EP3786104B1 - Procédé de commande d'une fonction hydraulique de travail d'un chariot de manutention - Google Patents

Procédé de commande d'une fonction hydraulique de travail d'un chariot de manutention Download PDF

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Publication number
EP3786104B1
EP3786104B1 EP20188185.1A EP20188185A EP3786104B1 EP 3786104 B1 EP3786104 B1 EP 3786104B1 EP 20188185 A EP20188185 A EP 20188185A EP 3786104 B1 EP3786104 B1 EP 3786104B1
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EP
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Prior art keywords
hydraulic
load
temperature
amplification factor
control
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EP20188185.1A
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German (de)
English (en)
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EP3786104A1 (fr
Inventor
Jonah Splettstößer
Björn Bullermann
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STILL GmbH
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STILL 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems

Definitions

  • the invention relates to a method for controlling a working hydraulics function of an industrial truck that is influenced by a load pressure of a picked-up load and/or by a temperature of a hydraulic fluid, with a command variable being specified, from which a manipulated variable is calculated in a control unit, which, via a control path, generates a control variable of the Working hydraulic function determined.
  • a control valve of the lifting drive is controlled by control electronics.
  • the electronic control unit receives an actuation travel of an operating lever via the sensor and, on the output side, generates a control signal that controls/actuates the control valve.
  • the control signal for the control valve is adjusted depending on the temperature of the hydraulic fluid, which is detected by a sensor.
  • Forklift trucks with electrically actuated working hydraulics have a setpoint generator, for example a joystick, to control the working hydraulics.
  • the setpoint speed of a working hydraulics function is controlled by an operator.
  • a manipulated variable is calculated from the setpoint specification, ie the specification of a reference variable, which can be a parameter of a pump control and/or a valve control, for example.
  • the manipulated variable is used to set a control variable as the actual value of the working hydraulics. It can be, for example, an actual speed of a Act working hydraulics function.
  • the operator must manually adjust deviations from the setpoint by changing the setpoint specification.
  • control variable Due to the controlled method, the control variable is not fed back in such industrial trucks and the deviation is not compensated. Production tolerances and environmental influences must therefore be taken into account when designing the controller so that the control variable follows the command variable in a reproducible manner. Despite taking these parameters into account, model deviations lead to control deviations and thus to non-reproducible speeds of the working hydraulics function.
  • the controlled process means that vehicles of the same construction differ in the speed behavior of the working hydraulics function.
  • control is particularly disadvantageous when maximum speeds are specified by standards and these must be ensured in all operating states and production tolerances. For this reason, vehicles are designed with less performance than they could normatively be in most of the subset of the total operating points.
  • Such trucks are for example in DE 10 2012 101 949 A1 and in the EP 2 123 594 A1 described.
  • a load handling device for handling loads which is generally formed by a lifting carriage that can be raised and lowered on the lifting frame and an attachment attached thereto.
  • the attachment can be designed, for example, as a load fork consisting of forks, by means of which a load, for example a pallet, can be driven under.
  • the deflection of the control valve device during lowering operation determines the lowering speed of the load-carrying means.
  • a limit value for a maximum permissible lowering speed of the load handling device is prescribed by law.
  • the control valve device is designed in such a way that when the control valve device is fully actuated into a lowering position, a maximum pressure medium outflow flow flows from the lifting cylinder device to a container under all operating conditions. which ensures compliance with the maximum permissible lowering speed.
  • the control valve device is usually provided with a lowering brake valve or an outflow flow controller.
  • the pressure medium outflow flow from the lifting cylinder device to the container is dependent on certain influencing variables.
  • influencing variables are structural boundary conditions of the mast, for example the type and height of the mast and the design of the hydraulic system for supplying the lifting cylinder device.
  • the type of construction of the mast should be understood as meaning the design of the mast with regard to the number of extendable mast sections, for example the design of the mast as a duplex mast or triplex mast.
  • Each of these mast types is usually available in different heights for different lifting heights of the load handling device.
  • the flow of pressure medium outflow is also dependent on the cross section of the corresponding lifting cylinder as a structural boundary condition.
  • Another structural boundary condition for the flow of pressure fluid is the dead weight of the mast.
  • Other influencing variables for the pressure medium outflow flow in lowering mode are formed by operating conditions occurring during operation of the industrial truck, in particular by the viscosity and thus the temperature of the pressure medium and a load taken up.
