Self-propelled construction machine and method for controlling a self-propelled construction machine

Abstract

The invention relates to a self-propelled construction machine, in particular a road milling machine, stabiliser, recycler or surface miner, which has a machine frame 2 supported by at least three running gears 10A, 10B, 11A, 11B, a drive device 14 for driving at least two running gears, and a work roller 4 arranged on the machine frame. The invention also relates to a method for controlling a construction machine of this kind. The drive device 14 comprises adjustable hydraulic motors 15, 16, 17, 18 associated with the drivable running gears, which hydraulic motors have a displacement volume Vg that can be varied by an adjusting device 15A, 16A, 17A, 18A, and comprises at least one adjustable travel drive-hydraulic pump 19 driven by at least one drive motor to supply the hydraulic motors with a variable total volume flow Q of hydraulic fluid. In addition, a controller 28 is provided which is configured in such a way that a partial volume flow Q.sub.1, Q.sub.2, Q.sub.3, Q.sub.4 is determined for each adjustable hydraulic motor 15, 16, 17, 18 from the total volume flow Q provided by the at least one travel drive-hydraulic pump 19, by means of which partial volume flow the particular hydraulic motor is to be operated, and when the speed n of an adjustable hydraulic motor increases as a result of slippage of the running gear associated with the adjustable hydraulic motor, the adjusting device of the adjustable hydraulic motor is controlled in such a way that a displacement volume Vg is set for the adjustable hydraulic motor, at which displacement volume the partial volume flow determined for the adjustable hydraulic motor is maintained. The self-propelled construction machine according to the invention is characterised in that a hydraulic flow divider is not required.

Claims

1. A self-propelled construction machine, comprising: a machine frame; at least three running gears supporting the machine frame, at least two of the running gears being drivable running gears; a work roller supported from the machine frame; a hydraulic drive operably connected to the at least two drivable running gears, the hydraulic drive including: a plurality of adjustable hydraulic motors, each adjustable hydraulic motor being connected to an associated one of the drivable running gears, each adjustable hydraulic motor having a variable displacement volume variable by an actuator; and at least one adjustable travel drive hydraulic pump driven by at least one drive motor to supply the adjustable hydraulic motors with a variable total volume flow of hydraulic fluid; and a controller configured: to generate control signals causing the at least one adjustable travel drive hydraulic pump to supply the variable total volume flow of hydraulic fluid dependent upon a desired travel speed; to determine a partial volume flow for the operation of each adjustable hydraulic motor from the variable total volume flow; and when a speed of one of the adjustable hydraulic motors increases as a result of slippage of the running gear connected to the one of the adjustable hydraulic motors, to adjust the respective actuator of the one of the adjustable hydraulic motors such that a displacement volume is set for the one of the adjustable hydraulic motors at which displacement volume the partial volume flow determined for the one of the adjustable hydraulic motors is maintained.

2. The self-propelled construction machine of claim 1, wherein: at least one of the running gears is a steerable running gear having an adjustable steering angle, the steerable running gear including a steering angle sensor configured to generate a steering angle signal depending on the steering angle; and the controller is configured such that the partial volume flow for the adjustable hydraulic motor associated with the steerable running gear is determined from the total volume flow depending on the steering angle signal.

3. The self-propelled construction machine of claim 2, wherein: the controller is configured such that, when travelling straight ahead during which the steering angle of the at least one steerable running gear is zero, the total volume flow is divided equally into the partial volume flows for the adjustable hydraulic motors.

4. The self-propelled construction machine of claim 2, wherein: the controller is configured such that, when cornering during which the steering angle of the at least one steerable running gear is not zero, the total volume flow is divided into the partial volume flows for the adjustable hydraulic motors depending on a curve radius of the respective running gears associated with the adjustable hydraulic motors.

5. The self-propelled construction machine of claim 2, wherein: the construction machine is configured to provide a plurality of steering modes; and the controller is configured such that the partial volume flow is determined for each adjustable hydraulic motor from the total volume flow depending on which one of the steering modes is selected.

6. The self-propelled construction machine of claim 2, wherein: the at least one steerable running gear includes a plurality of steerable running gears; and the steering angles of the steerable running gears are set such that extensions of axes perpendicular to the steerable running gears intersect at an instantaneous center of rotation.

