EP2746212A2 - Procédé d'ajustement du régime d'un entraînement de grue et entraînement de grue - Google Patents

Procédé d'ajustement du régime d'un entraînement de grue et entraînement de grue Download PDF

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Publication number
EP2746212A2
EP2746212A2 EP13006069.2A EP13006069A EP2746212A2 EP 2746212 A2 EP2746212 A2 EP 2746212A2 EP 13006069 A EP13006069 A EP 13006069A EP 2746212 A2 EP2746212 A2 EP 2746212A2
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EP
European Patent Office
Prior art keywords
crane
speed
volume flow
mot
control
Prior art date
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Granted
Application number
EP13006069.2A
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German (de)
English (en)
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EP2746212B1 (fr
EP2746212A3 (fr
Inventor
Alexander Kisselbach
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liebherr Werk Ehingen GmbH
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Liebherr Werk Ehingen GmbH
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Publication of EP2746212A3 publication Critical patent/EP2746212A3/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/082—Servomotor systems incorporating electrically operated control means with different modes

Definitions

  • the invention relates to a method for speed tracking of a hydraulic crane drive with at least one hydraulic consumer, for example a hydraulic motor which is fed via at least one adjustable hydraulic pump, and which is driven by the drive unit of the crane at least one variable.
  • Cranes in particular mobile cranes, have a hydraulic system for driving the various crane functions.
  • This hydraulic system is supplied by one or more hydraulic pumps, which are supplied at least partially via a central drive unit of the crane, in particular an internal combustion engine.
  • the delivery volume of the individual hydraulic pumps depends on the input speed of the engine output. The larger the pumped volume, the faster the speed of movement of the individual hydraulic consumers powered by the pump to perform different crane functions.
  • the driver of the crane does not know the required engine speed necessary for the proper operation of the crane hydraulics with the desired speed of movement necessary is. Due to this ignorance, the drivers run the drive unit at high speed to ensure sufficient reserves for setting any movement speed. In many cases, however, a much lower speed is sufficient. In addition to excessive fuel consumption and high noise emission, this also leads to unnecessarily heavy wear on the drive unit.
  • Object of the present invention is therefore to optimize the fuel consumption of the crane while reducing noise emissions.
  • the hydraulic crane drive consists of at least one hydraulic consumer, in particular a hydraulic motor, for carrying out a specific crane function. At least one consumer serves, for example, as a rotary drive of the superstructure or to drive a winch. Furthermore, at least one hydraulic variable-displacement pump is provided, which supplies the at least one hydraulic consumer with an adjustable volume flow. At least one of the variable displacement pumps is driven by at least one central drive unit of the crane.
  • the speed of the drive unit and the pivot angle of the at least one variable in dependence on the requested volume flow for at least one of the consumers and / or controlled in dependence of another crane-specific parameter by the crane control.
  • the drive unit may preferably be an internal combustion engine, in particular a diesel engine, or else an electric or hybrid engine.
  • the process execution is independent of the desired system structure of the hydraulics.
  • the one or more consumers and the at least one pump can be connected as an open or closed hydraulic circuit.
  • the desired movement speed of the crane actuator or hydraulic consumer is determined by user input.
  • the crane control determines the energy required for this purpose, ie. H. the required volume flow which must be provided by the at least one variable displacement pump to the hydraulic consumer or consumers.
  • the crane control is responsible for setting the desired movement speed. For this purpose, controls or regulates the crane control, if necessary, the drive unit of the crane and at least one adjustable hydraulic pump.
  • Another crane-specific parameters for the control or regulation of the drive unit can be taken into account.
  • Possible parameters represent, for example, one or more values representing the height level above normal zero of the crane and / or a charging process of an energy store and / or the efficiencies of all or at least a portion of the consumers and / or at least one environmental condition, in particular the ambient temperature of the crane, and / or characterize a direct specification, in particular target speed specification of the crane operator.
  • Environmental conditions such as external pressure and ambient temperature, may affect the working conditions of the hydraulic system. Charging an energy storage may require a higher engine speed.
  • At least one or at least some of these values can be taken into account by the crane control for the control and / or regulation of the rotational speed or the swivel angle of at least one variable displacement pump.
  • the consideration takes place either additionally or alternatively requested volume flow for at least one consumer
  • Control of the speed is understood to mean both an increase and a reduction in the current speed. The same applies to the control or regulation of the swivel angle. Depending on the requested volume flow and / or a further parameter, this can optionally be reduced or increased.
