Construction machine and control method thereof
A construction machine comprises an electric motor/generator coupled to an electricity accumulator, an engine, a transmission coupled to drive wheels, an epicyclic gearing for coupling an output shaft of the electric motor/generator, an output shaft of the engine, and an input shaft of the transmission, the engine torque and/or the generator torque being transmitted to drive wheels, a clutch for directly coupling two among the output shaft of the electric motor/generator, the output shaft of the engine, and the input shaft of the transmission, and a controller configured to, under a condition in which the clutch is in an off-state, control engine speed based on the degree to which the accelerator is open and on the amount of electricity in the electricity accumulator, to control shifting of the transmission gear position based on the accelerator opening degree, operational state of the generator, and the electricity amount.
1. A construction machine comprising:
an electric motor/generator coupled to an electricity accumulator and configured to generate a torque;
an engine configured to generate a torque;
a transmission coupled to drive wheels and configured to shift between plural gear positions;
an epicyclic gearing configured to couple an output shaft of the electric motor/generator, an output shaft of the engine, and an input shaft of the transmission, the torque generated by the electric motor/generator and/or the engine being transmitted to the drive wheels to enable the construction machine to drive;
a clutch configured to directly couple two among the output shaft of the electric motor/generator, the output shaft of the engine, and the input shaft of the transmission; and
a controller configured:
to, under a condition in which the clutch is in an off-state, control engine speed of the engine based on the degree to which an accelerator is open and on the amount of electricity in the electricity accumulator,
to control shifting of the transmission gear position based on the accelerator opening degree, an operational state of the electric motor/generator, and the amount of electricity in the electricity accumulator, and
to determine the torque generated in the engine and the torque generated in the electric motor/generator, based on the accelerator opening degree, vehicle speed of the construction machine, and the transmission gear position.
2. The construction machine according to claim 1 , wherein:
the controller is configured to increase the engine speed of the engine when the amount of electricity in the electricity accumulator is small and the accelerator has been pressed down by a machine operator; and
the controller is configured to decrease the engine speed of the engine when the amount of electricity in the electricity accumulator is large and the accelerator has been pressed down by the machine operator.
3. The construction machine according to claim 1 , wherein:
the controller is configured to upshift the transmission gear position when the accelerator has been pressed down by a machine operator, the electric motor/generator is in a power running mode, and the amount of electricity in the electricity accumulator is small; and
the controller is configured to downshift the transmission gear position when the accelerator has been pressed down by the machine operator, the electric motor/generator is in a regenerative braking mode, and the amount of electricity in the electricity accumulator is large.
4. The construction machine according to claim 1 , further comprising:
a reverse rotation inhibiting unit configured to inhibit reverse rotation of the engine; wherein
the controller is configured to stop the engine when it is determined that the electric motor/generator is in a regenerative braking mode and the amount of electricity in the electricity accumulator is excessive.
5. The construction machine according to claim 1 , further comprising:
a hydraulic pump directly coupled to the engine and configured to drive a loading device; wherein
the controller is configured to determine the torque generated in the engine and the torque generated in the electric motor/generator, based on the accelerator opening degree, the vehicle speed of the construction machine, the transmission gear position, and torque required for operation of the hydraulic pump.
6. The construction machine according to claim 1 , further comprising:
a hydraulic pump directly coupled to the engine; wherein
the controller is configured to control an output amount and a relief pressure of the hydraulic pump to cause the engine to generate a negative torque when the construction machine is decelerated.
7. A method of controlling a construction machine that includes an electric motor/generator coupled to an electricity accumulator and configured to generate a torque, an engine configured to generate a torque, a transmission coupled to drive wheels and configured to shift between plural gear positions, an epicyclic gearing configured to couple an output shaft of the electric motor/generator, an output shaft of the engine, and an input shaft of the transmission, with the torque generated by the electric motor/generator and/or the engine being transmitted to the drive wheels to enable the construction machine to drive, and a clutch configured to directly couple two among the output shaft of the electric motor/generator, the output shaft of the engine, and the input shaft of the transmission, the method comprising:
controlling an engine speed of the engine based on the degree to which an accelerator is open and on the amount of electricity in the electricity accumulator, under a condition in which the clutch is in an off-state;
controlling shifting of the transmission gear position based on the accelerator opening degree, operational state of the electric motor/generator, and the amount of electricity in the electricity accumulator; and
determining the torque generated in the engine and the torque generated in the electric motor/generator based on the accelerator opening degree, vehicle speed of the construction machine, and the transmission gear position.
8. The method according to claim 7 , wherein:
the step of controlling the engine speed of the engine includes increasing the engine speed when the electricity amount in the electricity accumulator is small and the accelerator has been pressed down by a machine operator; and
the step of controlling the engine speed of the engine includes decreasing the engine speed when the electricity amount in the electricity accumulator is large and the accelerator has been pressed down by the machine operator.
9. The method according to claim 7 , wherein:
the step of controlling shifting of the transmission gear position includes upshifting of the gear position when the accelerator has been pressed down by a machine operator, the electric motor/generator is in a power running mode, and the electricity amount in the electricity accumulator is small; and
the step of controlling shifting of the gear position of the transmission includes downshifting of the gear position when the accelerator has been pressed down by the machine operator, the electric motor/generator is in a regenerative braking mode, and the electricity amount in the electricity accumulator is large.
10. The method according to claim 7 , wherein:
the construction machine further comprises a hydraulic pump directly coupled to the engine and configured to drive a loading device; and
the step of determining the torque includes determining the torque generated in the engine and the torque generated in the electric motor/generator, based on the accelerator opening degree, the vehicle speed of the construction machine, the transmission gear position and torque required for operation of the hydraulic pump.