JP6636627B2 - Hybrid construction machinery - Google Patents

Description

  The present invention relates to a hybrid construction machine equipped with an engine and a generator motor.

  2. Description of the Related Art In general, a hybrid construction machine including a generator motor mechanically coupled to an engine and a hydraulic pump and a power storage device such as a lithium ion battery and a capacitor is known (for example, see Patent Documents 1 and 2). In such a hybrid construction machine, the generator motor plays a role of charging the power storage device with the power generated by the driving force of the engine or assisting the engine by powering using the power of the power storage device. Further, many hybrid construction machines include an electric motor separately from the generator motor, and this electric motor substitutes or assists the operation of the hydraulic actuator. For example, when the turning operation is performed by the electric motor, the turning operation and the assist of the upper turning body are performed by supplying electric power to the electric motor, and the energy storage device is charged by regenerating the braking energy when the turning is stopped.

  In such a hybrid construction machine, by increasing the output of the generator motor and the swing electric motor, the fuel consumption reduction effect can be enhanced. However, if the output of the generator motor or the like is increased, sufficient power may not be supplied due to restrictions on the discharge capacity, capacity, temperature, and the like of the power storage device. In this case, if the power supply from the power storage device is continued, the power storage device may be overused and deterioration of the power storage device may be accelerated.

  A configuration that considers such a problem is known. For example, in Patent Literature 1, in order to prevent deterioration of a power storage device, the operating speed of a vehicle is reduced in accordance with a decrease in a state of charge (SOC) to prevent excessive use of the power storage device. Is disclosed.

  Patent Document 2 discloses a configuration in which, when the current square integrated value exceeds a predetermined value, the amount of discharge is limited in accordance with the increase in order to suppress deterioration of the power storage device. At this time, the current square integrated value indicates the usage amount of the power storage device from the present time to the past certain time.

Japanese Patent No. 3941951 JP 2006-149181 A

  In the hybrid construction machines described in Patent Literatures 1 and 2, the vehicle speed is reduced in accordance with the decrease in the power storage rate or the increase in the current square integrated value, thereby suppressing deterioration of the power storage device due to overuse. For this reason, in a configuration in which both are combined, the vehicle speed is individually reduced based on the two conditions of the power storage rate and the current square integrated value.

  Therefore, for example, even when the current square integrated value is small, if the power storage rate decreases, the vehicle speed decreases. Further, even when the power storage rate has not decreased, if the current square integrated value increases, the vehicle body speed decreases. The former corresponds to, for example, a case where charging and discharging are performed with a small current and discharge becomes excessive. The latter corresponds to, for example, a case where charging and discharging with a large current are repeatedly performed, although the discharge is not excessive. In these cases, the vehicle speed is reduced with the power storage device remaining in reserve. As a result, the frequency of lowering the vehicle body speed becomes unnecessarily high, so that the operable time is reduced without lowering the vehicle body speed, and there is a problem that the opportunity for giving the operator an operational stress or a sense of discomfort increases.

  The present invention has been made in view of the above-described problems of the related art, and an object of the present invention is to provide a hybrid construction machine capable of performing deterioration suppression based on two indices and appropriately using a power storage device. is there.

In order to solve the above problems, the present invention provides an engine, a generator motor mechanically connected to the engine, and charging when the generator motor is operated to generate electric power, and when the generator motor is operated to power. A hydraulic pump driven by torque of the engine and the generator motor; a plurality of hydraulic actuators driven by pressure oil from the hydraulic pump; and a plurality of hydraulic actuators for operating the plurality of hydraulic actuators. An operating device and a power storage device state detection unit that represents a state of the power storage device, and detects a power storage amount as a first index and a current square integrated value as a second index in which a reference value and a limit value are individually determined. When, in the hybrid construction machine and a controller for controlling the output of the engine and the electric storage device, said controller, said power storage A pump estimation input calculation unit that calculates a pump estimation input required by the hydraulic pump, based on a stored amount of electric power and a current square integrated value, a maximum output of the engine, and an operation amount of the plurality of operation devices. , when the current square integrated value and the storage amount is within a predetermined allowable range including the reference value, the storage amount and the current square integrated value of the electric storage device so as not to deviate from the allowable range Requesting an output, when one of the storage amount and the current square integrated value deviates from the reference value beyond the allowable range, allowing the other index to deviate from the reference value, An output request unit that requests the output of the power storage device so that one of the indexes approaches the reference value, and based on a request for output from the output request unit, both the storage amount and the current square integrated value are the same. limit An output control unit that controls an output of the power storage device so as not to exceed the power storage device, wherein the output request unit is configured such that the amount of stored power is lower than the reference value, and the current square integrated value is within the allowable range. A power generation request unit for requesting the generator motor to generate power, and a powering request for requesting power generation from the generator motor when the stored amount exceeds the reference value and the current square integrated value is within the allowable range. possess a part, the power running request unit is not request power running, if the pump estimated input is greater than the maximum output of the engine, the difference between the maximum output and the pump estimated input of said engine, said power running request The power running output of the generator is the larger of the power running output of the generator and the power running output of the generator motor. If the power generation request unit requests power generation and the estimated pump input is larger than the maximum output of the engine, the The difference between the constant input and the maximum output of the engine is defined as the power running output of the generator motor.If the power generation request unit requests power generation and the pump estimated input is smaller than the maximum output of the engine, the maximum of the engine is output. The smaller of the difference between the output and the pump estimation input and the power generation output of the power generation request unit is set as the power generation output of the generator motor .

  Advantageous Effects of Invention According to the present invention, it is possible to suppress deterioration based on two indices and to appropriately use a power storage device.

1 is a front view illustrating a hybrid excavator according to an embodiment of the present invention. It is a principal part perspective view which shows the inside of a cab in FIG. FIG. 2 is a block diagram illustrating a hydraulic system and an electric system applied to the hybrid hydraulic shovel in FIG. 1. FIG. 3 is a block diagram illustrating a hybrid control unit in FIG. 2. FIG. 5 is a block diagram illustrating a generator motor required output calculation unit in FIG. 4. FIG. 6 is an explanatory diagram illustrating a table included in a storage rate request output calculation unit in FIG. 5. FIG. 6 is an explanatory diagram illustrating a table included in a current square integration ratio request output calculation unit in FIG. 5. It is explanatory drawing which shows the list | wrist of the output request | requirement based on a power storage rate and a current square integration ratio. FIG. 5 is a block diagram illustrating a maximum output calculator in FIG. 4. FIG. 10 is a block diagram illustrating a generator motor output limiting gain calculator in FIG. 9. FIG. 5 is a block diagram illustrating an output command calculation unit in FIG. 4. It is a block diagram which shows the pump estimation input calculation part in FIG. It is a block diagram which shows the generator motor powering output calculation part in FIG. FIG. 12 is a block diagram showing a generator motor generator output calculator in FIG. 11. FIG. 13 is a block diagram illustrating a turning basic output calculation unit in FIG. 12. FIG. 13 is a block diagram illustrating a boom basic output calculation unit in FIG. 12. It is a block diagram which shows the turning boom output distribution calculation part in FIG. FIG. 13 is a block diagram illustrating an arm bucket output distribution calculation unit in FIG. 12. FIG. 13 is a block diagram illustrating a swing hydraulic power output distribution calculation unit in FIG. 12. FIG. 4 is an explanatory diagram illustrating an example of an output of an engine and a generator motor when full power powering is requested. FIG. 4 is an explanatory diagram showing an example of outputs of an engine and a generator motor when half-power power running is requested. FIG. 4 is an explanatory diagram illustrating an example of output of an engine and a generator motor when full power generation is requested. FIG. 4 is an explanatory diagram illustrating an example of output of an engine and a generator motor when half-power generation is requested.

  Hereinafter, a hybrid hydraulic shovel will be described as an example of a hybrid construction machine according to an embodiment of the present invention with reference to the accompanying drawings.

  1 to 23 show an embodiment of the present invention. The hybrid hydraulic shovel 1 (hereinafter, hydraulic shovel 1) includes an engine 21 and a generator motor 27 described later. The hydraulic excavator 1 is mounted on a lower traveling body 2 of a crawler type that is capable of self-traveling, a swing device 3 provided on the lower traveling body 2, and is swingably mounted on the lower traveling body 2 via the swing device 3. The upper revolving superstructure 4 and a multi-joint working device 12 provided in front of the upper revolving superstructure 4 for performing excavation work and the like. At this time, the lower traveling unit 2 and the upper revolving unit 4 constitute a vehicle body of the excavator 1.

  The upper swing body 4 includes a building cover 6 provided on the swing frame 5 and housing the engine 21 and the like, and a cab 7 on which an operator rides. As shown in FIG. 2, a driver's seat 8 on which an operator sits is provided in the cab 7, and around the driver's seat 8, a traveling operation device 9 including an operation lever, an operation pedal, and the like, an operation lever and the like are provided. And a work operation device 11 including an operation lever and the like. Further, an engine control dial 38 is provided in the cab 7.

  The traveling operation device 9 is arranged, for example, in front of the driver's seat 8. The turning operation device 10 corresponds to, for example, an operation portion in the front-rear direction of the operation lever arranged on the left side of the driver's seat 8. Further, the work operation device 11 includes a left-right operation part (arm operation) of the operation lever arranged on the left side of the driver's seat 8 and a front-rear operation part of the operation lever arranged on the right side of the driver's seat 8. (Boom operation) and a left-right operation part (bucket operation). Note that the relationship between the operation direction of the operation lever and the turning operation or the work operation is not limited to the above-described one, and is appropriately set according to the specifications of the excavator 1 and the like.

  Here, the operation devices 9 to 11 are provided with operation amount sensors 9A to 11A for detecting these operation amounts (lever operation amounts OA), respectively. These operation amount sensors 9A to 11A constitute an operation amount detection unit that detects an operation amount for driving a plurality of hydraulic actuators (hydraulic motors 25 and 26, cylinders 12D to 12F). The operation amount sensors 9A to 11A detect operation states of the vehicle body such as a traveling operation of the lower traveling unit 2, a turning operation of the upper revolving unit 4, an elevating operation (excavation operation) of the working device 12, and the like.

  At this time, the operation amount sensor 10A detects the turning lever operation amount OAr including the left turning operation amount OAr1 and the right turning operation amount OAr2. The operation amount sensor 11A includes a boom lever operation amount OAbm including a boom raising operation amount OAbm1 and a boom lowering operation amount OAbm2, an arm lever operation amount OAam including an arm raising operation amount OAam1 and an arm lowering operation amount OAam2, and a bucket cloud operation amount. A bucket lever operation amount OAbk including OAbk1 and a bucket dump operation amount OAbk2 is detected. The lever operation amount OA includes these operation amounts OAr, OAbm, OAam, and OAbk.

  As shown in FIG. 1, the working device 12 includes, for example, a boom 12A, an arm 12B, and a bucket 12C, and a boom cylinder 12D, an arm cylinder 12E, and a bucket cylinder 12F that drive these. The boom 12A, the arm 12B, and the bucket 12C are pin-connected to each other. The working device 12 is attached to the revolving frame 5 and moves up and down by extending or contracting the cylinders 12D to 12F.

  Here, the hydraulic shovel 1 includes an electric system that controls the generator motor 27 and the like, and a hydraulic system that controls the operation of the working device 12 and the like. Hereinafter, a system configuration of the excavator 1 will be described with reference to FIG.

  The engine 21 is mounted on the turning frame 5. The engine 21 is configured by an internal combustion engine such as a diesel engine, for example. On the output side of the engine 21, a hydraulic pump 23 and a generator motor 27 to be described later are mechanically connected in series and mounted. The hydraulic pump 23 and the generator motor 27 are driven by the engine 21. Here, the operation of the engine 21 is controlled by an engine control unit 22 (hereinafter, referred to as ECU 22). The ECU 22 controls the output torque, rotation speed (engine speed), and the like of the engine 21 based on an engine output command Pe from a hybrid control unit 36 (hereinafter, referred to as HCU 36). Note that the maximum output of the engine 21 is smaller than the maximum power of the hydraulic pump 23, for example.

  The hydraulic pump 23 is mechanically connected to the engine 21. The hydraulic pump 23 can be driven by the torque of the engine 21 alone. The hydraulic pump 23 can also be driven by a combined torque (total torque) obtained by adding the assist torque of the generator motor 27 to the torque of the engine 21. The hydraulic pump 23 pressurizes hydraulic oil stored in a tank (not shown), and discharges the hydraulic oil to the traveling hydraulic motor 25, the swing hydraulic motor 26, the cylinders 12D to 12F of the working device 12, and the like as hydraulic oil.

  The hydraulic pump 23 is connected to a traveling hydraulic motor 25 as a hydraulic actuator, a turning hydraulic motor 26, and cylinders 12D to 12F via a control valve 24. These hydraulic motors 25 and 26 and cylinders 12D to 12F are driven by pressure oil from a hydraulic pump 23. The control valve 24 supplies the hydraulic oil discharged from the hydraulic pump 23 to the travel hydraulic motor 25, the swing hydraulic motor 26, and the cylinders 12D to 12F in response to operations on the travel operation device 9, the swing operation device 10, and the work operation device 11. Supply or discharge.