  • the lowering brake valve or the outflow flow controller of the control valve device is usually designed in such a way that one embodiment of the lowering brake valve or outflow flow controller can cover several variants and designs of masts in order to keep the variance of the control valve device low.
  • the design of the lowering brake valve or the discharge flow controller is based on the mast with the highest lowering speed. If this lowering brake valve or this discharge flow controller is used in a different mast, a reduced maximum lowering speed is achieved.
  • a Lowering operation without a load picked up can set a maximum lowering speed of the load-carrying means during a lowering process when the control valve device is fully actuated in the lowering position, which is well below the limit value for the maximum permissible lowering speed.
  • a maximum lowering speed of the load handling device that is significantly below the limit value for a maximum permissible lowering speed leads to delays in the handling of goods when the industrial truck is used.
  • a correspondingly reduced handling capacity of the industrial truck can be achieved, which leads to increased costs per quantity of goods handled.
  • a sensor device is provided, by means of which the lowering speed of the load-carrying device can be determined in the electronic control device when the load-carrying device is being lowered.
  • This determined lowering speed represents the controlled variable according to which the pressure medium discharge flow flowing from the lifting cylinder device to the container is regulated by the electronic control device with the electrically actuatable valve device during lowering operation. This makes it possible for the maximum permissible lowering speed to be achieved, regardless of structural boundary conditions of the mast and operating conditions when the load handling device is being lowered.
  • Non-linear effects that result from slip stick effects mast transitions, for example the transition between a free lift with a free lift cylinder and a mast lift with a mast lift cylinder and/or the transition between two lift stages with different lift cylinders, hysteresis states or opening points of the hydraulic valves, do not occur taken into account.
  • the behavior of the working hydraulics function of an industrial truck is generally dependent on the load taken up and the temperature of the hydraulic fluid, in particular the hydraulic oil.
  • the lowering of the load-carrying means for example a load carriage with forks arranged thereon, is generally carried out with the load pressure of the load-carrying means or the load picked up.
  • the maximum possible valve opening of the control valve device is defined in such a way that a maximum permissible lowering speed is not exceeded at any operating point (for example load pressures, temperatures, oil viscosities).
  • the load pressure is sometimes so low, depending on the mast and lift stage, for example mast lift or free lift, that the desired lowering speed is not achieved with this defined, maximum valve opening.
  • the lowering speeds are generally lower than desired since the viscosities of the hydraulic fluid are higher.
  • control dynamics of the control valve devices of the working hydraulic functions are generally defined in such a way that the dynamics are not too high at any operating point. Due to the dependency on the load pressure and the temperature of the hydraulic fluid, other operating points receive an undesirably low dynamic.
  • This behavior not only affects the lowering of the load handling attachment, but can also be transferred to other hydraulic functions. For example also have the tilting of the lifting mast and the function of the attachments attached to the load handling device show load and temperature-dependent behavior.
  • the present invention is based on the object of designing a method of the type mentioned at the outset in such a way that the disadvantages of the previous methods described are avoided.
  • This object is achieved according to the invention in that basic characteristics for various operating points of the working hydraulics function are stored in the control unit, which create a mathematical model relationship between the manipulated variable and the control variable, and the basic characteristics are adjusted in the control unit using an amplification factor that depends on the load pressure and /or depends on the temperature of the hydraulic fluid.
  • the invention is therefore not a regulating method in which the difference between the setpoint, i.e. the reference variable, and the actual value, i.e. the controlled variable (which is called the controlled variable in the case of regulating methods), is determined, fed back and corrected.
  • basic characteristics are used for various operating points of the working hydraulics function, which establish the relationship between the manipulated variable and the control variable.
  • the control variables include, for example, valve currents of hydraulic valves and pump speeds of hydraulic pumps.
  • the basic characteristics are stored in the control unit and can be loaded.
  • the basic characteristic curves can vary with an increasing setpoint (command variable) compared to a decreasing setpoint (command variable) in order to depict hysteresis behavior.
  • the basic characteristics can be modulated via modeling such as the hysteresis width.
  • the basic characteristics define the static and the dynamic behavior of the working hydraulic functions, in particular the dynamic changing of the opening cross section of a hydraulic valve and/or the hydraulic volume flow supply, for example via a hydraulic pump.
