WO2004015291A1 - Mobile vehicle comprising a shiftable transmission and an inch pedal - Google Patents

Mobile vehicle comprising a shiftable transmission and an inch pedal Download PDF

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Publication number
WO2004015291A1
WO2004015291A1 PCT/EP2003/008509 EP0308509W WO2004015291A1 WO 2004015291 A1 WO2004015291 A1 WO 2004015291A1 EP 0308509 W EP0308509 W EP 0308509W WO 2004015291 A1 WO2004015291 A1 WO 2004015291A1
Authority
WO
WIPO (PCT)
Prior art keywords
inch
pedal
clutch
actuating force
mobile vehicle
Prior art date
Application number
PCT/EP2003/008509
Other languages
German (de)
French (fr)
Inventor
Karl KÜHNER
Manfred Sieger
Original Assignee
Zf Friedrichshafen Ag
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 Zf Friedrichshafen Ag filed Critical Zf Friedrichshafen Ag
Publication of WO2004015291A1 publication Critical patent/WO2004015291A1/en

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Classifications

    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • F16D48/066—Control of fluid pressure, e.g. using an accumulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18063—Creeping
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/104—Clutch
    • F16D2500/10406—Clutch position
    • F16D2500/10412—Transmission line of a vehicle
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/104—Clutch
    • F16D2500/10443—Clutch type
    • F16D2500/1045—Friction clutch
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/502—Relating the clutch
    • F16D2500/50206—Creep control
    • F16D2500/50209—Activation of the creep control operation
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/502—Relating the clutch
    • F16D2500/50206—Creep control
    • F16D2500/50209—Activation of the creep control operation
    • F16D2500/50221—Manual switch actuated by the user
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/502—Relating the clutch
    • F16D2500/50296—Limit clutch wear
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/512—Relating to the driver
    • F16D2500/5126—Improving response to driver inputs
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/52—General
    • F16D2500/525—Improve response of control system
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
    • F16D2500/70422—Clutch parameters
    • F16D2500/70426—Clutch slip