  Specifically, pressure oil is supplied to the traveling hydraulic motor 25 from the hydraulic pump 23 in accordance with the operation of the traveling operation device 9. As a result, the traveling hydraulic motor 25 drives the lower traveling body 2 to travel. Pressure oil is supplied to the turning hydraulic motor 26 from the hydraulic pump 23 according to the operation of the turning operation device 10. Thereby, the turning hydraulic motor 26 causes the upper turning body 4 to turn. Pressure oil is supplied from the hydraulic pump 23 to the cylinders 12D to 12F in accordance with the operation of the work operation device 11. Thereby, the cylinders 12D to 12F move the working device 12 up and down.

  The generator motor 27 (motor generator) is mechanically connected to the engine 21. The generator motor 27 is constituted by, for example, a synchronous motor or the like. The generator motor 27 functions as a generator using the engine 21 as a power source to generate electric power to supply power to the power storage device 31 and the turning electric motor 33, and also functions as a motor using power from the power storage device 31 and the turning electric motor 33 as a power source. It plays two roles: powering to assist driving of the engine 21 and the hydraulic pump 23. Therefore, the assist torque of the generator motor 27 is added to the torque of the engine 21 according to the situation, and the hydraulic pump 23 is driven by these torques. The operation of the working device 12, the running of the vehicle, and the like are performed by the pressure oil discharged from the hydraulic pump 23.

  The generator motor 27 is connected to a pair of DC buses 29A and 29B via a first inverter 28. The first inverter 28 is configured using a plurality of switching elements including, for example, a transistor and an insulated gate bipolar transistor (IGBT). On / off of each switching element of the first inverter 28 is controlled by a motor generator control unit 30 (hereinafter, MGCU 30). The DC buses 29A and 29B form a pair on the positive electrode side and the negative electrode side, and a DC voltage of, for example, about several hundred volts is applied thereto.

  When the generator motor 27 generates power, the first inverter 28 converts AC power from the generator motor 27 into DC power and supplies the DC power to the power storage device 31 and the swing electric motor 33. During power running of the generator motor 27, the first inverter 28 converts the DC power of the DC buses 29 </ b> A and 29 </ b> B into AC power and supplies the AC power to the generator motor 27. The MGCU 30 controls ON / OFF of each switching element of the first inverter 28 based on the generator motor output command Pmg from the HCU 36 and the like. Thereby, the MGCU 30 controls the generated power at the time of power generation of the generator motor 27 and the driving power at the time of power running.

  Power storage device 31 is electrically connected to generator motor 27. The power storage device 31 includes a plurality of cells (not shown) made of, for example, a lithium ion battery, and is connected to the DC buses 29A and 29B.

  The power storage device 31 charges electric power supplied from the generator motor 27 when the generator motor 27 generates power, and supplies drive power to the generator motor 27 when the generator motor 27 is running (assist driving). The power storage device 31 charges regenerative electric power supplied from the turning electric motor 33 when the turning electric motor 33 is regenerating, and supplies drive power to the turning electric motor 33 when the turning electric motor 33 is running. As described above, in addition to storing the power generated by the generator motor 27, the power storage device 31 absorbs the regenerative power generated by the turning electric motor 33 during the turning braking of the hydraulic excavator 1, and stores the power of the DC buses 29 </ b> A and 29 </ b> B. Keep the voltage constant.

  The power storage device 31 is controlled by a battery control unit 32 (hereinafter, referred to as BCU 32). The BCU 32 constitutes a power storage device state detection unit. The BCU 32 detects the power storage rate SOC as a first index indicating the state of the power storage device 31, and detects the current square integration ratio Risc as a second index indicating the state of the power storage device 31. At this time, the storage rate SOC becomes a value corresponding to the storage amount of the power storage device 31. The current square integration ratio Risc is a value corresponding to the current square integration value of the power storage device 31. The BCU 32 outputs the storage rate SOC, the current square integration ratio Risc, and the like to the HCU 36.

  In the present embodiment, the power storage device 31 has, for example, a voltage of 350 V, a discharge capacity of 5 Ah, a proper use range of the storage rate SOC of 30% or more and 70% or less, and a proper use cell temperature of -20 ° C. or more and 60 It is assumed that a lithium ion battery set at a temperature of not more than ° C is used. The proper use range of the power storage rate SOC is not limited to the above-described value, and is appropriately set according to the specifications of the power storage device 31 and the like.

  Here, the maximum output of the engine 21 is smaller than the maximum pump absorption power. In this case, the contribution ratio of the engine assist by the power running of the generator motor 27 during the operation of the vehicle body is larger than when the engine 21 has a sufficiently large output with respect to the maximum pump absorption power. Therefore, the power storage device 31 repeats charging and discharging violently.

  In general, when the power storage device 31 is excessively charged or discharged, the deterioration is promoted and the output is reduced. The deterioration speed of the power storage device 31 differs depending on the power storage rate SOC at the time of charging and discharging and the strength of the charging and discharging itself. For example, in a power storage device 31 such as a lithium ion battery, a proper use range is set for a power storage rate and a cell temperature by a maker (for example, a power storage rate of 30% or more and 70% or less, and a cell temperature of -20 ° C. or more). 60 ° C or lower). If the power storage device 31 is used outside of this range, the deterioration speed greatly increases.

  Similarly, the appropriate use range of the power storage device 31 is determined in advance also for the strength of charging and discharging. In general, an integrated current square value is used as an index of the strength of charging or discharging. This is an index indicating how much current has been input or output during a certain time T in the past, which is retroactive to the current time, by integrating the square of the current for T time. At this time, a plurality of times T are often set. This index is appropriately set according to the specifications of the power storage device 31 and the like. Therefore, if the power storage device 31 is used beyond the upper limit of the current square integrated value, the deterioration of the power storage device 31 is promoted. Therefore, power storage device 31 is used so as not to exceed the upper limit of the current square integrated value as much as possible.

  Hereinafter, a case where the time T is set to 100 seconds will be described as an example. That is, it is assumed that the upper limit value of the current square integrated value for the past 100 seconds is determined in advance. Therefore, by using the ratio of the current value of the current square integrated value to the upper limit value as the current square integrated ratio Risc, the use of the power storage device 31 is controlled such that the current square integrated ratio Risc does not exceed 100%. You. Therefore, the proper use range of the current square integration ratio Risc is 0 to 100%. At this time, the BCU 32 includes, for example, a current sensor (not shown) that detects a current for charging or discharging the power storage device 31, and calculates the current square integration ratio Risc based on the detected current. The current square integration ratio Risc is not limited to the calculation by the BCU 32. For example, the current of the power storage device 31 during charging and discharging may be detected from the BCU 32, and may be calculated by the HCU 36 based on the detected value of the current.

  The swing electric motor 33 (slewing motor) is driven by electric power from the generator motor 27 or the power storage device 31. The turning electric motor 33 is formed of, for example, a three-phase induction motor, and is provided on the turning frame 5 together with the turning hydraulic motor 26. The turning electric motor 33 drives the turning device 3 in cooperation with the turning hydraulic motor 26. Therefore, the turning device 3 is driven by the combined torque of the turning hydraulic motor 26 and the turning electric motor 33, and drives the upper turning body 4 to turn.

  The turning electric motor 33 is connected to the DC buses 29A and 29B via a second inverter 34. The turning electric motor 33 has two roles: a power running in which the electric power is received from the power storage device 31 and the generator motor 27, and a regenerative operation in which the electric power is stored in the power storage device 31 by generating electric power with an extra torque at the time of turning braking. Fulfill. For this reason, electric power from the generator motor 27 and the like is supplied to the turning electric motor 33 during power running via the DC buses 29A and 29B. As a result, the turning electric motor 33 generates a rotational torque in accordance with the operation of the turning operation device 10 to assist the driving of the turning hydraulic motor 26, and also drives the turning device 3 to turn the upper turning body 4 in the turning operation. Let it.

  The second inverter 34 is configured using a plurality of switching elements, like the first inverter 28. The ON / OFF of each switching element of the second inverter 34 is controlled by a turning electric motor control unit 35 (hereinafter, referred to as an RMCU 35). When the turning electric motor 33 is running, the second inverter 34 converts the DC power of the DC buses 29A and 29B into AC power and supplies the AC power to the turning electric motor 33. When the swing electric motor 33 regenerates, the second inverter 34 converts the AC power from the swing electric motor 33 into DC power and supplies the DC power to the power storage device 31 and the like.

  The RMCU 35 controls on / off of each switching element of the second inverter 34 based on a turning electric motor output command Per from the HCU 36 and the like. Thereby, the RMCU 35 controls the regenerative power of the turning electric motor 33 during regeneration and the driving power during power running. Further, the RMCU 35 detects the regenerative electric power and the driving electric power of the turning electric motor 33 and outputs them to the HCU 36 as the turning electric motor output Poer. The swing electric motor output P0er is not limited to the one detected by the RMCU 35, and may be estimated (calculated) by the HCU 36, for example, based on the current swing electric motor output command Per. Further, the RMCU 35 detects the turning speed Vr based on the rotation speed of the turning electric motor 33 and outputs the detected turning speed Vr to the HCU 36.

  The HCU 36 constitutes a controller together with, for example, the MGCU 30 and the RMCU 35, and controls the output of the power storage device 31. The HCU 36 is configured by, for example, a microcomputer and is electrically connected to the ECU 22, the MGCU 30, the RMCU 35, and the BCU 32 by using a CAN 37 (Controller Area Network) or the like. The HCU 36 controls the engine 21, the generator motor 27, the turning electric motor 33, and the power storage device 31 while communicating with the ECU 22, the MGCU 30, the RMCU 35, and the BCU 32.

  The storage rate SOC, the current square integration ratio Risc, the turning electric motor output P0er, other vehicle information VI, and the like are input to the HCU 36 through the CAN 37 and the like. Further, the HCU 36 is connected to operation amount sensors 9A to 11A. Thus, the lever operation amount OA including the various operation amounts OAr, OAbm, OAam, and OAbk is input to the HCU 36. Further, an engine control dial 38 is connected to the HCU 36, and a target rotation speed ωe of the engine 21 set by the engine control dial 38 is input.

  HCU 36 controls the output of power storage device 31 based on power storage rate SOC as a first index and current square integration ratio Risc as a second index. Here, the HCU 36 has a target value SOC0 that is a reference value defined for the power storage rate SOC, and a use lower limit value SOC1 and a use upper limit value SOC2 that are limit values. The use lower limit value SOC1 is a lower limit value of a proper use range of the power storage rate SOC. The use upper limit SOC2 is an upper limit of a proper use range of the power storage rate SOC. For example, the target value SOC0 of the storage rate SOC is 50%, the lower limit of use SOC1 is 30%, and the upper limit of use SOC2 is 70%.

  In addition, the HCU 36 has an intermediate value Risc0 serving as a reference value defined for the current square integration ratio Risc, and an upper limit value Risc2 serving as a limit value. Further, a lower limit value Risc1 is also set for the current square integration ratio Risc. As an example, the intermediate value Risc0 of the current square integration ratio Risc is 70%, the lower limit Risc1 is 0%, and the upper limit Risc2 is 100%.

  In addition, in the storage rate SOC and the current square integration ratio Risc, respective allowable ranges are set so that the output does not need to be limited. At this time, the allowable range of the power storage rate SOC is a range that is equal to or more than a value lower than the target value SOC0 by the lower margin X1 and equal to or less than a value that is higher than the target value SOC0 by the upper margin X2. That is, the range is represented by the following equation (1). For example, the lower margin X1 is 15%, and the upper margin X2 is also 15%. The lower margin X1 and the upper margin X2 do not need to be the same value, and may be different values.

  The allowable range of the current square integration ratio Risc is a range equal to or less than the intermediate value Risc0. That is, the range is represented by the following equation (2).

  The engine control dial 38 is constituted by a rotatable dial, and sets a target rotation speed ωe of the engine 21 according to the rotation position of the dial. The engine control dial 38 is located in the cab 7 and rotated by an operator, and outputs a command signal corresponding to the target rotation speed ωe.

  Next, a specific configuration of the HCU 36 will be described with reference to FIG. The HCU 36 includes a generator motor required output calculator 40, a maximum output calculator 50, and an output command calculator 60. At this time, the maximum output calculation unit 50 and the output command calculation unit 60 determine that the storage rate SOC does not exceed the use lower limit value SOC1 or the use upper limit value SOC2 based on the output request from the generator motor request output calculation unit 40, and An output control unit that controls the output of the power storage device 31 is configured so that the current square integration ratio Risc does not exceed the upper limit Risc2.

  First, a specific configuration of the generator motor required output calculation unit 40 will be described with reference to FIGS.