7. The self-propelled construction machine of claim 1, wherein: the at least three running gears include a steerable front right running gear, a steerable front left running gear, a steerable rear right running gear and a steerable rear left running gear; and the plurality of adjustable hydraulic motors include a front right adjustable hydraulic motor associated with the steerable front right running gear, a front left adjustable hydraulic motor associated with the steerable front left running gear, a rear right adjustable hydraulic motor associated with the steerable rear right running gear, and a rear left adjustable hydraulic motor associated with the steerable rear left running gear.

8. The self-propelled construction machine of claim 1, wherein: the at least one adjustable travel drive hydraulic pump includes only one adjustable travel drive hydraulic pump providing the total volume flow for all of the plurality of adjustable hydraulic motors.

9. The self-propelled construction machine of claim 1, wherein: the at least three running gears include a front right running gear, a front left running gear, a rear right running gear and a rear left running gear; the plurality of adjustable hydraulic motors include a front right adjustable hydraulic motor associated with the front right running gear, a front left adjustable hydraulic motor associated with the front left running gear, a rear right adjustable hydraulic motor associated with the rear right running gear, and a rear left adjustable hydraulic motor associated with the rear left running gear; and the at least one adjustable travel drive hydraulic pump includes: a first adjustable travel drive hydraulic pump providing a first volume flow for the front right adjustable hydraulic motor and the front left adjustable hydraulic motor; and a second adjustable travel drive hydraulic pump providing a second volume flow for the rear right adjustable hydraulic motor and the rear left adjustable hydraulic motor.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Embodiments of the invention are explained in detail below with reference to the drawings.

(2) In the drawings:

(3) FIG. 1 shows an embodiment of a self-propelled construction machine that has two front and two rear steerable running gears;

(4) FIG. 2 shows a first embodiment of the control device for the adjustable hydraulic motors of the self-propelled construction machine;

(5) FIG. 3 shows the position of the running gears of a construction machine comprising two steerable front running gears during cornering in a greatly simplified schematic representation;

(6) FIG. 4 shows the position of the rear running gears of the construction machine from FIG. 3 during cornering in a greatly simplified schematic representation;

(7) FIG. 5A shows the position of the running gears of a construction machine comprising steerable front and rear running gears during cornering in a greatly simplified schematic representation;

(8) FIG. 5B shows the position of the running gears of a construction machine in the “crab steering” steering mode; and

(9) FIG. 6 shows a second embodiment of the control device for the adjustable hydraulic motors of the self-propelled construction machine.

DETAILED DESCRIPTION

(10) FIG. 1 is a side view, as an example of a self-propelled construction machine, of a road milling machine for milling off road surfaces, which is a front-loading road milling machine. The construction machine has a machine frame 2 supported by a chassis 1, on which work equipment 3 is arranged, by means of which the work required for the construction project can be carried out. The work equipment 3 has a milling drum 4 (only suggested in FIG. 1) which is arranged in a milling drum housing 5. Above the milling drum housing 5 is the driver platform 6 on the machine frame 2, the platform having an operating panel 7 for the machine operator. The operating panel 7 has a plurality of operating elements 8 which the machine operator can operate. The milled material is removed by a conveyor 9 which is pivotally arranged on the front of the machine frame 2.

(11) Relative to the working direction A, the construction machine has a front left running gear 10A and a front right running gear 10B and a rear left running gear 11A and a rear right running gear 11B. Front and rear lifting devices 12A, 12B and 13A, 13B are provided on the running gears so that the height and inclination of the machine frame 2 relative to the ground surface B can be varied by retracting or extending the lifting devices.

(12) In the present embodiment of a self-propelled construction machine, all of the running gears 10A, 10B and 11A, 11B are drivable and steerable running gears. However, the construction machine can, for example, also have only two rear, drivable and non-steerable running gears and one front, non-drivable and steerable running gear. To drive the running gears, the construction machine has a hydrostatic drive device 14, which is described in detail below with reference to FIG. 2. The hydrostatic drive device 14 may also be referred to as a hydraulic drive 14.

