WO2009013037A1 - Procédé de calibrage d'une pompe hydraulique - Google Patents

Procédé de calibrage d'une pompe hydraulique Download PDF

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Publication number
WO2009013037A1
WO2009013037A1 PCT/EP2008/055944 EP2008055944W WO2009013037A1 WO 2009013037 A1 WO2009013037 A1 WO 2009013037A1 EP 2008055944 W EP2008055944 W EP 2008055944W WO 2009013037 A1 WO2009013037 A1 WO 2009013037A1
Authority
WO
WIPO (PCT)
Prior art keywords
pressure
pump
motor
speed
control
Prior art date
Application number
PCT/EP2008/055944
Other languages
German (de)
English (en)
Inventor
Michael Hitzel
Thomas Bartsch
Tobias Scheller
Original Assignee
Continental Teves Ag & Co. Ohg
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 Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO2009013037A1 publication Critical patent/WO2009013037A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/404—Control of the pump unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/404—Control of the pump unit
    • B60T8/4059—Control of the pump unit involving the rate of delivery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/48—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition connecting the brake actuator to an alternative or additional source of fluid pressure, e.g. traction control systems
    • B60T8/4809—Traction control, stability control, using both the wheel brakes and other automatic braking systems
    • B60T8/4827—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems
    • B60T8/4863—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems
    • B60T8/4872—Traction control, stability control, using both the wheel brakes and other automatic braking systems in hydraulic brake systems closed systems pump-back systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B60T8/90—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using a simulated speed signal to test speed responsive control means
    • 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
    • F04B51/00—Testing machines, pumps, or pumping installations
    • 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
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0209—Rotational speed
    • 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
    • F04B2205/13—Pressure pulsations after the pump