  • At least one proportionally controllable directional seat valve is provided, which is connected between at least one variable displacement pump and at least one consumer.
  • a control or regulation of at least one directional seat valve takes place in dependence on the requested volume flow and / or a further parameter.
  • a signal for controlling at least one valve is generated.
  • a volume flow is established which the valve can pass to the hydraulic consumer.
  • the crane control can calculate this volume flow.
  • the directional seat valve is adjusted for example via a suitable adjusting mechanism, in particular an electromagnet.
  • the requested volume flow is adjusted via at least one operating lever of the crane.
  • One or more control levers are for example provided in the crane cabin. By operating the lever, ie deflection of the lever from the neutral position to the end position, the crane operator can set the desired volume flow. For example, at least one operating lever can be deflected from a middle position, ie neutral position, in four directions. In this case, the lever position in conjunction with one or more reductions represents the desired volume flow. Due to various operations, for example, an approach to a shutdown limit of the working area limitation, the crane control determines so-called reductions. These are usually in the range between 0 to 100%, with an amount of 100% corresponding to no reduction. The specification by the operating lever is charged with such a reduction and determines a final reduced flow rate.
  • the signals of at least one control lever can be transmitted either via a BUS connection or alternatively via a radio link to the crane control.
  • the crane control To control the speed of the drive unit, the crane control must determine a corresponding desired speed as a function of the requested volume flow. The determination can be made using a map.
  • the map contains torque and / or speed curves with respective fuel consumption of the drive unit.
  • Such a map is ideally stored in the crane control. For example, the relationship between hydraulic pressure and engine speed and / or for at least one characteristic field of the relationship between torque and speed is shown for at least one characteristic field. For each value of one of the characteristic fields, the associated fuel consumption, in particular in kilograms per hour, shown.
  • the target speed can be calculated by the crane control from the requested volume flow. The calculation is done dynamically at runtime depending on the current requested volume flow.
  • the influence of the crane control on the speed tracking can preferably be overridden at any time by a corresponding user input.
  • a conceivable user input represents the operation of the accelerator pedal.
  • the speed of the drive unit is increased until the determined from the current speed of the drive unit or from the speed of the at least one variable volume flow corresponding to the requested volume flow or converges against it.
  • the volume flow determined from the speed is calculated as a function of individual specific pump parameters. In this way, depending on the known speed at which the drive unit drives the at least one variable displacement pump, a theoretically possible volume flow at the outlet of the variable displacement pump can be concluded. However, this assumption is only valid as long as the at least one variable displacement pump or the powered consumer works without load.
  • the volume flow determined from the instantaneous engine power is adjusted to the requested volume flow by controlling the rotational speed.
  • the volume flow determined from the instantaneous engine power can optionally or alternatively be determined from the applied pump pressure at the outlet of the at least one variable displacement pump.
  • a corresponding sensor for detecting the output pressure can be used.
  • a volume flow is determined from the instantaneous engine power or the instantaneous pump output pressure.
  • This calculated volume flow is fed as input value to a controlled system, which adjusts the calculated volume flow to the requested volume flow by controlling the speed of the drive unit.
  • a controller for example an I controller, wherein the requested volumetric flow rate is used as the nominal value and the volumetric flow rate determined from the instantaneous engine power and the instantaneous pump pressure is used as actual value.
  • the crane control system adapts the acceleration and / or deceleration ramps of the rotational speed of the drive assembly individually and load-dependent.
  • the readjustment time of the controller used can be used to control the speed with which the output signal of the controller used follows the input signal. This time is dynamically adjustable.
  • the crane control summarizes the individual requested volume flows of the respective consumers to a total demand.
  • the method described above is then applied to the specific total demand, the total demand in this case corresponding to the requested volume flow. If the determined total requirement exceeds the maximum possible delivery volume of the at least one variable displacement pump, then the crane control system must adjust the maximum possible delivery volume to the individual delivery split hydraulic consumers. In particular, the distribution is proportional to the respective volume flow demand of the individual consumers.
  • the mechanical drive train is disengaged if the crane control detects idling.
