DE4311485A1 - Method for operating a hydrostatic travel drive - Google Patents

Method for operating a hydrostatic travel drive

Info

Publication number
DE4311485A1
DE4311485A1 DE4311485A DE4311485A DE4311485A1 DE 4311485 A1 DE4311485 A1 DE 4311485A1 DE 4311485 A DE4311485 A DE 4311485A DE 4311485 A DE4311485 A DE 4311485A DE 4311485 A1 DE4311485 A1 DE 4311485A1
Authority
DE
Germany
Prior art keywords
speed
drive
travel drive
travel
operating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
DE4311485A
Other languages
German (de)
Inventor
Wilfried Dipl Ing Marner
Jocelyn Francois
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Linde GmbH
Original Assignee
Linde GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Linde GmbH filed Critical Linde GmbH
Priority to DE4311485A priority Critical patent/DE4311485A1/en
Publication of DE4311485A1 publication Critical patent/DE4311485A1/en
Ceased legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/46—Automatic regulation in accordance with output requirements
    • F16H61/462—Automatic regulation in accordance with output requirements for achieving a target speed ratio
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/101—Infinitely variable gearings
    • B60W10/103—Infinitely variable gearings of fluid type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/46—Automatic regulation in accordance with output requirements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/66—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for continuously variable gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0638—Engine speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • F16H2059/366—Engine or motor speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Transmission Device (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

In a method, preferably employed on industrial trucks with lifting hydraulics, for the operation of a hydrostatic travel drive, the transmission ratio (PSW) in the travel drive is specified as a function of a travel-transmitter signal. In this process, a desired speed value (Vdes) is determined from the travel-transmitter signal, the actual speed (n) of the engine is measured and the transmission ratio (PSW) at which the desired speed value (Vdes) for the measured speed (n) of the engine should be reached is determined and input into the travel drive. <IMAGE>

Description

Die Erfindung betrifft ein Verfahren zum Betreiben eines hydrostatischen Fahrantriebs, bei dem das Übersetzungsver­ hältnis im Fahrantrieb in Abhängigkeit von einem Fahrgeber- Signal vorgegeben wird.The invention relates to a method for operating a hydrostatic drive, in which the translation ver Ratio in the drive depending on a throttle Signal is specified.

Wenn sich bei den bekannten Fahrantrieben die Drehzahl der Antriebsmaschine aus einem beliebigen Grund erhöht, z. B. bei Bergabfahrt, so wird trotz unverändertem Fahrgeber-Signal (Fahr­ pedal-Signal) auch die Fahrgeschwindigkeit erhöht. Sinkt die Drehzahl der Antriebsmaschine ab, was bei Überlastung der Fall ist, tritt in der Regel eine Drückungsregelung in Kraft. Eine Drückungsregelung ist beispielsweise aus der DE 37 06 117 A1 bekannt. Hierbei wird das Absinken der Drehzahl erfaßt und steuernd in das Übersetzungsverhältnis im Fahrantrieb einge­ griffen, derart, daß die Überlastung der Antriebsmaschine wieder aufgehoben wird. Dies wird durch eine Übersetzungs­ änderung erreicht. Auch in dieser Betriebsart wird also trotz unverändertem Fahrgeber-Signal die Fahrzeuggeschwindigkeit beeinflußt. If the speed of the known drive Prime mover increased for any reason, e.g. B. at Downhill, so despite the unchanged encoder signal (driving pedal signal) also increases the driving speed. Sinks Speed of the drive machine, which is the case when overloaded pressure control usually comes into force. A Pressure control is for example from DE 37 06 117 A1 known. The drop in speed is detected and controlling in the gear ratio in the travel drive attacked such that the overload of the engine is canceled again. This is done through a translation change reached. So even in this mode of operation unchanged throttle signal the vehicle speed influenced.  

