EP1431236B1 - Method for controlling the winch of a ski track maintenance vehicle and said vehicle - Google Patents
Method for controlling the winch of a ski track maintenance vehicle and said vehicle Download PDFInfo
- Publication number
- EP1431236B1 EP1431236B1 EP03023400A EP03023400A EP1431236B1 EP 1431236 B1 EP1431236 B1 EP 1431236B1 EP 03023400 A EP03023400 A EP 03023400A EP 03023400 A EP03023400 A EP 03023400A EP 1431236 B1 EP1431236 B1 EP 1431236B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- cable
- velocity
- proportional
- winch
- speed
- 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
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000012423 maintenance Methods 0.000 title claims abstract description 10
- 230000000052 comparative effect Effects 0.000 claims 3
- 230000001174 ascending effect Effects 0.000 claims 1
- 230000003370 grooming effect Effects 0.000 description 14
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000002706 hydrostatic effect Effects 0.000 description 2
- 238000004873 anchoring Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
- B66D1/505—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control electrical
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H4/00—Working on surfaces of snow or ice in order to make them suitable for traffic or sporting purposes, e.g. by compacting snow
- E01H4/02—Working on surfaces of snow or ice in order to make them suitable for traffic or sporting purposes, e.g. by compacting snow for sporting purposes, e.g. preparation of ski trails; Construction of artificial surfacings for snow or ice sports ; Trails specially adapted for on-the-snow vehicles, e.g. devices adapted for ski-trails
Definitions
- the invention relates to a method for cable winch control of a piste grooming vehicle.
- a device for automatic control of the tensile force of a rope for a piste grooming device in which a pressure in the hydrostatic drive of the piste grooming vehicle and an angle of the rope are detected relative to the vehicle.
- a setpoint for the cable pull force is determined.
- the desired value thus obtained is compared with a detected actual value of the cable traction force and the traction force is regulated to the desired value.
- the pressure in the hydrostatic drive is detected separately after the pressure on the forward side of the traction drive and after the pressure on the reverse side of the traction drive.
- the setpoint for the winch tension is chosen to be correspondingly higher to relieve the traction drive. If, on the other hand, there is a high pressure on the rearward side of the traction drive in a cable pulling direction in the forward direction of travel, this means that the winch is working against the traction drive. In this case, the wind tensile force should be withdrawn. If a drive chain slips suddenly when driving uphill, the pressure on the forward side of the travel drive inevitably decreases. This leads to a reduction in the cable traction, although due to the slip occurring even a higher cable traction would be required.
- a method for controlling the winch of a piste grooming vehicle is provided with the following steps:
- a detected current tensile force in the rope and a predeterminable maximum value for the tensile force are taken into account in the determination of the desired value.
- a tensile force limitation of the rope can be considered and ensured that a maximum permissible tensile force is not exceeded.
- the maximum permissible value can be set, for example according to ambient conditions, rope age and rope type and vehicle type.
- a speed of the drive chains and a speed of a cable drum or a pulley of known diameter is easily and reliably detected and proportional to the chain or rope speed.
- the cable speed or a variable proportional thereto is detected according to its amount and its direction relative to a direction of travel or a vehicle longitudinal axis of the piste care vehicle.
- a climbing angle between the direction of travel or the longitudinal axis of the vehicle and the horizontal as well as a direction of the cable speed relative to the direction of travel is taken into account in the determination of the desired value.
- the setpoint for the cable speed is chosen to be less than or equal to the chain speed in order to achieve a braking effect.
- the setpoint for the rope speed is greater than or equal to the chain speed selected to maintain a tensile force in the rope and to support the travel drive.
- the rope should be kept taut and under tension in all driving situations.
- slippage of the chains of the piste care vehicle is detected and the detected slip taken into account in the setpoint determination.
- a setpoint for the rope speed may be increased so that the traction force increases and the slope grooming vehicle is pulled over the critical point by means of the winch.
- Ground speed and rope speed are directly comparable because the rope of a winch is anchored to off-road points.
- a ground speed can, for example, be determined by means of a satellite navigation system alone or the coupling of multiple navigation systems with good accuracy.
- a slope maintenance vehicle with winch for performing the method according to the invention, the means for detecting a chain speed, a size proportional thereto and / or a ground speed, means for detecting a rope speed or a size proportional thereto, means for comparing the detected rope speed and the detected chain speed or the quantities proportional thereto and / or the ground speed over ground and means for determining a set value for the rope speed taking into account the comparison result.
- an inventive piste care vehicle 10 can be seen, which is equipped with a so-called overhead winch 12.
- the overhead winch 12 is rotatably mounted on a chassis of the piste grooming vehicle 10, so that a pulling direction of the winch 12 to the direction of travel of the piste grooming vehicle 10 is substantially adjustable.
- the winch 12 is used, for example, on very steep slopes to be worked. After anchoring the rope in the terrain, the piste care vehicle 10 can edit a slope, for example, in upward and downward travel, without a traction cable 14 of the winch 12 would have to be re-anchored or implemented.