(13) The hydrostatic drive device 14 comprises, relative to the working direction, a front right hydraulic motor 15 associated with the front right running gear 10B, a front left hydraulic motor 16 associated with the front left running gear 10A, a rear right hydraulic motor 17 associated with the rear right running gear 11B and a rear left hydraulic motor 18 associated with the rear left running gear 11A. The hydraulic motors are adjustable hydraulic motors 15, 16, 17, 18, which comprise an adjusting device 15A, 16A, 17A, 18A for setting the displacement volume Vg. Hydraulic motors of this kind belong to the prior art. The hydraulic motors can be, for example, axial piston motors which have a cylindrical rotating part having axial bores for receiving pistons. The adjusting device can be an electric actuator which adjusts the rotating part of the axial piston motor depending on a control voltage or a control current, so that the displacement volume Vg varies.

(14) The adjustable hydraulic motors 15, 16, 17, 18 are supplied with hydraulic fluid by a travel drive-hydraulic pump 19. The travel drive-hydraulic pump 19 is driven by at least one drive motor M (schematically shown in FIGS. 2 and 6), which may be an internal combustion engine. In the present embodiment, only one travel drive-hydraulic pump 19 is provided to supply the hydraulic motors of all of the running gears. However, the drive device 14 can also comprise, for example, two travel drive-hydraulic pumps, of which one hydraulic pump provides, for example, hydraulic fluid for the front running gears and the other pump provides hydraulic fluid for the rear running gears.

(15) The travel drive-hydraulic pump 19 is an adjustable hydraulic pump comprising an adjusting device 19A, for example an electric actuator, so that the volume flow is variable.

(16) The construction machine also comprises a steering device 31. Steering device-operating devices 20, 21, 22, 23 (actuators; only suggested in FIG. 2), which can be piston/cylinder arrangements engaging with the running gears, are associated with the individual running gears 10A, 10B, 11A, 11B. The steering device-operating devices of the steering device 31 have steering angle sensors 20A, 21A, 22A, 23A which generate a steering angle signal depending on the steering angle of the particular running gear.

(17) In addition, speed sensors 24, 25, 26, 27 (only suggested in the drawings) are associated with the individual running gears 20, 21, 22, 23, which speed sensors generate a speed signal depending on the speed n of the running gears or the hydraulic motors 15, 16, 17, 18 associated with the running gears.

(18) To control the adjusting device 19A of the travel drive-hydraulic pump 19 and the adjusting devices 15A, 16A, 17A, 18A of the hydraulic motors 15, 16, 17, 18, a controller 28 is provided, which can be part of the central control and processing unit (not shown) of the construction machine.

(19) The controller 28 is connected, via control lines 28A, to the adjusting device 19A of the travel drive-hydraulic pump 19 and to the adjusting devices 15A, 16A, 17A, 18A of the hydraulic motors 15, 16, 17, 18, and receives, via signal lines 28B, the steering angle signals from the steering angle sensors 20A, 21A, 22A, 23A and the speed signals from the speed sensors 24, 25, 26, 27.

(20) The controller 28 can comprise analogue or digital circuits. For example, it can have a general processor, a digital signal processor (DSP) for continuous processing of digital signals, a microprocessor, an application-specific integrated circuit (ASIC), an integrated circuit consisting of logic elements (FPGA), or other integrated circuits (IC) or hardware components. A data processing program (software) can run on the hardware components in order to be able to control the individual components of the construction machine.

(21) In addition, the hydraulic system comprises hydraulic lines 30 for supplying and discharging the hydraulic fluid. The pressure connection of the travel drive-hydraulic pump 19 is connected to the inlet of the two front and rear hydraulic motors 15, 16, 17, 18 and the outlet of the front and rear hydraulic motors is connected to the suction connection of the travel drive-hydraulic pump 19. The travel drive-hydraulic pump 19 provides a specified total volume flow of hydraulic fluid, which is distributed to the individual hydraulic motors.

(22) The controller 28 is configured in such a way that the adjusting device 19A of the travel drive-hydraulic pump 19 is controlled in such a way that a specific total volume flow Q of hydraulic fluid is provided. The total volume flow Q depends on the desired travel speed v of the construction machine, which can be specified by the vehicle driver.

