Hydraulic working machine

• US 9,399,856 B2
• Filed: 05/24/2012
• Issued: 07/26/2016
• Est. Priority Date: 05/25/2011
• Status: Active Grant

• Current Assignee: Hitachi Construction Machinery Company Limited (Hitachi, Ltd.)
• Original Assignee: Hitachi Construction Machinery Company Limited (Hitachi, Ltd.)
• Inventors: Yamamoto, Junji, Bao, He, Fujishima, Kazuo, Kajita, Yusuke, Sonoda, Mitsuo, Hoshino, Masatoshi, Nakayama, Akira, Ishida, Seiji, Yamaoka, Shiro, Okada, Takashi
• Primary Examiner(s): Lazo, Thomas E
• Application Number:
  US14/110,808
• Publication Number:
  US 20140020375A1
• Time in Patent Office: 1,524 Days
• Field of Search: 604/14, 604/31
• US Class Current: 1/1
• CPC Class Codes: B60K 17/28 characterised by arrangement, location, or type of power take-off
• CPC Class Codes: B60K 6/46 Series type
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 20/00 Control systems specially adapted for hybrid vehicles hybrid vehicle design, B60K6/00; electric vehicles B60L
• CPC Class Codes: B60W 20/11 using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance utilising navigation and traffic information in the control strategy B60W20/12
• CPC Class Codes: B60W 20/15 Control strategies specially adapted for achieving a particular effect
• CPC Class Codes: B60W 20/16 for reducing engine exhaust emissions
• CPC Class Codes: B60W 2300/17 Construction vehicles, e.g. graders, excavators
• CPC Class Codes: B60W 2710/0644 Engine speed
• CPC Class Codes: B60W 30/1888 Control of power take off [PTO]
• CPC Class Codes: B60Y 2200/412 Excavators
• CPC Class Codes: E02F 9/20 Drives; Control devices gearings in general F16H; controlling in general G05; electric multi-motor drives H02K, H02P
• CPC Class Codes: E02F 9/2025 Particular purposes of control systems not otherwise provided for E02F3/16, E02F3/26, sub-groups of E02F3/43, E02F3/651, sub-groups of E02F3/84, E02F3/907, E02F5/145 take precedence
• CPC Class Codes: E02F 9/2075 of the hybrid type for vehicles in general B60W20/00
• CPC Class Codes: E02F 9/2296 Systems with a variable displacement pump
• CPC Class Codes: F02D 2250/18 Control of the engine output torque
• CPC Class Codes: F02D 2250/36 Control for minimising NOx emissions
• CPC Class Codes: F02D 2250/38 Control for minimising smoke emissions, e.g. by applying smoke limitations on the fuel injection amount
• CPC Class Codes: F02D 31/001 Electric control of rotation speed
• CPC Class Codes: F02D 41/1406 : with use of a optimisation method, e.g. iteration
• CPC Class Codes: F15B 21/14 : Energy-recuperation means
• CPC Class Codes: F15B 2211/20515 : Electric motor
• CPC Class Codes: F15B 2211/20523 : Internal combustion engine
• CPC Class Codes: F15B 2211/20546 : variable capacity
• CPC Class Codes: F15B 2211/6316 : the pressure being a pilot pressure
• CPC Class Codes: F15B 2211/633 : representing a state of the prime mover, e.g. torque or rotational speed
• CPC Class Codes: F15B 2211/88 : Control measures for saving energy
• CPC Class Codes: Y02T 10/62 : Hybrid vehicles

Abstract

A hydraulic working machine has an assist electric motor connected to an engine and a hydraulic pump. The emissions of air pollutants in the exhaust gas from the engine are minimized regardless of fluctuations in the load torque of the hydraulic pump. A specific revolution speed suitable for reducing the emissions of air pollutants is stored, and an engine is controlled using the specific revolution speed as a target revolution speed. The absorption torque of a hydraulic pump is subjected to high-pass filtering whereby a high-frequency component devoid of a trend component is obtained. Target assist torque is computed from the high-frequency component, and the assist electric motor is subjected to power running/generation control accordingly. A specific output torque range suitable for reducing the emissions of air pollutants is stored, and the target assist torque is corrected so that the trend component does not exceed the specific output torque range.

