Machine configuration and control system enabling interchangeable power sources

Abstract

A machine (2) is adapted for operation powered by any one of a plurality of interchangeable power sources (33). The machine (2) can include a chassis configured to support ground engaging members (4) that propel the machine (2) and an upper structure (6) rotatably supported on the chassis. The upper structure (6) can include a swing frame (22), wherein the swing frame (22) supports a cab (24), any one of the plurality of interchangeable power sources, hydraulic components, electrical components, and a counterweight (126, 226) disposed at a first end of the swing frame. The counterweight (226) can include a hollowed-out portion (222) facing the swing frame (22). The hollowed-out portion (222) of the counterweight (226) can be centrally aligned with a central core portion (310) of the swing frame (22) configured to support any one of the plurality of interchangeable power sources (33), wherein one power source is partially housed within the hollowed-out portion (222) of the counterweight (226).

Description

Technical Field

[0001] This disclosure relates to a machine having interchangeable power sources, and more specifically, to a machine configuration and control system capable of realizing interchangeable power sources. Background Technology

[0002] Some conventional machines have a hydraulic power source for operating hydraulic actuators. For example, such machines typically include an internal combustion engine for driving one or more hydraulic pumps, which in turn supply power to one or more hydraulic actuators to perform work. An example of such a machine is a hydraulic excavator. A hydraulic excavator typically includes one or more hydraulic pumps that provide hydraulic power in the form of pressurized fluid flow to one or more hydraulic motors and hydraulic cylinders for operating a swing mechanism, boom, stick, and digging tools. In such machines, the hydraulic motors can be used to rotate the cab relative to the chassis mounted thereon and drive ground engagement devices, such as wheels or tracks, for moving the machine. The hydraulic power supplied to the hydraulic actuators can be used to raise and lower the boom and manipulate the stick and digging tools to perform digging and / or loading operations.

[0003] To improve efficiency and / or reduce unwanted emissions from the operation of internal combustion engines, efforts have been made to recapture some of the energy typically lost during the operation of such machines. For example, energy can be recaptured in the form of stored electrical and hydraulic energy for use with pneumatic and hydraulic systems. Therefore, it may be desirable to perform some working functions in machines that have both stored hydraulic and stored electrical energy using both electrical and hydraulic systems. Typical machines are designed and configured for a single power unit, such as an internal combustion engine. However, even with improvements in engine performance and / or efficiency, when using an internal combustion engine, it is generally necessary to provide exhaust aftertreatment systems, as well as fuel control systems, air supply systems, and cooling systems to achieve the desired engine performance and efficiency and meet government-mandated emission standards. Therefore, it may be desirable to provide a machine configuration that can accommodate and adapt to the installation of alternative and potentially interchangeable power units, such as fully battery-powered systems, fuel cell systems, and tethered cable systems that receive electricity from an external power source, as an alternative to conventional internal combustion engines such as diesel engines. A machine can be configured to completely eliminate any internal combustion engine when all power requirements of the various systems and subsystems used to operate the machine within a predetermined time period can be met by electricity stored in the battery. For example, a fully battery-powered machine can also benefit from eliminating fuel storage, fuel supply and fuel injection systems, ignition systems, exhaust aftertreatment systems, liquid cooling systems with complex networks of coolant passages, pumps, and radiators, and other components and systems associated with power generated by converting the energy of combustion from the fuel mixture in the engine cylinders into rotational output of the drive shaft. It may also be desirable to provide machine control systems and methods for automatically sensing the type of power source used on the machine, processing the detected output and characteristics specific to the power source, and enabling standardized power output to provide normalized, consistent control and operation of the machine system, regardless of the type of power source used in conjunction with the machine's engine control module (ECM).

[0004] U.S. Patent No. 7,669,413B2 (“'413 Patent”) to Komiyama et al. discloses a hybrid construction machine. Specifically, the '413 Patent discloses a hybrid excavator comprising a hydraulic pump, a generator motor connected in parallel to the output shaft of an engine, and a battery-driven rotary motor. The generator motor assists the engine by performing motor functions. The power consumption of each of the hydraulic pump and the rotary motor is detected, and the output of the hydraulic pump and the rotary motor is controlled such that the sum of the detected power consumption does not exceed a maximum power set to be supplied to the sum of the power of the hydraulic pump and the rotary motor.

[0005] Although the machine disclosed in '413 Patent' includes both electrical and hydraulic devices, it still requires an internal combustion engine with a hydraulic pump connected to the engine's output shaft. Therefore, the machine disclosed in '413 Patent' still requires a fuel storage, fuel supply and fuel injection system, an ignition system, an exhaust aftertreatment system, a liquid cooling system with a complex network of coolant passages, pumps, and radiators, and other components and systems associated with the power generated by converting the energy of the explosion of the fuel mixture from within the engine cylinders into the rotational output of the drive shaft. Summary of the Invention

[0006] In one aspect, this disclosure relates to a machine suitable for operation powered by any one of a plurality of interchangeable power sources. The machine may include a chassis and a superstructure, the chassis configured to support a ground engagement member for propelling the machine, the superstructure being rotatably supported on the chassis. The superstructure may include a swing frame configured to support a cab, any one of the plurality of interchangeable power sources, hydraulic components, and electrical components. A counterweight may be disposed at a first end of the swing frame, the counterweight including a hollowed-out portion facing the swing frame, wherein the hollowed-out portion is centrally aligned with a central core portion of the swing frame configured to support any one of the plurality of interchangeable power sources, one of the power sources being partially housed within the hollowed-out portion of the counterweight.

[0007] According to another aspect, this disclosure relates to a machine suitable for operation powered by a battery. The machine may include a chassis and a superstructure, the chassis configured to support a ground engagement member for propelling the machine, and the superstructure rotatably supported on the chassis. The superstructure may include a swing frame configured to support a cab, the battery, hydraulic components, and electrical components. A counterweight may be disposed at a first end of the swing frame, the counterweight including a hollowed-out portion facing the swing frame, wherein the hollowed-out portion is centrally aligned with a central core portion of the swing frame configured to support the battery, and wherein the battery is partially housed within the hollowed-out portion of the counterweight.

[0008] According to another aspect, this disclosure relates to a machine adapted for normal operation powered by one of a plurality of interchangeable, full-size power sources, and for selective, temporary operation during one or more of the manufacture, loading, transport, or delivery of the machine, wherein the selective operation is powered by a temporary battery having a smaller power capacity than one of the plurality of full-size power sources. The machine may include a chassis and a superstructure, the chassis configured to support a ground engagement member for propelling the machine, the superstructure rotatably supported on the chassis, and the superstructure including a swing frame. The swing frame may be configured to support a cab, one of the plurality of full-size power sources and the temporary battery, hydraulic components, and electrical components. A counterweight may be disposed at a first end of the swing frame, the counterweight including a hollowed-out portion facing the swing frame, wherein the hollowed-out portion is centrally aligned with a central core portion of the swing frame configured to support the temporary battery during selective, temporary operation and one of the plurality of full-size power sources during normal operation. One of the plurality of full-size power sources and the temporary battery may be partially housed within the hollowed-out portion of the counterweight. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of an exemplary embodiment of a machine that may include a configuration and control system capable of implementing interchangeable power sources.

[0010] Figure 2 yes Figure 1 A schematic diagram of an exemplary embodiment of the power system of the machine.

[0011] Figure 3 This is a schematic diagram of an exemplary control strategy for operating the engine and electrical and hydraulic devices in an exemplary machine.

[0012] Figure 4-6 This is a partially exploded perspective view of an exemplary embodiment of a machine, which may include a configuration and control system capable of enabling interchangeable power sources.

