EP3392488B1 - Method for controlling a motor speed of an industrial truck - Google Patents

Method for controlling a motor speed of an industrial truck Download PDF

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Publication number
EP3392488B1
EP3392488B1 EP18167961.4A EP18167961A EP3392488B1 EP 3392488 B1 EP3392488 B1 EP 3392488B1 EP 18167961 A EP18167961 A EP 18167961A EP 3392488 B1 EP3392488 B1 EP 3392488B1
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EP
European Patent Office
Prior art keywords
engine speed
loading device
requested
drive
speed
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
EP18167961.4A
Other languages
German (de)
French (fr)
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EP3392488A1 (en
Inventor
Jens Letscher
Florian Reinmuth
Florian Schott
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Deere and Co
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Deere and Co
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Filing date
Publication date
Application filed by Deere and Co filed Critical Deere and Co
Publication of EP3392488A1 publication Critical patent/EP3392488A1/en
Application granted granted Critical
Publication of EP3392488B1 publication Critical patent/EP3392488B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/422—Drive systems for bucket-arms, front-end loaders, dumpers or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/2066—Control of propulsion units of the type combustion engines
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
    • F02D31/001—Electric control of rotation speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
    • F02D31/001—Electric control of rotation speed
    • F02D31/002—Electric control of rotation speed controlling air supply
    • F02D31/006—Electric control of rotation speed controlling air supply for maximum speed control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D35/00—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for
    • 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
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/50—Input parameters for engine control said parameters being related to the vehicle or its components
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/60—Input parameters for engine control said parameters being related to the driver demands or status
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/021—Introducing corrections for particular conditions exterior to the engine

Definitions

  • the invention relates to a method for controlling a speed of a drive motor of a utility vehicle.
  • Agricultural utility vehicles such as tractors, sometimes have a front loader for completing specific work such as earthmoving or transporting crops.
  • a front loader for completing specific work such as earthmoving or transporting crops.
  • the working movements of the front loader depend on the engine power of a drive motor of the commercial vehicle, this can have an impact on the driving speed of the commercial vehicle.
  • Motor speed controls for a drive motor are known, for example, from: DE 11 2012 005571 T5 , DE 36 26 584 A1 , DE 11 2012 000075 T5 and DE 11 2006 002935 B4 .
  • a method for controlling a speed of a drive motor of a commercial vehicle with a drivable loading device is provided.
  • a movement drive of the charging device is predicted or recognized.
  • a request or execution of a movement drive or a working movement of the charging device is predicted or recognized. If a movement drive or a working movement of the loading device has been predicted or recognized, an increase in the motor speed of the drive motor is requested. As a result, the engine power of the drive motor can be automatically increased and thus adapted to specific drive movements of the charging device.
  • a vehicle speed of the commercial vehicle which is usually defined by an accelerator pedal and a brake pedal, is influenced significantly less or not at all by the operation of the charging device, which means an increase in comfort for the driver.
  • the vehicle speed can be maintained independently of specific drive movements of the charging device.
  • a vehicle transmission in particular a transmission ratio, is preferably controlled automatically as a function of an increase in the engine speed, so that a vehicle speed set by the driver remains constant. In this way, unwanted accelerations or decelerations of the utility vehicle can be avoided.
  • the method Based on the explained control of the engine speed, the method also supports improved control or handling of the commercial vehicle and the charging device.
  • An operating state of the charging device is preferably used in order to predict or recognize a movement drive of the charging device.
  • the operating state can be deactivated or activated, i.e. the charging device is basically switched off (deactivated) or switched on (activated) as a prerequisite for a subsequent movement drive or for a subsequent request or execution of a specific drive movement of the charging device.
  • the operating state is activated, it can be concluded that there is a high probability that the charging device will actually be driven to move. In this way, a future movement drive of the charging device can be predicted.
  • the utility vehicle is preferably designed as an agricultural vehicle, in particular as a tractor, tractor or the like.
  • the loading device is preferably a working device in the front or rear area of the utility vehicle.
  • the loading device has a front loader or consists of a front loader. This has, for example, a movable or swiveling arm on which a working unit or a tool (e.g. shovel, fork, clamp pliers) is mounted.
  • the engine speed is an idle speed of the drive engine when the commercial vehicle is stationary.
  • additional and work functions e.g. PTO operation, additional hydraulic functions
  • the commercial vehicle can already be adapted to an impending motion drive of the charging device when it is stationary.
  • the increased engine speed is preferably reduced again when a predetermined waiting time period (e.g. from the point at which the engine speed was increased) has expired and within this waiting time period no motion drive is still being carried out or at least has not been requested. This limits the additional fuel consumption of the drive motor to implement the comfort function.
  • a status signal is advantageously detected in order to predict or identify a movement drive of the charging device, this status signal signaling whether the charging device is in a specific operating state (e.g. on/activated or off/deactivated).
  • the loading device is hydraulically driven.
  • This drive takes place by means of a hydraulic drive pump of the commercial vehicle, which is hydraulically connected to the loading device and, if necessary, other hydraulic units (e.g. brakes, steering).
  • a target hydraulic flow e.g in liters/minute
  • a hydraulic volume required to carry out this drive movement can first be determined and the target hydraulic flow can be determined from this.
  • the target hydraulic flow is determined as a function of one or more detected valve control signals, with these valve control signals being used to control one or more hydraulic valves for driving the movement of the loading device, in particular a tool of the loading device.
  • these valve control signals being used to control one or more hydraulic valves for driving the movement of the loading device, in particular a tool of the loading device.
  • a percentage of the valve opening and/or a duration of the valve opening can be detected in order to support a determination of the target hydraulic flow in a technically simple manner.
  • the aforementioned features or information can preferably be called up at least partially as stored data and thus support the accuracy in determining the target hydraulic flow. For example, by evaluating certain input commands, the operator can determine along which direction, route or pivot axis the loading device or components thereof (e.g. its working unit or tool) are to be moved. A target hydraulic flow can then be determined from this ascertained information.
  • this target position has preferably already been stored during a previous work process in a device for carrying out the method, for example by means of a single position memory button on an operating unit.
  • a desired target position can be stored by manually entering various data at an operator interface, with the data entered representing the target position.
  • the target position can contain different data, such as a Swivel angle of a boom or a tool (shovel, fork, clamp, etc.) on the boom, a lifting height of the loading device, data from a hydraulic valve, such as a percentage valve opening and/or a time duration of the valve opening to generate a target hydraulic pressure, a clamping force or a clamping pressure of a tool (e.g. fork or clamp pliers) of the loading device.
  • This clamping force serves in particular to support reliable transport of bales or other goods.
  • a current clamping pressure of this tool is preferably determined or set by means of appropriate sensors.
  • This clamping pressure or clamping force can be displayed to a user on a display unit or operating interface. As already mentioned, a user can enter a desired clamping force as data for a desired target position of the tool or request the already stored clamping force for a new work process. A clamping force judged to be suitable thus remains constant and a consistently efficient work process is guaranteed.
  • a clamping force can preferably be entered and/or displayed directly at a user interface.
  • a corresponding hydraulic flow rate and associated time period can be entered and/or displayed if the clamping force is adjusted via a hydraulic cylinder.
  • a pressure measurement in this hydraulic cylinder and characteristic lever ratios and/or other geometric parameters of the tool can be used to determine a current clamping force.
  • This current clamping force can then be compared to a requested target clamping force.
  • a hydraulic flow can then be controlled on the basis of the comparison result in such a way that the target clamping force is set.
  • three functions are preferably controlled with regard to a movement drive of the loading device, namely a position of a boom of the loading device, a position of a tool of the loading device and a clamping force of the tool (e.g. fork or clamping pliers).
  • these three functions can be controlled automatically, namely simultaneously and/or coordinated with one another with regard to their drive movements.
  • a hydraulic cylinder in particular is activated for each function.
  • the automatic reaching of the required target position can replace manual operation of the loading device by an operator, which reliably prevents incorrect operation and thus any damage caused by the loading device (e.g. to adjacent buildings, to the load).
  • the operator can request a stored setpoint position using a suitable operating device. For example, the operator presses a button on a hand lever, joystick or the like. Alternatively, one or more optical buttons on a user interface (e.g. screen) can be touched in order to trigger a drive movement of the charging device in the direction of the target position.
  • a suitable operating device For example, the operator presses a button on a hand lever, joystick or the like.
  • one or more optical buttons on a user interface e.g. screen
  • a user interface e.g. screen
  • a foot pedal that can be actuated by foot is provided as the operating device for triggering a drive movement of the loading device, in particular in the direction of a desired position.
  • a conventional clutch pedal is suitable for this without significant additional technical effort, provided that it is no longer required for clutch purposes due to the transmission used in the commercial vehicle (eg IVT transmission). In such cases, the conventional clutch pedal can then be used to raise or lower a loader.
  • This function of the clutch pedal can be permanently specified in the commercial vehicle.
  • this clutch pedal can be configured with different functions. For this purpose, for example, one of several possible functions can be assigned to the clutch pedal via an operating interface. If necessary, the currently assigned function can be replaced by another function.
  • the foot pedal can flexibly fulfill different user-specific functions.
  • the signals from the actuated foot pedal are preferably processed in a corresponding control device and converted by this into control signals, for example for controlling the movement of a charging device.
  • a foot pedal can improve the ease of use for the driver and thus reduce his workload during the work movements to be carried out by the loading device.
  • the aforementioned drive characteristics contain, in particular, specific features of the charging device used, e.g. hydraulic-specific information about the model used and/or its geometric dimensioning.
  • the target hydraulic flow is determined as a function of at least one hydraulic unit (e.g. brakes, steering) of the utility vehicle, which further improves the accuracy for the requested increase in engine speed.
  • at least one hydraulic unit e.g. brakes, steering
  • a so-called request period In order to limit the additional consumption of the drive engine, it is advantageous to only request an increase in the engine speed for a specific period of time, a so-called request period.
  • This request period is determined or calculated as a function of the determined target hydraulic flow. Determining the request period is particularly useful and possible with great accuracy when the target hydraulic flow is determined for a requested target position, because the hydraulic volume required to reach the target position is then known or can be determined with great accuracy .
  • the determined demand period can also be further processed for the purpose of deciding whether an increased engine speed is actually maintained for the duration of the demand period or for a shorter or longer period of time.
  • the increased engine speed is preferably limited in such a way that it is at most as high as a predetermined limit speed.
  • the drive motor is preferably driven at the limit speed.
  • the engine speed is increased at a predetermined rate of increase that is lower than the requirement.
  • the engine speed is lowered at a specific point in time at a predetermined or determined lowering rate. This takes into account the inertia of the drive motor and additionally limits unnecessary additional fuel consumption of the drive motor.
  • an increased engine speed is maintained for a determined or predetermined hold period of time.
  • This holding period can be shorter or longer than the aforementioned request period.
  • the holding period is preferably dependent on a consumption-oriented process implementation (ie the shortest possible period of time to limit the additional consumption of fuel) or a performance-oriented implementation of the method (ie a relatively long period of time to support the drive power for the charging device and/or the mileage of the commercial vehicle) is predetermined or determined. It is also possible to predetermine the holding period as a function of the determined request period.
  • the increased engine speed is initially maintained after the predetermined hold time has elapsed if the requested engine speed is at least as high as the increased engine speed at the time the hold time elapses. This measure also helps to avoid constantly changing increases in engine speed and thus unnecessary additional consumption for the drive engine.
  • FIG. 1 shows a commercial vehicle designed as a tractor 10, on the front side of which a loading device designed as a front loader 12 is mounted.
  • the front loader 12 has a pivotable boom 14, at the free end of which a tool in the form of a shovel 16 is pivotably mounted.
  • the boom 14 and the shovel 16 are hydraulically driven to move to different positions, e.g 1 Pos_1, Pos_2, Pos_3 and Pos_4 shown positions to be able to take.
  • Pos_1, Pos_2 and Pos_3 the boom 14 assumes different swivel angles relative to the tractor 10.
  • Pos_1, Pos_2, Pos_3 and Pos_4 the shovel 16 assumes different pivoting angles relative to the boom 14.
  • the position Pos_3 can represent a maximum lifting height of the boom 14 or the loading device 12 for certain types of work in order to avoid any damage to adjacent buildings, gateways or the like.
  • the hydraulic movement is driven by means of suitable hydraulic cylinders 18, which are mounted on the loading device 12.
  • the method for controlling an engine speed n of a drive engine of tractor 10 provides for first predicting or recognizing a motion drive of loading device 12 and then requesting an increase in engine speed n of the drive engine.
  • the increase in engine speed n is therefore requested, for example, when a future movement drive is predicted or a movement drive is actually requested and recognized.
  • the engine speed n corresponds to an idle speed n_L when the tractor 10 is stationary (step S1).
  • the idling speed n_L is, for example, 850 rpm (revolutions per minute).
  • a status signal S_Z signals an activated operating status (on) or another drive status, for example deactivated operating status (off), of the charging device 12 . If an activated operating state is detected, it is assumed that there is a high probability that a movement drive or a drive movement will subsequently be requested. A future motion drive is thus predicted. According to the method, an increase in engine speed n is therefore requested.
  • the engine speed n is increased to the engine speed n_H (step S3). For example, it is 1000 rpm.
  • step S5 it is checked whether a movement drive or a drive movement is already being carried out or is at least requested when the time period ⁇ t_W has expired. If so, the increased engine speed n_H is maintained (step S6). If not, the increased engine speed n_H is reduced again (step S7) in order to reduce the increased fuel consumption again.
  • FIG. 3 shows schematically parts of an arrangement 20 for carrying out the method for controlling the engine speed n.
  • the arrangement 20 is used for carrying out the method at any engine speed n outside the idling speed n_L.
  • the working blocks 22, 24, 26, 28 shown here are used to control the engine speed n, which is effective as a function of a hydraulic flow to be described below.
  • further working blocks and components are provided which also control the engine speed n in idling mode according to 2 consider.
  • the arrangement 20 according to 3 assumes that the charging device 12 and possibly also other units (eg steering, brakes) are driven hydraulically.
  • the tractor 10 has a hydraulic drive pump 30 .
  • Their pump characteristics in particular a characteristic curve with a hydraulic flow (litres/minute) as a function of the engine speed) are taken into account in work block 24 in order to determine which higher engine speed n_A should be requested.
  • the engine speed n_A to be requested is calculated as a function of a determined setpoint hydraulic flow F_S.
  • engine speed n_A is requested for a request period ⁇ t_A, ie engine speed n_A should be effective during request period ⁇ t_A.
  • the request period ⁇ t_A is used as the output signal of the working block 24 in particular when a required hydraulic volume V_hyd is calculated in the working block 28 and sent to the working block 24 as a signal.
  • a required hydraulic volume V_hyd is calculated in the working block 28 and sent to the working block 24 as a signal.
  • the hydraulic volume V_hyd represents a hydraulic volume which is estimated or calculated in order to be able to carry out a predicted or recognized movement drive of the loading device 12 .
  • the input signals can be a drive characteristic S_Ch (e.g. drive type, drive geometry, geometry of the hydraulic cylinder 18, etc.) and a requested drive movement S_Bew (e.g.
  • An input signal S_Pos_S in particular is taken into account in working block 28 when determining the hydraulic volume V_hyd.
  • This signal represents in particular the request for a target position Pos_S of the charging device 12 that has already been stored and is therefore known with regard to the hydraulic requirements.
  • the charging device is in the initial position Pos_1 before the target position Pos_S is requested.
  • the required hydraulic volume V_hyd can then be predicted particularly precisely on the basis of the hydraulically known initial and target positions and the known drive characteristic S_Ch.
  • the requested hydraulic flow F_A is an output signal of the working block 22.
  • the output signal for example, input signals relating to the operating state (S_Z) of the loading device 12, a steering (S_L, e.g. steering angle) of the tractor 10, a brake unit (S_B, e.g. status of the brake) and Valve control signals S_V hydraulic valves of the charging device 12 are taken into account.
  • the target hydraulic flow F_S is determined as a function of a movement drive of the charging device 12 that is predicted or recognized in the working block 22 and/or in the working block 28 .
  • the requested engine speed n_A possibly the request period ⁇ t_A and a predetermined limit speed n_G and possibly other parameters or variables are evaluated in work block 26 .
  • an increased engine speed n_H that is actually to be realized is derived from the input signals of work block 26, a holding period ⁇ t_H to maintain the increased engine speed n_H, an increased rate of increase m_an of the engine speed n and a lowering rate m_ab of the increased engine speed n_H are determined or predetermined and transmitted as output signals for controlling the drive motor, in particular a motor controller.
  • the dot-dash lines show requested increases in the Engine speed n and possibly request periods ⁇ t_A.
  • the solid curves show the increased engine speeds n_H and holding times ⁇ t_H, with which the drive engine is actually activated based on the evaluation in work block 26 .
  • n_akt In 4 starting from a time to at a current speed n_akt of the drive motor, a higher speed n_A is requested for a request period ⁇ t_A. However, a lower value is predetermined for the limit speed n_G in comparison to the requested higher speed n_A. The actually realized increased speed n_H therefore corresponds to the limit speed n_G. Due to consumption-oriented boundary conditions, the increased engine speed n_H is only maintained for a holding period of increased engine speed n_H, which is shorter than the request period ⁇ t_A. In addition, the current rotational speed n_akt is increased at a lower rate of increase m_an than was requested in order to limit additional fuel consumption and an additional load on the drive engine.
  • a higher speed n_A is requested for time t 15 .
  • the rotational speed n is increased at a lower rate of increase m_an up to the point in time t 25 .
  • engine speed n initially remains at an increased speed n_H below limit speed n_G, since a further reduction in engine speed n was requested here and constant changes in engine speed are to be avoided.
  • the requested speed is again greater than the increased speed n_H realized between t25 and t35.
  • the engine speed n therefore continues to rise and is limited at time t 45 as an increased engine speed n_H on the basis of the predetermined limit speed n_G.
  • the increased engine speed n_H is maintained for the holding period ⁇ t_H. After that, the increased engine speed n_H is reduced again with the lowering speed m_ab. For time t65, an increase in engine speed n is requested again with a value n_A above limit speed n_G. Correspondingly, the engine speed is again increased at a rate of increase m_an with a limitation by the limit speed n_G (time t 75 ). After the holding period ⁇ t_H has elapsed at time t 85 , the increased engine speed n_H is reduced again at a lowering speed m_ab.
  • the value of the increased engine speed n_H corresponds to the value of the requested higher engine speed n_A, since the latter is below the limit speed n_G. From point in time t 17 , the increased engine speed n_H is maintained for the holding period ⁇ t_H. Since a higher engine speed n_A is still requested when this first holding period ⁇ t_H expires at time t 27 , the increased engine speed n_H remains—similar to Alauf in 6 - Maintained for a further holding period ⁇ t_H.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Fluid Mechanics (AREA)
  • Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Description

