EP2192309A2 - Procédé et commutation de réglage destinés au réglage d'une arrivée de moyen de pression pour un actionneur hydraulique - Google Patents

Procédé et commutation de réglage destinés au réglage d'une arrivée de moyen de pression pour un actionneur hydraulique Download PDF

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Publication number
EP2192309A2
EP2192309A2 EP09014791A EP09014791A EP2192309A2 EP 2192309 A2 EP2192309 A2 EP 2192309A2 EP 09014791 A EP09014791 A EP 09014791A EP 09014791 A EP09014791 A EP 09014791A EP 2192309 A2 EP2192309 A2 EP 2192309A2
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EP
European Patent Office
Prior art keywords
speed
electric motor
deviation
variable displacement
displacement pump
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.)
Granted
Application number
EP09014791A
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German (de)
English (en)
Other versions
EP2192309B1 (fr
EP2192309A3 (fr
Inventor
Albert Koeckemann
Gerold Liebler
Christian Lebert
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Robert Bosch GmbH
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Robert Bosch GmbH
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Filing date
Publication date
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Publication of EP2192309A2 publication Critical patent/EP2192309A2/fr
Publication of EP2192309A3 publication Critical patent/EP2192309A3/fr
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/04—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by varying the output of a pump with variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6656—Closed loop control, i.e. control using feedback

