DE102022122738A1 - Method for operating a mobile work machine - Google Patents

Abstract

A method for operating a mobile work machine is proposed, wherein at least one drive unit having at least one maximum parameter is used to drive at least a first main consumer and for driving at least a second main consumer and for driving at least one secondary consumer, with at least one control unit being used , which at least partially improves the disadvantages of the prior art or, in particular, with the help of so-called “power management” to control the main consumers so that the engine can provide sufficient torque. This is achieved according to the invention in that an actual parameter difference between the maximum parameter of the drive unit and a sum of at least a first actual parameter of the first main consumer and a second actual parameter of the second main consumer and a third actual parameter of the at least one Secondary consumer is formed that at least one main consumer actual parameter sum is formed, which is formed at least from a first actual parameter of the first main consumer and from a second actual parameter of the second main consumer, and that a first share of the first actual Parameter of the first main consumer in the main consumer actual parameter sum and a second share of the second actual parameter of the second main consumer in the main consumer actual parameter sum is used, the actual parameter difference being at least in the first share and the second share is divided.

Description

The invention relates to a method for operating a mobile work machine, wherein at least one drive unit having at least one maximum parameter according to the preamble of claim 1.

State of the art

Given the strict regulations regarding the reduction of emissions, developers of self-driving machines are forced to prioritize economic as well as ecological requirements. In order to conserve all kinds of resources and reduce emissions, combustion engines need to be downsized. However, this creates new challenges; the engine must be optimally coordinated with its consumers.

One difficulty with power distribution is that the maximum torque provided by the engine depends on several factors. The oxygen content supplied into the combustion chamber in internal combustion engines is a key factor for performance and therefore also for the available torque. For example, the engine performance decreases as the altitude increases, meaning that the maximum performance also depends on the location of use. Other influencing factors include the temperature of the air supplied to the combustion chamber. The responsiveness of a turbocharged combustion engine should not be ignored. When there is a load change starting from a low load, the turbocharger needs a certain amount of time to come up to speed in order to build up enough boost pressure. In this case, the maximum torque cannot be made available at the beginning of the load change, but rather only with a time delay. For these reasons, the engine constantly varies its maximum available torque. But it's not just the engine that changes its maximum performance, the power requirements of its consumers are also constantly changing.

Motor consumers are usually divided into main and secondary consumers. The main consumers of a work machine are the work pump and the drive pump. The main consumers, so to speak, supply the most important functions of the machine, which the operator can directly influence. On the other hand, the auxiliary consumers generally play a subordinate role; they are necessary for the basic functions of the machine. Parasitic loads are also classified in the category of auxiliary consumers. The operator can usually only control the auxiliary consumers indirectly. Examples of additional consumers include the gear pump that supplies the braking and steering system or the friction between moving pump parts.

The consumers are generally supplied by the engine via the drive shaft or the power take-off. The torque generated by the engine must therefore be distributed between the main consumers and the auxiliary consumers. Not only are the torque requirements of the main consumers constantly changing, but also those of the secondary consumers. An example of dynamic auxiliary consumers is the variable-speed fan. On the other hand, friction in the warehouse can be categorized as static secondary consumers.

The difficulty here is that the constantly changing sum of the torques of all main and auxiliary consumers must always be less than or equal to the maximum engine torque available. If this rule is violated, the engine may stop unintentionally.

Another problem is the tolerance-related differences in the components installed in a work machine. Due to the tolerances, the motors of the same series differ in terms of their efficiency and therefore their maximum performance. The same applies to consumers, although in the case of axial piston variable pumps, for example, their efficiency is low when new and increases with increasing operating hours.

Given the possible constellations of engine and consumers, the maximum useful power of work machines of the same series can differ or change with the operating time. For this reason, each machine requires an individual adjustment of its power controllers or a uniform setting is chosen for all machines so that even a worst-case combination of motor and consumers still works perfectly. With the latter solution, however, the performance of the majority of machines cannot be utilized to its maximum.