[0013] Figure 7 This is a schematic diagram showing an exemplary swing frame and counterweight of the machine before and after the removal of the internal combustion power source and the modification that allows the installation of interchangeable power sources.

[0014] Figure 8 It was modified to allow for the installation of interchangeable power sources. Figure 7 An enlarged schematic diagram of an exemplary swing frame.

[0015] Figure 9It may be a schematic diagram of an exemplary swing frame layout for a machine that can include a configuration and control system capable of enabling interchangeable power sources. Detailed Implementation

[0016] Figure 1 An exemplary embodiment of machine 2 for performing work is shown. Specifically, Figure 1 The exemplary machine 2 shown is an excavator configured to perform operations such as digging and / or loading materials. Although the exemplary systems and methods disclosed herein are described in relation to excavators, the disclosed systems and methods can be applied to other machines, such as automobiles, trucks, agricultural vehicles, work vehicles, wheel loaders, bulldozers, tracked tractors, graders, off-highway trucks, or any other machine known to those skilled in the art.

[0017] like Figure 1 As shown, the exemplary machine 2 may include a base frame (or chassis) including ground engagement members 4 (e.g., tracks or wheels) for moving the machine 2. The machine 2 may include a cab 24 mounted on an upper swing body 6, the upper swing body being rotatably attached to the base frame in a manner that allows the cab 24 to rotate relative to the base frame. A boom assembly 8 may be attached to the upper swing body 6 and configured to move in a vertical direction. The upper swing body 6 may include a swing frame 22 that can swing relative to the base frame about a vertical axis, a cab 24 disposed at the left front portion of the swing frame 22, a counterweight 126 disposed at the rear portion of the swing frame 22, a power source housing 28 disposed on the front side of the counterweight 126, a door 30 pivotally attached to the swing frame 22 and configured to cover the side of the housing 28, and a cover 32 pivotally attached to the swing frame 22 and configured to cover the upper side of the housing 28.

[0018] The boom assembly 8 may include a boom 10, which is connected to the cab 24 in a manner that allows the boom 10 to pivot relative to the cab 24. At the distal end of the boom 10 opposite the cab 24, a stick 12 may be connected to the boom 10 in a manner that allows the stick 12 to pivot relative to the boom 10. A tool 14 (e.g., a digging tool or a bucket) may be connected to the stick 12 in a manner that allows the tool 14 to pivot relative to the stick 12. Although Figure 1 The exemplary machine 2 shown includes digging tools, but other tools can be attached to the boom 12 when other types of work are desired.

[0019] In the exemplary embodiment shown, a pair of actuators 16 (only one shown) may be coupled to the cab 24 and the boom 10, such that the extension and retraction of the actuator 16 raises and lowers the boom 10 relative to the cab 24 accordingly. Another actuator 18 may be coupled to the boom 10 and the stick 12, such that the extension and retraction of the actuator 18 causes the stick 12 to pivot inward and outward relative to the boom 10 accordingly. Yet another actuator 20 may be coupled to the stick 12 and the digging tool 14, such that the extension and retraction of the actuator 20 causes the digging tool 14 to pivot relative to the stick 12 between a closed position and an open position accordingly.

[0020] Such as about Figure 2 To explain in more detail, the exemplary machine may include a plurality of actuators 25, 26, and 27 configured to move various components of the machine relative to each other. For example, actuator 25 may be equivalent to Figure 1 The excavator shown has actuator 16, which is configured to move the boom 10 relative to the cab 24. Actuator 26 can be equivalent to... Figure 1 The actuator 18 shown is configured to move the stick 12 relative to the boom 10. Actuator 27 can be equivalent to... Figure 1 The actuator 20 shown is configured to move the digging tool 14 relative to the boom 12. Each of the actuators 25, 26, and 27 can be a hydraulic device, particularly a hydraulic cylinder, which is powered by supplying and discharging fluid from the cylinder on either side of the piston to cause reciprocating motion of the piston within the cylinder. One or more of the actuators 25, 26, and 27 can be non-hydraulic actuators without departing from the concepts disclosed herein. Additionally, without departing from the concepts disclosed herein, the number of each actuator correspondingly coupled to the boom 10, boom 12, and / or tool 14 can be varied.

[0021] refer to Figure 2The exemplary machine 2 may include a power system 15, which includes electrical and hydraulic devices that operate accordingly via electric and hydraulic power sources and are controlled by a controller. According to various exemplary embodiments of this disclosure, the exemplary power system 15 may include any of a plurality of interchangeable power sources, such as an internal combustion engine, a battery, a fuel cell, or direct operation of a power system on machine 2 connected to an external power source (e.g., the power grid or an external generator) via slip rings and tethered cables. The exemplary internal combustion engine may include, for example, a compression ignition engine, a spark ignition engine, a gas turbine engine, a homogeneous charge compression ignition engine, a two-stroke engine, a four-stroke engine, or any type of internal combustion engine known to those skilled in the art. The internal combustion engine may be configured to operate with any fuel or fuel combination, such as diesel, biodiesel, gasoline, ethanol, methanol, or any fuel known to those skilled in the art. Furthermore, the internal combustion engine may be supplemented by a hydrogen-powered engine, a fuel cell, a solar cell, and / or any power source known to those skilled in the art.

[0022] exist Figure 2 In the exemplary embodiment shown, the power system 15 may include an electric motor / generator 34. The motor / generator 34 may be electrically connected to an inverter 36 (e.g., a DC-AC inverter), which in turn may be electrically connected to a bus 38 (e.g., a DC bus). The exemplary power system 15 may also include a converter 40 electrically connected to the bus 38. The converter 40 may be a DC-DC converter, which may in turn be electrically connected to an electrical storage device 42. The electrical storage device 42 may include one or more batteries and / or supercapacitors configured to store electrical energy supplied from the motor / generator 34 and / or any electrical energy generated by capturing energy associated with the operation of the machine 2, such as energy captured from regenerative braking of moving parts of the machine (e.g., ground engagement member 4) and / or rotation of the swing frame 22 and the cab 24. The electrical energy stored in the electrical storage device 42 may be used as a power source, as explained in more detail below.

[0023] The exemplary power system 15 may also include an inverter 44 (e.g., a DC-AC inverter) coupled to bus 38. Inverter 44 is electrically coupled to an electric motor / generator 46 (e.g., an AC motor / generator). In the illustrated exemplary embodiment, motor / generator 46 is coupled to cab 24 such that operation of motor / generator 46 causes cab 24 to rotate relative to the underframe. Additionally, motor / generator 46 is capable of regeneratively slowing and stopping the rotation of cab 24, resulting in the generation of electrical energy, which can be routed via inverter 44, bus 38, and converter 40 to electrical storage device 42 for later supply to electric actuators such as motors / generators 34 and 46. According to some embodiments, electrical energy in electrical storage device 42 can be routed via converter 40, bus 38, and inverter 36 to motor / generator 34, which can then use the electrical energy to drive one or more of hydraulic pumps / motors 48a and 48b, thus enabling the power source to drive hydraulic devices in the machine. In alternative embodiments where the primary power source of the machine having power system 15 is a different, interchangeable power source (e.g., an internal combustion engine or a fuel cell), electrical energy from electrical storage device 42 or from one or more of motors / generators 46 and 34 can supplement the internal combustion engine or fuel cell and / or drive one or more hydraulic pumps / motors 48a and 48b. According to some embodiments, electrical energy generated by motors / generators 34 and / or 46 can be routed between the two motors / generators 34 and 46 without necessarily being stored in electrical storage device 42, for example, by routing from motor / generator 46 to motor / generator 34 via inverter 44, bus 38, and inverter 36, or from motor / generator 34 to motor / generator 46 via inverter 36, bus 38, and inverter 44.

