EP2070863B1 - Standstill control of an utility vehicle - Google Patents

Standstill control of an utility vehicle Download PDF

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Publication number
EP2070863B1
EP2070863B1 EP08020913.3A EP08020913A EP2070863B1 EP 2070863 B1 EP2070863 B1 EP 2070863B1 EP 08020913 A EP08020913 A EP 08020913A EP 2070863 B1 EP2070863 B1 EP 2070863B1
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EP
European Patent Office
Prior art keywords
utility vehicle
controlling
driving
standstill
driving condition
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EP08020913.3A
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German (de)
French (fr)
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EP2070863A1 (en
Inventor
Norbert Dipl.-Ing. Dr. Techn. Krimbacher
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Liebherr Werk Nenzing GmbH
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Liebherr Werk Nenzing GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07509—Braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07572—Propulsion arrangements

Definitions

  • the present invention relates to a method for standstill control of a commercial vehicle.
  • the so-called "inch pedal” controls the flow of power between the working hydraulics and the driving hydraulics.
  • the driving speed of the commercial vehicle, here wheel loader regardless of the working hydraulics are controlled.
  • the service brake must also be activated.
  • This service brake can be one or more conventional disc and / or drum brakes, which bring the vehicle to a standstill by friction / clamping action. These service brakes must be present, otherwise no complete standstill would be achieved by the hydraulic drives and their internal leaks.
  • Corresponding service brakes are also known in industrial trucks, for example in Reachstackern. In most cases, a hydraulic converter is used in reachstackers. Due to the power losses of these additional service brakes as a result of the braking heat additional cooling circuits must be provided, which increase the weight of the Reachstackers and its complexity.
  • the WO 2004/009396 relates to a load transport vehicle with an internal combustion engine, which drives the wheels via a manual transmission and a clutch.
  • the vehicle has a control device with a determination device for detecting the degree of inclination, wherein from the angle of inclination and the estimated mass parameters, the force for starting the vehicle in uphill and downhill as well as the holding force for holding the vehicle on a sloped road at standstill can be authorized to control the engine, transmission, clutch and brake accordingly.
  • the brake is used for the stoppage of the vehicle.
  • the DE 695 13 697 T2 refers to an electrically driven stacking vehicle, wherein an asynchronous motor is used as the drive.
  • the driving force of the asynchronous motor is regulated on the basis of sensor data.
  • the stacking vehicle has a mechanical brake unit, which is coupled to the electric drive motor and is automatically engaged as soon as the power supply of the drive motor is stopped. As a result, a vehicle movement is prevented if the power supply is stopped during a rise.
  • the US6076350 refers to a hydraulically driven utility vehicle, wherein the drive system is in overrun when the utility vehicle is traveling on a steep slope. In the US6076350 the parking brake is used for the standstill of the commercial vehicle.
  • the present invention shows a method for standstill control of a commercial vehicle in an operating mode depending on the driving state of the commercial vehicle, wherein the propulsion of the utility vehicle is carried out hydraulically, and wherein the operating mode is the standstill of the utility vehicle in the fall.
  • the commercial vehicle is adjusted to a standstill by influencing the drive force and / or the drive torque of the hydraulic traction drive by means of a control device by bringing a driving force opposing the downward force on the axles of the commercial vehicle.
  • the driving condition is determined on the basis of the driving speed and / or direction of travel.
  • the driving state is calculated from the rotational speed, the position and / or the acceleration of the commercial vehicle.
  • the driving state is detected by means of additional sensors, acceleration sensors and / or distance measuring devices.
  • the driving condition of the commercial vehicle can be detected by means of ultrasound, radar and / or laser.
  • Another possibility of the embodiment of the method is that the driving state is detected by means of observer models, wherein the current speed is estimated by means of the observer models from state variables of the commercial vehicle.
  • the driving state can be determined by means of the change in position of the commercial vehicle.
  • the position change is determined by means of an external and / or satellite-based positioning system. It is possible that the position change by means of GPS and / or Galileo is determined.
  • Multi-stage control methods have the advantage that with them a higher accuracy can be achieved.
  • variable representing the driving state can be represented by the drive torque.
  • control device is automatically activated or can be activated automatically. This results in the advantage that the driver does not have to intervene even if the commercial vehicle slips in the fall, which significantly increases the safety of the driver as well as the commercial vehicle.
  • the operating mode of the standstill of the commercial vehicle is in the fall. This makes it possible that at standstill of the commercial vehicle in the gradient, the standstill control by means of the control unit according to the invention takes place.
  • a commercial vehicle is provided with a controller connected to the drive of the commercial vehicle, wherein the control device comprises detection means and / or is in communication with detection means.
  • the control device comprises detection means and / or is in communication with detection means.
  • the drive can be used in four-quadrant operation. Another advantage is that in such drives oil cooling devices are integrated for the working hydraulics and it is not necessary to integrate additional elements for cooling the hydraulic medium. Therefore, this braking system is almost free of wear, which significantly simplifies the maintenance of the commercial vehicle.
  • the driving force and / or the drive torque can be influenced. Since forces or torques can be applied to the drive shafts by means of the drive hydraulics, a driving force opposing the slope force can thus be brought to the axles of the utility vehicle, so that the vehicle remains at a standstill.
  • the driving state can be derived from various physical variables.
  • the driving state can be derived from various physical variables.
  • the driving state of the utility vehicle detectable by means of the detection means is the driving speed and / or direction of travel of the utility vehicle. Both sizes are particularly easy to detect, which allows a particularly reliable standstill control of the commercial vehicle can be realized.
  • the driving state of the commercial vehicle can be calculated from the rotational speed, the position and / or the acceleration of the commercial vehicle. These quantities are also suitable because of their good identifiability as controlled variables.
  • this control variable is always available at any time and is detected by default in the commercial vehicle components. Because very well functioning acceleration sensor systems are available for measuring the acceleration This also allows a cost-effective and secure detection of a controlled variable for a standstill control of a commercial vehicle.
  • the detection means comprise additional sensors, acceleration sensors and / or distance measuring devices and that the driving state can be detected by means of the additional sensors, acceleration sensors and / or distance measuring devices.
  • the additional sensors include ultrasonic sensors, radar-based sensor systems and / or laser-based sensor systems.
  • ultrasonic sensors include ultrasonic sensors, radar-based sensor systems and / or laser-based sensor systems.
  • Such sensor systems have the advantage that the controlled variables to be detected by these systems can be reliably and reliably detected.
  • these sensor systems have compact dimensions and can therefore be attached to a commercial vehicle without great effort.
  • the driving state can be detected by means of observer models, wherein the speed can be estimated by means of the observer models from state variables of the commercial vehicle.
  • Corresponding observer models can be embodied as a control program within the control device, which simultaneously detect a plurality of state variables of the commercial vehicle, compare the actual values with desired values and adjust the commercial vehicle accordingly.
  • the driving state can be determined by means of the change in position of the commercial vehicle. If, for example, it is known that the commercial vehicle is in an area with a gradient, it can be concluded from the change in position of the commercial vehicle that the standstill control is to be activated.
  • the position change can be determined by means of an external and / or satellite-based positioning system.
  • the change in position can be determined by means of GPS and / or Galileo.
  • control device has a multi-level control chain. This has the advantage that the standstill control can be performed with high accuracy and high reliability.
  • hydraulic drives for example, traction drives in the closed and open hydraulic circuit are to be mentioned.
  • the commercial vehicle may have a hybrid drive, d. H. that a plurality of drive concepts can be combined with one another, for example a diesel generator as the primary drive source, which drives the commercial vehicle in cooperation with a hydraulic and an electric drive.
  • control device is automatically activated. This results in the advantage that it is possible to dispense with additional operating elements, which as a rule contribute to the confusion of the driver's cab of the commercial vehicle.
  • the commercial vehicles are industrial trucks, reachstackers, wheel loaders, dumpers or tracked vehicles.
  • the only figure shows a reachstacker on a slope.
  • the single figure shows the reachstacker 10, which carries a container 20 as a load.
  • a downhill force F which causes the reachstacker 10 to experience downhill acceleration, acts on the reachstacker 10.
  • the control unit 30 automatically activates the standstill control. This control thus represents an effect of influence between the measured data such as the current speed or the current driving speed and a corresponding action on the drive units of the reachstackers 10.
  • the Reachstacker 10 has a hybrid drive concept. He has a powerful diesel unit, which provides, among other things, the necessary energy for the drive hydraulics of Reachstackers 10. At the same time not shown electrical drives are provided.
  • both the driving speed and the direction of travel of the reach stacker are detected on a gradient and forwarded to the control unit 30.
  • the control unit 30 can set the corresponding drive torques on the drive elements of the reachstackers 10 such that the travel speed is reduced to zero. This allows a standstill of the Reachstackers 10 by regulation.
  • control can detect by means of an observer model already on the basis of low movements of the backstopper and respond accordingly with a control on it.
  • the control unit 30 increases the drive torque until the speed of the reachstackers becomes zero again. If, on the other hand, the reachstacker 10 moves uphill again due to an overshoot of the control amplitude, the drive unit of the reachstackers 10 is correspondingly reduced again by the control unit 30.
  • the control device 30 is equipped with a multi-stage control chain.
  • the drive hydraulics of the Reachstackers 10 takes place mainly by hydraulically closed circuits.
  • the drive can be used in four-quadrant operation. Since the oil cooling devices for the working hydraulics are already integrated in this embodiment, it is not necessary to additionally integrate elements for cooling the hydraulic medium. This results in a braking system with quasi wear-free properties, which simplifies the maintenance of the device.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Operation Control Of Excavators (AREA)