Task and advantages of the invention

The object of the invention is, in contrast, to propose a method for operating a mobile work machine that at least partially improves the disadvantages of the prior art or, in particular, with the help of so-called "power management" to control the main consumers in such a way that the engine (always ) can provide sufficient torque or ensure that each consumer always has sufficient power available so that, if possible, none of the consumers are undersupplied, so that the machine remains fully operational at all operating points, and/or that dynamic load changes caused by consumers occur the motor can be tuned and/or that an adjustable energy-saving operating state (so-called “ECO mode”) can be implemented and/or that performance differences due to component tolerances of the components can be compensated (automatically).

This object is achieved, based on a method for operating a mobile work machine of the type mentioned in the introduction, by the features of claim 1. The measures mentioned in the subclaims make advantageous embodiments and developments of the invention possible.

Accordingly, a method according to the invention is characterized in that an actual parameter difference between the maximum parameter of the drive unit and a sum of at least a first actual parameter of the first main consumer and a second actual parameter of the second main consumer and a third actual parameter of the at least one secondary consumer is formed, that at least one main consumer actual parameter sum is formed, which is formed at least from a first actual parameter of the first main consumer and from a second actual parameter of the second main consumer, and that a first share of the first actual parameter of the first main consumer in the main consumer actual parameter sum and a second share of the second actual parameter of the second main consumer in the main consumer actual parameter sum is used, the actual parameter difference being at least in the first share and the second share is divided.

With the help of this measure it is achieved that the main consumers, which are particularly important for the work machine, can be supplied accordingly in accordance with their respective, current share of the torque and/or power or the like made available. This effectively prevents one of the two or more main consumers from being insufficiently supplied or operated.

Advantageously, the maximum parameter of the drive unit is formed as a sum of at least one maximum actual parameter of the drive unit and an offset actual parameter, wherein at least the offset actual parameter has a dependency on a speed of the drive unit. Using the advantageous offset (actual) parameter, a certain tolerance or reserve is generated/usable. For example, a short-term and/or abrupt change in the required torque and/or power of the consumers can be advantageously “cushioned” or compensated for without causing an “undersupply” to one of the main/consumers.

This can also be used to adapt to, for example, the changing maximum power or maximum torque of the drive unit or drive motor, in particular combustion/diesel engines, depending on the speed and/or to adapt to different manufacturing tolerances of those used in the work machine Components, i.e. the drive unit or the motor and / or the main and / or the auxiliary / consumers and / or the different losses or friction / resistance of moving elements / components are realized.

Accordingly, even with the advantageous offset (actual) parameter, a very high dynamic change in the parameter(s) can be compensated for and/or performance differences due to component tolerances of the components can be (automatically) compensated for. This means that the machine remains fully usable at all possible operating points and also in all work machines, especially despite component/manufacturing tolerances.

In an advantageous variant of the invention, at least a first parameter limit of the first main consumer is used to limit the first actual parameter and/or at least a second parameter limit of the second main consumer is used to limit the second actual parameter. The advantageous limit or limitation of the actual/parameter prevents an undersupply from occurring. This further improves the operation of the work machine and ensures that the Motor can (always) provide enough torque, that every consumer always has sufficient power available, so that if possible none of the consumers are undersupplied, which means that the machine remains fully operational at all operating points, and that dynamic load changes caused by consumers on the motor can be coordinated.

Advantageously, the first parameter limit of the first main consumer is formed at least from a sum of the first actual parameter of the first main consumer and the actual parameter difference multiplied by the first proportion and / or the second parameter limit of the second main consumer is at least a sum of the second actual parameter of the second main consumer and the actual parameter difference multiplied by the second share. This advantageously achieves a proportional distribution of the difference or the distributable parameter such as the torque or power. In this way, the main consumers, which are particularly important for the work machine, can be supplied accordingly in accordance with their respective current share of the torque and/or power or the like made available. This effectively prevents one of the two or more main/consumers from being insufficiently supplied or operated.

Preferably the sum of all parts is one. As a result, there is a complete breakdown of the available actual parameters such as power and/or torque.

Advantageously, at least the first and second components are changed depending on the actual operation. An adaptation to the current actual operation can thus be achieved in an advantageous manner.

For example, the first main consumer is designed as a first hydraulic pump and/or used to operate a drive element, e.g. drive wheel/roller and/or crawler chassis or vibration element. Likewise, for example, the second main consumer can be designed as a second hydraulic pump and/or for operating a lifting device, in particular a lifting arm, gripper arm, telescopic arm or the like, and/or a work tool, e.g. a gripper/shovel, fork, a vibration element, a milling machine, a clearing blade or the like, and/or a tool holder can be used to hold the work tool. In this way, the special functions of the work machines are recorded.

