EP1595077B1 - Procede de commande d'un systeme hydraulique d'une machine motrice mobile - Google Patents

Procede de commande d'un systeme hydraulique d'une machine motrice mobile 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
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP04707865A
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German (de)
English (en)
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EP1595077A1 (fr
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.

Claims (8)

  1. Procédé de commande d'un système hydraulique d'une machine motrice mobile avec un moteur à combustion interne (2) qui entraîne au moins deux pompes hydrauliques à volume de refoulement réglable (3, 4, 23, 24) disposées respectivement dans un circuit hydraulique fermé, dans lequel
    - un dispositif de mesure (18) capte le régime de rotation du moteur à combustion interne (2) ;
    - respectivement au moins un dispositif de mesure détermine la différence de pression (12, 13, 14, 15, 44, 45, 46, 47) et le volume de refoulement (16, 17, 42, 43) des pompes hydrauliques à volume de refoulement réglable (3, 4, 23, 24) ;
    - la puissance disponible du moteur à combustion interne (2) est déterminée à partir du régime de rotation mesuré ;
    - la puissance consommée par chaque pompe hydraulique à volume de refoulement réglable (3, 4, 23, 24) est déterminée à partir de la différence de pression mesurée et du volume de refoulement ainsi que du régime de rotation ;
    - un dispositif de commande (1) régule sur cette base le volume de refoulement des pompes hydrauliques à volume de refoulement réglable (3, 4, 23, 24) de telle façon que la puissance totale consommée par les pompes hydrauliques à volume de refoulement réglable (3, 4, 23, 24) soit inférieure ou égale à la puissance disponible du moteur à combustion interne (2) ou, en cas de récupération d'énergie sur la pompe hydraulique, que la puissance restituée des pompes soit limitée, alors que les volumes de refoulement des différentes pompes hydrauliques à volume de refoulement réglable (3, 4, 23, 24) sont, pour donner une priorité à différentes pompes hydrauliques, réglés par le dispositif de commande (1) à l'aide d'éléments de corrélation de commande mémorisés et en tenant compte des consignes de commande d'un opérateur qui sont saisies par un dispositif d'entrée (19, 20), en particulier par une pédale d'accélérateur (19) et/ou par un levier de commande (20).
  2. Procédé selon la revendication 1,
    caractérisé en ce que
    le moteur à combustion interne (2) entraîne d'autres pompes hydrauliques à débit constant (5, 25, 26) et en ce que la puissance consommée par chaque pompe à débit constant (5, 25, 26) fait l'objet d'une approximation par un calcul à partir du régime de rotation d'entraînement et, le cas échéant, de la pression mesurée du système et est additionnée à la puissance totale consommée.
  3. Procédé selon la revendication 1 ou 2,
    caractérisé en ce que
    le calcul de la puissance du moteur à combustion interne (2), des pompes hydrauliques à volume de refoulement réglable (3, 4, 23, 24) et des pompes hydrauliques à débit constant (5, 25, 26) a lieu au moyen d'éléments de corrélation d'action mémorisés, en particulier sous forme de courbes caractéristiques ou de champs de courbes caractéristiques.
  4. Procédé selon l'une quelconque des revendications précédentes,
    caractérisé en ce que
    en plus du réglage de la puissance consommée par les pompes hydrauliques à volume de refoulement réglable (3, 4, 23, 24), le dispositif de commande commande la puissance disponible du moteur à combustion interne (2) en agissant sur le régime de rotation.
  5. Procédé selon l'une quelconque des revendications précédentes,
    caractérisé en ce que,
    dans des états de fonctionnement dans lesquels une pompe hydraulique à volume de refoulement réglable (3, 4, 23, 24) agit en tant qu'élément d'entraînement (récupération d'énergie), la puissance restituée au moteur à combustion interne (2) est également prise en compte dans le calcul de la puissance d'ensemble.
  6. Procédé selon l'une quelconque des revendications précédentes,
    caractérisé en ce que,
    d'autres états mesurés du système, en particulier la vitesse du véhicule, la position du système hydraulique de travail et la température du fluide hydraulique, sont pris en considération pour la commande des pompes hydrauliques individuelles à volume de refoulement réglable (3, 4, 23, 24).
  7. Procédé selon l'une quelconque des revendications précédentes,
    caractérisé en ce que,
    un convertisseur hydrodynamique, dont la puissance consommée est calculée par le dispositif de commande (1), en particulier à partir d'une caractéristique incluant le régime de rotation et le couple, et est prise en compte dans le calcul de la puissance d'ensemble, est prévu comme organe de translation.
  8. Dispositif électronique de commande pour la réalisation du procédé selon l'une quelconque des revendications précédentes.
EP04707865A 2003-02-20 2004-02-04 Procede de commande d'un systeme hydraulique d'une machine motrice mobile Expired - Lifetime EP1595077B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10307190A DE10307190A1 (de) 2003-02-20 2003-02-20 Verfahren zur Steuerung eines Hydrauliksystems einer mobilen Arbeitsmaschine
DE10307190 2003-02-20
PCT/DE2004/000180 WO2004074686A1 (fr) 2003-02-20 2004-02-04 Procede de commande d'un systeme hydraulique d'une machine motrice mobile

Publications (2)

Publication Number Publication Date
EP1595077A1 EP1595077A1 (fr) 2005-11-16
EP1595077B1 true EP1595077B1 (fr) 2006-06-28

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

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

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