Die Erfindung betrifft ein Verfahren zur Steuerung einer Drehzahl eines Antriebsmotors eines Nutzfahrzeugs.The invention relates to a method for controlling a speed of a drive motor of a utility vehicle.

Landwirtschaftliche Nutzfahrzeuge, wie z.B. Traktoren, weisen teilweise einen Frontlader zur Erledigung spezifischer Arbeiten wie Erdbewegungen oder Transport von Erntegut auf. Soweit die Arbeitsbewegungen des Frontladers von der Motorkraft eines Antriebsmotors des Nutzfahrzeugs abhängig sind, kann dies einen Einfluss auf die Fahrgeschwindigkeit des Nutzfahrzeugs haben.Agricultural utility vehicles, such as tractors, sometimes have a front loader for completing specific work such as earthmoving or transporting crops. Insofar as the working movements of the front loader depend on the engine power of a drive motor of the commercial vehicle, this can have an impact on the driving speed of the commercial vehicle.

Steuerungen für eine Motordrehzahl für einen Antriebsmotor sind beispielsweise bekannt aus: DE 11 2012 005571 T5 , DE 36 26 584 A1 , DE 11 2012 000075 T5 und DE 11 2006 002935 B4 .Motor speed controls for a drive motor are known, for example, from: DE 11 2012 005571 T5 , DE 36 26 584 A1 , DE 11 2012 000075 T5 and DE 11 2006 002935 B4 .

Es ist daher die Aufgabe der vorliegenden Erfindung, eine verbesserte Steuerung einer Motordrehzahl für den Antriebsmotor eines Nutzfahrzeugs vorzuschlagen.It is therefore the object of the present invention to propose improved control of an engine speed for the drive engine of a utility vehicle.