Description

Die vorliegende Erfindung betrifft ein Verfahren zur Stillstandsregelung eines Nutzfahrzeuges.The present invention relates to a method for standstill control of a commercial vehicle.

Für die Betriebssicherheit von Nutzfahrzeugen, insbesondere Baufahrzeugen wie z.B. Flurförderfahrzeugen wie Staplern, Reachstackern, Radladern sowie Fahrzeugen mit Kettenantrieben wie Seilbaggern oder Hydraulikbaggern, Dumpern oder Mobilkränen ist es notwendig, diese Fahrzeuge auch in einer größeren Steigung zum Stillstand bringen zu können. Zur Lösung dieses technischen Problems ist es aus dem Stand der Technik bekannt, derartige Fahrzeuge mit einer zusätzlichen Betriebsbremse auszustatten. Ferner ist es bekannt, dass diese Fahrzeuge über hydraulische Antriebe verfügen. Diese hydraulischen Antriebe beziehen in der Regel ihre Energie aus herkömmlichen Verbrennungsmotoren, insbesondere Dieselaggregaten.For the operational safety of commercial vehicles, especially construction vehicles such. Industrial trucks such as forklifts, reachstackers, wheel loaders and vehicles with chain drives such as cable dredgers or hydraulic excavators, dumpers or mobile cranes, it is necessary to be able to bring these vehicles to a standstill on a larger slope. To solve this technical problem, it is known from the prior art to equip such vehicles with an additional service brake. It is also known that these vehicles have hydraulic drives. These hydraulic drives usually draw their energy from conventional internal combustion engines, especially diesel engines.