Definitions

  • the invention relates to a method for calibrating a hydraulic pump according to the preamble of claim 1 and an electronic motor vehicle brake control system according to claim 10, in which this method is used.
  • Today customary electronically controlled motor vehicle brake systems for vehicle dynamics or anti-lock regulations comprise at least one hydraulic pump for returning brake fluid into a brake fluid reservoir, which can also be used for the purpose of active pressure build-up.
  • An active pressure build-up is necessary in the event of independent braking intervention, for example within the control functions "Vehicle dynamics control” (ESP) or “automatic distance control” (ACC) as well as “traction control” (TCS).
  • ESP Vehicle dynamics control
  • ACC automatic distance control
  • TCS traction control
  • a DC electric motor with a commutator is usually used, which is clocked, e.g. is controlled by a pulse width modulated current control.
  • the basic structure of a corresponding brake system can be seen from the block diagram in FIG.
  • a corresponding brake system is known in which a method is used in which the delivery rate of the hydraulic pump is electronically controlled.
  • the pump is controlled by a PWM controller.
  • the generator voltage of the motor (motor emf) is measured during the pulse pause times.
  • Sollradbremstik sufficiently accurate during an active pressure build-up, among other things, the most accurate possible adjustment of the pump delivery rate is necessary.
  • the pump motor is exactly the same as the other, so that the control with the aid of the motor EMF does not yet meet the requirements Accuracy achieved.
  • the prior German patent application DE 10 2006 040 127 (P 11502) describes a method for calibrating the relationship between pump power setting and rotational speed by means of the motor EMF.
  • the motor is also controlled by the motor controller with a pulse width modulated signal with a fixed period. This allows the signal to be divided into two phases: in time t A N, a voltage is applied to the terminals of the motor; There is no voltage on the motor in the time t A us and this rotates due to the moment of inertia of its rotating components.
  • the engine EMF is measured by the electronics of the brake system.
  • the signal motor EMF forms the actual size of the motor control circuit and is regulated by the controller during the brake control operation, as is known, in accordance with the predetermined setpoint voltage.
  • DE 10 2006 040 127 proposes, after installation of the brake control unit, ie "in the field", that an automatic, software-controlled test cycle be carried out.
  • the pump motor is operated in a closed loop for a certain time.
  • a target value for the controller is in contrast to the control in the normal Operation specified a constant voltage and the duty cycle of the control, so observed the ratio of pulse duration to the period of the PWM signal and determined in dependence thereon, together with empirical results from previously performed suitable laboratory series investigations a relationship between speed and motor EMF.
  • the advantage of this method is that not every single unit of a series has to be measured.
  • the properties of the pump motor can be independently and automatically determined by the electronic control of the unit in a ready-to-use brake system.
  • the object of the present invention is now to provide an alternative method for adjusting or determining the pump speed, which has a higher accuracy and can also be performed without the use of additional speed sensor.
  • the motor is preferably a DC electric motor with a commutator whose speed depends on the electrical drive power of the motor.
  • the motor does not include any means for direct measurement of the speed, so for example, no speed sensor.
  • the determination of the rotational speed is carried out on the basis of pressure pulsations of the delivery fluid, in particular in the region of the pump output side hydraulic system. These pressure pulsations are preferably measured at a pressure sensor of the pressure control unit.
  • the method offers not only an increase in accuracy, but also the advantage that one ne additional laboratory series investigation, as described in DE 10 2006 040 127, can now be omitted.
  • the pump motor is integrated in a control loop, which regulates the flow rate or the speed of the pump.
  • the generator voltage of the pump motor is measured and used together with the determined via the pressure pulsations speed for determining one or more calibration values.
  • the or the calibration values are used to establish a functional or tabular relationship between "generator voltage” and "pump speed". This relationship is, in particular, that the numerical ratio between the generator voltage and the speed is formed as the calibration value.
  • the pump motor is preferably controlled by an electronic control, which in particular generates a pulse width modulated signal (PWM), which determines the speed of the motor.
  • PWM pulse width modulated signal
  • a PWM signal is a periodic square wave signal with a constant period within which the duration of a square pulse is varied.
  • the ratio of pulse to pause is called a duty-cycle.
  • the speed is usually determined by setting the duty cycle, which can take values between zero and one.
  • a measurement of the generator voltage of the motor (motor EMF) is preferably made, which is used as the actual size of the control.
  • the pressure pulsations determined at the pressure sensor or the pressure actually measured there are preferably measured repeatedly by the electronic control of the pressure control device automatically over a predetermined period of time to determine a pressure curve in a temporal sequence. After that, in particular, an analysis of the pressure curve by the brake control device takes place, in which case the number of engine revolutions is determined from the identifiable periods or an integral multiple thereof.
  • the pressure regulating unit preferably comprises a pre-pressure circuit and a plurality of wheel pressure circuits, wherein the pre-pressure circuit can be separated from the wheel pressure circuits by means of at least one separating valve.
  • the pressure sensor for measuring the pressure pulsations is expediently arranged in the area of the pre ⁇ circle.
  • the or the separating valve (s) is / are preferably at least partially opened during the pressure measurement. The method of calibration can thus be carried out particularly advantageously without additional pressure sensors, since the pressure sensor signal of a pressure sensor can be evaluated, which is contained in a predominant proportion of ABS control systems. already exists.
  • the pressure curve has a clearer signal when, as is preferred, the intake valve (s) associated with the wheel pressure circuits, particularly the circuit equipped with a pressure sensor, is / are closed during the acquisition of pressure measurement points. Most preferably, it is provided that only one inlet valve per brake circuit is closed in order to maintain a braking function, albeit limited, during the measurement.
  • the above-described pump test carried out for calibration is repeated once or several times after a suitably selected predetermined time or running time of the vehicle in order to take account of inlet or wear effects of the motor pump unit.
  • the invention further relates to an electronic vehicle brake control system having at least one regulated pump for an active brake pressure buildup according to claim 10.
  • Fig. 1 is a block diagram of an electronically controlled braking system in which the exemplary method is carried out and Fig. 2 is a Messric, which is the built-in
  • Pressure sensor represents measured signal in time Verion.
  • the brake system 1 shown in Fig. 1 consists of a hydraulic valve block 2 (HCU) and a fixedly connected electronic controller housing 3 (ECU).
  • the brake system comprises two brake circuits I. and II. In the following, only circuit I will be explained in more detail.
  • brake fluid can be introduced via hydraulic line 5 in block 2 in accordance with the brake pedal operation.
  • inlet valve 6 and outlet valve 7 the pressure in the wheel brake cylinders 8 can be adjusted.
  • a measurement of the existing by the driver form is possible by means of input pressure sensor 16.
  • the brake system shown is otherwise equipped with no other pressure sensors.
  • Hydraulic pump 10 is connected on the output side with inlet valve 6 and separating valve 14. Pump 10 is operated by a DC electric motor electrically connected to controller 3.
  • Pressure line 5 leads via a hydraulic line to the admission pressure side of electrical switching valve 11 and isolation valve 14.
  • the second output of changeover valve 11 is connected to the inlet of pump 10 and outlet valve 7.
  • the second side of isolation valve 14 is connected to the pump nauslass and inlet valve 6.
  • Controller 3 within electronic control unit 3 is a microprocessor system ⁇ P, in which a variety of control, rule and test programs are executed. Controller 3, in addition to internal print requests, may also accept print requests from external controllers, such as those shown in FIG. an automatic distance controller 15 (ACC) process. In accordance with the existing pressure requirement valves 6, 7, 14 and pump 10 are driven so that the requested pressure in the wheel brake cylinders 18 is set as accurately as possible.
  • ACC automatic distance controller 15
  • Curve 9 in the measurement record in FIG. 2 represents the time course of the pressure measured at admission pressure sensor 16 when pump 10 is switched on during the test cycle for pump calibration. Separation valve 14 is open in this case. The intake valves to the wheel brake cylinders are closed. As a result, the elastic volume of the wheel brake cylinder from the hydraulic train in which the pressure measurement takes place, decoupled. For comparison, a further pressure curve 17 is shown below curve 9, which indicates the actual pressure curve at the outlet of the pump. As FIG. 2 shows, the pressure measuring points recorded at the admission pressure sensor are sufficient to carry out a determination of the pumping period A. From the pump period results in the number of pump strokes per time. The speed of the pump can be determined in this way in a particularly simple manner with the existing sensors.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Valves And Accessory Devices For Braking Systems (AREA)
  • Regulating Braking Force (AREA)