Definitions

  • the invention relates to a method and a control device for controlling a pressure medium supply for a hydraulic actuator.
  • an electric motor drives a pump, which supplies the cylinder with a hydraulic pressure medium according to a pressure / volume flow control.
  • a pressure / volume flow control Within the working cycle of the plastic injection molding machine, there are areas in which the pressure is controlled, as well as other areas in which the volume flow is controlled.
  • the object of the invention is to provide a method and a control device for controlling a pressure medium supply for a hydraulic actuator, in which deviations of the pressure or the flow rate can be compensated precisely and quickly.
  • a method for controlling a pressure medium supply for a hydraulic actuator of a cyclically operating machine is provided.
  • the actuator is supplied by a variable displacement pump with a pressure medium quantity, wherein the variable displacement pump is driven by a speed-controlled electric motor.
  • the pressure or the amount of pressure medium is controlled by a pump controller by controlling the volume setting of the variable.
  • the method includes a step of establishing a speed profile for varying the speed of the electric motor during a cycle.
  • a step of driving the rotational speed of the electric motor and the volume adjustment of the variable displacement pump, in which within one cycle of the engine, the electric motor is driven with a default value for the rotational speed according to the established speed profile is provided.
  • the step of controlling the rotational speed of the electric motor and the volume setting of the variable displacement pump takes place as a function of the determined rotational speed deviation.
  • a speed deviation may, for example, be caused by slippage or by castering of the engine due to acceleration processes.
  • the default value for the speed or the volume setting of the variable in dependence on the determined speed deviation. It is also possible to make the control of both the speed and the control of the volume setting of the determined speed deviation dependent.
  • slip that is, a deviation of the rotational speed of the rotor from a default value.
  • the slip is the speed difference between the rotating field of the stator and the rotor.
  • the slippage of the engine makes itself felt strongly, so that the speed at which the variable displacement pump is driven by the speed, which is predetermined by the speed profile, deviates greatly in percentage. Due to this slippage, when pressure medium is requested, it is provided more slowly than intended. As a result, the control is not only slower, but takes place deviating from the calculated energy minimum.
  • the control of the pressure amount can thus be made more accurate. Due to the more precise regulation, energy is also saved.
  • Caster occurs during acceleration processes, since the speed of the electric motor does not follow immediately, but with a delay to the default value for the speed. If the tracking of the electric motor is determined in determining the speed deviation, the control is more accurate even in situations where the engine has accelerated or recently accelerated. Acceleration also includes negative accelerations, the deceleration processes.
  • the method additionally includes a step of determining a pressure / volume quantity profile for the amount of pressure.
  • the slip is determined as a function of the determined pressure / volume quantity profile.
  • the slip is usually dependent on the load that drives the electric motor.
  • the load depends on the currently required pressure or on the required quantity of pressure medium which the variable-displacement pump must supply.
  • the load and thus the slip of the engine can be determined on the basis of the pressure / volume quantity profile, without the need for a separate measurement.
  • the default value for the rotational speed is determined by adding the determined slip and the determined rotational speed target value in the step of driving the electric motor and the volume setting of the variable.
  • the speed difference of the electric motor is compensated by the addition of the determined speed deviation again. Then there is the electric motor a speed that comes as close as possible to the speed of the speed profile.
  • the determined speed deviation is subtracted from the determined speed setpoint for determining the control value for the variable displacement from the determined speed setpoint in the step of driving the electric motor and the volume setting of the variable. This makes it possible to compensate for the speed difference by a higher volume setting, so that the volume amount is provided despite the low speed. This is particularly recommended when the speed of the electric motor is close to the maximum speed and an increase in the speed can lead to damage to the electric motor.
  • the slip can be calculated with a relatively simple arithmetic operation.
  • the electric motor is designed as an asynchronous motor and the electric motor is controlled encoderless.
  • Sensorless means that there is no sensor that measures the speed of the rotor and reports back to the control of the electric motor. Measuring the speed is basically time-consuming and causes more costs.
  • the encoderless control thus reduces the burden on the control circuit.
  • the invention also relates to a control circuit for controlling a pressure medium supply for a hydraulic actuator of a cyclically operating machine, in which the actuator is supplied by a variable speed driven by a motor driven variable displacement pump with a pressure medium quantity.
  • the control circuit has a pump controller for regulating the pressure or the amount of pressure medium by controlling the volume setting of the variable.
  • a speed profile actuator is for establishing a speed profile for adjusting the speed of the electric motor during a cycle of the machine set up.
  • An adjusting device is provided for operating the electric motor according to the determined speed profile in one cycle of the machine.
  • the control circuit includes a control adjustment device for determining the speed deviation of the electric motor and a device for driving the pump controller and / or the setting device in dependence on the determined speed deviation.
  • the control circuit makes it possible, with an engine simulation from which the actual engine speed is approximately calculated, that the control is sufficiently accurate and fast even without measuring the speed during operation.
