Construction machine and control method thereof
View Patent ↗A construction machine comprises an electric motor/generator; an engine; an epicyclic gearing for rotating the electric motor/generator reversely when speed of a rotation output to a drive wheel is zero during running of the engine; a transmission configured to switch between a forward driving gear position and a backward driving gear position; and a controller for controlling the engine, the electric motor/generator and the transmission, based on at least an accelerator opening, and a state of charge in an electric storage device; the controller being configured to switch the forward driving gear position or the backward driving gear position to a direction opposite to a direction in which the construction machine is moving, and cause the electric motor/generator to generate reverse torque in a power running mode, when the electric storage device is in a fully charged state and the accelerator has been pressed down by a driver.
1. A construction machine comprising:
an electric motor/generator coupled to an electric storage device, the electric motor/generator including an output shaft and being configured to generate a driving power;
an engine configured to generate a driving power;
a drive wheel;
including an output shaft, the epicyclic gearing compositing the driving power output from the electric motor/generator and the driving power output from the engine, and outputting a composite driving power to the drive wheel via the epicyclic gearing output shaft, the epicyclic gearing being configured to cause the electric motor/generator output shaft to rotate reversely if the epicyclic gearing output shaft is not rotating during running of the engine;
a transmission provided on a driving power transmission path between the output shaft of the epicyclic gearing and the drive wheel, and configured to switch between a forward driving gear position and a backward driving gear position;
an accelerator configured to be actuated manually; and
a controller for controlling the engine, the electric motor/generator and the transmission, based on at least: 1) actuation of the accelerator, and 2) a state of charge in the electric storage device, such that if: 1) the electric storage device is in a substantially fully charged state in which the state of charge is not less than a predetermined amount, and 2) the accelerator is actuated manually, then the controller controls: 1) the transmission to switch the driving gear position, and 2) the electric motor/generator to generate reverse torque in a power running mode so that the output shaft of the epicycle gearing rotates reversely.
2. The construction machine according to claim 1 , further comprising:
an engine brake control unit for controlling a magnitude of an engine braking force;
wherein the controller is configured to cause the engine brake control unit to enhance the engine braking force when switching the driving gear position of the transmission to the forward or backward driving gear position opposite to the direction in which the construction machine is moving.
3. The construction machine according to claim 2 , wherein the engine brake control unit is configured to control at least an output pressure of a hydraulic pump drivably coupled to the engine to control the magnitude of the engine braking force.
4. The construction machine according to claim 1 ,
wherein the controller is configured to switch back the driving gear position of the transmission to the direction in which the construction machine is moving, and cause the electric motor/generator to generate normal torque in the regenerative braking mode, when the state of charge in the electric storage device decreases to a predetermined set amount or less, in a state where the driving gear position of the transmission is switched to the forward or backward driving gear position opposite to the direction in which the construction machine is moving.
5. The construction machine according to claim 2 ,
wherein the controller is configured to switch back the driving gear position of the transmission to the direction in which the construction machine is moving, and cause the electric motor/generator to generate normal torque in the regenerative braking mode, when the state of charge in the electric storage device decreases to a predetermined set amount or less, in a state where the driving gear position of the transmission is switched to the forward or backward driving gear position opposite to the direction in which the construction machine is moving.
6. A method of controlling a construction machine including:
an electric motor/generator coupled to an electric storage device, the electric motor/generator including an output shaft and being configured to generate a driving power;
an engine configured to generate a driving power;
a drive wheel;
an epicyclic gearing including an output shaft, the epicyclic gearing compositing the driving power output from the electric motor/generator and the driving power output from the engine, and outputting a composite driving power to the drive wheel via the epicyclic gearing output shaft, the epicyclic gearing being configured to cause the electric motor/generator output shaft to rotate reversely if the epicyclic gearing output shaft is not rotating during running of the engine;
a transmission provided on a driving power transmission path between the output shaft of the epicyclic gearing and the drive wheel, and configured to switch between a forward driving gear position and a backward driving gear position;
an accelerator configured to be actuated manually; and
a controller for controlling the engine, the electric motor/generator and the transmission, based on at least: 1) actuation of the accelerator, and 2) a state of charge in the electric storage device; the method comprising:
switching the driving gear position of the transmission to the forward or backward driving gear position opposite to a direction in which the construction machine is moving, and causing the output shaft of the epicyclic gearing to rotate reversely such that the electric motor/generator generates reverse torque in a power running mode if the electric storage device is in a fully charged state in which the state of charge is not less than a predetermined amount and the accelerator has been pressed down by a driver.
7. The method according to claim 6 , wherein
the construction machine further includes an engine brake control unit for controlling a magnitude of an engine braking force, the method comprising:
enhancing the engine braking force using the engine brake control unit when the controller switches the driving gear position of the transmission to the forward or backward driving gear position opposite to the direction in which the construction machine is moving.
8. The method according to claim 6 , comprising: switching back the driving gear position of the transmission to the direction in which the construction machine is moving, and causing the electric motor/generator to generate normal torque in the regenerative braking mode, using the controller, when the state of charge in the electric storage device decreases to a predetermined set amount or less, in a state where the driving gear position of the transmission is switched to the forward or backward driving gear position opposite to the direction in which the construction machine is moving.
9. The method according to claim 7 , comprising: switching back the driving gear position of the transmission to the direction in which the construction machine is moving, and causing the electric motor/generator to generate normal torque in the regenerative braking mode, using the controller, when the state of charge in the electric storage device decreases to a predetermined set amount or less, in a state where the driving gear position of the transmission is switched to the forward or backward driving gear position opposite to the direction in which the construction machine is moving.