  • a setpoint speed of the working hydraulics function can be used as a reference variable.
  • At least one parameter of a pump control of a hydraulic pump is advantageously used as the manipulated variable, for example the speed of the pump.
  • at least a parameter of a valve actuation of a control valve device can be used, for example electrical actuation currents of electrically actuated hydraulic valves that control the work functions.
  • the basic characteristics are stored in the control unit for various operating points of the working hydraulics function.
  • a lifting height of a load handling device of the industrial truck can be used as the operating point of the working hydraulics function. Different basic characteristics can thus be provided for different lifting heights.
  • a load weight of a load handling device of the industrial truck can also be used as the operating point of the working hydraulics function. Different basic characteristics can thus be provided for different load weights of a load located on the load handling device.
  • Another possibility is to use a mast stage of a lifting mast of the industrial truck as the operating point of the working hydraulics function. Different basic characteristics can thus be provided for different mast stages of a lifting mast, for example free lift and mast lift.
  • An actual speed of the working hydraulics function is preferably used as the control variable.
  • the basic characteristics are adjusted via the amplification factor, which is dependent on the load pressure and/or the temperature of the hydraulic fluid.
  • the amplification factor can influence both the static and the dynamic volume flow.
  • the changes in the basic characteristics via the amplification factor can be applied to all working hydraulic functions.
  • the amplification factor is determined by means of amplification characteristics stored in the control unit, which establish a mathematical relationship between the load pressure and/or the temperature of the hydraulic fluid and the amplification factor.
  • the gain characteristics can be loaded.
  • the amplification characteristics can, for example, determine how the amplification factor must be changed when the load pressure changes in order to keep the lowering speed of a load handling device of the industrial truck constant, regardless of the load pressure.
  • a lowering and/or raising of a load handling device of the industrial truck is used with particular advantage as the working hydraulics function.
  • the invention can thus be used, for example, in industrial trucks for raising and/or lowering the load-carrying means on a lifting mast, with the lowering and/or raising speed being controlled.
  • Changes in the load pressure are preferably measured using a pressure sensor and/or changes in the temperature of the hydraulic fluid are measured using a temperature sensor.
  • the amplification factor is preferably changed by automatic control in the control unit in reciprocal proportion to the measured change in load pressure and/or to the measured change in temperature.
  • the lowering speed is increased by adjusting the basic characteristics via the amplification factor.
  • the valve energization of a hydraulic valve can be increased at low load pressure and thus the maximum possible valve opening of the control valve device can be increased, whereby the lowering speed is increased when lowering the load handling device with low load pressure.
  • the amplification factor can be changed as a function of the temperature of the hydraulic fluid measured in the industrial truck.
  • the valve energization of a hydraulic valve can be increased when the hydraulic fluid temperature is low and thus the maximum possible valve opening of the control valve device can be increased, whereby the movement speed of the working hydraulics function is increased when the hydraulic fluid temperature is low. It can static and dynamic controls are made dependent on this. In this way, the speeds and dynamics of the hydraulic movements can be defined more independently of the temperature of the hydraulic fluid.
  • opening cross-sections of hydraulic valves and/or volume flows of a hydraulic pump are changed by adjusting the basic characteristics via the amplification factor.
  • Adjusting the basic characteristic curves via the amplification factor is particularly advantageous in changing the control dynamics of hydraulic valves and/or a hydraulic pump.
  • the control dynamics can thus be changed as a function of the load pressure and/or temperature.
  • the control dynamics can be increased at low load pressure and/or low temperature of the hydraulic fluid and reduced at high load pressure and/or high temperature of the hydraulic fluid. This makes it possible, for example, to achieve very dynamic behavior without a load and to limit and thus reduce the dynamics with a load.
  • the values measured by the pressure sensor and/or temperature sensor are smoothed by means of an electronic filter and optionally processed according to a preferred development of the inventive idea. The result of this is that the amplification factor is constantly changed over time.
  • a further advantageous embodiment of the invention provides that the amplification factor can be changed by manual intervention in the control unit.
  • the reduction in the dynamics and/or the maximum possible speeds of the working hydraulic functions can also be made adjustable, at least within limits, for operators of industrial trucks. It can thus be possible for the operator of the industrial truck to reduce the speeds and/or dynamics with a load, for example, depending on the particular application. This reduces the likelihood of damage to the load and makes it easier to operate the industrial truck.
