WO2010017794A1 - Anordnung und verfahren zur unterbrechungsfreien versorgung eines hvdrauliksvstems mit einem fluid - Google Patents

Anordnung und verfahren zur unterbrechungsfreien versorgung eines hvdrauliksvstems mit einem fluid Download PDF

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Publication number
WO2010017794A1
WO2010017794A1 PCT/DE2009/001011 DE2009001011W WO2010017794A1 WO 2010017794 A1 WO2010017794 A1 WO 2010017794A1 DE 2009001011 W DE2009001011 W DE 2009001011W WO 2010017794 A1 WO2010017794 A1 WO 2010017794A1
Authority
WO
WIPO (PCT)
Prior art keywords
pump
electric motor
pressure
auxiliary pump
hydraulic system
Prior art date
Application number
PCT/DE2009/001011
Other languages
German (de)
English (en)
Inventor
Kai Lunau
Original Assignee
Ixetic Bad Homburg Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ixetic Bad Homburg Gmbh filed Critical Ixetic Bad Homburg Gmbh
Priority to DE112009001698.7T priority Critical patent/DE112009001698B4/de
Publication of WO2010017794A1 publication Critical patent/WO2010017794A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/0021—Generation or control of line pressure
    • F16H61/0025—Supply of control fluid; Pumps therefore
    • F16H61/0031—Supply of control fluid; Pumps therefore using auxiliary pumps, e.g. pump driven by a different power source than the engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20523—Internal combustion engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/25—Pressure control functions
    • F15B2211/251—High pressure control