- a travel speed of the piste care vehicle 10 is determined by a rotational speed of its traction drive chains 16 and possibly occurring slip. Due to the known diameter of the drive wheels 18 for the drive drive chains 16, the rotational speed of the drive drive chains 16 can be determined via a speed detection of the drive wheels 18.
- a rope speed of the traction cable 14 is detected, for example by detecting the rotational speed of a deflection roller 20 with a constant diameter.
- the changing drum diameter must be taken into account by wound rope layers, if necessary.
- a tensile force monitoring of the traction cable 14 is also provided in a conventional manner. This can be recognized for the life of the rope detrimental tensile forces and prevented if possible.
- FIG. 2 The schematic block diagram of Fig. 2 shows in the Pistennostintz 10 of Fig. 1 provided elements for carrying out the method according to the invention.
- a central control unit 22 receives data from various sensors and outputs drive signals to the cable winch 12 in order to control the cable speed of the pull cable 14.
- the winch 12 has sensors 24 which detect a rotational speed of a Seilumlenkrolle with known diameter and transferred to the central control unit 22.
- the sensors 24 also detect an angle of the cable pulling direction to a longitudinal axis of the piste grooming vehicle 10 and pass the measured angle also to the control unit 22.
- the winch 12 also has a drive motor 26, for example, a hydraulic motor, via drive signals is controlled by the control unit 22.
- control unit 22 Further input signals to the control unit 22 from a sensor 28 which detects a rotational speed of the drive wheel 18 of the traction drive chains 16. Due to the known diameter of the drive wheel 18, the control unit 22 from the speed supplied by the sensor 28 of the drive wheel 18, a rotational speed of the drive drive chains 16 determined. In the same way, the tax and control unit 22 from the supplied from the sensors 24 pulley speed determine a rope speed.
- the rope speed of the traction cable 14 optionally determined by amount and direction to the direction of travel or vehicle longitudinal axis, and the chain speed based on the signals of the sensors 24 and 28 respectively.
- the determined rope speed and the determined chain speed are compared with each other and based on the comparison result, a set value for the rope speed is determined.
- the set point for the rope speed is corrected upwards.
- the chain speed increases when slipping the drive chains in the short term, since the chain drive suddenly less resistance is opposed.
- the ratio of the chain speed to the line speed changes, and the control unit 22 sets the rope speed command value upward.
- the drive motor 26 tries to increase the rope speed, which increases the tensile force in the rope. In this way, when slip occurs on the traction drive chains 16, the cable traction force is briefly increased in order to pull the runway care vehicle 10 over a critical point.
- the tensile force in the rope is limited to a maximum permissible value in order to avoid damaging the rope.
- the currently acting in the rope force is detected by means of a tension sensor 30 and passed a corresponding value to the control unit 22. If it is determined within the control and regulation unit 22 that the tensile force in the rope threatens to exceed the maximum permissible value, the drive motor 26 is driven accordingly in order to reduce the tensile force in the rope.
- control unit 22 can receive input signals from a navigation system 32, by means of which a ground speed of the snow grooming vehicle is determined.
- a navigation system 32 by means of which a ground speed of the snow grooming vehicle is determined.
- a navigation system 32 by means of the combination of a plurality of navigation subsystems, for example satellite navigation, terrestrial Peilnavigation and the like, an accurate position determination of a Pistennosti flirts and thus an accurate determination of the ground speed above ground possible. Since the pull rope 14 of the winch 12 is fixed at immovable points in the field, the speed of travel over ground and a rope speed can be compared directly without having to consider slip.
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Seilwindenregelung eines Pistenpflegefahrzeugs.The invention relates to a method for cable winch control of a piste grooming vehicle.
Aus der
Aus der japanischen Patentzusammenfassung
Mit der Erfindung soll eine schnell ansprechende und zuverlässige Regelung einer Seilwinde erreicht werden.With the invention, a fast-response and reliable control of a winch is to be achieved.
Erfindungsgemäß ist hierzu ein Verfahren zur Seilwindenregelung eines Pistenpflegefahrzeugs mit folgenden Schritten vorgesehen:According to the invention, a method for controlling the winch of a piste grooming vehicle is provided with the following steps:
Erfassen einer Kettengeschwindigkeit oder einer der Kettengeschwindigkeit proportionalen Größe mit einem Sensor,
Erfassen einer Seilgeschwindigkeit oder einer der Seilgeschwindigkeit proportionalen Größe mit einem Sensor,
Vergleichen der erfassten Kettengeschwindigkeit und der erfassten Seilgeschwindigkeit oder der hierzu proportionalen Größen in einer zentralen Steuer- und Regeleinheit und
Bestimmen eines Sollwerts für die Seilgeschwindigkeit oder die hierzu proportionale Größe unter Berücksichtigung des Vergleichsergebnisses für die Seilwindenregelung mittels der zentralen Steuer- und Regeleinheit.Detecting a chain speed or a size proportional to the chain speed with a sensor,
Detecting a rope speed or a size proportional to the rope speed with a sensor,
Compare the detected chain speed and the detected rope speed or the proportions proportional thereto in a central control unit and
Determining a setpoint for the rope speed or the size proportional thereto taking into account the result of the comparison of the winch control by means of the central control unit.
