WO1997014889A1 - Leistungsregelung mit load-sensing - Google Patents
Leistungsregelung mit load-sensing Download PDFInfo
- Publication number
- WO1997014889A1 WO1997014889A1 PCT/EP1996/004355 EP9604355W WO9714889A1 WO 1997014889 A1 WO1997014889 A1 WO 1997014889A1 EP 9604355 W EP9604355 W EP 9604355W WO 9714889 A1 WO9714889 A1 WO 9714889A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pressure
- control valve
- control unit
- variable displacement
- electronic control
- Prior art date
Links
Classifications
-
- 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
-
- 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
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2205/00—Fluid parameters
- F04B2205/05—Pressure after the pump outlet
-
- 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
- F04B2205/00—Fluid parameters
- F04B2205/06—Pressure in a (hydraulic) circuit
-
- 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
- F04B2205/00—Fluid parameters
- F04B2205/09—Flow through the pump
Definitions
- the present invention relates to a device for regulating the output of at least one variable displacement pump driven by a motor and conveying into a working line, and to a method for regulating the output of a variable displacement pump driven by a motor and conveying into a working line according to the preamble of claim 6.
- a device for power control is shown, as is known from the generic DE-PS 44 05 234.
- the hydrostatic variable displacement pumps 1 and 2 shown in Figure 2 are each via a working line 3 to a consumer, not shown, such as the chassis and the swivel motor of an excavator, and via a suction line 4 to a tank 5 connected.
- Both variable pumps 1, 2 are driven by a common drive motor 6, such as an internal combustion engine, and rotate at the same speed.
- An adjusting device each consisting of two single-acting hydraulic actuating cylinders 7, 8, is provided for adjusting their delivery volume.
- An actuating piston 9 is arranged displaceably in each actuating cylinder 7, 8 and is coupled via a piston rod 10 to an actuator 11, 12 of the respective variable displacement pump 1 or 2.
- the pressure chambers 13 of the actuating cylinders 7 are each connected via an actuating pressure line 14 to the working line 3 assigned to the respective variable pump 1 or 2.
- a pressure line 15 leads to the pressure chambers 13 of the actuating cylinders 8, in each of which a pressure spring 16 is arranged, which is optionally supported by the working pressure removed from the respective working line 3 via the respective pressure line 15, via the piston 9, which Piston rod 10 and the actuator 12 acts on the swash plate of the variable displacement pump 1 or 2 in the direction of the maximum delivery volume.
- each Pressure chambers 13 of the actuating cylinders 7 serve to limit the maximum delivery volume of the variable displacement pumps 1, 2 to different values.
- One control valve 18 each is arranged in the control pressure lines 14 and divides them into a control pressure line section 19, 20 leading to the respective working line 3 or to the respective control cylinder 7.
- Each control valve 18 is designed as a continuously adjustable 3/2-way valve and has two working connections to the signal pressure line sections 19 and 20 as well as a working connection to a relief line 21 leading to the tank 5, into which a leak oil line 22 of the respective variable displacement pump 1 or 2 flows into. In the starting position shown in FIG. 1, the work connection to the signal pressure line section 19 is blocked, while the remaining work connections are open.
- a control pressure line 23 leads to a control connection of the associated control valve 18 and enables its adjustment in the direction of an end position in which the working connections to the signal pressure line section 20 and the relief line 21 are open and the remaining work connection is blocked.
- the device for total power control of the two variable pumps 1, 2 comprises two electrical control elements 24, two measuring sensors 25, an electronic control unit 26 and a setpoint adjustment device 27 assigned to the latter.
- the electrical control elements 24 are designed as force-controlled proportional magnets and are each assigned to one of the control valves 18 for the purpose of generating a counter pressure counteracting the control pressure. They are each connected to the electronic control unit 26 via a control signal line 28.
- the transducers 25 are designed as Hall angle sensors, which are assigned to the piston rod 10 of the respective actuating cylinder 7 for the purpose of detecting the respectively set delivery volume of the variable pumps 1, 2 and are connected to the electronic control unit 26 via a signal line 29.
- the electronic control unit 26 is designed as a microcomputer, in the memory part of which the characteristic curve KLg shown in FIG. 4 is stored.
- this characteristic curve represents the working pressure p as a function of the delivery volume V of a variable displacement pump, it is referred to below as a torque characteristic curve due to its characteristic curve for the torque or power control.
- Embodiment are both variable pumps 1, 2 and thus theirs Torque characteristics identical, so that only one of these characteristics is stored in the memory part of the microcomputer 26.