Bei den bekannten hydrostatischen Fahrantrieben gibt es somit keinen eindeutigen Zusammenhang zwischen dem Fahrgeber-Signal und der tatsächlich erreichten Fahrzeuggeschwindigkeit.In the known hydrostatic travel drives, there are thus no clear connection between the throttle signal and the vehicle speed actually reached.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein gattungsgemäßes Verfahren zum Betreiben eines hydrostatischen Fahrantriebs zur Verfügung zu stellen, bei dem ein eindeutiger Zusammenhang zwischen dem Fahrgeber-Signal und der Fahrzeug­ geschwindigkeit besteht, solange die Antriebsmaschine nicht überlastet wird.The present invention is based on the object Generic method for operating a hydrostatic To provide the drive system, in which a clear Relationship between the throttle signal and the vehicle speed exists as long as the engine is not is overloaded.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, daß aus dem Fahrgeber-Signal ein Geschwindigkeits-Sollwert bestimmt, die Ist-Drehzahl der Antriebsmaschine gemessen und das Übersetzungs­ verhältnis, bei dem der Geschwindigkeits-Sollwert für die gemessene Drehzahl der Antriebsmaschine erreicht werden soll, ermittelt und dem Fahrantrieb vorgegeben wird. Vom Fahrgeber wird also das Übersetzungsverhältnis des hydrostatischen Getriebes nicht, wie bisher, direkt vorgegeben sondern es wird statt dessen ein Geschwindigkeits-Sollwert bestimmt. Erst nachdem die Ist-Drehzahl der Antriebsmaschine berücksichtigt ist, wird das Übersetzungsverhältnis ermittelt, bei dem der Geschwindigkeits-Sollwert für die gemessene Ist-Drehzahl erreicht werden soll. Das Übersetzungsverhältnis wird dann beispielsweise hydromechanisch mit möglichst hoher Dynamik geregelt. In der Geschwindigkeits-Regelung gibt es lediglich noch eine geringfügige Regelabweichung, die durch Leckagen und Toleranzen in den hydraulischen Aggregaten hervorgerufen wird. Vom Fahrgeber wird also nicht das Übersetzungsverhältnis sondern eine Geschwindigkeit vorgegeben, die im Rahmen des Leistungsvermögens der Antriebsmaschine geregelt wird. This object is achieved in that from Throttle signal determines a speed setpoint that Actual speed of the drive machine measured and the ratio ratio at which the speed setpoint for the measured engine speed is to be reached, is determined and the travel drive is specified. From the driver the transmission ratio of the hydrostatic Gearbox is not directly specified as before, but it is instead, a speed setpoint is determined. First after the actual speed of the drive machine is taken into account the gear ratio at which the Speed setpoint for the measured actual speed should be achieved. The gear ratio will then for example hydromechanically with the highest possible dynamics regulated. There is only one in the speed control still a slight control deviation caused by leaks and Tolerances in the hydraulic units is caused. So the transmission ratio does not come from the driver but given a speed that is within the scope of the Performance of the drive machine is regulated.  

Besonders vorteilhaft ist die Anwendung des erfindungsgemäßen Verfahrens auf Flurförderzeuge mit einer Hubhydraulik. Wenn die Drehzahl der Antriebsmaschine für die Betätigung der Hubhydrau­ lik angehoben wird, bleibt die Fahrzeuggeschwindigkeit erfin­ dungsgemäß konstant. Sofern beim Bergabfahren die Drehzahl der Antriebsmaschine hochgezogen wird, sorgt das erfindungsgemäße Verfahren dafür, daß die Geschwindigkeit beibehalten wird. Beim Bremsen mit und ohne Last wird die Drehzahl der Antriebsma­ schine unterschiedlich schnell und unterschiedlich weit hochge­ zogen. Dennoch bleibt die Bremsverzögerung stets gleich.The use of the invention is particularly advantageous Procedure on industrial trucks with hydraulic lifting. If the Speed of the drive machine for actuating the lifting hydraulic lik is raised, the vehicle speed remains invented according to the constant. If the speed of the downhill The engine is pulled up, ensures the invention Procedures for maintaining speed. At the Braking with and without load is the speed of the drive dimension high speed and different distances pulled. However, the braking deceleration remains the same.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand eines Diagramms näher erläutert. Dabei ist auf der Abszisse die Drehzahl n der Antriebsmaschine und auf der Ordinate die Fahrzeuggeschwindigkeit v aufgetragen. Die Übersetzung im hydrostatischen Fahrantrieb wird im vorliegenden Ausführungs­ beispiel durch Fördervolumenverstellung einer hydrostatischen Axialkolbenmaschine, beispielsweise einer Schrägscheiben-Axial­ kolbenmaschine, bestimmt. Das Übersetzungsverhältnis ist hierbei abhängig vom Pumpenschwenkwinkel PSW. Es wird nun eine bestimmte Fahrzeuggeschwindigkeit vSoll vom Fahrer vor­ gegeben, die einzuhalten ist (gestrichelt dargestellt), sofern keine Drückungsregelung erfolgt. Die Geschwindigkeit vSoll wird bei einer Drehzahl n1 der Antriebsmaschine und einem Pumpenschwenkwinkel PSW1 erreicht. Erhöht sich nun z. B. bei Bergabfahrt die Drehzahl der Antriebsmaschine von n1 auf n2, so wird durch das erfindungsgemäße Verfahren der Pumpen­ schwenkwinkel von PSW1 auf PSW2 reduziert und somit das Übersetzungsverhältnis so weit geändert, daß der Geschwindig­ keitssollwert vSoll erhalten bleibt.Further advantages and details of the invention are explained in more detail with the aid of a diagram. The speed n of the drive machine is plotted on the abscissa and the vehicle speed v is plotted on the ordinate. The translation in the hydrostatic drive is determined in the present embodiment, for example, by adjusting the volume of a hydrostatic axial piston machine, for example a swashplate axial piston machine. The gear ratio depends on the pump swivel angle PSW. It is now a certain vehicle speed v set by the driver before added, is observed (shown in phantom), no reduction control if effected. The speed v Soll is reached at a speed n 1 of the drive machine and a pump swivel angle PSW 1 . Now increases z. B. when driving downhill, the speed of the prime mover from n 1 to n 2 , the pump swivel angle is reduced from PSW 1 to PSW 2 by the method according to the invention and thus the gear ratio is changed so far that the speed setpoint v target is maintained.