Indem eine Kettengeschwindigkeit und eine Seilgeschwindigkeit zur Regelung der Seilwinde herangezogen werden, kann eine schnelle und zuverlässige Regelung realisiert werden, da die Regelung der Seilwinde im Prinzip unabhängig von der Seilzugkraft erfolgt. Dies ist insbesondere bei den großen für Pistenpflegefahrzeuge verwendeten Seillängen von Vorteil, da bei großer Seillänge aufgrund der stets vorhandenen Seilelastizität die Zugspannung im Seil großen Schwankungen unterworfen ist. Im Falle des Durchrutschens einer Fahrantriebskette erhöht sich die gemessene Kettengeschwindigkeit, so dass auch die Seilgeschwindigkeit wenigstens kurzfristig erhöht wird. Dadurch kann sichergestellt werden, dass beim Durchrutschen der Fahrantriebsketten die Zugkraft der Seilwinde kurzfristig erhöht wird, um eine gleichmäßig Fortbewegung des Pistenpflegefahrzeugs zu gewährleisten.By using a chain speed and a rope speed to control the winch, a fast and reliable control can be realized, since the control of the winch is in principle independent of the cable pulling force. This is particularly advantageous in the case of the large pitches used for piste maintenance vehicles, since the tensile stress in the rope is subject to great fluctuations due to the ever-present rope elasticity in the case of long cable lengths. In the case of slippage of a drive chain increases the measured chain speed, so that the rope speed is increased at least in the short term. This can ensure that the traction of the cable winch is briefly increased when slipping the traction drive chains to ensure a smooth locomotion of the piste grooming vehicle.
In Weiterbildung der Erfindung werden bei der Bestimmung des Sollwerts eine erfasste aktuelle Zugkraft im Seil und ein vorgebbarer Höchstwert für die Zugkraft berücksichtigt.In a further development of the invention, a detected current tensile force in the rope and a predeterminable maximum value for the tensile force are taken into account in the determination of the desired value.
Auf diese Weise kann eine Zugkraftbegrenzung des Seils berücksichtigt und sichergestellt werden, das eine maximal zulässige Zugkraft nicht überschritten wird. Gegebenenfalls ist der zulässige Höchstwert einstellbar, beispielsweise nach Umgebungsbedingungen, Seilalter und Seiltyp sowie Fahrzeugtyp.In this way, a tensile force limitation of the rope can be considered and ensured that a maximum permissible tensile force is not exceeded. If necessary, the maximum permissible value can be set, for example according to ambient conditions, rope age and rope type and vehicle type.
In Weiterbildung der Erfindung werden eine Kettendrehzahl und eine Seilwindendrehzahl erfasst.In a further development of the invention, a chain speed and a winch speed are detected.
Eine Drehzahl der Fahrantriebsketten sowie eine Drehzahl einer Seiltrommel oder einer Umlenkrolle mit bekanntem Durchmesser ist auf einfache Weise und zuverlässig erfassbar und zur Ketten- bzw. Seilgeschwindigkeit proportional.A speed of the drive chains and a speed of a cable drum or a pulley of known diameter is easily and reliably detected and proportional to the chain or rope speed.
In Weiterbildung der Erfindung wird die Seilgeschwindigkeit oder eine hierzu proportionale Größe nach ihrem Betrag und ihrer Richtung relativ zu einer Fahrtrichtung oder einer Fahrzeuglängsachse des Pistenpflegefahrzeugs erfasst.In a further development of the invention, the cable speed or a variable proportional thereto is detected according to its amount and its direction relative to a direction of travel or a vehicle longitudinal axis of the piste care vehicle.
Beispielsweise ist dann, wenn eine Seilwinde schräg zur Fahrtrichtung bzw. zur Längsachse des Pistenpflegefahrzeugs zieht, eine Berücksichtigung des Seilzugwinkels sinnvoll. Dies ist beispielsweise der Fall, wenn bei flachen Zwischenstücken das Seil straff gehalten werden soll.For example, if a cable winch obliquely to the direction of travel or to the longitudinal axis of the piste grooming vehicle, a consideration of the cable angle makes sense. This is the case, for example, if the rope is to be kept taut in the case of flat intermediate pieces.
In Weiterbildung der Erfindung wird bei der Bestimmung des Sollwerts ein Steigwinkel zwischen der Fahrtrichtung oder der Fahrzeuglängsachse und der Horizontalen sowie eine Richtung der Seilgeschwindigkeit relativ zur Fahrtrichtung berücksichtigt.In a further development of the invention, a climbing angle between the direction of travel or the longitudinal axis of the vehicle and the horizontal as well as a direction of the cable speed relative to the direction of travel is taken into account in the determination of the desired value.
