Drive control system of operating machine, operating machine including drive control system, and drive control method of operating machine
First Claim
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1. A drive control system of an operating machine,the drive control system comprising:
- a power storage device storing electric power;
an electric motor supplied with the electric power from the power storage device to operate and turn a structure of the operating machine;
an electric motor driving device configured to adjust the electric power supplied from the power storage device to the electric motor and drive the electric motor at torque corresponding to the supplied electric power;
a liquid-pressure motor supplied with an operating liquid to operate and turn the structure in cooperation with the electric motor;
an operating liquid supply device configured to adjust a flow rate and liquid pressure of the operating liquid flowing through the liquid-pressure motor and drive the liquid-pressure motor at torque corresponding to the flow rate and liquid pressure of the supplied operating liquid;
an input device by which a target turning speed of the structure is input; and
a drive control device configured to determine a target torque for accelerating the structure to the target turning speed and control an operation of the electric motor driving device and an operation of the operating liquid supply device such that a sum of the torque of the electric motor and the torque of the liquid-pressure motor becomes the target torque, wherein;
when accelerating the structure to the target turning speed, the drive control device controls the operation of the electric motor driving device such that the electric motor drives at high efficiency torque by which a highest electric power efficiency is obtained at each of rotating speeds of the electric motor before the speed of the structure reaches the target turning speed; and
the drive control device controls the operation of the operating liquid supply device such that residual torque obtained by subtracting the high efficiency torque from the target torque is output from the liquid-pressure motor.
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Abstract
A drive control system of a hydraulic excavator includes a control device. When accelerating a turning body to a target turning speed, the drive control device controls an operation of the electric motor driving device such that the electric motor outputs high efficiency torque by which a highest electric power efficiency is obtained at the target turning speed. The control device controls an operation of an oil pressure supply device such that residual torque obtained by subtracting the high efficiency torque from target torque is output from an oil-pressure motor.
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Citations
7 Claims
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1. A drive control system of an operating machine,
the drive control system comprising: -
a power storage device storing electric power; an electric motor supplied with the electric power from the power storage device to operate and turn a structure of the operating machine; an electric motor driving device configured to adjust the electric power supplied from the power storage device to the electric motor and drive the electric motor at torque corresponding to the supplied electric power; a liquid-pressure motor supplied with an operating liquid to operate and turn the structure in cooperation with the electric motor; an operating liquid supply device configured to adjust a flow rate and liquid pressure of the operating liquid flowing through the liquid-pressure motor and drive the liquid-pressure motor at torque corresponding to the flow rate and liquid pressure of the supplied operating liquid; an input device by which a target turning speed of the structure is input; and a drive control device configured to determine a target torque for accelerating the structure to the target turning speed and control an operation of the electric motor driving device and an operation of the operating liquid supply device such that a sum of the torque of the electric motor and the torque of the liquid-pressure motor becomes the target torque, wherein; when accelerating the structure to the target turning speed, the drive control device controls the operation of the electric motor driving device such that the electric motor drives at high efficiency torque by which a highest electric power efficiency is obtained at each of rotating speeds of the electric motor before the speed of the structure reaches the target turning speed; and the drive control device controls the operation of the operating liquid supply device such that residual torque obtained by subtracting the high efficiency torque from the target torque is output from the liquid-pressure motor. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A drive control method of an operating machine configured to cause an electric motor and a liquid-pressure motor to cooperate with each other to turn a structure of the operating machine, the electric motor being configured to operate in accordance with electric power supplied from a power storage device through an electric motor driving device, the liquid-pressure motor being configured to operate in accordance with a flow rate and liquid pressure of an operating liquid supplied from an operating liquid supply device,
the drive control method comprising: -
a target torque calculating step of calculating a target torque for accelerating the structure to a target turning speed input by an input device; an electric power supply operation control step of controlling the electric power supplied from the electric motor driving device to the electric motor such that the electric motor drives at high efficiency torque by which a highest electric power efficiency is obtained at each of rotating speeds before the speed of the structure reaches the target turning speed; and an operating liquid supply operation control step of controlling an amount of operating liquid supplied from the operating liquid supply device such that residual torque obtained by subtracting the high efficiency torque from the target torque is output from the liquid-pressure motor.
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Specification