EP1595077B1 - Method for controlling a hydraulic system of a mobile working machine - Google Patents

Method for controlling a hydraulic system of a mobile working machine Download PDF

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Publication number
EP1595077B1
EP1595077B1 EP04707865A EP04707865A EP1595077B1 EP 1595077 B1 EP1595077 B1 EP 1595077B1 EP 04707865 A EP04707865 A EP 04707865A EP 04707865 A EP04707865 A EP 04707865A EP 1595077 B1 EP1595077 B1 EP 1595077B1
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EP
European Patent Office
Prior art keywords
hydraulic
power
pumps
internal combustion
combustion engine
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Expired - Lifetime
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EP04707865A
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German (de)
French (fr)
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EP1595077A1 (en
Inventor
Monika Ivantysynova
Robert Rahmfeld
Jürgen Weber
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CNH Industrial Baumaschinen GmbH
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CNH Baumaschinen GmbH
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F04B49/065—Control using electricity and making use of computers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools

Definitions

  • the invention relates to a method for controlling a hydraulic system, in particular a mobile working machine, with at least one internal combustion engine, which drives at least one hydraulic pump with adjustable delivery volume and, if necessary, further hydraulic constant-displacement pumps.
  • EP 0 497 293 A1 describes a method for limiting load control of a hydrostatic drive and a hydrostatic drive for working machines.
  • the accelerator pedal position as well as the actual speed of the internal combustion engine present in the working machine are detected by measuring devices and these measured values are fed to an electronic control device.
  • a control deviation is determined by means of the difference between the actual and desired power values determined from the measured values and thus a control valve is activated such that the hydraulic pump absorbs a hydraulic power smaller than or equal to the available power of the internal combustion engine.
  • the changing due to the system pressure swing angle position of the hydraulic pump itself is not compensated, but only the resulting thereby speed change of the engine considered as an input to the scheme.
  • Object of the present invention is therefore to avoid the disadvantages described above and to realize a flexible and simple control method for mobile machines with several hydraulically operated functions whose operation is simplified in comparison to the systems common today.
  • the invention achieves this by the method described in claim 1 for controlling a hydraulic system, in particular a mobile machine, with at least one internal combustion engine that drives at least one hydraulic pump with adjustable delivery volume and possibly other hydraulic constant displacement pumps or by the electronic control device described in claim 8.
  • the power balance of the entire system can be determined very accurately. It is no longer necessary to detect the excess of power removed by already reducing the speed of the diesel engine. Rather, the exact power consumption of each pump can be determined by the measured pressure difference and the current delivery volume and compared in the control device with the known by the measured speed available power of the internal combustion engine.
  • the delivery volumes of the adjustable pumps can be reduced in such a way that the total power consumed by the hydraulic pumps is always less than or equal to the power output of the internal combustion engine.
  • a stalling of the engine can be effectively prevented even in sudden load increase. It can be an optimal speed of the internal combustion engine for the respective operating state hold, which improves the energy efficiency of the entire machine.
  • a refinement of the method is characterized in that the power consumed is approximated to each constant pump driven by the internal combustion engine by calculation from the drive speed and possibly the measured system pressure and added to the recorded total power.
  • Constant pumps of this type are frequently present in customary mobile machines, for example for operating the low-pressure system or for hydraulically driven cooling fans and the like. In contrast to today's usual disregard of these pumps, an approximation by a speed-dependent value and its consideration in the control of the overall system behavior is already advantageous. An even more accurate estimation of the absorbed power by calculation from the current system pressure leads to a very precise power balance on the drive train. This leads to a safe operation of the working machine in all operating states, since no hydraulic consumers are disregarded in the power calculation.
  • the delivery volumes of the individual hydraulic pumps are based on stored control relationships, in particular for prioritizing individual hydraulic pumps, set. This can be the behavior adapt the working machine to a very wide range of applications.
  • a prioritization of the working hydraulics compared to the drive can be achieved, whereby no uniform reduction of all pumps must be done, but the work function at the expense of the drive speed can be preferred. This improves the overall performance and the operability of the system and can serve to increase security, since a sufficient amount of power can always be provided for safety-relevant hydraulic circuits.
  • At least one input device in particular an accelerator pedal and / or a control lever, a control specification of an operator is detected.
  • the delivery volumes of these individual hydraulic pumps are adjusted in consideration of the control specifications of the operator after a prioritization.
  • the control specifications of the operator such as the accelerator pedal position
  • a load distribution can be achieved, which corresponds to the wishes of the operator.
  • the power of the internal combustion engine can be preferably directed to the traction drive.
  • its supply pump can be taken into greater account in comparison with the other drives and a reduction of the power consumption required in the other pumps can be made as necessary.
  • control device in addition to the adjustment by the hydraulic pumps with adjustable Volume delivered power controls the output power or the available power of the internal combustion engine by influencing the speed.
  • the operation of the machine can be controlled in many areas and it can be dispensed with an inch pedal. Unless the of the
  • the power of the internal combustion engine can be automatically increased to its maximum value before the power consumption of each consumer must be reduced. This corresponds exactly to the function of the inching pedal, in which the operator manually performs this power increase of the internal combustion engine when he needs a higher power for a consumer. This can reduce operator requirements and increase machine productivity.
  • a further embodiment of the method according to the invention is characterized in that in operating states in which a hydraulic pump with adjustable delivery volume acts as a drive (energy recovery of potential load and braking energy), the power output to the internal combustion engine is included in the total power calculation.
  • the respective displacement-controlled hydraulic drives deliver power to the drive train via their pumps, which usually leads to an increase in the speed of the internal combustion engine and must be compensated by the operator, for example by gas removal.
  • Such system states can be detected by the presented control device and taken into account in the regulation of the entire system.
  • This output power can then either directly via mechanical way a be made available to other hydraulic consumers or lead to a reduction of the output power of the internal combustion engine, which improves the energy efficiency of the entire system. In certain cases, more power can be available to the hydraulic consumers than is provided by the internal combustion engine installed in the work machine.
  • the control can be tailored exactly to the current operating situation of the working machine.
  • the power distribution between the individual pumps can be varied depending on these conditions. For example, when driving fast, a corresponding prioritization of the drive can be achieved or, when carrying out working movements, a preference for the working hydraulics in front of the drive can be achieved.
  • Additional hydraulic consumers, such as cooling fans and the like, may also be considered depending on the overall power balance and the current temperature values of the control.
  • a particular embodiment of the method is characterized in that in the case that a hydrodynamic converter is provided as a drive, the power consumption, in particular from a stored speed-torque characteristic, calculated by the controller and taken into account in the total power calculation.
  • the invention further relates to an electronic control device for carrying out the method according to one of the preceding claims.
  • a control device may be designed in different ways in order to carry out the method described above.
  • Such systems are usually constructed of individual components, such as processor cards, memory cards and the like, which take over the individual controller functions.
  • the system data, the individual characteristics fields and performance characteristics of the individual components can be changed and possibly also exchanged by parameterizing the components, which leads to a cost reduction and improved conductivity of the overall system.
  • the designated 1 electronic control device is used to control a hydraulic system of a mobile machine.
  • This hydraulic system has an internal combustion engine 2, which drives two pumps with adjustable displacement volume 3 and 4 and a fixed displacement pump 5 in a first stage of expansion.
  • the adjustable pump 3 is used to drive a hydraulic drive not shown here with a rotary motor.
  • the adjustable pump 4 drives a displacement-controlled working hydraulics with a differential cylinder 6 as a linear motor.
  • a non-illustrated valve assembly 7 provides the necessary differential flow equalization and the other necessary hydraulic functions such as overload protection, etc.
  • the constant pump 5 forms with a non-illustrated memory charging circuit, the low pressure system of the machine and supplies, inter alia, the hydraulically operated displacement adjustments 8 and 9 of the two adjustable pumps and 4 with low pressure.
  • the adjustment 8 serves to adjust the swash plate of the pump and thus adjust the delivery volume continuously in both directions to a maximum value and thus to regulate the behavior of the hydraulic rotary motor connected to the pump ,
  • the predetermined by the control line 10 electrical target signal is converted by an electro-hydraulic valve in the corresponding position of the swash plate.
  • the adjustment 9 is constructed for the second hydraulic pump 4, in which the signal of the control line 11 is converted into a corresponding position of the swash plate of the pump 4.
  • Alternative pump designs for example in radial piston designs or the like, are controlled by analogous electrohydraulically operated adjustments.
  • the adjustable pump 3 has a respective at its two terminals Pressure sensor with measuring transducer 12 or 13, which measure the pressure in this pump connection and forward the signal to the controller 1.
  • the signal transmission takes place here depending on the system structure in the form of an analog or digital voltage signal, either via its own signal line 112 or 113 or via a system bus, to which a plurality of components of the controller is connected.
  • the second adjustable pump 4 also has pressure sensors 14 and 15 at its two terminals with the signal lines 114 and 115.
  • the two adjustments 8 and 9 for the adjustable pumps 3 and 4 each have a measuring sensor with signal converter 16 and 17, respectively, the current Measure the position of the respective pump volume adjustment and forward it via the lines 116 and 117 to the controller. From this signal, the current displacement volume of the respective adjustable pump can be derived.
  • the internal combustion engine 2 is equipped with a speed sensor 18, which transmits the current machine speed via the signal line 118 to the controller.
  • the accelerator pedal 19, which regulates the fuel supply to the internal combustion engine, is also equipped with a sensor, so that the current position of the accelerator pedal is transmitted via the line 119 to the controller.
  • a joystick 20 is used to input a plurality of further control signals from the operator to the controller, from which among other things the desired position of the working hydraulics is determined.
  • a power balance of the entire drive train is continuously determined.
  • the power consumption of each individual pump is calculated from the available sensor data and compared with the output power of the internal combustion engine 2. If this one If there is a mismatch, corresponding control signals for the adjustable pumps 3 and 4 or the internal combustion engine 2 are subsequently generated and their power consumption or power output is thereby adjusted.
  • the sensor 18 measured and forwarded via the signal line 118 to the controller 1 speed calculated based on a stored in the controller 1 speed-power curve of the internal combustion engine output power.
  • the current displacement volume of the pump 3 is calculated from the measured from the sensor 16 and forwarded via the signal line 116 to the controller position signal volume adjustment.
  • the current flow rate is determined by the pump.
  • the two sensors 12 and 13 communicate via the signal lines 112 and 113, the current pressure on both sides of the pump to the controller. From this, the pressure difference generated by the pump can be calculated. From the volumetric flow and the pressure difference and the characteristic curve of the pump stored in the controller 1, the current recorded mechanical power of the pump is calculated. In the event that the pump of the drive, for example, downhill, output power to the drive shaft, this is also taken into account here, as a reverse pressure difference at constant speed indicates such a state (motor operation of the pump).
  • the power for the further variable displacement pump 4 is calculated.
  • the actual signal of the displacer volume generated by the adjustment 9 and forwarded by the sensor 17 via the line 117 to the controller 1 serves, in conjunction with the measured speed, to determine the current volume flow from that measured in conjunction with that measured by the sensors 14 and 15 and via the signal lines 114 and 115 forwarded differential pressure, the current power consumption of the variable displacement pump 4 is calculated.
  • an existing characteristic in the control is used again, which maps the behavior of the pump in different operating states.
  • more complicated characteristic fields are used, which reflect deviant behaviors of the pump at different speeds, pressures or displacement volumes with.
  • Different pumps, which are used depending on the requirements of the working machine or a change of the pumps due to maintenance or the like can be taken into account by simple changes of the stored in the control curve or characteristic fields.
  • the power consumption of the fixed displacement pump 5 is approximated by its characteristic and the system speed measured by the sensor 18.
  • a further pressure sensor for measuring the pumped by the pump 5 low pressure is used.
  • the recorded total power with the output power of the engine 2 can be compared.
  • the operating states in which one or more of the pumps deliver power to the drive train are automatically taken into account here.
  • the controller 1 now calculates depending on the operating state of the machine as well as from the control parameters transmitted by the operating elements 20 and the accelerator pedal 19 setpoint values or limit values for the two adjustable pumps 3 and 4 such that the recorded total power of the two pumps is less than or equal to the output power of the internal combustion engine. These specifications are transmitted via the control lines 10 and 11 to the delivery volume adjustment 8 and 9 of the adjustable pumps 3 and 4 respectively.
  • the internal combustion engine 2 offers the possibility of controlling its rotational speed via an electronic control intervention 21. If it is determined in the calculation of the power balance that more power is to be taken from the pump than the internal combustion engine is currently available, the speed and thus its power is increased up to its maximum power through the control intervention 21.
  • the division of the power removed between the two adjustable pumps 3 and 4 is due to existing in the controller 1 control programs. Different control strategies are possible, depending on the vehicle condition.
  • the engine power is increased until the maximum of the power output of the installed Brennmrafmiaschine is reached. Then increases the power consumption (or power output) of the installed pumps on, which can be done without user intervention, for example when driving uphill or increasing load on the working hydraulics, the displacement volumes of the two pumps 3 and 4 are uniformly reduced by the controller 1 via the control lines 10th or 11 to the delivery volume adjustment 8 and 9 transmits the commands for reducing the delivery volume. If the operator requests more power for one of the pumps 3 or 4 via the accelerator pedal 19 or the joystick 20, this is done as long as there is no increase in the corresponding delivery volume until an excess of surplus is available at the other pump.
  • FIG. 1 The hydraulic system of a working machine with a larger functional range is shown in more detail in FIG. Again, an internal combustion engine 2 is present, which drives four pumps with adjustable delivery volume 3, 4, 23, 24 and a constant displacement pump 5 via a gearbox 22. In addition, two more constant pumps 25 and 26 are driven directly from the internal combustion engine 2 on the power take-off.
  • an internal combustion engine 2 which drives four pumps with adjustable delivery volume 3, 4, 23, 24 and a constant displacement pump 5 via a gearbox 22.
  • two more constant pumps 25 and 26 are driven directly from the internal combustion engine 2 on the power take-off.
  • the adjustable pump 3 is in a closed circuit with the hydraulic rotary motor 27 which is connected via a gear 28 to the drive train 29 of the vehicle. This unit forms the hydrostatic drive of the machine.
  • the adjustable hydraulic pump 4 is connected as above with a not shown valve assembly 7 in a closed circuit with the differential cylinder 6, which operates the tilting functions of the working machine.
  • the adjustable pump 23, which is driven together with the adjustable pump 4, is used to operate a hydraulic steering 30, which is not shown here.
  • both conventional hydraulic steering systems can be used as well as steering systems in the closed hydraulic circuit, in which the steering drives are moved directly from the pump flow.
  • the adjustable pump 24 is connected by means of the valve assembly 31, not shown here in a closed circuit with the two differential cylinders 32, which serve to drive the lifting function of the implement of the machine.
  • the valve assembly 31 has exactly the same as the valve assembly 7, the necessary overload protection and other valves that are necessary for such hydraulic systems.
  • it makes the difference in volume flow compensation, which is necessary in the use of differential cylinders by the dependent of the direction of movement of the hydraulic cylinder 32 differential volume of the hydraulic fluid is compensated in the low-pressure system.
  • This consists of the fixed displacement pump 5, which is driven together with the adjustable pump 24 of the internal combustion engine 2 and the low pressure limiting valve 33, which ensures with the pressure vessel 34 and the hydraulic reservoir 35 that a constant pressure in the low pressure system is present.
  • the constant-displacement pump 25 driven directly by the motor serves to operate a hydraulically operated cooling system 36.
  • the constant-displacement pump 26 serves to operate the hydraulic brake 37.
  • the internal combustion engine 2 is controlled by the accelerator pedal 19. It has a speed sensor 18, which transmits the engine speed to the electronic control device 1 via a data line (not shown). About the Data line 119, the accelerator pedal position is also forwarded to the electronic control device 1.
  • the joystick 20 allows the operator to control the remaining behaviors of the machine.
  • Each of the adjustable hydraulic pumps 3, 4, 23 and 24 has, analogously to above, a displacement volume control 8, 9, 38 and 39. These take over electronic signal lines 10, 11, 40, 41 the target specifications for the respective delivery volume from the controller 1 and control depending on the volume flow of the respective pump to the predetermined value. This is done in the present case with pumps in axial piston swash plate construction by the electro-hydraulic adjustment of the swash plate, which thus ensures a corresponding volume flow.
  • Each of the adjusting device 8, 9, 38, 39 has a sensor 16, 17, 42, 43, which transmits the current size of the delivery volume to the controller 1 via signal lines not shown here.
  • Each of the closed hydraulic circuits with an adjustable pump 3, 4, 23, 24 is equipped with two pressure sensors 12, 13, 14, 15, 44, 45, 46, 47, which also does not show the hydraulic pressure in front of and behind the adjustable pump Signal lines to the controller 1 transmitted.
  • the control method for this work machine is basically analogous to that described above.
  • the measured values of the individual sensors are cyclically read in the controller.
  • the currently output power of the internal combustion engine 2 is calculated in conjunction with the stored engine characteristic.
  • the power of each individual hydraulic pump is calculated and these performance data are summed up.
  • the power consumption is calculated as a function of the engine speed known by the sensor 18 and the known characteristic curves of the pumps.
  • the current power consumption is calculated from the measured delivery volumes and the measured differential pressures in the respective circuit and with the known speed and the stored characteristic of the pump. By summing up all these values, the recorded mechanical power is known and compared with the available power of the internal combustion engine 2.
  • control device 1 will increase the speed of the internal combustion engine 2 via the engine control input 21 with increasing power requirements of the pump until it has reached its maximum value. Since usually the total installed hydraulic power of the engine exceeds the available power of the internal combustion engine 2, there are cases in which more power is required by user default or load conditions on the hydraulic cylinders 6, 32 or the drive 27, as the machine make available can. To avoid the otherwise occurring here speed reduction individual of the hydraulic variable displacement pumps 3, 4, 23, 24 are reduced by the control device 1 by smaller target specifications or limits for the delivery volumes via the data lines 10, 11, 40, 41 to the pump adjustments , 9, 38, 39.
  • the control device 1 ensures that the pump 23, the hydraulic Steering 30 drives, is prioritized and thus initially the power consumption of the remaining pumps are reduced. Normally, the procedure is such that first the pump 3, which operates the hydraulic traction drive of the machine, is taken back to have more power for the working hydraulic cylinders 6 and 32 available.
  • the invention is not limited to the above embodiment, but can be varied in many ways, without departing from the spirit.
  • a traction drive with torque converter can be used, the speed-torque characteristic is then stored in the controller to calculate its recorded power.