- the area pxV under the torque characteristic KL g is constant for each delivery volume V or for each working pressure p and in the present exemplary embodiment is equal to the total drive torque of the drive motor 6.
- the point P on the torque characteristic KLg denotes the transition from the so-called
- Section of KLg corresponds to the target value of the back pressure at the control valve 18, which is assigned to the variable pump 1 or 2, which transmits or is to transmit the total drive torque.
- the ordinate value of point P thus also corresponds to the maximum torque that this variable displacement pump can transmit, that is, in the present case, the total drive torque of the drive motor 6.
- the setpoint value of the counterpressure at the control valve assigned to the other variable displacement pump is set to zero in order to prevent that this variable pump overloads the drive motor 6 by driving the consumer connected to it.
- the setpoint sum of these two counterpressure setpoints and thus the sum of the torques of both variable pumps 1, 2, which must not be greater than the total drive torque of the drive motor 6, is also stored in the memory part of the microcomputer 26 and can be setpoint values of any size by means of the setpoint adjustment device be divided.
- the object of the present invention is therefore to reduce vibrations in control loops with variable displacement pumps, in particular in so-called load-sensing control systems, in a simple manner.
- a device is provided according to the preamble of claim 1, which further has a pressure relief valve, through which the maximum Back pressure in the control valve is adjustable.
- An electronic control unit controls the pressure relief valve as a function of the detected position signal.
- the electronic control unit can calculate characteristic curves - working pressure p as a function of the flow rate Q - constant pump output and the associated back pressure acting in the control valve. A characteristic curve corresponding to a desired pump output can be selected.
- a speed sensor can be provided, by means of which the speed of the motor driving the variable displacement pump can be detected and, if the speed falls below a predetermined limit, a characteristic can be selected which corresponds to a lower pump output than that of the previously selected characteristic.
- the pressure relief valve can be designed so that the largest possible back pressure in the control valve is allowed in the event of a failure of the electronic control unit.
- An adaptive adjustment of the control parameters in the electronic control unit can be made possible by a device for detecting the temperature of the hydraulic oil.
- a method is provided according to the preamble of claim 6, wherein a control signal dependent on the position signal is generated by the electronic control unit.
- the control signal is fed to a pressure relief valve.
- the maximum back pressure in the control valve is set by the pressure relief valve.
- Characteristic curves - working pressure p as a function of the flow rate Q - constant pump output and the associated back pressure acting in the control valve are calculated in the electronic control unit. A characteristic curve corresponding to a desired pump output is then selected.
- a speed sensor detects the speed of the motor driving the variable pump and, if the speed falls below a predetermined limit, a characteristic curve is selected which corresponds to a lower pump output than that of the previously selected characteristic curve.
- a characteristic curve corresponding to a lower pump output is automatically selected.
- the maximum back pressure in the control valve is chosen so that the time change of the back pressure during the path of the control valve does not exceed a predetermined rate of change.
- the maximum back pressure in the control valve can be selected so that the temporal change in the output of the variable pump does not exceed a predetermined rate of change.
- the temperature of the hydraulic oil can be detected and the control parameters in the electronic control unit are adapted adaptively accordingly.
- the position of the actuating device is recorded on the basis of the position signal over a predetermined period of time and the control parameters are changed depending on the recording.
- Figure 1 shows an embodiment of a device according to the invention or a device for executing the inventive
- FIG. 2 shows a known power control system for variable pumps
- Figure 3 is a characteristic of a pressure relief valve
- Figures 4 and 5 a map and a characteristic curve in the electronic
- Control unit are stored.
- Figure 1 shows a motor 6 which drives a variable displacement pump 1.
- the invention is of course also applicable to hydraulic systems in which several variable displacement pumps are driven by one motor, as was explained with reference to FIG. 2.
- the system shown in FIG. 1 thus represents a universal unit that can be combined as desired.
- the pump control valve 18 is used in a so-called load-sensing system. It has the task of keeping the pressure difference across a directional control valve 46 in front of a consumer 3 constant in order to improve the efficiency of the hydraulics.
- the highest load pressure is taken into account and the pressure of the variable pump 1 is adapted to this.
- the load-sensing control works as follows: If the consumer pressure in line 45 increases, this causes the main spool of control valve 18 to shift to the left. A connection is thus established between the lines 23 and 20, which causes an increase in the actuating pressure of the actuating device 7 and thus a pivoting out of the variable pump 1. Thus, an increase in the consumer pressure 45 also causes an increase in the system pressure upstream of the consumer directional valve 46.
