WO2021192290A1 - Engin de chantier hydraulique électrique - Google Patents

Engin de chantier hydraulique électrique Download PDF

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Publication number
WO2021192290A1
WO2021192290A1 PCT/JP2020/014260 JP2020014260W WO2021192290A1 WO 2021192290 A1 WO2021192290 A1 WO 2021192290A1 JP 2020014260 W JP2020014260 W JP 2020014260W WO 2021192290 A1 WO2021192290 A1 WO 2021192290A1
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WO
WIPO (PCT)
Prior art keywords
battery
output current
value
inverter
charger
Prior art date
Application number
PCT/JP2020/014260
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English (en)
Japanese (ja)
Inventor
亮弥 井上
小川　雄一
剛史 石井
聖一 木原
高橋　究
Original Assignee
株式会社日立建機ティエラ
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Application filed by 株式会社日立建機ティエラ filed Critical 株式会社日立建機ティエラ
Priority to PCT/JP2020/014260 priority Critical patent/WO2021192290A1/fr
Publication of WO2021192290A1 publication Critical patent/WO2021192290A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00

Definitions

  • the present invention relates to an electric hydraulic construction machine, and in particular, works by driving an electric motor using electric power from a battery and an external AC power source as a power source, driving a hydraulic pump by the electric motor, and driving an actuator.
  • electric hydraulic construction machines such as hydraulic excavators.
  • an electric hydraulic construction machine in which a hydraulic pump is driven by an electric motor instead of an engine, an electric hydraulic construction machine capable of driving an electric motor while receiving power supply not only from a battery but also from an external AC power source is described in, for example, patent documents. It is described in 1.
  • Patent Document 2 describes a technique for keeping the input / output current within an appropriate range and preventing overcharging or overdischarging of the battery.
  • the output current of the charger is limited to limit the input current flowing through the battery
  • the output current of the inverter is limited to limit the output current flowing from the battery. Therefore, it is conceivable to keep the input / output current of the battery within an appropriate range.
  • the present invention has been made based on the above circumstances, and an object of the present invention is to prevent overcharging and overdischarging of a battery in an electric hydraulic construction machine powered by a battery and an external AC power source. This is to suppress the deterioration of workability while keeping the flowing input / output current within an appropriate range.
  • the present invention uses a battery, a charger that converts an AC current supplied from an external AC power source into a DC current and outputs the current, and a DC current output from the battery and the charger.
  • an electric hydraulic construction machine including an inverter that converts and outputs an AC current, an electric motor driven by an AC current output from the inverter, and a hydraulic pump driven by the electric motor
  • the charger The control device is provided with a control device for controlling the output current of the battery and the output current of the inverter.
  • the inverter output current upper limit value is calculated based on the charger output current target value, the charger controls the output current of the charger based on the charger output current target value, and the inverter controls the output current of the charger.
  • the output current of the inverter is controlled so as not to exceed the upper limit value of the output current, and the electric motor is driven.
  • the output current of the charger is controlled based on the charger output current target value calculated based on the allowable charge current value of the battery, and the calculation is performed based on the allowable discharge current value of the battery and the charger output current target value.
  • the inverter output current upper limit is calculated based on not only the battery allowable discharge current value but also the battery allowable discharge current value and the charger output current target value, and the inverter output current upper limit is not exceeded. By controlling the output current, it is possible to suppress a decrease in workability.
  • the present invention it is possible to prevent overcharging and overdischarging of the battery, keep the input / output current flowing through the battery within an appropriate range, protect the battery, and suppress deterioration of workability.
  • the inverter output current value in the present embodiment when the same operation as in FIG. 7 is performed in a low temperature or high temperature environment in which the maximum allowable charge current value and the maximum allowable discharge current value of the battery are limited, respectively, is shown.
  • FIG. 1 is a diagram showing a drive system of an electric hydraulic construction machine according to an embodiment of the present invention.