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  • Mining & Mineral Resources (AREA)
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  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Computer Hardware Design (AREA)
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Abstract

A method is described for controlling a hydraulic system, particularly of mobile working machine, with at least one internal combustion engine driving at least one hydraulic pump with adjustable volumetric displacement and possibly additional fixed-displacement pumps.

Description

Die Erfindung betrifft ein Verfahren zur Steuerung eines Hydrauliksystems, insbesondere einer mobilen Arbeitsmaschine, mit mindestens einer Brennkraftmaschine, die wenigstens eine Hydraulikpumpe mit verstellbarem Fördervolumen sowie ggf weitere hydraulische Konstantpumpen antreibt.The invention relates to a method for controlling a hydraulic system, in particular a mobile working machine, with at least one internal combustion engine, which drives at least one hydraulic pump with adjustable delivery volume and, if necessary, further hydraulic constant-displacement pumps.

In der EP 0 497 293 A1 wird ein Verfahren zur Grenzlastregelung eines hydrostatischen Antriebes sowie ein hydrostatischer Antrieb für Arbeitsmaschinen beschrieben. Dort wird über Messeinrichtungen die Gaspedal- Stellung sowie die Ist- Drehzahl der in der Arbeitsmaschine vorhandenen Brennkraftmaschine erfasst und diese Messwerte werden einer elektronischen Regeleinrichtung zugeführt. Über die Differenz von der aus den Messwerten bestimmten Ist- und Soll- Leistungswerten wird eine Regelabweichung ermittelt und damit ein Steuerventil so angesteuert, dass die Hydropumpe eine hydraulische Leistung kleiner oder gleich der verfügbaren Leistung der Brennkraftmaschine aufnimmt. Die sich aufgrund des Systemdruckes ändernde Schwenkwinkelstellung der Hydropumpe wird selbst nicht kompensiert, sondern lediglich die sich hierdurch ergebende Drehzahländerung der Brennkraftmaschine als Eingangsgröße für die Regelung berücksichtigt.EP 0 497 293 A1 describes a method for limiting load control of a hydrostatic drive and a hydrostatic drive for working machines. There, the accelerator pedal position as well as the actual speed of the internal combustion engine present in the working machine are detected by measuring devices and these measured values are fed to an electronic control device. A control deviation is determined by means of the difference between the actual and desired power values determined from the measured values and thus a control valve is activated such that the hydraulic pump absorbs a hydraulic power smaller than or equal to the available power of the internal combustion engine. The changing due to the system pressure swing angle position of the hydraulic pump itself is not compensated, but only the resulting thereby speed change of the engine considered as an input to the scheme.