- a swivel angle sensor 25 is also provided, which detects the swivel angle of the variable displacement pump 1 and outputs a signal proportional to this to an electronic control unit 40.
- the electronic control unit 40 calculates a characteristic diagram of the variable displacement pump 1, that is to say a large number of characteristic curves (FIG. 4) - working pressure p as a function of the flow rate Q - constant pump output and the associated counterpressure acting in the control valve 18 and, if necessary, stores it.
- this characteristic diagram can be moved as desired, that is to say a characteristic curve corresponding to a desired pump output can be selected in the electronic control unit.
- FIG. 4 this characteristic diagram can be moved as desired, that is to say a characteristic curve corresponding to a desired pump output can be selected in the electronic control unit.
- the selection of a specific characteristic curve is made by varying the maximum back pressure permitted in the control valve 18.
- the electronic control unit 40 outputs a control signal to a pressure relief valve 42.
- a cone in the pressure relief valve 42 opens and oil is drained from the line 45 to the tank 5 .
- the pressure in the control chamber of the control valve 18 is thus limited.
- the main piston of the control valve 18 thus moves to the right, a connection of the lines 23 and 20 is created, the variable pump 1 swivels back and the desired maximum system pressure at the input of the directional valve 46 of the consumer 3 is set.
- a pump control is therefore provided in which an electrically controllable pressure cut-off was superimposed on the load-sensing control, whereby various functions can be implemented by the electronic control unit 40:
- variable pump 1 The performance of the variable pump 1 can be varied by selecting a characteristic curve.
- the pressure cut off by the pressure relief valve 42 is variable. For example, you can work at 250 bar and drive at 280 bar.
- the pressure control valve 42 can be controlled by the electronic control unit 40 in the event that the motor 6 is overloaded that the power of the control pump 1 is reduced and the drive motor 6 is thus brought into a more favorable speed range.
- the rate of increase of the system pressure upstream of the directional valve 46 can be limited to a preselected value.
- variable pump In the event that the electronic control unit 40 malfunctions, the variable pump automatically goes to a maximum pressure, which is only due to the position of an adjusting screw 47 on the pressure relief valve.
- the position signal from the swivel angle sensor 25 can be recorded, for example, in a memory 41 of the electronic control unit 40 over a preselectable period. In the event that oscillations of the regulation can be recognized from the recording, the regulation parameters of the electronic control unit 40 can thus be changed adaptively.
- the temperature of the hydraulic oil for example in a tank 5
- the control parameters in the electronic control unit 40 can be changed accordingly.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Control Of Positive-Displacement Pumps (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE59603019T DE59603019D1 (de) | 1995-10-17 | 1996-10-08 | Leistungsregelung mit load-sensing |
EP96934569A EP0856107B1 (de) | 1995-10-17 | 1996-10-08 | Leistungsregelung mit load-sensing |
KR1019980700828A KR100337565B1 (ko) | 1995-10-17 | 1996-10-08 | 가변변위펌프의출력조절용장치및출력조절방법 |
US09/051,561 US6048177A (en) | 1995-10-17 | 1996-10-08 | Output regulation with load sensing |
JP51547997A JP3909356B2 (ja) | 1995-10-17 | 1996-10-08 | 負荷検出形出力調整 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19538649.3 | 1995-10-17 | ||
