Hydraulic drive system for electrically driven hydraulic work machine
In a hydraulic drive system for an electrically driven hydraulic work machine that executes flow rate control of a hydraulic pump by controlling a rotation speed of an electric motor to drive a hydraulic pump to supply a hydraulic fluid to a plurality of actuators, and power consumed by the electric motor reliably limited within a range of preset maximum allowable power without unnecessary degradation of responsiveness of the electric motor. To this end, a controller includes a maximum angular acceleration limitation section (allowable rate computation section and rate limitation section), computes hydraulic power consumed by a main pump, computes a maximum angular acceleration allowed for an electric motor on the basis of a magnitude of the hydraulic power and a preset maximum allowable power consumable by the electric motor, and limits an angular acceleration of the electric motor not to exceed the maximum angular acceleration.
1. A hydraulic drive system for an electrically driven hydraulic work machine, the hydraulic drive system comprising:
an electric motor;
a hydraulic pump driven by the electric motor;
a plurality of actuators driven by a hydraulic fluid delivered from the hydraulic pump;
a control valve device that distributes and feeds the hydraulic fluid delivered from the hydraulic pump to the plurality of actuators; and
a controller that controls a rotation speed of the electric motor thereby to control a delivery flow rate of the hydraulic pump, wherein
the controller is configured to compute a hydraulic power consumed by the hydraulic pump, compute a maximum angular acceleration allowed for the electric motor on a basis of the hydraulic power consumed by the hydraulic pump and a preset maximum allowable power consumable by the electric motor, and limit an angular acceleration of the electric motor not to exceed the maximum angular acceleration, and control the rotation speed of the electric motor.
2. The hydraulic drive system for an electrically driven hydraulic work machine according to claim 1 , wherein
the controller is configured to subtract, from the maximum allowable power, the hydraulic power consumed by the hydraulic pump to compute an allowable acceleration power consumable for acceleration by the electric motor and compute the maximum angular acceleration on a basis of the allowable acceleration power.
3. The hydraulic drive system for an electrically driven hydraulic work machine according to claim 1 , wherein
the controller is configured to calculate a required amount of virtual displacement change of the hydraulic pump depending on excess or deficiency of a delivery flow rate of the hydraulic pump, and
compute a maximum amount of virtual displacement change allowed for the hydraulic pump from the maximum angular acceleration allowed for the electric motor and limit the required amount of virtual displacement change of the hydraulic pump not to exceed the maximum amount of virtual displacement change thereby to limit the angular acceleration of the electric motor not to exceed the maximum angular acceleration, and control the rotation speed of the electric motor.
4. The hydraulic drive system for an electrically driven hydraulic work machine according to claim 3 , wherein
the controller is configured to calculate a differential pressure deviation between a target differential pressure for load sensing control and a differential pressure between the delivery pressure of the hydraulic pump and a maximum load pressure of the plurality of actuators, calculate the required amount of virtual displacement change of the hydraulic pump on a basis of the differential pressure deviation, and execute the load sensing control to make the delivery pressure of the hydraulic pump higher than the maximum load pressure by the target differential pressure, and
limit the required amount of virtual displacement change of the hydraulic pump computed on the basis of the differential pressure deviation not to exceed the maximum amount of virtual displacement change.
5. The hydraulic drive system for an electrically driven hydraulic work machine according to claim 1 , further comprising:
an input device for inputting the maximum allowable power consumable by the electric motor and setting the input maximum allowable power in the controller.