For example, the electronic control unit is designed to control the drive unit and/or the first main consumer and/or the second main consumer and/or the secondary consumer and/or the lifting device and/or the work tool and/or the tool holder and/or the control element as a foot pedal , so-called joystick, keyboard, touchscreen and / or touchpad and / or used for manual operation / actuation by an operator and / or for specifying a target parameter of the lifting device and / or the work tool and / or the tool holder by the operator . This means that existing components of the work machine can advantageously be used for the invention. This reduces the effort, especially the financial and design effort.

Advantageously, the sensor is used to detect an actual parameter of the drive unit and/or the first main consumer and/or the second main consumer and/or the secondary consumer and/or the first hydraulic pump and/or the second hydraulic pump and/or the lifting device and/or the work tool and / or the tool holder. As a result, the advantageous parameter values can be recorded precisely and up to date and used for the invention.

According to the invention, it is also effectively prevented that, as in the prior art, the currently required torque of all main consumers is not known and for this reason, for example, no closed equation can be set up to form the relationship between the engine torque, the torque of the main consumers and the secondary consumers. $$\begin{array}{l}\text{This equation is defined as follows: engine torque}=\\ \text{Main consumer torque}+\text{Auxiliary consumer torque}\end{array}$$

If the current torque is missing, no relationship can be formed between the main consumers themselves; on the other hand, no torque limit can be specified because the hardware and software options for this are missing. Forming a torque ratio and forming a torque limit is necessary when several main consumers are activated at the same time in work machines and the engine is already fully utilized. It can The case may arise that one of the main consumers draws too much power and as a result another consumer in the system is undersupplied. The result is a standstill for the undersupplied main consumer.

As a rule, the operator of work machines can currently select an ecological operating mode (ECO mode), which allows the machine to work in an energy-saving state. To ensure economical fuel consumption, care must be taken to ensure that the engine maintains a constant engine speed and avoids drops in speed caused by sudden load changes. The implementation of the ECO mode has so far only been partially possible with the help of the power regulators of the main consumers. In the case of axial piston variable pumps, for example, the power controller can only be reduced within a certain range. However, a further reduction is necessary or desired.

In addition, it has not yet been possible to use the power regulator of the main consumers to cushion sudden load changes, which is essential for economical fuel consumption.

• • Actual Maximum Available Engine Torque at Current Speed
• • Actual Maximum Available Engine Torque (M_max)
• • Actual Engine Torque (M_Ist)

The state variables are advantageously read and evaluated by an engine control unit as a control unit. For example, an algorithm is executed on the control unit that calculates a generated torque taking into account the operating conditions, for example the air mass flow and the injected fuel quantity being taken into account. As a rule, several torque signals are provided by the engine control unit, the relevant signals are, for example, the following:

• • Actual Maximum Available Engine Torque at Current Speed
• • Actual Maximum Available Engine Torque (M _max )
• • Actual Engine Torque (M _Actual )

• • Arbeitspumpen
• • Zahnradpumpen
• • Fahrpumpen (hydrostatischer Fahrantrieb)
• • Lichtmaschine
• • Klimakompressor
• • Drehzahlvariabler Lüfter
• • Motorreibungen
• • etc.

The former signal is the maximum engine torque currently available at the current speed. This is the torque that can be purchased by consumers in the near future. Secondly, the maximum engine torque currently available is based on the maximum torque peak. The latter signal is the current engine torque that is currently acting on the drive shaft. This signal is made up of the total torque of all consumers. Various consumers of an exemplary work machine are advantageously listed below:

• • Working pumps
• • Gear pumps
• • Travel pumps (hydrostatic travel drive)
• • Alternator
• • Air conditioning compressor
• • Variable speed fan
• • Engine friction
• • Etc.