  • the invention can be embodied as a purely load-pressure-dependent characteristic curve amplification, in which the basic characteristic curves are adjusted via an amplification factor that is only dependent on the load pressure.
  • the invention can also be designed as a purely temperature-dependent characteristic curve amplification, in which the basic characteristic curves are adjusted via a gain factor that is only dependent on the temperature of the hydraulic fluid.
  • the invention is designed as a combined load-pressure and temperature-dependent characteristic curve amplification, in which the basic characteristic curves are adjusted using a gain factor that is dependent on both the load pressure and the temperature of the hydraulic fluid. Both influencing factors, namely the temperature of the hydraulic fluid and the load pressure, can thus be taken into account and compensated for.
  • the invention offers a whole range of advantages:
  • the invention enables a load pressure-independent and/or temperature-independent characteristic curve control of the working hydraulic functions of an industrial truck.
  • the load-pressure and/or temperature-dependent variable activation of the working hydraulic functions according to the invention has a positive effect on the performance of the hydraulic functions. It is possible to achieve the desired hydraulic speeds and dynamics of the working hydraulic functions more independently of the load pressure and/or more independently of the temperature of the hydraulic fluid.
  • the working hydraulic functions can be adjusted more precisely to the prevailing working point. For the driver of an industrial truck, this enables more efficient and more comfortable work. For example, the handling capacity of the industrial truck is increased by increasing the lowering speed without a load and/or when the hydraulic fluid is cold.
  • the design of the working hydraulics can be designed in such a way that the normative and thus legal specifications are used to the maximum in significantly more working points and thus a higher vehicle performance of the industrial truck is achieved.
  • the speeds and dynamics of the Reducing working hydraulic functions can significantly increase the ease of use of the industrial truck and make it easier to operate.
  • the handling performance of the industrial truck is only slightly reduced or even increased because, for example, high or even higher speeds of the working hydraulic functions can be used without a load. Material stresses can also be reduced due to reduced dynamics with loads. In this way, the service life of various components of the industrial truck, for example the vehicle frame and the mast, can be increased since there are fewer pressure and/or stress peaks.
  • electrically actuated hydraulic valves for the working hydraulics can be designed more simply, since temperature and load dependencies can be compensated for by the more variable control.
  • the industrial trucks are already equipped with a temperature sensor in the hydraulic circuit and a pressure sensor for measuring the load pressure, so that there are no additional costs for the new functions of the invention.
  • the invention allows the variance of the valve settings to be reduced, since the maximum possible valve opening when lowering the load is no longer fixed mechanically, but is defined as a function of the load and/or temperature by energizing the valve. In this way, the number of valve variants can be significantly reduced. In addition, it is no longer necessary to set the sink quantity on the test bench at the valve manufacturer. In this way, test bench and assembly time and thus costs can be reduced.
  • An adjustable mechanical stop of the hydraulic valve when lowering can also be omitted. This usually consists of an internal thread, a grub screw and a sealing nut to counter the grub screw. This reduces the manufacturing costs of the hydraulic valves.
  • the industrial truck F according to figure 1 is designed, for example, as a front-seat counterbalanced forklift.
  • a load handling device 1 arranged on the front of the vehicle is formed by an extendable lifting mast 1a with two parallel mast sections 1d and a load carriage 1b that can be moved vertically on the mast sections 1d and has a load handling device 1c, for example forks 1c, arranged thereon. Loads of all kinds can be lifted and transported with the help of the load handling device 1c.
  • the lifting mast 1a can be tilted about a horizontal axis arranged transversely in the lower area.
  • a rigid, i.e. not tiltable, lifting mast 1a and instead to design the load carriage 1b not only to be height-adjustable but also tiltable, as is often the case with so-called storage technology devices, such as reach trucks.
  • other load handling devices or attachments can also be attached to the load carriage 1b. It goes without saying that, in principle, additional movements of the load-handling device 1 are also possible if the facilities required for this, e.g. B. a sideshift are available.
  • the lifting mast 1a can be tilted by means of hydraulic tilting cylinders 1e.
  • the lifting mast 1a is extended and the load carriage 1b is raised by means of hydraulic lifting cylinders, if necessary additionally with one or more load chains.
