EP2059859A2 - Système d'entraînement et procédé pour surveiller un mécanisme d'entraînement hydrostatique - Google Patents

Système d'entraînement et procédé pour surveiller un mécanisme d'entraînement hydrostatique

Info

Publication number
EP2059859A2
EP2059859A2 EP07802152A EP07802152A EP2059859A2 EP 2059859 A2 EP2059859 A2 EP 2059859A2 EP 07802152 A EP07802152 A EP 07802152A EP 07802152 A EP07802152 A EP 07802152A EP 2059859 A2 EP2059859 A2 EP 2059859A2
Authority
EP
European Patent Office
Prior art keywords
control unit
control
central
drive system
interface
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.)
Withdrawn
Application number
EP07802152A
Other languages
German (de)
English (en)
Inventor
Michael Brand
Hubert Stratmann
Hans-Joachim Vagt
Reinhart Rückert
Grit Geissler
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2059859A2 publication Critical patent/EP2059859A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems

Definitions

  • the invention relates to a drive system and a method for monitoring a hydrostatic drive.
  • the invention is therefore based on the object to provide a drive system and a method for monitoring a hydrostatic drive, wherein the hydrostatic drive is switched off or brought into a safe state, if a control error occurs.
  • the object is achieved by the drive system according to the invention according to claim 1 or 15 and the inventive method for monitoring a hydrostatic drive according to claim 10 or claim 16.
  • a control unit for controlling the latter is provided on the hydrostatic piston engine.
  • this control unit is connected via a first interface, a central controller in conjunction.
  • the central controller transmits
  • Control signals for controlling the hydrostatic drive via the first interface According to the central control unit and the control unit are connected to each other via at least a second interface, via this second interface, a shutdown signal from the control unit to the central control unit and / or from the central control unit to the control units is transferable. This is on detection of a malfunction on pages the control unit the entire hydrostatic system can be switched off by the central controller, which takes over the central control function, is turned off and / or the central controller, the control units via an independent Abschaltpfad can switch off.
  • the drive system according to the invention has at least two hydrostatic piston machines, on each of which a control unit controlling the piston engine is arranged, wherein the control units are connected to each other via a first interface.
  • the control units are additionally connected to one another via a second interface via which a shutdown signal can be transmitted from one of the control units to at least one of the respective other control units.
  • the control signals of each control unit are transmitted for mutual monitoring of the control units via the first interface to at least one further control unit. If a malfunction is detected, then a shutdown signal is transmitted from the monitoring control unit to the monitored control unit via a second interface.
  • the monitoring can be done by only one other control unit or by several or all other control units.
  • control signals of the central control unit are read by the control unit and checked for their plausibility by the control unit. If a faulty, ie not plausible, control signal is detected by the control unit, the control unit issues a shutdown signal. The switch-off signal is transmitted from the control unit to the central Control unit transmitted and thus shut down the entire hydrostatic drive.
  • the drive system and the method for monitoring the hydrostatic drive have the advantage that a redundant provision of the electronics of the central control unit is not required. Rather, the monitoring of the central control unit is taken over by existing, provided on the hydrostatic machines control units. Such so-called on-board electronic units are provided in particular in order to keep the cabling effort as low as possible. The monitoring can thus be carried out decentrally via one or more such control units on the hydrostatic machines.
  • control unit has a first monitoring section and the central control device has a second monitoring section.
  • an internal error control can be performed within the central controller, due to which an internal shutdown of the output of control signals is feasible.
  • a redundant monitoring of the central control unit takes place in the control unit by the first monitoring section arranged there.
  • the central controller outputs its control signals via the first interface. These control signals output via the first interface are checked by the control unit.
  • the second monitoring section can particularly preferably have an arithmetic unit for
  • Simulation of the control function of the central control unit include, in particular preferably the simulation taking into account the same input parameters, which are also supplied to the central control unit is performed. These input parameters are sent to the control unit e.g. fed via the first interface. With the help of such a computing unit, which simulates the operation of the central control unit, an independent prediction of the output by the central control unit control signals is possible. If a deviation of the control signal actually output by the central control unit is recognized by the value obtained on the basis of the simulation, then it is decided that this is a malfunction and accordingly a shutdown signal is output by the control unit.