Definitions

  • the invention relates to an arrangement for uninterruptible supply of a hydraulic system with a fluid according to the preamble of claim 1 and a method for uninterruptible supply of a hydraulic system with a fluid according to the preamble of claim 6.
  • Arrangements and methods of the type discussed here are known, for example, from DE 101 62 973 A1. They have a mechanical, in particular by the internal combustion engine of a motor vehicle driven main pump for supplying a hydraulic system with a fluid, in particular with hydraulic oil. Furthermore, an auxiliary pump driven by an electric motor for maintaining a certain hydraulic pressure in the hydraulic system and a control unit for controlling the electric motor are provided. Hydraulic systems for use in motor vehicles, which thus interact with intermittent shutdown internal combustion engines often require, in addition to the main pump, the electrically driven auxiliary pump to cover operating conditions in which the drive speed of the main pump is zero or too low to maintain the supply of the hydraulic system. This is the case, for example, when the internal combustion engine is stopped and the main pump is consequently not driven.
  • hydraulic system is understood in particular to mean a power shift transmission for use in motor vehicles, for example for a hybrid drive as an automatic transmission.
  • automatic powershift transmissions are used for use in motor vehicles with hybrid drives
  • an additional electrically driven auxiliary pump is usually required to ensure the proper operation of the transmission in the characteristic of hybrid vehicles states.
  • auxiliary pumps are used to maintain a certain hydraulic pressure in the system when the main pump is not driven by the internal combustion engine when the vehicle is stationary.
  • the auxiliary pump must always ensure the supply of the hydraulic system, in particular with hydraulic oil, when the amount of oil delivered by the mechanically driven main pump is insufficient to ensure uninterrupted oil supply to the hydraulic system during operation.
  • the auxiliary pump must then be switched on and off at the right moment and operated at the appropriate speed. Particularly difficult here is the transition from the sole operation of the main pump to the sole operation of the auxiliary pump.
  • the optimum speed of the auxiliary pump depends in addition to the operating state of the system, which is characterized by the drive speed and the momentarily required torque, especially from the oil temperature and the thus changing viscosity of the hydraulic oil.
  • Known arrangements for supplying a hydraulic system with a fluid have the disadvantage that complicated control strategies for the speed control are required for an energy-efficient operation of such auxiliary pumps.
  • an arrangement for uninterrupted supply of a hydraulic system with a fluid which has the features of claim 1. It comprises a mechanically driven main pump for supplying the hydraulic system with a fluid and an auxiliary pump driven by an electric motor for maintaining a certain hydraulic pressure in the hydraulic system. Furthermore, a control unit for controlling the electric motor is provided. The arrangement is characterized in that the electric motor is operated torque-controlled by means of its phase current.
  • the invention makes use of the knowledge that the requirement for the operation of the auxiliary pump in hydraulic systems is not the provision of a defined flow rate, but rather the generation of a defined delivery pressure. This pressure is required to maintain certain hydraulic functions in the hydraulic system. The resulting from leakage, cooling oil quantities and other hydraulic consumers flow is in principle secondary. It can change in many areas due to temperature effects or other effects.
  • the torque of the electric motor used for the drive of the auxiliary pump is electrically adjusted by the control unit to a desired value.
  • a suitable auxiliary pump corresponds to a predetermined drive torque of the electric motor in wide operating ranges of the auxiliary pump sufficiently accurate to a specific discharge pressure.
  • the flow rate or the engine speed then adjusts itself according to the conditions in the system.
  • the realization of the arrangement becomes particularly simple if the current consumed by the electric motor is used as the controlled variable.
  • phase current control in particular in brushless motors, leads to a good approximation to a regulation of the torque of the electric motor.
  • a simple, efficient and inexpensive arrangement for supplying a hydraulic system with hydraulic fluid is created, can be dispensed with sensors or intelligent control electronics.
  • auxiliary pump is a fixed displacement pump, in particular a vane pump, a radial piston pump, a roller-cell pump or a gear pump.
  • Constant pumps of this type are pumps which have a constant displacement. They are particularly suitable for the operation of the present arrangement, so that a predetermined torque of the electric motor in a wide operating range of the auxiliary pump sufficiently accurately corresponds to a specific delivery pressure.
  • the electric motor is a brushless electric motor, in particular a brushless, permanent magnet excited sensorless DC motor.
  • Such electric motors have a simple structure and therefore contribute to a cost-effective implementation of the arrangement claimed here.
  • an embodiment of the invention which is characterized in that between the main pump and the auxiliary pump, a check valve is arranged.
  • the check valve By the check valve, the auxiliary pump is disconnected from the supply of the hydraulic system when the delivery pressure of the main pump exceeds that of the auxiliary pump.
  • the auxiliary pump Conversely, the auxiliary pump must build with decreasing promotion of the main pump against the closed check valve, the target pressure and then deliver an increasing flow rate at constant pressure. On In this way, a smooth transition of the supply between the two pumps is achieved by means of the check valve.
  • an embodiment of the invention is preferred, which is characterized in that the auxiliary pump is connected to a pressure relief valve. As a result, it is ensured in certain operating states of the arrangement that the electric motor can continue to operate under pressure.
  • an auxiliary pump driven by an electric motor maintains the supply of the hydraulic system when the delivery provided by a mechanically driven main pump delivery to supply the hydraulic system drops.