Diese Aufgabe wird gemäß den Merkmalen des Patentanspruchs 1 gelöst. Gemäß Patentanspruch 1 ist ein Verfahren zur Steuerung einer Drehzahl eines Antriebsmotors eines Nutzfahrzeugs mit einer antreibbaren Ladevorrichtung vorgesehen. In einem Verfahrensschritt wird ein Bewegungsantrieb der Ladeeinrichtung prädiziert oder erkannt. Hierbei wird insbesondere eine Anforderung oder Ausführung eines Bewegungsantriebs bzw. einer Arbeitsbewegung der Ladeeinrichtung prädiziert oder erkannt. Ist ein Bewegungsantrieb bzw. eine Arbeitsbewegung der Ladeeinrichtung prädiziert oder erkannt worden, wird eine Erhöhung der Motordrehzahl des Antriebsmotors angefordert. Hierdurch kann die Motorleistung des Antriebsmotors automatisch erhöht und somit an spezifische Antriebsbewegungen der Ladeeinrichtung angepasst werden. Folglich wird eine üblicherweise durch ein Gaspedal und Bremspedal definierte Fahrzeuggeschwindigkeit des Nutzfahrzeugs durch den Betrieb der Ladeeinrichtung deutlich weniger oder überhaupt nicht mehr beeinflusst, was eine Steigerung des Komforts für den Fahrer bedeutet. Mit anderen Worten kann mit dieser Komfortfunktion die Fahrzeuggeschwindigkeit unabhängig von spezifischen Antriebsbewegungen der Ladeeinrichtung gehalten werden. Vorzugsweise wird in Abhängigkeit einer Erhöhung der Motordrehzahl ein Fahrzeug-Getriebe, insbesondere eine Getriebeübersetzung, automatisch gesteuert, damit eine vom Fahrer eingestellte Fahrzeuggeschwindigkeit konstant bleibt. Hierdurch können ungewollte Beschleunigungen oder Verzögerungen des Nutzfahrzeugs vermieden werden.This object is achieved according to the features of patent claim 1. According to patent claim 1, a method for controlling a speed of a drive motor of a commercial vehicle with a drivable loading device is provided. In a method step, a movement drive of the charging device is predicted or recognized. In this case, in particular, a request or execution of a movement drive or a working movement of the charging device is predicted or recognized. If a movement drive or a working movement of the loading device has been predicted or recognized, an increase in the motor speed of the drive motor is requested. As a result, the engine power of the drive motor can be automatically increased and thus adapted to specific drive movements of the charging device. Consequently, a vehicle speed of the commercial vehicle, which is usually defined by an accelerator pedal and a brake pedal, is influenced significantly less or not at all by the operation of the charging device, which means an increase in comfort for the driver. In other words, with this convenience function, the vehicle speed can be maintained independently of specific drive movements of the charging device. A vehicle transmission, in particular a transmission ratio, is preferably controlled automatically as a function of an increase in the engine speed, so that a vehicle speed set by the driver remains constant. In this way, unwanted accelerations or decelerations of the utility vehicle can be avoided.

Das Verfahren unterstützt ausgehend von der erläuterten Steuerung der Motordrehzahl auch eine verbesserte Steuerung bzw. Handhabung des Nutzfahrzeugs und der Ladeeinrichtung.Based on the explained control of the engine speed, the method also supports improved control or handling of the commercial vehicle and the charging device.

Vorzugsweise wird ein Betriebszustand der Ladeeinrichtung herangezogen, um einen Bewegungsantrieb der Ladeeinrichtung zu prädizieren oder zu erkennen. Dabei kann der Betriebszustand deaktiviert oder aktiviert sein, d.h. die Ladeeinrichtung ist grundsätzlich ausgeschaltet (deaktiviert) oder eingeschaltet (aktiviert) als Voraussetzung für einen nachfolgenden Bewegungsantrieb oder für eine nachfolgende Anforderung oder Ausführung einer spezifischen Antriebsbewegung der Ladeeinrichtung. Bei einem aktivierten Betriebszustand kann darauf geschlossen werden, dass mit einer hohen Wahrscheinlichkeit tatsächlich ein Bewegungsantrieb der Ladeeinrichtung erfolgen wird. Auf diese Weise kann ein zukünftiger Bewegungsantrieb der Ladeeinrichtung prädiziert werden.An operating state of the charging device is preferably used in order to predict or recognize a movement drive of the charging device. The operating state can be deactivated or activated, i.e. the charging device is basically switched off (deactivated) or switched on (activated) as a prerequisite for a subsequent movement drive or for a subsequent request or execution of a specific drive movement of the charging device. When the operating state is activated, it can be concluded that there is a high probability that the charging device will actually be driven to move. In this way, a future movement drive of the charging device can be predicted.

Das Nutzfahrzeug ist vorzugsweise als landwirtschaftliches Fahrzeug, insbesondere als ein Traktor, Schlepper oder dergleichen ausgebildet. Bei der Ladeeinrichtung handelt es sich vorzugsweise um eine Arbeitseinrichtung im Front- oder Heckbereich des Nutzfahrzeugs. Insbesondere weist die Ladeeinrichtung einen Frontlader auf oder besteht aus einem Frontlader. Dieser weist beispielsweise einen beweglichen oder schwenkbaren Ausleger auf, an dem eine Arbeitseinheit bzw. ein Werkzeug (z.B. Schaufel, Forke, Klemmzange) gelagert ist.The utility vehicle is preferably designed as an agricultural vehicle, in particular as a tractor, tractor or the like. The loading device is preferably a working device in the front or rear area of the utility vehicle. In particular, the loading device has a front loader or consists of a front loader. This has, for example, a movable or swiveling arm on which a working unit or a tool (e.g. shovel, fork, clamp pliers) is mounted.

In einer bevorzugten Ausführungsform handelt es sich bei der Motordrehzahl um eine Leerlauf-Drehzahl des Antriebsmotors bei Stillstand des Nutzfahrzeugs. In diesem Zustand sind Zusatz- und Arbeitsfunktionen (z.B. Zapfwellenbetrieb, hydraulische Zusatzfunktionen) des Nutzfahrzeugs nicht aktiv bzw. abgeschaltet. Auf diese Weise kann das Nutzfahrzeug bereits im Stillstand auf einen bevorstehenden Bewegungsantrieb der Ladeeinrichtung angepasst werden.In a preferred embodiment, the engine speed is an idle speed of the drive engine when the commercial vehicle is stationary. In this state, additional and work functions (e.g. PTO operation, additional hydraulic functions) of the commercial vehicle are not active or switched off. In this way, the commercial vehicle can already be adapted to an impending motion drive of the charging device when it is stationary.

Vorzugsweise wird die erhöhte Motordrehzahl wieder reduziert, wenn eine vorbestimmte Warte-Zeitdauer (z.B. ab dem Zeitpunkt der Erhöhung der Motordrehzahl) abgelaufen ist und innerhalb dieser Warte-Zeitdauer immer noch kein Bewegungsantrieb ausgeführt wird oder zumindest angefordert worden ist. Hierdurch wird der Kraftstoff-Mehrverbrauch des Antriebsmotors zur Realisierung der Komfortfunktion begrenzt.The increased engine speed is preferably reduced again when a predetermined waiting time period (e.g. from the point at which the engine speed was increased) has expired and within this waiting time period no motion drive is still being carried out or at least has not been requested. This limits the additional fuel consumption of the drive motor to implement the comfort function.

Vorteilhaft wird zur Prädiktion oder Erkennung eines Bewegungsantriebs der Ladeeinrichtung ein Zustandssignal detektiert, wobei dieses Zustandssignal signalisiert, ob sich die Ladeeinrichtung in einem bestimmten Betriebszustand (z.B. Ein/aktiviert oder Aus/deaktiviert) befindet.A status signal is advantageously detected in order to predict or identify a movement drive of the charging device, this status signal signaling whether the charging device is in a specific operating state (e.g. on/activated or off/deactivated).

In einer bevorzugten Ausführungsform wird die Ladeeinrichtung hydraulisch angetrieben. Dieser Antrieb erfolgt mittels einer hydraulischen Antriebspumpe des Nutzfahrzeugs, welche mit der Ladeeinrichtung und ggf. weiteren hydraulischen Aggregaten (z.B. Bremse, Lenkung) hydraulisch verbunden ist. In diesem Fall ist es günstig, zunächst einen Soll-Hydraulikfluss (z.B. in Liter/Minute) in Abhängigkeit des prädizierten oder erkannten Bewegungsantriebs der Ladeeinrichtung zu ermitteln und dann eine Erhöhung der Motordrehzahl in Abhängigkeit des ermittelten Soll-Hydraulikflusses anzufordern. Beispielsweise kann auf Basis des prädizierten oder erkannten Bewegungsantriebs der Ladeeinrichtung zunächst ein zur Ausführung dieser Antriebsbewegung erforderliches Hydraulik-Volumen ermittelt und daraus der Soll-Hydraulikfluss ermittelt werden.In a preferred embodiment, the loading device is hydraulically driven. This drive takes place by means of a hydraulic drive pump of the commercial vehicle, which is hydraulically connected to the loading device and, if necessary, other hydraulic units (e.g. brakes, steering). In this case, it is favorable to first determine a target hydraulic flow (eg in liters/minute) as a function of the predicted or detected movement drive of the charging device and then to request an increase in the engine speed as a function of the determined target hydraulic flow. For example, on the basis of the predicted or recognized movement drive of the charging device, a hydraulic volume required to carry out this drive movement can first be determined and the target hydraulic flow can be determined from this.

Weiter vorzugsweise wird der Soll-Hydraulikfluss in Abhängigkeit eines oder mehrerer detektierter Ventil-Steuersignale ermittelt, wobei mit diesen Ventil-Steuersignalen ein oder mehrere hydraulische Ventile für den Bewegungsantrieb der Ladeeinrichtung, insbesondere eines Werkzeugs der Ladeeinrichtung, angesteuert werden. Hierbei kann beispielsweise eine prozentuale Ventilöffnung und/oder eine Zeitdauer der Ventilöffnung detektiert werden, um auf technisch einfache Weise eine Ermittlung des Soll-Hydraulikflusses zu unterstützen.More preferably, the target hydraulic flow is determined as a function of one or more detected valve control signals, with these valve control signals being used to control one or more hydraulic valves for driving the movement of the loading device, in particular a tool of the loading device. In this case, for example, a percentage of the valve opening and/or a duration of the valve opening can be detected in order to support a determination of the target hydraulic flow in a technically simple manner.

Weiterhin ist es günstig, wenn zur Ermittlung des Soll-Hydraulikflusses mindestens eines der folgenden Merkmale berücksichtigt wird:

  • eine angeforderte Antriebsbewegung der Ladeeinrichtung,
  • eine Antriebscharakteristik der Ladeeinrichtung,
  • eine angeforderte Soll-Position der Ladeeinrichtung.
It is also beneficial if at least one of the following features is taken into account when determining the target hydraulic flow:
  • a requested drive movement of the loading device,
  • a drive characteristic of the charging device,
  • a requested target position of the loading device.