  • expected values are stored in the first monitoring section of the control unit. Instead of simulating the full functionality of the central controller, only the control signals output by the central controller are checked for compliance with the expected values. This review requires only low processing power.
  • the shutdown signal is preferably so to the central controller output that the power electronics of the central control unit can be switched off immediately. Even with a malfunction of the calculation routines in the central control unit taking over central processing unit of the central control unit thus the output of
  • hydrostatic drives are designed so that they always switch to a safe operating state.
  • a switch-off signal can also be output by the central control unit via the first interface, this further switch-off signal serving to switch off the output of piston engine control signals by the control unit.
  • this further switch-off signal serving to switch off the output of piston engine control signals by the control unit.
  • Fig. 1 is a schematic representation of a drive system according to the invention.
  • Fig. 2 is a block diagram for explaining the
  • the hydrostatic drive 1 shown in FIG. 1 is provided, for example, for driving a tracked vehicle.
  • the hydrostatic drive 1 therefore comprises in the illustrated
  • Embodiment two hydrostatic circuits which are designed in particular identical. In order to avoid unnecessary repetition in the explanation, only one of the two hydrostatic circuits will be explained in detail below.
  • the corresponding reference numerals with respect to the second hydrostatic circuit are provided with an apostrophe.
  • a hydrostatic circuit of the drive 1 comprises a hydraulic pump unit 2.
  • the hydraulic pump unit 2 has a hydraulic pump 3.
  • the hydraulic pump 3 is driven via a drive shaft 4.
  • the hydraulic pump 3 is designed for delivery in two directions and adjustable in their delivery volume.
  • an adjusting device 5 is provided.
  • the adjusting device 5 cooperates with an adjusting mechanism of the hydraulic pump 3.
  • For actuating the adjusting device 5 is in the
  • Pump unit 2 a control unit 6 integrated. Depending on the setting of the adjusting device 5 promotes the hydraulic pump 3 in a first working line 7 or a second working line 8 pressure medium.
  • the working lines 7, 8 are connected to a hydraulic motor 9.
  • the hydraulic motor 9 drives an output shaft 10, which is connected, for example, in a manner not shown with a chain drive of a tracked vehicle.
  • the rotational speed of the output shaft 10 is detected via a rotational speed sensor 11, and a corresponding value is reported back to the control unit 6 via a first sensor line 12.
  • the adjusting device 5 is actuated by piston control signals by the control unit 6.
  • the control unit 6 further outputs piston machine control signals to the corresponding components of the adjusting device 5.
  • these may be proportional solenoids for adjusting control and regulation pressures in the hydraulic pump unit 2.
  • the respectively required setting values were not determined by the control unit 6 alone, but in coordination with, for example, further control units of other hydrostatic piston machines of the hydrostatic drive 1 by a central control unit
  • the central controller 13 communicates with the control unit 6 via a common interface, which in the illustrated embodiment is a bus system.
  • a bus system As a preferred bus system for use in vehicles, a CAN bus 14 is used.
  • the data transmission between the central controller 13 and the control unit 6 is bidirectional, as indicated by the double arrows in the illustrated embodiment.
  • a control algorithm is stored, which calculates the required setting parameters of the hydrostatic drive based on settings such as control levers 15. According to the calculated
  • control signals are output by the central control unit, which are transmitted via the CAN bus 14 to the control unit 6.
  • the control unit 6 Via the CAN bus 14, the control unit 6 not only has access to those control signals that affect itself, but also to those control signals with which other components of the hydrostatic drive 1 are controlled.
  • Such further components may be, for example, non-integrated in the pump unit 2 solenoid valves.
  • control signals are controlled by the at least one control unit 6 and in the presence of an error is output by the control unit 6, a shutdown signal, by which the further output of control signals is prevented by the central control unit 13.
  • the prevention of the further output of control signals also means returning to a safe state, that is to say the output of zero control signals.
  • a switch-off signal can either be output by a single control unit 6 or it can be monitored by the central control unit 6.
  • Control unit 13 by all included in the hydrostatic drive units 6, 6 'instead. As shown in Fig. 1, a shutdown signal is output by each of the control units 6, 6 'in this case with appropriate detection of a faulty control signal of the central control unit 13 or other malfunction.
  • the central control unit 13 comprises a central arithmetic unit 17.
  • the central arithmetic unit 17 is used to calculate the control signals to be output by the central control unit 13.
  • the information necessary for this purpose as shown by the double arrow 18, determined on the basis of read via the CAN bus 14 information.
  • a control algorithm is stored in the central processing unit 17 of the central controller 13.