  • the crane control can wait for a certain time interval after determining an idle operation until it disengages the drive train of the superstructure as close as possible to the drive unit.
  • the defined time interval may, for example, be in the range of one minute. This reduces the losses in mechanical drive shafts and transmissions.
  • This solution proves to be particularly advantageous in a single-engine crane in which the superstructure is driven by the undercarriage engine.
  • the manual transmission is mounted very close to the engine, which serves for driving as well as for crane operation.
  • the entire drive train to the superstructure with all losses (angle gear) can be decoupled and yet the complete power is available after about one to two seconds again for crane operation.
  • automatic shutdown of the power pack by the controller may be considered.
  • the invention further relates to a hydraulic crane drive with a crane control for carrying out the method according to the invention or for carrying out an advantageous embodiment of the method according to the invention.
  • the crane drive or the crane control has corresponding means for carrying out the method.
  • the invention relates to a crane having the crane drive according to the invention.
  • the advantages and properties of the crane obviously correspond to those of the crane drive according to the invention.
  • FIG. 1 shows a schematic diagram of the crane drive according to the invention.
  • the crane drive comprises a drive motor 1, which is designed, for example, as an internal combustion engine, in particular diesel engine, and represents the central mobile crane drive.
  • the connection to the variable displacement pump 3 is realized via the transmission 2 with a constant transmission ratio.
  • the speed of the drive motor 1 can be controlled by a motor controller, not shown, in the range between a minimum and maximum engine speed.
  • the central crane controller 10 is communicatively connected to the engine controller.
  • the adjustable hydraulic pump 3 delivers a volume flow Q PU to the connected hydraulic consumer 7 and to other hydraulic consumers 11 emphasis is placed on economical fuel consumption.
  • the method according to the invention with a focus on the consumer 7 will be described.
  • the other consumers 11 can or should also be taken into account in the process execution.
  • the displacement V G, PU of the hydraulic pump 3 can be controlled via the pivot angle of the hydraulic pump 3, wherein a change in the pivot angle is achieved by means of an adjusting mechanism.
  • the adjusting mechanism is a proportionally controllable electromagnet whose control current I pump is generated by the crane control 10.
  • the volume flow Q PU at the output of the variable displacement pump 3 is primarily regulated by the pivot angle. Is the maximum displacement V G, MAX at maximum Tilting angle exhausted, can be further increased by increasing the engine speed of the flow Q PU .
  • a pressure sensor 4 is also arranged, which detects the output side pressure p PU and the controller 10 communicates.
  • variable displacement pump 3 feeds a hydraulic consumer, which is designed in the figure representation as a hydraulic motor 7 for driving a hoist winch.
  • Hydraulic motor 7 and variable 3 are connected via a 4/3-way seat valve 5 to reverse the flow direction and control of the flow rate.
  • the valve is actuated by a proportionally controllable electromagnet.
  • the necessary control current I valve is provided by the crane control. This determines, depending on the requested volume flow, the appropriate control flow I valve , which adjusts the possible flow rate at the valve to the requested volume flow.
  • the speed of movement of the hydraulic motor 7 changes as a function of the volume flow Q PU , which is transmitted by the variable displacement pump via the valve 5 to this.
  • a attached to the crane winch load can generate a load torque on the winch or the hydraulic motor, which counteracts with actuated valve 5 to the drive torque of the drive motor 1 and at the same time increases the pressure p on the pump PU.
  • the crane operator has the option of influencing the volume flow Q PU via the operating lever 6.
  • the degrees of freedom of the operating lever 6 are determined by an axbox. In the zero or mid position, no actuation of the hydraulic motor 7.
  • the deflection of the control lever in the x- or y-axis direction is detected by the crane control 10 and converted in conjunction with the valve current I valve in the requested volume flow Q driver .
  • the control lever is self-restoring, so that it is always brought into the neutral position, ie in the center position without any force.
  • the engine speed of the drive motor 1 can be changed manually in the range of maximum and minimum speed.
  • FIG. 1a gives a brief overview of possible parameters to be included.
  • the ambient temperature of the crane or its height level can be included in order to take into account possible environmental values that have an influence on the operation of the hydraulics.
  • a specification of the operator for example, the selection of a desired setpoint speed of the drive unit can be taken into account.
  • a charging process of an energy storage device can influence the specific rotational speed or the swivel angle, since the charging process regularly has an increased energy requirement.
  • the aim of the crane control 10 is to determine an optimum engine speed or an optimal operating speed taking into account the parameters mentioned. This can result in a noticeable reduction in noise emission of the crane in addition to a reduced fuel consumption.