Beispielsweise in einem Radlader wird durch ein sogenanntes "Inch-Pedal" der Leistungsfluß zwischen der Arbeitshydraulik und der Fahrhydraulik gesteuert. Damit kann die Fahrgeschwindigkeit des Nutzfahrzeuges, hier Radladers, unabhängig von der Arbeitshydraulik gesteuert werden. Soll nun beispielsweise dieser Radlader in einer größeren Steigung zum Stillstand gebracht werden, so muss zusätzlich die Betriebsbremse aktiviert werden. Bei dieser Betriebsbremse kann es sich um eine oder mehrere herkömmliche Scheiben- und/oder Trommelbremsen handeln, die durch Reib-/Klemmwirkung das Fahrzeug zum Stillstand bringen. Diese Betriebsbremsen müssen vorhanden sein, da sonst durch die hydraulischen Antriebe und deren interne Leckagen kein vollständiger Stillstand zu erreichen wäre.In a wheel loader, for example, the so-called "inch pedal" controls the flow of power between the working hydraulics and the driving hydraulics. Thus, the driving speed of the commercial vehicle, here wheel loader, regardless of the working hydraulics are controlled. If, for example, this wheel loader is brought to a standstill in a larger gradient, the service brake must also be activated. This service brake can be one or more conventional disc and / or drum brakes, which bring the vehicle to a standstill by friction / clamping action. These service brakes must be present, otherwise no complete standstill would be achieved by the hydraulic drives and their internal leaks.

Diese Betriebsbremsen bedingen zusätzliche technische Vorrichtungen, wie z. B. zusätzliche Betätigungselemente wie zusätzliche Bremspedale oder entsprechende Schalter, wodurch der Arbeitsplatz für den Nutzfahrzeugführer unübersichtlich wird.These service brakes require additional technical devices, such. B. additional actuators such as additional brake pedals or corresponding switch, causing the workplace for the truck driver is confusing.

Entsprechende Betriebsbremsen sind auch bei Flurförderfahrzeugen bekannt, beispielsweise bei Reachstackern. Zumeist wird bei Reachstackern ein hydraulisches Wandlergetriebe verwendet. Aufgrund der Verlustleistungen dieser zusätzlichen Betriebsbremsen in Folge der Bremswärme müssen zusätzliche Kühlkreisläufe vorgesehen werden, die das Gewicht des Reachstackers und dessen Komplexität erhöhen.Corresponding service brakes are also known in industrial trucks, for example in Reachstackern. In most cases, a hydraulic converter is used in reachstackers. Due to the power losses of these additional service brakes as a result of the braking heat additional cooling circuits must be provided, which increase the weight of the Reachstackers and its complexity.

Die WO 2004 /009396 betrifft ein Lasttransport-Fahrzeug mit einem Verbrennungsmotor, welcher die Räder über ein Schaltgetriebe und eine Kupplung antreibt. Das Fahrzeug weist eine Regelvorrichtung mit einer Bestimmungsvorrichtung zur Erfassung des Neigungsgrades auf, wobei aus dem Neigungswinkel und den geschätzten Masseparametern die Kraft zum Anfahren des Fahrzeuges in Bergauf- und Bergabrichtung sowie die Haltkraft für das Halten des Fahrzeugs auf einer geneigten Fahrbahn im Stillstand berechtnet werden können, um Motor, Getriebe, Kupplung und Bremse entsprechend anzusteuern. In der WO 2004/009396 wird für den Stillstand des Fahrzeuges die Bremse verwendet.The WO 2004/009396 relates to a load transport vehicle with an internal combustion engine, which drives the wheels via a manual transmission and a clutch. The vehicle has a control device with a determination device for detecting the degree of inclination, wherein from the angle of inclination and the estimated mass parameters, the force for starting the vehicle in uphill and downhill as well as the holding force for holding the vehicle on a sloped road at standstill can be authorized to control the engine, transmission, clutch and brake accordingly. In the WO 2004/009396 the brake is used for the stoppage of the vehicle.

Die DE 695 13 697 T2 bezieht sich auf ein elektrisch angetriebenes Stapelfahrzeug, wobei als Antrieb ein Asynchronmotor eingesetzt wird. Dabei wird die Antriebskraft des Asynchronmotors auf Basis von Sensordaten geregelt. Das Stapelfahrzeug besitzt eine mechanische Bremseinheit, die an den elektrischen Antriebsmotor gekoppelt ist und automatisch in Eingriff gebracht wird, sobald die Energiezufuhr des Antriebsmotors gestoppt wird. Hierdurch wird eine Fahrzeugbewegung unterbunden, falls die Energiezufuhr während eines Anstieges gestoppt wird.The DE 695 13 697 T2 refers to an electrically driven stacking vehicle, wherein an asynchronous motor is used as the drive. The driving force of the asynchronous motor is regulated on the basis of sensor data. The stacking vehicle has a mechanical brake unit, which is coupled to the electric drive motor and is automatically engaged as soon as the power supply of the drive motor is stopped. As a result, a vehicle movement is prevented if the power supply is stopped during a rise.

Die US6076350 bezieht sich auf ein hydraulisch angetriebenes Nutzfahrzeug, wobei das Antriebssystem im Schubbetrieb ist, wenn das Nutzfahrzeug auf einem steilen Abhang fahrt. In der US6076350 wird für den Stillstand des Nutzfahrzeuges die Parkbremse verwendet.The US6076350 refers to a hydraulically driven utility vehicle, wherein the drive system is in overrun when the utility vehicle is traveling on a steep slope. In the US6076350 the parking brake is used for the standstill of the commercial vehicle.

Insgesamt weisen die aus dem Stand der Technik bekannten Lösungen für Stillstandsbremsen für Nutzfahrzeuge die Nachteile auf, dass sie einerseits dem Verschleiß unterliegen und andererseits zu höherer Komplexität und damit Fehleranfälligkeit im Betrieb neigen.Overall, the known from the prior art solutions for standstill brakes for commercial vehicles have the disadvantages that on the one hand they are subject to wear and on the other hand tend to higher complexity and thus error prone in operation.