[0024] exist Figure 2 In the exemplary embodiment shown, motor / generator 34 is coupled to two hydraulic pumps / motors 48a and 48b, which may include fixed displacement pumps or variable displacement pumps. Although the exemplary embodiment shown includes two pumps / motors 48a and 48b, a single pump / motor or more than two pumps / motors may be used. In the exemplary configuration shown, motor / generator 34 supplies electricity to drive pumps / motors 48a and 48b, which in turn provide hydraulic power to power system 15 by causing pressurized fluid to flow into and out of hydraulic cylinders 25, 26, and 27. Alternatively, according to some embodiments, one or more of pumps / motors 48a and 48b may drive motor / generator 34, which in turn may supply electricity to the electrical system of machine 2.

[0025] exist Figure 2In the exemplary embodiment shown, pumps / motors 48a and 48b are hydraulically coupled to control valve 50, such that pumps / motors 48a and 48b supply pressurized fluid to control valve 50, which in turn controls the flow of fluid into and out of the hydraulic system of machine 2. For example, as Figure 2 As shown, control valve 50 is hydraulically coupled to hydraulic cylinders 25, 26, and 27 and hydraulic pump / motor 52, which drives the ground engagement member 4 when supplied with a pressurized fluid flow. Although a single hydraulic motor 52 is shown, power system 15 may include one or more hydraulic motors 52, for example, one for each ground engagement member 4. Furthermore, the hydraulic pump / motor(s) 52 can regeneratively slow down and stop the ground engagement member 4, resulting in the generation of hydraulic energy that can be rerouted to provide hydraulic power to power system 15, stored in a hydraulic storage device for later supplying hydraulic power to hydraulic actuators, and / or providing hydraulic power to pumps / motors 48a and 48b, which may supplement the electrical storage device 42, as explained in more detail below.

[0026] The exemplary power system 15 may also include an accumulator 54 hydraulically coupled to a control valve 50. The accumulator 54 may be configured to store hydraulic energy captured during operation of the power system 15. For example, as described above, one or more hydraulic motors 52 may be configured to slow the movement of the ground engagement member 4 by operating as a pump, such that the ground engagement member 4 drives the pump, thereby slowing the ground engagement member 4. Energy supplied to the hydraulic fluid by pumping may be routed via the control valve 50 for storage in the accumulator 54 for later use, and / or routed to pumps / motors 48a and 48b.

[0027] In the exemplary power system 15, hydraulic cylinders 25, 26, and 27 are all hydraulically connected to control valve 50. (See also: ...) Figure 1 As explained, hydraulic cylinders 25, 26, and 27 can be correspondingly equivalent to cylinders 16, 18, and 20 connected to the boom 10, stick 12, and tool 14 for manipulating the boom 10, stick 12, and tool 14. Similar to the hydraulic motor(s) 52, hydraulic cylinders 25, 26, and 27 can operate regeneratively, resulting in the generation of hydraulic energy, which can be rerouted to provide hydraulic power to the power system 15 and / or stored in the accumulator 54. For example, if the boom (e.g., Figure 1 When the boom 10 descends from the raised position, pressurized fluid is actuated in a controlled manner from the hydraulic cylinder 16. Similarly, having Figure 2 The movement of components on the power system 15 machine can cause pressurized fluid to flow in a controlled manner from Figure 2The cylinder 25 is actuated. The pressurized fluid can be routed via control valve 50 to be stored in accumulator 54, and / or routed to one or more of pumps / motors 48a, 48b and 52 to assist the operation of those hydraulic devices.

[0028] Figure 2 The exemplary power system 15 shown may include a control system 55 for controlling the power system 15. For example, the power system 15 may include an operator interface 56, which may be contained in the cab 24. According to some embodiments, the operator interface 56 may be located remotely from the machine 2 for remote control of the machine 2. The exemplary operator interface 56 may include multiple controls (e.g., levers, pedals, and / or buttons) for controlling the machine 2 and its functions. In the exemplary embodiment shown, the operator interface 56 may be electrically and / or hydraulically coupled to a control valve 50, such that electrical control signals and / or hydraulic control signals (e.g., via a hydraulic pilot circuit) can be sent from the operator interface 56 to the control valve 50. Such electrical and hydraulic control signals can be used to control the operation of the control valve 50 to operate and control the hydraulic components of the power system 15. Additionally, the operator interface 56 may be electrically coupled to a controller 58 configured to control the operation of one or more electrical and hydraulic components of the exemplary power system 15, as explained in more detail below.

[0029] Additionally, controller 58 can be connected to multiple sensors associated with the device of machine 2 to receive signals instructing the operation of the device. For example, machine 2 may include the following sensors: motor / generator sensor 34a associated with motor / generator 34, storage device sensor 42a associated with electrical storage device 42, motor / generator sensor 46a associated with motor / generator 46, pump / motor sensors 48c and 48d correspondingly associated with pumps / motors 48a and 48b, and correspondingly associated with hydraulic cylinders 25, 26, and 27 (correspondingly equivalent to...). Figure 1 Hydraulic sensors 25a, 26a, and 27a are associated with the hydraulic cylinders 16, 18, and 20 of the exemplary excavator 2, accumulator sensor 54a is associated with accumulator 54, and pump / motor sensor 52a is associated with pump / motor 52. Each of the sensors identified above may include a single sensor or multiple sensors operating together to provide signals indicating the operation of the associated device.

[0030] The electrical storage device sensor 42a may include a charge sensor, a current sensor, a voltage sensor, and / or other electrical storage device-related sensors. The motor / generator sensors 34a and 46a may include a speed sensor, a current sensor, a voltage sensor, and / or other motor / generator-related sensors. The pump / motor sensors 48c, 48d, and 52a may include a speed sensor, a flow rate sensor, a pressure sensor, and / or other hydraulically related sensors. The accumulator sensor 54a may include a pressure sensor and / or other hydraulically related sensors.

[0031] Controller 58 may include one or more processors, microprocessors, central processing units, onboard computers, electronic control modules, and / or any other computing and control devices known to those skilled in the art. Controller 58 may be configured to run one or more software programs or applications stored in a memory location, read from a computer-readable medium, and / or accessed from an external device operatively coupled to controller 58 via any suitable communication network.

[0032] The exemplary controller 58 can be configured to control the operation of the exemplary power system 15, which includes the battery 33 and various electrical and hydraulic devices of the exemplary machine 2. For example, the controller 58 can be configured to communicate with each electrical and hydraulic device as a potential supplier and consumer of electric and hydraulic power, and, upon receiving an operator request, to coordinately control the operation of the main power source of the machine 2 as well as the electrical and hydraulic devices to provide the desired machine performance and efficiency.

[0033] For example, electric motors / generators 34 and 46 can operate by consuming or supplying electricity. They may consume electricity when operated to accelerate devices driven by motors / generators 34 and 46. For example, motor / generator 34 can be driven to assist battery 33 or another different interchangeable power source for machine 2 in supplying power to hydraulic pumps / motors 48a and 48b, and motor / generator 46 can be driven to rotate cab 24. When operating to decelerate vehicle 2, motor / generator 34 can also use its generator section to generate electricity to supply power to power system 15. Motor / generator 46 can also operate in a similar manner to supply power to power system 15 when decelerating the rotation of cab 24. Additionally, when operating in generator mode, motors / generators 34 and 46 can supply electricity to each other and to energy storage device 42.

[0034] The energy storage device 42 can also operate as a power supplier or consumer. For example, the energy storage device 42 can operate as a power supplier by providing power to the motor / generator 34 to assist the output of the battery 33 and / or to the motor / generator 46 to rotate the cab 24. The energy storage device 42 can also act as a power consumer when storing power received from the motor / generator 34 and 46.