  • the electric hydraulic construction machine is equipped with a drive system as shown in FIG.
  • the drive system converts the AC current supplied from the battery 1 and the external AC power supply 4 into a DC current and outputs the charger 5, and converts the DC current output from the battery 1 and the charger 5 into an AC current. It is driven by the inverter 2, the electric motor 3 driven by the alternating current output from the inverter 2, the control device 8 that controls the output current of the charger 5 and the output current of the inverter 2, and the electric motor 3.
  • the hydraulic pump 9 is provided. Further, the control device 8 includes a battery controller 6 and a main controller 7.
  • the control device 8 has the output current target value of the charger 5 (hereinafter, appropriately referred to as the charger output current target value) and the output current upper limit of the inverter 2 which will be described later as command values of the charger 5 and the inverter 2.
  • the output current of the charger 5 and the output current of the inverter 2 are controlled by calculating the values (hereinafter, appropriately referred to as the upper limit values of the inverter output current) and outputting these command values to the charger 5 and the inverter 2, respectively. ..
  • the main controller 7 controls the output current of the charger 5 and the output current of the inverter 2 (calculation of the charger output current target value and the inverter output current upper limit value).
  • the battery controller 6 may control the output current of the charger 5 and the output current of the inverter 2.
  • the hydraulic pump 9 is driven by an electric motor 3 to discharge pressure oil, and the pressure oil is supplied to a plurality of actuators 11 via a valve unit 10 to perform a predetermined operation.
  • the inverter 2 is electrically connected to the electric motor 3 by an AC high-voltage wire (power line), and the inverter 2 is electrically connected to the battery 1 and the charger 5 by a DC high-voltage wire (power line).
  • the direct current output from both of the chargers 5 is converted into an alternating current and output to the electric motor 3.
  • the inverter 2 is based on the information of the target rotation speed of the electric motor 3 output from the main controller 7 and the actual rotation speed of the electric motor 3 calculated inside the inverter 2, for example, by PID control.
  • the alternating current output to the electric motor 3 is controlled so that the actual number of rotations matches the number.
  • the target rotation speed of the electric motor 3 may be stored as a set value in the main controller 7, for example, or a manual device such as a dial that can be operated by the operator is provided, and the target rotation speed set by this manual device is used as the main. It may be input to the controller 7.
  • the actual rotation speed of the electric motor 3 is not limited to being calculated inside the inverter 2, and the electric motor 3 may be provided with a rotation sensor such as a rotary encoder and its detection signal may be input to the inverter 2.
  • the charger 5 is electrically connected to the external AC power supply 4 by an external power supply connection cable, and converts the AC current input via the external power supply connection cable into a DC current and outputs it.
  • the battery controller 6 is connected to the battery 1 via a signal line, and controls the battery 1 and acquires the temperature information of the battery 1 (hereinafter, appropriately referred to as battery temperature information). As the control of the inverter 2, the battery controller 6 controls, for example, the connection of the relay in the battery 1.
  • the main controller 7 is electrically connected to the inverter 2, the charger 5, and the battery controller 6 by a signal line, and sends and receives information and command values by communication.
  • the information and the command value include the above-mentioned information and the command value related to the present invention such as the battery temperature information, the charger output current target value, and the inverter output current upper limit value.
  • the main controller 7 may send and receive information and command values other than the information and command values related to the present invention.
  • the battery 1, the inverter 2, and the charger 5 shown in FIG. 1 operate so as to consume the current output from the charger 5 in the inverter 2 and adjust the excess / deficiency current by the input / output of the battery 1. do.
  • the charger 5 controls the output current of the charger 5 based on the charger output current target value transmitted from the main controller 7.
  • the inverter 2 controls the output current of the inverter 2 so as not to exceed the upper limit value of the inverter output current transmitted from the main controller 7, and drives the electric motor 3.
  • the charger 5 controls the output current of the charger 5 based on the charger output current target value transmitted from the main controller 7 as follows.