Die vorgenannten Merkmale oder Informationen können vorzugsweise zumindest teilweise als abgespeicherte Daten abgerufen werden und somit die Genauigkeit bei der Ermittlung des Soll-Hydraulikflusses unterstützen. So kann z.B. über eine Auswertung bestimmter Eingabebefehle durch den Bediener festgestellt werden, entlang welcher Richtung, Strecke oder Schwenkachse die Ladeeinrichtung bzw. Bestandteile davon (z.B. deren Arbeitseinheit oder Werkzeug) bewegt werden sollen. Aus diesen festgestellten Informationen kann dann ein Soll-Hydraulikfluss ermittelt werden.The aforementioned features or information can preferably be called up at least partially as stored data and thus support the accuracy in determining the target hydraulic flow. For example, by evaluating certain input commands, the operator can determine along which direction, route or pivot axis the loading device or components thereof (e.g. its working unit or tool) are to be moved. A target hydraulic flow can then be determined from this ascertained information.

Im Falle einer angeforderten Soll-Position der Ladeeinrichtung ist diese Soll-Position vorzugsweise bereits bei einem vorherigen Arbeitsvorgang in einer Vorrichtung zur Durchführung des Verfahrens abgespeichert worden, z.B. mittels einer einzelnen Positions-Speichertaste an einer Bedieneinheit. Alternativ kann eine gewünschte Soll-Position durch manuelle Eingabe verschiedener Daten an einer Bedienungs-Schnittstelle abgespeichert werden, wobei die eingegebenen Daten die Soll-Position repräsentieren. Unabhängig von der Art der Abspeicherung kann die Soll-Position unterschiedliche Daten beinhalten, wie z.B. einen Schwenkwinkel eines Auslegers oder eines Werkzeugs (Schaufel, Forke, Klemmzange, etc.) am Ausleger, eine Hubhöhe der Ladeeinrichtung, Daten eines hydraulischen Ventils, wie z.B. eine prozentuale Ventilöffnung und/oder eine Zeitdauer der Ventilöffnung zur Erzeugung eines Soll-Hydraulikdruckes, eine Klemmkraft bzw. einen Klemmdruck eines Werkzeugs (z.B. Forke oder Klemmzange) der Ladeeinrichtung. Diese Klemmkraft dient insbesondere dazu, einen zuverlässigen Transport von Ballen oder anderen Gütern zu unterstützen. Ein aktueller Klemmdruck dieses Werkzeugs wird vorzugsweise mittels entsprechender Sensoren ermittelt oder eingestellt. Dieser Klemmdruck bzw. Klemmkraft kann einem Benutzer an einer Anzeige-Einheit oder Bedienungs-Schnittstelle angezeigt werden. Wie bereits erwähnt, kann ein Benutzer eine gewünschte Klemmkraft als Daten einer gewünschten Soll-Position des Werkzeugs eingeben oder die bereits abgespeicherte Klemmkraft für einen neuen Arbeitsvorgang wieder anfordern. Somit bleibt eine als geeignet beurteilte Klemmkraft konstant und ein gleichbleibend effizienter Arbeitsablauf ist gewährleistet.In the case of a requested target position of the loading device, this target position has preferably already been stored during a previous work process in a device for carrying out the method, for example by means of a single position memory button on an operating unit. Alternatively, a desired target position can be stored by manually entering various data at an operator interface, with the data entered representing the target position. Regardless of the type of storage, the target position can contain different data, such as a Swivel angle of a boom or a tool (shovel, fork, clamp, etc.) on the boom, a lifting height of the loading device, data from a hydraulic valve, such as a percentage valve opening and/or a time duration of the valve opening to generate a target hydraulic pressure, a clamping force or a clamping pressure of a tool (e.g. fork or clamp pliers) of the loading device. This clamping force serves in particular to support reliable transport of bales or other goods. A current clamping pressure of this tool is preferably determined or set by means of appropriate sensors. This clamping pressure or clamping force can be displayed to a user on a display unit or operating interface. As already mentioned, a user can enter a desired clamping force as data for a desired target position of the tool or request the already stored clamping force for a new work process. A clamping force judged to be suitable thus remains constant and a consistently efficient work process is guaranteed.

Um eine geeignete Klemmkraft zu erzielen, ist an einer Bedienungs-Schnittstelle vorzugsweise eine Klemmkraft direkt eingebbar und/oder anzeigbar. Alternativ kann eine entsprechende hydraulische Durchflussmenge und damit verbundene Zeitdauer eingegeben und/oder angezeigt werden, wenn die Klemmkraft über einen hydraulischen Zylinder eingestellt wird. Eine Druckmessung in diesem hydraulischen Zylinder und charakteristische Hebelverhältnisse und/oder andere geometrische Größen des Werkzeugs können zur Ermittlung einer aktuellen Klemmkraft herangezogen werden. Diese aktuelle Klemmkraft kann dann mit einer angeforderten Soll-Klemmkraft verglichen werden. Auf Basis des Vergleichsergebnisses kann dann ein Hydraulikfluss derart gesteuert werden, dass die Soll-Klemmkraft eingestellt wird.In order to achieve a suitable clamping force, a clamping force can preferably be entered and/or displayed directly at a user interface. Alternatively, a corresponding hydraulic flow rate and associated time period can be entered and/or displayed if the clamping force is adjusted via a hydraulic cylinder. A pressure measurement in this hydraulic cylinder and characteristic lever ratios and/or other geometric parameters of the tool can be used to determine a current clamping force. This current clamping force can then be compared to a requested target clamping force. A hydraulic flow can then be controlled on the basis of the comparison result in such a way that the target clamping force is set.

Die Berücksichtigung der Klemmkraft bzw. des Klemmdruckes stellt beispielsweise im Falle von Silage-Rundballen sicher, dass jeder Rundballen mit einer ausreichenden Klemmkraft beaufschlagt wird, um dessen sicheren Transport zu gewährleisten. Unterschiede in Größe und Form der Ballen können automatisch kompensiert werden. Außerdem werden übermäßige Quetschungen der Ballen vermieden, was etwaige Risse und Beschädigungen am Ballen oder der ihn umgebenden Folie und infolge dessen Fäule im Ballen und Verlust von Futterqualität verhindert. Folglich fallen auch keine Kosten für Entfernung der Fäule bzw. Entsorgung derartiger Ballen und Beschaffung von Ersatzfutter an.In the case of round silage bales, for example, the consideration of the clamping force or the clamping pressure ensures that each round bale is subjected to sufficient clamping force to ensure its safe transport. Differences in bale size and shape can be automatically compensated. In addition, excessive crushing of the bales is avoided, which prevents possible tears and damage to the bale or the film surrounding it and consequent rot in the bale and loss of forage quality. Consequently, there are no costs for removing the rot or disposing of such bales and procurement of substitute feed.

Im Zusammenhang mit der vorgenannten Soll-Position werden vorzugsweise drei Funktionen bezüglich eines Bewegungsantriebs der Ladeeinrichtung angesteuert, nämlich eine Position eines Auslegers der Ladeeinrichtung, eine Position eines Werkzeugs der Ladeeinrichtung und eine Klemmkraft des Werkzeugs (z.B. Forke oder Klemmzange). Zur Erreichung der Soll-Position können diese drei Funktionen automatisch, und zwar gleichzeitig und/oder bezüglich ihrer Antriebsbewegungen miteinander abgestimmt, angesteuert werden. Hierbei werden für jede Funktion insbesondere ein hydraulischer Zylinder angesteuert.In connection with the aforementioned target position, three functions are preferably controlled with regard to a movement drive of the loading device, namely a position of a boom of the loading device, a position of a tool of the loading device and a clamping force of the tool (e.g. fork or clamping pliers). To achieve the desired position, these three functions can be controlled automatically, namely simultaneously and/or coordinated with one another with regard to their drive movements. In this case, a hydraulic cylinder in particular is activated for each function.

Aufgrund der vorgenannten Abspeicherung muss lediglich eine abgespeicherte Soll-Position wieder angefordert werden, wodurch der benötigte Hydraulikfluss bzw. das Hydraulikvolumen zur Erreichung dieser Soll-Position sehr genau im Voraus ermittelt werden kann. Außerdem kann das automatische Erreichen der angeforderten Soll-Position eine manuelle Betätigung der Ladeeinrichtung durch einen Bediener ersetzen, wodurch eine fehlerhafte Bedienung und somit etwaige Beschädigungen durch die Ladeeinrichtung (z.B. an angrenzenden Gebäuden, am Ladegut) zuverlässig vermieden werden.Due to the aforementioned storage, only a stored target position has to be requested again, as a result of which the required hydraulic flow or the hydraulic volume to reach this target position can be determined very precisely in advance. In addition, the automatic reaching of the required target position can replace manual operation of the loading device by an operator, which reliably prevents incorrect operation and thus any damage caused by the loading device (e.g. to adjacent buildings, to the load).

Die Anforderung einer abgespeicherten Soll-Position durch den Bediener kann mittels einer geeigneten Bedienungsvorrichtung geschehen. Beispielsweise drückt der Bediener eine Taste an einem Handhebel, Joystick oder dergleichen. Alternativ kann eine Berührung einer oder mehrerer optischer Schaltflächen an einer Bedienungs-Schnittstelle (z.B. Bildschirm) vorgesehen sein, um eine Antriebsbewegung der Ladeeinrichtung in Richtung der Soll-Position auszulösen.The operator can request a stored setpoint position using a suitable operating device. For example, the operator presses a button on a hand lever, joystick or the like. Alternatively, one or more optical buttons on a user interface (e.g. screen) can be touched in order to trigger a drive movement of the charging device in the direction of the target position.

In einer weiteren Ausführungsform ist als Bedienungsvorrichtung für die Auslösung einer Antriebsbewegung der Ladeeinrichtung, insbesondere in Richtung einer Soll-Position, ein per Fuß betätigbares Fußpedal vorgesehen. Hierzu eignet sich ohne wesentlichen technischen Mehraufwand ein herkömmliches Kupplungspedal, sofern es aufgrund des im Nutzfahrzeug eingesetzten Getriebes (z.B. IVT-Getriebe) nicht mehr für Kupplungszwecke benötigt wird. In solchen Fällen kann das herkömmliche Kupplungspedal dann zum Anheben oder Absenken einer Ladeeinrichtung verwendet werden. Diese Funktion des Kupplungspedals kann im Nutzfahrzeug fest vorgegeben sein. Alternativ ist dieses Kupplungspedal wahlweise mit unterschiedlichen Funktionen konfigurierbar. Hierzu kann beispielsweise über eine Bedienungs-Schnittstelle dem Kupplungspedal eine von mehreren möglichen Funktionen zugeordnet werden. Bedarfsweise kann die aktuell zugeordnete Funktion durch eine andere Funktion ersetzt werden. Somit kann das Fußpedal flexibel unterschiedliche anwenderspezifische Funktionen erfüllen. Die Signale des betätigten Fußpedals werden vorzugsweise in einem entsprechenden Steuergerät verarbeitet und von diesem in Ansteuersignale umgesetzt, beispielsweise zur Bewegungssteuerung einer Ladeeinrichtung. Ein derartiges Fußpedal kann den Bedienungskomfort für den Fahrer verbessern und somit seine Arbeitsbelastung während der auszuführenden Arbeitsbewegungen der Ladeeinrichtung senken.In a further embodiment, a foot pedal that can be actuated by foot is provided as the operating device for triggering a drive movement of the loading device, in particular in the direction of a desired position. A conventional clutch pedal is suitable for this without significant additional technical effort, provided that it is no longer required for clutch purposes due to the transmission used in the commercial vehicle (eg IVT transmission). In such cases, the conventional clutch pedal can then be used to raise or lower a loader. This function of the clutch pedal can be permanently specified in the commercial vehicle. Alternatively, this clutch pedal can be configured with different functions. For this purpose, for example, one of several possible functions can be assigned to the clutch pedal via an operating interface. If necessary, the currently assigned function can be replaced by another function. Thus, the foot pedal can flexibly fulfill different user-specific functions. The signals from the actuated foot pedal are preferably processed in a corresponding control device and converted by this into control signals, for example for controlling the movement of a charging device. Such a foot pedal can improve the ease of use for the driver and thus reduce his workload during the work movements to be carried out by the loading device.

