EP4336038A2 - Procédé de fonctionnement d'une machine de travail mobile - Google Patents

Procédé de fonctionnement d'une machine de travail mobile Download PDF

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Publication number
EP4336038A2
EP4336038A2 EP23186954.6A EP23186954A EP4336038A2 EP 4336038 A2 EP4336038 A2 EP 4336038A2 EP 23186954 A EP23186954 A EP 23186954A EP 4336038 A2 EP4336038 A2 EP 4336038A2
Authority
EP
European Patent Office
Prior art keywords
parameter
actual parameter
consumer
main consumer
main
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.)
Pending
Application number
EP23186954.6A
Other languages
German (de)
English (en)
Other versions
EP4336038A3 (fr
Inventor
Dieter Farthofer
Georg Edlbauer
Georg Koppensteiner
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.)
Wacker Neuson Linz GmbH
Original Assignee
Wacker Neuson Linz GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Wacker Neuson Linz GmbH filed Critical Wacker Neuson Linz GmbH
Publication of EP4336038A2 publication Critical patent/EP4336038A2/fr
Publication of EP4336038A3 publication Critical patent/EP4336038A3/fr
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1497—With detection of the mechanical response of the engine
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2250/00—Engine control related to specific problems or objectives
    • F02D2250/18—Control of the engine output torque
    • F02D2250/26—Control of the engine output torque by applying a torque limit