Claims (2)

1. Verfahren zum Betreiben eines hydrostatischen Fahrantriebs, bei dem das Übersetzungsverhältnis im Fahrantrieb in Abhängigkeit von einem Fahrgeber-Signal vorgegeben wird, dadurch gekennzeichnet, daß aus dem Fahrgeber-Signal ein Geschwindigkeits-Sollwert (vSoll) bestimmt, die Ist-Drehzahl (n) der Antriebsmaschine gemessen und das Übersetzungsverhältnis (PSW), bei dem der Geschwindigkeits-Sollwert (vSoll) für die gemessene Drehzahl (n) der Antriebsmaschine erreicht werden soll, ermittelt und dem Fahrantrieb vorgegeben wird.1. A method of operating a hydrostatic drive, in which the transmission ratio in the drive is predetermined as a function of a throttle signal, characterized in that a speed setpoint (v target ) determines from the throttle signal, the actual speed (n ) of the prime mover and the gear ratio (PSW) at which the speed setpoint (v target ) for the measured speed (n) of the prime mover is to be reached and determined for the travel drive. 2. Anwendung eines Verfahrens nach Anspruch 1 auf ein Flurförderzeug mit einer Hubhydraulik.2. Application of a method according to claim 1 to a Industrial truck with lifting hydraulics.
DE4311485A 1993-04-07 1993-04-07 Method for operating a hydrostatic travel drive Ceased DE4311485A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE4311485A DE4311485A1 (en) 1993-04-07 1993-04-07 Method for operating a hydrostatic travel drive

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE4311485A DE4311485A1 (en) 1993-04-07 1993-04-07 Method for operating a hydrostatic travel drive

Publications (1)

Publication Number Publication Date
DE4311485A1 true DE4311485A1 (en) 1994-10-13

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Family Applications (1)

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DE4311485A Ceased DE4311485A1 (en) 1993-04-07 1993-04-07 Method for operating a hydrostatic travel drive

Country Status (1)

Country Link
DE (1) DE4311485A1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017030878A1 (en) * 2015-08-14 2017-02-23 Crown Equipment Coproration Model based diagnostics based on traction model
US10414288B2 (en) 2017-01-13 2019-09-17 Crown Equipment Corporation Traction speed recovery based on steer wheel dynamic
US10723382B2 (en) 2017-01-13 2020-07-28 Crown Equipment Corporation High speed straight ahead tiller desensitization
US11008037B2 (en) 2015-08-14 2021-05-18 Crown Equipment Corporation Model based diagnostics based on steering model

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
JP 3-134371 A. In: Patents Abstr. of Japan, Sect. M. Vol. 15(1991), Nr. 346 (M-1153) *

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017030878A1 (en) * 2015-08-14 2017-02-23 Crown Equipment Coproration Model based diagnostics based on traction model
US9868445B2 (en) 2015-08-14 2018-01-16 Crown Equipment Corporation Diagnostic supervisor to determine if a traction system is in a fault condition
CN107921965A (en) * 2015-08-14 2018-04-17 克朗设备公司 Kernel model based diagnosis based on trailed model
US10081367B2 (en) 2015-08-14 2018-09-25 Crown Equipment Corporation Steering and traction applications for determining a steering control attribute and a traction control attribute
US10377388B2 (en) 2015-08-14 2019-08-13 Crown Equipment Corporation Model based diagnostics based on traction model
CN107921965B (en) * 2015-08-14 2020-10-09 克朗设备公司 Model-based diagnostics based on traction model
AU2016309784B2 (en) * 2015-08-14 2020-10-22 Crown Equipment Corporation Model based diagnostics based on traction model
US11008037B2 (en) 2015-08-14 2021-05-18 Crown Equipment Corporation Model based diagnostics based on steering model
US10414288B2 (en) 2017-01-13 2019-09-17 Crown Equipment Corporation Traction speed recovery based on steer wheel dynamic
US10723382B2 (en) 2017-01-13 2020-07-28 Crown Equipment Corporation High speed straight ahead tiller desensitization
US11400975B2 (en) 2017-01-13 2022-08-02 Crown Equipment Corporation High speed straight ahead tiller desensitization

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