Es ist daher die Aufgabe der vorliegenden Erfindung, die aus dem Stand der Technik bekannten Nachteile zu überwinden und insbesondere ein Verfahren zur Regelung eines Nutzfahrzeuges bereitzustellen, bei dem der Verschleiß von Stillstandsbremsen reduziert werden kann und bei dem ein ruckweises Anfahren der Nutzfahrzeuge in beliebiger Steigung bzw. bei beliebigem Gefälle ermöglicht wirdIt is therefore the object of the present invention to overcome the known from the prior art disadvantages and in particular to provide a method for controlling a commercial vehicle, in which the wear of standstill brakes can be reduced and in which a jerky startup of the commercial vehicles in any gradient or . is made possible on any gradient

Diese Aufgabe wird durch ein Verfahren zur Regelung eines Nutzfahrzeugs mit den Merkmalen des Anspruchs 1 gelöst.This object is achieved by a method for controlling a commercial vehicle having the features of claim 1.

Die vorliegende Erfindung zeigt dabei ein Verfahren zur Stillstandsregelung eines Nutzfahrzeuges in einem Betriebsmodus in Abhängigkeit vom Fahrzustand des Nutzfahrzeuges, wobei der Fahrantrieb des Nutzfahrzeuges hydraulisch erfolgt, und wobei der Betriebsmodus der Stillstand des Nutzfahrzeuges im Gefälle ist. Erfindungsgemäß ist vorgesehen, dass das Nutzfahrzeug durch Beeinflussung der Antriebskraft und/oder des Antriebsmomentes des hydraulischen Fahrantriebs durch eine Regeleinrichtung auf Stillstand eingeregelt wird, indem eine der Hangabtriebskraft entgegengesetzte Antriebskraft auf die Achsen des Nutzfahrzeuges gebracht wird.The present invention shows a method for standstill control of a commercial vehicle in an operating mode depending on the driving state of the commercial vehicle, wherein the propulsion of the utility vehicle is carried out hydraulically, and wherein the operating mode is the standstill of the utility vehicle in the fall. According to the invention, the commercial vehicle is adjusted to a standstill by influencing the drive force and / or the drive torque of the hydraulic traction drive by means of a control device by bringing a driving force opposing the downward force on the axles of the commercial vehicle.

Dabei kann es vorgesehen sein, dass der Fahrzustand aufgrund der Fahrgeschwindigkeit und/oder Fahrtrichtung ermittelt wird.It can be provided that the driving condition is determined on the basis of the driving speed and / or direction of travel.

Von Vorteil ist es, wenn der Fahrzustand aus der Drehzahl, der Position und/oder der Beschleunigung des Nutzfahrzeuges berechnet wird.It is advantageous if the driving state is calculated from the rotational speed, the position and / or the acceleration of the commercial vehicle.

Des weiteren kann vorgesehen sein, dass der Fahrzustand mittels zusätzlicher Sensoren, Beschleunigungssensoren und/oder Distanzmesseinrichtungen erfaßt wird.Furthermore, it can be provided that the driving state is detected by means of additional sensors, acceleration sensors and / or distance measuring devices.

Der Fahrzustand des Nutzfahrzeuges kann mittels Ultraschall, Radar und/oder Laser erfaßt werden.The driving condition of the commercial vehicle can be detected by means of ultrasound, radar and / or laser.

Eine weitere Möglichkeit der Ausgestaltung des Verfahrens besteht darin, dass der Fahrzustand mittels Beobachtermodellen erfaßt wird, wobei mittels der Beobachtermodelle aus Zustandsgrößen des Nutzfahrzeuges die aktuelle Geschwindigkeit abgeschätzt wird.Another possibility of the embodiment of the method is that the driving state is detected by means of observer models, wherein the current speed is estimated by means of the observer models from state variables of the commercial vehicle.

Außerdem kann verfahrensgemäß der Fahrzustand mittels der Positionsänderung des Nutzfahrzeuges bestimmt werden. In diesem Zusammenhang ist es denkbar, dass die Positionsänderung mittels eines externen und/oder satellitengestützten Positionierungssystems bestimmt wird. Dabei ist es möglich, dass die Positionsänderung mittels GPS und/oder Galileo bestimmt wird.In addition, according to the method, the driving state can be determined by means of the change in position of the commercial vehicle. In this context, it is conceivable that the position change is determined by means of an external and / or satellite-based positioning system. It is possible that the position change by means of GPS and / or Galileo is determined.

Von Vorteil ist es, wenn mittels einer mehrstufigen Regelkette eingeregelt wird. Mehrstufige Regelverfahren weisen den Vorteil auf, dass mit ihnen eine höhere Genauigkeit erzielt werden kann.It is advantageous if it is adjusted by means of a multi-level control chain. Multi-stage control methods have the advantage that with them a higher accuracy can be achieved.

Es ist denkbar, dass die den Fahrzustand repräsentierende Größe durch das Antriebsmoment dargestellt werden kann.It is conceivable that the variable representing the driving state can be represented by the drive torque.

Von Vorteil ist es, wenn die Regeleinrichtung automatisch aktiviert ist oder automatisch aktiviert werden kann. Dadurch ergibt sich der Vorteil, dass der Fahrzeugführer nicht selbst eingreifen muss, wenn das Nutzfahrzeug im Gefälle ins Rutschen kommt, was die Sicherheit für den Fahrzeugführer als auch für das Nutzfahrzeug signifikant erhöht.It is advantageous if the control device is automatically activated or can be activated automatically. This results in the advantage that the driver does not have to intervene even if the commercial vehicle slips in the fall, which significantly increases the safety of the driver as well as the commercial vehicle.