  • the charger 5 controls so that the DC current output to the battery 1 and the inverter 2 does not exceed the charger output current target value. At that time, the charger 5 charges the battery 1 using the charger output current target value.
  • the battery 1 is charged, for example, by cccv charging (constant current / constant voltage charging).
  • cccv charging the charging current of the battery 1 is controlled to be held at the charger output current target value until the battery 1 reaches the target set voltage, and when the battery 1 reaches the target set voltage, the battery 1 is charged.
  • the current is gradually reduced, and the output of the current to the battery 1 is stopped when a predetermined time elapses or when the current decreases to a predetermined value.
  • FIG. 10 is a diagram showing the appearance of an electric hydraulic construction machine according to an embodiment of the present invention.
  • the electric hydraulic excavator is an electric hydraulic excavator
  • the electric hydraulic excavator includes a lower traveling body 101, an upper turning body 102, and a swing type front working machine 104, and is a front working machine.
  • the 104 is composed of a boom 111, an arm 112, and a bucket 113.
  • the boom 111, arm 112, and bucket 113 of the front working machine 104 can rotate in the vertical direction by expanding and contracting the boom cylinder 111a, arm cylinder 112a, and bucket cylinder 113a.
  • the upper swivel body 102 and the lower traveling body 101 are rotatably connected by a swivel wheel 215, and the upper swivel body 102 can be swiveled with respect to the lower traveling body 101 by the rotation of the swivel motor 102a.
  • a swing post 103 is attached to the front portion of the upper swing body 102, and a front working machine 104 is attached to the swing post 103 so as to be able to move up and down.
  • the swing post 103 can rotate in the horizontal direction with respect to the upper swing body 102 by expanding and contracting the swing cylinder 103a.
  • the left and right traveling devices 105a and 105b and the blade 106 that moves up and down by expanding and contracting the blade cylinder 106a are attached to the central frame of the lower traveling body 101.
  • the right and left traveling devices 105a and 105b are provided with drive wheels 210a and 210b, idlers 211a and 211b, and crawler belts 212a and 212b, respectively. It runs by driving.
  • the upper swivel body 102 is provided with a battery mounting portion 109 in which a battery 1 (see FIG. 1) is mounted on a swivel frame 107 and also serves as a counterweight, and a cabin 110 having a driver's cab 108 formed therein.
  • a driver's seat 122 Inside the 108 are a driver's seat 122, a boom cylinder 111a, an arm cylinder 112a, a bucket cylinder 113a, right and left operating lever devices 124A and 124B for a swivel motor 102a, a swing cylinder 103a, right and left traveling motors 101a and 101b, and blades.
  • An operation lever device (not shown) for the cylinder 106a, a monitor 80, and the like are provided.
  • the plurality of actuators 11 shown in FIG. 1 include a boom cylinder 111a, an arm cylinder 112a, a bucket cylinder 113a, a swing motor 102a, a swing cylinder 103a, a blade cylinder 106a, and right and left traveling motors 101a and 101b.
  • the main controller 7 calculates the charger output current target value based on the allowable charge current value of the battery 1, and sets the allowable discharge current value of the battery 1 and the charger output current target value.
  • the upper limit of the inverter output current is calculated based on this.
  • FIG. 2 is a flowchart showing the processing contents of the main controller 7, for example, the processing is repeatedly performed while the main controller 7 is operating.
  • the main controller 7 (control device) first acquires the temperature information of the battery 1 transmitted from the battery controller 6 (step S100), and the battery 1 is based on the temperature information of the battery 1.
  • the maximum permissible charge current value and the maximum permissible discharge current value of are calculated (step S110). The details will be described later.
  • the main controller 7 calculates a charger output current target value based on the calculated maximum allowable charge current value of the battery 1 (step S120), and calculates the maximum allowable charge / discharge current value of the battery 1 and the charger output current.
  • the upper limit value of the inverter output current is calculated based on the target value (step S130). The details will be described later.