  • To lower the load carriage 1b or to retract the lifting mast 1a the dead weight of the load carriage 1b and the components of the lifting mast 1a that have been extended upwards and possibly the weight of the load taken up act.
  • the hydraulic consumers mentioned are fed by a hydraulic pump. Together with the necessary hydraulic valves and a motor that drives the pump, this system thus includes several working drives for the lifting, lowering and tilting movement of the load handling device 1.
  • the industrial truck F also has a travel drive, in which a front axle 2 is designed as a drive axle, and a steering drive, with the aid of which a steering axle 3 arranged at the rear is actuated.
  • control levers 4 for example joysticks
  • an operator can actuate the working hydraulics functions, which are controlled by the control unit C(s).
  • the operator can specify a reference variable w(t), in the present example a specific lowering speed of the load carriage 1b as the target speed.
  • the manipulated variable u(t) is calculated therefrom, which in the present example corresponds to an electrical control current of an electrically actuated hydraulic valve controlling the working hydraulic functions and/or a pump speed of the hydraulic pump.
  • the manipulated variable u(t) determines the controlled variable y(t) via the control path G(s), which in the present example includes the lifting cylinder(s), the hydraulic pump and the hydraulic valve.
  • the control variable y(t) represents the actual speed of the lowering or lifting movement of the load carriage 1b.
  • Basic characteristic curves Gk for various operating points of the working hydraulics function are stored in the control unit C(s), which establish a mathematical model relationship between the manipulated variable u(t) and the control variable y(t).
  • a corresponding manipulated variable u(t) is calculated by the control unit C(s) from the specified reference variable w(t) using the basic characteristic curves Gk.
  • various basic characteristics Gk are stored in the control unit C(s) for different load weights of a load on the load handling device 1c and/or for different lifting stages of the lifting mast 1a, for example free lift and mast lift.
  • the various basic characteristics Gk are selected on the basis of the current operating point of the working hydraulics function in order to calculate a corresponding manipulated variable u(t) from the command variable w(t) for the current operating point with the basic characteristic Gk belonging to this operating point.
  • the basic characteristic curves Gk can vary with an increasing setpoint (command variable w(t)) compared to a decreasing setpoint (command variable w(t)) in order to avoid hysteresis behavior to map.
  • the basic characteristics can be modulated via modeling such as the hysteresis width
  • the basic characteristic curves Gk are adjusted via an amplification factor V, which is dependent on the load pressure p and/or the temperature T of the hydraulic fluid.
  • the amplification factor V can influence both the static and the dynamic volume flow.
  • the changes in the basic characteristics Gk via the amplification factor V can be applied to all working hydraulic functions.
  • the load pressure can be measured, for example, by means of a pressure sensor that is not shown in detail.
  • the temperature of the hydraulic fluid can be measured, for example, by means of a temperature sensor that is not shown in detail.
  • the amplification factor V can be determined by means of amplification characteristics Vk stored in the control unit C(s), which establish a mathematical relationship between the load pressure p and/or the temperature T of the hydraulic fluid and the amplification factor V.
  • the gain characteristics Vk can be loaded.
  • the amplification characteristics Vk can, for example, determine how the amplification factor V must be changed when the load pressure p changes and/or when the temperature T of the hydraulic fluid changes, by which the speed of the working hydraulics function, for example the lowering speed of the load handling device 1c, of the industrial truck F independently of the To keep the load pressure p and/or the speed of the working hydraulic function, for example the lowering speed of the load handling device 1c, of the industrial truck F constant regardless of the temperature T of the hydraulic fluid.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (11)

  1. Procédé de commande d'une fonction hydraulique de travail d'un chariot de manutention (F), affectée par une pression de charge d'une charge reçue et/ou par une température d'un liquide hydraulique, dans lequel une grandeur de référence (w(t)) est spécifiée à partir de laquelle, dans une unité de commande (C(s)), une grandeur de réglage (u(t)) est calculée qui détermine sur un trajet de commande (G(s) une grandeur de commande (y(t)) de la fonction hydraulique de travail,
    caractérisé en ce que dans l'unité de commande (C(s)), des courbes caractéristiques de base (Gk) pour différents points de fonctionnement dynamiques de la fonction hydraulique de travail sont stockées qui établissent une relation de modèle mathématique entre la grandeur de réglage (u(t)) et la grandeur de commande (y(t)), et les courbes caractéristiques de base (Gk) dans l'unité de commande (C(s)) sont ajustées par un facteur de gain (V) qui dépend de la pression de charge (p) et/ou de la température (T) du liquide hydraulique.