Es ist bevorzugt, wenn das erfindungsgemäße Verfahren zur Regelung eines Nutzfahrzeuges bei Nutzfahrzeugen wie Flurförderfahrzeugen, Reachstackern, Radladern, Dumpern oder Kettenfahrzeugen angewandt wird.It is preferred if the inventive method for controlling a commercial vehicle in commercial vehicles such as industrial trucks, Reachstackern, wheel loaders, dumpers or tracked vehicles is applied.

Erfindungsgemäß ist vorgesehen, dass der Betriebsmodus der Stillstand des Nutzfahrzeuges im Gefälle ist. Dadurch wird es möglich, dass bei beabsichtigtem Stillstand des Nutzfahrzeuges im Gefälle die Stillstandsregelung mittels der erfindungsgemäßen Regelungseinheit erfolgt.According to the invention, it is provided that the operating mode of the standstill of the commercial vehicle is in the fall. This makes it possible that at standstill of the commercial vehicle in the gradient, the standstill control by means of the control unit according to the invention takes place.

Entsprechend der Erfindung wird also ein Nutzfahrzeug mit einer mit dem Antrieb des Nutzfahrzeugs in Verbindung stehenden Regeleinrichtung vorgesehen, wobei die Regeleinrichtung Erfassungsmittel aufweist und/oder mit Erfassungsmitteln in Verbindung steht. Dabei ist mittels der Erfassungsmittel der Fahrzustand des Nutzfahrzeuges erfaßbar und mittels der Regeleinrichtung in Abhängigkeit vom Fahrzustand des Nutzfahrzeuges das Nutzfahrzeug durch Beeinflussung des Antriebs zum Stillstand bringbar. Dadurch ergibt sich der Vorteil, dass mittels der Antriebshydraulik das Nutzfahrzeug zum Stillstand gebracht werden kann. Der große Vorteil besteht darin, dass das bereits vorhandene Antriebssystem als Stillstandsbremse eingesetzt werden kann. Nachdem mittels des Antriebs des Nutzfahrzeuges das Nutzfahrzeug auch bewegbar ist, kann mittels des Antriebs auch eine der durch das Gefälle verursachten Bewegung des Nutzfahrzeugs eine entgegengerichtete Bewegung durch den Antrieb entgegengesetzt werden, so dass sich in der Summe der Stillstand des Nutzfahrzeuges realisieren lässt. Eine derartige Lösung weist den Vorteil auf, dass der Verschleiß der Betriebsbremsen deutlich reduziert werden kann und diese, wenn überhaupt, nur noch aus Redundanzgründen vorzusehen sind. Die Betriebssicherheit des Nutzfahrzeugs wird somit deutlich erhöht.According to the invention, therefore, a commercial vehicle is provided with a controller connected to the drive of the commercial vehicle, wherein the control device comprises detection means and / or is in communication with detection means. In this case, by means of the detection means of the driving condition of the commercial vehicle can be detected and brought by means of the control device in dependence on the driving state of the commercial vehicle, the commercial vehicle by influencing the drive to a halt. This results in the advantage that the commercial vehicle can be brought to a standstill by means of the drive hydraulics. The big advantage is that the existing drive system can be used as a standstill brake. After the commercial vehicle is also movable by means of the drive of the commercial vehicle, by means of the drive, one of the movement of the commercial vehicle caused by the gradient can be counteracted by an opposing movement by the drive, so that in the sum of the standstill of the commercial vehicle can be realized. Such a solution has the advantage that the wear of the service brakes can be significantly reduced and these, if at all, are to be provided only for redundancy reasons. The operational safety of the commercial vehicle is thus significantly increased.

Der Antrieb kann im Vier-Quadrantenbetrieb verwendet werden. Ein weiterer Vorteil besteht darin, dass bei derartigen Antrieben Ölkühleinrichtungen für die Arbeitshydraulik integriert sind und es nicht notwendig ist, zusätzliche Elemente zur Kühlung des Hydraulikmediums zu integrieren. Daher ist dieses Bremssystem nahezu verschleißfrei, was die Wartung des Nutzfahrzeuges deutlich vereinfacht.The drive can be used in four-quadrant operation. Another advantage is that in such drives oil cooling devices are integrated for the working hydraulics and it is not necessary to integrate additional elements for cooling the hydraulic medium. Therefore, this braking system is almost free of wear, which significantly simplifies the maintenance of the commercial vehicle.

Des weiteren kann mittels der Regeleinrichtung die Antriebskraft und/oder das Antriebsmoment beeinflußbar sein. Da mittels der Antriebshydraulik Kräfte bzw. Momente auf die Antriebswellen gebracht werden können, kann somit eine der Hangabtriebskraft entgegengesetzte Antriebskraft auf die Achsen des Nutzfahrzeuges gebracht werden, so dass das Fahrzeug im Stillstand verbleibt.Furthermore, by means of the control device, the driving force and / or the drive torque can be influenced. Since forces or torques can be applied to the drive shafts by means of the drive hydraulics, a driving force opposing the slope force can thus be brought to the axles of the utility vehicle, so that the vehicle remains at a standstill.

Es kann vorgesehen sein, dass der Fahrzustand aus verschiedenen physikalischen Größen ableitbar ist. So ist es denkbar, dass mittels mehrerer physikalischer Größen redundant erfaßt wird, ob eine Hangabtriebskraft auf das Nutzfahrzeug wirkt und daher mittels der Regeleinrichtung das Nutzfahrzeug zum Stillstand gebracht werden muss.It can be provided that the driving state can be derived from various physical variables. Thus, it is conceivable that redundantly detected by means of a plurality of physical variables, whether a downgrade force acts on the commercial vehicle and therefore the utility vehicle must be brought to a standstill by means of the control device.