[0035] Hydraulic devices can also be viewed as both consumers and suppliers of hydraulic power. For example, pumps / motors 48a, 48b, and 52 can operate by consuming or supplying hydraulic power. They may consume hydraulic power when operated to increase the flow rate and / or pressure in the hydraulic system, such as by operating hydraulic cylinders 25, 26, and 27 against a load. Furthermore, pumps / motors 48a, 48b, and 52 can operate to consume hydraulic power to drive another of the pumps / motors and / or to supply pressurized fluid to accumulator 54. For example, one or more of pumps / motors 48a and 48b can operate as pumps to supply fluid to drive pump / motor 52, thereby driving ground engagement member 4 to move machine 2.

[0036] Pumps / motors 48a, 48b and / or 52 can also supply hydraulic power to the power system 15. For example, when the movement of the machine 2 is slowed down by pump / motor 52, pump / motor 52 can convert the kinetic energy of the machine 2 by pumping hydraulic fluid, thereby supplying hydraulic power to the power system 15. Pumps / motors 48a and 48b can use said hydraulic power to assist the battery 33 in supplying power to the electric motor / generator 34, to assist the hydraulic cylinders 25, 26 and 27 in resisting load operation, and / or to supply pressurized fluid to the accumulator 54 for storage.

[0037] Similarly, hydraulic cylinders 25, 26, and 27 can be operated to consume or supply hydraulic power. For example, see reference... Figure 1 An exemplary excavator, when the boom 10 is lowered, the hydraulic cylinder 16 (which can be equivalent to...) Figure 2 Cylinder 25 can be operated to supply hydraulic power in the form of pressurized fluid to a hydraulic system that can be used to supply power to pumps / motors 48a, 48b and 52, other hydraulic cylinders 26 and 27 and / or accumulator 54. This is done when resisting a load by drawing hydraulic power from one or more of the pumps / motors 48a, 48b and 52, accumulator 54 and / or other hydraulic cylinders 26 and 27 (e.g., when...). Figure 1 When the equivalent cylinder 16 of the exemplary excavator 2 is lifting the boom 10, the hydraulic cylinder 25 can also operate as a power consumer.

[0038] Accumulator 54 can also operate as a supplier or consumer of hydraulic power. For example, accumulator 54 can operate as a supplier of hydraulic power by providing pressurized fluid to pumps / motors 48a and 48b to assist the output of battery 33, to hydraulic cylinders 25, 26 and 27 to resist loads, and / or to pump / motor 52 to drive ground engagement member 4. When accumulator 54 stores hydraulic power in the form of pressurized fluid received from pumps / motors 48a, 48b and 52 and / or hydraulic cylinders 25, 26 and 27, the accumulator can operate as a consumer of hydraulic power.

[0039] An exemplary controller 58 is configured to receive request signals instructing the operation of electrical and hydraulic devices, such as signals received from operator interface 56, and to control the electrical and hydraulic power in machine 2 according to a control strategy. For example, controller 58 may be configured to receive request signals from interface 56 and, upon receiving a request signal, receive operation signals from the electrical and hydraulic devices. The operation signals indicate the state of the corresponding electrical and hydraulic devices upon receiving the request signal. For example, the operation signals may be signals received from sensors associated with the corresponding electrical and hydraulic devices and may include information about the power supplied or consumed by the electrical and hydraulic devices upon receiving the request signal. The operation signals may also indicate the ability of the electrical and hydraulic devices to provide or consume power upon receiving the request signal. According to some embodiments, the operation signals may also include signals associated with the operation of battery 33 or any of several alternative and interchangeable power sources (e.g., an internal combustion engine, a fuel cell, or a tethered cable power source). The controller 58 can determine the power level supplied or consumed by any of the interchangeable power sources and the electrical and hydraulic devices based on request signals, operation signals and control strategies, and provide control signals for controlling the operation of any of the interchangeable power sources and the electrical and hydraulic devices of the machine 2.

[0040] Figure 3 It is used to operate any one of the multiple interchangeable power sources on machine 2 (e.g. Figure 2 A schematic diagram of an exemplary control strategy 60 for the battery 33 in the exemplary machine and the associated electrical and hydraulic devices of the exemplary machine 2. Figure 3 As shown, the exemplary control strategy 60 may include subsystem controls 62 and supervisory controls 64. Exemplary subsystem controls 62 may include a battery subsystem control 62a for controlling the operation of the battery 33, an electrical subsystem control 62b for controlling the operation of electrical devices in the electrical subsystem, and a hydraulic subsystem control 62c for controlling the operation of hydraulic devices in the hydraulic subsystem. Some embodiments may include additional subsystem controls for controlling the operation of other devices.

[0041] Subsystem control 62 is configured to provide supervisory control 64 with a request signal 66 instructing the electrical and hydraulic devices to operate. According to some embodiments, supervisory control 64 may receive the request signal 66 directly from sources other than subsystem control 62, such as operator interface 56 and / or battery 33, and the electrical and hydraulic devices themselves.

[0042] Subsystem control 62 is also configured to provide request and range signals for operating energy storage devices associated with the respective electrical and hydraulic subsystems based on the interrelationships of operations of devices within the corresponding subsystem. For example, within the electrical subsystem, electrical subsystem control 62b provides request signals for controlling the operation of the energy storage device 42 based on the operations of other devices within the electrical subsystem. Similarly, within the hydraulic subsystem, hydraulic subsystem control 62c provides request signals for controlling the operation of the accumulator 54 based on the operations of other devices within the hydraulic subsystem.

[0043] Subsystem control 62 is also configured to provide a range signal 68 upon receiving a request signal 66, the range signal indicating a range of acceptable electrical and hydraulic power levels associated with the operation of the electrical and hydraulic devices. The range signal 68 can also be based on how the devices function within the respective subsystem. For example, for an electrical subsystem, the range signal 68 for the corresponding electrical device can be based on the interrelationships of the operations of the electrical devices within the electrical subsystem, as explained in more detail below with respect to the electric storage device 42. Similarly, for a hydraulic subsystem, the range signal 68 for the corresponding hydraulic device can be based on the interrelationships of the operations of the hydraulic devices within the hydraulic subsystem, as explained in more detail below with respect to the accumulator 54.

[0044] The supervisory control 64 is configured to determine a control signal 70 for controlling the operation of the battery 33 and the electrical and hydraulic devices based on the operation signal 72 (described previously herein), the range signal 68, and the request signal 66 indicating a request for operation of the electrical and hydraulic devices. In this exemplary manner, the controller 58 evaluates the operation of the battery 33, such as its current state of charge (SOC), battery temperature, power output, current output, voltage output, etc., and the operation of the electrical and hydraulic devices, compares the requested operation of the devices with the actual real-time operation, and controls the operation of the battery 33 and the power unit in a coordinated manner to provide the required machine performance and improve efficiency.

[0045] Controller 58 may include software and application programming interfaces (APIs) defining interactions between multiple software intermediaries, adapted and configured to receive and process variables, control parameters, and criteria associated with each of multiple interchangeable power sources (e.g., internal combustion engines, batteries, fuel cells, and tethered cable power systems). Controller 58 may also be configured to interface with a host electronic control module (ECM) and an electro / hydraulic system ECM. Controller 58 may be configured to sense and process outputs and operating characteristics specific to the particular power source actually used on the machine, utilizing control logic, various inputs, outputs, sensed and processed signals, stored, sensed and / or processed data, parameters, variables, etc. (e.g., obtainable at least partially from lookup tables and / or mappings). Additionally, controller 58 may be configured to normalize the power output from the specific interchangeable power sources installed and employed on the machine to provide standardized, consistent control and operation of various electro- and hydraulic machine systems powered by power sources, regardless of the type of power source used on the machine.