Definitions

  • the invention relates to a mobile vehicle with a switchable transmission which has at least one friction clutch in the drive train, the friction clutch being selectively slipped when an inch pedal is actuated in order to reduce the driving speed of the vehicle.
  • work machines such as. B. wheel loaders or forklifts, necessary because these vehicles require low driving speeds when picking up loads, but the working hydraulics in this state require the maximum power.
  • the actuation force of the friction clutch can be reduced when the inch pedal is actuated, the actuation force of the friction clutch being reduced only slightly with a minimal actuation path of the inch pedal, with a further actuation path of the inch pedal the actuation force of the friction clutch is further reduced and from one defined actuation path of the inch pedal to further reduce the driving speed, the service brake of the vehicle is additionally activated.
  • the friction clutch In the slipping state, the friction clutch is exposed to the risk of damage, in particular if the friction output exceeds a defined value. This can happen, for example, by incorrectly adjusting the inch pedal, and thus incorrect target values.
  • WO 00/22323 discloses a reversible transmission which can be shifted under load, in which, by actuating a hydraulic inch valve, the pressure in the friction clutch is reduced in such a way that it changes into a defined slip state.
  • hydraulic inch valves in particular, it is very complex to adjust them, which, in conjunction with the hysteresis of these hydraulic valves, leads to incorrect target values and damage to the friction clutch.
  • DE 198 30 950 AI discloses a method and a device for actuating a motor vehicle clutch device, in which a pedal position corresponding voltage is generated via a rotation angle sensor on the clutch pedal or on a separate inch pedal, which voltage is processed in an electronic control unit. This voltage is converted via an inch pedal characteristic into the inch effect, which is between 0% and 100%. It is thus possible to bring the reversible coupling device into targeted slip.
  • the differential speed of the clutch device is modulated by varying the gear ratio in inch mode.
  • this is only possible with continuously adjustable transmission units and cannot be used with a powershift transmission with fixed gear ratios.
  • the present invention has for its object to provide a mobile vehicle with a switchable transmission with fixed gear ratios and a friction clutch, in which the friction clutch is brought into a targeted slipping state, and in which the friction clutch is protected from damage.
  • the object is achieved with a generic mobile vehicle which also has the characterizing features of the main claim.
  • a displacement transducer is connected to the inch pedal which, depending on the pedal travel, supplies an electrical signal to an electronic control which converts this signal into an inch pedal characteristic curve which lies between 0% and 100%.
  • 100% inch effect means open friction clutch and 0% inch effect means closed friction clutch.
  • the electrical signal is preferably a voltage that can be generated, for example, by a rotation angle sensor on the inch pedal.
  • the displacement sensor is preferably adjusted electronically when the vehicle is started up for the first time.
  • the adjustment process is started via the electronic control, then the inching pedal is fully depressed and then slowly moved back to the starting position.
  • the value supplied by the displacement transducer is continuously measured in order to avoid any false signals, e.g. B. caused by wobbling linkage to rule out.
  • the end positions of the inch pedal are then assigned to the 0% and 100% inch effect characteristic in the electronic control. A mechanical adjustment of the displacement sensor is therefore completely unnecessary. As a result, it is no longer possible for the friction clutch to be replaced by an incorrect one Adjustment of the displacement sensor can be damaged.
  • the minimal reduction in the actuating force of the friction clutch is limited in such a way that the friction clutch is not damaged at the beginning of the inch, and thus an inch effect greater than 0%, even when the clutch is operated for a longer period in the slipped state.
  • the actuating force of the clutch is reduced from the full actuating force directly to this defined actuating force, beginning of inching.
  • the actuating force is further reduced, but this also only further reduces the frictional power and the friction clutch cannot be damaged.
  • the electronic control recognizes whether the inch pedal is moved in the "more inches” direction or the inch pedal is moved in the "less inches” direction. Since the inch function is preferably used in machines that can also be operated on uneven terrain, it cannot be ruled out that the driver will perform unwanted movements on the inch pedal due to the uneven terrain. So that the actuating force of the friction clutch does not change due to unwanted movements of the inch pedal, when changing from the function "more inches”, and thus less actuating force of the friction clutch, and the function "less inches”, and thus higher actuating force of the friction clutch, one Hysteresis is present so that the "more inches” function only switches to the "less inches” function when the inch pedal has a longer pedal travel.
  • This hysteresis is also present in the opposite direction.
  • different characteristic curves for the actuation pressure of the actuation device are used for the functions “more inches”, and thus lower actuation pressure, and the functions “less inches”, and thus greater actuation pressure.
  • the transition of these two characteristic curves is carried out continuously when the direction of movement of the inching pedal changes, as a result of which there are no switching shocks in the vehicle.
  • the change in the actuation force is limited above a defined actuation speed of the inch pedal in order to prevent an undesired and unwanted shift jerk, e.g. B. to prevent slipping off the inch pedal and thus the immediate return of the inch pedal. In such cases, the actuation force changes continuously.
  • the transition from the closed clutch, and thus the clutch with the maximum actuating force to the beginning of the inch and thus the minimum inch effect takes place continuously, whereby the driving behavior is improved and the load on the friction clutch is minimized.
  • the transition in the opposite direction also takes place continuously.
  • the frictional power is continuously calculated from the time of the differential speed of the clutch and the actuating force of the clutch, and when a predefined permissible frictional power is exceeded, the actuating force of the clutch is reduced, which can be done, for example, by reducing the clutch pressure, whereby the coupling is protected from damage.
  • the maximum inch effect, and thus the minimum actuation force of the clutch, at which the clutch plates are just starting to grind, can be assigned to a defined actuation state of the service brake.
  • the vehicle is moved on an almost horizontal terrain.
  • the adjustment process is started and a display preferably prompts the operator for further actions.
  • the drive motor speed is set to a defined value, preferably the maximum speed, and the vehicle moves forward or backward with the gear engaged, the inching is started by slowly depressing the inch pedal.
  • the coupling force remains constant between 0% and 100% within the inch effect.
  • the service brake is activated and the vehicle is decelerated.
  • the braking time via the pedal travel of the inch pedal is thus known and is stored in the electronic control.
  • the maximum inch effect, 100%, at which the plates of the friction brake are just in contact and which corresponds to a minimum actuation force of the clutch, is also stored in the electronic control system depending on the pedal travel and can, as for example in WO 01/65227 AI or in DE 198 26 097 AI can be determined. Since the electronic control system now knows the minimum actuating force of the friction clutch and thus the point 100% inch effect with the associated inch pedal position and the inch pedal position at which the service brake is activated, the characteristics can be determined by The point of intersection of the inch pressure with the brake pressure of the service brake is programmed and thus set. So it is possible to use the "inching" function in the vehicle in a simple manner, to adjust the displacement transducer, to exclude incorrect actuation of the inch pedal, to prevent switching shocks and damage to the clutch, and thus to ensure reliable operation in the vehicle.
  • the diagram is shown for a hydraulically actuated multi-plate clutch and a hydraulically actuated service brake.
  • the multi-plate clutch and the service brake are actuated by hydraulic pressure in the closing direction.
  • the pressure for the hydraulic clutch and the hydraulic brake is shown on the ordinate, the pedal travel of the inch pedal is shown on the abscissa.
  • the inch pedal is in . its starting position 1, the friction clutch is subjected to maximum pressure and is therefore closed, which can be seen on line 2.
  • the inch pedal must be depressed up to the starting point Inchen 3 without the clutch pressure changing. If the inch pedal is depressed further than the starting point Inchen 3, the clutch pressure is continuously reduced until the beginning of Inchen 4.
  • the clutch pressure at the beginning of inch 4 is defined in advance and depends on the performance of the clutch, at which the vehicle can be operated with the clutch slipping over a longer period of time without the clutch being damaged.
  • the clutch pressure is reduced of the friction clutch until it reaches a minimum clutch pressure 5 at which the disks of the clutch are just in contact. This clutch pressure can no longer be reduced by the inch pedal.
  • the clutch pressure is immediately increased by a defined value, as a result of which the clutch actuation force remains the same, but with a further increase in the clutch force due to a movement of the inch pedal in
  • the actuating device immediately actuates the clutch further in the closing direction, since the hysteresis due to the actuation of the components is compensated for by the use of a closing characteristic curve 7.
  • the difference between the start point Inchen 3 and the end point Inchen 11 causes that short-term incorrect operation of the accelerator pedal does not have a negative effect when driving on uneven terrain. Due to the electronic adjustment of the displacement sensor and the detection of the starting point 12 of the service brake, it is possible to set the inch function in the electronic control, as desired, to the characteristic of the service brake 9, which means that depending on the programming, the service brake is activated earlier or later becomes.

Abstract

The invention relates to a mobile vehicle comprising a shiftable transmission having fixed transmission stages and an engageable friction clutch. Said vehicle also comprises a displacement sensor which is connected to an inch pedal and supplies the initial position and the end position of the inch pedal to an electronic control system for adjustment and association with an inch effect of 0 % to 100 %. According to the invention, the multiplate clutch is protected from damage even in the event of prolonged inching, by being limited to a maximum actuating force. The inch function can be operated without hysteresis using a disengagement characteristic line and an engagement characteristic line of the multiplate clutch. The present invention increases the driving comfort of the vehicle and reduces the danger of damage to the multiplate clutch.