  • FIG. 2 shows a functional diagram of the control algorithm according to the invention for speed tracking.
  • Blocks 1 to 8 correspond to the individual components according to FIG. 1 , wherein the same components are provided with identical reference numerals.
  • the engine 1 provides information about its actual power P MOT or actual speed n MOT to the crane control 10.
  • the output pressure p PU is transmitted to the crane control of the variable displacement pump 3 via the sensor 4.
  • the crane control has knowledge of the set control current I valve on Wegesitzventil 5.
  • the deflection of the operating lever 6 is made available by bus or wireless transmission of the crane control 10.
  • the crane control continuously calculates several volume flows.
  • the requested volume flow Q driver is calculated based on the control of the operating lever 6 and the required valve current I valve .
  • the calculation of the volume flow Q PU1 is carried out according to Equation 1 as a function of the current engine speed n MOT and the maximum absorption volume of the pump 3. It should be noted that the maximum displacement volume of the hydraulic pump is always calculated, although the actual displacement is not activated Valve set to zero.
  • Q PU ⁇ 1 l min n MOT U min • V G . PU l U • u PU .
  • n MOT stands for the engine speed, V G, PU for the displacement of the pump 3 and u PU, MOT for the transmission ratio of the transmission 2.
  • V G the displacement of the pump 3
  • u PU the transmission ratio of the transmission 2.
  • n MOT U min Q PU l min • 1000 • 1000 u PU . MOT • V G . PU l U
  • the displacement of the hydraulic pump 3 is changed with the tilt angle of the hydraulic pump 3. If the driver requests a higher amount of consumption than the pump 3 can deliver V G, MAX and idling gas at maximum displacement, the engine speed n MOT must now be increased to promote the required quantity. It can be seen from equations 2 and 4 that the volume flows Q PU1 and Q PU2 increase in proportion to the engine speed n MOT .
  • the crane control system 10 continuously determines a volume flow Q driver desired by the driver and controls the engine speed n MOT such that both volume flows Q PU1 and Q PU2 correspond at least to the desired volume flow Q driver .
  • Case 1 applies to an unloaded hydraulic motor 7.
  • the crane control 10 determines the volume flow Q driver desired by the driver .
  • the engine speed n MOT is changed until Q PU1 corresponds to the volume flow of the driver Q driver .
  • the crane control 10 calculates the volume flow Q PU2 on the basis of the instantaneous engine power P MOT and the pump pressure p PU .
  • Q PU2 is greater than Q PU1 . This means that there is enough engine power P MOT to satisfy the condition of Equation 6, and that a further increase in the engine speed n MOT is not required.
  • the crane control 10 determines the volume flow Q driver desired by the driver .
  • the engine speed n MOT is changed until Q PU1 corresponds to the volume flow of the driver Q driver .
  • the crane control 10 calculates the volume flow Q PU2 on the basis of the instantaneous engine power P MOT and the pump pressure p PU . Since the loaded hydraulic motor 7 is a counter-torque to the drive torque of the drive motor 1, results in this case, a volume flow Q PU2 , which is lower than Q PU1 .
  • the provided motor power P MOT is not sufficient to satisfy the condition of equation 6. As engine power P MOT also increases with increasing engine speed n MOT , a further increase in engine speed n MOT is required.
  • the concrete control of the I-controller 20 is in FIG. 2 seen.
  • the I-controller 20 is used to compensate for the difference of Q driver to Q PU2 (x).
  • the control difference e is determined from the setpoint Q driver and the actual value Q PU2 and supplied to the controller 20.
  • the I controller 20 generates the actuating signal Q IRegler (y) at the output.
  • step response of the I-controller is on FIG. 3 referring to the course of the signal Q driver and the control output signal Q I controller over time.
  • the time delay is due to the circulation time of the controller.
  • the speed at which the output of the I-controller 20 follows the input signal Q driver is controlled. This time is dynamically adjustable.
  • FIG. 5 shows the step response of the ramp-function generator 30.
  • the purpose of implementing the ramp-function generator 30 is to calm the engine speed n MOT as well as the mobile crane itself, and thus to ensure as uniform a ride as possible.
  • the rise and fall times with which the output of the ramp-function generator 30 follows the input signal can be controlled dynamically.
  • FIG. 4 shows the course of the individual control and regulating signals of the desired and actual engine speed n target , n actual , and the individual signals of the volume flows Q driver , Q PU1 , Q PU2 , Q I controller over time.
  • the target engine speed n setpoint corresponds to the value 0
  • the motor actual speed n actual corresponds to the speed of the drive motor 1 in the idle state.
  • the signal Q PU1 shows the currently possible flow rate with idle gas and maximum displacement V G, MAX
  • the signal Q PU2 characterizes the possible flow rate due to the instantaneous engine power P MOT in the idle gas and the measured pressure p PU . Since the control is not yet active at this time, the output value of the I-controller 20 Q I controller has the value 0.
  • the crane operator operates the lever 6 to the control of the crane drive, so that the value of the signal Q driver assumes a value> 0th