For example, so that the drive/combustion engine is utilized as efficiently as possible at full load, the difference between the maximum available engine torque and the current engine torque should be zero. To do this, consumers must be able to adapt to the dynamic changes quickly enough. This requirement is met, for example, by an axial piston variable displacement pump in an open circuit, equipped with an electro-hydraulic control valve. The swivel angle or the swivel angular speed of the variable pump is controlled using a proportional directional control valve. The pump itself is equipped with a swivel angle sensor and a pressure sensor. These state variables are advantageously used, among other things, to calculate the momentary torque for applying the hydraulic power and make it available as information via an electronic interface, such as a CAN bus or the like. However, in general, not only data/information is sent as signals, limit values or manipulated variables for the pump can also be specified.

One of the limit values is, for example, the maximum torque limit of the pump. As soon as the delivered pump torque reaches the specified limit, the pump swings back or does not swing further out. The maximum performance of the working hydraulics can therefore be changed and limited in a highly dynamic manner. The functionality of the hydrostatic travel drives, which consist of an axial piston variable displacement pump in a closed circuit as a travel pump and an axial piston adjustment motor as a traction motor, is similar. A torque limit can be set dynamically via an electronic interface and the currently delivered torque is provided as information. These exemplary properties of data transmission are of great advantage, since a type of sum equation can be set up in the context of torque management, as already described above by the above-mentioned equation (1).

Embodiment example

An exemplary embodiment of the invention is shown in the drawing and is explained in more detail below with reference to the figures.

• 1 ein schematisches Schaubild einer Zusammensetzung eines aktuellen Motordrehmoments einer Arbeitsmaschine gemäß der Erfindung,
• 2 ein schematisches Schaubild einer Motor-Drehmomenten-Kennlinie in Abhängigkeit der Motordrehzahl,
• 3 ein schematisches Schaubild eines aus der Kennlinie gemäß 2 resultierenden Drehmomenten-Offsets,
• 4 ein schematisches Schaubild einer Zusammensetzung eines aktuell maximal zur Verfügung gestellten Motordrehmoments und
• 5 schematisch dargestelltes Blockschaltbild eines exemplarischen Signalflusses von einem Leistungsmanagement einer selbstfahrenden Arbeitsmaschine gemäß der Erfindung.

In detail shows:

• 1 a schematic diagram of a composition of a current engine torque of a work machine according to the invention,
• 2 a schematic diagram of an engine torque characteristic depending on the engine speed,
• 3 a schematic diagram of one from the characteristic curve according to 2 resulting torque offsets,
• 4 a schematic diagram of a composition of a currently maximum available engine torque and
• 5 schematically illustrated block diagram of an exemplary signal flow from a power management of a self-propelled work machine according to the invention.

5 shows an example of a schematic block diagram of a so-called performance management of a self-propelled, mobile machine. Here, an internal combustion engine 30 or diesel engine 30 drives a first main consumer 1 or a work pump 1 as well as a second main consumer 2 or driving pump 2 as well as a first secondary consumer 41 or air conditioning compressor 41 and a second secondary consumer 42 or gear pump 42.

The diesel engine 30 is assigned an engine control unit 31, between which signals are exchanged, on the one hand signals 32 from the engine 30 to the control unit 31 such as temperature, air pressure, actual engine speed etc. and on the other hand signals 33 from the control unit 31 to the engine 30 such as target Engine speed etc. Signals 34 are forwarded from the control device 31 to a (common) bus 51, such as M _actual , M _max , speed n etc. The bus 51 communicates or exchanges signals 52 with a machine control device 50 or a control unit 50 .

In principle or according to the in 5 In the example shown, each main consumer 1, 2 to N is assigned its own or separate control device 11, 21 to N1 and there is advantageously a bidirectional connection or bidirectional signals 12 for, for example, swivel angle, working pressure, etc. and signals 13 for e.g. control current or signals 22 for e.g. swivel angle, working pressure etc. and signals 23 for e.g. control current between these. In addition, there is advantageously a bidirectional connection or bidirectional signals 14 for M _Act1 , signals 15 for a first torque limit M _Lim1 or signals 24 for M _Act2 , signals 25 for a second torque limit M _Lim2 25 between the main consumers -Control units 11, 21 and bus 51.

In principle or according to the in 5 In the example shown, the additional consumers 41 to 4N do not have their own control devices. This is advantageously a difference or weighting/evaluation between main consumers 1, 2 and secondary consumers 41, 42.