Description

MOBILES FAHRZEUG MIT EINEM SCHALTBAREN GETRIEBE UND EINEM RIECH-PEDAL MOBILE VEHICLE WITH A SWITCHABLE GEARBOX AND A SMELL PEDAL
Die Erfindung betrifft ein mobiles Fahrzeug mit einem schaltbaren Getriebe, welches mindestens eine Reibungskupplung im Antriebsstrang aufweist, wobei die Reibungskupplung bei Betätigen eines Inch-Pedals gezielt in Schlupf gebracht wird, um die Fahrgeschwindigkeit des Fahrzeugs zu reduzieren. Dies ist insbesondere bei Arbeitsmaschinen, wie z. B. Radladern oder Staplern, notwendig, da bei diesen Fahrzeugen beim Aufnehmen von Lasten geringe Fahrgeschwindigkeiten gefordert sind, jedoch die Arbeitshydraulik in diesem Zustand die maximale Leistung benötigt . Für diesen Fahrzustand ist es notwendig, den Antriebsmotor auf der maximal möglichen Drehzahl zu halten, um die mit ihm verbundene Hydraulikpumpe mit maximaler Drehzahl betreiben zu können und die Reibungskupplung schlupfend zu betreiben, um die Fahrgeschwindigkeit zu verringern. Hierfür kann bei Betätigen des Inch-Pedals die Betätigungskraft der Reibungskupplung reduziert werden, wobei bei einem minimalen Betätigungsweg des Inch-Pedals die Betätigungskraft der Reibungskupplung nur geringfügig reduziert wird, bei weiterem Betätigungsweg des Inch-Pedals die Betätigungskraft der Reibungskupplung weiter reduziert wird und ab einem definierten Betätigungsweg des Inch-Pedals zur weiteren Reduzierung der Fahrgeschwindigkeit die Betriebsbremse des Fahrzeugs zusätzlich aktiviert wird. Die Reibungskupplung ist im schlupfenden Zustand der Gefahr der Beschädigung ausgesetzt, insbesondere, wenn die Reibleistung einen definierten Wert übersteigt. Dies kann beispielsweise durch fehlerhaftes Justieren des Inch-Pedals, und somit fehlerhaften Soll-Werten, geschehen. Die WO 00/22323 offenbart ein unter Last schaltbares Wendegetriebe, bei welchem durch Betätigen eines hydraulischen Inch-Ventils der Druck in der Reibungskupplung so reduziert wird, dass diese in definierten Schlupfzustand übergeht. Insbesondere bei hydraulischen Inch-Ventilen ist es sehr aufwendig, diese zu justieren, was in Verbindung mit den Hysteresen dieser hydraulischen Ventile zu fehlerhaften Soll-Werten und zur Beschädigung der Reibungskupplung führt .The invention relates to a mobile vehicle with a switchable transmission which has at least one friction clutch in the drive train, the friction clutch being selectively slipped when an inch pedal is actuated in order to reduce the driving speed of the vehicle. This is particularly the case with work machines, such as. B. wheel loaders or forklifts, necessary because these vehicles require low driving speeds when picking up loads, but the working hydraulics in this state require the maximum power. For this driving state, it is necessary to keep the drive motor at the maximum possible speed in order to be able to operate the hydraulic pump connected to it at maximum speed and to operate the friction clutch slippingly in order to reduce the driving speed. For this purpose, the actuation force of the friction clutch can be reduced when the inch pedal is actuated, the actuation force of the friction clutch being reduced only slightly with a minimal actuation path of the inch pedal, with a further actuation path of the inch pedal the actuation force of the friction clutch is further reduced and from one defined actuation path of the inch pedal to further reduce the driving speed, the service brake of the vehicle is additionally activated. In the slipping state, the friction clutch is exposed to the risk of damage, in particular if the friction output exceeds a defined value. This can happen, for example, by incorrectly adjusting the inch pedal, and thus incorrect target values. WO 00/22323 discloses a reversible transmission which can be shifted under load, in which, by actuating a hydraulic inch valve, the pressure in the friction clutch is reduced in such a way that it changes into a defined slip state. In the case of hydraulic inch valves in particular, it is very complex to adjust them, which, in conjunction with the hysteresis of these hydraulic valves, leads to incorrect target values and damage to the friction clutch.
Die DE 198 30 950 AI offenbart ein Verfahren und eine Vorrichtung zur Betätigung einer Kraftf hrzeug-Kupplungsvorrichtung, bei welcher über einen Drehwinkelsensor am Kupplungspedal oder an einem separaten Inch-Pedal eine Pedalstellung entsprechende Spannung erzeugt wird, welche in einem elektronischen Steuergerät verarbeitet wird. Diese Spannung wird über eine Inch-Pedal-Kennlinie in den Inch- Effekt gewandelt, welcher zwischen 0 % und 100 % liegt. Somit ist es möglich, die Wendekupplungsvorrichtung in gezielten Schlupf zu bringen. Um die Kupplung vor Beschädigung zu schützen, wird die Differenzdrehzahl der Kupplungsvorrichtung durch Variieren der Getriebeübersetzung im Inch-Betrieb moduliert. Dies ist jedoch nur bei stufenlos verstellbaren Getriebeeinheiten möglich und kann bei einem Lastschaltgetriebe mit festen Übersetzungsstufen nicht verwendet werden.DE 198 30 950 AI discloses a method and a device for actuating a motor vehicle clutch device, in which a pedal position corresponding voltage is generated via a rotation angle sensor on the clutch pedal or on a separate inch pedal, which voltage is processed in an electronic control unit. This voltage is converted via an inch pedal characteristic into the inch effect, which is between 0% and 100%. It is thus possible to bring the reversible coupling device into targeted slip. In order to protect the clutch from damage, the differential speed of the clutch device is modulated by varying the gear ratio in inch mode. However, this is only possible with continuously adjustable transmission units and cannot be used with a powershift transmission with fixed gear ratios.
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein mobiles Fahrzeug mit einem schaltbaren Getriebe mit festen Übersetzungsstufen und einer Reibungskupplung zu schaffen, bei welchem die Reibungskupplung gezielt in Schlupfzustand gebracht wird, und bei welcher die Reibungskupplung vor Beschädigung geschützt ist. Die Aufgabe wird mit einem, auch die kennzeichnenden Merkmale des Hauptanspruchs aufweisenden, gattungsgemäßen mobilen Fahrzeug gelöst.The present invention has for its object to provide a mobile vehicle with a switchable transmission with fixed gear ratios and a friction clutch, in which the friction clutch is brought into a targeted slipping state, and in which the friction clutch is protected from damage. The object is achieved with a generic mobile vehicle which also has the characterizing features of the main claim.
