Construction vehicle control apparatus and construction vehicle
A construction vehicle control apparatus is provided including: a motor generator control unit ( 160 ) which, when regenerative electrical power generated by a motor ( 7 ) during regenerative braking surpasses acceptable charging electrical power of a capacitor ( 3 ), drives a motor generator ( 5 ) using the surplus electrical power; an engine controller ( 2 ) which detects the rotating speed of an engine ( 1 ); a motor control unit ( 180 ) which, if the rotating speed of the engine becomes larger than a second set value while the motor generator is being driven by the surplus electrical power, reduces regenerative torque generated by the motor; and a brake control unit ( 190 ) which, if the rotating speed of the engine becomes larger than the second set value while the motor generator is being driven by the surplus electrical power, increases regenerative torque generated by a hydraulic brake ( 30 ).
1. A control apparatus for a construction vehicle equipped with an electrical storage device, a motor generator connected mechanically to an engine, a variable displacement hydraulic pump connected mechanically to the motor generator, a hydraulic actuator driven by fluid supplied from the hydraulic pump, a motor which is connected to the electrical storage device and to the motor generator by electrical power lines and which drives wheels, and a braking device for braking revolutions of the wheels, the control apparatus comprising:
a motor generator control unit which, when regenerative electrical power generated by the motor during regenerative braking surpasses acceptable charging electrical power of the electrical storage device, drives the motor generator using the surplus electrical power;
a motor control unit which, if the rotating speed of the engine, the motor generator, or the hydraulic pump becomes larger than a set value while the motor generator is being driven by the surplus electrical power, reduces regenerative torque generated by the motor,
a brake control unit which, by driving the braking device, generates the same magnitude of braking torque as the regenerative torque reduced by the motor control unit,
a motion determination unit which determines whether or not the hydraulic actuator is in motion, and
a tilting angle control unit which, when the motion determination unit determines that the hydraulic actuator is not in motion and when the motor generator control unit drives the motor generator using the surplus electrical power, if the rotating speed of the engine, the motor generator, or the hydraulic pump becomes larger than another set value, then increases the tilting angle of the hydraulic pump as the rotating speed becomes larger.
2. The control apparatus for a construction vehicle according to claim 1 ,
wherein the set value at which the motor control unit starts reducing the regenerative torque of the motor is higher than the another set value at which the tilting angle control unit starts increasing the tilting angle of the hydraulic pump.
3. The control apparatus for a construction vehicle according to claim 2 , further comprising:
a pressure adjustment means which adjusts discharge pressure of the hydraulic pump, and
a pressure control unit which, when the motor generator control unit drives the motor generator using the surplus electrical power, if the rotating speed of the engine, the motor generator, or the hydraulic pump becomes larger than another set value, then causes the pressure adjustment means to increase the discharge pressure of the hydraulic pump as the rotating speed becomes larger.
4. The control apparatus for a construction vehicle according to claim 3 ,
wherein the set value at which the motor control unit starts reducing the regenerative torque of the motor is higher than the another set value at which the pressure control unit starts increasing the discharge pressure of the hydraulic pump.