  • the control algorithm is a program which takes over the determination of setting values of the hydrostatic piston machines on the basis of the read system parameters such as the position of an operating lever 15 or the accelerator pedal 16. By setting different pivot angle of the hydraulic pump 2 and the hydraulic pump 2 ', for example, in a left / right assignment of the two hydraulic pump units 2, 2' cornering possible.
  • Control signals are transmitted to the control unit 6 or the control unit 6 'via the CAN bus 14.
  • a power electronics 28 in order to output the control signals for direct driving, for example, proportional solenoids with sufficient power.
  • the power electronics is with a
  • Power supply device 19 coupled.
  • the energy supply device 19 is, as shown by the arrow 20, either via the central processing unit 17 can be switched off or via an emergency switch 21, for example, the power supply to the power supply device 19 interrupts.
  • the control signals output by the central control unit 13 are transmitted via the CAN bus 14 to the control unit 6 or the control unit 6 '.
  • the control units 6, 6 ' each comprise a control section 22 which processes the received control signals such that control of the respectively associated adjusting device 5 of the hydrostatic piston machine is possible by piston machine control signals.
  • the control section 22 is connected to a control unit power electronics 23, which processes the piston engine control signals to be output with sufficient power for the control of, for example, proportional solenoids.
  • the controller power electronics 23 is connected to a controller power supply 24.
  • Control unit power supply 24 is connected on the input side to a first monitoring section 25 of the control unit 6.
  • the first monitoring section 25 of the Control unit 6 reads in the control signals issued by the central controller 13 via the CAN bus, which forms the first interface between the central controller 13 and the control unit 6, and carries out a plausibility analysis.
  • expected values for the control signals are stored in the control unit 6.
  • the control unit 6 comprises a memory in which the expected values are stored.
  • control signals output by a central control unit 13 are read in by the first monitoring section 25, the respective read control signal is checked for plausibility by comparison with the expected values. If no corresponding expected value can be found in the memory, then it is recognized that the control signal is faulty and accordingly the shutdown of the hydrostatic drive 1 is required.
  • a switch-off signal is transmitted to the central control unit 13 by the control unit 6 via a second interface 26.
  • the second interface 26 is independent of the first interface, which in the illustrated embodiment is a CAN bus 14. The independence of the second interface 26 from the first interface ensures that a shutdown of the hydrostatic system is ensured even in the case of an error which occurs in the data transmission in the CAN bus 14.
  • Control unit power supply 24 a corresponding shutdown signal is output.
  • the shutdown signal is in the illustrated embodiment directly to the
  • Power supply device 19 of the central controller 13 output.
  • the power supply for the power electronics 28 of the central control unit 13 is switched off immediately.
  • all output signals are reset and the hydrostatic drive 1 goes into a safe operating condition.
  • a second monitoring section 17 ' is preferably integrated into the central processing unit 17, by means of which an internal error monitoring takes place.
  • a further shutdown signal is output and via the CAN bus 14, ie the first interface, to the control unit 6 and the control unit 6 'transmitted.
  • the shutdown signal either generally all detect control units 6, 6 'connected to the CAN bus 14 or selectively apply to only one control unit 6 or 6'.
  • a simulation algorithm is integrated into the first monitoring section 25 of the control unit 6. This simulation algorithm corresponds to the
  • Control algorithm which is processed in the central processing unit 17.
  • control is understood in the context of the present application, each control or regulation.
  • the computing unit of the first monitoring section 25 thus simulates the function of the central processing unit 17. As in the central processing unit 17 of the central control unit 13 and in the arithmetic unit of the first monitoring section 25, the identical
  • Arithmetic operations are performed, a comparison of the output from the central control unit 13 control signal with the internally simulated in the first monitoring section 25 control signal is easily possible. If deviations are detected here, the switch-off signal is output by the control unit 6.
  • the invention is not limited to the illustrated embodiment. Rather, individual features of the preferred embodiment can be combined with each other. In particular, it may be provided that two control units 6, 6 'monitor each other. Thus, it is possible without central controller 13 to increase the system security considerably.
  • the signals generated by the control units 6, 6' are transmitted to the other control units 6, 6 'of the system via the first interface.
  • the control units 6, 6 ' are connected via a CAN bus 14 for this purpose.
  • the shutdown of a control unit 6, 6 'in the event of a malfunction then occurs again via the respective second interface 26.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Hydraulic Motors (AREA)
  • Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)