Erfindungsgemäß ist mit dem Inch-Pedal ein Wegaufnehmer verbunden, welcher in Abhängigkeit des Pedalwegs ein elektrisches Signal an eine elektronische Steuerung liefert, welche dieses Signal in eine Inch-Pedal-Kennlinie wandelt, welche zwischen 0 % und 100 % liegt. 100 % Inch- Effekt bedeutet hierbei geöffnete Reibungskupplung und 0 % Inch-Effekt bedeutet geschlossene Reibungskupplung. Das elektrische Signal ist vorzugsweise eine Spannung, welche beispielsweise von einem Drehwinkelsensor am Inch-Pedal erzeugt werden kann. Um eine aufwendige Justierung des Wegaufnehmers am Inch-Pedal zu vermeiden, ist es ausreichend, den Wegaufnehmer so am Inch-Pedal zu montieren, dass der Bewegungsweg des Inch-Pedals innerhalb des Bewegungswegs des Wegaufnehmers liegt. Um die Anfangs- und Endsignale des Wegaufnehmers in der elektrischen Steuerung zuordnen zu können, wird vorzugsweise bei der Erstinbetriebnahme des Fahrzeugs der Wegaufnehmer elektronisch justiert. Hierzu wird über die elektronische Steuerung der Justiervorgang gestartet, anschließend wird das Inch-Pedal vollständig durchgetreten und anschließend langsam wieder in die Ausgangsposition zurückbewegt. Vorzugsweise wird beim langsamen Zurückbewegen des Inch-Pedals kontinuierlich der vom Wegaufnehmer gelieferte Wert mitgemessen, um eventuelle Fehlsignale, z. B. hervorgerufen durch wackelndes Gestänge, auszuschließen. Die Endlagen des Inch-Pedals werden dann in der elektronischen Steuerung der Kennlinie 0 % und 100 % Inch-Effekt zugeordnet. Somit entfällt eine mechanische Justierung des Wegaufnehmers vollständig. Dadurch ist es nicht mehr möglich, dass die Reibungskupplung durch falsche Justage des Wegaufnehmers beschädigt werden kann. Es wird die minimale Reduzierung der Betätigungskraft der Reibungskupplung so begrenzt, dass die Reibungskupplung beim Beginn des Inchens, und somit einem Inch-Effekt größer 0 %, auch bei längerem Betreiben der Kupplung im Schlupfzustand nicht beschädigt wird. Somit wird beim Beginn des Inchens die Betätigungskraft der Kupplung von der vollen Betätigungskraft direkt auf diese definierte Betätigungskraft, Beginn Inchen, reduziert. Beim weiteren Durchtreten des Inch- Pedals wird die Betätigungskraft weiter reduziert, wodurch sich jedoch auch die Reibleistung nur weiter reduziert und die Reibungskupplung nicht beschädigt werden kann.According to the invention, a displacement transducer is connected to the inch pedal which, depending on the pedal travel, supplies an electrical signal to an electronic control which converts this signal into an inch pedal characteristic curve which lies between 0% and 100%. 100% inch effect means open friction clutch and 0% inch effect means closed friction clutch. The electrical signal is preferably a voltage that can be generated, for example, by a rotation angle sensor on the inch pedal. In order to avoid complex adjustment of the displacement sensor on the inch pedal, it is sufficient to mount the displacement sensor on the inch pedal in such a way that the movement path of the inch pedal lies within the movement path of the displacement sensor. In order to be able to assign the start and end signals of the displacement sensor in the electrical control, the displacement sensor is preferably adjusted electronically when the vehicle is started up for the first time. For this purpose, the adjustment process is started via the electronic control, then the inching pedal is fully depressed and then slowly moved back to the starting position. Preferably, when the inch pedal is slowly moved back, the value supplied by the displacement transducer is continuously measured in order to avoid any false signals, e.g. B. caused by wobbling linkage to rule out. The end positions of the inch pedal are then assigned to the 0% and 100% inch effect characteristic in the electronic control. A mechanical adjustment of the displacement sensor is therefore completely unnecessary. As a result, it is no longer possible for the friction clutch to be replaced by an incorrect one Adjustment of the displacement sensor can be damaged. The minimal reduction in the actuating force of the friction clutch is limited in such a way that the friction clutch is not damaged at the beginning of the inch, and thus an inch effect greater than 0%, even when the clutch is operated for a longer period in the slipped state. Thus, at the start of inching, the actuating force of the clutch is reduced from the full actuating force directly to this defined actuating force, beginning of inching. When the inching pedal is pressed further, the actuating force is further reduced, but this also only further reduces the frictional power and the friction clutch cannot be damaged.
In einer weiteren Ausgestaltungsform der Erfindung erkennt die elektronische Steuerung, ob das Inch-Pedal in Richtung "mehr Inchen" oder das Inch-Pedal in Richtung "weniger Inchen" bewegt wird. Da die Inch-Funktion vorzugsweise in Arbeitsmaschinen eingesetzt wird, welche auch in unebenem Gelände betrieben werden können, ist es nicht auszuschließen, dass aufgrund des unebenen Geländes der Fahrer ungewollte Bewegungen am Inch-Pedal ausführt. Damit sich die Betätigungskraft der Reibungskupplung infolge ungewollter Bewegungen des Inch-Pedals nicht verändert, ist beim Wechsel von der Funktion "mehr Inchen", und somit geringerer Betätigungskraft der Reibungskupplung, und der Funktion "weniger Inchen" , und somit höherer Betätigungskraft der Reibungskupplung, eine Hysterese vorhanden, so dass die Funktion "mehr Inchen" auf die Funktion "weniger Inchen" erst bei einem größeren Pedalweg des Inch-Pedals umschaltet. Ebenso ist diese Hysterese in der Gegenrichtung vorhanden. In einer weiteren Ausgestaltungsform der Erfindung, insbesondere bei hydraulischen Betätigungseinrichtungen der Reibungskupplung, werden unterschiedliche Kennlinien für den Betätigungsdruck der Betätigungseinrichtung für die Funktionen "mehr Inchen" , und