  • the simulation preferably contains both a calculation of the slip and a calculation of the caster.
  • the caster of the engine is calculated, whereby the deviation of the rotational speed at a constant drive speed and at variable drive speed is less large.
  • FIG. 1 shows an actuator of a production machine and the control used to provide hydraulic pressure means for this actuator.
  • Actuator 11 is a cylinder for a cyclical manufacturing machine that injects liquid plastic into a mold.
  • a duty cycle is subdivided into several successive sections, which differ in terms of the required print quantity. Each of these sections is a work process. Operations include, for example, "close tool”, “inject plastic”, “open the tool”, “wait for a hold phase”, or the like.
  • variable displacement pump 13 conveys pressure medium into the line 16 from a tank 15, whereupon the hydraulic fluid in the line 16 has a pressure p.
  • the valve 17 is provided between the conduit 16 and the actuator 11. This valve 17 controls the volume flow from the variable displacement pump 13 to the cylinder 11 and from there back to the tank 15.
  • the valve 17 is electrically controlled by a higher-level control 25, the electrical signal u1, which is conducted via the line 27.
  • a position transducer 21 measures the position of the piston rod of the cylinder 11, converts the position into an electrical signal s1, which is output via the line 23 to the higher-level control 25.
  • a control circuit For controlling the pressure p in the line 16, a control circuit is provided, the means for controlling the pressure medium supply 10, the pressure transducer 40, the actuator 31, the transmitter 32, the frequency converter 33, the electric motor 14, the shaft 34 and the variable 13th contains.
  • the device 10 receives from the higher-level controller 25 a setpoint for the pressure ps and a setpoint for the volume flow Qs.
  • the setpoint values ps and Qs correspond to a pressure / volumetric flow profile p (t) / Q (t) stored in the higher-level control.
  • the device 10 receives a cycle start signal yt0 indicating when a new cycle begins.
  • the device 10 receives the signal pi from the pressure transducer 40, which converts the pressure p in the line 16 into a corresponding electrical signal pi.
  • the device 10 outputs a desired value for the rotational speed ns and an output signal for the delivery volume yVF.
  • the parent circuit 25 also outputs a value nl1 representing a compensation value for the speed deviation.
  • the setpoint value for the speed ns and the compensation value nl1 are added by means of the summation element 35.
  • the result of this addition is output to frequency converter 33 as signal nc1.
  • the rotational speed of the shaft 34 is lower than the rotational speed nc1 due to the slip, but if possible corresponds to the nominal value for the rotational speed ns.
  • the set value for the rotational speed ns is used to calculate the delivery volume from it, since this value is closest to the actual rotational speed of the shaft 34.
  • the signal nc1 receives the frequency converter 33, which accordingly drives the electric motor 14 with an electrical signal of the frequency f so that the rotational speed n of the electric motor 14 is equal to the target value for the rotational speed ns.
  • the rotational movement of the electric motor is transmitted via the shaft 34 to the variable displacement pump 13.
  • the speed n of the electric motor 14 is not measured and fed back, the speed n is thus controlled in the open circuit.
  • the actuator 31 receives the output signal yVF from the device 10 and controls the delivery volume VF of the variable displacement pump 13.
  • the transducer 32 outputs an electrical signal indicative of the actual value of the delivery volume VFi of the variable displacement pump 13.
  • the device 10 includes a pump controller 41, a motor controller 42, a multiplier 44, and a calculator 45.
  • the multiplier 44 is implemented as a proportional element with a controllable gain KQ.
  • the arithmetic unit 45 receives as an input signal the setpoint value for the speed ns and outputs its reciprocal value to its output as the signal KQ.
  • the multiplier receives at its inputs the setpoint for the volume flow Qs and the signal KQ.
  • the multiplier 44 thus forms from the desired value Qs for the volume flow to be supplied to the cylinder, taking into account the rotational speed n of the electric motor 14, a desired value VFs for the delivery volume of the variable displacement pump 13.
  • the pump regulator 41 receives as input the actual value for the delivery volume VFi, the actual Value for the pressure pi, the setpoint for the delivery volume VFs and the setpoint for the pressure ps and outputs at its output the output signal for the delivery volume yVF.
  • FIG. 2 shows details of the pump controller 41 FIG. 1 ,
  • the pressure regulator 41 has a first summation element 48, a second summation element 51, a delivery volume regulator 49, a pressure regulator 52 and a minimum value selection element 50.
  • the first summation element 48 forms from the desired value VFs and the actual value VFi a control difference, which is supplied to the delivery volume controller 49 as an input signal.
  • the output signal, designated yVF1, of the delivery volumetric regulator 49 is added to the minimum value selection element 50 as the first input signal.
  • the second summation element 51 receives the desired value for the pressure ps and the actual value for the pressure pi, from which the control difference for the pressure is formed by subtraction and output to the pressure regulator 52.
  • the pressure regulator 52 outputs as an output the value yp to the minimum value selector 50 which receives the value yp at its second input.
  • the minimum value selector element 50 selects the smaller of the two input signals yVF1 and yp and forwards this minimum value as manipulated variable yVF for the delivery volume VF to the actuator 31.
  • Both the regulation of the delivery volume VF and the regulation of the pressure p are effected by adjusting the delivery volume of the variable displacement pump 13.
  • the transmission characteristics of the delivery flow regulator 49 and the pressure regulator 52 each have a proportional and a differential component.
  • a pressure / volume flow profile p (t) / Q (t) for the pressure medium supply of the cylinder 11 is stored.
  • a speed profile n (t) for the electric motor is as in the publication EP 1 236 558 B1 created.
  • a speed profile n (t) is created for the electric motor 14, which specifies the course of the rotational speed n during a production cycle.
  • the electric motor 14 is first operated at the constant speed nmax.