Abstract

La présente invention concerne un procédé de détermination de la vitesse de rotation d'un moteur électrique, qui fait partie intégrante d'un groupe pompe-moteur (10) dans un dispositif de régulation de pression. La vitesse de rotation du moteur, et de ce fait le débit de la pompe, est associée à la puissance de commande électrique du moteur, et la vitesse de rotation de la pompe est réglée au moyen d'une commande en modifiant la puissance de commande. Le moteur ne comporte en outre aucun moyen destiné à déterminer la vitesse de rotation et une détermination de la vitesse de rotation s'effectue à l'aide de pulsations de pression (9) du fluide de transport et les pulsations de pression (9) sont mesurées en particulier par un capteur de pression (16) du groupe de régulation de pression (2). La présente invention concerne en outre un système de régulation de freinage électronique de véhicule automobile comprenant au moins une pompe réglée (10) pour augmenter activement la pression de freinage, qui utilise le procédé ci-dessus.
PCT/EP2008/055944 2007-07-21 2008-05-15 Procédé de calibrage d'une pompe hydraulique WO2009013037A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007034113.1A DE102007034113B4 (de) 2007-07-21 2007-07-21 Verfahren zur Kalibrierung einer Hydraulikpumpe
DE102007034113.1 2007-07-21

Publications (1)

Publication Number Publication Date
WO2009013037A1 true WO2009013037A1 (fr) 2009-01-29

Family

ID=39608194

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/055944 WO2009013037A1 (fr) 2007-07-21 2008-05-15 Procédé de calibrage d'une pompe hydraulique

Country Status (2)

Country Link
DE (1) DE102007034113B4 (fr)
WO (1) WO2009013037A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011098668A2 (fr) 2010-02-12 2011-08-18 Maricap Oy Procédé et appareil de manutention de matériaux dans un système de manutention pneumatique
CN103410719A (zh) * 2013-03-12 2013-11-27 北京理工大学 一种容积电加载液压泵试验装置
CN112041560A (zh) * 2018-04-27 2020-12-04 卡特彼勒Sarl 用于可变容量液压泵的校准系统

