FR3111156B1 - Procédé d’apprentissage d’une fonction de commande de moteur hydrostatique en mode de roulage - Google Patents

Procédé d’apprentissage d’une fonction de commande de moteur hydrostatique en mode de roulage Download PDF

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Publication number
FR3111156B1
FR3111156B1 FR2105752A FR2105752A FR3111156B1 FR 3111156 B1 FR3111156 B1 FR 3111156B1 FR 2105752 A FR2105752 A FR 2105752A FR 2105752 A FR2105752 A FR 2105752A FR 3111156 B1 FR3111156 B1 FR 3111156B1
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France
Prior art keywords
control function
hydrostatic
learning
driving mode
hydrostatic motor
Prior art date
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Active
Application number
FR2105752A
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English (en)
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FR3111156A1 (fr
Inventor
Norman Brix
Matthias Mueller
Steffen Mutschler
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.)
Robert Bosch GmbH
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Robert Bosch GmbH
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Publication date
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Publication of FR3111156A1 publication Critical patent/FR3111156A1/fr
Application granted granted Critical
Publication of FR3111156B1 publication Critical patent/FR3111156B1/fr
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
    • F16H61/425—Motor capacity control by electric actuators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03C—POSITIVE-DISPLACEMENT ENGINES DRIVEN BY LIQUIDS
    • F03C1/00—Reciprocating-piston liquid engines
    • F03C1/02—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders
    • F03C1/06—Reciprocating-piston liquid engines with multiple-cylinders, characterised by the number or arrangement of cylinders with cylinder axes generally coaxial with, or parallel or inclined to, main shaft axis
    • F03C1/0678—Control
    • F03C1/0686—Control by changing the inclination of the swash plate
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
    • F04B1/26—Control
    • F04B1/28—Control of machines or pumps with stationary cylinders
    • F04B1/29—Control of machines or pumps with stationary cylinders by varying the relative positions of a swash plate and a cylinder block
    • F04B1/295—Control of machines or pumps with stationary cylinders by varying the relative positions of a swash plate and a cylinder block by changing the inclination of the swash plate
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/12—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having cylinder axes coaxial with, or parallel or inclined to, main shaft axis
    • F04B1/26—Control
    • F04B1/30—Control of machines or pumps with rotary cylinder blocks
    • F04B1/32—Control of machines or pumps with rotary cylinder blocks by varying the relative positions of a swash plate and a cylinder block
    • F04B1/324—Control of machines or pumps with rotary cylinder blocks by varying the relative positions of a swash plate and a cylinder block by changing the inclination of the swash plate
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F04B49/065—Control using electricity and making use of computers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/46—Automatic regulation in accordance with output requirements
    • F16H61/47—Automatic regulation in accordance with output requirements for achieving a target output speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/68—Inputs being a function of gearing status
    • F16H2059/6838—Sensing gearing status of hydrostatic transmissions
    • F16H2059/6853—Sensing gearing status of hydrostatic transmissions the state of the transmission units, i.e. motor or pump capacity, e.g. for controlled shifting of range gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/68—Inputs being a function of gearing status
    • F16H2059/6838—Sensing gearing status of hydrostatic transmissions
    • F16H2059/6876—Sensing gearing status of hydrostatic transmissions the motor speed

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Artificial Intelligence (AREA)
  • Physics & Mathematics (AREA)
  • Software Systems (AREA)
  • Automation & Control Theory (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Fluid Gearings (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