  • the main controller 7 outputs the calculated charger output current target value to the charger 5 and the calculated inverter output current upper limit value to the inverter 2 (step S140).
  • the maximum permissible charge current value and the maximum permissible discharge current value of the battery 1 were calculated using the temperature information of the battery 1, but the degree of deterioration of the battery 1 is monitored and the maximum permissible degree is used.
  • the charge current value and the maximum permissible discharge current value may be calculated, or the maximum permissible charge current value and the maximum permissible discharge current value may be calculated by using the battery temperature and the degree of deterioration together.
  • overcharging and overdischarging of the battery 1 can be prevented more accurately than when only the battery temperature is used.
  • the calculation of the maximum allowable charge current value and the maximum allowable discharge current value and the calculation of the charger output current target value and the inverter output current upper limit value may be performed by the battery controller 6 instead of the main controller 7. As a result, it is possible to provide a margin in the processing capacity of the main controller 7 that performs various control operations.
  • FIG. 3 is a function book diagram showing the internal functions of the main controller 7.
  • the main controller 7 includes a battery temperature signal conversion unit 30a, a constant / table storage unit 30b, a command value calculation unit 30c, and an output signal conversion unit 30d.
  • the battery temperature signal conversion unit 30a is a part that executes the process of step S100 in FIG. 2, calculates the battery temperature based on the temperature information of the battery 1 transmitted from the battery controller 6, and causes the command value calculation unit 30c to calculate the battery temperature. Send information.
  • the battery temperature is expressed as BT (t).
  • the constant / table storage unit 30b stores table information necessary for calculation, and transmits them to the command value calculation unit 30c.
  • the command value calculation unit 30c is a part that executes the processes of steps S110 to S130 in FIG. 2, and is a battery temperature BT (t) transmitted from the battery temperature signal conversion unit 30a and a table transmitted from the constant / table storage unit 30b.
  • the information is received, the charger output current target value and the inverter output current upper limit value are calculated, and the charger output current target value and the inverter output current upper limit value are output to the output signal conversion unit 30d.
  • the charger output current target value will be referred to as ICcmd (t)
  • the output signal conversion unit 30d is a part that executes the process of step S140 in FIG. 2, converts the charger output current target value ICcmd (t) and the inverter output current upper limit value IIcmd (t) into command values, respectively, and converts an electric signal. Is output to the charger 5 and the inverter 2.
  • FIG. 4 is a functional block diagram showing the processing contents of the command value calculation unit 30c.
  • the command value calculation unit 30c includes a battery allowable current calculation unit 40a, a charger output current target value calculation unit 40b, and an inverter output current upper limit value calculation unit 40c.
  • the battery allowable current calculation unit 40a calculates the maximum allowable charge current value and the maximum allowable discharge current value of the battery 1 based on the battery temperature BT (t) based on the calculation method described later.
  • the maximum permissible charge current value will be referred to as IChg (t)
  • the maximum permissible discharge current value will be referred to as IDch (t).
  • the maximum allowable charge current value IChg (t) is transmitted to the charger output current target value calculation unit 40b, and the maximum allowable discharge current value IDch (t) is transmitted to the inverter output current upper limit value calculation unit 40c.
  • the charger output current target value calculation unit 40b calculates a value equal to the maximum allowable charge current value IChg (t) as the charger output current target value ICcmd (t) as shown in the following equation (1).
  • the inverter output current upper limit calculation unit 40c sets the sum of the maximum allowable discharge current value IDch (t) and the charger output current target value ICcmd (t) to the inverter output current upper limit IIcmd. Calculate as (t).
  • FIG. 5 is a diagram showing an internal calculation flow of the battery allowable current calculation unit 40a of FIG. 4, and is repeatedly processed while, for example, the main controller 7 is operating.
  • the battery allowable current calculation unit 40a receives the battery temperature-maximum allowable charge current value table 40a1 and the battery temperature-maximum allowable discharge current value table 40a2 from the constant / table storage unit 30b, and the battery temperature BT ( Enter t).