Dieses Regelverfahren weist eine Reihe von Nachteilen auf So kann immer nur eine bereits erfolgte lastbedingte Reduktion der Drehzahl der Brennkraftmaschine von der Regelung berücksichtigt werden. Außerdem wird durch das beschriebene Verfahren lediglich die Pumpe für den hydraulischen Antrieb der Arbeitsmaschine berücksichtigt. Weitere hydraulische Verbraucher werden bei der Berechnung der Leistungsdaten nicht betrachtet. Komplizierte Lastverteilungen und deren Veränderungen während des Betriebes, wie sie in komplexen hydraulischen Systemen mit mehreren Pumpen und Antrieben vorkommen, lassen sich mit dem beschriebenen Verfahren nicht zufriedenstellend beherrschen. Die weiteren im Stand der Technik bekannten Grenzlastregelungen weisen ähnliche Unzulänglichkeiten auf Die aus der DE 36 11 533 C1 bekannte Anordnung zum Betrieb eines dieselhydraulischen Antriebes benutzt einen Mikroprozessorregler, um die abnehmbare hydraulische Leistung bei thermischer und/oder mechanischer Überlastung des Dieselmotors zu reduzieren. Zum Erkennen der mechanischen Überlastung ist aber wiederum eine bereits erfolgte Senkung der Dieseldrehzahl nötig. Außerdem werden bei Vorhanensein mehrerer verstellbarer Pumpen deren Fördervolumina immer gleichförmig reduziert, so dass eine flexible Anpassung an unterschiedliche Betriebszustände der Arbeitsmaschine nicht möglich ist.This control method has a number of disadvantages. Thus, only an already existing load-related reduction of the speed of the internal combustion engine can be taken into account by the control. In addition, only the pump for the hydraulic drive of the working machine is taken into account by the described method. Further hydraulic consumers will be added not considered in the calculation of the performance data. Complicated load distributions and their changes during operation, as they occur in complex hydraulic systems with multiple pumps and drives, can not be satisfactorily mastered with the described method. The other known in the art limit load controls have similar shortcomings The known from DE 36 11 533 C1 arrangement for operating a diesel-hydraulic drive uses a microprocessor controller to reduce the removable hydraulic power at thermal and / or mechanical overload of the diesel engine. To recognize the mechanical overload but in turn an already made reduction in the diesel speed is necessary. In addition, in the presence of several adjustable pumps whose delivery volumes are always uniformly reduced, so that a flexible adaptation to different operating conditions of the machine is not possible.

Ein weiterer Nachteil der in heutigen Arbeitsmaschinen vorhandenen Regeleinrichtungen ist die Notwendigkeit eines sogenannten Inch- Pedals. Dieses kann separat oder mit dem Bremspedal gekoppelt sein und dient dazu, die Drehzahl der Brennkraftmaschine unabhängig von der Fahrgeschwindigkeit zu steigern. Dadurch kann auch bei Langsamfahrt oder Stillstand der Arbeitsmaschine die Dieseldrehzahl erhöht werden, um zusätzliche Leistung für die Pumpen weiterer Hydraulikfunktionen, beispielsweise der Hub- oder Arbeitshydrauliken, zur Verfügung zu stellen. Dies verkompliziert aber den Bedienvorgang der Maschine, da der Bediener zusätzlich zum Betätigen der Steuerelemente für die Arbeitsfunktionen manuell durch Betätigung des Inch- und Gas- Pedales für eine ausreichende Dieseldrehzahl zur Versorgung der jeweiligen Hydrauliken sorgen muss.Another disadvantage of existing in today's machines control equipment is the need for a so-called inch pedal. This can be coupled separately or with the brake pedal and serves to increase the speed of the internal combustion engine regardless of the driving speed. As a result, the diesel engine speed can be increased even when driving slowly or when the machine is at a standstill in order to provide additional power for the pumps of further hydraulic functions, for example the lifting or working hydraulics. However, this complicates the operation of the machine since, in addition to operating the work function controls, the operator must manually provide sufficient hydraulic oil to power the respective hydraulics by operating the inch and gas pedals.

Aufgabe der vorliegenden Erfindung ist es deshalb, die oben beschriebenen Nachteile zu vermeiden und ein flexibles und einfaches Steuerverfahren für mobile Arbeitsmaschinen mit mehreren hydraulisch betriebenen Funktionen zu verwirklichen, dessen Bedienung im Vergleich zu den heute üblichen Systemen vereinfacht ist.Object of the present invention is therefore to avoid the disadvantages described above and to realize a flexible and simple control method for mobile machines with several hydraulically operated functions whose operation is simplified in comparison to the systems common today.

Die Erfindung erreicht dies durch das im Anspruch 1 beschriebene Verfahren zur Steuerung eines Hydrauliksystems, insbesondere einer mobilen Arbeitsmaschine, mit mindestens einer Brennkraftmaschine, die wenigstens eine Hydraulikpumpe mit verstellbarem Fördervolumen sowie ggf. weitere hydraulische Konstantpumpen antreibt bzw durch die im Anspruch 8 beschriebene elektronische Steuereinrichtung.The invention achieves this by the method described in claim 1 for controlling a hydraulic system, in particular a mobile machine, with at least one internal combustion engine that drives at least one hydraulic pump with adjustable delivery volume and possibly other hydraulic constant displacement pumps or by the electronic control device described in claim 8.

Dadurch, dass neben der Dieselmotordrehzahl auch die Druckdifferenz und das Fördervolumen der verstellbaren Hydraulikpumpen gemessen wird, läßt sich die Leistungsbilanz des gesamten Systems sehr genau bestimmen. Es ist nicht mehr nötig, das Übermaß an abgenommener Leistung durch eine bereits erfolgte Senkung der Dieseldrehzahl zu detektieren. Vielmehr läßt sich die genaue Leistungsaufnahme jeder Pumpe durch die gemessene Druckdifferenz und das aktuelle Fördervolumen bestimmen und in der Regeleinrichtung mit der durch die gemessene Drehzahl bekannten zur Verfügung stehenden Leistung der Brennkraftmaschine vergleichen. So lassen sich bereits vor einer Senkung der Dieseldrehzahl die Fördervolumina der verstellbaren Pumpen derartig reduzieren, dass die aufgenommenen Gesamtleistungen der hydraulischen Pumpen immer kleiner oder gleich der abgegebenen Leistung der Brennkraftmaschine sind. Damit kann ein Abwürgen des Motors auch bei plötzlichem Lastanstieg wirksam verhindert werden. Es läßt sich eine optimale Drehzahl der Brennkraftmaschine für den jeweiligen Betriebszustand halten, was die Energieeffizienz der Gesamtmaschine verbessert.The fact that in addition to the diesel engine speed and the pressure difference and the delivery volume of the adjustable hydraulic pump is measured, the power balance of the entire system can be determined very accurately. It is no longer necessary to detect the excess of power removed by already reducing the speed of the diesel engine. Rather, the exact power consumption of each pump can be determined by the measured pressure difference and the current delivery volume and compared in the control device with the known by the measured speed available power of the internal combustion engine. Thus, even before a reduction in the diesel engine speed, the delivery volumes of the adjustable pumps can be reduced in such a way that the total power consumed by the hydraulic pumps is always less than or equal to the power output of the internal combustion engine. Thus, a stalling of the engine can be effectively prevented even in sudden load increase. It can be an optimal speed of the internal combustion engine for the respective operating state hold, which improves the energy efficiency of the entire machine.

Eine Weiterbildung des Verfahrens zeichnet sich dadurch aus, dass die aufgenommene Leistung jeder durch die Brennkraftmaschine angetriebenen Konstantpumpe durch Berechnung aus der Antriebsdrehzahl und ggf. dem gemessenen Systemdruck angenähert und zur aufgenommenen Gesamtleistung addiert wird.A refinement of the method is characterized in that the power consumed is approximated to each constant pump driven by the internal combustion engine by calculation from the drive speed and possibly the measured system pressure and added to the recorded total power.

Hierdurch wird es möglich, weitere von der Brennkraftmaschine angetriebene Konstantpumpen mit in die Berechnung der abgenommenen hydraulischen Leistung einzubeziehen. Derartige Konstantpumpen sind in üblichen mobilen Arbeitsmaschinen vielfach vorhanden, beispielsweise zum Betrieb des Niederdrucksystems oder für hydraulisch angetriebene Kühlventilatoren und dgl. Im Gegensatz zum heute üblichen Unberücksichtigtlassen dieser Pumpen ist bereits eine Annäherung durch einen drehzahlabhängigen Wert und dessen Berücksichtigung bei der Regelung für das Gesamtsystemverhalten vorteilhaft. Eine noch genauere Abschätzung der aufgenommenen Leistung durch Berechnung aus dem aktuellen Systemdruck führt zu einer sehr präzisen Leistungsbilanz am Antriebsstrang. Dies führt zu einem sicheren Betrieb der Arbeitsmaschine in allen Betriebszuständen, da keine hydraulischen Verbraucher bei der Leistungsberechnung unberücksichtigt bleiben.This makes it possible to include further pump driven by the internal combustion constant pumps in the calculation of the hydraulic power removed. Constant pumps of this type are frequently present in customary mobile machines, for example for operating the low-pressure system or for hydraulically driven cooling fans and the like. In contrast to today's usual disregard of these pumps, an approximation by a speed-dependent value and its consideration in the control of the overall system behavior is already advantageous. An even more accurate estimation of the absorbed power by calculation from the current system pressure leads to a very precise power balance on the drive train. This leads to a safe operation of the working machine in all operating states, since no hydraulic consumers are disregarded in the power calculation.

