Device for controlling construction machinery
In a control device for construction machinery, a system operating point calculation unit calculates a plurality of combinations of engine rotational speed and engine torque with which demanded power of an engine can be generated; and calculates system efficiency in each of the combinations according to discharge pressure of a hydraulic. A rotational speed calculation unit calculates target rotational speed of the engine as the engine rotational speed in one of the combinations of the engine rotational speed, the engine torque and the system efficiency calculated by the system operating point calculation unit that includes desired system efficiency. A displacement calculation unit calculates target displacement of the hydraulic pump based on the target rotational speed calculated by the rotational speed calculation unit and demanded flow rate of the hydraulic pump. With this control device, the engine and the hydraulic pump can be controlled at an efficient operating point.
1. A control device for construction machinery equipped with an engine and a variable displacement hydraulic pump driven by the engine, comprising:
a control device configured to calculate target rotational speed of the engine and target displacement of the hydraulic pump on the basis of demanded flow rate of the hydraulic pump corresponding to engine rotational speed, discharge pressure of the hydraulic pump and operation amounts of operating levers,
wherein the control device
calculates a plurality of pump operating points, each of the plurality of pump operating points being defined by a combination of a pump rotational speed and a pump displacement at which the demanded flow rate of the hydraulic pump can be generated,
calculates pump efficiencies at the plurality of the pump operating points on the basis of a pump efficiency map corresponding to the discharge pressure of the hydraulic pump,
calculates a plurality of engine operating points, the plurality of engine operating points defined by a combination of a rotational speed of the engine and a torque of the engine at which the demanded power of the engine corresponds to the demanded flow rate of the hydraulic pump,
calculates engine efficiencies at the plurality of the engine operating points on the basis of an engine efficiency map,
calculates system efficiencies at the plurality of the engine operating points by multiplying each of the pump efficiencies by each of the engine efficiencies, respectively,
selects an engine operating point with a highest system efficiency of the system efficiencies calculated at the plurality of the engine operating points,
calculates a rotational speed of the engine at the selected engine operating point as the target rotational speed of the engine, and
calculates the target displacement of the hydraulic pump on the basis of the target rotational speed of the engine and the demanded flow rate of the hydraulic pump.
2. The control device for construction machinery according to claim 1 , wherein:
the construction machinery is further equipped with a motor generator which assists the driving of the hydraulic pump by the engine or generates electric power by being driven by the engine, and
the control device uses power calculated by subtracting power generated by the motor generator from demanded power of the hydraulic pump as the demanded power of the engine.
3. The control device for construction machinery according to claim 2 , wherein:
the construction machinery is further equipped with an electrical storage device for storing electric power for driving the motor generator, and
the control device further calculates the power generated by the motor generator based on a remaining electric power amount of the electrical storage device.
4. The control device for construction machinery according to claim 3 , wherein the control device executes a process of calculating the power generated by the motor generator based exclusively on the remaining electric power amount or a process of calculating the power generated by the motor generator based on the difference between the remaining electric power amount and a target remaining electric power amount.
5. The control device for construction machinery according to claim 2 , the control device corrects the power generated by the motor generator such that the engine operating point whose system efficiency is highest in the system efficiencies is calculated.
6. The control device for construction machinery according to claim 1 , wherein the pump efficiency map has axes representing the pump rotational speed and the pump displacement, and wherein the pump efficiencies at the plurality of pump operating points correspond to points along a constant flow rate line intersecting contour lines of each combination of rotational speed and displacement.
7. The control device for construction machinery according to claim 1 , wherein the engine efficiency map is represented by a curve of optimum fuel efficiency of the engine for a plurality of rotational speeds at the time of fixed power.