[0046] According to some embodiments, the acceptable range of electrical and hydraulic power levels indicates the maximum and minimum power levels that allow the electrical and hydraulic devices to operate when the controller 58 receives the request signal 66. For example, the maximum and minimum power levels may be based on the power supplied or consumed by the respective devices, or on a predetermined design limit to the capacity of the supplied or consumed power. For example, pump / motor 48a may have a maximum pumping power output, and therefore, the maximum power output level may be limited to the maximum pumping power output. From the perspective of battery 33, this would represent a maximum power consumption limit. However, from the perspective of hydraulic cylinders 25, 26, and 27, accumulator 54, and pump / motor 52, this would represent a maximum power supply limit. Alternatively, the maximum pumping power output of pump / motor 48a may be limited based on predetermined design limits, for example, to avoid excessive wear on pump / motor 48a and / or other parts of machine 2.

[0047] The minimum power level of range signal 68 can relate to a predetermined lower limit of acceptable power output. For example, for pumps / motors 48a and 48b, the lower limit can be associated, for example, with a minimum power output to provide sufficient hydraulic power to hydraulic cylinders 25, 26 and 27 to hold the load in tool 14 at the current height.

[0048] Battery 33, or different interchangeable power sources (e.g., internal combustion engines, fuel cells, or tethered cable systems), can also provide operating signals 72 associated with the operation of a specific power source employed on machine 2 via their associated sensors 33a. For example, battery sensor 33a can provide signals indicating the state of battery 33 (e.g., SOC, power output, voltage output, or current output). Battery subsystem control 62a can provide range signals 68 indicating maximum and minimum power levels, allowing battery 33 to operate at said maximum and minimum power levels when controller 58 receives a request signal 66.

[0049] According to some embodiments, acceptable ranges of electrical, hydraulic, and power source power output levels can limit the supervisory control 64 so that it does not provide control signals 70 to electrical devices, hydraulic devices, and power sources such as battery 33 that fall outside the corresponding limits. Therefore, while the supervisory control 64 can determine the most efficient solution (i.e., based solely on power consumption considerations) for the power output levels of interchangeable power sources mounted on the machine and the electrical and hydraulic devices powered by those power sources, these ranges prevent unintended and undesirable consequences from the most efficient solution.

[0050] For example, when controller 58 receives a request to decelerate the rotation of cab 24, motor / generator 46 can operate as a generator, thereby supplying power to machine 2. If motor / generator 46 increases the deceleration level of cab 24, it will supply a larger amount of power. However, this may cause cab 24 to stop rotating faster than requested, resulting in undesirable control characteristics. If motor / generator 46 decreases the deceleration level of cab 24, it will supply a smaller amount of power. However, this may cause cab 24 to stop rotating slower than requested, also resulting in undesirable control characteristics. Supervisory control 64 can be configured to determine the most efficient solution for operating the power output level of interchangeable power sources mounted on the machine, where the solution depends on which of the multiple interchangeable power sources is actually mounted and used on the machine.

[0051] When controller 58 receives a request signal 66 for decelerating cab 24, electrical subsystem control 62b can determine the range of acceptable power supply levels for motor / generator 46 during deceleration. As described above, since it may not be desirable for the operation of machine 2 to decrease or increase the deceleration level of cab 24, electrical subsystem control 62b can determine a narrow range of acceptable power supply levels in these cases. Therefore, electrical subsystem control 62b provides supervisory control 64 with a request signal 66 indicating the requested operation of motor / generator 46 and a range signal 68 indicating the narrow range of acceptable power supply levels for motor / generator 46. Supervisory control 64 then controls the operation of motor / generator 46 by determining the power supply level provided by motor / generator 46 based on request signal 66, operation signals 72 of various devices of machine 2, and range signal 68 received from electrical subsystem control 62b. Subsequently, control signal 70 is provided to motor / generator 46 to control its operation. Control signal 70 can be sent from supervisory control 64 to electrical subsystem control 62b, which can then control the operation of motor / generator 46. According to some embodiments, control signal 70 can be sent directly to motor / generator 46 without being relayed through electrical subsystem control 62b.

[0052] As another example, during acceleration of cab 24, controller 58 may receive acceleration request signal 66, and motor / generator 46 may operate as a motor, thereby consuming power from battery 33 or another interchangeable power source mounted on machine 2 and used by the machine. If motor / generator 46 increases the acceleration level of cab 24, it will consume a larger amount of power. If motor / generator 46 decreases the acceleration level of cab 24, it will consume a smaller amount of power.

[0053] Electrical subsystem control 62b can determine a range of acceptable power consumption levels for the motor / generator 46 during acceleration of cab 24. For example, it may be undesirable for operation of machine 2 to increase the acceleration of cab 24 beyond the requested level. However, due to power limitations of battery 33 on machine 2 or other considerations, it may be desirable to reduce the acceleration level below the requested level. Therefore, electrical subsystem control 62b can provide a range of acceptable power consumption levels from a maximum value equal to the requested level to a minimum value well below the requested level. Electrical subsystem control 62b can provide supervisory control 64 with a request signal 66 indicating requested operation of motor / generator 46 and a range signal 68 indicating a range of acceptable power supply levels. Subsequently, by determining the power level consumed by motor / generator 46 based on the request signal 66 and range signal 68 received from electrical subsystem control 62a and the operation signals 72 of various devices of battery 33 and machine 2, supervisory control 64 can control the operation of motor / generator 46 using control signal 72, for example, in the manner previously described.

[0054] The electrical subsystem control 62b can determine the operating range of the electrical storage device 42 based on the interrelationships of the operations of electrical devices within the electrical subsystem. For example, if no electrical device is operating within the electrical subsystem, the electrical subsystem control 62b can provide the monitoring control 64 with a request signal indicating that there is no request for an electrical device and a range signal 68 for each electrical device, indicating the ability of the electrical devices including the electrical storage device 42 to supply power to the battery 33 and / or the hydraulic subsystem by replenishing power to the battery 33 to operate one or more of the pumps / motors 48a and 48b.

[0055] However, if, for example, a request signal 66 for rotation of the cab 24 is received (via the motor / generator 46), the electrical subsystem control 62b can provide the supervisory control 64 with a request signal 66 for each of the electrical devices (including the electrical storage device 42). Additionally, the electrical subsystem control 62b can provide a range signal 68 for each of the electrical devices. For example, the request signal 66 for operating the motor / generator 46 to rotate the cab 24 may request 50 units of electrical power. The electrical subsystem control 62b can determine that the motor / generator 34, driven by the battery 33, has the capability to provide 40 units of electrical power to the motor / generator 46 to rotate the cab 24, and that the electrical storage device 42 has the capability to provide 40 units of electrical power to the motor / generator 46 to rotate the cab 24. Therefore, the motor / generator 34 and the electrical storage device 42 can have a total excess capacity of 30 units to satisfy the requested rotation of the cab 24. Electrical subsystem control 62b can determine corresponding range signals 66 for the motor / generator 34 and the electrical storage device 42, the range signals indicating a power output range of 0-40 units for each of the motor / generator 34 and the electrical storage device 42, and a request signal 66 for the motor / generator 46 to rotate the cab 24 by 50 units. Electrical subsystem control 62b can also determine range signals for the motor / generator 46, as previously outlined herein. Furthermore, electrical subsystem control 62b can determine request signals 66 for each of the motor / generator 34 and the electrical storage device 42 to provide 50 units of power to the motor / generator 46. For example, electrical subsystem control 62b can determine that the request signal 66 for the motor / generator 34 will be 40 units of power, and the request signal for the electrical storage device 42 will be 10 units of power, thereby corresponding to the 50 units of electrical power requested to operate the motor / generator 46 to rotate the cab 24. Request signals 66 and range signals 68 can be supplied to supervisory control 64.