Vorteilhaft ist es, wenn die Leistungsberechnung der Brennkraftmaschine und/oder der Hydraulikpumpen mit verstellbarem Fördervolumen und/oder der hydraulischen Konstantpumpen mittels abgelegter Wirkzusammenhänge, insbesondere in Form von Kennlinien oder Kennlinienfeldern, erfolgt. Durch vorher abgelegte Wirkausammenhänge läßt sich aus den gemessenen Daten, wie Verdrängungsvolumen, Druckdifferenz usw., präzise das von der entsprechenden Pumpe aufgenommene Antriebsmoment berechnen. Aus dem Zusammenhang zwischen Drehzahl und abgegebenem Moment der Brennkraftmaschine läßt sich so eine Momentenbilanz bzw. Leistungsbilanz des Antriebssystems erstellen. Änderungen dieser Wirkzusammenhänge, beispielsweise aufgrund von Alterungserscheinungen oder durch Austausch einzelner Komponenten, lassen sich einfach durch entsprechende Änderungen in der Steuersoftware berücksichtigen.It is advantageous if the power calculation of the internal combustion engine and / or the hydraulic pumps with adjustable delivery volume and / or the constant hydraulic pumps by means of stored operative relationships, in particular in the form of characteristics or characteristic curves, takes place. By previously stored Wirkausammenhänge can be calculated from the measured data, such as displacement volume, pressure difference, etc., precisely recorded by the corresponding pump drive torque. From the relationship between speed and output torque of the internal combustion engine can be so create a torque balance or power balance of the drive system. Changes in these interactions, for example due to signs of aging or the replacement of individual components, can be easily taken into account by appropriate changes in the control software.

Sinnvoll ist es, dass beim Vorhandensein mehrerer Hydraulikpumpen mit verstellbarem Fördervolumen die Fördervolumina der einzelnen Hydraulikpumpen anhand abgelegter Steuerzusammenhänge, insbesondere zur Priorisierung einzelner Hydraulikpumpen, eingestellt werden. Hierdurch läßt sich das Verhalten der Arbeitsmaschine an einen sehr breiten Anwendungsbereich anpassen. So kann einfach durch Anpassen der Steuerzusammenhänge eine Priorisierung der Arbeitshydraulik im Vergleich zum Antrieb erreicht werden, wodurch keine gleichmäßige Reduktion aller Pumpen mehr erfolgen muss, sondern die Arbeitsfunktion auf Kosten der Antriebsgeschwindigkeit bevorzugt werden kann. Dies verbessert das Gesamtverhalten und die Bedienbarkeit des Systems und kann zur Erhöhung der Sicherheit dienen, da für sicherheitsrelevante Hydraulikkreise immer ein ausreichendes Maß an Leistung zur Verfügung gestellt werden kann.It makes sense that in the presence of several hydraulic pumps with adjustable delivery volume, the delivery volumes of the individual hydraulic pumps are based on stored control relationships, in particular for prioritizing individual hydraulic pumps, set. This can be the behavior adapt the working machine to a very wide range of applications. Thus, simply by adjusting the control relationships, a prioritization of the working hydraulics compared to the drive can be achieved, whereby no uniform reduction of all pumps must be done, but the work function at the expense of the drive speed can be preferred. This improves the overall performance and the operability of the system and can serve to increase security, since a sufficient amount of power can always be provided for safety-relevant hydraulic circuits.

Vorteilhaft kann es sein, dass von wenigstens einer Eingabevorrichtung, insbesondere einem Gaspedal und/oder einem Steuerhebel, eine Steuervorgabe eines Bedieners erfasst wird.Advantageously, it may be that at least one input device, in particular an accelerator pedal and / or a control lever, a control specification of an operator is detected.

Darüber hinaus kann es vorteilhaft sein, dass beim Vorhandensein mehrerer Hydraulikpumpen mit verstellbarem Fördervolumen die Fördervolumina dieser einzelnen Hydraulikpumpen unter Berücksichtigung der Steuervorgaben des Bedieners nach einer Priorisierung verstellt werden.In addition, it may be advantageous that in the presence of several hydraulic pumps with adjustable delivery volume, the delivery volumes of these individual hydraulic pumps are adjusted in consideration of the control specifications of the operator after a prioritization.

Durch Berücksichtigung der Steuervorgaben des Bedieners, wie beispielsweise der Gaspedalstellung, läßt sich eine Lastverteilung erreichen, die den Wünschen des Bedieners entspricht. So kann bei einer starken Betätigung des Gaspedals die Leistung der Brennkraftmaschine bevorzugt auf den Fahrantrieb geleitet werden. Analog läßt sich bei großen Soll- Vorgaben für die Arbeitshydraulik deren Versorgungspumpe im Vergleich zu den anderen Antrieben stärker berücksichtigen und eine etwa nötige Reduktion der Leistungsaufnahme bei den anderen Pumpen vornehmen.By taking into account the control specifications of the operator, such as the accelerator pedal position, a load distribution can be achieved, which corresponds to the wishes of the operator. Thus, in a strong operation of the accelerator pedal, the power of the internal combustion engine can be preferably directed to the traction drive. Analogously, in the case of large setpoint specifications for the working hydraulics, its supply pump can be taken into greater account in comparison with the other drives and a reduction of the power consumption required in the other pumps can be made as necessary.

In einer weiteren Ausgestaltung der Erfindung ist vorgesehen, dass die Steuereinrichtung zusätzlich zur Verstellung der durch die Hydraulikpumpen mit verstellbarem Fördervolumen aufgenommenen Leistung die abgegebene Leistung bzw. die zur Verfügung stehende Leistung der Brennkraftmaschine durch Beeinflussung der Drehzahl steuert.In a further embodiment of the invention it is provided that the control device in addition to the adjustment by the hydraulic pumps with adjustable Volume delivered power controls the output power or the available power of the internal combustion engine by influencing the speed.

Hierdurch läßt sich der Betrieb der Arbeitsmaschine in weiten Bereichen steuem und es kann auf ein Inch- Pedal verzichtet werden. Sofern die von derAs a result, the operation of the machine can be controlled in many areas and it can be dispensed with an inch pedal. Unless the of the

Brennkraftmaschine zur Verfügung gestellte Leistung nicht für die berechnete abgenommene Leistung ausreicht, kann die Leistung der Brennkraftmaschine automatisch bis zu ihrem Maximalwert erhöht werden, bevor die Leistungsaufnahme der einzelnen Verbraucher reduziert werden muss. Dies entspricht genau der Funktion des Inch- Pedals, bei der der Bediener diese Leistungserhöhung der Brennkraftmaschine manuell vornimmt, wenn er eine höhere Leistung für einen Verbraucher benötigt. Hierdurch lassen sich die Anforderungen an den Bediener reduzieren und die Produktivität der Maschine steigern.Engine provided power is not sufficient for the calculated power taken, the power of the internal combustion engine can be automatically increased to its maximum value before the power consumption of each consumer must be reduced. This corresponds exactly to the function of the inching pedal, in which the operator manually performs this power increase of the internal combustion engine when he needs a higher power for a consumer. This can reduce operator requirements and increase machine productivity.

Eine weitere Ausgestaltung des erfindungsgemäßen Verfahrens zeichnet sich dadurch aus, dass in Betriebszuständen, in denen eine Hydraulikpumpe mit verstellbarem Fördervolumen als Antrieb wirkt (Energierückgewinnung potentieller Last- und Bremsenergie), die an die Brennkraftmaschine abgegebene Leistung in die Gesamtleistungsberechnung mit einbezogen wird.A further embodiment of the method according to the invention is characterized in that in operating states in which a hydraulic pump with adjustable delivery volume acts as a drive (energy recovery of potential load and braking energy), the power output to the internal combustion engine is included in the total power calculation.

Beispielsweise beim Absenken von Lasten oder einer Bergabfahrt der Maschine geben die jeweiligen verdrängergesteuerten hydraulischen Antriebe über ihre Pumpen Leistung an den Antriebsstrang ab, was normalerweise zu einer Erhöhung der Drehzahl der Brennkraftmaschine führt und vom Bediener beispielsweise durch Gaswegnahme kompensiert werden muss. Derartige Systemzustände können von der vorgestellten Steuerungseinrichtung erfasst werden und bei der Regelung des Gesamtsystems Berücksichtigung finden. Diese abgegebene Leistung kann dann entweder direkt über mechanischem Weg einem anderen hydraulischen Verbraucher zur Verfügung gestellt werden oder zu einer Reduktion der abgegebenen Leistung der Brennkraftmaschine führen, was die Energieeffizienz des Gesamtsystems verbessert. In bestimmten Fällen kann den hydraulischen Verbrauchern so mehr Leistung zur Verfügung stehen, als durch die in der Arbeitsmaschine installierte Brennkraftmaschine bereitgestellt wird.For example, when lowering loads or a downhill of the machine, the respective displacement-controlled hydraulic drives deliver power to the drive train via their pumps, which usually leads to an increase in the speed of the internal combustion engine and must be compensated by the operator, for example by gas removal. Such system states can be detected by the presented control device and taken into account in the regulation of the entire system. This output power can then either directly via mechanical way a be made available to other hydraulic consumers or lead to a reduction of the output power of the internal combustion engine, which improves the energy efficiency of the entire system. In certain cases, more power can be available to the hydraulic consumers than is provided by the internal combustion engine installed in the work machine.

Vorteilhaft kann es sein, dass zur Steuerung der einzelnen Hydraulikpumpen mit verstellbarem Fördervolumen weitere gemessene Systemzustände, insbesondere Fahrzeuggeschwindigkeit, Arbeitshydraulikposition und Hydraulikfluidtemperatur, berücksichtigt werden.It may be advantageous that further measured system states, in particular vehicle speed, working hydraulic position and hydraulic fluid temperature, are taken into account for controlling the individual hydraulic pumps with adjustable delivery volume.

Durch die Berücksichtigung solcher zusätzlicher Systemzustände läßt sich die Regelung genau auf den aktuellen Betriebsfall der Arbeitsmaschine abstimmen. So kann die Leistungsaufteilung zwischen den einzelnen Pumpen abhängig von diesen Zuständen variiert werden. Beispielsweise läßt sich bei Schnellfahrt eine entsprechende Priorisierung des Antriebes erreichen oder beim Ausführen von Arbeitsbewegungen ein Bevorzugen der Arbeitshydraulik vor dem Antrieb erreichen. Zusätzliche hydraulische Verbraucher, wie Kühlgebläse und dgl., können ebenfalls abhängig von der Gesamtleistungsbilanz und von den aktuellen Temperaturwerten von der Regelung berücksichtigt werden.By taking into account such additional system states, the control can be tailored exactly to the current operating situation of the working machine. Thus, the power distribution between the individual pumps can be varied depending on these conditions. For example, when driving fast, a corresponding prioritization of the drive can be achieved or, when carrying out working movements, a preference for the working hydraulics in front of the drive can be achieved. Additional hydraulic consumers, such as cooling fans and the like, may also be considered depending on the overall power balance and the current temperature values of the control.