(23) First of all, it is assumed that all of the running gears 10A, 10B and 11A, 11B are on the ground B and have sufficient static friction (grip) so that the running gears do not slip or spin. In this case, the total volume flow Q of the travel drive-hydraulic pump 19 is ideally divided equally between the hydraulic motors 15, 16, 17, 18. The partial volume flow Q.sub.1, Q.sub.2, Q.sub.3, Q.sub.4 of each hydraulic motor is 25% of the total volume flow. As a result, 25% of the drive power is available to each running gear (drive losses are negligible).

(24) On the other hand, if a running gear 10A, 10B and 11A, 11B slips, the speed of the running gear or the hydraulic motor increases as a result of the lower torque that the hydraulic motor 15A, 16A, 17A, 18A associated with the running gear in question has to generate (slippage), which results in an increase in the partial volume flow Q.sub.1, Q.sub.2, Q.sub.3, Q.sub.4 of the hydraulic motor. As a result, the partial volume flows Q.sub.1, Q.sub.2, Q.sub.3, Q.sub.4 of the other hydraulic motors decrease accordingly. While one running gear slips, the other running gears can no longer drive the construction machine with sufficient power. The invention intends to prevent this, as described below.

(25) The controller 28 is configured in such a way that the following method steps are carried out.

(26) First, the case of the construction machine travelling straight ahead will be described. In this case, the controller 28 receives a steering angle signal which corresponds to a steering angle of zero. It is assumed that the front right running gear 10B slips, which leads to an increase in its partial volume flow. This is intended to be prevented.

(27) The controller 28 first calculates a partial volume flow Q.sub.1, Q.sub.2, Q.sub.3, Q.sub.4 for each adjustable hydraulic motor 15, 16, 17, 18 from the total volume flow Q provided by the at least one travel drive-hydraulic pump 19. When travelling straight ahead, all of the running gears 10A, 10B and 11A, 11B should have the same travel speed v.sub.1, v.sub.2, v.sub.3, v.sub.4 or the hydraulic motors 15, 16, 17, 18 should turn at the same speed n.sub.1, n.sub.2, n.sub.3, n.sub.4. Consequently, the individual hydraulic motors should each be supplied with 25% of the total volume flow.

(28) The controller 28 thus calculates the partial volume flow Q.sub.1, Q.sub.2, Q.sub.3, Q.sub.4 of each hydraulic motor 15, 16, 17, 18 from the quotient of the total volume flow Q and the number A of the driven running gears (Q.sub.1=Q/A, Q.sub.2=Q/A, Q.sub.3=Q/A, Q.sub.4=Q/A).

(29) The controller 28 controls the adjusting device 15A, 16A, 17A, 18A of the hydraulic motor 15, 16, 17, 18 in such a way that a displacement volume Vg is set for the hydraulic motor, at which displacement volume the partial volume flow determined for the hydraulic motor is set.

(30) The partial volume flow Q.sub.1, Q.sub.2, Q.sub.3, Q.sub.4 is calculated from the speed n of the particular hydraulic motor and its displacement volume Vg according to the following equation:
Q.sub.1,2,3,4=Vg×n

(31) The controller 28 can therefore calculate the displacement volume Vg of the hydraulic motor from the specified partial volume flow Q.sub.1, Q.sub.2, Q.sub.3, Q.sub.4 and the (known) speed n of the hydraulic motor (Vg=Q.sub.1,2,3,4/n).

(32) The controller 28 is configured in such a way that the partial volume flow Q.sub.1, Q.sub.2, Q.sub.3, Q.sub.4 previously determined for the particular hydraulic motor 15, 16, 17, 18 is kept constant (Q.sub.1=Q.sub.2=Q.sub.3=Q.sub.4=constant).

(33) The variation in the displacement volume Vg due to the controller 28 keeps the partial volume flow constant. In the phase in which the partial volume flow is kept constant, the remaining torque cannot be in equilibrium with the remaining traction, i.e. slippage can occur. The running gear in question can still spin due to external influences and only these external influences can ensure that it grips again. During the slippage, however, the control system ensures that the running gear in question is not supplied with any amount of the total volume flow, which would result in the other running gears, which have sufficient traction, not being supplied or only being supplied with a low volume flow. The control system according to the invention therefore ensures that the running gears that are not spinning are supplied with a sufficient amount of hydraulic fluid.

