capacitor 26 from the regeneration stop voltage Vmax. For this reason, even if the voltage of the battery 26 immediately after stopping the charge decreases according to the internal resistance R (T) of the battery 26, the regeneration control is stopped and the regeneration control is prevented from being started again at the same time. can do. Further, the regenerative control when each actuator is not operated can be performed by setting the difference between the regenerative start voltage Vmin and the regenerative stop voltage Vmax as small as possible while considering the internal resistance R (T) of the battery 26. It can be completed in a short time, and it becomes easy to keep the voltage of the battery 26 within a certain range.
  • controller 90 determines a failure of the devices constituting the control system 100, and when the failure is determined, the capacitor 26 is not charged when the actuator is not operating.
  • variable capacity type first and second main pumps 71 and 72 for supplying hydraulic oil to the actuator and the hydraulic oil recirculated from the actuator or the hydraulic oil supplied from the first and second main pumps 71 and 72 are used.
  • a regenerative motor 88 that is rotationally driven, a motor generator 91 that is coupled to the regenerative motor 88, a capacitor 26 that stores the power generated by the motor generator 91, and the regenerative motor 88 and the motor generator 91 that are connected to the actuator as hydraulic fluid.
  • a control method for controlling a hybrid construction machine including an assist pump 89 that can supply the battery detects the operating state of the actuator, detects the voltage of the battery 26, detects that the actuator is not operating, and the detected battery 26 Is smaller than the regeneration start voltage Vmin,
  • the flow rate of hydraulic fluid supplied from the first and second main pumps 71 and 72 to the regenerative motor 88 is greater than the flow rate of hydraulic fluid discharged from the first and second main pumps 71 and 72 when the actuator is operating.
  • the hydraulic oil supplied from the first and second main pumps 71 and 72 to the regeneration motor 88 when the voltage value Vc of the battery 26 when each actuator is not operated is smaller than the regeneration start voltage Vmin, the hydraulic oil supplied from the first and second main pumps 71 and 72 to the regeneration motor 88.
  • the first and second main pumps 71 and 72 are controlled so that the flow rate becomes equal to or higher than the flow rate of hydraulic oil discharged from the first and second main pumps 71 and 72 when the actuator is operating. Since hydraulic oil having a relatively large flow rate is supplied to the regenerative motor 88 in this way, the voltage of the battery 26 can be quickly increased even if the time during which each actuator is not operated is short. As a result, the voltage of the battery 26 when each actuator is not operated is maintained in a state higher than the regeneration start voltage Vmin, and the battery 26 is prevented from being overdischarged. Can be improved.

Abstract

Système de commande (100) pour une machine de construction hybride pourvu de pompes principales (71, 72), d'un moteur régénératif (88) qui est entraîné en rotation par un fluide de travail, d'un moteur-générateur (91) relié au moteur régénératif (88), d'un dispositif de stockage d'électricité (26) et d'un dispositif de commande (90). Lorsqu'un actionneur ne fonctionne pas et que la tension du dispositif de stockage d'électricité (26) est déterminée comme étant inférieure à la tension de démarrage de régénération (Vmin), le dispositif de commande (90) commande les pompes principales (71, 72) de telle sorte que l'écoulement du fluide de travail apporté depuis les pompes principales (71, 72) au moteur régénératif (88) est supérieur ou égal à l'écoulement du fluide de travail rejeté par les pompes principales (71, 72) lorsque l'actionneur fonctionne.
PCT/JP2017/027050 2016-09-16 2017-07-26 Système de commande et procédé de commande pour machine de construction hybride WO2018051644A1 (fr)

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KR1020187025538A KR20180110037A (ko) 2016-09-16 2017-07-26 하이브리드 건설기계의 제어 시스템 및 제어 방법

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