DE4317396B4 - Method for operating a vehicle with a hydrostatic drive and control device provided therefor - Google Patents
Method for operating a vehicle with a hydrostatic drive and control device provided therefor Download PDFInfo
- Publication number
- DE4317396B4 DE4317396B4 DE4317396A DE4317396A DE4317396B4 DE 4317396 B4 DE4317396 B4 DE 4317396B4 DE 4317396 A DE4317396 A DE 4317396A DE 4317396 A DE4317396 A DE 4317396A DE 4317396 B4 DE4317396 B4 DE 4317396B4
- Authority
- DE
- Germany
- Prior art keywords
- signal
- vehicle
- speed
- actual
- control device
- 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.)
- Expired - Lifetime
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
-
- 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
-
- 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
- F16H61/47—Automatic regulation in accordance with output requirements for achieving a target output 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0042—Transfer function lag; delays
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Control Of Fluid Gearings (AREA)
Abstract
Verfahren zum Betreiben eines Fahrzeugs mit einem hydrostatischen Fahrantrieb, bei dem ein Signal für eine Soll-Geschwindigkeit durch einen Geber vorgegeben und die zugehörige Übersetzung im Fahrantrieb mit einer begrenzten Verstellgeschwindigkeit eingestellt wird, dadurch gekennzeichnet, daß die Übersetzung mittels eines dynamischen Filters (4) in Abhängigkeit von dem Signal (3) des Gebers (2) und von der augenblicklichen Ist-Geschwindigkeit (vIst) nach vorgegebenen Kennlinien eingestellt wird.Method for operating a vehicle with a hydrostatic travel drive, in which a signal for a target speed is specified by an encoder and the associated translation in the travel drive is set with a limited adjustment speed, characterized in that the translation by means of a dynamic filter (4) in Dependence on the signal (3) of the encoder (2) and on the instantaneous actual speed (v actual ) is set according to predetermined characteristics.
Description
Die Erfindung betrifft ein Verfahren zum Betreiben eines Fahrzeugs mit einem hydrostatischen Fahrantrieb, bei dem ein Signal für eine Soll-Geschwindigkeit durch einen Geber vorgegeben und die zugehörige Übersetzung im Fahrantrieb mit begrenzter Verstellgeschwindigkeit eingestellt wird. Sie betrifft aber auch eine Steuereinrichtung für ein mit einem hydrostatischen Fahrantrieb versehenes Fahrzeug.The invention relates to a method to operate a vehicle with a hydrostatic drive, where a signal for a target speed is specified by an encoder and the associated translation set in the travel drive with limited adjustment speed becomes. But it also relates to a control device for a a vehicle provided with a hydrostatic drive.
Aus der
Die Änderung der Übersetzung erfolgt dabei nicht unmittelbar auf die Änderung eines Fahrpedal-Signals sondern mit Verzögerung. Es wird die Geschwindigkeit begrenzt, mit der das Fördervolumen einer verstellbaren Pumpe und/oder das Schluckvolumen eines Motors des hydrostatischen Getriebes zwecks Übersetzungsänderung verstellt wird.The change in translation does not take place immediately on the change of an accelerator pedal signal but with a delay. The speed at which the delivery volume is limited is limited an adjustable pump and / or the absorption volume of an engine of the hydrostatic transmission is adjusted to change the gear ratio.
Dieser Vorgehensweise liegt die Überlegung zugrunde, dass auch bei beliebig schneller Betätigung eines die Soll-Geschwindigkeit liefernden Gebers, beispielsweise eines Fahrpedals, die Fahrzeugbeschleunigung bzw. die Bremsverzögerung des Fahrzeugs begrenzt sein soll. Bei Arbeitsmaschinen, z.B. bei Gabelstaplern, würde nämlich eine zu hohe mögliche Fahrzeugbeschleunigung oder Fahrzeugverzögerung in bestimmten Fahrzuständen zum Umkippen des Fahrzeugs, zum Abwerten der Last oder zum Durchdrehen der Räder der Treibachse führen.This approach is based on the consideration that even if you press any one of the desired speed delivering encoder, such as an accelerator pedal, the vehicle acceleration or the braking deceleration of the Vehicle should be limited. For work machines, e.g. for forklifts, would namely a too high possible Vehicle acceleration or deceleration in certain driving conditions to tip over of the vehicle, to devalue the load or to spin the wheels of the Lead drive axis.
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren zum Betreiben eines Fahrzeugs mit einem hydrostatischen Fahrantrieb und eine Steuereinrichtung für ein Fahrzeug mit einem hydrostatischen Fahrantrieb zur Verfügung zu stellen, mit dem bzw. mit der die Eingriffsmöglichkeiten in das Fahrverhalten unter allen Betriebsbedingungen verbessert sind.The present invention lies the object of a method for operating a vehicle with a hydrostatic drive and a control device for a Vehicle with a hydrostatic drive available with which the possibilities to intervene in driving behavior are improved under all operating conditions.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass die Übersetzung mittels eines dynamischen Filters in Abhängigkeit von dem Signal des Gebers und von der augenblicklichen Ist-Geschwindigkeit nach vorgegebenen Kennlinien eingestellt wird. Mit Hilfe der Kennlinien wird die Fahrzeug-Dynamik frei programmiert. Beispielsweise kann dadurch erreicht werden, dass die erzielbare Beschleunigung auf eine kleine Geschwindigkeit geringer ist als die erzielbare Beschleunigung auf eine große Geschwindigkeit. Die Verstellung der hydrostatischen Einheiten im Fahrantrieb zur Übersetzungsänderung in Richtung auf die gewünschte Geschwindigkeit wird also durch den Einsatz von Software erzeugt, damit eine möglichst hohe Dynamik erreichbar ist.This object is achieved according to the invention solved, that translation by means of a dynamic filter depending on the signal of the Encoder and from the instantaneous actual speed according to the specified one Characteristic curves is set. With the help of the characteristic curves, the vehicle dynamics freely programmed. For example, that the achievable acceleration to a small speed is less than the achievable acceleration to a high speed. The adjustment of the hydrostatic units in the traction drive to change the gear ratio towards the one you want So speed is generated through the use of software, so one as possible high dynamics can be achieved.