(34) If, for example, the front right running gear 10B begins to spin, as a result of which the speed n of the hydraulic motor 15 begins to increase, which would result in an increase in the partial volume flow Q.sub.2 of the front right running gear, the controller reduces the displacement volume Vg of the hydraulic motor. As a result, the speed n of the hydraulic motor or the running gear initially increases further. However, an operating point then arises at which the partial volume flow Q.sub.2 assumes its setpoint again. The controller 28 thus sets the displacement volume Vg of the hydraulic motor in question in such a way that the partial volume flow Q.sub.1, Q.sub.2, Q.sub.5, Q.sub.4 specified for the hydraulic motor is maintained or restored when the construction machine is advancing.

(35) Since the partial volume flows Q.sub.1, Q.sub.2, Q.sub.5, Q.sub.4 are the same, i.e. the front right running gear 10B does not receive more hydraulic fluid than the other running gears 10A and 11A, 11B even with insufficient static friction, the traction is considerably improved. In the present embodiment, 75% of the tensile force is retained.

(36) When cornering, the controller 28 does not divide the total volume flow Q equally, but rather unequally into the partial volume flows. The partial volume flows Q.sub.1, Q.sub.2, Q.sub.5, Q.sub.4 for the adjustable hydraulic motors 15, 16, 17, 18 are divided depending on the curve radius r of the particular running gear.

(37) FIG. 3 shows the machine frame 2 comprising the front and rear running gears 10A, 10B and 11A, 11B and the milling drum 4 of the construction machine when cornering. In the present embodiment, only the front running gears 10A, 10B are steerable running gears (“front wheel steering”). The steering angles of the front running gears 10A are set in such a way that the extensions of axes that are perpendicular to the steerable front running gears 10A, 10A intersect at the instantaneous centre of rotation P. The axes that are perpendicular to the non-steerable rear running gears 11A, 11B also intersect at the instantaneous centre of rotation P (Ackermann condition). When cornering, the running gears 10B, 11B on the outside of the curve must move at a higher speed v than the running gears 10A, 11A on the inside of the curve. Consequently, the speed n of the hydraulic motors of the running gears on the outside of the curve must be greater than the speed n of the hydraulic motors of the running gears on the inside of the curve. This results in different partial volume flows Q.sub.1, Q.sub.2, Q.sub.3, Q.sub.4 for the hydraulic motors.

(38) FIG. 4 shows the speed vectors v.sub.LHI and v.sub.RHI of the rear running gears 11A, 11B for the case of “front wheel steering”, the running gears being controlled in relation to the vehicle reference point K, i.e. the speed v.sub.k of the vehicle reference point K when travelling straight ahead and the speed v.sub.k of the vehicle reference point K when cornering are the same. The distance from a reference point S of the right rear running gear 11B, relative to the working direction A, to the instantaneous centre of rotation P is denoted by r.sub.RHI, and the distance from a reference point S of the left rear running gear 11A to the instantaneous centre of rotation P is denoted by r.sub.LHI (FIG. 3). The distance from the vehicle reference point K lying between the two reference points S to the instantaneous centre of rotation P is denoted by r.sub.k. When cornering, as shown in FIG. 4, a higher speed is set for the rear running gear 11B on the outside of the curve than for the rear running gear 11A on the inside of the curve. The speeds of the running gear 11B on the outside of the curve and the running gear 11A on the inside of the curve depend on the radii r.sub.RHI and r.sub.LHI. To ascertain the speeds for the running gears 11B, 11A on the outside and inside of the curve, the vehicle reference speed v.sub.k is multiplied by a factor which is greater than 1 for the running gear on the outside of the curve and less than 1 for the running gear on the inside of the curve. This factor depends on the radius or steering angle that is detected using the steering angle sensors 20, 21, 22, 23. Since the speed of the running gears 10A, 10B and 11A, 11B is proportional to the speed of the hydraulic motors 15, 16, 17, 18, there is also a corresponding factor for their speeds, which is used by the controller 28 when calculating the partial volume flows Q.sub.1, Q.sub.2, Q.sub.3, Q.sub.4.