somit geringerer Betätigungsdruck, und die Funktionen "weniger Inchen" , und somit größerer Betätigungsdruck, verwendet. Durch die Verwendung unterschiedlicher Kennlinien für diese beiden Funktionen kann sich die Hysterese, welche in der mechanischen-hydrau- lischen Ansteuerung und Betätigung der Reibungskupplung vorhanden ist und insbesondere beim Umschalten von weniger Betätigungsdruck auf mehr Betätigungsdruck und dem Umschalten in der Gegenrichtung nicht nachteilig auswirken. Indem diese Hysterese eliminiert wird, indem unterschiedliche Kennlinien für die Betätigungsrichtungen verwendet werden, ist bei Veränderung des Inch-Pedal-Wegs und der Pedalrichtung eine sofortige Veränderung des übertragbaren Drehmoments spürbar.In a further embodiment of the invention, the electronic control recognizes whether the inch pedal is moved in the "more inches" direction or the inch pedal is moved in the "less inches" direction. Since the inch function is preferably used in machines that can also be operated on uneven terrain, it cannot be ruled out that the driver will perform unwanted movements on the inch pedal due to the uneven terrain. So that the actuating force of the friction clutch does not change due to unwanted movements of the inch pedal, when changing from the function "more inches", and thus less actuating force of the friction clutch, and the function "less inches", and thus higher actuating force of the friction clutch, one Hysteresis is present so that the "more inches" function only switches to the "less inches" function when the inch pedal has a longer pedal travel. This hysteresis is also present in the opposite direction. In a further embodiment of the invention, in particular in the case of hydraulic actuation devices of the friction clutch, different characteristic curves for the actuation pressure of the actuation device are used for the functions “more inches”, and thus lower actuation pressure, and the functions “less inches”, and thus greater actuation pressure. By using different characteristic curves for these two functions, the hysteresis which is present in the mechanical-hydraulic control and actuation of the friction clutch and in particular when switching from less actuating pressure to more actuating pressure and switching in the opposite direction cannot have a disadvantageous effect. By eliminating this hysteresis by using different characteristic curves for the actuation directions, an immediate change in the transmissible torque can be felt when the inch-pedal travel and the pedal direction are changed.
In einer weiteren Ausgestaltungform der Erfindung wird der Übergang dieser beiden Kennlinien bei Änderung der Bewegungsrichtung des Inch-Pedals kontinuierlich ausgeführt, wodurch keinerlei Schaltstöße im Fahrzeug vorhanden sind. In einer weiteren Ausgestaltungsform der Erfindung wird oberhalb einer definierten Betätigungsgeschwindigkeit des Inch-Pedals die Veränderung der Betätigungskraft begrenzt, um einen unerwünschten und ungewollten Schaltruck, z. B. infolge des Abrutschens vom Inch-Pedal und somit dem sofortigen Zurückspringen des Inch-Pedals, zu verhindern. Die Veränderung der Betätigungskraft erfolgt in solchen Fällen kontinuierlich. In einer weiteren Ausgestaltungsform der Erfindung erfolgt der Übergang von der geschlossenen Kupplung, und somit der Kupplung mit der maximalen Betätigungskraft auf den Beginn des Inchens und somit den minimalen Inch-Effekt, kontinuierlich, wodurch das Fahrverhalten verbessert und die Belastung der Reibungskupplung minimiert wird. Ebenso erfolgt der Übergang in Gegenrichtung kontinuierlich.In a further embodiment of the invention, the transition of these two characteristic curves is carried out continuously when the direction of movement of the inching pedal changes, as a result of which there are no switching shocks in the vehicle. In a further embodiment of the invention, the change in the actuation force is limited above a defined actuation speed of the inch pedal in order to prevent an undesired and unwanted shift jerk, e.g. B. to prevent slipping off the inch pedal and thus the immediate return of the inch pedal. In such cases, the actuation force changes continuously. In a further embodiment of the invention, the transition from the closed clutch, and thus the clutch with the maximum actuating force to the beginning of the inch and thus the minimum inch effect, takes place continuously, whereby the driving behavior is improved and the load on the friction clutch is minimized. The transition in the opposite direction also takes place continuously.
In einer weiteren Ausgestaltungsform der Erfindung wird die Reibleistung kontinuierlich aus der Zeit der Differenzdrehzahl der Kupplung und der Betätigungskraft der Kupplung errechnet, und bei Überschreiten einer zuvor definierten, zulässigen Reibleistung wird die Betätigungskraft der Kupplung erniedrigt, was beispielsweise durch Reduzieren des Kupplungsdrucks geschehen kann, wodurch die Kupplung vor Beschädigungen geschützt ist.In a further embodiment of the invention, the frictional power is continuously calculated from the time of the differential speed of the clutch and the actuating force of the clutch, and when a predefined permissible frictional power is exceeded, the actuating force of the clutch is reduced, which can be done, for example, by reducing the clutch pressure, whereby the coupling is protected from damage.