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019110569A1 (de) * 2019-04-24 2020-10-29 Man Truck & Bus Se Verfahren und Vorrichtung zur Drehzahlbestimmung einer Pumpe

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0662057B1 (fr) * 1992-09-25 1996-06-12 ITT Automotive Europe GmbH Procede et circuit pour reguler le debit d'une pompe hydraulique
WO1997023373A1 (fr) * 1995-12-22 1997-07-03 Robert Bosch Gmbh Procede et dispositif pour commander la pompe d'un systeme de freinage electrohydraulique
WO2000002753A2 (fr) * 1998-07-09 2000-01-20 Continental Teves Ag & Co. Ohg Procede et dispositif pour ajuster la pression de freinage et pour ouvrir une soupape d'admission
WO2000059762A1 (fr) * 1999-03-30 2000-10-12 Robert Bosch Gmbh Systeme de freinage et procede permettant de commander et/ou de controler la pompe d'un systeme de freinage
DE10244203A1 (de) * 2002-09-23 2004-04-01 Robert Bosch Gmbh Verfahren und Vorrichtung zur Erfassung der Drehzahl einer Pumpe

Family Cites Families (5)

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Publication number Priority date Publication date Assignee Title
DE3828933A1 (de) 1988-08-26 1990-03-01 Teves Gmbh Alfred Verfahren zur ueberwachung einer hydraulikanlage
DE4243075B4 (de) 1992-12-18 2005-11-10 Bosch Rexroth Ag Elektrisch geregelte Verstellpumpe
FR2707930B1 (fr) 1993-07-22 1995-09-22 Farnier & Penin Dispositif de toit ouvrant pour véhicule automobile.
DE102005041556A1 (de) 2005-09-01 2007-03-08 Continental Teves Ag & Co. Ohg Verfahren zur Bestimmung eines Vordrucks in einer Kraftfahrzeug-Bremsanlage
DE102006040127A1 (de) 2006-08-26 2008-03-06 Continental Teves Ag & Co. Ohg Verfahren zur Kalibrierung einer Hydraulikpumpe

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0662057B1 (fr) * 1992-09-25 1996-06-12 ITT Automotive Europe GmbH Procede et circuit pour reguler le debit d'une pompe hydraulique
WO1997023373A1 (fr) * 1995-12-22 1997-07-03 Robert Bosch Gmbh Procede et dispositif pour commander la pompe d'un systeme de freinage electrohydraulique
WO2000002753A2 (fr) * 1998-07-09 2000-01-20 Continental Teves Ag & Co. Ohg Procede et dispositif pour ajuster la pression de freinage et pour ouvrir une soupape d'admission
WO2000059762A1 (fr) * 1999-03-30 2000-10-12 Robert Bosch Gmbh Systeme de freinage et procede permettant de commander et/ou de controler la pompe d'un systeme de freinage
DE10244203A1 (de) * 2002-09-23 2004-04-01 Robert Bosch Gmbh Verfahren und Vorrichtung zur Erfassung der Drehzahl einer Pumpe

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011098668A2 (fr) 2010-02-12 2011-08-18 Maricap Oy Procédé et appareil de manutention de matériaux dans un système de manutention pneumatique
WO2011098667A2 (fr) 2010-02-12 2011-08-18 Maricap Oy Procédé et appareil de manutention de matériaux dans un système de manutention pneumatique
WO2011098669A2 (fr) 2010-02-12 2011-08-18 Maricap Oy Procédé et appareil de manutention de matériaux dans un système de manutention pneumatique
CN102811927A (zh) * 2010-02-12 2012-12-05 马里凯普有限公司 用于在气动式管道输送系统中搬运物料的方法和设备
CN103410719A (zh) * 2013-03-12 2013-11-27 北京理工大学 一种容积电加载液压泵试验装置
CN112041560A (zh) * 2018-04-27 2020-12-04 卡特彼勒Sarl 用于可变容量液压泵的校准系统
CN112041560B (zh) * 2018-04-27 2022-05-27 卡特彼勒Sarl 用于可变容量液压泵的校准系统

Also Published As

Publication number Publication date
DE102007034113B4 (de) 2018-07-19
DE102007034113A1 (de) 2009-01-22

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