Von Vorteil ist es, wenn der mittels der Erfassungsmittel erfaßbare Fahrzustand des Nutzfahrzeuges die Fahrgeschwindigkeit und/oder Fahrtrichtung des Nutzfahrzeuges ist. Beide Größen lassen sich besonders leicht erfassen, wodurch sich eine besonders zuverlässige Stillstandsregelung des Nutzfahrzeuges realisieren lässt.It is advantageous if the driving state of the utility vehicle detectable by means of the detection means is the driving speed and / or direction of travel of the utility vehicle. Both sizes are particularly easy to detect, which allows a particularly reliable standstill control of the commercial vehicle can be realized.

Ferner ist es möglich, dass der Fahrzustand des Nutzfahrzeuges aus der Drehzahl, der Position und/oder der Beschleunigung des Nutzfahrzeuges berechenbar ist. Diese Größen sind ebenfalls aufgrund ihrer guten Bestimmbarkeit als Regelgrößen geeignet. Insbesondere bei der Drehzahl ergibt sich der Vorteil, dass diese Regelgröße grundsätzlich jederzeit zur Verfügung steht und durch standardmäßig im Nutzfahrzeug vorhandene Komponenten erfaßt wird. Da für die Messung der Beschleunigung sehr gut funktionierende Beschleunigungssensorsysteme erhältlich sind, ermöglicht dies ebenfalls eine kostengünstige und sichere Erfassung einer Regelgröße für eine Stillstandsregelung eines Nutzfahrzeuges.Furthermore, it is possible that the driving state of the commercial vehicle can be calculated from the rotational speed, the position and / or the acceleration of the commercial vehicle. These quantities are also suitable because of their good identifiability as controlled variables. In particular, with the speed results in the advantage that this control variable is always available at any time and is detected by default in the commercial vehicle components. Because very well functioning acceleration sensor systems are available for measuring the acceleration This also allows a cost-effective and secure detection of a controlled variable for a standstill control of a commercial vehicle.

Weiterhin ist es denkbar, dass die Erfassungsmittel zusätzliche Sensoren, Beschleunigungssensoren und/oder Distanzmesseinrichtungen umfassen und dass der Fahrzustand mittels der zusätzlichen Sensoren, Beschleunigungssensoren und/oder Distanzmesseinrichtungen erfassbar ist.Furthermore, it is conceivable that the detection means comprise additional sensors, acceleration sensors and / or distance measuring devices and that the driving state can be detected by means of the additional sensors, acceleration sensors and / or distance measuring devices.

Ferner kann vorgesehen sein, dass die zusätzlichen Sensoren Ultraschallsensoren, radargestützte Sensor-Systeme und/oder lasergestützte Sensor-Systeme umfassen. Derartige Sensor-Systeme weisen den Vorteil auf, dass die mit diesen Systemen zu erfassenden Regelgrößen sicher und zuverlässig erfaßt werden können. Ferner weisen diese Sensor-Systeme kompakte Abmessungen auf und lassen sich daher ohne großen Aufwand an einem Nutzfahrzeug anbringen.Furthermore, it can be provided that the additional sensors include ultrasonic sensors, radar-based sensor systems and / or laser-based sensor systems. Such sensor systems have the advantage that the controlled variables to be detected by these systems can be reliably and reliably detected. Furthermore, these sensor systems have compact dimensions and can therefore be attached to a commercial vehicle without great effort.

Außerdem kann der Fahrzustand mittels Beobachtermodellen erfaßbar sein, wobei mittels der Beobachtermodelle aus Zustandsgrößen des Nutzfahrzeuges die Geschwindigkeit schätzbar ist. Entsprechende Beobachtermodelle können als Regelprogramm innerhalb der Regeleinrichtung ausgeführt sein, die gleichzeitig mehrere Zustandsgrößen des Nutzfahrzeuges erfassen, die Ist-Werte mit Soll-Werten vergleichen und das Nutzfahrzeug entsprechend einregeln. Der große Vorteil dieser Lösung besteht darin, dass eine besonders effiziente und effektive Stillstandsregelung realisiert werden kann.In addition, the driving state can be detected by means of observer models, wherein the speed can be estimated by means of the observer models from state variables of the commercial vehicle. Corresponding observer models can be embodied as a control program within the control device, which simultaneously detect a plurality of state variables of the commercial vehicle, compare the actual values with desired values and adjust the commercial vehicle accordingly. The big advantage of this solution is that a particularly efficient and effective standstill control can be realized.

Des weiteren kann der Fahrzustand mittels der Positionsänderung des Nutzfahrzeuges bestimmbar sein. Ist beispielsweise bekannt, dass sich das Nutzfahrzeug in einem Bereich mit Gefälle befindet, so kann aufgrund der Positionsänderung des Nutzfahrzeuges darauf geschlossen werden, dass die Stillstandsregelung zu aktivieren ist.Furthermore, the driving state can be determined by means of the change in position of the commercial vehicle. If, for example, it is known that the commercial vehicle is in an area with a gradient, it can be concluded from the change in position of the commercial vehicle that the standstill control is to be activated.

Es ist möglich, dass die Positionsänderung mittels eines externen und/oder satellitengestützten Positionierungssystems bestimmbar ist.It is possible that the position change can be determined by means of an external and / or satellite-based positioning system.

Es kann vorgesehen sein, dass die Positionsänderung mittels GPS und/oder Galileo bestimmbar ist.It can be provided that the change in position can be determined by means of GPS and / or Galileo.

Ferner kann vorgesehen sein, dass die Regeleinrichtung eine mehrstufige Regelkette aufweist. Dadurch ergibt sich der Vorteil, dass die Stillstandsregelung hochgenau und hochzuverlässig ausgeführt werden kann.Furthermore, it can be provided that the control device has a multi-level control chain. This has the advantage that the standstill control can be performed with high accuracy and high reliability.