Bei einer gattungsgemäßen Steuereinrichtung wird die der Erfindung zugrundeliegende Aufgabe gelöst durch einen an einen Geber für die Soll-Geschwindigkeit des Fahrzeugs angeschlossen dynamischen Filter zur Einstellung der Übersetzung im hydrostatischen Fahrantrieb nach vorgebenen Kennlinien in Abhängigkeit von dem Signal des Gebers und von der augenblicklichen Ist-Geschwindigkeit.With a generic control device the object on which the invention is based is achieved by one to a donor for the target speed of the vehicle connected dynamic Filters for setting the translation in the hydrostatic travel drive according to the specified characteristics from the signal from the encoder and from the current actual speed.
In Weiterbildung der Erfindung wird vorgeschlagen, daß der Filter eine Verzögerung erster Ordnung mit begrenzter Steigung aufweist, deren Zeitkonstante und steigungsobere Grenze sowie steigungsuntere Grenze mittels Kennlinien abhängig sind vom Signal des Gebers und der Ist-Geschwindigkeit des Fahrzeugs.In further development of the invention suggested that the Filter a delay first order with limited slope, whose time constant and upper limit as well as lower limit by means of characteristic curves are dependent from the signal from the encoder and the actual speed of the vehicle.
Die Erfindung wird anhand des in den Figuren schematisch dargestellten Ausführungsbeispieles näher erläutert. Dabei zeigtThe invention is based on the in the figures schematically illustrated embodiment. there shows
Aus einem Eingangssignal
Die
Geschwindigkeit v eines mit einem hydrostatischen Fahrantrieb versehenen
Fahrzeugs ergibt sich aus der Multiplikation einer Übersetzung
i im hydrostatischen Getriebe mit der Drehzahl n der Antriebsmaschine.From an input signal
The speed v of a vehicle provided with a hydrostatic drive is obtained by multiplying a ratio i in the hydrostatic transmission by the speed n of the drive machine.
Demzufolge wird nun mittels Division des Geschwindigkeits-Sollwerts vSoll durch die Drehzahl nIst der Antriebsmaschine der erforderliche Übersetzungs-Sollwert iSoll für den hydrostatischen Fahrantrieb ermittelt.Accordingly, the required gear ratio setpoint i setpoint for the hydrostatic drive is determined by dividing the speed setpoint v setpoint by the speed n actual drive engine.
Zu diesem Zweck wird das Signal
Ein Signal
Die gestrichelte Linie stellt die
Grenze zwischen einem den Filter
Neben dem Kennlinienfeld
Der beschriebene Filter
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4317396A DE4317396B4 (en) | 1993-05-25 | 1993-05-25 | Method for operating a vehicle with a hydrostatic drive and control device provided therefor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4317396A DE4317396B4 (en) | 1993-05-25 | 1993-05-25 | Method for operating a vehicle with a hydrostatic drive and control device provided therefor |
Publications (2)
Publication Number | Publication Date |
---|---|
DE4317396A1 DE4317396A1 (en) | 1994-12-01 |
DE4317396B4 true DE4317396B4 (en) | 2004-08-12 |
Family
ID=6488878
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE4317396A Expired - Lifetime DE4317396B4 (en) | 1993-05-25 | 1993-05-25 | Method for operating a vehicle with a hydrostatic drive and control device provided therefor |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE4317396B4 (en) |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2208097C2 (en) * | 1971-03-03 | 1984-05-24 | Linde Ag, 6200 Wiesbaden | Hydrostatic transmission with antiskid control - has sensor for braking and acceleration and with torque limiting |
-
1993
- 1993-05-25 DE DE4317396A patent/DE4317396B4/en not_active Expired - Lifetime
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2208097C2 (en) * | 1971-03-03 | 1984-05-24 | Linde Ag, 6200 Wiesbaden | Hydrostatic transmission with antiskid control - has sensor for braking and acceleration and with torque limiting |
Also Published As
Publication number | Publication date |
---|---|
DE4317396A1 (en) | 1994-12-01 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8110 | Request for examination paragraph 44 | ||
8364 | No opposition during term of opposition | ||
8327 | Change in the person/name/address of the patent owner |
Owner name: LINDE MATERIAL HANDLING GMBH & CO. KG, 63743 A, DE |
|
8327 | Change in the person/name/address of the patent owner |
Owner name: LINDE MATERIAL HANDLING GMBH, 63743 ASCHAFFENB, DE |
|
R071 | Expiry of right | ||
R071 | Expiry of right | ||
R082 | Change of representative |
Representative=s name: PATENTSHIP PATENTANWALTSGESELLSCHAFT MBH, DE |
|
R082 | Change of representative |
Representative=s name: PATENTSHIP PATENTANWALTSGESELLSCHAFT MBH, DE |