[0056] In this example, the supervisory control 64 uses request and range signals 66 and 68 from the electrical subsystem control 62b and similar signals from the engine subsystem control 62a and the hydraulic subsystem control 62c to determine control signals 70 for controlling the operation of the battery 33 and the electrical and hydraulic devices of the machine 2. For example, if no power is needed to replenish the battery 33 or the hydraulic system, the supervisory control 64 can provide control signal 70 to the electrical subsystem control 62b, causing the motor / generator 34 to supply, for example, 40 units of power to the motor / generator 46, and the electrical storage device 42 to supply 10 units of power to the motor / generator 46, thereby satisfying the 50 units of power required to rotate the cab 24.

[0057] However, if the monitoring control 64 determines that the hydraulic subsystem will benefit from the power supplied by the electrical subsystem—for example, if the hydraulic subsystem cannot supply sufficient hydraulic power to meet the requested operational needs of the hydraulic subsystem, for example, due to the limited capacity of battery 33 and / or the inability of accumulator 54 to offset the limited capacity of battery 33—the monitoring control 64 can determine that the electrical subsystem can supply power to supplement the operation of battery 33, for example, 20 units of power, thereby increasing the capacity of the hydraulic subsystem. Since the output of pumps / motors 48a and 48b may be limited by the instantaneous battery output capacity, supplementing the operation of battery 33 with the electrical subsystem can increase the hydraulic power that pumps / motors 48a and 48b can supply. Therefore, in order to meet the power requirements of 20 units for replenishing battery 33 and 50 units for rotating cab 24, 70 units of power can be supplied from the available power of 80 units from the combination of motor / generator 34 and electrical storage device 42, so that 50 units are supplied to rotate cab 24, and 20 units are supplied to the hydraulic subsystem via the power supplied to battery 33.

[0058] In a similar manner, the hydraulic subsystem control 62c can determine the operating range of the accumulator 54 based on the interrelationships of the operations of the hydraulic devices within the hydraulic subsystem. For example, if no hydraulic device is operating within the hydraulic subsystem, the hydraulic subsystem control 62c can provide the monitoring control 64 with a request signal indicating that there is no request for a hydraulic device and a range signal 68 for each hydraulic device, the range signal indicating the ability of the hydraulic devices including the accumulator 54 to supply power to the battery 33 and / or the electrical subsystem by replenishing power to the battery 33 to operate the motor / generator 34 of the electrical subsystem.

[0059] However, if, for example, a request signal 66 for movement of machine 2 is received (via pump / motor 52 and ground engagement member 4), the hydraulic subsystem control 62c can provide the supervisory control 64 with a request signal 66 for each hydraulic unit (including accumulator 54). Furthermore, the hydraulic subsystem control 62c can provide a range signal 68 for each hydraulic unit. For example, the request signal 66 for operating pump / motor 52 to move machine 2 can request 60 units of power. The hydraulic subsystem control 62c can determine that pumps / motors 48a and 48b driven by battery 33 have the capability to provide 50 units of hydraulic power to motor / generator 46 to move machine 2, and that accumulator 54 has the capability to provide 30 units of hydraulic power to pump / motor 52 to move machine 2. (According to some embodiments, hydraulic cylinders 25, 26, and / or 27 may be used to supply hydraulic power to pump / motor 52, as previously described herein.) Therefore, pumps / motors 48a and 48b and accumulator 54 may have a total excess capacity of 20 units to meet the requested movement of machine 2. Hydraulic subsystem control 62c may determine corresponding range signals 66 for pumps / motors 48a and 48b and accumulator 54, indicating a power output range of 0-50 units for pumps / motors 48a and 48b and a power range of 0-30 units for accumulator 54, and a request signal 66 for pumps / motors 52 for movement of machine 2 of 60 units. Hydraulic subsystem control 62c may also determine range signals for pumps / motors 52, as previously outlined herein. Furthermore, hydraulic subsystem control 62c may determine request signals 66 for each of pumps / motors 48a and 48b and accumulator 54 to provide 60 units of power to pumps / motors 52. For example, the hydraulic subsystem control 62c can determine that the request signal 66 for pumps / motors 48a and 48b will be a total of 50 units of power, and the request signal 66 for accumulator 54 (and / or hydraulic actuators 24, 26 and / or 27) will be 10 units of power, thus corresponding to the 60 units of hydraulic power requested to operate pumps / motors 52 to move machine 2. The request signal 66 and the range signal 68 are provided to the monitoring control 64.

[0060] In this example, supervisory control 64 can use request and range signals 66 and 68 from hydraulic subsystem control 62c and similar signals from engine subsystem control 62a and electrical subsystem control 62b to determine control signals for controlling the operation of battery 33 or another interchangeable power source mounted on machine 2, as well as the electrical and hydraulic devices of machine 2. For example, if hydraulic power is not required to supplement battery 33 or the electrical subsystem, supervisory control 64 can provide control signal 70 to hydraulic subsystem control 62c, causing pumps / motors 48a and 48b to supply, for example, 50 units of power to pump / motor 52, and accumulator 54 to supply 10 units of power to pump / motor 52, thereby satisfying the 60 units requested by mobile machine 2.

[0061] However, if the monitoring control 64 determines that the electrical subsystem will benefit from the power supplied by the hydraulic subsystem—for example, if the electrical subsystem itself cannot supply sufficient power to meet the requested operational needs of the electrical subsystem—the monitoring control 64 can determine that the hydraulic subsystem can supply power to supplement the operation of the battery 33, for example, 20 units of power. Therefore, to meet the 20 units of power requirement for supplementing the battery 33 and the 60 units of power requirement requested by the mobile machine 2, 80 units of power can be supplied from the available power of 80 units from the combination of pumps / motors 48a and 48b and accumulator 54, such that 60 units are supplied to the mobile machine 2 and 20 units are supplied to the electrical subsystem via the power supplied to the battery 33.

[0062] Machines according to various exemplary embodiments of this disclosure can be adapted to operate powered by any of a plurality of interchangeable power sources. For example... Figure 1 In the exemplary embodiment of the excavator 2 shown, the machine may include a underframe configured to support a ground engagement member 4 for propulsion. A superstructure 6 may be rotatably supported on the underframe. The superstructure may include a swing frame 22, and the swing frame 22 may be configured to support a cab 24, any of a plurality of interchangeable power sources, hydraulic components, and electrical components. Figure 1 and 4 As shown in Figure 9, counterweights 126 and 226 can be disposed at the first end of the swing frame 22. In an exemplary embodiment according to this disclosure, counterweight 226 may include a cutout portion 222 facing the swing frame 22. Figure 8As shown in the enlarged view with the circled portion, the central core portion 310 of the swing frame 22 can be centrally aligned with the hollowed-out portion 222 of the counterweight 226. The central core portion 310 can be configured to support any of a plurality of interchangeable power sources. In some exemplary embodiments, such as when using a fuel cell, the central core portion 310 can be configured to support a hydrogen fuel tank that stores hydrogen for use as fuel by the fuel cell. Throughout this application and claims, the reference to "power source" includes these hydrogen fuel tanks as well as other alternative power sources, such as batteries or internal combustion engines. Figure 4 and 5 As shown in the exemplary embodiment, the battery pack 240 of the exemplary machine 200 may be an interchangeable power source mounted on the swing frame 22, wherein a portion of the battery pack 240 is partially housed within a hollowed-out portion 222 of the counterweight 226, and the remainder of the battery pack 240 is housed within a power source housing 228 on the swing frame 22.