Auf diese Weise kann eine Seilwindenregelung in Abhängigkeit der Fahrtrichtung auf einem Hang erfolgen. Beispielsweise wird bei Fahrtrichtung hangabwärts und Zugrichtung entgegen der Fahrtrichtung der Sollwert für die Seilgeschwindigkeit kleiner oder gleich der Kettengeschwindigkeit gewählt, um eine Bremswirkung zu erreichen. Bei einer Fahrt hangaufwärts und Zugrichtung des Seils in Fahrtrichtung wird der Sollwert für die Seilgeschwindigkeit größer oder gleich der Kettengeschwindigkeit gewählt, um eine Zugkraft im Seil aufrechtzuerhalten und den Fahrantrieb zu unterstützen. Grundsätzlich soll das Seil in allen Fahrsituationen straff und unter Spannung gehalten werden.In this way, a winch control depending on the direction of travel can be done on a slope. For example, in the direction of travel downhill and pulling direction opposite to the direction of travel, the setpoint for the cable speed is chosen to be less than or equal to the chain speed in order to achieve a braking effect. When driving uphill and pulling direction of the rope in the direction of travel, the setpoint for the rope speed is greater than or equal to the chain speed selected to maintain a tensile force in the rope and to support the travel drive. Basically, the rope should be kept taut and under tension in all driving situations.
In Weiterbildung der Erfindung wird ein Schlupf der Ketten des Pistenpflegefahrzeugs erfasst und der erfasste Schlupf bei der Sollwertbestimmung berücksichtigt.In a development of the invention, slippage of the chains of the piste care vehicle is detected and the detected slip taken into account in the setpoint determination.
Beispielsweise kann bei Erkennen eines übermäßigen Schlupfes an den Fahrantriebsketten ein Sollwert für die Seilgeschwindigkeit erhöht werden, so dass die Seilzugkraft ansteigt und das Pistenpflegefahrzeug mit Hilfe der Seilwinde über die kritische Stelle hinweggezogen wird.For example, upon detection of excessive slip on the traction drive chains, a setpoint for the rope speed may be increased so that the traction force increases and the slope grooming vehicle is pulled over the critical point by means of the winch.
Das der Erfindung zugrundeliegende Problem wird auch durch ein Verfahren zur Seilwindenregelung eines Pistenpflegefahrzeugs mit folgenden Schritten gelöst:
- Erfassen einer Fahrgeschwindigkeit über Grund des Pistenpflegefahrzeugs nach Richtung und Betrag,
- Erfassen einer Seilgeschwindigkeit nach Richtung und Betrag oder einer der Seilgeschwindigkeit proportionalen Größe,
- Vergleichen der erfassten Fahrgeschwindigkeit über Grund und der erfassten Seilgeschwindigkeit oder der hierzu proportionalen Größe und
- Bestimmen eines Sollwerts für die Seilgeschwindigkeit oder die hier zu proportionale Größe für die Seilwindenregelung unter Berücksichtigung des Vergleichsergebnisses.
- Detecting a ground speed of the piste grooming vehicle according to direction and amount,
- Detecting a rope speed in direction and magnitude or a size proportional to the rope speed,
- Comparing the detected ground speed and the detected rope speed or the size and proportional thereto
- Determining a setpoint for the rope speed or the here too proportional size for the winch control taking into account the comparison result.
Eine Fahrgeschwindigkeit über Grund und die Seilgeschwindigkeit sind unmittelbar vergleichbar, da das Seil einer Seilwinde an geländefesten Punkten verankert wird. Eine Fahrgeschwindigkeit über Grund kann beispielsweise mittels eines Satellitennavigationssystems alleine oder der Koppelung mehrer Navigationssystems mit guter Genauigkeit ermittelt werden.Ground speed and rope speed are directly comparable because the rope of a winch is anchored to off-road points. A ground speed can, for example, be determined by means of a satellite navigation system alone or the coupling of multiple navigation systems with good accuracy.
Das der Erfindung zugrundeliegende Problem wird auch durch ein Pistenpflegefahrzeug mit Seilwinde zur Durchführung des erfindungsgemäßen Verfahrens gelöst, das Mittel zum Erfassen einer Kettengeschwindigkeit, einer hierzu proportionalen Größe und/oder einer Fahrgeschwindigkeit über Grund, Mittel zum Erfassen einer Seilgeschwindigkeit oder einer hierzu proportionalen Größe, Mittel zum Vergleichen der erfassten Seilgeschwindigkeit und der erfassten Kettengeschwindigkeit oder der hierzu proportionalen Größen und/oder der Fahrgeschwindigkeit über Grund und Mittel zum Bestimmen eines Sollwerts für die Seilgeschwindigkeit unter Berücksichtigung des Vergleichsergebnisses aufweist.The problem underlying the invention is also solved by a slope maintenance vehicle with winch for performing the method according to the invention, the means for detecting a chain speed, a size proportional thereto and / or a ground speed, means for detecting a rope speed or a size proportional thereto, means for comparing the detected rope speed and the detected chain speed or the quantities proportional thereto and / or the ground speed over ground and means for determining a set value for the rope speed taking into account the comparison result.