In einer weiteren Ausgestaltungsform der Erfindung kann mit dem zuvor beschriebenen System auf einfache Weise der maximale Inch-Effekt, und somit die minimale Betätigungskraft der Kupplung, an welcher die Kupplungslamellen gerade zu schleifen beginnen, einem definierten Betätigungszustand der Betriebsbremse zugeordnet werden. Indem der Wegaufnehmer für die Inch-Funktion und der Wegaufnehmer für die Betriebsbremse an einem Inch-Pedal angeordnet sind und in einem ersten Wegbereich alleinig die Inch-Funktion verwendet und ab einem definierten Wegbereich am Inch-Pedal die Betriebsbremse zugeschaltet wird, ist es notwendig, in der elektronischen Steuerung den Pedalweg exakt den Funktionen "Inchen" und "Betriebsbremse" zuordnen zu können. Zusätzlich besteht das Problem, dass der Punkt, an dem die Betriebsbremse zugeschaltet wird, je nach Kundenwunsch un- terschiedlich sein kann. Fehlerhafte Einstellungen könnten eine Beschädigung der Kupplung herbeiführen.In a further embodiment of the invention, with the system described above, the maximum inch effect, and thus the minimum actuation force of the clutch, at which the clutch plates are just starting to grind, can be assigned to a defined actuation state of the service brake. By arranging the displacement sensor for the inch function and the displacement sensor for the service brake on an inch pedal and using the inch function solely in a first travel area and switching on the service brake from a defined travel area on the inch pedal, it is necessary to to be able to precisely assign the pedal travel to the "inch" and "service brake" functions in the electronic control. In addition, there is the problem that the point at which the service brake is activated depends on the customer's wishes. can be different. Incorrect settings could damage the coupling.
Bei der erfindungsgemäßen Anordnung des Wegaufnehmers ist eine einfache Justierung und Einstellung der Betriebsbremse zur Inch-Funktion möglich. Hierzu wird das Fahrzeug auf einem nahezu waagerechten Gelände bewegt. Der Justiervorgang wird gestartet und vorzugsweise fordert eine Anzeige den Bediener für weitere Aktionen auf . Nachdem die Antriebsmotordrehzahl auf einen definierten Wert, vorzugsweise die maximale Drehzahl, eingestellt ist und das Fahrzeug sich mit dem eingelegten Gang vorwärts oder rückwärts bewegt, wird das Inchen gestartet, indem das Inch-Pedal langsam durchgetreten wird. Während dieses Justiervorgangs bleibt die Kupplungskraft innerhalb des Inch-Effekts 0 % bis 100 % konstant eingestellt. Durch weiteres Durchtreten des Inch-Pedals wird die Betriebsbremse aktiviert und hierdurch das Fahrzeug verzögert. Somit ist der Bremszeitpunkt über dem Pedalweg des Inch-Pedals bekannt und wird in der elektronischen Steuerung gespeichert. Der maximale Inch- Effekt, 100 %, bei welchem die Lamellen der Reibungsbremse gerade anliegen und was einer minimalen Betätigungskraft der Kupplung entspricht, wird in der elektronischen Steuerung in Abhängigkeit des Pedalwegs ebenfalls abgelegt und kann, wie beispielsweise in der WO 01/65227 AI oder in der DE 198 26 097 AI, bestimmt werden. Da nun der elektronischen Steuerung die minimale Betätigungskraft der Reibungskupplung und somit der Punkt 100 % Inch-Effekt mit zugehöriger Inch-Pedal-Stellung und die Inch-Pedal-Stellung, bei welcher die Betriebsbremse aktiviert wird, bekannt ist, kann durch Festlegung von Kennlinien der Überschneidungs- punkt des Inch-Drucks zum Bremsdruck der Betriebsbremse programmiert und somit eingestellt werden. Somit ist es möglich, auf einfache Weise die Funktion "Inchen" im Fahrzeug zu verwenden, den Wegaufnehmer zu justieren, fehlerhafte Betätigungen des Inch-Pedals auszuschließen, Schaltstöße und eine Beschädigung der Kupplung zu verhindern, und somit einen zuverlässigen Betrieb im Fahrzeug zu gewährleisten.In the arrangement of the displacement transducer according to the invention, simple adjustment and adjustment of the service brake to the inch function is possible. For this purpose, the vehicle is moved on an almost horizontal terrain. The adjustment process is started and a display preferably prompts the operator for further actions. After the drive motor speed is set to a defined value, preferably the maximum speed, and the vehicle moves forward or backward with the gear engaged, the inching is started by slowly depressing the inch pedal. During this adjustment process, the coupling force remains constant between 0% and 100% within the inch effect. By further depressing the inch pedal, the service brake is activated and the vehicle is decelerated. The braking time via the pedal travel of the inch pedal is thus known and is stored in the electronic control. The maximum inch effect, 100%, at which the plates of the friction brake are just in contact and which corresponds to a minimum actuation force of the clutch, is also stored in the electronic control system depending on the pedal travel and can, as for example in WO 01/65227 AI or in DE 198 26 097 AI can be determined. Since the electronic control system now knows the minimum actuating force of the friction clutch and thus the point 100% inch effect with the associated inch pedal position and the inch pedal position at which the service brake is activated, the characteristics can be determined by The point of intersection of the inch pressure with the brake pressure of the service brake is programmed and thus set. So it is possible to use the "inching" function in the vehicle in a simple manner, to adjust the displacement transducer, to exclude incorrect actuation of the inch pedal, to prevent switching shocks and damage to the clutch, and thus to ensure reliable operation in the vehicle.
Weitere Merkmale sind der Figuren-Beschreibung zu entnehmen.Further features can be found in the description of the figures.
Die einzige Figur zeigt den Verlauf eines Inch-Vor- gangs über dem Pedalweg des Inch-Pedals .The only figure shows the course of an inch process over the pedal travel of the inch pedal.
Das Diagramm ist für eine hydraulisch betätigte Lamellenkupplung und eine hydraulisch betätigte Betriebsbremse dargestellt. Die Lamellenkupplung und die Betriebsbremse werden über hydraulischen Druck im Schließsinne betätigt. Der Druck für die hydraulische Kupplung und die hydraulische Bremse ist auf der Ordinate, der Pedalweg des Inch- Pedals ist auf der Abszisse dargestellt. Befindet sich das Inch-Pedal in .seiner Ausgangsstellung 1, so ist die Reibungskupplung mit maximalem Druck beaufschlagt und somit geschlossen, was an der Linie 2 ersichtlich ist. Bis zu dem Startpunkt Inchen 3 ist das Inch-Pedal durchzutreten, ohne dass sich der Kupplungsdruck ändert. Wird das Inch-Pedal weiter als bis zum Startpunkt Inchen 3 durchgetreten, wird der Kupplungsdruck kontinuierlich bis zu Beginn Inchen 4 abgesenkt. Der Kupplungsdruck Beginn Inchen 4 ist zuvor definiert und ist abhängig von der Leistungsfähigkeit der Kupplung, bei welcher das Fahrzeug über eine längere Zeitspanne mit schleifender Kupplung betrieben werden kann, ohne dass die Kupplung beschädigt wird. Bei weiterem Durchtreten des Inch-Pedals reduziert sich der Kupplungsdruck der