Eine besondere Ausgestaltung des Verfahrens zeichnet sich dadurch aus, dass im Fall, dass ein hydrodynamischer Wandler als Fahrantrieb vorgesehen ist, dessen Leistungsaufnahme, insbesondere aus einer abgelegten Drehzahl-Drehmoment- Charakteristik, von der Steuereinrichtung berechnet und bei der Gesamtleistungsberechnung berücksichtigt wird.A particular embodiment of the method is characterized in that in the case that a hydrodynamic converter is provided as a drive, the power consumption, in particular from a stored speed-torque characteristic, calculated by the controller and taken into account in the total power calculation.

Wenn die Arbeitsmaschine statt von einem hydraulischen Motor mit verstellbarer Pumpe (hydrostatischer Fahrantrieb) von einem hydrodynamischen Wandler angetrieben wird, wird dieser ebenfalls von der Steuereinrichtung berücksichtigt. Die Berechnung der aufgenommenen Leistung des Wandlers erfolgt dabei wiederum über ein Kennlinienfeld, das das Verhalten des Wandlers abbildet. Damit kann diese Leistungsabnahme bei der Berechnung der Gesamtleistung berücksichtigt werden und die Regelung die entsprechenden Steuereingänge des Wandlerantriebes mit den nötigen Signalen zur Erreichung der gewünschten Fahrgeschwindigkeit beaufschlagen.When the working machine instead of a hydraulic motor with adjustable pump (hydrostatic drive) from a hydrodynamic converter is driven, this is also taken into account by the controller. The calculation of the recorded power of the converter is in turn carried out via a characteristic field which maps the behavior of the converter. Thus, this decrease in power can be taken into account in the calculation of the total power and apply the control the corresponding control inputs of the converter drive with the necessary signals to achieve the desired driving speed.

Die Erfindung betrifft weiterhin eine elektronische Steuereinrichtung zur Durchführung des Verfahrens nach einem der vorangegangenen Ansprüche. Eine solche Steuerungseinrichtung kann auf unterschiedliche Art und Weise ausgebildet sein, um das oben beschriebene Verfahren auszuführen. Dabei sind derartige Systeme üblicherweise aus einzelnen Komponenten, wie Prozessorkarten, Speicherkarten und dgl. aufgebaut, die die einzelnen Reglerfünktionen übernehmen. Die Systemdaten, die einzelnen Kennlinienfelder und Leistungscharakteristika der einzelnen Komponenten lassen sich durch Parametrierung der Komponenten ändern und ggf. auch austauschen, was zu einer Kostenreduktion und verbesserten Leitungsfähigkeit des Gesamtsystems führt.The invention further relates to an electronic control device for carrying out the method according to one of the preceding claims. Such a control device may be designed in different ways in order to carry out the method described above. Such systems are usually constructed of individual components, such as processor cards, memory cards and the like, which take over the individual controller functions. The system data, the individual characteristics fields and performance characteristics of the individual components can be changed and possibly also exchanged by parameterizing the components, which leads to a cost reduction and improved conductivity of the overall system.

Die Erfindung ist nachstehend anhand der Zeichnung beispielhaft näher erläutert. Diese zeigen:

Fig. 1:
eine schematische Darstellung eines erfindungsgemäßen Hydrauliksystems
Fig. 2:
eine schematische Darstellung eines erfindungsgemäßen Hydrauliksystems mit weiteren hydraulischen Komponenten.
The invention is explained in more detail below by way of example with reference to the drawing. These show:
Fig. 1:
a schematic representation of a hydraulic system according to the invention
Fig. 2:
a schematic representation of a hydraulic system according to the invention with further hydraulic components.

Die mit 1 bezeichnete elektronische Steuereinrichtung nach der Erfindung dient zur Steuerung eines Hydrauliksystems einer mobilen Arbeitsmaschine.The designated 1 electronic control device according to the invention is used to control a hydraulic system of a mobile machine.

Dieses Hydrauliksystem weist eine Brennkraftmaschine 2 auf, die in einer ersten Ausbaustufe zwei Pumpen mit verstellbarem Verdrängungsvolumen 3 und 4 sowie eine Konstantpumpe 5 antreibt. Die verstellbare Pumpe 3 dient zum Antrieb eines hier nicht näher dargestellten hydraulischen Fahrantriebes mit Rotationsmotor. Die verstellbare Pumpe 4 treibt eine verdrängergesteuerte Arbeitshydraulik mit einem Differentialzylinder 6 als Linearmotor an. Eine nicht näher dargestellte Ventilanordnung 7 sorgt für den notwendigen Differenzvolumenstromausgleich sowie die weiteren nötigen Hydraulikfunktionen wie Überlastabsicherung usw. Die Konstantpumpe 5 bildet mit einer nicht näher dargestellten Speicherladeschaltung das Niederdrucksystem der Arbeitsmaschine und versorgt unter anderem die hydraulisch betätigten Fördervolumenverstellungen 8 und 9 der beiden verstellbaren Pumpen 3 und 4 mit Niederdruck.This hydraulic system has an internal combustion engine 2, which drives two pumps with adjustable displacement volume 3 and 4 and a fixed displacement pump 5 in a first stage of expansion. The adjustable pump 3 is used to drive a hydraulic drive not shown here with a rotary motor. The adjustable pump 4 drives a displacement-controlled working hydraulics with a differential cylinder 6 as a linear motor. A non-illustrated valve assembly 7 provides the necessary differential flow equalization and the other necessary hydraulic functions such as overload protection, etc. The constant pump 5 forms with a non-illustrated memory charging circuit, the low pressure system of the machine and supplies, inter alia, the hydraulically operated displacement adjustments 8 and 9 of the two adjustable pumps and 4 with low pressure.

Ist die verstellbare Pumpe 3 in Axialkolben- Schrägscheibenbauweise ausgebildet, dient die Verstellung 8 dazu, die Schrägscheibe der Pumpe zu verstellen und damit das Fördervolumen stufenlos in beide Förderrichtungen bis auf einen Maximalwert zu verstellen und so das Verhalten des an der Pumpe angeschlossenen hydraulischen Rotationsmotors zu regulieren. Dazu wird das durch die Steuerleitung 10 vorgegebene elektrische Sollsignal von einem elektrohydraulischen Ventil in die korrespondierende Stellung der Schrägscheibe umgesetzt. Analog ist die Verstellung 9 für die zweite hydraulische Pumpe 4 aufgebaut, bei der das Signal der Steuerleitung 11 in eine entsprechende Stellung der Schrägscheibe der Pumpe 4 umgesetzt wird. Alternative Pumpenbauformen, beispielsweise in Radial- Kolben- Ausführungen o.ä., werden durch analoge elektrohydraulisch betätigte Verstellungen angesteuert.If the adjustable pump 3 is formed in axial piston swash plate design, the adjustment 8 serves to adjust the swash plate of the pump and thus adjust the delivery volume continuously in both directions to a maximum value and thus to regulate the behavior of the hydraulic rotary motor connected to the pump , For this purpose, the predetermined by the control line 10 electrical target signal is converted by an electro-hydraulic valve in the corresponding position of the swash plate. Analogously, the adjustment 9 is constructed for the second hydraulic pump 4, in which the signal of the control line 11 is converted into a corresponding position of the swash plate of the pump 4. Alternative pump designs, for example in radial piston designs or the like, are controlled by analogous electrohydraulically operated adjustments.

Die verstellbare Pumpe 3 weist an ihren beiden Anschlüssen jeweils einen Drucksensor mit Messsignalumformer 12 bzw. 13 auf, die den Druck in diesem Pumpenanschluss messen und das Signal an die Steuerung 1 weiterleiten. Die Signalübertragung erfolgt dabei abhängig von dem Systemaufbau in Form eines analogen oder digitalen Spannungssignales, entweder über eine eigene Signalleitung 112 bzw. 113 oder über einen Systembus, an den eine Vielzahl von Komponenten der Steuerung angeschlossen ist.The adjustable pump 3 has a respective at its two terminals Pressure sensor with measuring transducer 12 or 13, which measure the pressure in this pump connection and forward the signal to the controller 1. The signal transmission takes place here depending on the system structure in the form of an analog or digital voltage signal, either via its own signal line 112 or 113 or via a system bus, to which a plurality of components of the controller is connected.

Die zweite verstellbare Pumpe 4 besitzt ebenfalls Drucksensoren 14 und 15 an ihren beiden Anschlüssen mit den Signalleitungen 114 und 115. Die beiden Verstellungen 8 und 9 für die verstellbaren Pumpen 3 und 4 weisen jeweils einen Messsensor mit Signalumformer 16 bzw. 17 auf, die die aktuelle Position der jeweiligen Pumpvolumenverstellung messen und über die Leitungen 116 bzw. 117 an die Steuerung weiterleiten. Aus diesem Signal läßt sich das aktuelle Verdrängervolumen der jeweiligen verstellbaren Pumpe ableiten.The second adjustable pump 4 also has pressure sensors 14 and 15 at its two terminals with the signal lines 114 and 115. The two adjustments 8 and 9 for the adjustable pumps 3 and 4 each have a measuring sensor with signal converter 16 and 17, respectively, the current Measure the position of the respective pump volume adjustment and forward it via the lines 116 and 117 to the controller. From this signal, the current displacement volume of the respective adjustable pump can be derived.

Die Brennkraftmaschine 2 ist mit einem Drehzahlsensor 18 ausgestattet, der über die Signalleitung 118 die aktuelle Maschinendrehzahl an die Steuerung übermittelt.The internal combustion engine 2 is equipped with a speed sensor 18, which transmits the current machine speed via the signal line 118 to the controller.

Das Gaspedal 19, das die Brennstoffzufuhr zur Brennkraftmaschine regelt, ist ebenfalls mit einem Sensor ausgestattet, so dass die aktuelle Position des Gaspedales über die Leitung 119 an die Steuerung übermittelt wird. Ein Joystick 20 dient zur Eingabe einer Mehrzahl weiterer Steuersignale vom Bediener an die Steuerung, aus dem unter anderem die Sollposition der Arbeitshydraulik bestimmt wird.The accelerator pedal 19, which regulates the fuel supply to the internal combustion engine, is also equipped with a sensor, so that the current position of the accelerator pedal is transmitted via the line 119 to the controller. A joystick 20 is used to input a plurality of further control signals from the operator to the controller, from which among other things the desired position of the working hydraulics is determined.