Weitere Merkmale und Vorteile der Erfindung ergeben sich aus den Ansprüchen und der folgenden Beschreibung einer bevorzugten Ausführungsform der Erfindung im Zusammenhang mit den Zeichnungen. In den Zeichnungen zeigen:
- Fig. 1
- eine Seitenansicht eines erfindungsgemäßen Pistenpflegefahrzeugs mit Seilwinde und
- Fig. 2
- ein Blockdiagramm einer Regeleinrichtung zur Durchführung des erfindungsgemäßen Verfahrens.
- Fig. 1
- a side view of a piste grooming vehicle according to the invention with winch and
- Fig. 2
- a block diagram of a control device for carrying out the method according to the invention.
In der Darstellung der
Eine Fahrgeschwindigkeit des Pistenpflegefahrzeugs 10 ist durch eine Umlaufgeschwindigkeit seiner Fahrantriebsketten 16 sowie gegebenenfalls auftretenden Schlupf bestimmt. Aufgrund des bekannten Durchmessers der Antriebsräder 18 für die Fahrantriebsketten 16 kann die Umlaufgeschwindigkeit der Fahrantriebsketten 16 über eine Drehzahlerfassung der Antriebsräder 18 ermittelt werden.A travel speed of the
Während des Windenbetriebs sollte das Zugseil 14 stets unter Spannung gehalten werden. Bei der erfindungsgemäßen Seilwindenregelung wird hierzu eine Seilgeschwindigkeit des Zugseils 14 erfasst, beispielsweise durch Erfassen der Drehzahl einer Umlenkrolle 20 mit konstantem Durchmesser. Bei Erfassung der Drehzahl einer Seiltrommel muss gegebenenfalls der sich verändernde Trommeldurchmesser durch aufgewickelte Seillagen berücksichtigt werden. Neben der Erfassung der Fahrgeschwindigkeit des Pistenpflegefahrzeugs 10 sowie der Seilgeschwindigkeit des Zugseils 14 ist in an und für sich konventioneller Weise darüber hinaus eine Zugkraftüberwachung des Zugseils 14 vorgesehen. Dadurch können für die Seillebensdauer abträgliche Zugkräfte erkannt und nach Möglichkeit verhindert werden.During winching operation, the
Das schematische Blockschaltbild der
Weitere Eingangssignale erhält die Steuer- und Regeleinheit 22 von einem Sensor 28, der eine Drehzahl des Antriebsrads 18 der Fahrantriebsketten 16 erfasst. Aufgrund des bekannten Durchmessers des Antriebsrads 18 kann die Steuer- und Regeleinheit 22 aus der vom Sensor 28 gelieferten Drehzahl des Antriebsrads 18 eine Umlaufgeschwindigkeit der Fahrantriebsketten 16 bestimmten. In gleicher Weise kann die Steuer- und Regeleinheit 22 aus der von den Sensoren 24 gelieferten Seilrollendrehzahl eine Seilgeschwindigkeit ermitteln.Further input signals to the
In der Steuer- und Regeleinheit 22 werden somit die Seilgeschwindigkeit des Zugseils 14, gegebenenfalls nach Betrag und Richtung zur Fahrtrichtung oder Fahrzeuglängsachse, sowie die Kettengeschwindigkeit anhand der Signale der Sensoren 24 bzw. 28 bestimmt. Die ermittelte Seilgeschwindigkeit und die ermittelte Kettengeschwindigkeit werden miteinander verglichen und anhand der Vergleichsergebnisses wird ein Sollwert für die Seilgeschwindigkeit bestimmt. Um das Zugseil 14 straff zu halten, wird folglich bei einer Kettengeschwindigkeit, die über der Seilgeschwindigkeit liegt, der Sollwert für die Seilgeschwindigkeit nach oben korrigiert. Beispielsweise erhöht sich die Kettengeschwindigkeit beim Durchrutschen der Antriebsketten kurzfristig, da dem Kettenantrieb plötzlich weniger Widerstand entgegengesetzt wird. Infolgedessen verändert sich das Verhältnis der Kettengeschwindigkeit zur Seilgeschwindigkeit und die Steuer- und Regeleinheit 22 setzt den Sollwert für die Seilgeschwindigkeit nach oben. Daraufhin versucht der Antriebsmotor 26 die Seilgeschwindigkeit zu erhöhen, wodurch sich die Zugkraft im Seil erhöht. Auf diese Weise wird bei auftretendem Schlupf an den Fahrantriebsketten 16 die Seilzugkraft kurzfristig erhöht, um das Pistenpflegefahrzeug 10 über eine kritische Stelle hinwegzuziehen.In the
Die Zugkraft im Seil wird auf einen maximal zulässigen Wert begrenzt, um Beschädigungen des Seils zu vermeiden. Hierzu wird mittels eines Zugkraftsensors 30 die aktuell im Seil wirkende Kraft erfasst und ein entsprechender Wert an die Steuer- und Regeleinheit 22 übergeben. Wird innerhalb der Steuer- und Regeleinheit 22 festgestellt, dass die Zugkraft im Seil den maximal zulässigen Wert zu überschreiten droht, wird der Antriebsmotor 26 entsprechend angesteuert, um die Zugkraft im Seil zu verringern.The tensile force in the rope is limited to a maximum permissible value in order to avoid damaging the rope. For this purpose, the currently acting in the rope force is detected by means of a