  The generator motor required output calculation section 40 constitutes an output request section. For this reason, when the power storage rate SOC and the current square integration ratio Risc are within the allowable range, the generator motor required output calculation unit 40 operates the power storage device 31 such that the power storage rate SOC and the current square integration ratio Risc do not deviate from the allowable range. Request the output of When the state of charge SOC deviates from the target value SOC0 beyond the allowable range (SOC <SOC-X1 or SOC> SOC0-X2), the generator motor required output calculating unit 40 sets the current square integration ratio Risc to the intermediate value. The output of the power storage device 31 is requested such that the power storage rate SOC approaches the target value SOC0 while permitting deviation from Risc0. Furthermore, when the current square integration ratio Risc exceeds the allowable range and deviates from the intermediate value Risc0 (Risc> Risc0), the generator motor required output calculation unit 40 allows the power storage rate SOC to deviate from the target value SOC0. Then, the output of the power storage device 31 is requested so that the current square integration ratio Risc approaches the intermediate value Risc0.

  The generator motor required output calculation unit 40 determines the generator motor required output Pmg1 in order to appropriately operate the generator motor 27 (powering operation or power generation operation) according to the state of the power storage device 31. The generator motor request output calculator 40A requests the generator motor 27 to generate power when the storage rate SOC is lower than the target value SOC0 (SOC <SOC0) and the current square integration ratio Risc is within an allowable range. And a powering request unit 40B for requesting the generator motor 27 to perform powering when the power storage rate SOC exceeds the target value SOC0 (SOC> SOC0) and the current square integration ratio Risc is within an allowable range. In addition, the generator motor required output calculation unit 40 further includes an output reduction request unit 43B that reduces the output as the current square integration ratio Risc approaches the upper limit Risc2 to request the generator motor 27 to generate or power. I have.

  As shown in FIG. 5, the generator motor request output calculator 40 includes a power storage rate deviation calculator 41, a power storage rate request output calculator 42, a current square integration ratio request output calculator 43, a saturation calculator 44, And an adder 45. The power storage rate SOC, the current square integration ratio Risc, and the turning electric motor output P0er are input to the generator motor required output calculation unit 40.

  The power storage rate deviation calculator 41 calculates a difference between the power storage rate SOC and a target value SOC0 that is a target power storage rate set value, and outputs a power storage rate deviation ΔSOC (ΔSOC = SOC−SOC0).

  The required storage rate output calculation unit 42 outputs a required storage rate output Psoc1 as an output required of the generator motor 27 in accordance with the required storage rate SOC. Specifically, the storage rate request output calculation unit 42 has a table T1 as shown in FIG. 6, for example, to calculate the storage rate request output Psoc1 based on the storage rate deviation ΔSOC.

  When the power storage rate deviation ΔSOC becomes 0 (ΔSOC = 0), the table T1 sets the required power storage rate output Psoc1 to a minimum value (for example, Psoc1 = 0 kW). At this time, the storage rate SOC is the target value SOC0, and the operation of the generator motor 27 is unnecessary.

  When the power storage rate deviation .DELTA.SOC decreases in the range from 0 to the lower margin X1 (-X1.ltoreq..DELTA.SOC <0), the table T1 stores the power storage rate request according to the absolute value of the power storage rate deviation .DELTA.SOC. The output Psoc1 is set to a value (negative value) increased toward the power generation side. At this time, the state of charge SOC is lower than the target value SOC0, and it is preferable that the power storage operation be made closer to the target value SOC0 by the power generation operation of the generator motor 27.

  When the power storage rate deviation ΔSOC falls below the lower margin X1 (−X1> ΔSOC), the table T1 sets the required power storage rate output Psoc1 to the maximum value Y11 (for example, Psoc1 = −30 kW) on the power generation side. At this time, the storage rate SOC is lower than the target value SOC0 by exceeding the lower margin X1, and it is necessary to charge the battery by the power generation operation of the generator motor 27 promptly.

  When the power storage rate deviation .DELTA.SOC increases in the range from 0 to the upper margin X2 (0 <.DELTA.SOC.ltoreq.X2), the table T1 shows that the power storage rate required output Psoc1 depends on the absolute value of the power storage rate deviation .DELTA.SOC. Is set to a value (positive value) increased toward the powering side. At this time, the state of charge SOC is higher than the target value SOC0, and it is preferable to approach the target value SOC0 by the power running operation of the generator motor 27.

  When the power storage rate deviation ΔSOC is higher than the upper margin X2 (X2 <ΔSOC), the table T1 sets the power storage rate required output Psoc1 to the maximum value Y12 (for example, Psoc1 = 30 kW) on the power running side. At this time, the state of charge SOC has risen beyond the target value SOC0 by exceeding the upper margin X2, and it is necessary to discharge quickly by the power running operation of the generator motor 27.

  As described above, when the power storage rate deviation ΔSOC is a negative value (ΔSOC <0), the power storage rate required output calculation unit 42 outputs the required power storage rate output Psoc1 that is a power generation request. Therefore, the portion of the table T1 corresponding to the negative value of the storage rate deviation ΔSOC constitutes the power generation output request unit 42A. The power generation output requesting unit 42A includes a maximum power generation output requesting unit 42A1 that issues a power generation request with the power storage rate request output Psoc1 having the maximum value Y11 when the power storage rate SOC is outside the allowable range, and the power storage rate SOC falls within the allowable range. In some cases, a power generation output reduction requesting unit 42A2 for lowering the power storage rate required output Psoc1 and making a power generation request as compared with when the power storage rate SOC is outside the allowable range is provided.

  On the other hand, when the storage rate deviation ΔSOC is a positive value (ΔSOC> 0), the storage rate request output operation unit 42 outputs the power storage rate request output Psoc1 that is a power running request. Therefore, the portion of the table T1 corresponding to the positive value of the storage rate deviation ΔSOC constitutes the powering output requesting unit 42B. In addition, the powering output requesting unit 42B includes a maximum powering output requesting unit 42B1 that issues a powering request with the power storage rate request output Psoc1 of the maximum value Y12 when the power storage rate SOC is outside the allowable range, and the power storage rate SOC falls within the allowable range. In some cases, there is provided a powering output reduction request section 42B2 for making a powering request by lowering the power storage rate required output Psoc1 compared to when the power storage rate SOC is outside the allowable range.

  When the power storage rate deviation ΔSOC is between 0 and the lower margin X1, the power storage rate required output calculation unit 42 outputs the power storage rate required output Psoc1 in proportion to the magnitude of the absolute value of the power storage rate deviation ΔSOC. To be increased. Further, when the power storage rate deviation ΔSOC is between 0 and the upper margin X2, the power storage rate required output calculation unit 42 outputs the power storage rate required output Psoc1 to the power running side in proportion to the magnitude of the absolute value of the power storage rate deviation ΔSOC. Increased. The present invention is not limited to this, and when the storage rate deviation ΔSOC is between the lower margin X1 and the upper margin X2, the storage rate request output calculation unit 42 determines whether the storage rate deviation ΔSOC is larger than the absolute value of the storage rate deviation ΔSOC. What is necessary is just to monotonously increase the magnitude of the rate request output Psoc1. For this reason, not only the proportional characteristic but also various characteristics can be adopted in the storage rate request output calculation unit 42.

  The current square integration ratio request output calculation unit 43 outputs a current square integration ratio request output Prisc1 as an output required for the generator motor 27 according to the current square integration ratio Risc. Specifically, the current square integration ratio request output operation unit 43 has a table T2 as shown in FIG. 7, for example, to calculate the current square integration ratio request output Prisc1 based on the current square integration ratio Risc.

  When the current square integration ratio Risc becomes equal to or smaller than the intermediate value Risc0 (Risc ≦ Risc0), the table T2 sets the current square integration ratio request output Prisc1 to the maximum value Y22 (for example, Prisc1 = 30 kW). At this time, since the current square integration ratio request output Prisc1 has a margin with respect to the upper limit Risc2, it is possible to cause the generator motor 27 to perform the power running operation or the power generation operation in the maximum range.

  When the current square integration ratio Risc rises from the intermediate value Risc0 and approaches the upper limit Risc2 (Risc0 <Risc <Risc2), the table T2 indicates that the current square integration ratio Risc approaches the upper limit Risc2 as the current square integration ratio Risc approaches the upper limit Risc2. The integration ratio request output Prisc1 is set to a value reduced from the maximum value Y22.

  When the current square integration ratio Risc reaches the upper limit Risc2 (Risc = Risc2), the table T2 sets the current square integration ratio request output Prisc1 to the minimum value Y21 (for example, Prisc1 = 0 kW). At this time, since the current square integration ratio request output Prisc1 cannot be further increased, it is necessary to stop the power running operation and the power generation operation of the generator motor 27 and stop the power storage device 31.

  As described above, the current square integration ratio request output operation unit 43, when the current square integration ratio Risc is within the allowable range, requests the power generation or power running with the current square integration ratio request output Prisc1 of the maximum value Y22. And a power reduction requesting unit that requests the power generation or power running by lowering the storage rate request output Psoc1 when the current square integration ratio Risc is outside the allowable range, compared to when the current square integration ratio Risc is within the allowable range. 43B.

  Note that when the current square integration ratio Risc is between the intermediate value Risc0 and the upper limit Risc2, the current square integration ratio request output operation unit 43 performs the current square integration ratio request output in proportion to the magnitude of the current square integration ratio Risc. Prisc1 was to be reduced. The present invention is not limited to this, and when the current square integration ratio Risc is between the intermediate value Risc0 and the upper limit Risc2, the current square integration ratio request output operation unit 43 outputs the current square integration ratio Risc with respect to the magnitude of the current square integration ratio Risc. What is necessary is just to monotonously reduce the magnitude of the square integration ratio request output Prisc1. For this reason, the current square integration ratio request output calculation unit 43 can employ not only the proportional characteristic but also various characteristics.

  The saturation calculation unit 44 calculates a power storage device request output Pmg10 based on the state of the power storage device 31 based on the power storage ratio request output Psoc1 and the current square integration ratio request output Prisc1. Specifically, in addition to the power storage rate request output Psoc1 and the current square integration ratio request output Prisc1, the saturation calculation unit 44 outputs a value obtained by inverting the sign of the current square integration ratio request output Prisc1 by the inversion input unit 44A ( -Prisc1) is input. At this time, the current square integration ratio request output Prisc1 is all positive values. The current square integration ratio request output Prisc1 indicates an upper limit value serving as a limit value on the power running side. A negative value (-Prisc1) of the current square integration ratio request output Prisc1 indicates a lower limit value which is a limit value on the power generation side.

  For this reason, when the storage rate request output Psoc1 is within the range of the upper limit value Prisc1 to the lower limit value (−Prisc1) (−Prisc1 <Psoc1 <Prisc1), the saturation calculation unit 44 sets the same value as the storage rate request output Psoc1. Of the power storage device request output Pmg10. On the other hand, when the required power storage rate output Psoc1 is higher than the upper limit value Prisc1 (Prisc1 <Psoc1), the saturation calculator 44 outputs the power storage device required output Pmg10 having the same value as the upper limit value Prisc1. Similarly, when the required storage rate output Psoc1 falls below the lower limit (−Prisc1) (−Prisc1> Psoc1), the saturation calculation unit 44 determines that the storage device requested output Pmg10 has the same value as the lower limit (−Prisc1). Is output.

  Thereby, the generator motor required output calculation unit 40 calculates the power storage rate SOC from the target value SOC0 and the current square integration ratio Risc from the intermediate value Risc0 toward the upper limit Risc2 according to the figure. A power storage device request output Pmg10 shown in FIG.

  At this time, the power generation request unit 40A includes a power generation output request unit 42A, a maximum output request unit 43A, and a saturation calculation unit 44. The power running request unit 40B includes a power running output request unit 42B, a maximum output request unit 43A, and a saturation calculation unit 44.

  For this reason, the power generation requesting unit 40A reduces the power generation rate request output Psoc1 when the power storage rate SOC is within the allowable range and lowers the power generation output for performing the power generation request compared to when the power storage rate SOC is outside the allowable range. It has a request section 42A2. The powering requesting unit 40B performs a powering output reduction requesting unit 42B2 when the power storage rate SOC is within the allowable range and lowers the power storage rate request output Psoc1 to make a powering request than when the power storage rate SOC is outside the allowable range. have.

  The storage rate request output calculation unit 42, the current square integration ratio request output calculation unit 43, the saturation calculation unit 44, and the like execute the above-described calculation processing. The contents of these calculation processes will be specifically described with reference to FIG.

(1). When SOC <SOC0 In this state, it is preferable to charge power storage device 31 to bring power storage rate SOC closer to target value SOC0. Here, when the current square integration ratio Risc is less than the upper limit Risc2 (Risc <Risc2), the current square integration ratio Risc has a margin. Therefore, the saturation calculation unit 44 outputs a power storage device request output Pmg10 for requesting the generator motor 27 to perform a power generation operation.

  In particular, when the state of charge SOC is significantly lower than the target value SOC0 (SOC <SOC0-X1) and the current square integration ratio Risc is equal to or less than the intermediate value Risc0 (Risc ≦ Risc0), saturation occurs. Arithmetic unit 44 sets power storage device required output Pmg10 to the maximum power generation output in the specification of generator motor 27. At this time, the saturation calculation unit 44 requests power generation at full power.