Die vorgenannte Antriebscharakteristik enthält insbesondere spezifische Merkmale der verwendeten Ladeeinrichtung, z.B. hydraulik-spezifische Informationen über das verwendete Modell und/oder deren geometrische Dimensionierung.The aforementioned drive characteristics contain, in particular, specific features of the charging device used, e.g. hydraulic-specific information about the model used and/or its geometric dimensioning.

In einer weiteren bevorzugten Ausführungsform wird der Soll-Hydraulikfluss in Abhängigkeit von mindestens einem hydraulischen Aggregat (z.B. Bremse, Lenkung) des Nutzfahrzeugs ermittelt, wodurch die Genauigkeit für die angeforderte Erhöhung der Motordrehzahl weiter verbessert ist.In a further preferred embodiment, the target hydraulic flow is determined as a function of at least one hydraulic unit (e.g. brakes, steering) of the utility vehicle, which further improves the accuracy for the requested increase in engine speed.

Um den Mehrverbrauch des Antriebsmotors zu begrenzen, ist es vorteilhaft, eine Erhöhung der Motordrehzahl nur für eine bestimmte Zeitdauer, eine sogenannte Anforderungs-Zeitdauer, anzufordern. Diese Anforderungs-Zeitdauer wird in Abhängigkeit des ermittelten Soll-Hydraulikflusses ermittelt bzw. berechnet. Die Ermittlung der Anforderungs-Zeitdauer ist insbesondere dann sinnvoll und mit großer Genauigkeit möglich, wenn der Soll-Hydraulikfluss für eine angeforderte Soll-Position ermittelt wird, weil dann das zur Erreichung der Soll-Position erforderliche Hydraulik-Volumen mit großer Genauigkeit bekannt oder ermittelbar ist. Die ermittelte Anforderungs-Zeitdauer kann auch weiterverarbeitet werden zum Zwecke einer Entscheidung, ob eine erhöhte Motordrehzahl tatsächlich für die Dauer der Anforderungs-Zeitdauer oder für eine kürzere oder längere Zeitdauer aufrechterhalten wird.In order to limit the additional consumption of the drive engine, it is advantageous to only request an increase in the engine speed for a specific period of time, a so-called request period. This request period is determined or calculated as a function of the determined target hydraulic flow. Determining the request period is particularly useful and possible with great accuracy when the target hydraulic flow is determined for a requested target position, because the hydraulic volume required to reach the target position is then known or can be determined with great accuracy . The determined demand period can also be further processed for the purpose of deciding whether an increased engine speed is actually maintained for the duration of the demand period or for a shorter or longer period of time.

Um ständig wechselnde Erhöhungen der Motordrehzahl und somit unnötigen Mehrverbrauch zu vermeiden, wird die erhöhte Motordrehzahl vorzugsweise derart begrenzt, dass sie höchstens so groß wie eine vorbestimmte Grenz-Drehzahl ist. Bei angeforderten Motordrehzahlen größer als die Grenz-Drehzahl wird der Antriebsmotor also vorzugsweise mit der Grenz-Drehzahl angetrieben.In order to avoid constantly changing increases in the engine speed and thus unnecessary additional consumption, the increased engine speed is preferably limited in such a way that it is at most as high as a predetermined limit speed. When engine speeds are requested that are greater than the limit speed, the drive motor is preferably driven at the limit speed.

Die Motordrehzahl wird erfindungsgemäß mit einer gegenüber der Anforderung geringeren vorbestimmten Anstiegsgeschwindigkeit erhöht.According to the invention, the engine speed is increased at a predetermined rate of increase that is lower than the requirement.

Weiter vorzugsweise wird die Motordrehzahl nach ihrer Erhöhung zu einem bestimmten Zeitpunkt mit einer vorbestimmten oder ermittelten Absenkgeschwindigkeit abgesenkt. Hierdurch wird die Trägheit des Antriebsmotors berücksichtigt und unnötiger Kraftstoff-Mehrverbrauch des Antriebsmotors zusätzlich begrenzt.More preferably, after the engine speed has increased, it is lowered at a specific point in time at a predetermined or determined lowering rate. This takes into account the inertia of the drive motor and additionally limits unnecessary additional fuel consumption of the drive motor.

Eine erhöhte Motordrehzahl wird insbesondere für eine ermittelte oder vorbestimmte Halte-Zeitdauer aufrechterhalten. Diese Halte-Zeitdauer kann kürzer oder länger als die vorgenannte Anforderungs-Zeitdauer sein. Die Halte-Zeitdauer wird vorzugsweise in Abhängigkeit einer verbrauchsorientierten Verfahrensdurchführung (d.h. möglichst kurze Zeitdauer zur Begrenzung des Mehrverbrauchs an Kraftstoff) oder einer leistungsorientierten Verfahrensdurchführung (d.h. relativ lange Zeitdauer zur Unterstützung der Antriebsleistung für die Ladeeinrichtung und/oder der Fahrleistung des Nutzfahrzeugs) vorbestimmt bzw. ermittelt. Auch eine Vorbestimmung der Halte-Zeitdauer in Abhängigkeit der ermittelten Anforderungs-Zeitdauer ist möglich.In particular, an increased engine speed is maintained for a determined or predetermined hold period of time. This holding period can be shorter or longer than the aforementioned request period. The holding period is preferably dependent on a consumption-oriented process implementation (ie the shortest possible period of time to limit the additional consumption of fuel) or a performance-oriented implementation of the method (ie a relatively long period of time to support the drive power for the charging device and/or the mileage of the commercial vehicle) is predetermined or determined. It is also possible to predetermine the holding period as a function of the determined request period.

Gemäß einer weiteren bevorzugten Maßnahme wird die erhöhte Motordrehzahl nach Ablauf der vorbestimmten Halte-Zeitdauer zunächst weiter aufrechterhalten, wenn im Zeitpunkt des Ablaufs der Halte-Zeitdauer die angeforderte Motordrehzahl mindestens so groß ist wie die erhöhte Motordrehzahl. Diese Maßnahme trägt ebenfalls dazu bei, ständig wechselnde Erhöhungen der Motordrehzahl und somit einen unnötigen Mehrverbrauch für den Antriebsmotor zu vermeiden.According to a further preferred measure, the increased engine speed is initially maintained after the predetermined hold time has elapsed if the requested engine speed is at least as high as the increased engine speed at the time the hold time elapses. This measure also helps to avoid constantly changing increases in engine speed and thus unnecessary additional consumption for the drive engine.

Insgesamt ermöglichen die vorgenannten Maßnahmen im Zusammenhang mit der Grenz-Drehzahl, der Anstiegsgeschwindigkeit, der Absenkgeschwindigkeit und der Halte-Zeitdauer eine Glättung von angeforderten Erhöhungen der Motordrehzahl und somit eine gleichmäßigere Antriebsleistung des Antriebsmotors bei gleichzeitiger Begrenzung des bei der Verfahrensdurchführung entstehenden Mehrverbrauchs.Overall, the above-mentioned measures in connection with the limit speed, the rate of increase, the rate of decrease and the holding period allow requested increases in the engine speed to be smoothed out and thus a more uniform drive power of the drive engine while at the same time limiting the additional consumption occurring when the method is carried out.

Das erfindungsgemäße Verfahren wird im Folgenden anhand der beigefügten Zeichnungen näher erläutert. Dabei sind hinsichtlich ihrer Funktion übereinstimmende bzw. vergleichbare Bauteile mit denselben Bezugszeichen gekennzeichnet. Es zeigen:

  • Fig. 1 eine Seitenansicht eines Traktor mit einem Frontlader in unterschiedlichen Arbeitspositionen,
  • Fig. 2 ein Flussdiagramm der Verfahrensdurchführung in einer ersten Ausführungsform,
  • Fig. 3 eine blockschaltbildartige Darstellung von Bestandteilen einer Anordnung zur Durchführung des Verfahrens,
  • Fig. 4 bis Fig. 8
The method according to the invention is explained in more detail below with reference to the accompanying drawings. Components that match or are comparable in terms of their function are identified with the same reference symbols. Show it:
  • 1 a side view of a tractor with a front loader in different working positions,
  • 2 a flowchart of the implementation of the method in a first embodiment,
  • 3 a block diagram representation of components of an arrangement for carrying out the method,
  • Figures 4 to 8

Darstellungen der angeforderten Motordrehzahl-Erhöhung und der tatsächlich erhöhten Motordrehzahl in Abhängigkeit der Zeit.Representations of the requested engine speed increase and the actually increased engine speed as a function of time.