Schließlich kann die Steuer- und Regeleinheit 22 Eingangssignale von einem Navigationssystem 32 erhalten, mittels dem eine Fahrgeschwindigkeit des Pistenpflegefahrzeugs über Grund ermittelt wird. Beispielsweise ist mittels der Kombination mehrerer Navigations-Subsysteme, beispielsweise Satellitennavigation, terrestrische Peilnavigation und dergleichen, eine genaue Positionsbestimmung eines Pistenpflegefahrzeugs und damit eine genaue Bestimmung der Fahrgeschwindigkeit über Grund möglich. Da auch das Zugseil 14 der Seilwinde 12 an unbeweglichen Punkten im Gelände befestigt wird, lassen sich die Fahrgeschwindigkeit über Grund und eine Seilgeschwindigkeit direkt vergleichen, ohne Schlupf berücksichtigen zu müssen.Finally, the
Claims (7)
- A process for controlling the cable winch of a ski-run maintenance vehicle (10) with the following steps:- acquiring a chain velocity or proportional variable for the drive chain velocity by means of a sensor (28),- acquiring a cable velocity or proportional variable for the cable velocity by means of a sensor (24),- comparing the acquired chain velocity and the acquired cable velocity or the proportional variable in a central open-loop and closed-loop control unit (22) and- determining a nominal value for the cable velocity or for the proportional variable by considering the comparative result for the cable winch control by means of the central open-loop and closed loop control unit (22).
- The process according to Claim 1 characterised in that when determining the nominal value, an acquired tensile force present in the cable and a presettable maximum value are considered for determining the tensile force.
- The process according to Claim 1 or 2 characterised in that a chain rotation speed and a cable-winch rotation speed are acquired.
- The process according to one of the preceding claims characterised in that the cable velocity or a variable proportional to the latter is acquired according to its magnitude and its direction relative to a direction of travel or relative to a longitudinal axis of the strip and slope maintenance vehicle (10).
- The process according to one of the preceding claims characterised in that when determining the nominal value, an ascending angle between the direction of travel or the vehicular longitudinal axis and the horizontal axis and a direction of cable velocity relative to the direction of travel is considered.
- The process for controlling the cable winch of a strip and slope maintenance vehicle according to one of the preceding claims, with the following steps:- acquiring a travel velocity of the strip and slope maintenance vehicle (10) over ground according to the direction and magnitude- acquiring a cable velocity according to the direction and magnitude or a variable proportional to the cable velocity- comparing the acquired travel velocity over ground and the acquired cable velocity or the proportional variable and- determining a nominal value for the cable velocity or the proportional variable by considering the comparative result for the cable winch.
- The ski-run maintenance vehicle with a cable winch (12) for executing the process according to one of the preceding claims, with means (28, 32) for acquiring a chain velocity, a variable proportional to the latter and/or a travel velocity over ground, means (24) for acquiring a cable velocity or a variable proportional to the latter, means (22) for comparing the acquired cable velocity and the acquired chain velocity or the variable proportional to the latter and/or the travel velocity over ground and means (22) for determining a nominal value for the cable velocity by considering the comparative result.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10261944 | 2002-12-17 | ||
DE10261944A DE10261944A1 (en) | 2002-12-17 | 2002-12-17 | Method for controlling a winch of a piste grooming vehicle and piste grooming vehicle |
Publications (3)
Publication Number | Publication Date |
---|---|
EP1431236A2 EP1431236A2 (en) | 2004-06-23 |
EP1431236A3 EP1431236A3 (en) | 2005-04-27 |
EP1431236B1 true EP1431236B1 (en) | 2009-12-09 |
Family
ID=32336631
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP03023400A Expired - Lifetime EP1431236B1 (en) | 2002-12-17 | 2003-10-17 | Method for controlling the winch of a ski track maintenance vehicle and said vehicle |
Country Status (4)
Country | Link |
---|---|
US (1) | US7165758B2 (en) |
EP (1) | EP1431236B1 (en) |
AT (1) | ATE451322T1 (en) |
DE (2) | DE10261944A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010049984A1 (en) | 2010-10-19 | 2012-04-19 | Kässbohrer Geländefahrzeug AG | Method for controlling a winch of a tracked vehicle and snowcat |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005031076B4 (en) * | 2005-06-27 | 2007-11-29 | Kässbohrer Geländefahrzeug AG | Piste care vehicle with cable torque compensation |