TITRE : Procédé d’apprentissage d’une fonction de commande de moteur hydrostatique en mode de roulage Procédé d’apprentissage d’une fonction de commande d’un moteur hydrostatique (3) de roulage et d’une pompe hydrostatique (12) consistant à : a. régler l’angle de basculement (αMot) du moteur hydrostatique (3) en tenant compte de la vitesse demandée pour la machine de travail en mode de roulage, b. contrôler si des conditions prédéfinies sont remplies et dans l’affirmative si la vitesse actuelle diffère de la vitesse souhaitée, corriger la fonction de commande du moteur hydrostatique (3), et apprendre au moins une valeur (imin, imax) de la fonction de commande corrigée du moteur hydrostatique (3) dans l’étape (c). Figure 1
FR2105752A 2020-06-03 2021-06-01 Procédé d’apprentissage d’une fonction de commande de moteur hydrostatique en mode de roulage Active FR3111156B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020206874.7A DE102020206874A1 (de) 2020-06-03 2020-06-03 Verfahren zum einlernen der steuerfunktion von hydrostatischen motoren im fahrbetrieb
DE102020206874.7 2020-06-03

Publications (2)

Publication Number Publication Date
FR3111156A1 FR3111156A1 (fr) 2021-12-10
FR3111156B1 true FR3111156B1 (fr) 2024-04-12

Family

ID=78604995

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2105752A Active FR3111156B1 (fr) 2020-06-03 2021-06-01 Procédé d’apprentissage d’une fonction de commande de moteur hydrostatique en mode de roulage

Country Status (3)

Country Link
US (1) US20210382444A1 (fr)
DE (1) DE102020206874A1 (fr)
FR (1) FR3111156B1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4303438A1 (fr) * 2022-07-08 2024-01-10 Robert Bosch GmbH Procédé de réglage d'un système de traction hydrostatique

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2680459B2 (ja) * 1990-03-07 1997-11-19 株式会社東芝 油圧エレベータの制御装置
JPH11210878A (ja) * 1998-01-20 1999-08-03 Honda Motor Co Ltd 可変容量型油圧式変速機の油圧制御装置
US6375433B1 (en) * 2000-07-07 2002-04-23 Caterpillar Inc. Method and apparatus for controlling pump discharge pressure of a variable displacement hydraulic pump
US6848254B2 (en) * 2003-06-30 2005-02-01 Caterpillar Inc. Method and apparatus for controlling a hydraulic motor
US7247122B2 (en) * 2005-01-12 2007-07-24 Caterpillar Inc. Downshift in hydrostatic drive work machine
DE102005060340A1 (de) * 2005-12-16 2007-06-21 Bosch Rexroth Ag Verfahren und Vorrichtung zum hydrostatischen Bremsen eines Fahrzeugs
US7849953B2 (en) * 2007-11-29 2010-12-14 Caterpillar Paving Products Inc Control system and method for operating a hydrostatically driven vehicle
JP4990333B2 (ja) * 2009-09-03 2012-08-01 株式会社小松製作所 作業車両
DE102013217708A1 (de) 2013-09-05 2015-03-05 Robert Bosch Gmbh Drucksteuerung in hydraulischen Getrieben
US9618064B2 (en) * 2014-12-10 2017-04-11 Cnh Industrial America Llc System and method for preventing centrifugal clutch lock-ups within a transmission of a work vehicle
US9869311B2 (en) * 2015-05-19 2018-01-16 Caterpillar Inc. System for estimating a displacement of a pump
US9605756B1 (en) * 2015-12-08 2017-03-28 Caterpillar Inc. Hybrid hydrostatic-direct drive transmission
JP6680714B2 (ja) * 2017-03-30 2020-04-15 ファナック株式会社 ワイヤ放電加工機の制御装置及び機械学習装置
US10808839B2 (en) * 2018-01-24 2020-10-20 Cnh Industrial America Llc Method and system for controlling a hydrostatic drive system of an agricultural vehicle
WO2021054391A1 (fr) * 2019-09-18 2021-03-25 株式会社クボタ Engin de chantier
JP7490403B2 (ja) * 2020-03-16 2024-05-27 株式会社小松製作所 作業車両、および作業車両を制御するための方法
JP2024508916A (ja) * 2021-03-05 2024-02-28 トプコン ポジショニング システムズ， インク． 土工機械における周期的動作の自動制御方法

Also Published As

Publication number Publication date
FR3111156A1 (fr) 2021-12-10
US20210382444A1 (en) 2021-12-09
DE102020206874A1 (de) 2021-12-09

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