  • the value for the target engine speed n Soll follows the specification of the control loop and the actual engine speed n Ist follows the respective engine speed. Since Q PU1 depends on the actual engine speed n actual , this value also follows the actual engine speed n actual as long as the variable displacement pump 3 is set to the maximum displacement V G, MAX . By the applied volume flow to the consumer (s) 7, these are controlled accordingly.
  • the acting pressure p PU on the variable displacement pump 3 leads to a drop in the actual flow rate of the variable displacement pump 3, so that the value for Q PU2 sags and falls below the value Q PU1 .
  • the engine speed n setpoint is increased until the value for Q PU1 approaches or corresponds to the value Q driver (time t 2 ). Since the actual volume flow Q PU2 is below the requested volume flow Q driver , the I regulator 20 is added (time t 2 ) and the target engine speed n setpoint is increased until the value for Q PU1 ⁇ Q is the driver .
  • FIG. 6 shows a functional diagram of the control algorithm for speed tracking according to an alternative embodiment of the invention.
  • Blocks 1 to 8 correspond to the individual components according to FIG. 1 , wherein the same components are provided with identical reference numerals.
  • the engine 1 supplies information about its engine torque M MOT or its actual rotational speed n MOT to the crane control system 10.
  • the output pressure p PU and the volume flow Q PU are transmitted to the crane control 10 by the variable displacement pump 3 via the sensor 4.
  • the crane control has knowledge of the set control current I valve on Wegesitzventil 5.
  • the deflection of the operating lever (MS) 6 is made available by bus system or radio transmission of the crane control 10.
  • the crane control receives as target specification a desired volume flow of the driver (Q driver ) ⁇
  • the driver determines the volume flow Q driver by the control of the control lever 6 and the associated adjustment of the valve currents (I valve ).
  • the aim of the control is to calculate a suitable engine speed ⁇ MOT_Max for the desired volume flow Q driver , at which the volume flow of the crane pump Q PU corresponds to the desired set volume flow Q driver .
  • the calculation and adjustment of the engine speed takes into account the working speed and the work performance.
  • the displacement of the hydraulic pump (s) 3 is changed with the swivel angle of the hydraulic pump (s) 3. If a higher consumption amount requested, as the pump can promote 3 at maximum displacement idle by the driver now has the engine speed ⁇ MOT be increased in order to promote the required amount.
  • the desired volume flow Q driver is converted into an engine speed ⁇ MOT, SPEED .
  • the component p PU represents the pump pressure of the pump 3.
  • the volume flow Q driver always ⁇ of the rotational speed of the drive motor is dependent MOT. 1 From the two calculated engine speeds ( ⁇ MOT, SPEED, ⁇ MOT, POWER ), the larger one is sent to the engine control unit.
  • the engine torque M MOT required for the engine speed according to equation 12 can either be the engine torque currently output by the engine control unit or an engine torque determined from an engine characteristic field.
  • the crane controller 10 determines from the driver's desired flow rate Q driver's engine speeds ⁇ MOT, SPEED and ⁇ MOT, POWER. In the case of the unloaded hydraulic motor 7, the measured pump pressure p PU is very low. The determined engine speed ⁇ MOT, POWER will be much lower compared to the engine speed ⁇ MOT, SPEED . This means that the engine speed ⁇ MOT, SPEED is sent as set speed to the crane engine.
  • the crane controller 10 determines from the driver's desired flow rate Q driver's engine speeds ⁇ MOT, SPEED and ⁇ MOT, POWER. In the case of the loaded hydraulic motor 7, the measured pump pressure p PU is very high. The determined engine speed ⁇ MOT, POWER will be much higher compared to the engine speed ⁇ MOT, SPEED . This means that the engine speed ⁇ MOT, POWER is sent as a set speed to the crane engine.
  • the maximum motor speed ⁇ MOT, MAX the downstream ramp generator (HG) 50 is supplied.
  • the input signal on the ramp-function generator 50 is identified for clarity as ⁇ MOT, MAX, HG , while the output signal is referred to as ⁇ MOT, MAX, PT1 .
  • the ramp-function generator 50 of FIG. 6 It is used to calm the engine speed and therefore also the mobile crane, which allows the most even driving behavior possible.
  • FIG. 7 shows the step response of the ramp-function generator 50.
  • the rise and fall times control the speed at which the output of the ramp-function generator follows the input signal. These times, as well as start and end values are dynamically adjustable.
  • a PT1 element is an LZI transmission element in control engineering, which has a proportional transmission behavior with a delay of the first order.
  • the PT1 element receives as input the output signal ⁇ MOT, MAX, PT1 of the ramp-function generator 50 and generates according to the in FIG. 8 illustrated transfer function, the output speed ⁇ MOT, MAX , which is finally supplied to the engine control of the engine 1 as a target speed.
  • FIG. 9 finally shows a measurement chart showing the timing of the relevant control parameters for the crane in the second case described with heavily loaded hydraulic motor 7, that is, with comparatively high pump pressure p PU shows.
  • the demand is reset to the volume flow and the speed is regulated down.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control And Safety Of Cranes (AREA)
EP13006069.2A 2012-12-21 2013-12-19 Procédé d'ajustement du régime d'un entraînement de grue et entraînement de grue Active EP2746212B1 (fr)

