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A new concept of HILS(Hardware-In-the-Loop Simulation) system for an electric motor using the real-time coupling analysis with rigid body system and hydraulic system is presented in this paper. From the fuel consumption improvement point of view, the electric drive system is applied to the construction machinery for improving fuel efficiency and reducing pollution emissions. In the development of the electric drive system, it is important to evaluate the dynamic characteristics of the electric motor and control system, then HILS provides an approach for efficient development. This HILS system can act the actual load on the motor by calculating the coupling system equations of motion with the rigid body system and the hydraulic system in real-time. The real-time simulation was conducted by newly developed simulation model that the rigid bodies were actuated by the linear hydraulic actuator. A test rig was developed following this concept, in which the load computed by real-time simulation of the actual digging operation on the hydraulic excavator was exerted to the electric motor. The test results with developed testing system were compared with the simulation results using the simulation model with the electric motor. It is demonstrated that the HILS system of the electric motor can realize the actual digging operation of the hydraulic excavator. : Multibody dynamics,Hydraulic actuator,Rigid body,Hardware-in-the-loop simulation,Construction machinery 1. 緒 言 建設機械の燃費を改善するニーズが高まっており,車体を電動機で駆動することによって減速エネルギを有効 利用できる電動システムの開発(西田,二瓶,2013),(鹿児島,2012)が行われている.電動システムの開発に おいては,電動機の特性を把握することや制御システムを評価することが重要な課題であり,HILS(Hardware In the Loop Simulation)が有効な手段となる.建設機械では,車体に取り付けられたリンク機構を油圧システムによっ て駆動するため,電動機で駆動する車体の運動解析を行うためには,リンク機構部である剛体システムと油圧シ ステムを連成させる必要がある.剛体システムと油圧システムの連成解析は,これまで,それぞれ別々のソフト ウェアでモデル化し,時間ステップごとに状態量を交換するコーシミュレーション(Huh et al., 2003),(Spiryagin et al., 2011)が行われてきた.コーシミュレーションでは,連成力を外力として扱うことから,数値解析上の不安 定性が生じやすい.さらに,HILS に適用する場合には,リアルタイム性が求められ,システム解析の数値安定性 No.16-00234[DOI:10.1299/transjsme.16-00234] 正員,(株)神戸製鋼所(〒651-2271 兵庫県神戸市西区高塚台 1-5-5) 正員,フェロー,(株)神戸製鋼所 E-mail of corresponding author: imanishi.etsujiro@kobelco.com Key words

Development of HILS system for the electric motor using coupling analysis with rigid body system and hydraulic system