  On the other hand, even when the state of charge SOC is significantly lower than the target value SOC0 (SOC <SOC-X1), the current square integration ratio Risc approaches the upper limit Risc2 from the intermediate value Risc0 (Risc0 < For Risc <Risc2), it is necessary to limit the charging power in accordance with the current square integration ratio Risc. Therefore, as the current square integration ratio Risc becomes larger than the intermediate value Risc0, the saturation calculation unit 44 reduces the power storage device required output Pmg10 from the maximum power generation output. At this time, the saturation calculation unit 44 requests power generation at half power.

  When the current square integration ratio Risc reaches the upper limit Risc2 (Risc = Risc2), the saturation calculation unit 44 sets the power storage device request output Pmg10 to the minimum value (0 kW). At this time, the saturation calculation unit 44 stops the request for power generation and power running.

  Note that the intermediate value Risc0 does not necessarily need to be 50%. For example, it is assumed that when the current square integration ratio Risc is the intermediate value Risc0 and the power storage rate SOC is at the lower limit value SOC1, the vehicle body is charged without being operated until the power storage rate SOC reaches the target value SOC0. In such a charged state, it is preferable to tune the intermediate value Risc0 so that the current square integration ratio Risc does not increase to near the upper limit Risc2. As an example, here, the intermediate value Risc0 is set to 70%.

(2). When SOC> SOC0 In this state, it is preferable to discharge power storage device 31 to bring power storage rate SOC closer to target value SOC0. Here, when the current square integration ratio Risc is less than the upper limit Risc2 (Risc <Risc2), the current square integration ratio Risc has a margin. For this reason, the saturation calculation unit 44 outputs a power storage device request output Pmg10 that requests the generator motor 27 to perform a power running operation.

  In particular, when the state of charge SOC is significantly higher than the target value SOC0 (SOC> SOC0 + X2) and the current square integration ratio Risc is equal to or smaller than the intermediate value Risc0 (Risc ≦ Risc0), the saturation calculation unit is used. 44 sets the power storage device required output Pmg10 to the maximum powering output in the specification of the generator motor 27. At this time, the saturation calculator 44 requests power running at full power.

  On the other hand, even when the state of charge SOC is significantly higher than the target value SOC0 (SOC> SOC0 + X2), when the current square integration ratio Risc approaches the upper limit Risc2 from the intermediate value Risc0 (Risc0 <Risc <). For Risc2), it is necessary to limit the powering power (discharge power) according to the current square integration ratio Risc. Therefore, as the current square integration ratio Risc becomes larger than the intermediate value Risc0, the saturation calculation unit 44 reduces the power storage device required output Pmg10 from the maximum power running output. At this time, the saturation calculation unit 44 requests power running at half power.

  When the current square integration ratio Risc reaches the upper limit Risc2 (Risc = Risc2), the saturation calculation unit 44 sets the power storage device request output Pmg10 to the minimum value (0 kW). At this time, the saturation calculation unit 44 stops the request for power generation and power running.

  Note that the intermediate value Risc0 does not necessarily need to be 50%. For example, it is assumed that when the current square integration ratio Risc is the intermediate value Risc0 and the power storage rate SOC is at the upper limit value SOC2, the vehicle is discharged in a non-operating state until the power storage rate SOC reaches the target value SOC0. In such a discharge state, it is preferable to tune the intermediate value Risc0 so that the current square integration ratio Risc does not increase to near the upper limit Risc2. As an example, here, the intermediate value Risc0 is set to 70%.

(3). When SOC ≒ SOC0 In this state, the state of charge SOC is the target value SOC0. Even if the power storage rate SOC deviates from the target value SOC0, in this state, the power storage rate deviation ΔSOC is a small value. Therefore, irrespective of the value of the current square integration ratio Risc, the saturation calculating section 44 sets the power storage device request output Pmg10 to a sufficiently small value of discharge power or charge power so that the power storage rate SOC converges to the target value SOC0. Set. When the state of charge SOC matches the target value SOC0 (SOC = SOC0), the saturation calculation unit 44 stops the request for power generation and powering.

  The power storage device request output Pmg10 based on the state of the power storage device 31 and a value (−P0er) obtained by inverting the sign of the swing electric motor output P0er by the inversion input unit 45A are input to the adder 45. Adder 45 adds a value obtained by multiplying swing electric motor output P0er by −1 to power storage device required output Pmg10, and calculates the added value. In response to the power generation request and the power running request, the portion corresponding to the turning electric motor output P0er is preferentially executed. The adder 45 performs processing in consideration of this point.

  More specifically, when the power storage device required output Pmg10 is a power running request and the turning electric motor 33 is in a power running state, a value corresponding to the turning electric motor output P0er is reduced from the power storage device request output Pmg10 that is discharge power. When the power storage device required output Pmg10 is a power generation request and the turning electric motor 33 is in a power generation state, the value corresponding to the turning electric motor output P0er is reduced from the power storage device request output Pmg10 that is the generated power.

  On the other hand, when power storage device required output Pmg10 is a power running request and turning electric motor 33 is in a power generation state, a value corresponding to turning electric motor output P0er is increased from power storage device request output Pmg10 that is discharge power. When the power storage device required output Pmg10 is a power generation request and the turning electric motor 33 is in a power running state, the value corresponding to the turning electric motor output P0er is increased from the power storage device request output Pmg10 that is the generated power.

  The adder 45 sets the generator motor required output Pmg1 to an added value. However, when the addition value on the powering side exceeds the maximum powering output, the adder 45 sets the generator motor required output Pmg1 to the maximum powering output. The adder 45 sets the generator motor required output Pmg1 to the maximum generation output when the addition value on the generation side exceeds the maximum generation output. The adder 45 outputs a final required generator motor output Pmg1 in consideration of the swing electric motor output P0er.

  Next, a specific configuration of the maximum output calculation unit 50 will be described with reference to FIGS.

  The maximum output calculation unit 50 forms a part of an output control unit. The maximum output calculating section 50 includes a power storage rate power running limit gain calculating section 52A as a power running prohibiting section for prohibiting power running of the generator motor 27 when the power storage rate SOC reaches the use lower limit value SOC1, It has a power storage rate power generation restriction gain calculation unit 52B as a power generation prohibition unit that prohibits power generation of the generator motor 27 when the value reaches the value SOC2. In addition, when the current square integration ratio Risc reaches the upper limit Risc2, the maximum output calculation unit 50 outputs a current square integration ratio output limiting gain as a powering generation inhibiting unit that inhibits both powering and power generation of the generator motor 27. An operation unit 52C is provided.

  As shown in FIG. 9, the maximum output calculator 50 includes an engine maximum output calculator 51, a generator motor output limit gain calculator 52, and a generator motor maximum output calculator 53. The target engine speed ωe, the storage rate SOC, and the current square integration ratio Risc are input to the maximum output calculation unit 50.

  The engine maximum output calculation unit 51 has a table (not shown) showing the correspondence between the engine target rotational speed ωe and the engine maximum output Pe-max. At this time, the engine maximum output Pe-max indicates the maximum output that can be supplied from the engine 21 when the engine 21 is driven at the engine target rotation speed ωe. The engine maximum output calculation unit 51 calculates the engine maximum output Pe-max based on the engine target rotation speed ωe, and outputs the calculated engine maximum output Pe-max.

  As shown in FIG. 10, the generator motor output limit gain calculator 52 includes a power storage rate powering limit gain calculator 52A, a power storage rate power limit gain calculator 52B, a current square integration ratio output limit gain calculator 52C, It has value selection units 52D and 52E. The power storage rate SOC and the current square integration ratio Risc are input to the generator motor output limit gain calculator 52.

  The power storage rate powering limit gain calculating section 52A has a table T3 for calculating the power storage rate powering limit gain Kmgm0 based on the power storage rate SOC. At this time, the power storage rate powering limit gain Kmgm0 limits the powering output of the generator motor 27 in order to suppress the power storage rate SOC from lowering to the lower limit a1 due to the powering of the generator motor 27. The power storage rate power running limit gain calculating unit 52A calculates the power storage rate power running limit gain Kmgm0 according to the power storage rate SOC using the table T3. Note that the lower limit value a1 is the same value as the use lower limit value SOC1.

  The table T3 sets the power storage rate powering limit gain Kmgm0 to the minimum value (for example, Kmgm0 = 0) when the power storage rate SOC decreases to the lower limit value a1 of the proper use range. The table T3 sets the power storage rate power running limit gain Kmgm0 to the maximum value (for example, Kmgm0 = 1) when the power storage rate SOC rises above a lower appropriate reference value a2 that is a threshold. When the state of charge SOC becomes a value between the lower limit value a1 and the appropriate reference value a2, the table T3 decreases the state-of-charge power running limit gain Kmgm0 as the state of charge SOC decreases. That is, when the storage rate SOC falls below the appropriate reference value a2, the table T3 sets the storage rate power running limit gain Kmgm0 to a value between the minimum value and the maximum value according to the degree of decrease from the appropriate reference value a2. I do. Here, the appropriate reference value a2 is set to a large value with a predetermined margin from the lower limit value a1. For example, when the lower limit a1 is 30%, the appropriate reference value a2 is set to a value of about 35%. Although the case where the appropriate reference value a2 has the same value as the lower limit of the allowable range of the storage rate SOC has been illustrated, these may be different from each other.

  The storage rate power generation restriction gain calculator 52B has a table T4 for calculating the power storage rate power generation restriction gain Kmgg0 based on the power storage rate SOC. At this time, the power storage rate power generation restriction gain Kmgg0 limits the power output of the generator motor 27 in order to suppress the power storage rate SOC from rising to the upper limit a4 due to the power generation of the generator motor 27. The storage rate power generation restriction gain calculation unit 52B calculates the power storage rate generation restriction gain Kmgg0 according to the power storage rate SOC using the table T4. Note that the upper limit a4 is the same value as the use upper limit SOC2.

  The table T4 sets the storage rate power generation restriction gain Kmgg0 to a minimum value (for example, Kmgg0 = 0) when the storage rate SOC rises to the upper limit value a4 of the proper use range. The table T4 sets the power storage rate power generation limiting gain Kmgg0 to the maximum value (for example, Kmgg0 = 1) when the power storage rate SOC falls below the upper appropriate reference value a3 as a threshold. When the state of charge SOC becomes a value between the upper limit value a4 and the appropriate reference value a3, the table T4 decreases the state of charge power running limit gain Kmgm0 as the state of charge SOC increases. That is, when the storage rate SOC rises above the appropriate reference value a3, the table T4 sets the storage rate power generation limit gain Kmgg0 to a value between the minimum value and the maximum value according to the degree of increase from the appropriate reference value a3. I do. Here, the appropriate reference value a3 is set to a small value with a predetermined margin from the upper limit value a4. For example, when the upper limit value a4 becomes 70%, the appropriate reference value a3 is set to a value of about 65%. Although the case where the appropriate reference value a3 has the same value as the upper limit value of the allowable range of the storage rate SOC has been exemplified, these values may be different from each other.

  The current square integration ratio output limiting gain calculator 52C has a table T5 for calculating the current square integration ratio output limiting gain Krisc0 based on the current square integration ratio Risc. At this time, the current square integration ratio output limiting gain Krisc0 is used to reduce the power generation output and powering output of the generator motor 27 in order to suppress the current square integration ratio Risc from rising to the upper limit b2 due to the powering and power generation of the generator motor 27. Restrict. The current square integration ratio output limiting gain calculation unit 52C calculates the current square integration ratio output limiting gain Krisc0 according to the current square integration ratio Risc using the table T5.

  The table T5 sets the current square integration ratio output limiting gain Krisc0 to a minimum value (for example, Krisc0 = 0) when the current square integration ratio Risc rises to the upper limit value b2 of the proper use range. The table T5 sets the current square integration ratio output limiting gain Krisc0 to the maximum value (for example, Krisc0 = 1) when the current square integration ratio Risc falls below the appropriate reference value b1 that is a threshold. When the current square integration ratio Risc becomes a value between the upper limit value b2 and the appropriate reference value b1, the table T5 decreases the current square integration ratio output limiting gain Krisc0 as the current square integration ratio Risc increases. That is, when the current square integration ratio Risc rises above the appropriate reference value b1, the table T5 sets the current square integration ratio output limiting gain Krisc0 between the minimum value and the maximum value in accordance with the degree of increase from the appropriate reference value b1. Set to the value of. Here, the appropriate reference value b1 is set to a small value with a predetermined margin from the upper limit value b2. For example, when the upper limit b2 becomes 100%, the appropriate reference value b1 is set to a value of about 95%. Note that the upper limit value b2 is the same value as the limit value (upper limit value Risc2) of the current square integration ratio Risc. Further, the case where the appropriate reference value b1 is different from the upper limit value (intermediate value Risc0) of the allowable range of the current square integration ratio Risc has been exemplified, but these may be the same value.

  The minimum value selection unit 52D compares the power storage rate powering limit gain Kmgm0 from the power storage rate powering limit gain calculation unit 52A with the current square integration ratio output limit gain Krisc0 from the current square integration ratio output limit gain calculation unit 52C. The minimum value selection unit 52D selects the minimum value between the power storage rate power running limit gain Kmgm0 and the current square integration ratio output limit gain Krisc0, and outputs the selected value as the generator motor power running limit gain Kmgm.