Reibungskupplung weiter, bis er einen minimalen Kupplungsdruck 5 erreicht, bei welchem die Lamellen der Kupplung gerade anliegen. Dieser Kupplungsdruck kann nicht mehr durch das Inch-Pedal weiter reduziert werden. Wird nun das Inch-Pedal in der Gegenrichtung, also in Richtung Ausgangsposition, zurückbewegt, so wird der Kupplungsdruck sofort um einen definierten Wert erhöht, wodurch die Kupplungsbe- tätigungskraft gleich bleibt, jedoch bei weiterer Erhöhung der Kupplungskraft infolge einer Bewegung des Inch-Pedals in Richtung Ausgangsposition die Betätigungseinrichtung sofort die Kupplung weiter im Schließsinne betätigt, da die Hysterese infolge der Betätigung der Bauteile durch die Verwendung einer Schließkennlinie 7 kompensiert ist. Indem das Inchen im Schließsinne auf der Schließkennlinie 7 und im Öffnungssinne auf der Öffnungskennlinie 6 erfolgt, wird die Hysterese der Bauteile eliminiert, wodurch ein sofortiges Ansprechverhalten der Inch-Funktion an den Fahrer weitergegeben wird. Fehlbedienungen des Fahrers infolge zu weit durchgetretenem oder losgelassenem Inch-Pedal entfallen somit. Erreicht das Inch-Pedal den Bewegungspunkt 8, so wird die Betriebsbremse mit aktiviert, was an der Linie 9 ersichtlich ist. Erreicht die Schließkennlinie 7 den Punkt 10, welcher ebenfalls so definiert ist, dass die Reibungskupplung bei längerem Betrieb nicht beschädigt wird, und das Inch-Pedal wird weiter in Richtung Ausgangsposition bewegt, so wird der Kupplungsdruck kontinuierlich bis zum maximalen Kupplungsdruck erhöht, wodurch die Kupplung vollständig schließt. Wird die Kupplung unzulässig lange im schlupfenden Zustand betrieben, so wird die Kupplung automatisch im Öffnungssinne betätigt. Das Inch-Pedal muß zum Starten des Inch-Vorgangs weiter durchgetreten werden als beim Verlassen des Inch-Vorgangs. Die Differenz zwischen dem Startpunkt Inchen 3 und dem Endpunkt Inchen 11 bewirkt, dass sich beim Fahren in unebenem Gelände eine kurzzeitige Fehlbedienung des Fahrpedals nicht negativ auswirkt. Durch die elektronische Justierung des Wegaufnehmers und der Erfassung des Startpunktes 12 der Betriebsbremse ist es möglich, in der elektronischen Steuerung die Inch-Funktion, je nach Wunsch, zur Kennlinie der Betriebsbremse 9 einzustellen, wodurch, je nach Programmierung, die Betriebsbremse früher oder später zugeschaltet wird. The diagram is shown for a hydraulically actuated multi-plate clutch and a hydraulically actuated service brake. The multi-plate clutch and the service brake are actuated by hydraulic pressure in the closing direction. The pressure for the hydraulic clutch and the hydraulic brake is shown on the ordinate, the pedal travel of the inch pedal is shown on the abscissa. The inch pedal is in . its starting position 1, the friction clutch is subjected to maximum pressure and is therefore closed, which can be seen on line 2. The inch pedal must be depressed up to the starting point Inchen 3 without the clutch pressure changing. If the inch pedal is depressed further than the starting point Inchen 3, the clutch pressure is continuously reduced until the beginning of Inchen 4. The clutch pressure at the beginning of inch 4 is defined in advance and depends on the performance of the clutch, at which the vehicle can be operated with the clutch slipping over a longer period of time without the clutch being damaged. When the inch pedal is depressed further, the clutch pressure is reduced of the friction clutch until it reaches a minimum clutch pressure 5 at which the disks of the clutch are just in contact. This clutch pressure can no longer be reduced by the inch pedal. If the inch pedal is now moved back in the opposite direction, ie in the direction of the starting position, the clutch pressure is immediately increased by a defined value, as a result of which the clutch actuation force remains the same, but with a further increase in the clutch force due to a movement of the inch pedal in In the direction of the starting position, the actuating device immediately actuates the clutch further in the closing direction, since the hysteresis due to the actuation of the components is compensated for by the use of a closing characteristic curve 7. By inching in the closing direction on the closing characteristic 7 and in the opening direction on the opening characteristic 6, the hysteresis of the components is eliminated, as a result of which an immediate response behavior of the inch function is passed on to the driver. Incorrect operations by the driver as a result of the inching pedal being pressed too far or released are thus eliminated. If the inch pedal reaches the movement point 8, the service brake is also activated, which can be seen on line 9. If the closing characteristic curve 7 reaches point 10, which is also defined in such a way that the friction clutch is not damaged during longer operation, and the inch pedal is moved further towards the starting position, the clutch pressure is continuously increased up to the maximum clutch pressure, whereby the clutch completely closes. If the clutch is operated for an impermissibly long time in a slipping state, the clutch is automatically actuated in the opening direction. The inching pedal must be depressed further to start the inching process than when leaving the inching process. The difference between the start point Inchen 3 and the end point Inchen 11 causes that short-term incorrect operation of the accelerator pedal does not have a negative effect when driving on uneven terrain. Due to the electronic adjustment of the displacement sensor and the detection of the starting point 12 of the service brake, it is possible to set the inch function in the electronic control, as desired, to the characteristic of the service brake 9, which means that depending on the programming, the service brake is activated earlier or later becomes.
Bezugszeichenreference numeral
1 Ausgangsstellung1 starting position
2 Linie2 line
3 Startpunkt Inchen3 starting point Inchen
4 Beginn Inchen4 start inches
5 minimaler Kupplungsdruck5 minimum clutch pressure
6 Öffnungskennlinie6 opening characteristic
7 Schließkennlinie7 closing characteristic
8 Bewegungspunkt8 movement point
9 Linie9 line
10 Punkt10 point
11 Endpunkt Inchen11 end point inches
12 Startpunkt 12 starting point