In der Steuerung 1 wird kontinuierlich eine Leistungsbilanz des gesamten Antriebsstranges ermittelt. Dazu wird aus den zur Verfügung stehenden Sensordaten die Leistungsaufnahme jeder einzelnen Pumpe berechnet und mit der abgegebenen Leistung der Brennkraftmaschine 2 verglichen. Sofern hierbei ein Missverhältnis besteht, werden anschließend entsprechende Steuersignale für die verstellbaren Pumpen 3 und 4 bzw. die Brennkraftmaschine 2 erzeugt und dadurch deren Leistungsaufnahme bzw. Leistungsabgabe angepasst. Durch zyklisches Wiederholen der einzelnen Mess-, Berechnungs- und Steueraktionen wird ein quasi kontinuierliches Verhalten des Gesamtsystems erreicht. Zur Berechnung der zur Verfügung stehenden Leistung der Brennkraftmaschine 2 wird die vom Sensor 18 gemessene und über die Signalleitung 118 an die Steuerung 1 weitergeleitete Drehzahl anhand einer in der Steuerung 1 abgelegten Drehzahl- Leistungskurve der Brennkraftmaschine die abgegebene Leistung berechnet.In the controller 1, a power balance of the entire drive train is continuously determined. For this purpose, the power consumption of each individual pump is calculated from the available sensor data and compared with the output power of the internal combustion engine 2. If this one If there is a mismatch, corresponding control signals for the adjustable pumps 3 and 4 or the internal combustion engine 2 are subsequently generated and their power consumption or power output is thereby adjusted. By cyclically repeating the individual measurement, calculation and control actions, a quasi-continuous behavior of the overall system is achieved. To calculate the available power of the internal combustion engine 2, the sensor 18 measured and forwarded via the signal line 118 to the controller 1 speed calculated based on a stored in the controller 1 speed-power curve of the internal combustion engine output power.

Für die aufgenommene Leistung der Verstellpumpe 3 wird aus dem vom Sensor 16 gemessenen und über die Signalleitung 116 an die Steuerung weitergeleiteten Positionssignal der Volumenverstellung das aktuelle Verdrängervolumen der Pumpe 3 berechnet. In Verbindung mit der durch den Sensor 18 gemessenen und über die Leitungen 118 an die Steuerung weitergeleiteten Drehzahl des Motors, die hier der Pumpendrehzahl entspricht, wird der aktuelle Volumenstrom durch die Pumpe ermittelt. Die beiden Sensoren 12 und 13 übermitteln über die Signalleitungen 112 und 113 den aktuellen Druck auf beiden Seiten der Pumpe an die Steuerung. Daraus läßt sich die von der Pumpe erzeugte Druckdifferenz berechnen. Aus dem Volumenstrom und der Druckdifferenz sowie der in der Steuerung 1 abgelegten Kennlinie der Pumpe wird die aktuelle aufgenommene mechanische Leistung der Pumpe berechnet. Für den Fall, dass die Pumpe des Antriebs, beispielsweise bei Bergabfahrt, Leistung an die Antriebswelle abgibt, wird dies hier ebenfalls berücksichtigt, da eine umgekehrte Druckdifferenz bei gleichbleibender Drehzahl einen solchen Zustand (Motorbetrieb der Pumpe) anzeigt.For the absorbed power of the variable displacement pump 3, the current displacement volume of the pump 3 is calculated from the measured from the sensor 16 and forwarded via the signal line 116 to the controller position signal volume adjustment. In conjunction with the measured by the sensor 18 and passed on lines 118 to the controller speed of the motor, which corresponds to the pump speed, the current flow rate is determined by the pump. The two sensors 12 and 13 communicate via the signal lines 112 and 113, the current pressure on both sides of the pump to the controller. From this, the pressure difference generated by the pump can be calculated. From the volumetric flow and the pressure difference and the characteristic curve of the pump stored in the controller 1, the current recorded mechanical power of the pump is calculated. In the event that the pump of the drive, for example, downhill, output power to the drive shaft, this is also taken into account here, as a reverse pressure difference at constant speed indicates such a state (motor operation of the pump).

Analog wird die Leistung für die weitere Verstellpumpe 4 berechnet. Das von der Verstellung 9 erzeugte und vom Sensor 17 über die Leitung 117 an die Steuerung 1 weitergeleitete Ist- Signal des Verdrängervolumens dient in Verbindung mit der gemessenen Drehzahl zur Bestimmung des aktuellen Volumenstromes, aus dem in Verbindung mit dem durch die Sensoren 14 und 15 gemessenen und über die Signalleitungen 114 und 115 weitergeleiteten Differenzdruck die aktuelle Leistungsaufnahme der verstellbaren Pumpe 4 berechnet wird. Dazu wird wieder eine in der Steuerung vorhandene Kennlinie benutzt, die das Verhalten der Pumpe in unterschiedlichen Betriebszuständen abbildet. Bei höheren Ansprüchen an die Genauigkeit werden hier kompliziertere Kennlinienfelder verwandt, die abweichende Verhaltensweisen der Pumpe bei unterschiedlichen Drehzahlen, Drücken oder Verdrängervolumina mit abbilden. Unterschiedliche Pumpen, die je nach Anforderungen an die Arbeitsmaschine verwandt werden oder ein Wechsel der Pumpen aufgrund von Wartungsarbeiten oder dgl. können dabei durch einfache Änderungen der in der Steuerung abgelegten Kennlinie bzw. Kennlinienfelder berücksichtigt werden.Analogously, the power for the further variable displacement pump 4 is calculated. The actual signal of the displacer volume generated by the adjustment 9 and forwarded by the sensor 17 via the line 117 to the controller 1 serves, in conjunction with the measured speed, to determine the current volume flow from that measured in conjunction with that measured by the sensors 14 and 15 and via the signal lines 114 and 115 forwarded differential pressure, the current power consumption of the variable displacement pump 4 is calculated. For this purpose, an existing characteristic in the control is used again, which maps the behavior of the pump in different operating states. For higher demands on accuracy here more complicated characteristic fields are used, which reflect deviant behaviors of the pump at different speeds, pressures or displacement volumes with. Different pumps, which are used depending on the requirements of the working machine or a change of the pumps due to maintenance or the like can be taken into account by simple changes of the stored in the control curve or characteristic fields.

Die Leistungsaufnahme der Konstantpumpe 5 wird durch ihre Kennlinie und die vom Sensor 18 gemessene Systemdrehzahl angenähert. Bei höheren Ansprüchen an die Genauigkeit wird ein weiterer Drucksensor zur Messung des von der Pumpe 5 geförderten Niederdrucks eingesetzt.The power consumption of the fixed displacement pump 5 is approximated by its characteristic and the system speed measured by the sensor 18. For higher demands on the accuracy, a further pressure sensor for measuring the pumped by the pump 5 low pressure is used.

Durch Summation der einzelnen Leistungsaufnahmen der Pumpen 3, 4 und 5 kann die aufgenommene Gesamtleistung mit der abgegebenen Leistung der Brennkraftmaschine 2 verglichen werden. Die Betriebszustände, in denen eine oder mehrere der Pumpen Leistung an den Antriebsstrang abgibt, werden hier automatisch berücksichtigt.By summing the individual power consumptions of the pumps 3, 4 and 5, the recorded total power with the output power of the engine 2 can be compared. The operating states in which one or more of the pumps deliver power to the drive train are automatically taken into account here.

Die Steuerung 1 berechnet nun abhängig von dem Betriebszustand der Maschine sowie aus den von den Bedienelementen 20 und dem Gaspedal 19 übermittelten Bedienervorgaben Sollgrößen bzw. Grenzwerte für die beiden verstellbaren Pumpen 3 und 4 derartig, dass die aufgenommene Gesamtleistung der beiden Pumpen kleiner oder gleich der abgegebenen Leistung der Brennkraftmaschine ist. Diese Vorgaben werden über die Steuerleitungen 10 bzw. 11 an die Fördervolumenverstellung 8 bzw. 9 der verstellbaren Pumpen 3 bzw. 4 übermittelt. Zusätzlich bietet die Brennkraftmaschine 2 die Möglichkeit, über einen elektronischen Steuereingriff 21 ihre Drehzahl zu steuern. Wird bei der Berechnung des Leistungsgleichgewichts festgestellt, dass mehr Leistung von den Pumpen abgenommen werden soll als die Brennkraftmaschine aktuell zur Verfügung stellt, wird über den Steuereingriff 21 die Drehzahl und damit ihre Leistung bis hin zu ihrer Maximalleistung erhöht.The controller 1 now calculates depending on the operating state of the machine as well as from the control parameters transmitted by the operating elements 20 and the accelerator pedal 19 setpoint values or limit values for the two adjustable pumps 3 and 4 such that the recorded total power of the two pumps is less than or equal to the output power of the internal combustion engine. These specifications are transmitted via the control lines 10 and 11 to the delivery volume adjustment 8 and 9 of the adjustable pumps 3 and 4 respectively. In addition, the internal combustion engine 2 offers the possibility of controlling its rotational speed via an electronic control intervention 21. If it is determined in the calculation of the power balance that more power is to be taken from the pump than the internal combustion engine is currently available, the speed and thus its power is increased up to its maximum power through the control intervention 21.

Die Aufteilung der abgenommenen Leistung zwischen den beiden verstellbaren Pumpen 3 und 4 erfolgt aufgrund von in der Steuerung 1 vorhandenen Regelprogrammen. Dabei sind verschiedene Regelungsstrategien, abhängig vom Fahrzeugzustand, möglich.The division of the power removed between the two adjustable pumps 3 and 4 is due to existing in the controller 1 control programs. Different control strategies are possible, depending on the vehicle condition.