  The minimum value selection unit 52E compares the power storage rate power generation limit gain Kmgg0 by the power storage rate power generation gain calculation unit 52B with the current square integration ratio output restriction gain Krisc0 by the current square integration ratio output restriction gain calculation unit 52C. The minimum value selection unit 52E selects the minimum value between the power storage rate power generation restriction gain Kmgg0 and the current square integration ratio output restriction gain Krisc0, and outputs the selected value as the generator motor power generation restriction gain Kmgg.

  The generator motor maximum output calculator 53 has a table (not shown) of the power running maximum output of the generator motor 27 with respect to the engine target rotational speed ωe and the generator maximum output, like the engine maximum output calculator 51. The generator motor maximum output calculator 53 calculates the maximum powering output and the maximum power generation of the generator motor 27 based on the target rotation speed ωe of the engine 21. The generator motor maximum output calculation unit 53 outputs a value obtained by acting (multiplying) the generator motor power running limit gain Kmgm on the power running maximum output determined from the target rotation speed ωe as the generator motor maximum power running output Pmgm-max. The generator motor maximum output calculation unit 53 outputs a value obtained by applying (multiplying) the generator motor generation limit gain Kmgg to the generator maximum output determined from the target rotation speed ωe as the generator motor maximum generator output Pmgg-max.

  Next, a specific configuration of the output command calculation unit 60 will be described with reference to FIGS.

  As shown in FIG. 11, the output command calculation unit 60 includes a pump estimation input calculation unit 61, a generator motor powering power generation request determination unit 62, a generator motor powering output calculation unit 63, a generator motor power generation output calculation unit 64, It has a generator motor output command calculation unit 65 and an engine output command calculation unit 66. The output command calculation unit 60 includes a swing speed Vr, each lever operation amount OA (OAr, OAbm, OAam, OAbk), other vehicle information VI, a storage rate SOC, a current square integration ratio Risc, and a generator motor. The required output Pmg1, the engine maximum output Pe-max, the generator motor maximum powering output Pmgm-max, and the generator motor maximum power output Pmgg-max are input.

  As shown in FIG. 12, the pump estimation input calculation unit 61 calculates a pump estimation input Pp and a turning electric motor output command Per necessary for operating the vehicle body according to each lever operation amount OA. When calculating the pump estimation input Pp and the turning electric motor output command Per, the pump estimation input calculation unit 61 calculates the turning speed Vr, other vehicle information VI, the power storage rate SOC, the current square integration ratio Risc, and the engine. The maximum output Pe-max and the generator motor maximum powering output Pmgm-max are considered. For this reason, the pump estimation input calculation unit 61 stores the turning speed Vr, other vehicle information VI, the power storage rate SOC, the current square integration ratio Risc, the engine maximum output Pe-max, and the generator motor maximum power running output Pmgm- max and each lever operation amount OA are input. Hereinafter, other vehicle body information VI will be omitted and described. The specific configuration of the pump estimation input calculation unit 61 will be described later.

  The generator motor powering power generation request determination unit 62 receives the generator motor request output Pmg1. When the generator motor required output Pmg1 is a positive value (Pmg1> 0), the generator motor powering power generation request determination unit 62 sets the generator motor powering required output Pmgm1 to the value of the generator motor required output Pmg1 (Pmgm1 = Pmg1). Then, the generator motor power generation request output Pmgg1 is set to 0 (Pmgg1 = 0). Conversely, when the generator motor request output Pmg1 is a negative value (Pmg1 <0), the generator motor powering request generator determination unit 62 sets the generator motor powering request output Pmgm1 to 0 (Pmgm1 = 0) and generates the generator motor. The power generation request output Pmgg1 is set to the value of the generator motor request output Pmg1 (Pmgm1 = Pmg1). The generator motor powering power generation request determination unit 62 outputs the generator motor powering request output Pmgm1 and the generator motor power generation request output Pmgg1.

  As shown in FIG. 13, the generator motor powering output calculation unit 63 includes a subtractor 63A, a maximum value selection unit 63B, and a minimum value selection unit 63C. The generator motor powering output calculation unit 63 receives the pump estimation input Pp, the engine maximum output Pe-max, the generator motor maximum powering output Pmgm-max, and the generator motor powering request output Pmgm1.

  The subtractor 63A subtracts the engine maximum output Pe-max from the pump estimated input Pp, and outputs this subtraction value. The maximum value selection unit 63B compares the output from the subtractor 63A with 0 and the generator motor power running request output Pmgm1. The maximum value selecting unit 63B selects the maximum value from the output from the subtractor 63A, 0, and the generator motor powering request output Pmgm1, and outputs the selected value as the generator motor powering output Pmgm10. At this time, the generator motor powering output Pmgm10 becomes 0 or a positive value (Pmgm10 ≧ 0).

  The minimum value selection unit 63C compares the generator motor powering output Pmgm10 with the generator motor maximum powering output Pmgm-max. The minimum value selection unit 63C selects the minimum value between the generator motor powering output Pmgm10 and the generator motor maximum powering output Pmgm-max, and outputs the selected value as the generator motor powering output command Pmgm.

  As described above, the generator motor powering output calculation unit 63 compares the pump estimated input Pp with the engine maximum output Pe-max. When the estimated pump input Pp is larger than the engine maximum output Pe-max (Pp> Pe-max), the generator motor powering output calculator 63 calculates the difference between the estimated pump input Pp and the maximum engine output Pe-max by using the generator motor. The powering output command is Pmgm. However, the generator motor powering output command Pmgm is adjusted so as not to be larger than the generator motor maximum powering output Pmgm-max.

  On the other hand, when the engine maximum output Pe-max is larger than the estimated pump input Pp (Pp <Pe-max), the smallest one of the generator motor maximum power running output Pmgm-max and the generator motor power running required output Pmgm1 is selected. , The generator motor powering output command Pmgm.

  Accordingly, the generator motor powering output calculation unit 63 secures a portion of the hydraulic load that is insufficient for the output of the engine 21 by the powering output of the generator motor 27. Then, the generator motor powering output calculation unit 63 controls the powering operation of the generator motor 27 so as to satisfy the generator motor powering request output Pmgm1.

  As shown in FIG. 14, the generator motor output calculator 64 includes a subtractor 64A, maximum value selectors 64B, 64D, 64E, and a generated power converter 64C. The generator motor generator output calculator 64 receives a pump estimation input Pp, an engine maximum output Pe-max, a generator motor maximum generator output Pmgg-max, and a generator motor generator request output Pmgg1.

  The subtractor 64A subtracts the pump estimated input Pp from the engine maximum output Pe-max, and outputs the subtracted value. The maximum value selector 64B compares the output from the subtractor 64A with 0. The maximum value selection section 64B selects the maximum value between the output from the subtractor 64A and 0. At this time, the maximum value selector 64B outputs 0 or a positive value. The output from the maximum value selection unit 64B is multiplied by −1 by the generated power conversion unit 64C and converted to a negative value. As a result, the generated power converter 64C outputs the first generator-motor output Pmgg10 having a magnitude corresponding to the difference between the engine maximum output Pe-max and the pump estimated input Pp. At this time, the first generator motor output Pmgg10 becomes 0 or a negative value (Pmgg10 ≦ 0).

  The maximum value selection unit 64D compares the generator motor required power output Pmgg1 with the generator motor maximum power output Pmgg-max. The maximum value selection unit 64D selects the larger one of the generator motor power generation request output Pmgg1 and the generator motor maximum power output Pmgg-max. Here, the generator motor required power output Pmgg1 and the generator motor maximum power output Pmgg-max are both negative values. Therefore, the maximum value selection unit 64D selects the value closer to 0 (the one with the smaller absolute value) between the generator motor required power output Pmgg1 and the generator motor maximum power output Pmgg-max. The maximum value selection unit 64D outputs the selected one of the generator motor power generation request output Pmgg1 and the generator motor maximum power output Pmgg-max as the second generator motor power output Pmgg20.

  The maximum value selector 64E compares the first generator motor output Pmgg10 with the second generator motor output Pmgg20. The maximum value selecting unit 64E selects the larger one of the first generator motor generator output Pmgg10 and the second generator motor generator output Pmgg20. Here, the first generator motor generator output Pmgg10 and the second generator motor generator output Pmgg20 are both negative values. For this reason, the maximum value selection unit 64E selects the value closer to 0 (the smaller absolute value) between the first generator motor output Pmgg10 and the second generator motor output Pmgg20. The maximum value selector 64E outputs the selected one of the first generator motor generator output Pmgg10 and the second generator motor generator output Pmgg20 as a generator motor generator output command Pmgg.

  As described above, the generator motor generator output calculator 64 compares the estimated pump input Pp with the maximum engine output Pe-max. When the estimated pump input Pp is greater than the engine maximum output Pe-max (Pp> Pe-max), the generator motor generator output unit 64 outputs a generator motor generator output command Pmgg that has become zero. In this case, the engine 21 consumes all the output in response to the hydraulic load, and thus cannot afford to perform the power generation operation. Therefore, the generator motor generation output command Pmgg is set to 0, and the generator motor 27 does not perform the power generation operation.

  On the other hand, when the engine maximum output Pe-max is larger than the pump estimated input Pp (Pp <Pe-max), the difference between the engine maximum output Pe-max and the pump estimated input Pp and the generator motor maximum powering output Pmgm-max And the generator motor powering request output Pmgm1 whose absolute value is the smallest is selected as the generator motor powering output command Pmgm.

  As a result, the generator motor generator output calculator 64 controls the generator motor 27 so as to satisfy the generator motor powering request output Pmgm1 as much as possible while corresponding to the hydraulic load.

  The generator motor output command calculation unit 65 adds the generator motor powering output command Pmgm and the generator motor power output command Pmgg. The generator motor output command calculation unit 65 outputs the added value as a generator motor output command Pmg.

  The engine output command calculation unit 66 subtracts the generator motor output command Pmg from the pump estimated input Pp. The engine output command calculation unit 66 outputs this subtraction value as an engine output command Pe.

  The output command calculation unit 60 forms a part of the output control unit. The output command calculation unit 60 controls the output of the power storage device 31 based on the lever operation amount OA detected by the operation amount sensors 9A to 11A in addition to the output request from the generator motor request output operation unit 40. The pump estimation input calculation unit 61 of the output command calculation unit 60 calculates a pump estimation input Pp corresponding to each lever operation amount OA. At this time, the generator motor powering output calculator 63 of the output command calculator 60 outputs the generator motor powering output command Pmgm giving priority to securing the pump estimated input Pp. Similarly, the generator motor generator output calculator 64 of the output command calculator 60 outputs a generator motor generator output command Pmgg giving priority to securing the pump estimation input Pp. For this reason, it is possible to suppress a decrease in the vehicle body speed and to reduce the chance of giving the operator an operational stress or a sense of discomfort.

  Next, a specific configuration of the pump estimation input calculation unit 61 will be described with reference to FIGS. 12, 15 to 19.

  As shown in FIG. 12, the pump estimation input calculation unit 61 includes a swing basic output calculation unit 71, a boom basic output calculation unit 72, an arm basic output calculation unit 73, a bucket basic output calculation unit 74, and a swing boom output. It has a distribution calculation unit 75, an arm bucket output distribution calculation unit 76, a swing hydraulic power output distribution calculation unit 77, and a total pump output calculation unit 78. The pump estimation input calculation unit 61 includes a swing speed Vr, each lever operation amount OA (OAr, OAbm, OAam, OAbk), a storage rate SOC, a current square integration ratio Risc, an engine maximum output Pe-max, The generator motor maximum powering output Pmgm-max is input. At this time, the sum of the engine maximum output Pe-max and the generator motor maximum powering output Pmgm-max corresponds to the output upper limit value Pmax (Pmax = Pe-max + Pmgm-max).

  The turning basic output calculator 71 calculates a turning basic output Pr0 that monotonically increases with respect to the turning lever operation amount OAr. As shown in FIG. 15, the turning basic output calculating unit 71 includes a maximum value selecting unit 71A, an initial turning basic output calculating unit 71B, an output reduction gain calculating unit 71C, a gain converting unit 71D, and a multiplier 71E. Have.

  The maximum value selector 71A compares the left turning operation amount OAr1 and the right turning operation amount OAr2 included in the turning lever operation amount OAr. The maximum value selection unit 71A selects the maximum value from the left turning operation amount OAr1 and the right turning operation amount OAr2, and outputs the selected value as the turning operation amount OAr3.

  The initial turning basic output calculation section 71B has a table T6 for calculating the initial turning basic output Pr10 based on the turning operation amount OAr3. The initial turning basic output calculation unit 71B calculates an initial turning basic output Pr10 according to the turning operation amount OAr3 using the table T6. At this time, the initial turning basic output Pr10 corresponds to an output necessary for performing a turning operation according to the turning operation amount OAr3. The initial turning basic output Pr10 increases as the turning operation amount OAr3 increases. When the turning operation amount OAr3 increases beyond a predetermined value, the initial turning basic output Pr10 reaches the maximum value and saturates.