Torque management of a self-propelled work machine according to the invention pursues, among other things, the goal of making the available engine torque M _Ist advantageously available to all main consumers 1, 2 in user-defined proportions. The engine torque M _Act is divided between the secondary consumers 41, 42 and the main consumers 1, 2 (cf. 1 and 5 ).

wobei M_Ist1 bis M_IstN das aktuelle Drehmoment aller Hauptverbraucher 1, 2 bis N beschreibt. So werden in 1 exemplarisch die Drehmomentenverläufe über die Zeit grafisch dargestellt. Das in 1 dargestellteMotordrehmoment M_Ist setzt sich im vorliegenden, vorteilhaften Beispiel aus zwei Hauptverbraucher 1, 2 und den Nebenverbrauchern 41, 42 zusammen. Below, the current torque M taken from the auxiliary consumers 41, 42 will be referred to as the current auxiliary consumer torque M _auxiliary . This torque is calculated as follows: $${\text{M}}_{\text{Next to}}={\text{M}}_{\text{Is}}-{\text{M}}_{\text{Is}1}-{\text{M}}_{\text{Is}2}-\dots -{\text{M}}_{\text{IsN}}$$

where M _Act1 to M _ActN describes the current torque of all main consumers 1, 2 to N. So be in 1 The torque curves over time are shown graphically as an example. This in 1 In the present, advantageous example, the engine torque M _Act shown is composed of two main consumers 1, 2 and the secondary consumers 41, 42.

The first main consumer 1 draws its load M _Act1 at short notice (see “Hill” in 1 ), on the other hand, the second main consumer 2 takes a constant load M _Act2 . Since the torques of the main consumers 1, 2 are known in an advantageous manner, the torque M _of the secondary consumers 41, 42 is obtained by applying the above-mentioned equation (2). If the operator switches on an auxiliary consumer 41 or 42 such as the air conditioning, the current engine torque Mist increases and thus also the proportion of M _auxiliary . In 1 For illustrative purposes, however, it is not one of the auxiliary consumers 41, but, as explained above, one of the main consumers M _Ist1 that is shown with a briefly higher torque requirement (cf. the above-mentioned “hill”), for example when lifting a lifting arm with a large weight, ie a higher torque requirement the work pump 1 to lift an excavator arm with a filled shovel or the like.

wobei M_Off als Drehmomenten-Offset-Limit bezeichnet wird. Diese Größe ist abhängig von der aktuellen Motordrehzahl (n), wodurch sich die Drehzahl-Drehmomenten-Abhängigkeit des Motors definiert lässt (vgl. 2). Das ist notwendig, sobald die Motordrehzahl n an der Arbeitsmaschine verändert wird. Üblicherweise kann ein Verbrennungsmotor 30 wenig Drehmoment M im niedrigen Drehzahlbereich generieren, weshalb hier der Wert von M_Off hoch sein muss. Hingegen ist der Wert von M_Off an der Stelle vom Drehmomenten-Peak niedrig oder null (vgl. 2).Furthermore, the torque M available to the main consumers 1, 2 can be _freely calculated. It is calculated as follows: $${\text{M}}_{\text{Free}}={\text{M}}_{\text{Max}}-{\text{M}}_{\text{Is}}-{\text{M}}_{\text{Off}}\left(\text{n}\right),$$

where M _Off is referred to as the torque offset limit. This variable depends on the current engine speed (n), which allows the speed-torque dependency of the engine to be defined (cf. 2 ). This is necessary as soon as the engine speed n on the machine is changed. Typically, an internal combustion engine 30 can generate little torque M in the low speed range, which is why the value of M _Off must be high here. On the other hand, the value of M _Off at the point of the torque peak is low or zero (cf. 2 ).

The torque M over the speed n of a diesel engine 30 is in the 2 shown as an example. The torque peak, for example, has a value of 300 Nm and is at a speed of 1600 rpm. At this operating point, the motor 30 can make its maximum torque M _Max-all available. However, the available torque M _Max is lower as soon as the speed n deviates from 1600 rpm. For example, 250 Nm can be made available at a speed n of 1000 rpm. The difference between the torque peak M _Max-all and the operating point (actual) at 1000 rpm must be compensated for with the M _Off . In this case, M _Off must assume a value of, for example, 50 Nm. The area between the 300 Nm line and the curve represents the proportion of M _Off over the engine speed n. In the 3 the course of M _Off over the engine speed n is illustrated again separately.