Fig. 1 zeigt ein als Traktor 10 ausgebildetes Nutzfahrzeug, an dessen Frontseite eine als Frontlader 12 ausgebildete Ladeeinrichtung montiert ist. Der Frontlader 12 weist einen schwenkbaren Ausleger 14 auf, an dessen Freiende ein Werkzeug in Form einer Schaufel 16 schwenkbar gelagert ist. Der Ausleger 14 und das die Schaufel 16 werden hydraulisch angetrieben, um unterschiedliche Positionen, z.B. die in Fig. 1 dargestellten Positionen Pos_1, Pos_2, Pos_3 und Pos_4, einnehmen zu können. In den Positionen Pos_1, Pos_2 und Pos_3 nimmt der Ausleger 14 unterschiedliche Schwenkwinkel relativ zum Traktor 10 ein. Die Schaufel 16 nimmt in den Positionen Pos_1, Pos_2, Pos_3 und Pos_4 unterschiedliche Schwenkwinkel relativ zum Ausleger 14 ein. Die Position Pos_3 kann bei bestimmten Arbeiten eine maximale Hubhöhe des Auslegers 14 oder der Ladeeinrichtung 12 darstellen, um etwaige Beschädigungen an angrenzenden Gebäuden, Tordurchfahrten oder dergleichen zu vermeiden. Der hydraulische Bewegungsantrieb erfolgt mittels geeigneter hydraulischer Zylinder 18, welche an der Ladeeinrichtung 12 gelagert sind. 1 shows a commercial vehicle designed as a tractor 10, on the front side of which a loading device designed as a front loader 12 is mounted. The front loader 12 has a pivotable boom 14, at the free end of which a tool in the form of a shovel 16 is pivotably mounted. The boom 14 and the shovel 16 are hydraulically driven to move to different positions, e.g 1 Pos_1, Pos_2, Pos_3 and Pos_4 shown positions to be able to take. In the positions Pos_1, Pos_2 and Pos_3, the boom 14 assumes different swivel angles relative to the tractor 10. In the positions Pos_1, Pos_2, Pos_3 and Pos_4, the shovel 16 assumes different pivoting angles relative to the boom 14. The position Pos_3 can represent a maximum lifting height of the boom 14 or the loading device 12 for certain types of work in order to avoid any damage to adjacent buildings, gateways or the like. The hydraulic movement is driven by means of suitable hydraulic cylinders 18, which are mounted on the loading device 12.

Das Verfahren zur Steuerung einer Motordrehzahl n eines hier nicht im Einzelnen dargestellten Antriebsmotors des Traktors 10 sieht vor, zunächst einen Bewegungsantrieb der Ladeeinrichtung 12 zu prädizieren oder zu erkennen und danach eine Erhöhung der Motordrehzahl n des Antriebsmotors anzufordern. Die Erhöhung der Motordrehzahl n wird also beispielsweise angefordert, wenn ein zukünftiger Bewegungsantrieb prädiziert oder ein Bewegungsantrieb tatsächlich angefordert und erkannt wird.The method for controlling an engine speed n of a drive engine of tractor 10 (not shown in detail here) provides for first predicting or recognizing a motion drive of loading device 12 and then requesting an increase in engine speed n of the drive engine. The increase in engine speed n is therefore requested, for example, when a future movement drive is predicted or a movement drive is actually requested and recognized.

Dieses Verfahren wird gemäß Fig. 2 in einem Leerlauf-Betrieb des Antriebsmotors wie folgt angewendet. Zunächst entspricht die Motordrehzahl n einer Leerlauf-Drehzahl n_L bei Stillstand des Traktors 10 (Schritt S1). Die Leerlauf-Drehzahl n_L beträgt z.B. 850 U/min (Umdrehungen pro Minute). In einem Schritt S2 wird geprüft, ob ein Zustandssignal S_Z einen aktivierten Betriebszustand (Ein) oder einen anderen Antriebszustand, z.B. deaktivierten Betriebszustand (Aus), der Ladeeinrichtung 12 signalisiert. Im Falle eines detektierten aktivierten Betriebszustandes wird davon ausgegangen, dass nachfolgend mit hoher Wahrscheinlichkeit ein Bewegungsantrieb bzw. eine Antriebsbewegung angefordert wird. Es wird also ein zukünftiger Bewegungsantrieb prädiziert. Verfahrensgemäß wird deshalb eine Erhöhung der Motordrehzahl n angefordert. Die Motordrehzahl n wird auf die Motordrehzahl n_H erhöht (Schritt S3). Sie beträgt beispielsweise 1000 U/min. Im Zeitpunkt der Erhöhung der Motordrehzahl n auf n_H wird außerdem ein Zeitzähler aktiviert, der bei t = 0 beginnt und bei Ablauf einer Warte-Zeitdauer Δt_W, z.B. 1 Minute, endet (Schritt S4). Im Schritt S5 wird geprüft, ob bei Ablauf der Zeitdauer Δt_W ein Bewegungsantrieb bzw. eine Antriebsbewegung bereits durchgeführt oder zumindest angefordert wird. Falls ja, bleibt die erhöhte Motordrehzahl n_H aufrechterhalten (Schritt S6). Falls nein, wird die erhöhte Motordrehzahl n_H wieder reduziert (Schritt S7), um den erhöhten Kraftstoffverbrauch wieder zu reduzieren. Dabei wird die erhöhte Motordrehzahl n_H insbesondere auf die ursprüngliche Leerlauf-Drehzahl n_L reduziert. Daraufhin wird in einem Schritt S8 geprüft, ob der Betriebszustand der Ladeeinrichtung noch aktiviert ist (S_Z = Ein). Ist dies der Fall, wird zu Schritt S5 zurückgesprungen, um zu prüfen, ob ein Bewegungsantrieb ausgeführt oder zumindest angefordert wird. Falls ja, wird die Motordrehzahl n erneut erhöht (Schritt S6). Sollte in Schritt S8 festgestellt werden, dass der Betriebszustand der Ladeeinrichtung nicht mehr aktiviert ist, wird zu Schritt S2 zurückgesprungen.This procedure is in accordance with 2 applied in an idling operation of the drive motor as follows. First, the engine speed n corresponds to an idle speed n_L when the tractor 10 is stationary (step S1). The idling speed n_L is, for example, 850 rpm (revolutions per minute). In a step S2 it is checked whether a status signal S_Z signals an activated operating status (on) or another drive status, for example deactivated operating status (off), of the charging device 12 . If an activated operating state is detected, it is assumed that there is a high probability that a movement drive or a drive movement will subsequently be requested. A future motion drive is thus predicted. According to the method, an increase in engine speed n is therefore requested. The engine speed n is increased to the engine speed n_H (step S3). For example, it is 1000 rpm. At the point in time at which engine speed n increases to n_H, a timer is also activated, which begins at t=0 and ends when a waiting period Δt_W, eg 1 minute, has elapsed (step S4). In step S5, it is checked whether a movement drive or a drive movement is already being carried out or is at least requested when the time period Δt_W has expired. If so, the increased engine speed n_H is maintained (step S6). If not, the increased engine speed n_H is reduced again (step S7) in order to reduce the increased fuel consumption again. In this case, the increased engine speed n_H is reduced in particular to the original idling speed n_L reduced. In a step S8, it is then checked whether the operating state of the charging device is still activated (S_Z=On). If this is the case, a jump is made back to step S5 in order to check whether a movement drive is being carried out or at least requested. If so, the engine speed n is increased again (step S6). If it is determined in step S8 that the operating state of the charging device is no longer activated, the process jumps back to step S2.

Fig. 3 zeigt schematisch Teile einer Anordnung 20 zur Durchführung des Verfahrens zur Steuerung der Motordrehzahl n. Insbesondere dient die Anordnung 20 zur Durchführung des Verfahrens bei beliebigen Motordrehzahlen n außerhalb der Leerlauf-Drehzahl n_L. Die hier dargestellten Arbeitsblöcke 22, 24, 26, 28 dienen der Realisierung einer Steuerung der Motordrehzahl n, welche in Abhängigkeit eines nachfolgend zu beschreibenden Hydraulikflusses wirksam ist. In einer weiteren, hier nicht dargestellten Ausführungsform der Anordnung 20 sind weitere Arbeitsblöcke und Bestandteile vorgesehen, welche auch die Steuerung der Motordrehzahl n im Leerlauf-Betrieb gemäß Fig. 2 berücksichtigen. 3 shows schematically parts of an arrangement 20 for carrying out the method for controlling the engine speed n. In particular, the arrangement 20 is used for carrying out the method at any engine speed n outside the idling speed n_L. The working blocks 22, 24, 26, 28 shown here are used to control the engine speed n, which is effective as a function of a hydraulic flow to be described below. In a further embodiment of the arrangement 20, not shown here, further working blocks and components are provided which also control the engine speed n in idling mode according to 2 consider.

Die Anordnung 20 gemäß Fig. 3 geht davon aus, dass die Ladeeinrichtung 12 und ggf. auch weitere Aggregate (z.B. Lenkung, Bremse) hydraulisch angetrieben werden. Hierzu weist der Traktor 10 eine hydraulische Antriebspumpe 30 auf. Deren Pumpencharakteristik (insbesondere Kennlinie mit einem Hydraulikfluss (Liter /Minute) in Abhängigkeit von der Motordrehzahl) wird im Arbeitsblock 24 berücksichtigt, um zu ermitteln, welche höhere Motordrehzahl n_A angefordert werden soll. Dabei wird die anzufordernde Motordrehzahl n_A in Abhängigkeit eines ermittelten Soll-Hydraulikflusses F_S berechnet. Insbesondere wird die Motordrehzahl n_A für eine Anforderungs-Zeitdauer Δt_A angefordert, d.h. die Motordrehzahl n_A soll während der Anforderungs-Zeitdauer Δt_A wirksam sein.The arrangement 20 according to 3 assumes that the charging device 12 and possibly also other units (eg steering, brakes) are driven hydraulically. To this end, the tractor 10 has a hydraulic drive pump 30 . Their pump characteristics (in particular a characteristic curve with a hydraulic flow (litres/minute) as a function of the engine speed) are taken into account in work block 24 in order to determine which higher engine speed n_A should be requested. The engine speed n_A to be requested is calculated as a function of a determined setpoint hydraulic flow F_S. In particular, engine speed n_A is requested for a request period Δt_A, ie engine speed n_A should be effective during request period Δt_A.