Als hydraulische Antriebe sind beispielsweise Fahrantriebe im geschlossenen und offenen Hydraulikkreis zu nennen. In diesem Zusammenhang sei darauf hingewiesen, dass das Nutzfahrzeug über einen Hybridantrieb verfügen kann, d. h. dass mehrere Antriebskonzepte miteinander kombiniert werden können, beispielsweise als primäre Antriebsquelle ein Dieselaggregat, das in Zusammenarbeit mit einem hydraulischen und einem elektrischen Antrieb das Nutzfahrzeug antreibt.As hydraulic drives, for example, traction drives in the closed and open hydraulic circuit are to be mentioned. In this context, it should be noted that the commercial vehicle may have a hybrid drive, d. H. that a plurality of drive concepts can be combined with one another, for example a diesel generator as the primary drive source, which drives the commercial vehicle in cooperation with a hydraulic and an electric drive.

Von Vorteil ist es, wenn die den Fahrzustand repräsentierende Größe durch das Antriebsmoment darstellbar ist. Dadurch ergibt sich der Vorteil, dass durch Inversion das für den Stillstand notwendige Gegenmoment äußerst einfach und schnell errechnet werden kann.It is advantageous if the size representing the driving state can be represented by the drive torque. This results in the advantage that by inversion necessary for the standstill counter-torque can be calculated very easily and quickly.

In weiterer Ausgestaltung ist es denkbar, dass die Regeleinrichtung automatisch aktivierbar ist. Dadurch ergibt sich der Vorteil, dass auf zusätzliche Bedienelemente verzichtet werden kann, die in aller Regel zur Unübersichtlichkeit des Führerstandes des Nutzfahrzeuges beitragen.In a further embodiment, it is conceivable that the control device is automatically activated. This results in the advantage that it is possible to dispense with additional operating elements, which as a rule contribute to the confusion of the driver's cab of the commercial vehicle.

In bevorzugter Ausgestaltung sind die Nutzfahrzeuge Flurförderfahrzeuge, Reachstacker, Radlader, Dumper oder Kettenfahrzeuge.In a preferred embodiment, the commercial vehicles are industrial trucks, reachstackers, wheel loaders, dumpers or tracked vehicles.

Weitere Einzelheiten und Vorteile der Erfindung werden anhand eines in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert.Further details and advantages of the invention will be explained in more detail with reference to an embodiment shown in the drawing.

Die einzige Figur zeigt dabei einen Reachstacker im Gefälle.The only figure shows a reachstacker on a slope.

Die einzige Figur zeigt den Reachstacker 10, der als Last einen Container 20 trägt. Auf den Reachstacker 10 wirkt eine Hangabtriebskraft F, die bewirkt, dass der Reachstacker 10 eine hangabwärts gerichtete Beschleunigung erfährt.The single figure shows the reachstacker 10, which carries a container 20 as a load. A downhill force F, which causes the reachstacker 10 to experience downhill acceleration, acts on the reachstacker 10.

Soll nun der Reachstacker 10 im Hang zum Stillstand kommen, so wird über die vorhandenen mechanischen Betriebsbremsen die Bewegungsenergie des Fahrzeugs abgebaut. Erreicht der Reachstacker 10 nahezu den Stillstand, wird durch die Regelungseinheit 30 die Stillstandsregelung automatisch aktiviert. Diese Regelung stellt damit einen Wirkeinfluß zwischen den gemessenen Daten wie der aktuellen Drehzahl bzw. der aktuellen Fahrgeschwindigkeit und einer entsprechenden Beaufschlagung der Antriebseinheiten des Reachstackers 10 dar.If now the Reachstacker 10 come to a standstill in the slope, the kinetic energy of the vehicle is reduced via the existing mechanical service brakes. If the reachstacker 10 almost reaches standstill, the control unit 30 automatically activates the standstill control. This control thus represents an effect of influence between the measured data such as the current speed or the current driving speed and a corresponding action on the drive units of the reachstackers 10.

Der Reachstacker 10 verfügt dabei über ein hybrides Antriebskonzept. Dabei weist er ein leistungsfähiges Dieselaggregat auf, das unter anderem die notwendige Energie für die Antriebshydraulik des Reachstackers 10 liefert. Zugleich sind auch nicht gezeigte elektrische Antriebe vorgesehen.The Reachstacker 10 has a hybrid drive concept. He has a powerful diesel unit, which provides, among other things, the necessary energy for the drive hydraulics of Reachstackers 10. At the same time not shown electrical drives are provided.

Mittels Beschleunigungssensoren und eines unabhängig davon arbeitenden Positionierungssystems, hier GPS, wird sowohl die Fahrgeschwindigkeit als auch die Fahrtrichtung des Reachstackers im Gefälle erfaßt und an die Regelungseinheit 30 weitergegeben. In der Folge kann die Regelungseinheit 30 die entsprechenden Antriebsmomente an den Antriebselementen des Reachstackers 10 derart einstellen, dass die Fahrgeschwindigkeit auf null reduziert wird. Damit wird ein Stillstand des Reachstackers 10 durch Regelung ermöglicht.By means of acceleration sensors and an independently operating positioning system, in this case GPS, both the driving speed and the direction of travel of the reach stacker are detected on a gradient and forwarded to the control unit 30. As a result, the control unit 30 can set the corresponding drive torques on the drive elements of the reachstackers 10 such that the travel speed is reduced to zero. This allows a standstill of the Reachstackers 10 by regulation.