Definitions

  • the invention relates to a method for operating a mobile work machine, wherein at least one drive unit having at least one maximum parameter according to the preamble of claim 1.
  • the maximum torque provided by the engine depends on several factors.
  • the oxygen content supplied into the combustion chamber in internal combustion engines is a key factor for performance and therefore also for the available torque.
  • the engine performance decreases as the altitude increases, meaning that the maximum performance also depends on the location of use.
  • Other influencing factors include the temperature of the air supplied to the combustion chamber.
  • the response behavior of an internal combustion engine should not be ignored Turbocharger.
  • the turbocharger needs a certain amount of time to come up to speed in order to build up enough boost pressure.
  • the maximum torque cannot be made available at the beginning of the load change, but rather only with a time delay.
  • the engine constantly varies its maximum available torque. But it's not just the engine that changes its maximum performance, the power requirements of its consumers are also constantly changing.
  • Main consumers are usually divided into main and secondary consumers.
  • the main consumers of a work machine are the work pump and the drive pump.
  • the main consumers so to speak, supply the most important functions of the machine, which the operator can directly influence.
  • the auxiliary consumers generally play a subordinate role; they are necessary for the basic functions of the machine. Parasitic loads are also classified in the category of auxiliary consumers.
  • the operator can usually only control the auxiliary consumers indirectly. Examples of additional consumers include the gear pump that supplies the braking and steering system or the friction between moving pump parts.
  • the consumers are generally supplied by the engine via the drive shaft or the power take-off.
  • the torque generated by the engine must therefore be distributed between the main consumers and the auxiliary consumers.
  • An example of dynamic auxiliary consumers is the variable-speed fan.
  • friction in the warehouse can be categorized as static secondary consumers.
  • the difficulty here is that the constantly changing sum of the torques of all main and auxiliary consumers must always be less than or equal to the maximum engine torque available. If this rule is violated, the engine may stop unintentionally.
  • the object of the invention is, in contrast, to propose a method for operating a mobile work machine that at least partially overcomes the disadvantages of the prior art improved or, in particular, with the help of a so-called "power management" to control the main consumers so that the motor can (always) provide enough torque or to ensure that each consumer always has sufficient power available, so that if possible none the consumer is undersupplied, which means that the machine remains fully operational at all operating points, and/or that dynamic load changes can be coordinated by consumers to the motor and/or that an adjustable energy-saving operating state (so-called "ECO mode”) can be implemented and/or that differences in performance due to component tolerances of the components can be compensated (automatically).
  • ECO mode adjustable energy-saving operating state
  • a method according to the invention is characterized in that an actual parameter difference between the maximum parameter of the drive unit and a sum of at least a first actual parameter of the first main consumer and a second actual parameter of the second main consumer and a third actual parameter of the at least one secondary consumer is formed, that at least one main consumer actual parameter sum is formed, which is formed at least from a first actual parameter of the first main consumer and from a second actual parameter of the second main consumer, and that a first share of the first actual parameter of the first main consumer in the main consumer actual parameter sum and a second share of the second actual parameter of the second main consumer is used in the main consumer actual parameter sum, the actual parameter difference being divided at least into the first share and the second share.
  • the maximum parameter of the drive unit is formed as a sum of at least one maximum actual parameter of the drive unit and an offset actual parameter, wherein at least the offset actual parameter has a dependency on a speed of the drive unit.
  • a certain tolerance or reserve is generated/usable. For example, a short-term and/or abrupt change in the required torque and/or the power of the consumers can be advantageously “cushioned” or compensated for without causing an "undersupply" to one of the main/consumers.
  • At least a first parameter limit of the first main consumer is used to limit the first actual parameter and/or at least a second parameter limit of the second main consumer is used to limit the second actual parameter.
  • the advantageous limit or limitation of the actual/parameter prevents an undersupply from occurring. This further improves the operation of the machine and ensures that the motor can (always) provide enough torque, that each consumer always has sufficient power available, so that if possible none of the consumers are undersupplied, which means that the machine is fully operational remains at all operating points and that dynamic load changes can be adjusted to the engine by consumers.
  • the first parameter limit of the first main consumer is at least a sum of the first actual parameter of the first main consumer and the actual parameter difference multiplied by the first share and / or the second parameter limit of the second main consumer is formed at least a sum of the second actual parameter of the second main consumer and the actual parameter difference multiplied by the second share.
  • the main consumers which are particularly important for the work machine, can be supplied accordingly in accordance with their respective current share of the torque and/or power or the like made available. This effectively prevents one of the two or more main/consumers from being insufficiently supplied or operated.
  • the sum of all parts is one.
  • At least the first and second components are changed depending on the actual operation.
  • An adaptation to the current actual operation can thus be achieved in an advantageous manner.
  • the first main consumer is designed as a first hydraulic pump and/or used to operate a drive element, for example a drive wheel/roller and/or crawler chassis or vibration element.
  • the second main consumer can be designed as a second hydraulic pump and/or for operating a lifting device, in particular a lifting arm, gripper arm, telescopic arm or the like, and/or a work tool, for example a gripper/shovel, fork, a vibration element, a milling machine, a clearing blade or The like, and/or a tool holder can be used to hold the work tool. In this way, the special functions of the work machines are recorded.
  • the electronic control unit is designed to control the drive unit and/or the first main consumer and/or the second main consumer and/or the secondary consumer and/or the lifting device and/or the work tool and/or the tool holder and/or the control element as a foot pedal , so-called joystick, keyboard, touchscreen and / or touchpad and / or used for manual operation / actuation by an operator and / or for specifying a target parameter of the lifting device and / or the work tool and / or the tool holder by the operator .
  • This means that existing components of the work machine can advantageously be used for the invention. This reduces the effort, especially the financial and design effort.
  • the senor is used to detect an actual parameter of the drive unit and/or the first main consumer and/or the second main consumer and/or the secondary consumer and/or the first hydraulic pump and/or the second hydraulic pump and/or the lifting device and/or the work tool and / or the tool holder.
  • the advantageous parameter values can be recorded precisely and up to date and used for the invention.
  • ECO mode ecological operating mode
  • the operator of work machines can currently select an ecological operating mode (ECO mode), which allows the machine to work in an energy-saving state.
  • ECO mode ecological operating mode
  • care must be taken to ensure that the engine maintains a constant engine speed and avoids drops in speed caused by sudden load changes.
  • the implementation of the ECO mode has so far only been partially possible with the help of the power regulators of the main consumers.
  • the power controller can only be reduced within a certain range. However, a further reduction is necessary or desired.