  • the control of the cylinder 11 supplied volume flow is carried out solely by the pump controller 41.
  • the pump controller 41 ensures that the variable displacement pump 13 to the cylinder 11, the volume flow which is required to the by the pressure / flow profile p (t) / Q (t) specified values. This volume flow is also referred to below as the volume flow requirement QA.
  • the optimization process has a series of learning cycles in which the variable displacement pump 13 is driven at the constant speed nmax.
  • a first learning cycle the duration of a manufacturing cycle is determined by measuring the time between two cycle start pulses. From the duration of a production cycle and the number of memory locations available in the motor controller 42 for the storage of values, the time interval ⁇ t for the detection of the values to be stored is determined.
  • the actual values VFi of the delivery volume are detected at a distance of ⁇ t and stored in the engine control unit 42. The values stored there form a delivery volume profile VFI (t).
  • the actual values pi of the pressure are detected and stored in the engine controller 42.
  • the stored values form a pressure profile pi (t).
  • a volume flow demand profile QA (t) is obtained.
  • a speed profile n (t) is obtained. It is advisable to choose the constant value so that it is close to the nominal value of the delivery volume VF of the variable displacement pump 13.
  • the constant value is selected such that it corresponds to approximately 90% of the nominal value of the delivery volume VF of the variable displacement pump 13. This value is denoted below by VFgO.
  • the stored value of the volume flow demand QA can be replaced by the speed value n calculated from it. If one controls the speed of the electric motor 14 in accordance with the speed profile n (t) determined in this way, the delivery volume VF of the variable displacement pump 13 would adjust to the value VFgO under ideal conditions. In practice, however, the delivery volume VF of the variable displacement pump 13 is not constant during a cycle, in particular because the speed n of the electric motor 14 can not be changed as fast as the delivery volume VF of the variable displacement pump 13. In addition, in particular with regard to the lubrication of Variable displacement pump 13, the cooling of the electric motor 14 and the maximum permissible torque of the electric motor 14 its speed n may not be arbitrarily reduced.
  • the speed deviation is calculated for as many times as possible of a working cycle. For this purpose, it is calculated on the basis of the pressure and the volume setting of the variable displacement pump, how large the load of the electric motor is by the torque is calculated by means of the torque, which is dependent on the pressure.
  • simulation values for the slip are stored as a function of the torque and the stator speed.
  • the caster of the electric motor is calculated.
  • the speed profile shows when the rotor accelerates. Simulation values that simulate the acceleration show how much the rotational speeds of the rotor deviate from the default values for the rotational speed.
  • FIG. 3 shows a further embodiment of an actuator of a cyclically operating production machine with the associated control device for providing quantities of pressure medium.
  • a first difference results from the lack of feedback for the flow rate VF.
  • a setpoint VFs is calculated, with the aid of which the delivery rate is controlled in the open circuit.
  • a regulation of the flow does not take place. This measure further reduces the cost of the overall system by eliminating the transmitter 32 and the recirculations. This saving could also according to the embodiment FIG. 1 be made.
  • a second difference from the embodiment according to FIG. 1 is determined by the way in which the slip and the caster are taken into account in the control.
  • the output signal of the motor controller 42, the target value for the rotational speed ns, is applied to the frequency converter 33. Due to the slip, the rotational speed n of the shaft 34 differs from the target value for the rotational speed ns. Other differences can occur when the motor is running and therefore the rotational speed of the rotor differs from the nominal value for the rotational speed ns.
  • the summation element 36 receives the nominal value for the rotational speed ns at a first input and a compensation value nl2 at a second input.
  • the summation element 36 subtracts the compensation value nl2 from the nominal value for the rotational speed ns.
  • the desired value of the delivery volume VFs is thus calculated with a corrected speed value nc2 which is as close as possible to the actual rotational speed n of the shaft 34. If the default value for the rotational speed ns is not changed, then in the presence of slippage in the engine, the delivery volume VF is increased accordingly, so that a volume flow is outputted from the variable displacement pump 13, which corresponds to the pressure / flow profile.
  • the compensations according to FIG. 1 and FIG. 3 it is also possible to use the compensations according to FIG. 1 and FIG. 3 to combine.
  • the first compensation value nl1, which according to FIG. 1 is used to calculate the corrected speed command signal nc1, derived only from a calculation of the engine slip.
  • the compensation value nl1 corresponds to a speed derivative, which is added to compensate for a slip on the speed specification ns.
  • the second compensation value nl2, according to FIG. 3 Input is found in the flow rate setpoint VFs is calculated in this case from a simulation of the caster of the motor 14.
  • This compensation value nl2 is subtracted from the speed specification ns in order to obtain the best possible estimate nc2 of the current engine speed. From the speed estimation nc2, as described above, a setpoint value of the delivery volume VFs is obtained in order to control the variable displacement pump 13 in the best possible agreement with the delivery flow setpoint value Qs.
  • the engine slip in the calculation of the volume flow Q i during the learning phase in order to compensate the set value Qs accordingly. For example, if there is a slip, the setpoint Qs is increased accordingly, so that the resulting flow corresponds to the pressure / flow profile.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
EP09014791.9A 2008-11-29 2009-11-27 Procédé et circuit de réglage destinés au réglage d'une alimentation en fluide sous pression pour un actionneur hydraulique Active EP2192309B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008059677 2008-11-29