The torque ratio, which is defined by equation (3), is shown schematically in 4 shown. The current engine torque M _Act increases due to consumption or the first main consumer 1 and consequently decreases again - an increase in torque can be seen in the middle (cf. “Hill” above). Because of this, the proportion of M _Frei must be low in this area, since less torque M _Frei is now available for other consumers or for the second main 2 and the secondary consumers 41, 42.

Advantageously, in the next step, M _Frei is advantageously divided individually among the main consumers 1, 2. A torque limit M _Lim of the main consumers 1, 2 is calculated by $$\begin{array}{l}{\text{<figure-callout id="1" label="M Lim" filenames="DE102022122738A1\_0008.png" state="{{state}}">M</figure-callout>}}_{\text{Lim}}={\text{M}}_{\text{Is}1}+{\text{M}}_{\text{Free}}*\text{<figure-callout id="1" label="Fac" filenames="DE102022122738A1\_0008.png" state="{{state}}">Fac</figure-callout>}\mathrm{1,}\\ {\text{M}}_{\text{Lim2}}={\text{M}}_{\text{Is2}}+{\text{M}}_{\text{Free}}*\text{Fac2},\\ \dots {\text{M}}_{\text{LimN}}={\text{M}}_{\text{IsN}}+{\text{M}}_{\text{Free}}*\text{FacN}\text{.}\end{array}$$

wobei sich die Faktoren üblicherweise dynamisch ändern können, da diese wiederum Abhängigkeiten von anderen Einflussgrößen sein können. Etwa eine Limitierung einzelner Hauptverbraucher 1, 2 kann beispielsweise durch das Nullsetzen einzelner Faktoren realisiert werden. Zudem ist zum Beispiel das Führen der Hauptverbraucher 1, 2 durch das Limitieren des Drehmoments ermöglicht.The factors Fac1 to FacN demonstrate the relationship between the consumers 1, 2, 41, 42. When the engine 30 is at full load, this applies advantageously $$\text{Fac}1+\text{Fac}2+\dots +\text{FacN}=\mathrm{1,}$$

The factors can usually change dynamically, as these in turn can be dependent on other influencing factors. For example, a limitation of individual main consumers 1, 2 can be achieved by setting individual factors to zero. In addition, for example, it is possible to control the main consumers 1, 2 by limiting the torque.

5 illustrates the possible signal flow described above as an example between the control devices 11, 21 of the main consumers 1, 2, the machine control device 50 and the engine control device 31 of a self-propelled work machine. The diesel unit 30 supplies, for example, the work pump 1 and the drive pump 2, which act as main consumers 1, 2 in the system. The gear pump 42, which is to be viewed as an auxiliary consumer 42, is also arranged on the pump train. Another additional consumer 41 is, for example, the air conditioning compressor 41, which may be attached to the engine 30.

The arrows in 5 indicate the signal flow direction, the machine control unit 50 receives the signals 34 from the engine control unit 31. Furthermore, the machine control unit 50 receives
the current torques M _Act1 and M _Act2 of the main consumers 1, 2. Based on this information/signals 14, 24, the torque limits M _Lim1 and M _Lim2 of the main consumers 1, 2 can in turn be calculated. The machine control unit 50 transmits the signals 15, 25 to the control unit 11, 21 of the main consumers 1, 2. The control unit 11, 22 of the main consumers 1, 2 sets the actuators, not shown, through the control current 13, 23 so that the torque limit M _Lim1 and M _Lim2 are adhered to.

In principle, all types of main consumers 1, 2 can be used for the so-called power management as soon as a torque limit M _Lim1 and M _Lim2 can be specified in an advantageous manner via an electronic interface or bus 51. Furthermore, the main consumer 1, 2 can provide the currently delivered torque or a derivation of the torque from its state variables.

In general, the aforementioned or the invention can, for example, not only be implemented/applied with/for/with hydraulic pumps, electrical main consumers could also be used in the system. An example of main electrical consumers is, for example, an electric slewing gear/rotary motor. Electric traction drives or other electric actuators may also be operated or controlled accordingly.

The engine does not necessarily have to be an internal combustion engine 30 (see above); the use of a (purely) electrical system consisting of accumulators and electric motors is also possible.