  The output reduction gain calculator 71C has a table T7 for calculating the output reduction gain Kr based on the turning speed Vr. The output reduction gain calculator 71C calculates an output reduction gain Kr corresponding to the turning speed Vr using the table T7. At this time, the output reduction gain Kr becomes a small value in order to reduce the turning output as the turning speed Vr increases. When the turning speed Vr increases beyond a predetermined value, the output reduction gain Kr becomes the minimum value and saturates.

  The output reduction gain Kr (%) output from the output reduction gain calculator 71C is expressed as a percentage. Therefore, the output reduction gain Kr is converted by the gain conversion unit 71D into a ratio where 1 is the maximum value. That is, the gain conversion unit 71D outputs a value obtained by dividing the output reduction gain Kr by 100 as the converted output reduction gain Kr10. The multiplier 71E calculates a product of the initial turning basic output Pr10 and the output reduction gain Kr10, and outputs a turning basic output Pr0.

  The boom basic output calculator 72 calculates a boom basic output Pbm0 that monotonically increases with respect to the boom lever operation amount OAbm. As shown in FIG. 16, the boom basic output calculator 72 has a boom raising basic output calculator 72A, a boom lowering basic output calculator 72B, and a maximum value selector 72C.

  The boom raising basic output calculator 72A has a table T8 for calculating the boom raising basic output Pbm10 based on the boom raising operation amount OAbm1. The boom raising basic output calculator 72A calculates a boom raising basic output Pbm10 according to the boom raising operation amount OAbm1 using the table T8. At this time, the boom raising basic output Pbm10 corresponds to an output necessary for performing the boom raising operation according to the boom raising operation amount OAbm1. The boom raising basic output Pbm10 increases as the boom raising operation amount OAbm1 increases. When the boom raising operation amount OAbm1 increases beyond a predetermined value, the boom raising basic output Pbm10 reaches the maximum value and saturates.

  The boom lowering basic output calculator 72B has a table T9 for calculating the boom lowering basic output Pbm20 based on the boom lowering operation amount OAbm2. The boom lowering basic output calculator 72B calculates the boom lowering basic output Pbm20 according to the boom lowering operation amount OAbm2 using the table T9. At this time, the boom lowering basic output Pbm20 corresponds to an output necessary for performing the boom lowering operation according to the boom lowering operation amount OAbm2. The boom lowering basic output Pbm20 becomes a larger value as the boom lowering operation amount OAbm2 increases. When the boom lowering operation amount OAbm2 increases beyond a predetermined value, the boom lowering basic output Pbm20 reaches the maximum value and saturates.

  In the boom lowering operation, a smaller output is sufficient than the boom raising operation because gravity acts on the boom 12A. For this reason, the boom lowering basic output Pbm20 has a smaller value overall than the boom raising basic output Pbm10.

  The maximum value selection unit 72C compares the boom raising basic output Pbm10 with the boom lowering basic output Pbm20. The maximum value selection unit 72C selects the maximum value from the boom raising basic output Pbm10 and the boom lowering basic output Pbm20, and outputs the selected value as the boom basic output Pbm0.

  The arm basic output calculator 73 calculates an arm basic output Pam0 that monotonically increases with respect to the arm lever operation amount OAam. The bucket basic output calculator 74 calculates a bucket basic output Pbk0 that monotonically increases with respect to the bucket lever operation amount OAbk. Each of the arm basic output calculation section 73 and the bucket basic output calculation section 74 has substantially the same configuration as the boom basic output calculation section 72.

  The turning boom output distribution calculating unit 75 calculates a turning request output Pr1 and a boom request output Pbm1 in consideration of the output upper limit Pmax and the like in order to perform the turning operation and the operation of the boom 12A according to the output upper limit Pmax. As shown in FIG. 17, the turning boom output distribution calculating section 75 has a turning boom distribution output calculating section 75A, a turning request output calculating section 75B, and a boom request output calculating section 75C. The turning boom output distribution calculation unit 75 receives an output upper limit value Pmax, a turning basic output Pr0, a boom basic output Pbm0, an arm basic output Pam0, and a bucket basic output Pbk0.

  The turning boom distribution output calculator 75A includes adders 75A1, 75A4, an arm bucket distribution output calculator 75A2, a subtractor 75A3, and a minimum value selector 75A5.

  The adder 75A1 adds the arm basic output Pam0 and the bucket basic output Pbk0, and outputs the added value as the arm bucket basic output Pab0 (Pab0 = Pam0 + Pbk0).

  The arm bucket distribution output calculation unit 75A2 has a table T10 for calculating a provisional arm bucket distribution output Pab1 based on the arm bucket basic output Pab0. The arm bucket distribution output calculation unit 75A2 calculates an arm bucket distribution output Pab1 corresponding to the arm bucket basic output Pab0 using the table T10. At this time, the arm bucket distribution output Pab1 corresponds to an output that can be distributed to the operations of the arm 12B and the bucket 12C based on the arm basic output Pam0 and the bucket basic output Pbk0. The arm bucket distribution output Pab1 increases as the arm bucket basic output Pab0 increases. When the arm bucket basic output Pab0 increases beyond a predetermined value, the arm bucket distribution output Pab1 reaches the maximum value and saturates.

  The subtractor 75A3 subtracts the arm bucket distribution output Pab1 from the output upper limit value Pmax, and outputs the subtracted value as a first turning boom basic output Prb10. The adder 75A4 adds the turning basic output Pr0 and the boom basic output Pbm0, and outputs the added value as a second turning boom basic output Prb20. The minimum value selector 75A5 compares the first turning boom basic output Prb10 with the second turning boom basic output Prb20. The minimum value selector 75A5 selects the minimum value of the first turning boom basic output Prb10 and the second turning boom basic output Prb20, and outputs the selected value as the turning boom distribution output Prb.

  The turning request output calculating section 75B includes a maximum value selecting section 75B1, a turning distribution ratio calculating section 75B2, a multiplier 75B3, and a minimum value selecting section 75B4.

  The maximum value selector 75B1 compares the second turning boom basic output Prb20 with 1. The maximum value selecting section 75B1 selects and outputs the maximum value from the second turning boom basic outputs Prb20 and 1.

  The turning distribution ratio calculating unit 75B2 divides the turning basic output Pr0 by the output from the maximum value selecting unit 75B1. At this time, the maximum value selection unit 75B1 outputs one or more values. The turning distribution ratio calculation unit 75B2 calculates the ratio of the turning basic output Pr0 to the second turning boom basic output Prb20.

  The multiplier 75B3 multiplies the output from the turning distribution ratio calculation unit 75B2 by the turning boom distribution output Prb. The minimum value selector 75B4 compares the output from the multiplier 75B3 with the turning basic output Pr0. The minimum value selection unit 75B4 selects the minimum value of the output from the multiplier 75B3 and the turning basic output Pr0, and outputs the selected value as the turning request output Pr1.

  The boom request output calculation unit 75C includes a maximum value selection unit 75C1, a boom distribution ratio calculation unit 75C2, a multiplier 75C3, and a minimum value selection unit 75C4.

  The maximum value selector 75C1 compares the second turning boom basic output Prb20 with 1. The maximum value selector 75C1 selects and outputs the maximum value from the second turning boom basic outputs Prb20 and 1.

  The boom distribution ratio calculation unit 75C2 divides the boom basic output Pbm0 by the output from the maximum value selection unit 75C1. At this time, the maximum value selector 75C1 outputs one or more values. The boom distribution ratio calculation unit 75C2 calculates the ratio of the boom basic output Pbm0 to the second turning boom basic output Prb20.

  The multiplier 75C3 multiplies the output from the boom distribution ratio calculation unit 75C2 by the turning boom distribution output Prb. The minimum value selector 75C4 compares the output from the multiplier 75C3 with the boom basic output Pbm0. The minimum value selector 75C4 selects the minimum value from the output from the multiplier 75C3 and the boom basic output Pbm0, and outputs the selected value as the boom request output Pbm1.

  The arm bucket output distribution calculation unit 76 calculates the arm request output Pam1 and the bucket request output Pbk1 in consideration of the output upper limit Pmax and the like in order to perform the operation of the arm 12B and the operation of the bucket 12C according to the output upper limit Pmax. I do. As shown in FIG. 18, the arm bucket output distribution calculation unit 76 has an arm bucket distribution output calculation unit 76A, an arm request output calculation unit 76B, and a bucket request output calculation unit 76C. The arm bucket output distribution calculation unit 76 receives an output upper limit value Pmax, a turning request output Pr1, a boom request output Pbm1, an arm basic output Pam0, and a bucket basic output Pbk0.

  The arm bucket distribution output calculation unit 76A includes adders 76A1, 76A3, a subtractor 76A2, and a minimum value selection unit 76A4.

  The adder 76A1 adds the turning request output Pr1 and the boom request output Pbm1, and outputs the added value as a turning boom request output Prb1 (Prb1 = Pr1 + Pbm1). The subtractor 76A2 subtracts the turning boom request output Prb1 from the output upper limit value Pmax, and outputs the subtracted value as a first arm bucket basic output Pab10. The adder 76A3 adds the arm basic output Pam0 and the bucket basic output Pbk0, and outputs the added value as a second arm bucket basic output Pab20. The minimum value selector 76A4 compares the first arm bucket basic output Pab10 with the second arm bucket basic output Pab20. The minimum value selector 76A4 selects the minimum value of the first arm bucket basic output Pab10 and the second arm bucket basic output Pab20, and outputs the selected value as the arm bucket distribution output Pab.

  The arm request output calculator 76B includes a maximum value selector 76B1, an arm distribution ratio calculator 76B2, a multiplier 76B3, and a minimum value selector 76B4.

  The maximum value selector 76B1 compares the second arm bucket basic output Pab20 with 1. The maximum value selector 76B1 selects and outputs the maximum value from the second arm bucket basic outputs Pab20 and Pab20.

  The arm distribution ratio calculator 76B2 divides the arm basic output Pam0 by the output from the maximum value selector 76B1. At this time, the maximum value selector 76B1 outputs one or more values. The arm distribution ratio calculator 76B2 calculates the ratio of the arm basic output Pam0 to the second arm bucket basic output Pab20.

  The multiplier 76B3 multiplies the output from the arm distribution ratio calculator 76B2 by the arm bucket distribution output Pab. The minimum value selector 76B4 compares the output from the multiplier 76B3 with the arm basic output Pam0. The minimum value selector 76B4 selects the minimum value from the output from the multiplier 76B3 and the arm basic output Pam0, and outputs the selected value as the arm request output Pam1.

  The bucket request output operation unit 76C includes a maximum value selection unit 76C1, a bucket distribution ratio operation unit 76C2, a multiplier 76C3, and a minimum value selection unit 76C4.

  The maximum value selector 76C1 compares the second arm bucket basic output Pab20 with 1. The maximum value selection unit 76C1 selects and outputs the maximum value from the second arm bucket basic outputs Pab20 and Pab20.

  The bucket distribution ratio calculator 76C2 divides the bucket basic output Pbk0 by the output from the maximum value selector 76C1. At this time, the maximum value selecting section 76C1 outputs one or more values. The bucket distribution ratio calculator 76C2 calculates the ratio of the bucket basic output Pbk0 to the second arm bucket basic output Pab20.

  The multiplier 76C3 multiplies the output from the bucket distribution ratio calculator 76C2 by the arm bucket distribution output Pab. The minimum value selector 76C4 compares the output from the multiplier 76C3 with the bucket basic output Pbk0. The minimum value selector 76C4 selects the minimum value from the output from the multiplier 76C3 and the bucket basic output Pbk0, and outputs it as the bucket request output Pbk1.

  The turning hydraulic electric power distribution calculating unit 77 distributes as much of the turning request output Pr1 as possible to the turning electric motor 33, and distributes the remainder to the turning hydraulic motor 26. As shown in FIG. 19, the swing hydraulic power output distribution calculating unit 77 includes a power storage rate determining unit 77A, a current square integration ratio determining unit 77B, a motor-driven turning prohibition determining unit 77C, a selecting unit 77D, a subtractor 77E, 77G and a maximum value selection unit 77F. The turning hydraulic power output distribution calculating unit 77 receives the turning request output Pr1, the power storage rate SOC, and the current square integration ratio Risc.

  The power storage rate determination unit 77A determines whether the power storage rate SOC has a value that prohibits the turning electric motor 33 from applying the turning torque. Specifically, power storage rate determination unit 77A compares power storage rate SOC with a preset electric-rotation-inhibited power storage rate SOCx. When the power storage rate SOC is equal to or less than the electric rotation prohibition power storage rate SOCx (SOC ≦ SOCx), the power storage rate determination unit 77A outputs a prohibition signal S1 for prohibiting the electric power rotation. The power storage rate determination unit 77A does not output the prohibition signal S1 when the power storage rate SOC is greater than the electric slewing prohibition power storage rate SOCx (SOC> SOCx). Here, the electric rotation prohibition power storage rate SOCx is set to, for example, a lower limit value (use lower limit value SOC1) of a proper use range of the power storage rate SOC. It should be noted that the electric turning prohibition power storage rate SOCx may be set to a value different from the use lower limit value SOC1 based on the specifications of the turning electric motor 33 and the power storage device 31.