DE19538649A DE19538649C2 (de) | 1995-10-17 | 1995-10-17 | Leistungsregelung mit Load-Sensing |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1997014889A1 true WO1997014889A1 (de) | 1997-04-24 |
Family
ID=7775083
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1996/004355 WO1997014889A1 (de) | 1995-10-17 | 1996-10-08 | Leistungsregelung mit load-sensing |
Country Status (6)
Country | Link |
---|---|
US (1) | US6048177A (de) |
EP (1) | EP0856107B1 (de) |
JP (1) | JP3909356B2 (de) |
KR (1) | KR100337565B1 (de) |
DE (2) | DE19538649C2 (de) |
WO (1) | WO1997014889A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2845135A1 (fr) * | 2002-09-26 | 2004-04-02 | Volvo Compact Equipment Sa | Vehicule industriel, notamment engin de travaux publics, et procede de gestion du fonctionnement d'un tel vehicule |
Families Citing this family (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19844001B4 (de) * | 1998-09-25 | 2007-08-02 | Damcos A/S | Hydraulisch betätigbare Armatur |
DE19953170B4 (de) * | 1999-11-04 | 2004-08-12 | Brueninghaus Hydromatik Gmbh | Leistungsregelvorrichtung und Ventilblock für eine Leistungsregelvorrichtung |
DE10006659B4 (de) | 2000-02-15 | 2018-06-28 | Brueninghaus Hydromatik Gmbh | Regeleinrichtung für eine Hydropumpe |
DE10035631C2 (de) * | 2000-07-21 | 2003-01-30 | Brueninghaus Hydromatik Gmbh | Nullastschaltung |
US6534947B2 (en) | 2001-01-12 | 2003-03-18 | Sta-Rite Industries, Inc. | Pump controller |
DE10134747B4 (de) * | 2001-07-17 | 2017-05-04 | Liebherr-Machines Bulle S.A. | Verfahren und Vorrichtung zur lastabhängigen Steuerung der Fluidversorgung eines Fluidkreises |
US6684636B2 (en) * | 2001-10-26 | 2004-02-03 | Caterpillar Inc | Electro-hydraulic pump control system |
DE10159519A1 (de) | 2001-12-04 | 2003-07-17 | Zahnradfabrik Friedrichshafen | Verfahren zur Ansteuerung einer Druckversorgungseinrichtung in einem Hydraulikkreis |
US20050150143A1 (en) * | 2002-09-26 | 2005-07-14 | Volvo Construction Equipment Holding Sweden Ab | Loader/excavator-type heavy construction machine and method of controlling the operation of one such machine |
DE10308289B4 (de) * | 2003-02-26 | 2010-11-25 | Bosch Rexroth Aktiengesellschaft | LS-Wegeventilblock |
US6848254B2 (en) * | 2003-06-30 | 2005-02-01 | Caterpillar Inc. | Method and apparatus for controlling a hydraulic motor |
ATE363452T1 (de) * | 2004-06-18 | 2007-06-15 | Hiab Ab | Hydraulischer kran |
DE102005016181B4 (de) * | 2005-04-08 | 2018-05-09 | Robert Bosch Automotive Steering Gmbh | Regelvorrichtung für eine hydraulische Fördereinrichtung |
DE102005051482A1 (de) * | 2005-10-27 | 2007-05-03 | Brueninghaus Hydromatik Gmbh | Lastdruckgeführter Förderstromregler mit Schwingungsdämpfung |
US8024925B2 (en) * | 2005-11-08 | 2011-09-27 | Caterpillar Inc. | Apparatus, system, and method for controlling a desired torque output |
DE102006009063A1 (de) | 2006-02-27 | 2007-08-30 | Liebherr-Werk Nenzing Gmbh, Nenzing | Verfahren sowie Vorrichtung zur Regelung eines hydraulischen Antriebssystems |
JP5089973B2 (ja) | 2006-07-21 | 2012-12-05 | キャタピラー エス エー アール エル | 作業機械のポンプ制御方法 |
DE102007062036A1 (de) | 2007-12-21 | 2009-06-25 | Robert Bosch Gmbh | Hydrostatisches System und Verfahren zur Erfassung von Einsatzbedingungen eines hydrostatischen Systems |
DE102008063924A1 (de) | 2007-12-21 | 2009-06-25 | Robert Bosch Gmbh | Verfahren zur Erkennung von Fehlern und Zuordnung zu Fehlerursachen in einem hydrostatischen System und entsprechendes Steuergerät |
DE102008063927A1 (de) | 2007-12-21 | 2009-06-25 | Robert Bosch Gmbh | Verfahren zur Bestimmung von Lastkollektiven von hydrostatischen Maschinen sowie entsprechendes Steuergerät |
US8165765B2 (en) | 2010-05-28 | 2012-04-24 | Caterpillar Inc. | Variator pressure-set torque control |
DE102011108285A1 (de) * | 2010-12-22 | 2012-06-28 | Robert Bosch Gmbh | Hydraulischer Antrieb |