  • the difference between the maximum available engine torque and the current engine torque should be zero.
  • consumers must be able to adapt to the dynamic changes quickly enough.
  • This requirement is met, for example, by an axial piston variable displacement pump in an open circuit, equipped with an electro-hydraulic control valve.
  • the swivel angle or the swivel angular speed of the variable pump is controlled using a proportional directional control valve.
  • the pump itself is equipped with a swivel angle sensor and a pressure sensor.
  • One of the limit values is, for example, the maximum torque limit of the pump. As soon as the delivered pump torque reaches the specified limit, the pump swings back or stops swinging out further. The maximum performance of the working hydraulics can therefore be changed and limited in a highly dynamic manner.
  • the functionality of the hydrostatic travel drives which consist of an axial piston variable displacement pump in a closed circuit as a travel pump and an axial piston variable displacement motor When it is put together as a traction motor, something similar applies.
  • a torque limit can be set dynamically via an electronic interface and the currently delivered torque is provided as information.
  • Figure 5 shows an example of a schematic block diagram of a so-called performance management of a self-propelled, mobile machine.
  • an internal combustion engine 30 or diesel engine 30 drives a first main consumer 1 or a work pump 1 as well as a second main consumer 2 or driving pump 2 as well as a first secondary consumer 41 or air conditioning compressor 41 and a second secondary consumer 42 or gear pump 42.
  • the diesel engine 30 is assigned an engine control unit 31, between which signals are exchanged, on the one hand signals 32 from the engine 30 to the control unit 31 such as temperature, air pressure, actual engine speed etc. and on the other hand signals 33 from the control unit 31 to the engine 30 such as target Engine speed etc.
  • Signals 34 are forwarded from the control device 31 to a (common) bus 51, such as M actual , M max , speed n etc.
  • the bus 51 communicates or exchanges signals 52 with a machine control device 50 or a control unit 50 .
  • each main consumer 1, 2 to N is assigned its own or separate control device 11, 21 to N1 and there is advantageously a bidirectional connection or bidirectional signals 12 for, for example, swivel angle, working pressure, etc. and signals 13 for e.g. control current or signals 22 for e.g. swivel angle, working pressure etc. and signals 23 for e.g. control current between these.
  • a bidirectional connection or bidirectional signals 14 for M Act1 signals 15 for a first torque limit M Lim1 or signals 24 for M Act2 , signals 25 for a second torque limit M Lim2 25 between the main consumer control devices 11, 21 and the bus 51.
  • the additional consumers 41 to 4N do not have their own control devices. This is advantageously a difference or weighting/evaluation between main consumers 1, 2 and secondary consumers 41, 42.
  • Torque management of a self-propelled work machine pursues, among other things, the goal of making the available engine torque Mist available to all main consumers 1, 2 in user-defined proportions in an advantageous manner.
  • the engine torque M Act is divided between the secondary consumers 41, 42 and the main consumers 1, 2 (cf. Figure 1 and 5 ).
  • the current torque M taken from the auxiliary consumers 41, 42 will be referred to as the current auxiliary consumer torque M auxiliary .
  • the torque curves are shown graphically over time as an example. This in Figure 1
  • the engine torque M Act shown is composed of two main consumers 1, 2 and the secondary consumers 41, 42.
  • the first main consumer 1 draws its load M Act1 at short notice (see "Hill” in Figure 1 ), on the other hand, the second main consumer 2 takes a constant load M Act2 .
  • the torque M of the secondary consumers 41, 42 is obtained by applying the above-mentioned equation (2). If the operator switches on an auxiliary consumer 41 or 42 such as the air conditioning, the current engine torque M Act increases and thus also the proportion of M auxiliary .
  • it is not one of the auxiliary consumers 41 but, as explained above, one of the main consumers M Ist1 that is shown with a briefly higher torque requirement (cf. the above-mentioned "hill”), for example when lifting a lifting arm with a large weight, ie a higher torque requirement the work pump 1 to lift an excavator arm with a filled shovel or the like.
  • the torque M over the speed n of a diesel engine 30 is in the Figure 2 shown as an example.
  • the torque peak for example, has a value of 300 Nm and is at a speed of 1600 rpm.
  • the motor 30 can make its maximum torque M Max-all available.
  • the available torque M Max is lower as soon as the speed n deviates from 1600 rpm.
  • 250 Nm can be made available at a speed n of 1000 rpm.
  • the difference between the torque peak M Max-all and the operating point (actual) at 1000 rpm must be compensated for with the M off .
  • M off must assume a value of, for example, 50 Nm.
  • the area between the 300 Nm line and the curve represents the proportion of M off over the engine speed n. In the Figure 3 the course of M off over the engine speed n is illustrated again separately.
  • the torque ratio which is defined by equation (3), is shown schematically in Figure 4 shown.
  • the current engine torque M Act increases due to consumption or the first main consumer 1 and consequently decreases again - an increase in torque can be seen in the middle (see the "hill” above). Because of this, the proportion of M Frei must be low in this area, since less torque M Frei is now available for other consumers or for the second main 2 and the secondary consumers 41, 42.
  • M Frei is advantageously divided individually among the main consumers 1, 2.
  • the factors can usually change dynamically, as these in turn can be dependent on other influencing factors.
  • a limitation of individual main consumers 1, 2 can be achieved by setting individual factors to zero.
  • Figure 5 illustrates the possible signal flow described above as an example between the control devices 11, 21 of the main consumers 1, 2, the machine control device 50 and the engine control device 31 of a self-propelled work machine.
  • the diesel unit 30 supplies, for example, the work pump 1 and the drive pump 2, which act as main consumers 1, 2 in the system.
  • the gear pump 42 which is to be viewed as an auxiliary consumer 42, is also arranged on the pump train.
  • Another additional consumer 41 is, for example, the air conditioning compressor 41, which may be attached to the engine 30.
  • the arrows in Figure 5 indicate the signal flow direction
  • the machine control unit 50 receives the signals 34 from the engine control unit 31. Furthermore, the machine control unit 50 receives the current torques M Act1 and M Act2 of the main consumers 1, 2. Based on this information/signals 14, 24, the torque values can in turn be determined. Limits M Lim1 and M Lim2 of the main consumers 1, 2 are calculated.
  • the machine control unit 50 transmits the signals 15, 25 to the control unit 11, 21 of the main consumers 1, 2.
  • the control unit 11, 22 of the main consumers 1, 2 provides the Actuators (not shown) through the control current 13, 23 so that the torque limit M Lim1 and M Lim2 is maintained.
  • main consumers 1, 2 can be used for the so-called power management as soon as a torque limit M Lim1 and M Lim2 can be specified in an advantageous manner via an electronic interface or bus 51. Furthermore, the main consumer 1, 2 can provide the currently delivered torque or a derivation of the torque from its state variables.
  • the aforementioned or the invention can, for example, not only be implemented/applied with/for/with hydraulic pumps, electrical main consumers could also be used in the system.
  • An example of main electrical consumers is, for example, an electric slewing gear/rotary motor. Electric traction drives or other electric actuators may also be operated or controlled accordingly.
  • the engine does not necessarily have to be an internal combustion engine 30 (see above); the use of a (purely) electrical system consisting of accumulators and electric motors is also possible.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Operation Control Of Excavators (AREA)
EP23186954.6A 2022-09-07 2023-07-21 Procédé de fonctionnement d'une machine de travail mobile Pending EP4336038A3 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102022122738.3A DE102022122738A1 (de) 2022-09-07 2022-09-07 Verfahren zum Betreiben einer mobilen Arbeitsmaschine

