Mobile working machine
A mobile working machine includes an energy source, a storage circuit for storing electrical energy, a first electronic power converter stage between the storage circuit and the energy source, an electrical machine for driving actuators, a second electronic power converter stage between the storage circuit and the electrical machine, and a control system for controlling the first electronic power converter stage responsive to the power taken by the second electronic power converter stage from the storage circuit, the control system providing a control signal path from the storage circuit to the first electronic power converter stage. The signal processing properties of the control signal path are dependent on the electrical energy stored by the storage circuit in order to allow the electrical energy to vary, but within desired limits, so as to reduce the peak power taken from the energy source.
1. A mobile working machine comprising:
an energy source for supplying electrical energy,
a storage circuit for storing electrical energy,
a first electronic power converter stage connected between the energy source and the storage circuit,
an electrical machine for driving one or more actuators of the mobile working machine,
a second electronic power converter stage connected between the storage circuit and the electrical machine, and
a control system for controlling the first electronic power converter stage to respond to fluctuation of power taken by the second electronic power converter stage from the storage circuit, the control system providing a control signal path from the storage circuit to the first electronic power converter stage,
wherein the control system is arranged to change at least one signal processing property of the control signal path on the basis of the electrical energy stored by the storage circuit so that a control of the electrical energy is slower to respond to changes of the power taken by the second electronic power converter stage when the electrical energy has a first value that is between second and third values than when the electrical energy has either one of the second and third values.
2. The mobile working machine according to claim 1 , wherein the control signal path comprises a controllable filter and the control system is arranged to increase a bandwidth of the controllable filter in response to a situation in which the electrical energy gets farther from a reference value of the electrical energy.
3. The mobile working machine according to claim 2 , wherein the control signal path comprises a proportional and integrative regulator in series with the controllable filter.
4. The mobile working machine according to claim 1 , wherein the control signal path is asymmetric so that the control signal path has different signal processing properties when the electrical energy is below a reference value of the electrical energy than when the electrical energy is above the reference value of the electrical energy.
5. The mobile working machine according to claim 1 , wherein the control signal path has different signal processing properties when the electrical energy is within a pre-determined range than when the electrical energy is outside the pre-determined range, the first value belonging to the pre-determined range and the second and third values being outside the pre-determined range.
6. The mobile working machine according to claim 1 , wherein the storage circuit is a capacitive circuit and the electrical energy stored by storage circuit is directly proportional to the square of voltage of the capacitive circuit.
7. The mobile working machine according to claim 6 , wherein the capacitive circuit comprises an electric double layer capacitor.
8. The mobile working machine according to claim 1 , wherein the storage circuit is an inductive circuit and the electrical energy stored by storage circuit being directly proportional to the square of current of the inductive circuit.
9. The mobile working machine according to claim 1 , wherein the energy source comprises a combustion engine and a generator connected between the combustion engine and the first electronic power converter stage.
10. The mobile working machine according to claim 9 , wherein the working machine comprises a controller configured to start the combustion engine in response to a situation in which the electrical energy stored by the storage circuit goes below a first pre-determined limit.
11. The mobile working machine according to claim 9 , wherein the working machine comprises a controller configured to stop the combustion engine in response to a situation in which the electrical energy stored by the storage circuit exceeds a second pre-determined limit.
12. A method for reducing a peak power taken out from an energy source of a mobile working machine, the mobile working machine comprising:
a storage circuit for storing electrical energy,
a first electronic power converter stage connected between the storage circuit and the energy source of the mobile working machine,
an electrical machine for driving one or more actuators of the mobile working machine,
a second electronic power converter stage connected between the storage circuit and the electrical machine, and
a control system for controlling the first electronic power converter stage to respond to fluctuation of power taken by the second electronic power converter stage from the storage circuit, the control system providing a control signal path from the storage circuit to the first electronic power converter stage,
wherein the method comprises changing at least one signal processing property of the control signal path on the basis of the electrical energy stored by the storage circuit so that a control of the electrical energy is slower to respond to changes of the power taken by the second electronic power converter stage when the electrical energy has a first value that is between second and third values than when the electrical energy has either one of the second and third values.
13. A non-transitory computer readable medium encoded with a computer program for reducing a peak power taken out from an energy source of a mobile working machine, the mobile working machine comprising:
a storage circuit for storing electrical energy,
a first electronic power converter stage connected between the storage circuit and the energy source of the mobile working machine,
an electrical machine for driving one or more actuators of the mobile working machine,
a second electronic power converter stage connected between the storage circuit and the electrical machine, and
a control system for controlling the first electronic power converter stage to respond to fluctuation of power taken by the second electronic power converter stage from the storage circuit, the control system providing a control signal path from the storage circuit to the first electronic power converter stage,
characterized in that the computer program comprises computer executable instructions for controlling a programmable processor to change at least one signal processing property of the control signal path on the basis of the electrical energy stored by the storage circuit so that a control of the electrical energy is slower to respond to changes of the power taken by the second electronic power converter stage when the electrical energy has a first value that is between second and third values than when the electrical energy has either one of the second and third values.