Bei einem ersten Regelungsprogramm wird die Motorleistung solange erhöht, bis das Maximum der Leistungsabgabe der installierten Brennkrafmiaschine erreicht ist. Steigt dann die Leistungsaufnahme (oder Leistungsabgabe) einer der installierten Pumpen weiter, was auch ohne Benutzereingriff, beispielsweise bei Bergfahrt oder zunehmender Belastung der Arbeitshydraulik geschehen kann, werden die Verdrängungsvolumina der beiden Pumpen 3 und 4 gleichmäßig reduziert, indem die Steuerung 1 über die Steuerleitungen 10 bzw. 11 an die Fördervolumenverstellung 8 bzw. 9 die Kommandos zur Reduktion des Fördervolumens übermittelt. Fordert der Bediener über das Gaspedal 19 oder den Joystick 20 ein Mehr an Leistung für eine der Pumpen 3 oder 4 an, erfolgt solange keine Erhöhung des entsprechenden Fördervolumens, bis ein Leistungsüberschuss an der jeweils anderen Pumpe zur Verfügung steht. Dies kann entweder durch ein entsprechendes Kommando des Bedieners erfolgen, indem er beispielsweise durch Gaswegnahme die Fahrzeuggeschwindigkeit reduzieren möchte und dadurch mehr Leistung für die Arbeitshydraulik zur Verfügung stellt oder durch eine Änderung des Fahrzeugzustandes ohne Bedienereingriff, wie beispielsweise durch eine beginnende Talfahrt oder die Entlastung der Arbeitshydraulik.In a first control program, the engine power is increased until the maximum of the power output of the installed Brennmrafmiaschine is reached. Then increases the power consumption (or power output) of the installed pumps on, which can be done without user intervention, for example when driving uphill or increasing load on the working hydraulics, the displacement volumes of the two pumps 3 and 4 are uniformly reduced by the controller 1 via the control lines 10th or 11 to the delivery volume adjustment 8 and 9 transmits the commands for reducing the delivery volume. If the operator requests more power for one of the pumps 3 or 4 via the accelerator pedal 19 or the joystick 20, this is done as long as there is no increase in the corresponding delivery volume until an excess of surplus is available at the other pump. This can be done either by a corresponding command of the operator by he wants to reduce the vehicle speed, for example, by removing gas and thus provides more power for the working hydraulics available or by changing the vehicle condition without operator intervention, such as by an incipient descent or the discharge of the working hydraulics ,

Es gibt beispielsweise auch eine Programmvariation zum besonders Kraftstoff sparenden Betrieb der Maschine, bei der die Leistung der Brennkraftmaschine nicht vor dem Zurückschwenken der Pumpen bis auf ihr Maximum erhöht wird, sondern möglichst über weite Bereiche im Bereich maximaler Kraftstoffeffizienz verbleibt.For example, there is also a program variation for particularly fuel-saving operation of the engine, in which the power of the internal combustion engine is not increased to its maximum before the pumps are pivoted back, but remains as far as possible over wide ranges in the range of maximum fuel efficiency.

Das Hydrauliksystem einer Arbeitsmaschine mit größerem Funktionsumfang ist in Fig. 2 näher dargestellt. Wieder ist eine Brennkraftmaschine 2 vorhanden, die über ein Getriebe 22 vier Pumpen mit verstellbarem Fördervolumen 3, 4, 23, 24 sowie eine Konstantpumpe 5 antreibt. Außerdem werden noch zwei weitere Konstantpumpen 25 und 26 direkt von der Brennkraftmaschine 2 am Nebenabtrieb angetrieben.The hydraulic system of a working machine with a larger functional range is shown in more detail in FIG. Again, an internal combustion engine 2 is present, which drives four pumps with adjustable delivery volume 3, 4, 23, 24 and a constant displacement pump 5 via a gearbox 22. In addition, two more constant pumps 25 and 26 are driven directly from the internal combustion engine 2 on the power take-off.

Die verstellbare Pumpe 3 befindet sich im geschlossenen Kreislauf mit dem hydraulischen Rotationsmotor 27, der über ein Getriebe 28 mit dem Antriebsstrang 29 des Fahrzeuges verbunden ist. Diese Einheit bildet den hydrostatischen Fahrantrieb der Maschine.The adjustable pump 3 is in a closed circuit with the hydraulic rotary motor 27 which is connected via a gear 28 to the drive train 29 of the vehicle. This unit forms the hydrostatic drive of the machine.

Die verstellbare Hydraulikpumpe 4 ist wie oben mit einer nicht näher dargestellten Ventilanordnung 7 im geschlossenen Kreislauf mit dem Differentialzylinder 6 verbunden, der die Kippfunktionen der Arbeitsmaschine betreibt.The adjustable hydraulic pump 4 is connected as above with a not shown valve assembly 7 in a closed circuit with the differential cylinder 6, which operates the tilting functions of the working machine.

Die verstellbare Pumpe 23, die zusammen mit der verstellbaren Pumpe 4 angetrieben wird, dient zum Betrieb einer hydraulischen Lenkung 30, die hier nicht näher dargestellt ist. Dabei können sowohl herkömmliche hydraulische Lenksysteme Verwendung finden als auch Lenksysteme im geschlossenen Hydraulikkreislauf, bei dem die Lenkantriebe direkt vom Pumpvolumenstrom bewegt werden.The adjustable pump 23, which is driven together with the adjustable pump 4, is used to operate a hydraulic steering 30, which is not shown here. In this case, both conventional hydraulic steering systems can be used as well as steering systems in the closed hydraulic circuit, in which the steering drives are moved directly from the pump flow.

Die verstellbare Pumpe 24 ist mittels der hier nicht näher dargestellten Ventilanordnung 31 im geschlossenen Kreislauf mit den beiden Differentialzylindern 32 verbunden, die dem Antrieb der Hubfunktion des Arbeitsgerätes der Maschine dienen. Die Ventilanordnung 31 weist genau wie die Ventilanordnung 7 die notwendigen Überlastsicherungen und sonstigen Ventile auf, die für derartige Hydrauliksysteme nötig sind. Außerdem leistet sie den Differenzvolumenstromausgleich, der bei der Verwendung von Differentialzylindern notwendig ist, indem das von der Bewegungsrichtung der Hydraulikzylinder 32 abhängige Differenzvolumen der Hydraulikflüssigkeit in das Niederdrucksystem ausgeglichen wird. Dieses besteht aus der Konstantpumpe 5, die zusammen mit der verstellbaren Pumpe 24 von der Brennkraftmaschine 2 angetrieben wird sowie dem Niederdruckbegrenzungsventil 33, das mit dem Druckbehälter 34 und dem Hydraulikreservoir 35 dafür sorgt, dass ein konstanter Druck im Niederdrucksystem vorhanden ist.The adjustable pump 24 is connected by means of the valve assembly 31, not shown here in a closed circuit with the two differential cylinders 32, which serve to drive the lifting function of the implement of the machine. The valve assembly 31 has exactly the same as the valve assembly 7, the necessary overload protection and other valves that are necessary for such hydraulic systems. In addition, it makes the difference in volume flow compensation, which is necessary in the use of differential cylinders by the dependent of the direction of movement of the hydraulic cylinder 32 differential volume of the hydraulic fluid is compensated in the low-pressure system. This consists of the fixed displacement pump 5, which is driven together with the adjustable pump 24 of the internal combustion engine 2 and the low pressure limiting valve 33, which ensures with the pressure vessel 34 and the hydraulic reservoir 35 that a constant pressure in the low pressure system is present.

Die direkt vom Motor angetriebene Konstantpumpe 25 dient zum Betrieb einer hydraulisch betriebenen Kühlung 36. Die Konstantpumpe 26 dient zum Betrieb der hydraulischen Bremse 37.The constant-displacement pump 25 driven directly by the motor serves to operate a hydraulically operated cooling system 36. The constant-displacement pump 26 serves to operate the hydraulic brake 37.

Die Brennkraftmaschine 2 wird vom Gaspedal 19 gesteuert. Sie weist einen Drehzahlsensor 18 auf, der über eine nicht näher dargestellte Datenleitung die Motordrehzahl an die elektronische Steuereinrichtung 1 übermittelt. Über die Datenleitung 119 wird außerdem die Gaspedalstellung an die elektronische Steuereinrichtung 1 weitergeleitet. Über den Joystick 20 kann der Bediener die restlichen Verhaltensweisen der Maschine steuern. Jede der verstellbaren Hydraulikpumpen 3, 4, 23 und 24 weist analog zu oben eine Verdrängungsvolumensteuerung 8, 9, 38 und 39 auf Diese nehmen über elektronische Signalleitungen 10, 11, 40, 41 die Soll- Vorgaben für das jeweilige Fördervolumen von der Steuerung 1 entgegen und steuern abhängig davon den Volumenstrom der jeweiligen Pumpe auf den vorgegebenen Wert. Dies geschieht im vorliegenden Fall mit Pumpen in Axialkolben- Schrägscheiben- Bauweise durch die elektrohydraulische Verstellung der Schrägscheibe, die so für einen entsprechenden Volumenstrom sorgt.The internal combustion engine 2 is controlled by the accelerator pedal 19. It has a speed sensor 18, which transmits the engine speed to the electronic control device 1 via a data line (not shown). About the Data line 119, the accelerator pedal position is also forwarded to the electronic control device 1. The joystick 20 allows the operator to control the remaining behaviors of the machine. Each of the adjustable hydraulic pumps 3, 4, 23 and 24 has, analogously to above, a displacement volume control 8, 9, 38 and 39. These take over electronic signal lines 10, 11, 40, 41 the target specifications for the respective delivery volume from the controller 1 and control depending on the volume flow of the respective pump to the predetermined value. This is done in the present case with pumps in axial piston swash plate construction by the electro-hydraulic adjustment of the swash plate, which thus ensures a corresponding volume flow.

Jede der Verstelleinrichtung 8, 9, 38, 39 weist einen Sensor 16, 17, 42, 43 auf, der über hier nicht näher dargestellte Signalleitungen die aktuelle Größe des Fördervolumens an die Steuerung 1 übermittelt.Each of the adjusting device 8, 9, 38, 39 has a sensor 16, 17, 42, 43, which transmits the current size of the delivery volume to the controller 1 via signal lines not shown here.

Jeder der geschlossenen Hydraulikkreisläufe mit einer verstellbaren Pumpe 3, 4, 23, 24 ist mit jeweils zwei Drucksensoren 12, 13, 14, 15, 44, 45, 46, 47 ausgestattet, die den Hydraulikdruck vor und hinter der verstellbaren Pumpe über ebenfalls nicht dargestellte Signalleitungen an die Steuereinrichtung 1 übermittelt.Each of the closed hydraulic circuits with an adjustable pump 3, 4, 23, 24 is equipped with two pressure sensors 12, 13, 14, 15, 44, 45, 46, 47, which also does not show the hydraulic pressure in front of and behind the adjustable pump Signal lines to the controller 1 transmitted.