Publications (2)

Publication Number Publication Date
EP4336038A2 true EP4336038A2 (fr) 2024-03-13
EP4336038A3 EP4336038A3 (fr) 2024-06-05

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EP23186954.6A Pending EP4336038A3 (fr) 2022-09-07 2023-07-21 Procédé de fonctionnement d'une machine de travail mobile

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DE (1) DE102022122738A1 (fr)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4322499B2 (ja) * 2002-12-11 2009-09-02 日立建機株式会社 油圧建設機械のポンプトルク制御方法及び装置
DE102006010508A1 (de) 2005-12-20 2007-08-09 Robert Bosch Gmbh Fahrzeug mit einem Antriebsmotor zum Antreiben eines Fahrantriebs und einer Arbeitshydraulik
KR100919436B1 (ko) * 2008-06-03 2009-09-29 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 복수의 가변용량형 유압펌프 토오크 제어시스템 및 그제어방법
KR102156953B1 (ko) * 2013-04-12 2020-09-16 두산인프라코어 주식회사 건설기계의 유압펌프 제어 방법, 장치 및 시스템
US10208455B2 (en) * 2016-03-17 2019-02-19 Deere & Company In-vehicle dynometer
DE102018007825A1 (de) 2018-10-04 2020-04-09 Bomag Gmbh Verfahren zur Steuerung einer Bodenverdichtungsmaschine und Bodenverdichtungsmaschine
DE102021210071A1 (de) 2021-09-13 2023-03-16 Robert Bosch Gesellschaft mit beschränkter Haftung Steuereinheit für einen Antrieb und Antrieb mit einer Steuereinheit

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EP4336038A3 (fr) 2024-06-05
DE102022122738A1 (de) 2024-03-07

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