Abstract

L'invention concerne un système d'entraînement et un procédé pour surveiller un mécanisme (1) d'entraînement hydrostatique. Le mécanisme (1) d'entraînement hydrostatique présente au moins une machine (2) à piston hydrostatique sur laquelle est disposée une unité (6, 6') de commande qui commande la machine (2, 2') à piston hydrostatique. Selon l'invention, l'unité (6, 6') de commande est reliée par le biais d'une première interface (14) avec un module (13) de commande central qui commande le système (1) d'entraînement. Des signaux de commande destinés à commander le système (1) d'entraînement peuvent être transmis par le biais de la première interface (14). Le module (13) de commande central est en plus relié par le biais d'une deuxième interface (26, 26') avec l'unité (6) de commande, un signal de désactivation pouvant être transmis de l'unité de commande (6, 6') vers le module (13) de commande central et/ou du module (13) de commande central vers l'unité de commande (6, 6')par le biais de la deuxième interface (26, 26').
EP07802152A 2006-09-05 2007-09-05 Système d'entraînement et procédé pour surveiller un mécanisme d'entraînement hydrostatique Withdrawn EP2059859A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006041549 2006-09-05
PCT/EP2007/007747 WO2008028648A2 (fr) 2006-09-05 2007-09-05 Système d'entraînement et procédé pour surveiller un mécanisme d'entraînement hydrostatique

Publications (1)

Publication Number Publication Date
EP2059859A2 true EP2059859A2 (fr) 2009-05-20

Family

ID=38698764

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07802152A Withdrawn EP2059859A2 (fr) 2006-09-05 2007-09-05 Système d'entraînement et procédé pour surveiller un mécanisme d'entraînement hydrostatique

Country Status (6)

Country Link
US (1) US8386135B2 (fr)
EP (1) EP2059859A2 (fr)
JP (1) JP5265548B2 (fr)
KR (1) KR20090048488A (fr)
CN (1) CN101506745B (fr)
WO (1) WO2008028648A2 (fr)

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JP5210147B2 (ja) 2008-01-24 2013-06-12 株式会社荏原製作所 給水装置
JP5571597B2 (ja) * 2011-02-16 2014-08-13 カヤバ工業株式会社 油圧回路制御システム
DE102011100982A1 (de) * 2011-03-15 2012-09-20 Robert Bosch Gmbh Anlage mit einem Steuersystem zur Steuerung von Anlagefunktionen
CN103226148B (zh) * 2012-01-29 2015-07-01 桂林欧博仪器技术有限公司 一种环境分析仪器
US9682723B2 (en) 2013-12-02 2017-06-20 J. Keith Weinlader Control linkage for hydrostatic drives on lawn mowers
DE112014000070B4 (de) * 2014-01-16 2020-09-24 Komatsu Ltd. Arbeitsmaschine und Verfahren zur Steuerung eines Hydraulikantriebs von der Arbeitsmaschine
DE102016205891A1 (de) * 2016-04-08 2017-10-12 Robert Bosch Gmbh Hydrostatischer Fahrantrieb und Fahrzeug mit einem solchen hydrostatischen Fahrantrieb
DE202019005794U1 (de) 2019-05-31 2022-03-03 Dana Motion Systems Italia S.R.L. Steuereinrichtung für hydrostatische Vorrichtung
EP3745001A1 (fr) 2019-05-31 2020-12-02 Dana Motion Systems Italia S.R.L. Appareil de commande pour un dispositif hydrostatique

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Also Published As

Publication number Publication date
JP5265548B2 (ja) 2013-08-14
WO2008028648A2 (fr) 2008-03-13
KR20090048488A (ko) 2009-05-13
WO2008028648A3 (fr) 2008-05-08
CN101506745A (zh) 2009-08-12
JP2010502918A (ja) 2010-01-28
CN101506745B (zh) 2013-12-25
US8386135B2 (en) 2013-02-26
US20100018384A1 (en) 2010-01-28

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