Treten nun zusätzlich Unwägbarkeiten z. B. durch hydraulische Leckagen, betriebsbedingte zusätzliche Störkräfte auf dem Reachstacker 10 auf, kann die Regelung mittels eines Beobachtermodelles bereits auf der Basis geringer Bewegungen des Rachstackers detektieren und dem entsprechend mit einer Ansteuerung darauf reagieren.Join now in addition imponderables z. As by hydraulic leaks, operational additional disturbance forces on the reachstacker 10, the control can detect by means of an observer model already on the basis of low movements of the backstopper and respond accordingly with a control on it.

Sollte der Reachstacker in Folge der Hangabtriebskraft F bergab rollen, so wird seitens der Regelungseinheit 30 das Antriebsmoment derart erhöht, bis die Geschwindigkeit des Reachstackers wieder null wird. Sollte der Reachstacker 10 hingegen aufgrund eines Überschwingens der Regelungsamplitude sich wieder bergauf bewegen, so wird seitens der Regelungseinheit 30 das Antriebsmoment des Reachstackers 10 dementsprechend wieder reduziert.Should the reachstacker roll downhill as a result of the downhill force F, the control unit 30 increases the drive torque until the speed of the reachstackers becomes zero again. If, on the other hand, the reachstacker 10 moves uphill again due to an overshoot of the control amplitude, the drive unit of the reachstackers 10 is correspondingly reduced again by the control unit 30.

Zur Verbesserung des Schwingungsverhaltens ist daher die Regeleinrichtung 30 mit einer mehrstufigen Regelkette ausgestattet. Die Antriebshydraulik des Reachstackers 10 erfolgt hauptsächlich durch hydraulisch geschlossene Kreise. Der Antrieb kann dabei im Vier-Quadrantenbetrieb verwendet werden. Da die Ölkühleinrichtungen für die Arbeitshydraulik bereits in dieser Ausführungsform integriert sind, ist es nicht notwendig, zusätzlich Elemente zur Kühlung des Hydraulikmediums zu integrieren. Daher ergibt sich ein Bremssystem mit quasi verschleißfreien Eigenschaften, was die Wartung des Gerätes vereinfacht.To improve the vibration behavior, therefore, the control device 30 is equipped with a multi-stage control chain. The drive hydraulics of the Reachstackers 10 takes place mainly by hydraulically closed circuits. The drive can be used in four-quadrant operation. Since the oil cooling devices for the working hydraulics are already integrated in this embodiment, it is not necessary to additionally integrate elements for cooling the hydraulic medium. This results in a braking system with quasi wear-free properties, which simplifies the maintenance of the device.

Claims (15)

  1. A method for standstill control of a utility vehicle (10) in an operating mode in dependence on the driving condition of the utility vehicle (10), wherein the traction drive of the utility vehicle (10) is effected hydraulically, and wherein the operating mode is the standstill of the utility vehicle (10) on a downhill gradient,
    characterized in
    that the utility vehicle (10) is adjusted to standstill by a control means (30) by influencing the driving force and/or the driving torque of the hydraulic traction drive, in that a driving force opposite the downgrade force is applied onto the axles of the utility vehicle (10).
  2. The method for controlling a utility vehicle (10) according to claim 1, characterized in that the driving condition is derived from various physical quantities.
  3. The method for controlling a utility vehicle (10) according to any of claims 1 to 2, characterized in that the driving condition is determined on the basis of the driving speed and/or driving direction.
  4. The method for controlling a utility vehicle (10) according to any of claims 1 to 3, characterized in that the driving condition is calculated from the rotational speed, the position and/or the acceleration of the utility vehicle.
  5. The method for controlling a utility vehicle (10) according to any of claims 1 to 4, characterized in that the driving condition is detected by means of additional sensors, accelerometers and/or distance measuring means.
  6. The method for controlling a utility vehicle (10) according to any of claims 1 to 5, characterized in that the driving condition is detected by means of ultrasound, radar and/or laser.
  7. The method for controlling a utility vehicle (10) according to any of claims 1 to 6, characterized in that the driving condition is detected by means of observer models, wherein by means of the observer models the current speed is estimated from status variables of the utility vehicle.
  8. The method for controlling a utility vehicle (10) according to any of claims 1 to 7, characterized in that the driving condition is determined by means of the change in position of the utility vehicle.
  9. The method for controlling a utility vehicle (10) according to any of claims 1 to 8, characterized in that the change in position is determined by means of an external and/or satellite-based positioning system.
  10. The method for controlling a utility vehicle (10) according to claim 9, characterized in that the change in position is determined by means of GPS and/or Galileo.
  11. The method for controlling a utility vehicle (10) according to any of claims 1 to 10, characterized in that adjustment is made by means of a multistage control chain.
  12. The method for controlling a utility vehicle (10) according to any of claims 1 to 11, characterized in that the quantity representing the driving condition is represented by the driving torque.
  13. The method for controlling a utility vehicle (10) according to any of claims 1 to 12, characterized in that the control means is activated automatically or can be activated automatically.
  14. The method for controlling a utility vehicle (10) according to any of claims 1 to 13, characterized in that the utility vehicles are floor conveyors, reachstackers, wheel loaders, dumpers or tracked vehicles.
  15. A utility vehicle (10) with a hydraulic traction drive and a control means (30) which includes detection means and/or is connected with detection means, by which the driving condition of the utility vehicle (10) is detectable, wherein the control means (30) adjusts the utility vehicle (10) to standstill during standstill of the utility vehicle on a downhill gradient in dependence on the driving condition of the utility vehicle (10) by influencing the driving force and/or the driving torque of the hydraulic traction drive, in that it applies a driving force opposite to the downgrade force onto the axles of the utility vehicle (10), in particular utility vehicle (10) with a control means (30) for carrying out a method according to any of the preceding claims.
EP08020913.3A 2007-12-12 2008-12-02 Standstill control of an utility vehicle Revoked EP2070863B1 (en)

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