[0063] like Figure 4 As shown, a power source housing 228 may be located on a portion of the swing frame 22 at the rear and lateral sides of the cab 224. A power system ECM 262 and a main unit ECM 266 may be positioned on the swing frame 22 on a lateral side of the cab 224, together with an inverter, one or more motors / generators, one or more electrical storage devices, and one or more hydraulic pumps or other hydraulic components. Various electrical and hydraulic components may be arranged on the side skirts 312, 314 toward the outer periphery of the side skirts to maximize the available space for the central core portion 310 and interchangeable power sources that may be mounted on the swing frame. The central core portion 310 may also be lowered relative to the side skirts to lower the center of gravity of the power sources mounted on the central core portion. In some exemplary embodiments, one or more hydraulic pumps disposed on the side skirts may be mounted to an electric motor / generator and longitudinally arranged along the outer periphery of one or both of the side skirts to maximize the amount of open space on the central core portion 310 for mounting interchangeable power sources.

[0064] Regardless of which interchangeable power source is installed and used on machine 2, the power source can be at least partially housed within the hollowed-out portion 222 of counterweight 226. As described above, in the case of a fuel cell, a tank configured to store hydrogen as fuel for the fuel cell can be installed at the rear of the central core portion 310 and partially housed within the hollowed-out portion 222 of counterweight 226. This configuration allows and facilitates the installation of one of the interchangeable power sources (e.g., battery 33, internal combustion engine, fuel cell (or fuel tank containing fuel used by the fuel cell), or tethered cable system) on the swing frame 22 in a location that minimizes the overall size and weight of the machine, thereby improving fuel economy. Figure 6-8As shown in the optimal configuration, the swing frame 22 may be configured with a central core portion 310, which is connected to the ladder side skirts 312, 314 on opposite lateral sides. Each of the ladder side skirts 312, 314 may include a plurality of parallel lateral members 322. The central core portion 310 may include parallel longitudinally arranged vertical reinforcing ribs 332, 334 on opposite lateral sides, each having mounting bosses 333, 335. Figure 7 The left side of the image shows the internal combustion engine 500 mounted on the swing frame, along with associated cooling system components, exhaust treatment components, etc. Figure 7 The right-hand figure illustrates a modified swing frame according to an exemplary embodiment of the present disclosure, wherein the internal combustion engine and associated components are removed, a hollowed-out counterweight 226 is disposed at the rear end of the swing frame, and the modified swing frame is configured for mounting interchangeable power sources, such as battery packs. Figure 8 As best shown in the enlarged view, multiple vibration-damping mounting pads 352 can be disposed on the central core portion 310 of the swing frame, adjacent to the hollowed-out portion 222 of the counterweight 226. The vibration-damping mounting pads 352 can be configured for mounting, for example... Figure 4 The battery pack 240 is an interchangeable power source, and the battery pack 240 is isolated from the acceleration and forces that may occur during machine operation.

[0065] The swing frame 22 may include trapezoidal side skirts 312, 314 on each opposite lateral side of the central core portion 310, and the central core portion 310 of the swing frame 22 may extend below each trapezoidal side skirt to lower the center of gravity of a power source mounted on the central core portion 310 of the swing frame 22. A plurality of vibration-damping mounting pads 352 may be disposed on the central core portion 310 of the swing frame 22, adjacent to the cutout portion 222 of the counterweight 226. In various exemplary embodiments of this disclosure, the cutout portion 222 of the counterweight 226 may extend to both sides of the central core portion 310 of the swing frame 22. The swing frame 22 may be configured to support any one of a plurality of interchangeable power sources, and the trapezoidal side skirts may be configured to support hydraulic and electrical components on portions of the trapezoidal side skirts spaced apart from the central core portion to increase the amount of space available for mounting any one of the plurality of interchangeable power sources on the central core portion 310. As described above, and for example in Figure 8 As shown, the central core portion 310 may include vertical reinforcing ribs 332, 334 arranged in parallel longitudinal directions on opposite transverse sides of the central core portion 310, and a vibration isolation mounting pad 352 configured to mount a power source and isolate the power source from vibrations that may occur during machine operation.

[0066] Electrical components mounted on the outer periphery of the trapezoidal side skirt on the lateral side of the central core portion 310 may include a cooling system 342 comprising multiple fans, an electric motor driven by a power source, and hydraulic components may include a pump 362 mounted to the electric motor, with a coupling between the pump and the electric motor. This coupling allows the hydraulic pump to be directly mounted to the electric motor, thus enabling a compact arrangement of various electrical and hydraulic components on the trapezoidal side skirt and maximizing the available space on the central core portion 310 for mounting any of the interchangeable power sources.

[0067] The exemplary systems and methods described above include combinations of electrical and hydraulic devices and combinations of electrical and hydraulic storage devices. It is conceivable that the systems and methods described herein may not include both electrical and hydraulic devices, or may not include both electrical and hydraulic storage devices. For example, the systems and methods can be used in machines having electrical devices and electrical storage devices, or combinations of electrical devices, electrical storage devices, and non-hydraulic devices (e.g., non-hydraulic storage devices, such as non-hydraulic mechanical storage devices, such as flywheels). Alternatively, the systems and methods can be used in machines having hydraulic devices and hydraulic storage devices, or combinations of hydraulic devices, hydraulic storage devices, and non-electrical devices (e.g., non-electrical storage devices, such as non-electromechanical storage devices, such as flywheels).

[0068] Industrial applicability

[0069] Exemplary machines and machine control systems according to various embodiments of this disclosure can be used to perform work. In particular, Figure 1 The exemplary machine 2 shown is an excavator used to perform operations such as digging and / or loading materials. Although the exemplary systems and methods disclosed herein are described with respect to excavators, the disclosed systems and methods can be applied to other machines, such as automobiles, trucks, agricultural vehicles, work vehicles, wheel loaders, bulldozers, loaders, tracked tractors, graders, off-highway trucks, or any other machine known to those skilled in the art.

[0070] As described above, the exemplary power system 15 for a machine can be used to control power in a machine having both electrical and hydraulic devices, which can act as power suppliers or consumers. Specifically, the exemplary power system 15 can control the power supply and consumption of the electrical and hydraulic devices in a manner that improves machine efficiency while maintaining the desired control characteristics of the machine. The electrical and hydraulic devices can include electrical and hydraulic storage devices and electrical and hydraulic actuators, such as electric motors, generators, electric motor / generators, hydraulic pumps, hydraulic motors, hydraulic pumps / motors, and hydraulic cylinders.

[0071] The exemplary power system 15 can be configured to control the installation of a machine (e.g., Figure 1 The excavator 2) operates any of a plurality of interchangeable power sources. As described above, the exemplary excavator 2 may include a underframe configured to support a ground engagement member 4 for propulsion of the excavator. A superstructure 6 may be rotatably supported on the underframe. The superstructure 6 may include a swing frame 22, and the swing frame 22 may be configured to support a cab 24, any of the plurality of interchangeable power sources, hydraulic components, electrical components, and one or more electronic control modules (ECMs) configured to control all the various components. The power system 15 may include a controller 58. The machine control system enabled and implemented by the controller 58 may include one or more processors configured to receive variables, control parameters, and criteria associated with the operation of each of the plurality of interchangeable power sources from one or more of sensors, input devices, output devices, and memories communicatively coupled to the one or more processors. The one or more processors may utilize control logic, machine operation inputs and outputs, sensed and processed signals associated with the machine's position, movement, and operation, and one or more of stored, sensed, and processed data, variables, control parameters, and criteria to sense and process output and operating characteristics specific to each of the plurality of power sources. One or more processors can also standardize the output power of each of the multiple power sources to provide standardized, consistent control and operation of the machine system, regardless of which of the multiple power sources is installed on the machine.