Die Anforderungs-Zeitdauer Δt_A findet als Ausgangssignal des Arbeitsblocks 24 insbesondere dann Verwendung, wenn im Arbeitsblock 28 ein benötigtes Hydraulikvolumen V_hyd berechnet und als Signal an den Arbeitsblock 24 gesendet wird. In diesem Fall kann unter Berücksichtigung einer aktuellen Drehzahl n_akt des Antriebsmotors und eines angeforderten Hydraulikflusses F_A dann der Soll-Hydraulikfluss F_S und daraus die Anforderungs-Zeitdauer Δt_A ermittelt werden. Das Hydraulik-Volumen V_hyd repräsentiert ein Hydraulik-volumen, welches abgeschätzt oder berechnet wird, um einen prädizierten oder erkannten Bewegungsantrieb der Ladeeinrichtung 12 ausführen zu können. Hierbei können als Eingangssignale eine Antriebscharakteristik S_Ch (z.B. Antriebstyp, Antriebsgeometrie, Geometrie der Hydraulikzylinder 18, etc.) und ein angeforderte Antriebsbewegung S_Bew (z.B. Anforderung spezifischer Schwenkbewegungen des Auslegers 14 und/oder des Werkzeugs 16 mittels entsprechender Bedienungselemente) der Ladeeinrichtung 12 berücksichtigt werden. Bei der Ermittlung des Hydraulik-Volumens V_hyd wird im Arbeitsblock 28 insbesondere ein Eingangssignal S_Pos_S berücksichtigt. Dieses Signal repräsentiert insbesondere die Anforderung einer bereits abgespeicherten und deshalb hinsichtlich der hydraulischen Anforderungen bekannten Soll-Position Pos_S der Ladeeinrichtung 12. Beispielsweise befindet sich die Ladeeinrichtung vor der Anforderung der Soll-Position Pos_S in der Ausgangsposition Pos_1. Im Arbeitsblock 28 kann dann aufgrund der hydraulisch bekannten Ausgangs- und Soll-Positionen und der bekannten Antriebscharakteristik S_Ch das benötigte Hydraulik-Volumen V_hyd besonders genau vorhergesagt werden.The request period Δt_A is used as the output signal of the working block 24 in particular when a required hydraulic volume V_hyd is calculated in the working block 28 and sent to the working block 24 as a signal. In this case, taking into account a current speed n_akt of the drive motor and a requested hydraulic flow F_A, the target hydraulic flow F_S and from this the requested time period Δt_A can be determined. The hydraulic volume V_hyd represents a hydraulic volume which is estimated or calculated in order to be able to carry out a predicted or recognized movement drive of the loading device 12 . The input signals can be a drive characteristic S_Ch (e.g. drive type, drive geometry, geometry of the hydraulic cylinder 18, etc.) and a requested drive movement S_Bew (e.g. request for specific pivoting movements of the boom 14 and/or the tool 16 by means of corresponding operating elements) of the charging device 12 are taken into account. An input signal S_Pos_S in particular is taken into account in working block 28 when determining the hydraulic volume V_hyd. This signal represents in particular the request for a target position Pos_S of the charging device 12 that has already been stored and is therefore known with regard to the hydraulic requirements. For example, the charging device is in the initial position Pos_1 before the target position Pos_S is requested. In work block 28, the required hydraulic volume V_hyd can then be predicted particularly precisely on the basis of the hydraulically known initial and target positions and the known drive characteristic S_Ch.

Der angeforderte Hydraulikflusses F_A ist ein Ausgangssignal des Arbeitsblocks 22. Für dieses Ausgangssignal werden beispielsweise Eingangssignale bezüglich des Betriebszustandes (S_Z) der Ladeeinrichtung 12, einer Lenkung (S_L, z.B. Lenkungswinkel) des Traktors 10, eines Bremsaggregates (S_B, z.B. Status der Bremse) und Ventil-Steuersignale S_V hydraulischer Ventile der Ladeeinrichtung 12 berücksichtigt.The requested hydraulic flow F_A is an output signal of the working block 22. For this output signal, for example, input signals relating to the operating state (S_Z) of the loading device 12, a steering (S_L, e.g. steering angle) of the tractor 10, a brake unit (S_B, e.g. status of the brake) and Valve control signals S_V hydraulic valves of the charging device 12 are taken into account.

Zusammengefasst wird aufgrund der obigen Erläuterungen der Soll-Hydraulikfluss F_S in Abhängigkeit eines im Arbeitsblock 22 und/oder im Arbeitsblock 28 prädizierten oder erkannten Bewegungsantriebs der Ladeeinrichtung 12 ermittelt.In summary, based on the above explanations, the target hydraulic flow F_S is determined as a function of a movement drive of the charging device 12 that is predicted or recognized in the working block 22 and/or in the working block 28 .

Die angeforderte Motordrehzahl n_A, ggf. die Anforderungs-Zeitdauer Δt_A und eine vorbestimmte Grenz-Drehzahl n_G sowie ggf. weitere Parameter oder Größen werden im Arbeitsblock 26 bewertet. Abhängig von verbrauchsorientierten (insbesondere möglichst wenig Mehrverbrauch an Kraftstoff), leistungsorientierten (insbesondere möglichst rasche Umsetzung des angeforderten Bewegungsantriebs) und/oder belastungsorientierten (insbesondere möglichst gleichmäßige Belastung des Antriebsmotors) Gesichtspunkten werden aus den Eingangssignalen des Arbeitsblocks 26 eine tatsächlich zu realisierende erhöhte Motordrehzahl n_H, eine Halte-Zeitdauer Δt_H zur Aufrechterhaltung der erhöhten Motordrehzahl n_H, eine erhöhte Anstiegsgeschwindigkeit m_an der Motordrehzahl n und eine Absenkgeschwindigkeit m_ab der erhöhten Motordrehzahl n_H ermittelt oder vorbestimmt und als Ausgangssignale zur Ansteuerung des Antriebsmotors, insbesondere einer Motorsteuerung, ausgesendet.The requested engine speed n_A, possibly the request period Δt_A and a predetermined limit speed n_G and possibly other parameters or variables are evaluated in work block 26 . Depending on consumption-oriented (in particular as little additional fuel consumption as possible), performance-oriented (in particular the fastest possible implementation of the requested motion drive) and/or load-oriented (in particular the most uniform possible load on the drive engine) aspects, an increased engine speed n_H that is actually to be realized is derived from the input signals of work block 26, a holding period Δt_H to maintain the increased engine speed n_H, an increased rate of increase m_an of the engine speed n and a lowering rate m_ab of the increased engine speed n_H are determined or predetermined and transmitted as output signals for controlling the drive motor, in particular a motor controller.

Unterschiedliche Ansteuerungen des Antriebsmotors sind beispielhaft anhand Fig. 4 bis Fig. 8 dargestellt. Dabei zeigen die strichpunktierten Linienverläufe angeforderte Erhöhungen der Motordrehzahl n und ggf. Anforderungs-Zeitdauern Δt_A. Die durchgezogenen Linienverläufe zeigen die erhöhten Motordrehzahlen n_H und Halte-Zeitdauern Δt_H, mit denen der Antriebsmotor aufgrund der Bewertung im Arbeitsblock 26 tatsächlich angesteuert wird.Different controls of the drive motor are used as an example Figures 4 to 8 shown. The dot-dash lines show requested increases in the Engine speed n and possibly request periods Δt_A. The solid curves show the increased engine speeds n_H and holding times Δt_H, with which the drive engine is actually activated based on the evaluation in work block 26 .

In Fig. 4 wird ausgehend von einem Zeitpunkt to bei einer aktuellen Drehzahl n_akt des Antriebsmotors eine höhere Drehzahl n_A für eine Anforderungs-Zeitdauer Δt_A angefordert. Für die Grenz-Drehzahl n_G ist allerdings im Vergleich zur angeforderten höheren Drehzahl n_A ein niedrigerer Wert vorbestimmt. Die tatsächlich realisierte erhöhte Drehzahl n_H entspricht deshalb der Grenz-Drehzahl n_G. Aus verbrauchsorientierten Randbedingungen wird die erhöhte Drehzahl n_H nur für eine Halte-Zeitdauer erhöhte Motordrehzahl n_H aufrechterhalten, welche gegenüber der Anforderungs-Zeitdauer Δt_A kürzer ist. Außerdem wird die aktuelle Drehzahl n_akt mit einer geringeren Anstiegsgeschwindigkeit m_an erhöht als dies angefordert wurde, um einen Mehrverbrauch an Kraftstoff und eine Mehrbelastung des Antriebsmotors zu begrenzen.In 4 starting from a time to at a current speed n_akt of the drive motor, a higher speed n_A is requested for a request period Δt_A. However, a lower value is predetermined for the limit speed n_G in comparison to the requested higher speed n_A. The actually realized increased speed n_H therefore corresponds to the limit speed n_G. Due to consumption-oriented boundary conditions, the increased engine speed n_H is only maintained for a holding period of increased engine speed n_H, which is shorter than the request period Δt_A. In addition, the current rotational speed n_akt is increased at a lower rate of increase m_an than was requested in order to limit additional fuel consumption and an additional load on the drive engine.

In Fig. 5 ist für den Zeitpunkt t15 eine höhere Drehzahl n_A angefordert. Tatsächlich wird die Drehzahl n mit einer niedrigeren Anstiegsgeschwindigkeit m_an angehoben bis zum Zeitpunkt t25. Dort verbleibt die Motordrehzahl n zunächst auf einer erhöhten Drehzahl n_H unterhalb der Grenz-Drehzahl n_G, da hier ein weiteres Absenken der Motordrehzahl n angefordert wurde und ständige Wechsel der Motordrehzahlen vermieden werden sollen. Ab dem Zeitpunkt t35 ist die angeforderte Drehzahl wieder größer als die zwischen t25 und t35 realisierte erhöhte Drehzahl n_H. Die Motordrehzahl n steigt deshalb weiter an und wird im Zeitpunkt t45 als erhöhte Motordrehzahl n_H begrenzt aufgrund der vorbestimmten Grenz-Drehzahl n_G. Zwischen den Zeitpunkten t45 und t55 bleibt die erhöhte Motordrehzahl n_H für die Halte-Zeitdauer Δt_H aufrechterhalten. Danach wird die erhöhte Motordrehzahl n_H mit der Absenkgeschwindigkeit m_ab wieder reduziert. Für den Zeitpunkt t65 wird erneut eine Erhöhung der Motordrehzahl n angefordert mit einem Wert n_A oberhalb der Grenz-Drehzahl n_G. Entsprechend wird die Motordrehzahl wieder mit einer Anstiegsgeschwindigkeit m_an erhöht mit einer Begrenzung durch die Grenz-Drehzahl n_G (Zeitpunkt t75). Nach Ablauf der Halte-Zeitdauer Δt_H im Zeitpunkt t85 wird die erhöhte Motordrehzahl n_H wieder mit einer Absenkgeschwindigkeit m_ab abgesenkt.In figure 5 a higher speed n_A is requested for time t 15 . In fact, the rotational speed n is increased at a lower rate of increase m_an up to the point in time t 25 . There, engine speed n initially remains at an increased speed n_H below limit speed n_G, since a further reduction in engine speed n was requested here and constant changes in engine speed are to be avoided. From time t35, the requested speed is again greater than the increased speed n_H realized between t25 and t35. The engine speed n therefore continues to rise and is limited at time t 45 as an increased engine speed n_H on the basis of the predetermined limit speed n_G. Between times t 45 and t 55 , the increased engine speed n_H is maintained for the holding period Δt_H. After that, the increased engine speed n_H is reduced again with the lowering speed m_ab. For time t65, an increase in engine speed n is requested again with a value n_A above limit speed n_G. Correspondingly, the engine speed is again increased at a rate of increase m_an with a limitation by the limit speed n_G (time t 75 ). After the holding period Δt_H has elapsed at time t 85 , the increased engine speed n_H is reduced again at a lowering speed m_ab.