  • the method is characterized in that the electric motor is operated torque-controlled by means of its phase current.
  • the method has over the known method has the advantage that can be dispensed with complex sensors, since when using a suitable auxiliary pump, in particular a constant displacement pump, the predetermined drive torque of the electric motor in a wide operating ranges of the auxiliary pump sufficiently accurately corresponds to a specific delivery pressure.
  • the delivery rate of the auxiliary pump or the engine speed then adjusts itself according to the conditions in the system. In this way, a simple, efficient and cost-effective method for the operation of an auxiliary pump for hydraulic systems is provided.
  • an embodiment of the method which is characterized in that a brushless electric motor, in particular a brushless, permanent magnet excited DC motor, is used.
  • a brushless electric motor in particular a brushless, permanent magnet excited DC motor
  • Such electric motors are particularly simple in construction and thus contribute to a cost-effective implementation of the method.
  • an embodiment of the method which is characterized in that a constant-displacement pump, in particular a vane pump, radial piston pump, roller-cell pump or a gear pump is used as an auxiliary pump.
  • a constant-displacement pump in particular a vane pump, radial piston pump, roller-cell pump or a gear pump is used as an auxiliary pump.
  • these pumps which have a fixed displacement, corresponds to a predetermined torque of the electric motor in wide operating ranges of the auxiliary pump sufficiently accurate to a specific discharge pressure.
  • auxiliary pump delivers at a decreasing flow rate of the main pump an increasing flow rate at a constant pressure.
  • auxiliary pump delivers a decreasing flow rate at a constant pressure at an increasing flow rate of the main pump. In this way, an uninterruptible supply of the hydraulic system, in particular a transmission, by the auxiliary pump possible.
  • a sensorless electric motor is used.
  • This electric motor is characterized by the fact that it is particularly simple and thereby contributes to a cost-effective implementation of the method.
  • these engines have the disadvantage that they only run stable above a certain minimum speed. Below this speed, there is a risk of the engine simply stopping under load. If such an engine to be used as a drive for auxiliary pumps of the type mentioned here, it must be ensured that the engine speed does not fall below this minimum speed during operation. Therefore, it is preferably provided in the present invention that the maximum achievable pressure of the auxiliary pump is reached at the minimum speed of the electric motor.
  • the electric motor is preferably operated for this purpose in a speed-controlled manner so as not to drop further in rotational speed or to stop.
  • the auxiliary pump is connected to a pressure relief valve and the maximum pressure to be reached corresponds to the opening pressure of the pressure relief valve.
  • the pressure relief valve will open, so that the auxiliary pump will pass through the minimum speed predetermines small delivery through the pressure relief valve directly into an oil sump of the auxiliary pump.
  • the maximum torque of the electric motor is limited and avoid overloading of the electric motor.
  • a minimum speed limit is deposited.
  • the speed control has a higher priority than the phase current control of the electric motor, so that it is avoided in any case that the speed of the electric motor drops below the minimum speed.
  • an embodiment of the method is preferred, which is characterized in that the opening pressure of the pressure limiting valve is greater than the maximum occurring during normal operation of the auxiliary pump pressure. This ensures the function of the auxiliary pump during normal operation.
  • the electric motor can open the pressure limiting valve, so that it does not stop.
  • Figure 1 is a schematic representation of an arrangement for supplying a
  • Figure 2 is a graph of the pressure versus delivery for two load points
  • Figure 3 is a graph of torque versus speed for two load points
  • FIG. 1 shows, by way of example, an arrangement 1 for the uninterruptible supply of a hydraulic system 3, which here by way of example is designed as an automatic transmission. det, with a fluid, in particular with hydraulic oil.
  • the hydraulic system 3 is supplied with hydraulic oil by a mechanical main pump 5 driven by an internal combustion engine (not shown).
  • a further pump namely an auxiliary pump 7, which is driven by an electric motor 9, is provided.
  • a control unit 11 is provided for the control of the electric motor 9, a control unit 11 is provided.
  • the electric motor 9 is preferably designed as a brushless electric motor.
  • the electric motor 9 is designed as a permanent magnet brushless DC motor.
  • the electric motor 9 may be designed sensor-controlled, so have position sensors that detect the position of its rotor. But it can also be carried out sensorless. In this case, the electric motor 9 does not have position sensors, but the rotor position is detected via the counter-voltage. If the electric motors described here are provided as a drive for the auxiliary pump 7, the torque control can be realized in a simple manner by regulating the phase current of the electric motor 9.
  • a check valve 13 is provided between the main pump 5 and the auxiliary pump 7.
  • a pressure limiting valve 15 is provided, which serves to secure the auxiliary pump 7, so that in normal operation of the assembly 1, so if oil production takes place solely by the mechanically driven main pump 5, hydraulic oil of the auxiliary pump 7 flows back into an oil sump 17 ,
  • a mandatory condition for the proper functioning of the arrangement 1 is the use of an auxiliary pump 7, the drive torque over a wide speed and temperature range is sufficiently accurate proportional to the delivery pressure.
  • This applies to vane pumps.
  • the decisive factor is that the hill pump 7 is a fixed-displacement pump, which therefore has no variable displacement.
  • Figure 2 shows a graph of the pressure over the delivery rate of the auxiliary pump 7 for two exemplarily selected load points.
  • the required for operation at the respective load point flow rate of hydraulic oil is temperature dependent, the oil temperature and thus the flow rate of the system are not known.