[0072] In various exemplary embodiments of this disclosure, one or more processors of the machine control system enabled and implemented by the controller 58 of the power system 15 may be included in a power system electronic control module (ECM). The power system ECM may be configured to interface with at least one of a host ECM, an electrical system ECM, and a hydraulic system ECM. The electrical system ECM may be configured to control the operation of one or more electrical components including at least one of an electric motor, an inverter, an insulated-gate bipolar transistor (IGBT), and a capacitor. The hydraulic system ECM may be configured to control the operation of one or more hydraulic components including at least one of a pump, a motor, and a valve.

[0073] The powertrain ECM according to various exemplary embodiments of this disclosure can be configured to sense and determine which of a plurality of potential interchangeable power sources is currently installed on and operating on the machine. As described above, the plurality of interchangeable power sources may include an internal combustion engine, a battery, a fuel cell, and a tethered cable system configured to receive power from a source external to the machine. One or more of the stored, sensed, and processed data, variables, control parameters, and criteria associated with the operation of each of the plurality of interchangeable power sources can be retrieved by one or more processors from one or more lookup tables or maps stored in a memory associated with the processor. The one or more processors may also be configured to determine a control strategy for controlling the machine based on the standardized power output from a particular interchangeable power source currently installed on and operating on the machine. By making the machine and associated software and hardware reconfigurable according to which of the plurality of interchangeable power sources is installed on the machine, machine production logistics of the machine according to various embodiments of this disclosure can enable the delivery of machines with unknown power sources to customers. The customer can then locally provide a specific power source configured to meet the customer's specific operational needs. The ability to reconfigure machines for operation using different interchangeable power sources also enables reconfiguration of machines late in the configuration and production process, providing greater flexibility to create cost-effective solutions for each customer’s needs and specific requirements.

[0074] The machine according to various exemplary embodiments of this disclosure may also include a variable machine display adapted to operation powered by any of a plurality of interchangeable power sources. The machine may include a power system electronic control module configured to receive variables, control parameters, and criteria associated with the operation of each of the plurality of interchangeable power sources from one or more sensors, input devices, output devices, and memories communicatively coupled to the power system electronic control module. The power system electronic control module may utilize control logic, machine operation inputs and outputs, sensed and processed signals associated with the machine's position, movement, and operation, and one or more of stored, sensed, and processed data, variables, control parameters, and criteria to sense and process the output and operational characteristics specific to each of the plurality of power sources. The power system electronic control module may normalize the power output of each of the plurality of power sources to provide standardized, consistent control and operation of the machine system, regardless of which of the plurality of interchangeable power sources is installed on the machine.

[0075] The machine's variable machine display may include an associated display controller communicatively coupled to the powertrain electronic control module. The display controller may be configured to receive one or more signals indicating standardized power output generated by the powertrain electronic control module, and to display one or more of information, icons, and overall appearance modified based on one of a plurality of interchangeable power sources mounted on and powering the machine. In one exemplary embodiment, when one of the interchangeable power sources is a battery, the display controller may display remaining battery power or other battery-related parameters. In an alternative exemplary embodiment, when one of the interchangeable power sources is an internal combustion engine or a fuel cell, the display controller may display remaining fuel quantity or other power source operating characteristics. In yet another exemplary embodiment, when one of the interchangeable power sources is a tethered cable system configured to connect the machine to an external power source, the display controller may display real-time power received by the machine from the external power source.

[0076] It will be apparent to those skilled in the art that various modifications and variations can be made to the exemplary systems, methods, and machines disclosed herein. Other embodiments will be apparent to those skilled in the art upon consideration of the practice of this specification and the exemplary disclosed embodiments. The specification and examples are intended to be considered exemplary only, and the true scope is indicated by the following claims and their equivalents.

Claims

1. A machine (2) adapted to be powered by any one of a plurality of interchangeable power sources (33), said machine comprising: A base frame configured to support a ground engagement member (4) for propelling the machine. The superstructure (6) is rotatably supported on the underframe and includes a swing frame (22) configured to support the cab (24), any of the plurality of interchangeable power sources, hydraulic components, and electrical components. as well as A counterweight (126, 226) is disposed at a first end of the swing frame, the counterweight comprising a hollow portion (222) facing the swing frame, the hollow portion being centrally aligned with a central core portion (310) of the swing frame configured to support any of the plurality of interchangeable power sources, one of which is partially housed within the hollow portion (222) of the counterweight (226); the plurality of interchangeable power sources comprising batteries; the machine comprising a controller that determines the power level supplied or consumed by any of the interchangeable power sources, as well as electrical and hydraulic devices, based on request signals, operation signals, and a control strategy; the control strategy comprising subsystem controls, wherein the subsystem controls include battery subsystem controls for controlling the operation of the batteries, electrical subsystem controls for controlling the operation of the electrical devices, and hydraulic subsystem controls for controlling the operation of the hydraulic devices.

2. The machine (2) according to claim 1, wherein the central core portion (310) includes vertical ribs (332, 334) arranged in parallel longitudinal directions on opposite transverse sides of the central core portion (310), and a plurality of vibration isolation mounting pads (352) configured for mounting the one power source.

3. The machine (2) according to claim 1, wherein a plurality of vibration isolation mounting pads (352) are disposed on the central core portion (310) of the swing frame (22), adjacent to the hollowed-out portion of the counterweight.

4. The machine (2) according to claim 1, wherein the hollowed-out portion (222) of the counterweight (226) extends to both sides of the central core portion (310) of the swing frame (22).

5. The machine (2) of claim 1, wherein the swing frame further includes a ladder side skirt on each of the opposing lateral sides of the central core portion, the swing frame being configured to support any one of the plurality of interchangeable power sources, and the ladder side skirt being configured to support the hydraulic components and the electrical components on a portion of the ladder side skirt spaced apart from the central core portion to increase the amount of space for mounting the one power source on the central core portion.

6. The machine (2) according to claim 5, wherein the central core portion includes vertical ribs arranged in parallel longitudinal directions on opposite transverse sides of the central core portion, and a plurality of vibration-damping mounting pads configured for mounting the one power source.

7. The machine (2) according to claim 6, wherein the electrical component comprises an electric motor driven by the one power source, and the hydraulic component comprises a pump mounted to the electric motor, wherein a coupling is located between the pump and the electric motor, and wherein the pump and the electric motor are longitudinally mounted on one of the ladder side skirts, on the side of the central core portion opposite to the cab mounted on the other ladder side skirt.

8. The machine (2) according to claim 1, wherein the swing frame (22) includes trapezoidal side skirts (312, 314) on each of the opposing lateral sides of the central core portion (310); and the central core portion (310) extends below each of the trapezoidal side skirts to lower the center of gravity of the one power source mounted on the central core portion.

9. A machine suitable for operation powered by a battery, the machine comprising: A base frame configured to support a ground engagement member for propelling the machine; The superstructure, rotatably supported on the underframe, includes a swing frame configured to support the cab, the battery, hydraulic components, and electrical components. as well as A counterweight is disposed at a first end of the swing frame, the counterweight including a hollowed-out portion facing the swing frame, the hollowed-out portion being centrally aligned with a central core portion of the swing frame configured to support the battery, wherein the battery is partially housed within the hollowed-out portion of the counterweight; the machine includes a controller that determines the power level supplied or consumed by the battery, electrical devices, and hydraulic devices based on request signals, operation signals, and a control strategy; the control strategy includes subsystem controls, wherein the subsystem controls include battery subsystem controls for controlling the operation of the battery, electrical subsystem controls for controlling the operation of the electrical devices, and hydraulic subsystem controls for controlling the operation of the hydraulic devices.

10. The machine of claim 9, wherein the swing frame includes a trapezoidal side skirt on each of the opposing lateral sides of the central core portion; and the central core portion extends below each of the trapezoidal side skirts to lower the center of gravity of the battery mounted on the central core portion.

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