DE102006010346A1 (en) * | 2006-03-07 | 2007-09-13 | Pat Gmbh | Overload protection for cranes |
GB2443619B (en) * | 2006-11-09 | 2011-09-14 | Ford Global Tech Llc | Apparatus for asssisting recovery of a vehicle using a winch |
IT1394923B1 (en) * | 2009-02-18 | 2012-07-27 | Rolic Invest Sarl | VEHICLE BATTIPISTA INCLUDING A GROUP WINDOW ASSEMBLY TO MOVE THE VEHICLE LONG DRIVER PENDIUMS SLOPES AND WINDOW GROUP DRIVING METHOD |
US20110203817A1 (en) * | 2010-02-19 | 2011-08-25 | Todd Hanson | Trail grooming device |
AT12086U1 (en) * | 2010-06-17 | 2011-10-15 | Palfinger Ag | VEHICLE CRANE |
FR2981300B1 (en) * | 2011-10-13 | 2013-12-20 | Aztec | RETRACTABLE CARRIER FOR SKI SLIDING MAINTENANCE VEHICLE |
ITMI20120922A1 (en) | 2012-05-28 | 2013-11-29 | Snowgrolic S A R L | CONTROL METHOD, PROGRAM FOR ELECTRONIC PROCESSORS AND CONTROL DEVICE FOR A TRACKED VEHICLE |
GB2540886A (en) * | 2013-03-26 | 2017-02-01 | Jaguar Land Rover Ltd | Vehicle winch control system and method of controlling a winch |
ITMI20150686A1 (en) * | 2015-05-15 | 2016-11-15 | Windfin Bv | TRACKED VEHICLE; FEEDING EQUIPMENT FOR POWERING THE TRACKED VEHICLE AND HANDLING SYSTEM IN A WORKING AREA INCLUDING THE TRACKED VEHICLE AND THE FEEDING EQUIPMENT |
ITUA20162388A1 (en) * | 2016-04-07 | 2017-10-07 | Prinoth Spa | APPARATUS FOR REALIZING A SKI SLOPE TRACK |
IT201700064293A1 (en) * | 2017-06-09 | 2018-12-09 | Prinoth Spa | ASSISTANT WINCH GROUP FOR THE MOVEMENT OF A TRACKED VEHICLE AND ITS CONTROL METHOD |
US11518295B2 (en) * | 2019-10-03 | 2022-12-06 | Deere & Company | Traction assist apparatus and method for a work machine |
AT526150B1 (en) * | 2022-10-03 | 2023-12-15 | Konrad Forsttechnik Gmbh | Device and method for transporting wood on steep terrain |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1076108A (en) * | 1964-03-05 | 1967-07-19 | Daniel Jourdan | A device for enabling vehicles to climb obstacles, and vehicles comprising the same |
US4093034A (en) * | 1975-12-15 | 1978-06-06 | Caterpillar Tractor Co. | Vehicle supported winch |
GB1589769A (en) * | 1976-12-14 | 1981-05-20 | Secretary Industry Brit | System for controlling the position of a tethered floating vessel |
JPS5657542A (en) * | 1979-10-16 | 1981-05-20 | Shikoku Nogyo Shikenjo | Truck jointly using winch for steep slope |
US4365927A (en) * | 1980-05-02 | 1982-12-28 | Schenck Ray B | Slash recovery system |
US4353424A (en) * | 1980-05-27 | 1982-10-12 | Schenck Ray B | Slash gathering vehicle |
IT1236962B (en) * | 1989-10-17 | 1993-05-07 | Prinoth Spa | MEANS FOR THE PREPARATION OF THE LANDING SLOPE OF A SKIING TRAMPOLINE. |
DE29607651U1 (en) * | 1996-04-26 | 1997-08-28 | Kaessbohrer Gelaendefahrzeug G | Tracked vehicle |
IT1316116B1 (en) * | 2000-01-21 | 2003-03-28 | Leitner Spa | DEVICE FOR THE AUTOMATIC SETTING AND ADJUSTMENT OF THE FORZADI TRACTION OF A ROPE OF A WINCH OVERHEAD FOR A MACHINE |
US20020156574A1 (en) * | 2000-01-28 | 2002-10-24 | Manon Fortin | Snow groomer having improved electronic controls |
US6276449B1 (en) * | 2000-03-23 | 2001-08-21 | Frederic M. Newman | Engine speed control for hoist and tongs |
AT410378B (en) * | 2000-08-21 | 2003-04-25 | Wintertechnik Engineering Gmbh | COMPUTER-CONTROLLED DEVICE FOR SNOWING AND MAINTAINING SKI SLOPES |
-
2002
- 2002-12-17 DE DE10261944A patent/DE10261944A1/en not_active Withdrawn
-
2003
- 2003-10-17 EP EP03023400A patent/EP1431236B1/en not_active Expired - Lifetime
- 2003-10-17 DE DE50312200T patent/DE50312200D1/en not_active Expired - Lifetime
- 2003-10-17 AT AT03023400T patent/ATE451322T1/en active
- 2003-12-04 US US10/728,369 patent/US7165758B2/en not_active Expired - Lifetime
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102010049984A1 (en) | 2010-10-19 | 2012-04-19 | Kässbohrer Geländefahrzeug AG | Method for controlling a winch of a tracked vehicle and snowcat |
EP2444355A1 (en) | 2010-10-19 | 2012-04-25 | Kässbohrer Geländefahrzeug AG | Method for operating a winch of a tracked vehicle and snow groomer |
EP2444356A1 (en) | 2010-10-19 | 2012-04-25 | Kässbohrer Geländefahrzeug AG | Method for operating a winch of a tracked vehicle and snow groomer |
Also Published As
Publication number | Publication date |
---|---|
EP1431236A3 (en) | 2005-04-27 |
US7165758B2 (en) | 2007-01-23 |
DE50312200D1 (en) | 2010-01-21 |
US20040173784A1 (en) | 2004-09-09 |
EP1431236A2 (en) | 2004-06-23 |
ATE451322T1 (en) | 2009-12-15 |
DE10261944A1 (en) | 2004-07-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP1431236B1 (en) | Method for controlling the winch of a ski track maintenance vehicle and said vehicle | |
