Control system, work machine, and control method
A control system includes: an engine; a first hydraulic pump and a second hydraulic pump driven by the engine; a switching device provided in a flow path that connects the first hydraulic pump to the second hydraulic pump, and configured to perform switching between a merged state in which the flow path is opened and a separated state in which the flow path is closed; a first hydraulic actuator to which hydraulic fluid discharged from the first hydraulic pump is supplied in the separated state; a second hydraulic actuator to which hydraulic fluid discharged from the second hydraulic pump is supplied in the separated state; a determining unit configured to determine whether output of the engine is limited; and a merging-separating control unit configured to control the switching device so as to perform switching to the merged state when the determining unit determines that output of the engine is limited.
1. A control system comprising:
an engine;
a first hydraulic pump and a second hydraulic pump driven by the engine;
a switching device provided in a flow path that connects the first hydraulic pump to the second hydraulic pump, and configured to perform switching between a merged state in which the flow path is opened and a separated state in which the flow path is closed;
a first hydraulic actuator to which hydraulic fluid discharged from the first hydraulic pump is supplied in the separated state;
a second hydraulic actuator to which hydraulic fluid discharged from the second hydraulic pump is supplied in the separated state;
a determining unit configured to determine whether an output of the engine is limited;
a merging-separating control unit configured to control the switching device so as to perform switching to the merged state when the determining unit determines that the output of the engine is limited; and
an exhaust gas treatment device configured to treat an exhaust gas of the engine,
wherein the determining unit determines that the output of the engine is limited when it is determined that the exhaust gas treatment device is in an abnormal state which is the state of occurrence of an event in which a treatment performance for the exhaust gas by the exhaust gas treatment device is degraded.
2. The control system according to claim 1 , further comprising an exhaust gas sensor configured to detect a state of the engine,
wherein the determining unit determines that the output of the engine is limited when it is determined that the exhaust gas sensor is in an abnormal state.
3. The control system according to claim 1 , further comprising:
a distribution flow rate calculation unit configured to calculate a distribution flow rate of the hydraulic fluid to be supplied to each of the first hydraulic actuator and the second hydraulic actuator on the basis of an operation amount of an operation device operated in order to drive each of the first hydraulic actuator and the second hydraulic actuator; and
a determination unit configured to determine to perform switching to the separated state on the basis of the distribution flow rate;
wherein the merging-separating control unit controls the switching device so as to perform switching to the merged state when the determining unit determines that the output of the engine is limited even though the determination unit determines to perform switching to the separated state.
4. The control system according to claim 1 , further comprising an engine control unit configured to limit the output of the engine by controlling a fuel injection amount to the engine.
5. A work machine comprising a control system according to claim 1 .
6. A work machine according to claim 5 , further comprising a work unit including a first work unit element driven by the first hydraulic actuator and a second work unit element driven by the second hydraulic actuator,
wherein the first work unit element includes a bucket and an arm connected to the bucket,
the second work unit element includes a boom connected to the arm,
the first hydraulic actuator includes a bucket cylinder that drives the bucket and an arm cylinder that drives the arm, and
the second hydraulic actuator includes a boom cylinder that drives the boom.
7. A control method comprising:
outputting a command signal to a switching device so as to perform switching to a merged state at a time of acquiring a limiting signal indicating that an output of an engine that drives a first hydraulic pump and a second hydraulic pump is limited, the switching device being configured to perform switching between the merged state in which the flow path that connects the first hydraulic pump to the second hydraulic pump is opened and a separated state in which the flow path is closed; and
supplying, in the merged state, each of a first hydraulic actuator and a second hydraulic actuator with hydraulic fluid discharged from the first hydraulic pump and hydraulic fluid discharged from the second hydraulic pump,
wherein determining that the output of the engine is limited when it is determined that an exhaust gas treatment device, configured to treat an exhaust gas of the engine, is in an abnormal state which is the state of occurrence of an event in which a treatment performance for the exhaust gas by the exhaust gas treatment device is degraded.
8. The control system according to claim 1 , wherein the exhaust gas treatment device includes a urea selective catalytic reduction (SCR) system to reduce and purify nitrogen oxides (NOx) contained in the exhaust gas by utilizing a selective catalyst and a reducing agent.
9. The control system according to claim 1 , wherein the exhaust gas treatment device includes: a filter unit connected to an exhaust pipe and configured to collect particulates contained in the exhaust gas; a reducing catalyst connected to the filter unit via a pipe line and configured to reduce NOx contained in the exhaust gas; and a reducing agent supply device to supply a reducing agent.
10. The control system according to claim 9 , wherein the filter unit includes a diesel particulate filter (DPF) and collects the particulates contained in the exhaust gas.
11. The control system according to claim 9 , wherein the reducing agent is urea (aqueous urea).
12. The control system according to claim 9 , wherein the reducing agent supply device includes: a reducing agent tank to store the reducing agent; a supply pipe connected to the reducing agent tank; a supply pump provided in the supply pipe; and an injection nozzle connected to the supply pipe.
13. The control system according to claim 12 , wherein a supply amount (injection amount) of the reducing agent by the reducing agent supply device is controlled by a control device.
14. The control system according to claim 12 , wherein a reducing agent sensor that detects an amount (liquid level) of the reducing agent is provided in the reducing agent tank of the reducing agent supply device.
15. The control system according to claim 2 , wherein the exhaust gas sensor includes an NOx sensor that detects a concentration of NOx contained in an exhaust gas, a pressure sensor and a pressure sensor each of which detects a pressure of the exhaust gas, a temperature sensor that detects a temperature of the exhaust gas, and an intake air flow rate sensor that detects a flow rate of the air taken into the engine.
16. The control system according to claim 2 , wherein the control device may calculate the flow rate of the exhaust gas in the pipe line on the basis of the detection signal of the intake air flow rate sensor and a fuel injection amount supplied from the fuel injection device to the engine.
17. The control system according to claim 2 , wherein the control device may also control the supply amount of the reducing agent to be supplied to the reducing catalyst on the basis of the detection signal of the NOx sensor, detection signal of the pressure sensor, detection signal of the temperature sensor, and detection signal of the pressure sensor.
18. A control system comprising:
an engine;
a first hydraulic pump and a second hydraulic pump driven by the engine;
a switching device provided in a flow path that connects the first hydraulic pump to the second hydraulic pump, and configured to perform switching between a merged state in which the flow path is opened and a separated state in which the flow path is closed;
a first hydraulic actuator to which hydraulic fluid discharged from the first hydraulic pump is supplied in the separated state;
a second hydraulic actuator to which hydraulic fluid discharged from the second hydraulic pump is supplied in the separated state;
a determining unit configured to determine whether an output of the engine is limited;
a merging-separating control unit configured to control the switching device so as to perform switching to the merged state when the determining unit determines that the output of the engine is limited;
an exhaust gas treatment device configured to treat an exhaust gas of the engine, wherein the determining unit determines that the output of the engine is limited when it is determined that the exhaust gas treatment device is in an abnormal state which is the state of occurrence of an event in which a treatment performance for the exhaust gas by the exhaust gas treatment device is degraded; and
an engine control unit configured to limit the output of the engine by controlling a fuel injection amount to the engine.