In principle, it is advantageous to provide the electronic interface for obtaining the state variables, whereby the current torque is calculated and provided directly or indirectly from the variables, as well as the possibility of limiting the torque. Power or other derivatives thereof can also be used instead of torque.

• - Effiziente Auslastung der Maschine bei Volllast durch die Steuerung der Hauptverbraucher.
• - Den Verbrauchern wird stets genügend Leistung zur Verfügung gestellt, es besteht keine Gefahr der Unterversorgung von Verbrauchern.
• - Individuelle Aufteilung des vom Motor zur Verfügung gestellten Drehmoments auf seine Verbraucher.
• - Realisierung eines energiesparenden Betriebszustandes v.a. durch Limitierung des Drehmoments. Sicherer Betrieb der Maschine im unteren Drehzahlbereich. Zum Beispiel durch das Führen des Drehmomenten-Limits der Hauptverbraucher wird ein Drehzahleinbruch des Motors im Vergleich zum Stand der Technik wesentlich verbessert. In einem ECO-Modus wird z.B. nicht zwingend die Motordrehzahl reduziert, eine vorteilhafte Limitierung des Drehmoments hat einen spritsparenden Effekt.
• - Leistungsunterschiede aufgrund von Bauteiltoleranzen werden in vorteilhafter Weise automatisch ausgeglichen.
• - Einsatzortabhängige Leistungsanpassung durch einen vorteilhaften Algorithmus. Die volle Leistung steht z.B. auch in niedrigen Lagen über Meereshöhe zur Verfügung, wiederum bezweckt die Leistungslimitierung der Verbraucher in vorteilhafter Weise eine geringere Rußbildung des Partikelfilters in höheren Lagen.
• - Gute Abstimmungsmöglichkeit zwischen den Hauptverbrauchern, um z.B. Schwingungen sowie Schwankungen aufgrund von ändernden Leistungsanforderungen zu unterdrücken. Vor allem können auch Geschwindigkeitsschwankungen beim Fahren verringert werden.
• - Die Verwendung von elektrisch geregelten Hauptverbraucher im System ist realisierbar.
• - Die aktuellen Zustandsgrößen wie etwa das aktuelle abgenommene Drehmoment bzw. die aktuelle Verbraucherleistung wird über z.B. eine elektronische Schnittstelle zur Verfügung gestellt durch die Hauptverbraucher. Zudem ist es möglich, den Hauptverbraucher durch ein Drehmomenten-Limit oder ein Leistungslimit über eine elektronische Schnittstelle zurückzunehmen.
• - Das Bilden der Beziehung zwischen dem Motordrehmoment, dem Drehmoment der Hauptverbraucher und der Nebenverbraucher -siehe Gleichung (1).
• - Die Berechnung des Drehmoments (siehe oben), welches den Hauptverbrauchern zur Verfügung gestellt wird.

Further particular advantages of the invention and/or advantageous variants of the invention are:

• - Efficient utilization of the machine at full load by controlling the main consumers.
• - Consumers are always provided with enough power; there is no risk of undersupply to consumers.
• - Individual distribution of the torque provided by the engine among its consumers.
• - Realization of an energy-saving operating state primarily by limiting the torque. Safe operation of the machine in the lower speed range. For example, by maintaining the torque limit of the main consumers, a drop in engine speed is significantly improved compared to the state of the art. In an ECO mode, for example, the engine speed is not necessarily reduced; an advantageous limitation of the torque has a fuel-saving effect.
• - Performance differences due to component tolerances are automatically compensated for in an advantageous manner.
• - Location-dependent performance adjustment using an advantageous algorithm. The full power is also available at low altitudes above sea level, for example, which is again the purpose of the performance Mitigation of consumers advantageously reduces soot formation in the particle filter at higher altitudes.
• - Good coordination option between the main consumers, for example to suppress vibrations and fluctuations due to changing performance requirements. Above all, speed fluctuations while driving can be reduced.
• - The use of electrically controlled main consumers in the system is possible.
• - The current state variables such as the current torque taken or the current consumer power are made available by the main consumers via an electronic interface, for example. It is also possible to reduce the main consumer by setting a torque limit or a power limit via an electronic interface.
• - Forming the relationship between the engine torque, the torque of the main consumers and the secondary consumers -see equation (1).
• - The calculation of the torque (see above) which is made available to the main consumers.