  The current square integration ratio determination unit 77B determines whether the current square integration ratio Risc has a value that prohibits the turning electric motor 33 from applying the turning torque. Specifically, the current square integration ratio determination unit 77B compares the current square integration ratio Risc with a preset electric-power-turn-over prohibition ratio Rx. When the current square integration ratio Risc is equal to or greater than the electric rotation prohibition ratio Rx (Risc ≧ Rx), the current square integration ratio determination unit 77B outputs a prohibition signal S2 for prohibiting electric rotation. The current square integration ratio determination unit 77B does not output the inhibition signal S2 when the current square integration ratio Risc is smaller than the electric rotation inhibition ratio Rx (Risc <Rx). Here, the electric turning prohibition ratio Rx is set to, for example, the upper limit Risc2 of the current square integration ratio Risc. The electric turning prohibition ratio Rx may be set to a value different from the upper limit Risc2 based on the specifications of the turning electric motor 33 and the power storage device 31.

  The electric turning prohibition determining unit 77C outputs a prohibition determination (TRUE) when any of the prohibition signals S1 and S2 is output. When both the prohibition signals S1 and S2 are not output, the electric turning prohibition determination unit 77C outputs a permission determination (FALSE).

  The selection unit 77D selects 0 as the turning electric motor distribution output Per0 when the electric turning prohibition determining unit 77C outputs the prohibition determination. When the electric turning prohibition judging unit 77C outputs the permission judgment, the selecting unit 77D selects the turning electric motor maximum output Per-max as the turning electric motor distribution output Per0. At this time, the turning electric motor distribution output Per0 indicates an output that can be distributed to the turning electric motor 33.

  The subtracter 77E subtracts the turning electric motor distribution output Per0 from the turning request output Pr1, and outputs this subtraction value. The maximum value selector 77F compares the output from the subtractor 77E with 0. The maximum value selection unit 77F selects the maximum value from the output from the subtractor 77E and 0, and outputs the selected value as the hydraulic turning request output Phr1. The subtractor 77G subtracts the hydraulic turning request output Phr1 from the turning request output Pr1, and outputs the subtracted value as a turning electric motor output command Per.

  The total pump output calculation unit 78 adds the hydraulic swing request output Phr1, the boom request output Pbm1, the arm request output Pam1, and the bucket request output Pbk1. The total pump output calculation section 78 outputs the total value as a pump estimation input Pp.

  The pump estimation input calculation unit 61 estimates a turning basic output Pr0, a boom basic output Pbm0, an arm basic output Pam0, and a bucket basic output Pbk0 based on each lever operation amount OA and the like. The pump estimation input calculation unit 61 provides a turning basic output Pr0, a boom basic output Pbm0, and an arm basic output within a range not exceeding an output upper limit value Pmax obtained by adding the engine maximum output Pe-max and the generator motor maximum powering output Pmgm-max. The output distribution is adjusted according to Pam0 and the bucket basic output Pbk0, and the turning request output Pr1, the boom request output Pbm1, the arm request output Pam1, and the bucket request output Pbk1 are calculated.

  The pump estimation input calculation unit 61 distributes the turning request output Pr1 to a hydraulic output part (hydraulic turning request output Phr1) and an electric output part (turn electric motor output command Per). At this time, the pump estimation input calculation unit 61 calculates an output command value of the turning electric motor 33 (turning electric motor output command Per) according to the turning operation amount (turning lever operation amount OAr). In addition, the pump estimation input calculation unit 61 gives priority to the turning operation by the turning electric motor 33 over the turning operation by the turning hydraulic motor 26 within a range permitted by the power storage device 31.

  The pump estimation input calculation unit 61 sums the boom required output Pbm1, the arm required output Pam1, the bucket required output Pbk1, and the hydraulic turning required output Phr1, and outputs a pump output (pump required) for a target operation. Calculate the estimated input Pp). When calculating the pump estimation input Pp, pump efficiency, auxiliary equipment load, and the like are also taken into consideration.

  The pump estimation input calculation unit 61 reduces the pump estimation input Pp and the swing electric motor output command Per based on the output upper limit value Pmax, the power storage rate SOC, and the current square integration ratio Risc. For this reason, the calculation performed by the pump estimation input calculation unit 61 is to reduce the vehicle body speed in order to prevent the deterioration of the storage rate SOC and the current square integration ratio Risc from further worsening. Is equivalent to

  The hybrid hydraulic shovel 1 according to the present embodiment has the above-described configuration. Next, the content of control of the output of power storage device 31 by HCU 36 will be described with reference to FIGS. 20 to 23, the engine maximum output Pe-max is set to 80 kW. This value shows an example of the engine maximum output Pe-max, and is appropriately changed according to the specifications of the excavator 1 and the like. Further, for simplicity of description, it is assumed that the turning operation is not performed, and the turning electric motor 33 does not execute any of the power running and the regeneration.

  First, when the current square integration ratio Risc is within the allowable range (for example, Risc = 50%) and the storage rate SOC exceeds the target value SOC0 beyond the allowable range (for example, SOC = 67%), the HCU 36 The control content will be described with reference to FIG.

  In this case, the generator motor required output calculation unit 40 of the HCU 36 outputs a generator motor required output Pmg1 (for example, Pmg1 = 30 kW) for requesting power running at full power based on the storage rate SOC and the current square integration ratio Risc. I do.

  On the other hand, in addition to the power storage rate SOC being far from the upper limit of use SOC2, the current square integration ratio Risc is also far from the upper limit Risc2. For this reason, the maximum output calculation unit 50 of the HCU 36 permits power running at full power based on the generator motor maximum power running output Pmgm-max.

  Here, it is assumed that the output command calculator 60 of the HCU 36 calculates a pump estimated input Pp of, for example, 100 kW based on the lever operation amount OA detected by the operation amount sensors 9A to 11A. At this time, for example, if the generator motor required output Pmg1 is 0 kW, the generator motor 27 outputs 20 kW, which is the difference between the pump estimated input Pp (Pp = 100 kW) and the engine maximum output Pe-max (Pe-max = 80 kW). It is enough to perform the powering operation of.

  On the other hand, the generator motor required output calculation unit 40 requests power running at full power (Pmg1 = 30 kW). In addition to this, the maximum output calculation unit 50 permits full-power running with the generator motor maximum power running output Pmgm-max. Therefore, the output command calculation unit 60 causes the generator motor 27 to perform a power running operation at full power based on the generator motor required output Pmg1. As a result, the pump estimated input Pp is secured, and the vehicle speed is maintained. In addition, since the generator motor 27 performs a power running operation with full power, the power storage rate SOC of the power storage device 31 rapidly decreases toward the reference value.

  On the other hand, the current square integration ratio Risc may rise from the intermediate value Risc0 and temporarily deviate from the allowable range. However, as the power storage rate SOC approaches the target value SOC0, the output value of the powering request by the generator motor request output calculator 40 decreases. Therefore, the rise of the current square integration ratio Risc is gradually eliminated.

  Second, when the current square integration ratio Risc rises beyond the permissible range (for example, Risc = 80%) and the storage rate SOC exceeds the target value SOC0 within the permissible range (for example, SOC = 55%), the HCU 36 Will be described with reference to FIG.

  In this case, the generator motor required output calculator 40 of the HCU 36 outputs a generator motor required output Pmg1 (for example, Pmg1 = 10 kW) for requesting power running at half power based on the storage rate SOC and the current square integration ratio Risc. I do.

  On the other hand, the storage rate SOC is far from the upper limit of use SOC2. In addition, the current square integration ratio Risc does not approach the upper limit Risc2 until the output is limited (Risc <b1). For this reason, the maximum output calculation unit 50 of the HCU 36 permits power running at full power based on the generator motor maximum power running output Pmgm-max.

  Here, it is assumed that the output command calculator 60 of the HCU 36 calculates a pump estimated input Pp of, for example, 100 kW based on the lever operation amount OA detected by the operation amount sensors 9A to 11A. At this time, the generator motor required output calculation unit 40 requests power running at half power (Pmg1 = 10 kW). In addition to this, the maximum output calculation unit 50 permits full-power running with the generator motor maximum power running output Pmgm-max.

  Therefore, the output command calculation unit 60 causes the generator motor 27 to perform a power running operation based on the difference (20 kW) between the pump estimated input Pp and the engine maximum output Pe-max, exceeding the generator motor required output Pmg1. As a result, the pump estimated input Pp is secured, and the vehicle speed is maintained.

  In addition, the power storage rate SOC of power storage device 31 decreases toward target value SOC0, but may decrease more than necessary. Further, if a turning operation is added, the regenerative electric power from the turning electric motor 33 is supplied to the power storage device 31, and the power storage rate SOC may increase. For this reason, the power storage rate SOC of the power storage device 31 may deviate from the allowable range.

  However, when the traveling or work of the vehicle body is stopped, the pump estimated input Pp becomes lower than the engine maximum output Pe-max. As a result, the HCU 36 controls the operation of the generator motor 27 based on the generator motor required output Pmg1, so that the state of charge SOC gradually converges to the target value SOC0.

  Third, when the current square integration ratio Risc is within an allowable range (for example, Risc = 50%) and the storage rate SOC falls below the target value SOC0 beyond the allowable range (for example, SOC = 33%), the HCU 36 The control contents will be described with reference to FIG.

  In this case, the generator motor required output calculation unit 40 of the HCU 36 generates the generator motor required output Pmg1 (for example, Pmg1 = -30 kW) that requires full power generation based on the storage rate SOC and the current square integration ratio Risc. Output.

  On the other hand, in addition to the storage rate SOC being apart from the use lower limit value SOC1, the current square integration ratio Risc is also being away from the upper limit value Risc2. For this reason, the maximum output calculation unit 50 of the HCU 36 permits full-power generation based on the generator motor maximum generation output Pmgg-max.

  Here, it is assumed that the output command calculator 60 of the HCU 36 calculates a pump estimated input Pp of, for example, 60 kW based on the lever operation amount OA detected by the operation amount sensors 9A to 11A. At this time, the output command calculation unit 60 gives priority to securing the pump estimated input Pp. Therefore, -20 kW, which is the difference between the pump estimated input Pp (Pp = 60 kW) and the engine maximum output Pe-max (Pe-max = 80 kW), is an output capable of generating power.

  Therefore, the output command calculation unit 60 causes the generator motor 27 to generate electric power at −20 kW, which is a part of the generator motor required output Pmg1. As a result, the pump estimated input Pp is secured, and the vehicle speed is maintained. In addition, since the generator motor 27 performs a power generation operation, the power storage rate SOC of the power storage device 31 increases toward the reference value.

  On the other hand, the current square integration ratio Risc may rise from the intermediate value Risc0 and temporarily deviate from the allowable range. However, as the power storage rate SOC approaches the target value SOC0, the output value of the power generation request by the generator motor request output calculator 40 decreases. Therefore, the rise of the current square integration ratio Risc is gradually eliminated.

  Fourth, when the current square integration ratio Risc rises beyond the permissible range (for example, Risc = 80%) and the storage rate SOC falls below the target value SOC0 within the permissible range (for example, SOC = 45%), the HCU 36 Will be described with reference to FIG.

  In this case, the generator motor required output calculation unit 40 of the HCU 36 generates the generator motor required output Pmg1 (for example, Pmg1 = −10 kW) for requesting power generation at half power based on the storage rate SOC and the current square integration ratio Risc. Output.

  On the other hand, the state of charge SOC is far from the lower limit of use SOC1. In addition, the current square integration ratio Risc does not approach the upper limit Risc2 until the output is limited (Risc <b1). For this reason, the maximum output calculation unit 50 of the HCU 36 permits full-power generation based on the generator motor maximum powering output Pmgg-max.

  Here, it is assumed that the output command calculator 60 of the HCU 36 calculates a pump estimated input Pp of, for example, 100 kW based on the lever operation amount OA detected by the operation amount sensors 9A to 11A. At this time, the output command calculation unit 60 gives priority to securing the pump estimated input Pp.

  For this reason, the output command calculation unit 60 does not perform power generation based on the generator motor required output Pmg1, and causes the generator motor 27 to perform a power running operation based on the difference (20 kW) between the pump estimated input Pp and the engine maximum output Pe-max. . As a result, the pump estimated input Pp is secured, and the vehicle speed is maintained.

  At this time, the generator motor 27 performs a power running operation contrary to the generator motor required output Pmg1. For this reason, the power storage rate SOC of power storage device 31 further decreases from a state below target value SOC0. As a result, the power storage rate SOC of power storage device 31 may deviate from the allowable range.

  However, when the traveling or work of the vehicle body is stopped, the pump estimated input Pp becomes lower than the engine maximum output Pe-max. As a result, the HCU 36 controls the operation of the generator motor 27 based on the generator motor required output Pmg1, so that the state of charge SOC gradually converges to the target value SOC0.