DE102011107222A1 (de) * | 2011-07-13 | 2013-01-17 | Linde Material Handling Gmbh | Hydrostatisches Antriebssystem mit einer im Fördervolumen verstellbaren Pumpe |
DE102011107218B4 (de) * | 2011-07-13 | 2021-09-02 | Linde Hydraulics Gmbh & Co. Kg | Hydrostatisches Antriebssystem |
DE102012207422A1 (de) * | 2012-05-04 | 2013-11-07 | Robert Bosch Gmbh | Hydraulische Steueranordnung mit Lastdruckminderungund hydraulischer Ventilblock dafür |
DE102012216242A1 (de) * | 2012-09-13 | 2014-03-13 | Putzmeister Engineering Gmbh | Vorrichtung zur Antriebssteuerung einer Zweizylinder-Dickstoffpumpe |
DE102013216395B4 (de) | 2013-08-19 | 2019-01-17 | Danfoss Power Solutions a.s. | Steuereinrichtung für hydraulische verstellpumpen und verstellpumpe mit einer steuereinrichtung |
CN104989692B (zh) * | 2015-07-20 | 2017-04-12 | 圣邦集团有限公司 | 复合控制式变量泵及其控制方法 |
CN106438527B (zh) * | 2016-11-16 | 2018-10-16 | 中航力源液压股份有限公司 | 比例控制泵的流量补偿方法及流量补偿装置 |
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EP0495654A1 (de) * | 1991-01-17 | 1992-07-22 | Halliburton Company | Steuervorrichtung für eine verstellbare Pumpe |
EP0504415A1 (de) * | 1990-09-28 | 1992-09-23 | Hitachi Construction Machinery Co., Ltd. | Steuerungssystem für hydraulische pumpe |
DE4405234C1 (de) * | 1994-02-18 | 1995-04-06 | Brueninghaus Hydraulik Gmbh | Vorrichtung zur Summenleistungsregelung von wenigstens zwei hydrostatischen Verstellpumpen |
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JPH0826552B2 (ja) * | 1989-07-27 | 1996-03-13 | 株式会社小松製作所 | 建設機械のポンプ吐出量制御システム |
US5182908A (en) * | 1992-01-13 | 1993-02-02 | Caterpillar Inc. | Control system for integrating a work attachment to a work vehicle |
DE4229950C2 (de) * | 1992-09-08 | 1996-02-01 | Hemscheidt Maschtech Schwerin | Verfahren und Einrichtung zur Steuerung und Regelung eines Druckstromerzeugers für mehrere parallel geschaltete unterschiedliche hydraulische Verbraucher |
-
1995
- 1995-10-17 DE DE19538649A patent/DE19538649C2/de not_active Expired - Fee Related
-
1996
- 1996-10-08 WO PCT/EP1996/004355 patent/WO1997014889A1/de active IP Right Grant
- 1996-10-08 JP JP51547997A patent/JP3909356B2/ja not_active Expired - Fee Related
- 1996-10-08 US US09/051,561 patent/US6048177A/en not_active Expired - Lifetime
- 1996-10-08 EP EP96934569A patent/EP0856107B1/de not_active Expired - Lifetime
- 1996-10-08 KR KR1019980700828A patent/KR100337565B1/ko not_active IP Right Cessation
- 1996-10-08 DE DE59603019T patent/DE59603019D1/de not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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EP0504415A1 (de) * | 1990-09-28 | 1992-09-23 | Hitachi Construction Machinery Co., Ltd. | Steuerungssystem für hydraulische pumpe |
EP0495654A1 (de) * | 1991-01-17 | 1992-07-22 | Halliburton Company | Steuervorrichtung für eine verstellbare Pumpe |
DE4405234C1 (de) * | 1994-02-18 | 1995-04-06 | Brueninghaus Hydraulik Gmbh | Vorrichtung zur Summenleistungsregelung von wenigstens zwei hydrostatischen Verstellpumpen |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2845135A1 (fr) * | 2002-09-26 | 2004-04-02 | Volvo Compact Equipment Sa | Vehicule industriel, notamment engin de travaux publics, et procede de gestion du fonctionnement d'un tel vehicule |
WO2004029459A1 (fr) * | 2002-09-26 | 2004-04-08 | Volvo Construction Equipment Holding Sweden Ab | Engin de travaux publics du type chargeur-excavateur, et procede de gestion du fonctionnement d'un tel engin. |
Also Published As
Publication number | Publication date |
---|---|
US6048177A (en) | 2000-04-11 |
JP3909356B2 (ja) | 2007-04-25 |
EP0856107B1 (de) | 1999-09-08 |
DE19538649A1 (de) | 1997-04-24 |
DE59603019D1 (de) | 1999-10-14 |
JPH11513771A (ja) | 1999-11-24 |
DE19538649C2 (de) | 2000-05-25 |
KR19990036160A (ko) | 1999-05-25 |
KR100337565B1 (ko) | 2002-07-18 |
EP0856107A1 (de) | 1998-08-05 |
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