(39) The construction machine according to the invention provides various steering modes, which can include “front axle steering”, “rear axle steering”, “front and rear axle steering” and/or “coordinated steering” or “crab steering”. During “crab steering”, the front and rear running gears steer in the same direction, the steering angles of the running gears being the same.

(40) FIG. 5A shows an embodiment of a construction machine having “coordinated steering”, the front and rear running gears 10A, 10B and 11A, 11B being steerable running gears. The axes perpendicular to the steerable running gears intersect at the instantaneous centre of rotation P (Ackermann condition). The construction machine having the steerable front and rear running gears 10A, 10B and 11A, 11B also provides the “crab steering” steering mode (FIG. 5B) in addition to the “coordinated steering” steering mode (FIG. 5A). In this “crab steering” steering mode, the axes that are perpendicular to the steerable running gears intersect at infinity.

(41) The particular steering mode can be specified by the vehicle driver on the operating panel 7. The steering device 31 is configured in such a way that the direction in which the running gears steer and the steering angle are set depending on the steering mode.

(42) The controller 28 is configured in such a way that the total volume flow Q is divided into the partial volume flows Q.sub.1, Q.sub.2, Q.sub.3, Q.sub.4 for the adjustable hydraulic motors 15, 16, 17, 18 depending on not only the steering angle, but also depending on the specified steering mode, i.e. is taken into account when controlling the steering mode.

(43) If the front and rear right and left running gears 10A, 10B, 11A, 11B of the construction machine are steerable running gears and the steering mode is set to, for example, “crab steering”, the steering device-operating devices set the running gears in such a way that the running gears steer in the same direction and all of the running gears have the same steering angle. In this case, all of the running gears should move at the same advancing speed, although the running gears are turned.

(44) The controller is configured for the “crab steering” steering mode in such a way that the total volume flow Q is divided equally into the partial volume flows (Q.sub.1, Q.sub.2, Q.sub.3, Q.sub.4) for the adjustable hydraulic motors (15, 16, 17, 18) regardless of the steering angle. In this respect, the control system also takes the steering mode into account.

(45) Taking into account the “crab steering” steering mode is particularly important in milling machines comprising a milling drum, since a steering mode of this kind is generally provided in milling machines.

(46) For steering modes other than “crab steering”, other distributions of the volume flow may occur. In the case of “coordinated steering” (FIG. 5A), compared to “front-wheel steering” (FIG. 3), for example, it must be taken into account that the left, front and rear or right, front and rear running gears 10A, 11A and OB, 11B move on a common circular path during “coordinated steering”, whereas during “front axle steering” or “rear axle steering” each running gear moves on its own circular path. The steering angle α of the front right and left running gear 10A, 10B during “coordinated steering” (FIG. 5A) is smaller than the steering angle α during “front axle steering” (FIG. 3). Taking into account the specified “coordinated steering” or “front axle steering” or “rear-axle steering” steering mode, the controller 28 provides a distribution of the total volume flow depending on four different radii r.sub.1, r.sub.2, r.sub.3, r.sub.4 (“coordinated steering”) or two different radii r.sub.1, r.sub.2 (“front axle or rear axle steering”). Consequently, the controller 28 sets a different partial flow for the “front axle or rear axle steering” for each hydraulic pump 15, 16, 17, 18.

(47) FIG. 6 shows the hydraulic circuit diagram of an alternative embodiment of a drive device 14, which differs from the drive device of FIG. 2 in that two travel drive-hydraulic pumps 19, 19′ are provided instead of one travel drive-hydraulic pump 19, the first travel drive-hydraulic pump 19 providing the volume flow for the front right hydraulic motor 15 and the front left hydraulic motor 16 and the second travel drive-hydraulic pump 19′ providing the volume flow for the rear right hydraulic motor 17 and the rear left hydraulic motor 18. Corresponding parts are provided with the same reference numerals in FIG. 5 as in FIG. 2. In this embodiment, the total volume flow Q is provided by both travel drive-hydraulic pumps 19, 19′. The control system is analogous to that of the embodiment of FIG. 2.