  Thus, according to the present embodiment, BCU 32 (power storage device state detection unit) that detects power storage rate SOC (first index) indicating the state of power storage device 31 and current square integration ratio Risc (second index). It has. Also, the HCU 36 generates a generator motor request output calculator 40 that requests the output of the power storage device 31 according to the storage rate SOC and the current square integration ratio Risc, and a generator motor request output Pmg1 from the generator motor request output calculator 40. The maximum output calculation that controls the output of the power storage device 31 based on the power storage rate SOC and the current square integration ratio Risc so as not to exceed the limit values (lower limit value SOC1, upper limit value SOC2, upper limit value Risc2). And an output command calculation unit 60.

  At this time, when both the power storage rate SOC and the current square integration ratio Risc are within the allowable range, the generator motor required output calculation unit 40 performs control so that both the power storage rate SOC and the current square integration ratio Risc do not deviate from the allowable range. , The output of the power storage device 31 is requested.

  When the power storage rate SOC deviates from the reference value (target value SOC0) beyond the allowable range and the current square integration ratio Risc is within the allowable range, the generator motor required output calculating unit 40 determines that the current square integration ratio Risc is within the allowable range. The output of the power storage device 31 is requested so that the power storage rate SOC approaches the reference value (target value SOC0) while allowing the power storage device to deviate from the reference value (intermediate value Risc0). Similarly, the generator motor required output calculation unit 40 determines that the power storage rate SOC is the reference when the current square integration ratio Risc exceeds the allowable range and deviates from the reference value (intermediate value Risc0) and the power storage rate SOC is within the allowable range. The output of the power storage device 31 is requested such that the current square integration ratio Risc approaches the reference value (intermediate value Risc0) while allowing the value to deviate from the value (target value SOC0).

  In addition, the maximum output calculator 50 and the output command calculator 60 determine whether the storage rate SOC or the current square integration ratio Risc is a limit value based on the generator motor required output Pmg1 from the generator motor required output calculator 40. The output of the power storage device 31 is controlled so as not to exceed (the lower limit of use SOC1, the upper limit of use SOC2, and the upper limit Risc2).

  As described above, the HCU 36 controls the output of the power storage device 31 in consideration of how the powering operation and the power generation operation of the generator motor 27 affect both the power storage rate SOC and the current square integration ratio Risc. As a result, the situation where one of the power storage rate SOC and the current square integration ratio Risc protrudes and deteriorates is reduced, and the power storage device 31 can be effectively used. Thereby, the deterioration of the power storage device 31 can be suppressed based on the two indices, and the power storage device 31 can be appropriately used. As a result, it is possible to suppress a decrease in the vehicle body speed, and it is possible to reduce opportunities for giving an operator an operational stress and a sense of discomfort.

  Further, the generator motor required output calculation unit 40 includes a power generation request unit 40A that requests the generator motor 27 to generate power when the storage rate SOC is lower than the target value SOC0 and the current square integration ratio Risc is within an allowable range. . For this reason, when the storage rate SOC of the power storage device 31 is lower than the target value SOC0, the HCU 36 preferentially uses the output of the engine 21 for work while generating excess power in the engine 21 while generating power. Then, the generator motor 27 is operated to generate power. As a result, the power storage rate SOC can be increased toward the target value SOC0 without affecting the operation as much as possible.

  The generator motor required output operation unit 40 includes a power running request unit 40B that requests the generator motor 27 to run when the power storage rate SOC exceeds the target value SOC0 and the current square integration ratio Risc is within an allowable range. For this reason, when the storage rate SOC of the power storage device 31 is higher than the target value SOC0, the HCU 36 causes the generator motor 27 to perform the power running operation with the working output secured. Thus, even if the power storage device 31 is overcharged for some reason, the operation can be continued and the power storage rate SOC can be reduced toward the target value SOC0.

  The generator motor required output calculation unit 40 further includes a current square integration ratio request output calculation unit 43 that reduces the output as the current square integration ratio Risc approaches the upper limit Risc2 to request the generator motor 27 to generate or power. Thereby, the HCU 36 can adjust the power generation output or the powering output of the generator motor 27 so that the current square integration ratio Risc does not excessively increase when the power storage rate SOC approaches the target value SOC0.

  The power generation requesting unit 40A includes a power generation output reduction requesting unit 42A2 that lowers the output and makes a power generation request when the power storage rate SOC is within the allowable range, compared to when the power storage rate SOC is outside the allowable range. In addition, the powering requesting unit 40B includes a powering output reduction requesting unit 42B2 that lowers the output and makes a powering request when the power storage rate SOC is within the allowable range, compared to when the power storage rate SOC is outside the allowable range. Have. For this reason, the generator motor 27 can be operated in a state where the power generation output and the power running output are reduced so that the power storage rate SOC converges to the target value SOC0. Thereby, the power storage rate SOC can be stably kept at the target value SOC0 when the vehicle body is not operated.

  The maximum output calculation unit 50 includes a power running prohibition unit (power storage power running limit gain calculation unit 52A) that prohibits the power running of the generator motor 27 when the power storage rate SOC reaches the use lower limit value SOC1, and a power storage rate SOC whose upper limit is used. A power generation prohibition unit (power storage rate power generation restriction gain calculation unit 52B) for prohibiting power generation of the generator motor 27 when the value reaches the value SOC2 is further provided. Thus, excessive charging and discharging of the power storage device 31 can be suppressed.

  When the current square integration ratio Risc reaches the upper limit Risc2, the maximum output calculation unit 50 includes a powering generation inhibition unit (current square integration ratio output limiting gain calculation unit 52C) that inhibits powering and generation of the generator motor 27. . Thereby, the excessive use of the power storage device 31 can be suppressed, and the life of the power storage device 31 can be improved.

  The output command calculation unit 60 determines the power storage device 31 based on the lever operation amount OA detected by the operation amount sensors 9A to 11A in addition to the output request from the generator motor request output operation unit 40 (generator motor request output Pmg1). Control the output of Therefore, as long as the power storage device 31 permits, the output command calculation unit 60 can control the output of the power storage device 31 by giving priority to an output corresponding to the lever operation amount OA. For this reason, it is possible to suppress a decrease in the vehicle body speed and reduce the operation stress and uncomfortable feeling on the operator. The output command calculation unit 60 controls the generator motor 27 so as to supply the generator motor required output Pmg1 as much as possible after securing an output corresponding to the lever operation amount OA. Therefore, power storage device 31 can be controlled such that power storage rate SOC and current square integration ratio Risc fall within the allowable range, and deterioration of power storage device 31 can be suppressed, so that power storage device 31 can be used effectively. Become.

  In the above-described embodiment, an example has been described in which the second index is a current square integrated value (current square integrated ratio Risc) of the power storage device 31 for a certain period of time from the present to the past. The present invention is not limited to this, and the second index may be the temperature of the power storage device. In this case, the normal temperature (for example, 25 ° C.) is set as the reference value of the temperature, and the upper limit (for example, 60 ° C.) and the lower limit (for example, −20 ° C.) are set as the temperature limit. Further, an appropriate range (for example, −10 ° C. to 50 ° C.) between the upper limit value and the lower limit value is set as the allowable temperature range. The temperature of power storage device 31 is input to HCU 36. The generator motor request output calculation unit 40 of the HCU 36 calculates a request for output of the power storage device 31 based on the temperature of the power storage device 31.

  In the above-described embodiment, the maximum output of the engine 21 is smaller than the maximum power of the hydraulic pump 23. However, the maximum output of the engine 21 is appropriately set according to the specifications of the hydraulic excavator 1. Therefore, the maximum output of the engine 21 may be about the same as the maximum power of the hydraulic pump 23, or may be larger than the maximum power of the hydraulic pump 23.

  In the above-described embodiment, an example has been described in which a lithium ion battery is used for power storage device 31, but a secondary battery (for example, a nickel cadmium battery, a nickel hydride battery) or a capacitor that can supply necessary power may be employed. . Further, a step-up / step-down device such as a DC-DC converter may be provided between the power storage device and the DC bus.

  In the above embodiment, the crawler type hybrid hydraulic excavator 1 has been described as an example of the hybrid construction machine. The present invention is not limited to this, and may be any hybrid construction machine including a generator motor connected to an engine and a hydraulic pump, and a power storage device. For example, various types of construction such as a wheel-type hybrid hydraulic excavator and a hybrid wheel loader may be used. Applicable to machines.

1 hybrid excavator (hybrid construction machine)
2 Lower traveling structure 4 Upper revolving structure 9A to 11A Operation amount sensor (operation amount detection unit)
12 Working device 12D Boom cylinder (hydraulic actuator)
12E arm cylinder (hydraulic actuator)
12F bucket cylinder (hydraulic actuator)
21 engine 23 hydraulic pump 25 traveling hydraulic motor (hydraulic actuator)
26 Rotating hydraulic motor (hydraulic actuator)
27 generator motor 31 power storage device 32 battery control unit (power storage device state detection unit)
33 Swing electric motor (slewing motor)
36 Hybrid control unit (controller)
40 Generator motor required output calculation unit (output request unit)
40A power generation requesting unit 40B powering requesting unit 42A2 power generation output reduction requesting unit 42B2 powering output reduction requesting unit 43B output reduction requesting unit 50 maximum output calculation unit (output control unit)
52 Generator motor output limiting gain calculating section 52A Power storage rate power running limiting gain calculating section (power running inhibiting section)
52B Storage rate power generation limit gain calculation unit (power generation prohibition unit)
52C Current square integration ratio output limit gain calculation unit (powering power generation prohibition unit)
60 Output command calculation unit (output control unit)

Claims (6)

The engine,
A generator motor mechanically connected to the engine,
A power storage device that is charged when the generator motor is operated to generate power, and is discharged when the generator motor is operated to power,
A hydraulic pump driven by torque of the engine and the generator motor,
A plurality of hydraulic actuators driven by pressure oil from the hydraulic pump,
A plurality of operating devices for operating the plurality of hydraulic actuators,
A power storage device state detection unit that represents a state of the power storage device, and detects a power storage amount as a first index and a current square integrated value as a second index, where a reference value and a limit value are individually determined;
A hybrid construction machine comprising the engine and a controller that controls an output of the power storage device;
The controller is
Pump estimation input calculation for calculating a pump estimation input required by the hydraulic pump based on the amount of power stored in the power storage device and the integrated value of current squared, the maximum output of the engine, and the operation amounts of the plurality of operation devices. Department and
When the storage amount and the current squared integrated value are within a predetermined allowable range including the reference value, the output of the power storage device so that the stored amount and the current squared integrated value do not deviate from the allowable range. Request, when one of the storage amount and the current squared integrated value deviates from the reference value beyond the allowable range, allowing the other index to deviate from the reference value, An output requesting unit that requests an output of the power storage device so that the index approaches the reference value,
An output control unit that controls an output of the power storage device so that none of the storage amount and the current square integrated value exceed the limit value based on a request for output from the output request unit.
The output request unit, a power generation request unit that requests the generator motor to generate power when the storage amount is less than the reference value and the current square integrated value is within the allowable range,
The charged amount exceeds the reference value, and the current square integrated value possess a power running request unit for requesting powering on the generator motor when within the allowable range,
If the powering request unit requests powering and the pump estimation input is larger than the maximum output of the engine, the difference between the maximum output of the engine and the pump estimation input and the powering output of the powering requesting unit The larger one is the powering output of the generator motor,
If the power generation request unit requests power generation and the pump estimation input is larger than the maximum output of the engine, a difference between the pump estimation input and the maximum output of the engine is set as a powering output of the generator motor,
When the power generation request unit requests power generation and the pump estimation input is smaller than the maximum output of the engine, the difference between the maximum output of the engine and the pump estimation input and the power generation output of the power generation request unit A hybrid construction machine , wherein the smaller one is used as the power output of the generator motor .   2. The output requesting unit according to claim 1, wherein the output requesting unit further includes an output reduction requesting unit that requests the generator motor to generate power or run by reducing the output as the current square integrated value approaches the limit value. 3. Hybrid construction machinery. The power generation request unit includes a power generation output reduction request unit that, when the amount of stored power is within the allowable range, lowers the output compared to when the amount of stored power is outside the allowable range to request power generation. ,
The powering requesting unit includes a powering output reduction requesting unit that performs a powering request by lowering the output when the charged amount is within the allowable range as compared to when the charged amount is outside the allowable range. The hybrid construction machine according to claim 1, wherein: The limit value of the storage amount is a predetermined use lower limit and use upper limit,
The output control unit, a powering prohibition unit that prohibits powering of the generator motor when the charged amount reaches the use lower limit value,
2. The hybrid construction machine according to claim 1, further comprising: a power generation prohibition unit that prohibits the power generation of the generator motor when the amount of stored power reaches the use upper limit value. 3.   2. The hybrid according to claim 1, wherein the output control unit includes a powering / power generation prohibition unit that prohibits both powering and power generation of the generator motor when the current square integrated value reaches the limit value. 3. Construction machinery. Further comprising an operation amount detecting unit for detecting an operation amount of said plurality of operating devices,
The output control unit controls an output of the power storage device based on an operation amount detected by the operation amount detection unit in addition to an output request from the output request unit. The hybrid construction machine as described.

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