  2. Procédé selon la revendication 1, caractérisé en ce que les courbes caractéristiques de base (Gk) dans l'unité de commande (C(s)) sont ajustées au moyen d'une multiplication mathématique par un facteur de gain (V), dans lequel les courbes caractéristiques de base (Gj) ajustées sont calculées selon la formule (Gj = Gk x V) et le facteur de gain (V) peut prendre une valeur entre 0,001 et 1000, de préférence entre 0,01 et 100, en particulier entre 0,1 et 10.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que le facteur de gain (V) est déterminé au moyen de courbes caractéristiques de gain (Vk) stockées dans l'unité de commande (C(s)) et qui établissent une relation mathématique entre la pression de charge et/ou la température du liquide hydraulique et le facteur de gain.
  4. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que des modifications de la pression de charge (p) sont mesurées au moyen d'un capteur de pression et/ou des modifications de la température (T) du liquide hydraulique sont mesurées au moyen d'un capteur de température, et le facteur de gain (V) est modifié par une commande automatique dans l'unité de commande (C(s)) de manière inversement proportionnelle à la modification de pression de charge mesurée et/ou à la modification de température mesurée.
  5. Procédé selon l'une quelconque des revendications 1 à 4, caractérisé en ce que l'ajustement des courbes caractéristiques de base (Gk) par l'intermédiaire du facteur de gain (V) modifie des sections d'ouverture des vannes hydrauliques et/ou des débits volumiques d'une pompe hydraulique.
  6. Procédé selon l'une quelconque des revendications 1 à 5, caractérisé en ce qu'un abaissement et/ou un levage d'un dispositif de réception de charge (1c) du chariot de manutention (F) est/sont utilisé(s) comme fonction hydraulique de travail.
  7. Procédé selon la revendication 6, caractérisé en ce que lors de l'abaissement du dispositif de réception de charge (1c) à une faible pression de charge et/ou à une faible température du liquide hydraulique, la vitesse d'abaissement est augmentée par l'ajustement des courbes caractéristiques de base (Gk).
  8. Procédé selon l'une quelconque des revendications 1 à 7, caractérisé en ce que l'ajustement des courbes caractéristiques de base (Gk) par l'intermédiaire du facteur de gain (V) modifie les dynamiques de pilotage des vannes hydrauliques et/ou d'une pompe hydraulique.
  9. Procédé selon la revendication 8, caractérisé en ce que les dynamiques de pilotage sont augmentées pour une pression de charge faible (p) et/ou une température faible (T) du liquide hydraulique et sont diminuées pour une pression de charge élevée (p) et/ou une température élevée du liquide hydraulique (T).
  10. Procédé selon l'une quelconque des revendications 4 à 9, caractérisé en ce que les valeurs mesurées par le capteur de pression et/ou le capteur de température sont lissées au moyen d'un filtre électronique.
  11. Procédé selon l'une quelconque des revendications 1 à 10, caractérisé en ce que le facteur de gain (V) peut être modifié par une intervention manuelle sur l'unité de commande (C(s)).
EP20188185.1A 2019-08-12 2020-07-28 Procédé de commande d'une fonction hydraulique de travail d'un chariot de manutention Active EP3786104B1 (fr)

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DE102019121683.4A DE102019121683A1 (de) 2019-08-12 2019-08-12 Verfahren zur Steuerung einer Arbeitshydraulikfunktion eines Flurförderzeugs

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EP3786104A1 EP3786104A1 (fr) 2021-03-03
EP3786104B1 true EP3786104B1 (fr) 2023-06-07

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JP2546352B2 (ja) * 1988-09-19 1996-10-23 株式会社豊田自動織機製作所 産業車両における荷役用油圧制御装置
EP2123594A1 (fr) 2008-05-23 2009-11-25 BT Products AB Chariot élévateur industriel doté d'un contrôle de la vitesse
DE102012101949A1 (de) 2012-03-08 2013-09-12 Linde Material Handling Gmbh Hubvorrichtung eines Flurförderzeugs
JP5898390B1 (ja) * 2014-09-18 2016-04-06 株式会社小松製作所 フォークリフト及びフォークリフトの制御方法

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