  • the demand of the hydraulic system 3 on hydraulic oil can be represented by the pressure in the P / Q diagram according to FIG. 2, which shows the pressure above the delivery rate, for the two operating points of the hydraulic system selected by way of example. It can be seen that for each load point in the graph, a characteristic curve with constant pressure and variable flow rate results. In Figure 2, the characteristic of the first load point by L 1 and the characteristic of the second load point with L 2 is marked.
  • the auxiliary pump 7 In order to ensure a certain pressure P at the output of the auxiliary pump 7 and thus a predetermined torque of the electric motor 9, the auxiliary pump 7, depending on the oil temperature, but also from the existing system pressure of the hydraulic and the delivery of the main pump 5 more or less Hyd - Promote rauliköl, which is clear in Figure 2 by the characteristics L 1 and L 2 .
  • the characteristic curves L 1 and L 2 of the load points of Figure 2 are shown in Figure 3 as areas B 1 and B 2 to take into account the resulting from the variable boundary conditions in the auxiliary pump 7 scattering of the conversion of pressure P in a torque M.
  • the demand-based oil supply of the hydraulic system 3 can be ensured by specifying a torque M to be adjusted without careful consideration of the characteristics of the hydraulic system 3, the auxiliary pump 7 and the oil temperature.
  • the predetermined torque M of the control unit 11 will be chosen to be slightly higher than the actual demand of the hydraulic system 3 on hydraulic pressure a certain safety reserve to ensure the so-called pressure reserve during operation of the arrangement 1.
  • brushless electric motors in particular permanent magnet-excited brushless DC motors, are preferably used as the drive machine for the auxiliary pump 7 for the present invention.
  • the torque control can be realized in a simple manner by controlling the phase current of the electric motor 9.
  • the torque M of the electric motor 9 is thus slightly higher at low speeds N than at high speeds N. This inclination of the characteristics Li 'and L 2 ' is required for a stable function of the motor control.
  • the operating characteristics of the electric motor 9 in the phase-controlled operation can then be entered in the torque / speed diagram (M / N), as shown in Figure 3.
  • the pressure control proposed here would not be possible because the electric motor 9 could also stop at constant pressure.
  • the rotational speed N is reduced as the load torque increases due to the inclination of the characteristic curve, the electric motor 9 can remain functional against the constant pressure of the system.
  • An important operating condition in hydraulic systems is the transition from the oil supply via the main pump 5 to the auxiliary pump 7 and vice versa.
  • an uninterrupted oil supply is indispensable. This means that a smooth transition of supply between the two pumps must be achieved. For example, if the flow rate of the main pump 5 slowly increases until it is sufficient alone for the supply of the hydraulic system 3, the additional delivery by the auxiliary pump 7 decreases until finally the check valve 13 between the auxiliary pump 7 and the main pump 5 closes when the delivery pressure the main pump 5 exceeds that of the auxiliary pump 7.
  • the auxiliary pump 7 must build the target pressure at a decreasing promotion of hydraulic oil through the main pump 5 against the closed check valve 13 and then provide an increasing flow rate at a constant pressure.
  • the control range of the electric motor 9 must therefore include a very wide speed range from a few revolutions per minute up to the maximum speed. This is easily possible with the described construction of the auxiliary pump 7 with electric motor 9 by a brushless permanent magnet excited electric motor. The operation of the electric motor 9 then takes place on the characteristic curves L 1 'and L 2 ' shown in FIG.
  • the electric motor 9 can be continuously adjusted to a certain torque M by means of its phase current.
  • Figure 4 shows a graph of the torque over the speed for the use of a sensorless electric motor.
  • FIG. 4 once again shows two exemplary operating characteristics L 1 "and L 2 " selected for two exemplary load points, ie pressures. It becomes clear that the speed of the electric motor 9 at constant phase current along the operating characteristics Li “and L 2 " decreases when the electric motor 9 is loaded in operation with a higher load torque, which is higher than that predetermined by the control unit 11 and by the Phase current adjusted torque M.
  • This operating state can occur, for example, when the electric motor 9 receives a start signal from the control device 11, because the main pump 5 will soon no longer deliver enough fluid to maintain the function of the hydraulic system 3.
  • the auxiliary pump 7 is then, driven by the electric motor 9, promote a certain amount of hydraulic oil, but initially starts against the closed return valve 13, because the hydraulic pressure generated by the main pump 5 exceeds that of the auxiliary pump 7. In this case, the load torque increases at the output of the auxiliary pump 7.
  • the speed N will then decrease due to the adjusted torque of the electric motor 9 up to a minimum speed N min .
  • a speed control of the electric motor 9 intervenes and keeps the rotational speed N min constant as the phase current increases and the torque M increases.
  • the operating point of the electric motor 9 thus runs along the characteristic L 3 in the diagram of Figure 4 upwards.
  • the arrangement 1 must then have the pressure limiting valve 15 shown in Figure 1 for the auxiliary pump 7, the opening pressure is slightly above the maximum during normal operation of the auxiliary pump 7 pressure.
  • the thus specified Maximum pressure is indicated in Figure 4 by the characteristic U.
  • the electric motor 9 must be able to reach this predetermined maximum pressure of the pressure limiting valve 15 in any case without first stopping.
  • the maximum torque M is limited by the pressure relief valve and an overload of the electric motor 9 avoided.
  • the electric motor 9 must be capable of starting against the load moment resulting from the opening pressure of the pressure limiting valve 15. Only then can the auxiliary pump 7 safely take over the oil supply from the main pump 5 even at lower pressures.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Control Of Positive-Displacement Pumps (AREA)