Claims

1. A hybrid-driven hydraulic working machine comprising:

an engine;

a hydraulic pump driven rotatably by said engine;

an assist electric motor connected to said engine and said hydraulic pump;

a plurality of actuators driven by hydraulic fluid delivered by said hydraulic pump;

a plurality of operating devices each having an operating member, said operating devices operating said actuators by outputting an operation signal reflecting the operation of said operating member;

a storage device that stores a specific revolution speed of said engine suitable for reducing the emissions of air pollutants contained in exhaust gas from said engine;

an engine revolution speed setting device that sets said specific revolution speed stored in said storage device as a target revolution speed for said engine;

an engine revolution speed control device that controls the revolution speed of said engine based on said target revolution speed for said engine, and

an electric motor control device that computes differential torque between the absorption torque of said hydraulic pump and target output torque of said engine and that subjects said assist electric motor to power running control and generation control in accordance with the differential torque,

wherein said electric motor control device includes;

a pump absorption torque acquiring device that acquires the absorption torque of said hydraulic pump, and

a filter device that separates the absorption torque of said hydraulic pump acquired by said pump absorption torque acquiring device into a trend component as target torque for said engine and other component, and

wherein said electric motor control device uses said other component separated by said filter device as said differential torque, and subjects said assist electric motor to power running control and generation control in such a manner that said trend component serves as the target output torque for said engine.

2. The hybrid-driven hydraulic working machine according to claim 1, wherein said filter device is a high-pass filter that removes said trend component from the absorption torque of said hydraulic pump acquired by said pump absorption torque acquiring device.

3. The hybrid-driven hydraulic working machine according to claim 1, wherein said storage device stores a specific revolution speed and a specific output torque range of said engine suitable for reducing the emissions of air pollutants contained in the exhaust gas from said engine;

wherein said electric motor control device further includes a torque distribution correcting device that corrects the target torque for said assist electric motor in such a manner that the target output torque for said engine does not exceed said specific output torque range stored in said storage device, and

wherein said electric motor control device subjects said assist electric motor to power running control and generation control based on the target torque for said assist electric motor corrected by said torque distribution correcting device.

4. The hybrid-driven hydraulic working machine according to claim 3, wherein the exhaust gas from said engine contains particulate matter (PM) and nitrogen oxides, and said storage device stores a plurality of combinations of said specific revolution speed and said specific output torque range of said engine suitable for reducing at least two of a plurality of factors including the emissions of particulate matter (PM), the emissions of nitrogen oxides (NOx), the total emissions of particulate matter (PM) and nitrogen oxides (NOx), a combination of the emissions of particulate matter (PM) with fuel consumption, a combination of the emissions of nitrogen oxides (NOx) with fuel consumption, and a combination of the total emissions of particulate matter (PM) and nitrogen oxides (NOx) with fuel consumption;

wherein said hydraulic working machine further includes a switching device that selects for use one of the combinations of said specific revolution speed and said specific output torque range of said engine;

wherein said engine revolution speed setting device sets said specific revolution speed of the combination selected by said switching device as said target revolution speed for said engine, and

wherein said torque distribution correcting device corrects the target torque for said assist electric motor in such a manner that said specific output torque range of the combination selected by said switching device is not exceeded.

5. The hybrid-driven hydraulic working machine according to claim 3, wherein the exhaust gas from said engine contains particulate matter (PM) and nitrogen oxides, and said storage device stores a specific revolution speed of said engine, or a specific revolution speed and a specific output torque range of said engine suitable for reducing one of a plurality of factors including the emissions of particulate matter (PM), the emissions of nitrogen oxides (NOx), the total emissions of particulate matter (PM) and nitrogen oxides (NOx), a combination of the emissions of particulate matter (PM) with fuel consumption, a combination of the emissions of nitrogen oxides (NOx) with fuel consumption, and a combination of the total emissions of particulate matter (PM) and nitrogen oxides (NOx) with fuel consumption.

6. The hybrid-driven hydraulic working machine according to claim 1, wherein the exhaust gas from said engine contains particulate matter (PM) and nitrogen oxides, and said storage device stores a specific revolution speed of said engine, or a specific revolution speed and a specific output torque range of said engine suitable for reducing one of a plurality of factors including the emissions of particulate matter (PM), the emissions of nitrogen oxides (NOx), the total emissions of particulate matter (PM) and nitrogen oxides (NOx), a combination of the emissions of particulate matter (PM) with fuel consumption, a combination of the emissions of nitrogen oxides (NOx) with fuel consumption, and a combination of the total emissions of particulate matter (PM) and nitrogen oxides (NOx) with fuel consumption.

7. The hybrid-driven hydraulic working machine according to claim 1, wherein said pump absorption torque acquiring device includes:

a torque detecting device that detects the absorption torque of said hydraulic pump; and

a torque computing device that computes the absorption torque of said hydraulic pump based on detected values from said torque detecting device.

8. The hybrid-driven hydraulic working machine according to claim 1, wherein said pump absorption torque acquiring device includes:

a revolution detecting device that detects the actual revolution speed of said engine; and

a torque computing device that estimates the absorption torque of said hydraulic pump based on the deviation between said actual revolution speed detected by said revolution detecting device and said target revolution speed.

9. The hybrid-driven hydraulic working machine according to claim 1, wherein said pump absorption torque acquiring device includes:

an operation signal detecting device that detects the operation signal output from said plurality of operating devices, and

a torque computing device that predicts the absorption torque of said hydraulic pump based on said operation signal detected by said operation signal detecting device.