  • FIG. 6A is a diagram showing the characteristics of the battery temperature-maximum allowable charging current value table 40a1.
  • Battery temperature-Maximum allowable charge current value In the table 40a1 when the battery temperature BT (t) is in the normal temperature range, the maximum allowable charge current value IChg (t) is the maximum, and the battery temperature BT (t) is at room temperature. As it rises or falls below the range, the maximum permissible charging current value IChg (t) is lowered, and the battery temperature BT (t) rises above the high temperature side threshold set as the charging stop temperature, or is set as the charging stop temperature.
  • the maximum allowable charging current value IChg (t) is set to a value such that the charger 5 does not output a high-voltage DC current.
  • the temperature characteristics are set.
  • the maximum allowable charge current value IChg (t) calculated based on such characteristics is transmitted to the charger output current target value calculation unit 40b.
  • FIG. 6B is a diagram showing the characteristics of the battery temperature-maximum allowable discharge current value table 40a2.
  • the maximum allowable discharge current value IDch (t) is the maximum
  • the battery temperature BT (t) As the temperature rises or falls below the normal temperature range, the maximum permissible discharge current value IDch (t) is lowered, and the battery temperature BT (t) rises or falls above the high temperature side threshold set as the discharge stop temperature, or the charge is stopped.
  • the maximum allowable discharge current value IDch (t) is set to a value that does not consume the high-voltage DC current so that the inverter 2 does not consume the high-voltage DC current.
  • Temperature characteristics are set. The maximum allowable discharge current value IDch (t) calculated based on such characteristics is transmitted to the inverter output current upper limit value calculation unit 40c.
  • the normal temperature range is, for example, 10 ° C.
  • the low temperature side threshold value is, for example, ⁇ 15 ° C.
  • the high temperature side threshold value is, for example, 45 ° C.
  • FIG. 7 shows the output current of the inverter 2 that flows when a certain continuous operation is performed in a normal temperature environment in which the maximum allowable charge current value IChg (t) and the maximum allowable discharge current value IDch (t) of the battery 1 are not limited. It is a graph which shows the value.
  • (a) to (g) are inverter output current values in the following states and operations, respectively.
  • the dotted line in FIG. 7 indicates the inverter output current upper limit value IIcmd (t) calculated by the inverter output current upper limit value calculation unit 40c under the above-mentioned normal temperature environment.
  • This inverter output current upper limit value IIcmd (t) is set to, for example, the mechanical current output upper limit value of the inverter 2.
  • FIG. 8 is a graph showing an inverter output current value of a comparative example having a circuit configuration in which the charger 5 is not provided in FIG.
  • a value equal to the maximum allowable discharge current value IDch (t) of the battery 1 is set as the upper limit value of the inverter output current.
  • the graph is shown by a solid line.
  • FIG. 8 shows the waveform of the inverter output current value limited by the inverter output current upper limit value IIcmd (t) with a broken line.
  • a value equal to the maximum allowable discharge current value IDch (t) is set as the inverter output current upper limit value IIcmd (t) to limit the output current of the inverter 2, as shown by the solid line in FIG. It can be seen that the inverter output current range is significantly limited. Since the output current of the inverter 2 is limited in this way, the current is output from the inverter 2 only in the lower solid line portion, and as a result, the workability is deteriorated.
  • FIG. 9 shows an inverter output current value (inverter output current upper limit) that flows when the drive system of this embodiment is used as a method for limiting the maximum allowable charge current value IChg (t) and the maximum allowable discharge current value IDch (t).
  • the graph of the inverter output current value (inverter output current value not limited by the value IIcmd (t)) is shown by the solid line.
  • FIG. 9 shows the waveform of the inverter output current value limited by the inverter output current upper limit value IIcmd (t) with a broken line.