EP1818245B1 (en) | Trailer and method of driving a trailer | |
DE19638421C2 (en) | Traction control system for a hydrostatically driven vehicle | |
DE4204310C2 (en) | Slip control device for a vehicle wheel | |
EP1919728B1 (en) | System for controlling a motor vehicle driving downhill | |
DE112008000789B4 (en) | Vehicle speed control system and vehicle speed control method of a vehicle | |
DE112007000872B4 (en) | System and method for controlling a vehicle | |
EP1118580B1 (en) | Device for automatic tension control of a cable for a piste grooming device | |
DE1475819B2 (en) | ||
DE19933084A1 (en) | Vehicle wheel slip control method involves altering a vehicle's drive unit output parameter to improve traction if it is detected that the vehicle is travelling round a bend | |
DE102017120490A1 (en) | The freefall winch | |
EP0844155A2 (en) | Yaw rate reduction procedure in a vehicle with an anti-lock bracking system | |
EP1045783B1 (en) | Device and method for limiting a backward rolling speed of a motor vehicle | |
DE10231525A1 (en) | Method and device for slip simulation on vehicle test benches | |
EP2444356B1 (en) | Method for operating a winch of a tracked vehicle and snow groomer | |
DE102005021721A1 (en) | Method for controlling driving functions of a vehicle | |
EP3067309B1 (en) | Control valve for a hydraulic unit and hydraulic system with a corresponding control valve | |
DE10238219B4 (en) | ASR with automatic motor torque increase during μ-split start-up | |
EP1517821B1 (en) | Method and device for brake control in a vehicle during the starting process | |
EP1070623A1 (en) | Method for anti-skid control | |
AT504312B1 (en) | TRACTION-CONTROLLED TOWING PROCESS | |
EP1901988B1 (en) | Cable winch | |
AT506389B1 (en) | TRANSPORT SYSTEM | |
DE102006061391A1 (en) | Slip regulation for vehicle involves regulating slip between vehicle tire and ground under vehicle tire taking into account slip regulation threshold value controlled depending on vehicle steering wheel angle | |
DE102004021374A1 (en) | Traction controller with pilot control device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
AK | Designated contracting states |
Kind code of ref document: A2 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR |
|
AX | Request for extension of the european patent |
Extension state: AL LT LV MK |
|
PUAL | Search report despatched |
Free format text: ORIGINAL CODE: 0009013 |
|
AK | Designated contracting states |
Kind code of ref document: A3 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR |
|
AX | Request for extension of the european patent |
Extension state: AL LT LV MK |
|
RIC1 | Information provided on ipc code assigned before grant |
Ipc: 7B 66D 1/48 A Ipc: 7E 02F 9/20 B Ipc: 7E 01H 4/02 B |
|
17P | Request for examination filed |
Effective date: 20050521 |
|
AKX | Designation fees paid |
Designated state(s): AT CH DE FR IT LI |
|
17Q | First examination report despatched |
Effective date: 20060316 |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AT CH DE FR IT LI |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP |
|
REF | Corresponds to: |
Ref document number: 50312200 Country of ref document: DE Date of ref document: 20100121 Kind code of ref document: P |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: NV Representative=s name: ZIMMERLI, WAGNER & PARTNER AG |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
26N | No opposition filed |
Effective date: 20100910 |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: NV Representative=s name: WAGNER PATENT AG, CH |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 13 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 14 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 15 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 16 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: FR Payment date: 20221020 Year of fee payment: 20 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: IT Payment date: 20221031 Year of fee payment: 20 Ref country code: DE Payment date: 20221027 Year of fee payment: 20 Ref country code: AT Payment date: 20221018 Year of fee payment: 20 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: CH Payment date: 20221027 Year of fee payment: 20 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R071 Ref document number: 50312200 Country of ref document: DE |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: PL |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: MK07 Ref document number: 451322 Country of ref document: AT Kind code of ref document: T Effective date: 20231017 |