Das Steuerverfahren für diese Arbeitsmaschine verläuft prinzipiell analog zu dem oben beschriebenen. In der Steuerung werden zyklisch die Messwerte der einzelnen Sensoren eingelesen. Anhand der vom Sensor 18 übermittelten Motordrehzahl der Brennkraftmaschine 2 wird in Verbindung mit der abgelegten Motorkennlinie die aktuell abgegebene Leistung der Brennkraftmaschine 2 berechnet. Zur Berechnung der aufgenommenen Leistung des Gesamtsystems wird die Leistung jeder einzelnen Hydraulikpumpe berechnet und diese Leistungsdaten werden aufsummiert.The control method for this work machine is basically analogous to that described above. The measured values of the individual sensors are cyclically read in the controller. Based on the transmitted from the sensor 18 engine speed of the internal combustion engine 2, the currently output power of the internal combustion engine 2 is calculated in conjunction with the stored engine characteristic. To calculate the absorbed power of the entire system, the power of each individual hydraulic pump is calculated and these performance data are summed up.

Für die Konstantpumpen 5, 25 und 26 wird die Leistungsaufnahme abhängig von der durch den Sensor 18 bekannten Motordrehzahl und den bekannten Kennlinien der Pumpen berechnet.For the fixed displacement pumps 5, 25 and 26, the power consumption is calculated as a function of the engine speed known by the sensor 18 and the known characteristic curves of the pumps.

Für die Pumpen mit verstellbarem Fördervolumen 3, 4, 23, 24 wird aus den gemessenen Fördervolumina und den gemessenen Differenzdrücken im jeweiligen Kreislauf sowie mit der bekannten Drehzahl und der abgelegten Kennlinie der Pumpe die aktuelle Leistungsaufnahme berechnet. Durch Aufsummation all dieser Werte ist die aufgenommene mechanische Leistung bekannt und mit der zur Verfügung stehenden Leistung der Brennkraftmaschine 2 verglichen worden.For the pumps with adjustable delivery volume 3, 4, 23, 24, the current power consumption is calculated from the measured delivery volumes and the measured differential pressures in the respective circuit and with the known speed and the stored characteristic of the pump. By summing up all these values, the recorded mechanical power is known and compared with the available power of the internal combustion engine 2.

Die grundlegenden Steuerverfahren sind analog zu den oben beschriebenen. Abhängig vom eingestellten Steuerprogamm wird die Steuereinrichtung 1 bei zunehmenden Leistungsanforderungen der Pumpen die Drehzahl der Brennkraftmaschine 2 über den Motorsteuereingang 21 solange steigern, bis diese ihren Maximalwert erreicht hat. Da üblicherweise die gesamte installierte Hydraulikleistung der Maschine die zur Verfügung stehende Leistung der Brennkraftmaschine 2 übersteigt, kommt es zu Fällen, bei denen durch Benutzervorgabe oder Lastzustände an den Hydraulikzylindern 6, 32 oder dem Antrieb 27 mehr Leistung angefordert wird, als die Maschine zur Verfügung stellen kann. Zur Vermeidung der hier sonst erfolgenden Drehzahldrückung werden einzelne der hydraulischen Verstellpumpen 3, 4, 23, 24 von der Steuereinrichtung 1 zurückgefahren, indem kleinere Soll- Vorgaben bzw. Grenzwerte für die Fördervolumina über die Datenleitungen 10, 11, 40, 41 an die Pumpenverstellungen 8, 9, 38, 39 übermittelt werden.The basic control methods are analogous to those described above. Depending on the set control program, the control device 1 will increase the speed of the internal combustion engine 2 via the engine control input 21 with increasing power requirements of the pump until it has reached its maximum value. Since usually the total installed hydraulic power of the engine exceeds the available power of the internal combustion engine 2, there are cases in which more power is required by user default or load conditions on the hydraulic cylinders 6, 32 or the drive 27, as the machine make available can. To avoid the otherwise occurring here speed reduction individual of the hydraulic variable displacement pumps 3, 4, 23, 24 are reduced by the control device 1 by smaller target specifications or limits for the delivery volumes via the data lines 10, 11, 40, 41 to the pump adjustments , 9, 38, 39.

Die Steuereinrichtung 1 sorgt dafür, dass die Pumpe 23, die die hydraulische Lenkung 30 antreibt, priorisiert wird und damit zunächst die Leistungsaufnahmen der verbleibenden Pumpen reduziert werden. Im Normalfall wird dabei so vorgegangen, dass zuerst die Pumpe 3, die den hydraulischen Fahrantrieb der Maschine bedient, zurückgenommen wird, um mehr Leistung für die Arbeitshydraulikzylinder 6 und 32 zur Verfügung zu haben.The control device 1 ensures that the pump 23, the hydraulic Steering 30 drives, is prioritized and thus initially the power consumption of the remaining pumps are reduced. Normally, the procedure is such that first the pump 3, which operates the hydraulic traction drive of the machine, is taken back to have more power for the working hydraulic cylinders 6 and 32 available.

Auch hier wird die Leistung, die in speziellen Fällen wie der Bergabfahrt oder beim Lastabsenken über das Getriebe 22 an die Brennkraftmaschine 2 abgegeben wird, von der Steuereinrichtung 1 berücksichtigt.Again, the power that is delivered in special cases such as downhill or when lowering load on the transmission 22 to the internal combustion engine 2, taken into account by the control device 1.

Natürlich beschränkt sich die Erfindung nicht auf das vorstehende Ausführungsbeispiel, sondern ist in vielfältiger Weise abänderbar, ohne den Grundgedanken zu verlassen. Beispielsweise kann statt dem beschriebenen hydrostatischen Fahrantrieb ein Fahrantrieb mit Drehmomentwandler verwandt werden, dessen Drehzahl- Drehmoment- Charakteristik dann in der Steuerung abgelegt wird, um dessen aufgenommene Leistung zu berechnen.Of course, the invention is not limited to the above embodiment, but can be varied in many ways, without departing from the spirit. For example, instead of the described hydrostatic drive a traction drive with torque converter can be used, the speed-torque characteristic is then stored in the controller to calculate its recorded power.

Claims (8)

  1. A method of controlling a hydraulic system of a mobile working machine comprising an internal combustion engine (2) which drives at least two hydraulic pumps (3, 4, 23, 24) with an adjustable delivery volume, which are each arranged in a respective closed hydraulic circuit, wherein
    - the rotary speed of the internal combustion engine (2) is detected by a measuring device (18);
    - the pressure difference (12, 13, 14, 15, 44, 45, 46, 47) and the delivery volume (16, 17, 42, 43) of the hydraulic pumps (3, 4, 23, 24) with an adjustable delivery volume are each determined by at least one respective measuring device;
    - the available power of the internal combustion engine (2) is determined from the measured rotary speed;
    - the power required for each hydraulic pump (3, 4, 23, 24) with an adjustable delivery volume is determined from the measured pressure difference and the delivery volume as well as the rotary speed;
    - and thus the delivery volume of the hydraulic pumps (3, 4, 23, 24) with an adjustable delivery volume is so controlled by a control device (1) that the total power input of the hydraulic pumps (3, 4, 23, 24) with an adjustable delivery volume is less than or equal to the available power of the internal combustion engine (2) or with energy recovery at the hydraulic pump the delivered power of the pumps is limited,
    wherein the delivery volumes of the individual hydraulic pumps (3, 4, 23, 24) with an adjustable delivery volume is adjusted by the control device (1) for prioritising individual hydraulic pumps by means of stored control relationships and having regard to the control settings of an operator which are detected by an input device (19, 20), in particular an accelerator pedal (19) and/or a control lever (20).
  2. A method according to claim 1 characterised in that the internal combustion engine (2) drives further hydraulic constant-delivery pumps (5, 25, 26) and that the power input of each constant-delivery pump (5, 25, 26) is approximated by calculation from the drive rotary speed and optionally the measured system pressure and added to the total power input.
  3. A method according to claim 1 or claim 2 characterised in that the power calculation of the internal combustion engine (2), the hydraulic pumps (3, 4, 23, 24) with an adjustable delivery volume and the hydraulic constant-delivery pumps (5, 25, 26) is effected by means of stored operative relationships, in particular in the form of characteristic curves or families of characteristic curves.
  4. A method according to one of the preceding claims characterised in that the control device in addition to adjustment of the power absorbed by the hydraulic pumps (3, 4, 23, 24) with an adjustable delivery volume controls the available power of the internal combustion engine (2) by influencing the rotary speed.
  5. A method according to one of the preceding claims characterised in that in operating conditions in which a hydraulic pump (3, 4, 23, 24) with an adjustable delivery volume acts as a drive (energy recovery) the power delivered to the internal combustion engine (2) is incorporated into the total power calculation.
  6. A method according to one of the preceding claims characterised in that for the purpose of controlling the individual hydraulic pumps (3, 4, 23, 24) with an adjustable delivery volume further measured system states, in particular vehicle speed, working hydraulic position and hydraulic fluid temperature are taken into consideration.
  7. A method according to one of the preceding claims characterised in that the travel drive is a hydrodynamic converter whose power input, in particular from a stored rotary speed-torque characteristic, is calculated by the control device (1) and taken into consideration in the total power calculation.
  8. An electronic control device for carrying out the method according to one of the preceding claims.
EP04707865A 2003-02-20 2004-02-04 Method for controlling a hydraulic system of a mobile working machine Expired - Lifetime EP1595077B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10307190 2003-02-20
DE10307190A DE10307190A1 (en) 2003-02-20 2003-02-20 Method for controlling a hydraulic system of a mobile work machine
PCT/DE2004/000180 WO2004074686A1 (en) 2003-02-20 2004-02-04 Method for controlling a hydraulic system of a mobile working machine

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EP1595077A1 EP1595077A1 (en) 2005-11-16
EP1595077B1 true EP1595077B1 (en) 2006-06-28

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US (1) US7386978B2 (en)
EP (1) EP1595077B1 (en)
JP (1) JP4489757B2 (en)
AT (1) ATE331889T1 (en)
DE (3) DE10307190A1 (en)
ES (1) ES2263135T3 (en)
WO (1) WO2004074686A1 (en)

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Publication number Publication date
WO2004074686A1 (en) 2004-09-02
DE112004000675D2 (en) 2005-12-29
DE10307190A1 (en) 2004-09-16
US7386978B2 (en) 2008-06-17
JP4489757B2 (en) 2010-06-23
EP1595077A1 (en) 2005-11-16
ES2263135T3 (en) 2006-12-01
US20060182636A1 (en) 2006-08-17
DE502004000884D1 (en) 2006-08-10
JP2006518825A (en) 2006-08-17
ATE331889T1 (en) 2006-07-15

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