  • the maximum allowable discharge current value IDch (t) is used instead of the value equal to the maximum allowable discharge current value IDch (t). Since the sum of the charger output current target value ICcmd (t) is set as the inverter output current upper limit value IIcmd (t) and the output of the inverter 2 is limited, the current range that can be output by the inverter 2 is expanded, thereby expanding the electric motor. It is possible to suppress a decrease in the number of rotations of 3 and improve workability.
  • the charging current of the battery 1 in order to control the output current of the charger 5 so as not to exceed the maximum allowable charging current value IChg (t), the charging current of the battery 1 is equal to or less than the maximum allowable charging current value IChg (t). It is suppressed to. Further, since the output current of the inverter 2 is controlled so as not to exceed the sum of the maximum allowable discharge current value IDch (t) and the charger output current target value ICcmd (t), the discharge current of the battery 1 is the maximum allowable discharge current value. It can be suppressed below IDch (t). As a result, overcharging and overdischarging of the battery 1 can be prevented, and the battery 1 can be protected.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Secondary Cells (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

L'invention concerne un engin de chantier hydraulique électrique utilisant une batterie et une source de courant alternatif CA externe en tant que source d'alimentation. Afin de réduire une diminution de la capacité de travail tout en empêchant une surcharge et une décharge excessive de la batterie et de maintenir ainsi des courants d'entrée et de sortie circulant à travers la batterie dans une plage appropriée, un dispositif de commande calcule une valeur cible de courant de sortie d'un chargeur sur la base d'une valeur de courant de charge admissible de la batterie, et calcule une limite supérieure de courant de sortie d'un onduleur sur la base d'une valeur de courant de décharge admissible de la batterie et de la valeur cible du courant de sortie du chargeur. Le chargeur commande un courant de sortie du chargeur sur la base de la valeur cible du courant de sortie du chargeur. L'onduleur commande un courant de sortie de l'onduleur de façon à ne pas dépasser la limite supérieure du courant de sortie de l'onduleur, et entraîne le moteur électrique.
PCT/JP2020/014260 2020-03-27 2020-03-27 Engin de chantier hydraulique électrique WO2021192290A1 (fr)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011157689A (ja) * 2010-01-29 2011-08-18 Takeuchi Seisakusho:Kk 作業機械の充電システム
JP2011190623A (ja) * 2010-03-15 2011-09-29 Sumitomo Heavy Ind Ltd ハイブリッド型作業機械
JP2014155248A (ja) * 2013-02-05 2014-08-25 Kobelco Contstruction Machinery Ltd 建設機械
WO2016060132A1 (fr) * 2014-10-14 2016-04-21 日立建機株式会社 Machines de construction hybrides
JP2018182920A (ja) * 2017-04-14 2018-11-15 日立建機株式会社 蓄電装置コントローラ及び電動システム並びに建設機械
JP2019068686A (ja) * 2017-10-04 2019-04-25 株式会社豊田自動織機 バッテリ式産業車両
JP2019190104A (ja) * 2018-04-24 2019-10-31 ヤンマー株式会社 電動式作業機械

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011157689A (ja) * 2010-01-29 2011-08-18 Takeuchi Seisakusho:Kk 作業機械の充電システム
JP2011190623A (ja) * 2010-03-15 2011-09-29 Sumitomo Heavy Ind Ltd ハイブリッド型作業機械
JP2014155248A (ja) * 2013-02-05 2014-08-25 Kobelco Contstruction Machinery Ltd 建設機械
WO2016060132A1 (fr) * 2014-10-14 2016-04-21 日立建機株式会社 Machines de construction hybrides
JP2018182920A (ja) * 2017-04-14 2018-11-15 日立建機株式会社 蓄電装置コントローラ及び電動システム並びに建設機械
JP2019068686A (ja) * 2017-10-04 2019-04-25 株式会社豊田自動織機 バッテリ式産業車両
JP2019190104A (ja) * 2018-04-24 2019-10-31 ヤンマー株式会社 電動式作業機械

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