Claims (15)

Method for operating a mobile work machine, wherein at least one drive unit (30) having at least one maximum parameter, in particular an internal combustion engine (30) such as a diesel engine (30), for driving at least a first main consumer (1) and for driving at least a second Main consumer (2) and for driving at least one secondary consumer (41, 42), in particular an air conditioning compressor, gear pump, alternator, fan, engine friction or the like, wherein at least one electrical and / or electronic control unit (50) is used, wherein at least one control element is used to specify a target parameter by the operator, with at least one sensor being used to record an actual parameter, in particular an actual power and/or an actual torque, characterized in that an actual Parameter difference between the maximum parameter of the drive unit (30) and a sum of at least a first actual parameter of the first main consumer (1) and a second actual parameter of the second main consumer (2) and a third actual parameter of the at least one secondary consumer (41, 42) is formed by forming at least one main consumer actual parameter sum, which is formed at least from a first actual parameter of the first main consumer (1) and from a second actual parameter of the second main consumer (2). , and that a first share of the first actual parameter of the first main consumer (1) in the main consumer actual parameter sum and a second share of the second actual parameter of the second main consumer (2) in the main consumer actual parameter sum is used, the actual parameter difference being divided at least into the first portion and the second portion. Procedure according to Claim 1 , characterized in that the maximum parameter of the drive unit (30) is formed as a sum of at least one maximum actual parameter of the drive unit (30) and an offset actual parameter, wherein at least the offset actual parameter has a dependency on a speed of the drive unit (30). Method according to one of the preceding claims, characterized in that at least a first parameter limit of the first main consumer (1) is used to limit the first actual parameter. Method according to one of the preceding claims, characterized in that at least a second parameter limit of the second main consumer (2) is used to limit the second actual parameter. Method according to one of the preceding claims, characterized in that the first parameter limit of the first main consumer (1) is formed at least from a sum of the first actual parameter of the first main consumer (1) and the actual parameter difference multiplied by the first proportion becomes. Method according to one of the preceding claims, characterized in that the second parameter limit of the second main consumer (2) is at least a sum of the second actual parameter of the second main consumer (2) and the actual parameter difference multiplied by the second share. Method according to one of the preceding claims, characterized in that the sum of all shares becomes one. Method according to one of the preceding claims, characterized in that at least the first and second components are changed depending on the actual operation. Method according to one of the preceding claims, characterized in that the first main consumer (1) is designed as a first hydraulic pump and/or is used to operate a drive element, for example a drive wheel/roller and/or crawler chassis or vibration element. Method according to one of the preceding claims, characterized in that the second main consumer (2) is designed as a second hydraulic pump and/or for operating a lifting device, in particular a lifting arm, gripper arm, telescopic arm or the like, and/or a work tool, for example a gripper -/shovel, fork, a vibration element, a milling machine, a clearing blade or the like, and/or a tool holder is used to hold the work tool. Method according to one of the preceding claims, characterized in that the electronic control unit (50) for controlling the drive unit (30) and/or the first main consumer (1) and/or the second main consumer (2) and/or the secondary consumer (41, 42) and/or the lifting device and/or the work tool and/or the tool holder is formed. Method according to one of the preceding claims, characterized in that the control element is designed as a foot pedal, so-called joystick, keyboard, touchscreen and / or touchpad and / or for manual operation / actuation by an operator and / or for specifying a target parameter Lifting device and / or the work tool and / or the tool holder is used by the operator. Method according to one of the preceding claims, characterized in that the sensor for detecting an actual parameter of the drive unit and/or the first main consumer (1) and/or the second main consumer (2) and/or the secondary consumer (41, 42) and / or the first hydraulic pump and / or second hydraulic pump and / or lifting device and / or the work tool and / or the tool holder is formed. Method according to one of the preceding claims, characterized in that the mobile work machine is designed as a wheel loader, telehandler, excavator, tractor, soil compaction device such as a vibration tamper, a vibration plate or a roller. Mobile work machine, in particular a wheel loader, telehandler, excavator, tractor, soil compaction device such as a vibration tamper, a vibration plate or a roller, or the like, characterized in that the work machine can be operated with a method according to one of the preceding claims.

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