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EP2192309A2 true EP2192309A2 (fr) 2010-06-02
EP2192309A3 EP2192309A3 (fr) 2014-04-23
EP2192309B1 EP2192309B1 (fr) 2017-04-05

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DE (1) DE102009055978A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102878152A (zh) * 2012-10-12 2013-01-16 中联重科股份有限公司 液压系统的功率控制方法和控制装置与液压系统
DE102012009136A1 (de) 2012-05-05 2013-11-07 Robert Bosch Gmbh Verfahren zum Betreiben einer Fluidpumpe
WO2021173940A1 (fr) * 2020-02-27 2021-09-02 Cnh Industrial America Llc Système et procédé de chauffage de fluide hydraulique d'un véhicule de travail électrique
EP3988801A1 (fr) * 2020-10-21 2022-04-27 Robert Bosch GmbH Procédé de fonctionnement d'un entraînement hydraulique

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011119299A1 (de) 2011-11-24 2013-05-29 Robert Bosch Gmbh Verfahren zum Betreiben einerdrehzahlvariablen Verstellpumpe
DE102018203623A1 (de) * 2018-03-09 2019-09-12 Zf Friedrichshafen Ag Antrieb für eine Arbeitsmaschine
DE102019220322A1 (de) 2019-12-20 2021-06-24 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betreiben einer drehzahlvariablen Verstellpumpe
DE102022203051B3 (de) 2022-03-29 2023-10-12 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betreiben einer drehzahlvariablen Pumpe

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4335403C1 (de) * 1993-10-18 1994-12-15 Karl Hehl Hydraulikeinrichtung
EP1236558A1 (fr) * 2001-03-03 2002-09-04 Mannesmann Rexroth AG Methode de régulation de l'alimentation en fluide d'un actionneur hydraulique

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4335403C1 (de) * 1993-10-18 1994-12-15 Karl Hehl Hydraulikeinrichtung
EP1236558A1 (fr) * 2001-03-03 2002-09-04 Mannesmann Rexroth AG Methode de régulation de l'alimentation en fluide d'un actionneur hydraulique

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012009136A1 (de) 2012-05-05 2013-11-07 Robert Bosch Gmbh Verfahren zum Betreiben einer Fluidpumpe
WO2013167248A1 (fr) 2012-05-05 2013-11-14 Robert Bosch Gmbh Procédé permettant de faire fonctionner une pompe à fluide
CN102878152A (zh) * 2012-10-12 2013-01-16 中联重科股份有限公司 液压系统的功率控制方法和控制装置与液压系统
CN102878152B (zh) * 2012-10-12 2015-04-22 中联重科股份有限公司 液压系统的功率控制方法和控制装置与液压系统
WO2021173940A1 (fr) * 2020-02-27 2021-09-02 Cnh Industrial America Llc Système et procédé de chauffage de fluide hydraulique d'un véhicule de travail électrique
US11982070B2 (en) 2020-02-27 2024-05-14 Cnh Industrial America Llc System and method for heating the hydraulic fluid of an electric work vehicle
EP3988801A1 (fr) * 2020-10-21 2022-04-27 Robert Bosch GmbH Procédé de fonctionnement d'un entraînement hydraulique

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EP2192309B1 (fr) 2017-04-05
DE102009055978A1 (de) 2010-06-02
EP2192309A3 (fr) 2014-04-23

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