Claims

P a t e n t a n s p r ü e h e Patent claims
1. Mobiles Fahrzeug mit einem schaltbaren Getriebe mit festen Übersetzungsstufen, mit durch Betätigungskraft schließbarer Reibungskupplung, mit einem Inch-Pedal, dessen Pedalweg von einem Wegaufnehmer aufgenommen und einer e- lektronischen Steuereinrichtung zugeführt wird, wobei bei Betätigung des Inch-Pedals die elektronische Steuereinrichtung in Abhängigkeit des Pedalwegs die Betätigungskraft der Lamellenkupplung reduziert und diese dadurch in einen Schlupfzustand gebracht wird, dadurch g e k e n n z e i c h n e t , dass bei Betätigung des Inch-Pedals die reduzierte Betätigungskraft eine zuvor definierte Betätigungskraft nicht überschreitet, wobei die Lamellenkupplung bei Betrieb mit der zuvor definierten Betätigungskraft nicht beschädigt werden kann.1. Mobile vehicle with a switchable transmission with fixed gear ratios, with friction clutch that can be closed by actuating force, with an inch pedal, the pedal travel of which is picked up by a displacement transducer and fed to an electronic control device, the electronic control device in when the inch pedal is actuated Depending on the pedal travel, the actuating force of the multi-plate clutch is reduced and this is brought into a slipping state, characterized in that when the inch pedal is actuated, the reduced actuating force does not exceed a previously defined actuating force, the multi-plate clutch not being damaged during operation with the previously defined actuating force can.
2. Mobiles Fahrzeug mit einem schaltbaren Getriebe nach Anspruch 1, dadurch g e k e n n z e i c h n e t , dass die definierte Betätigungskraft bei einem minimalen Betätigungsweg des Inch-Pedals erreicht wird.2. Mobile vehicle with a switchable transmission according to claim 1, characterized in that the defined actuation force is achieved with a minimal actuation path of the inch pedal.
3. Mobiles Fahrzeug mit einem schaltbaren Getriebe nach Anspruch 1, dadurch g e k e n n z e i c h n e t , dass die definierte Betätigungskraft sich in Abhängigkeit der Betätigungszeit und der Differenzdrehzahl der Lamellenkupplung ändert . 3. Mobile vehicle with a switchable transmission according to claim 1, characterized in that the defined actuating force changes depending on the actuation time and the differential speed of the multi-plate clutch.
4. Mobiles Fahrzeug mit einem schaltbaren Getriebe nach Anspruch 2 , dadurch g e k e n n z e i c h n e t , dass die Lamellenkupplung erst nach einem definierten Inch- Pedal-Weg auf die definierte Betätigungskraft reduziert wird. 4. Mobile vehicle with a switchable transmission according to claim 2, characterized in that the multi-plate clutch is only reduced to the defined actuating force after a defined inch-pedal travel.
PCT/EP2003/008509 2002-08-07 2003-08-01 Mobile vehicle comprising a shiftable transmission and an inch pedal WO2004015291A1 (en)

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DE10236116A DE10236116A1 (en) 2002-08-07 2002-08-07 Mobile vehicle with shifting gearbox has inching pedal for operating friction clutch with slip with reduced actuating force that does not exceed predefined force at which lamella clutch is not damaged
DE10236116.9 2002-08-07

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KR20170005412A (en) * 2014-05-09 2017-01-13 섀플러 테크놀로지스 아게 운트 코. 카게 Clutch control which takes hysteresis into consideration
KR102427703B1 (en) 2014-05-09 2022-08-01 섀플러 테크놀로지스 아게 운트 코. 카게 Clutch control which takes hysteresis into consideration

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