Applications Claiming Priority (1)

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DE102012025253.6A DE102012025253A1 (de) 2012-12-21 2012-12-21 Verfahren zur Drehzahlnachführung eines Kranantriebs und Kranantrieb

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EP2746212A2 true EP2746212A2 (fr) 2014-06-25
EP2746212A3 EP2746212A3 (fr) 2014-07-09
EP2746212B1 EP2746212B1 (fr) 2018-10-10

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EP (1) EP2746212B1 (fr)
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CN106315411A (zh) * 2016-10-27 2017-01-11 安徽柳工起重机有限公司 汽车起重机速度控制系统
CN109313441A (zh) * 2016-04-21 2019-02-05 凯撒空压机股份有限公司 用于分析压缩空气系统的压缩空气供应安全性的方法

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US9599107B2 (en) * 2013-02-22 2017-03-21 Cnh Industrial America Llc System and method for controlling a hydrostatic drive unit of a work vehicle using a combination of closed-loop and open-loop control
JP6156452B2 (ja) * 2015-07-23 2017-07-05 コベルコ建機株式会社 移動式クレーン
EP3725727A1 (fr) * 2019-04-18 2020-10-21 Deere & Company Système de commande pour une grue d'une machine de travail, procédé et machine de travail

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JP2014122704A (ja) 2014-07-03
US9399565B2 (en) 2016-07-26
US20140283507A1 (en) 2014-09-25
EP2746212B1 (fr) 2018-10-10
EP2746212A3 (fr) 2014-07-09
JP6563171B2 (ja) 2019-08-21

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