Abstract

Es wird eine Anordnung (1) zur unterbrechungsfreien Versorgung eines Hydrauliksystems (3) mit einem Fluid vorgeschlagen, umfassend eine mechanisch angetriebene Hauptpumpe (5) zur Versorgung des Hydrauliksystems (3) mit einem Fluid, eine von einem Elektromotor (9) angetriebene Hilfspumpe (7) zur Aufrechterhaltung eines Hydraulikdrucks in dem Hydrauliksystem (3) und eine Steuereinheit (11) zur Steuerung des Elektromotors (9).
PCT/DE2009/001011 2008-08-12 2009-07-20 Anordnung und verfahren zur unterbrechungsfreien versorgung eines hvdrauliksvstems mit einem fluid WO2010017794A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112009001698.7T DE112009001698B4 (de) 2008-08-12 2009-07-20 Anordnung und Verfahren zur unterbrechungsfreien Versorgung eines Hydrauliksystems mit einem Fluid

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008038717 2008-08-12
DE102008038717.7 2008-08-12

Publications (1)

Publication Number Publication Date
WO2010017794A1 true WO2010017794A1 (fr) 2010-02-18

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2009/001011 WO2010017794A1 (fr) 2008-08-12 2009-07-20 Anordnung und verfahren zur unterbrechungsfreien versorgung eines hvdrauliksvstems mit einem fluid

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DE (1) DE112009001698B4 (fr)
WO (1) WO2010017794A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018221482A1 (de) * 2018-12-12 2020-06-18 Zf Friedrichshafen Ag Verfahren und Steuergerät zum Betreiben eines Getriebes

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017106390A1 (de) 2017-03-24 2018-09-27 Still Gmbh Verfahren zum Betrieb einer Hydraulikanlage eines Flurförderzeugs

Citations (2)

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Publication number Priority date Publication date Assignee Title
DE10162973A1 (de) * 2000-12-28 2002-08-01 Aisin Aw Co Antriebssteuervorrichtung für Ölpumpe
US20050003930A1 (en) * 2003-07-02 2005-01-06 Hopper Mark L. Vehicle control method

Family Cites Families (4)

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US5220259A (en) * 1991-10-03 1993-06-15 Graco Inc. Dc motor drive system and method
US20040179962A1 (en) * 2003-03-12 2004-09-16 Hopper Mark L. System and method for regulating pressure in an automatic transmission
JP2008286108A (ja) * 2007-05-17 2008-11-27 Jtekt Corp 車両用オイルポンプシステム
US7643733B2 (en) * 2007-07-27 2010-01-05 Gm Global Technology Operations, Inc. Control device for driving a brushless DC motor

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
DE10162973A1 (de) * 2000-12-28 2002-08-01 Aisin Aw Co Antriebssteuervorrichtung für Ölpumpe
US20050003930A1 (en) * 2003-07-02 2005-01-06 Hopper Mark L. Vehicle control method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018221482A1 (de) * 2018-12-12 2020-06-18 Zf Friedrichshafen Ag Verfahren und Steuergerät zum Betreiben eines Getriebes

Also Published As

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DE112009001698B4 (de) 2020-02-20
DE112009001698A5 (de) 2011-04-14

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