In Fig. 6 wird für den Zeitpunkt t16 eine höhere Motordrehzahl n_A oberhalb der Grenz-Drehzahl n_G angefordert. Folglich wird die Motordrehzahl n mit einer vorbestimmten Anstiegsgeschwindigkeit m_an erhöht mit der Grenz-Drehzahl n_G als erhöhte Motordrehzahl n-H. Die Halte-Zeitdauer Δt_H beginnt im Zeitpunkt t26 und endet im Zeitpunkt t36. Da für diesen letzteren Zeitpunkt erneut eine höhere Drehzahl n_A oberhalb der Grenz-Drehzahl n_G angefordert wurde, bleibt die erhöhte Motordrehzahl n_H weiter aufrechterhalten. In Fig. 6 bleibt sie für eine weitere Halte-Zeitdauer Δt_H aufrechterhalten.In 6 a higher engine speed n_A above the limit speed n_G is requested for the time t16. Consequently, engine speed n is increased at a predetermined rate of increase m_an with limit speed n_G as increased engine speed nH. The holding period Δt_H begins at time t 26 and ends at time t 36 . As for this latter When a higher speed n_A above the limit speed n_G was requested again, the increased engine speed n_H is maintained. In 6 it is maintained for a further holding period Δt_H.

In Fig. 7 entspricht der Wert der erhöhten Motordrehzahl n_H dem Wert der angeforderten höheren Motordrehzahl n_A, da letzterer unterhalb der Grenz-Drehzahl n_G liegt. Ab dem Zeitpunkt t17 bleibt die erhöhte Motordrehzahl n_H für den Zeitraum der Halte-Zeitdauer Δt_H aufrechterhalten. Da bei Ablauf dieser ersten Halte-Zeitdauer Δt_H im Zeitpunkt t27 immer noch eine höhere Motordrehzahl n_A angefordert wird, bleibt die erhöhte Motordrehzahl n_H - analog zum Alauf in Fig. 6 - für eine weitere Halte-Zeitdauer Δt_H aufrechterhalten.In 7 the value of the increased engine speed n_H corresponds to the value of the requested higher engine speed n_A, since the latter is below the limit speed n_G. From point in time t 17 , the increased engine speed n_H is maintained for the holding period Δt_H. Since a higher engine speed n_A is still requested when this first holding period Δt_H expires at time t 27 , the increased engine speed n_H remains—similar to Alauf in 6 - Maintained for a further holding period Δt_H.

Fig. 8 zeigt dieselbe angeforderte höhere Motordrehzahl n_A mit derselben Anforderungs-Zeitdauer Δt_A wie in Fig. 7. Das Aufrechterhalten der erhöhten Motordrehzahl n_H über ein Vielfaches der Halte-Zeitdauer Δt_H hat in Fig. 7 jedoch den Nachteil, dass sie über eine längere Zeitdauer aufrechterhalten wird als mit der Anforderungs-Zeitdauer Δt_A angefordert worden ist. Um in solchen Fällen kraftstoffsparend vorzugehen, können die Zeitintervalle für die Aufrechterhaltung der erhöhten Motordrehzahl n_H im Arbeitsblock 26 vorzugsweise nach folgendem Prinzip vorbestimmt oder ermittelt werden:

  • Ist die Anforderungs-Zeitdauer Δt_A kleiner als die Halte-Zeitdauer Δt_H, wird die erhöhte Motordrehzahl n_H über den Zeitraum einer einzigen Halte-Zeitdauer Δt_H aufrechterhalten. Ist die Anforderungs-Zeitdauer Δt_A gleich groß oder größer als die Halte-Zeitdauer Δt_H, wird die erhöhte Motordrehzahl n_H über den Zeitraum der Anforderungs-Zeitdauer Δt_A aufrechterhalten. In Fig. 8 bedeutet dies, dass die erhöhte Motordrehzahl n_H nach Ablauf der Halte-Zeitdauer Δt_H nur noch für den Zeitraum t28 bis t38 aufrechterhalten wird, wobei der Zeitraum t18 bis t38 der Anforderungs-Zeitdauer Δt_A entspricht. Dieses Prinzip einer Verkürzung des Zeitintervalls - und damit einer Begrenzung des temporär erhöhten Kraftstoffverbrauchs - für die Aufrechterhaltung der erhöhten Motordrehzahl n_H lässt sich selbstverständlich auch bei anderen Varianten einer Erhöhung der Motordrehzahl n, z.B. bei den Varianten gemäß Fig 4 bis Fig. 7, anwenden.
8 shows the same required higher engine speed n_A with the same request period Δt_A as in FIG 7 . Maintaining the increased engine speed n_H over a multiple of the holding period Δt_H has in 7 however, the disadvantage that it is maintained for a longer period of time than was requested with the request period Δt_A. In order to proceed in a fuel-saving manner in such cases, the time intervals for maintaining the increased engine speed n_H in work block 26 can preferably be predetermined or determined according to the following principle:
  • If the request period Δt_A is less than the hold period Δt_H, the increased engine speed n_H is maintained over the period of a single hold period Δt_H. If the request period Δt_A is equal to or greater than the hold period Δt_H, the increased engine speed n_H is maintained over the period of the request period Δt_A. In 8 this means that the increased engine speed n_H is only maintained for the period t 28 to t 38 after the holding period Δt_H has elapsed, with the period t 18 to t 38 corresponding to the request period Δt_A. This principle of shortening the time interval - and thus limiting the temporarily increased fuel consumption - for maintaining the increased engine speed n_H can of course also be used in other variants of increasing the engine speed n, for example in the variants according to FIG Figures 4 to 7 , use.

Claims (14)

  1. Method for controlling a speed (n) of a drive engine of a utility vehicle (10) having a driveable loading device (12), wherein
    - movement driving of the loading device (12) is predicted or identified, and
    - an increase in the engine speed (n_A) of the drive engine is requested when movement driving of the loading device (12) is predicted or identified, characterized in that the engine speed (n) is increased at a predetermined rate of rise (m_an) which is lower than the requirement.
  2. Method according to Claim 1, characterized in that the engine speed (n) is an idling speed (n_L) when the utility vehicle (10) is stationary, corresponding to a state in which additional and work functions of the utility vehicle (10) are inactive or switched off.
  3. Method according to Claim 1 or 2, characterized in that, given an increased engine speed (n_H), this is again reduced when a predetermined waiting time period (Δt_W) has elapsed and no movement driving of the loading device (12) has been requested up until this waiting time period (Δt_W) elapses.
  4. Method according to one of the preceding claims, characterized in that movement driving of the loading device (12) is predicted or identified depending on a detected state signal (S_Z), wherein the state signal (S_Z) indicates an operating state of the loading device (12) .
  5. Method according to one of the preceding claims, characterized in that
    - the loading device (12) is hydraulically driven,
    - a target hydraulic flow (F_S) of a hydraulic drive pump (30) of the utility vehicle (10) is ascertained depending on the predicted or identified movement driving of the loading device (12), and
    - the increase in the engine speed (n_A) is requested depending on the ascertained target hydraulic flow (F_S).
  6. Method according to Claim 5, characterized in that the target hydraulic flow (F_S) is ascertained depending on a detected valve control signal (S_V) for at least one hydraulic valve of the loading device (12).
  7. Method according to either of Claims 5 and 6, characterized in that the target hydraulic flow (F_S) is ascertained depending on at least one of the following features:
    - a requested drive movement (S_Bew) of the loading device (12),
    - a drive characteristic (S_Ch) of the loading device (12),
    - a requested target position (Pos_S) of the loading device (12).
  8. Method according to one of Claims 5 to 7, characterized in that the target hydraulic flow (F_S) is ascertained depending on at least one hydraulic assembly (S_L, S_B) of the utility vehicle (10).
  9. Method according to one of Claims 5 to 8, characterized in that the increase in the engine speed (n_A) is requested for a request time period (Δt_A) which is ascertained depending on the ascertained target hydraulic flow (F_S).
  10. Method according to one of the preceding claims, characterized in that the increased engine speed (n_H) is less than or equal to a predetermined limit speed (n_G).
  11. Method according to one of the preceding claims, characterized in that, once it has been increased, the engine speed (n_H) is lowered at a predetermined lowering rate (m_ab).
  12. Method according to one of the preceding claims, characterized in that the increased engine speed (n_H) is maintained for a holding time period (Δt_H).
  13. Method according to Claim 12, characterized in that the increased engine speed (n_H) is further maintained after the holding time period (Δt_H) has elapsed if, at the time at which the holding time period (Δt_H) elapses, the requested engine speed (n_A) is at least as high as the increased engine speed (n_H).
  14. Method according to one of the preceding claims, characterized in that the loading device is a front loader (12), in particular consists of a front loader (12) .
EP18167961.4A 2017-04-21 2018-04-18 Method for controlling a motor speed of an industrial truck Active EP3392488B1 (en)

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US10570832B2 (en) * 2017-08-16 2020-02-25 Paccar Inc Systems and methods for controlling torque in a vehicle
DE102019101990A1 (en) * 2019-01-28 2020-07-30 Liebherr-Mining Equipment Colmar Sas Mobile work machine and method for operating such a machine
CN110645235B (en) * 2019-09-30 2022-04-08 中国石油集团川庆钻探工程有限公司 Output device of downhole operation tool
DE102021203660A1 (en) 2021-04-14 2022-10-20 Robert Bosch Gesellschaft mit beschränkter Haftung Hydrostatic drive and method of controlling the hydraulic drive
CN113202642B (en) * 2021-05-24 2023-03-28 三一重机有限公司 Engine rotating speed control method and device for engineering machinery and engineering machinery
DE102022203716A1 (en) 2022-04-13 2023-10-19 Robert Bosch Gesellschaft mit beschränkter Haftung Method for controlling a hydraulic system and hydraulic control

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JPS62142834A (en) * 1985-12-17 1987-06-26 Komatsu Ltd Control device for engine of crane
JP4550698B2 (en) * 2005-09-01 2010-09-22 日立建機株式会社 Dump truck hydraulic drive
CN101900043B (en) * 2005-10-28 2012-01-04 株式会社小松制作所 Control device of engine, control device of engine and hydraulic pump, and control device of engine, hydraulic pump, and generator motor
JP2009281149A (en) * 2008-05-19 2009-12-03 Kobelco Contstruction Machinery Ltd Engine control device and working machine equipped with the same
JP5124033B2 (en) * 2011-05-18 2013-01-23 株式会社小松製作所 Engine control device for work machine and engine control method thereof
WO2013103133A1 (en) 2012-01-05 2013-07-11 日立建機株式会社 Device for controlling construction machinery
JP5828808B2 (en) * 2012-06-29 2015-12-09 日立建機株式会社 Hydraulic work machine
JP6237396B2 (en) * 2014-03-26 2017-11-29 株式会社豊田自動織機 Industrial vehicle travel control device

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US11339554B2 (en) 2022-05-24
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