Method for Damping a Movably Mounted Attachment Part of a Machine and the Machine

Abstract

The disclosure relates to a method for damping a movably mounted attachment part of a machine, wherein the attachment part is movable by means of a hydraulic cylinder, wherein the hydraulic cylinder is actuated via a hydraulic pump, comprising: receiving a measured value of a pressure (P) in a load-side chamber of the hydraulic cylinder during a measurement phase, and controlling the hydraulic pump to adjust the pressure in the load-side chamber of the hydraulic cylinder to the measured value as a setpoint value during operation of the machine for damping the movably mounted attachment part.

Claims

1. A method for damping a movably mounted attachment part of a machine, wherein the attachment part is movable by a hydraulic cylinder, and the hydraulic cylinder is actuated via a hydraulic pump, comprising: receiving a measured value of a pressure (P) in a load-side chamber of the hydraulic cylinder during a measurement phase; and controlling the hydraulic pump to adjust the pressure in the load-side chamber of the hydraulic cylinder to the measured value as a setpoint value during operation of the machine thereby damping the movably mounted attachment part.

2. The method according to claim 1, wherein during the controlling the hydraulic pump to adjust the pressure in the load-side chamber of the hydraulic cylinder during operation of the machine, the hydraulic pump is connected to the bottom chamber of the hydraulic by adjusting a hydraulic valve.

3. The method according to claim 1, wherein: at least a drive of the machine is actuated via the hydraulic pump; and pressure and/or torque changes arising during the adjustment of the pressure in the load-side chamber of the hydraulic cylinder during operation of the machine are compensated during operation of the at least one further component.

4. The method according to claim 1, wherein the machine is a drivable vehicle.

5. The method according to claim 1, wherein the controlling the hydraulic pump to adjust the pressure in the load-side chamber of the hydraulic cylinder during operation of the machine is activated in response to a control command initiated by an operator of the machine.

6. The method according to claim 1, further comprising: receiving position information of the attachment part from one or more location or position sensors; and adapting the setpoint value as a function of the position information and a predetermined or desired position of the attachment part.

7. A processing unit configured to carry out the method according to claim 1.

8. A vehicle, comprising a movably mounted attachment part, wherein the attachment part is movable by a hydraulic cylinder and the hydraulic cylinder is actuated via a hydraulic pump, the vehicle further comprising the processing unit according to claim 7.

9. A computer program that causes the processing unit of claim 7 to carry out the method according to claim 1 when executed on the processing unit.

10. A machine-readable storage medium with a computer program according to claim 9 stored thereon.

Description

BRIEF DESCRIPTION OF THE DRAWING

[0019] FIG. 1 schematically shows a machine according to the disclosure.

DETAILED DESCRIPTION

[0020] FIG. 1 schematically shows a machine 100 according to the disclosure in a preferred embodiment, on the basis of which a method according to the disclosure is also to be explained below in a preferred embodiment.

[0021] The machine 100, for example, has a movable attachment part 110 designed as an excavator arm, which is movable by means of a hydraulic cylinder 122. The hydraulic cylinder in turn is actuated via a hydraulic pump 130, in particular an electrohydraulic pump. For this purpose, the hydraulic pump 130, here an axial piston pump, is connected to a load-side, here the bottom, chamber 121 of the hydraulic cylinder via a hydraulic valve 140 designed as a control valve. The rod-side chamber 122 is then connected to the tank 150. Although the connections can also be connected differently by the control valve, the situation mentioned is to be used for the following method. For this purpose, the hydraulic valve is to be moved to the right from the position shown.

[0022] Furthermore, a location or position sensor 112 for detecting position information of the attachment part 110 is provided, a further location or position sensor 114 on a bearing (or frame), likewise a pressure sensor 124 for detecting a pressure P in the bottom chamber 121 and a pivot angle sensor 132 for detecting a pivot angle of the hydraulic pump. Likewise, a rotational speed sensor for detecting the rotational speed can be integrated there. The sensors are all connected to a processing unit 160 designed as a control unit, so that the corresponding measured values can be received there. For example, the location or position sensors allow particularly good control of the location and of the load pressure.

[0023] For example, a current value of the pressure p in the bottom chamber 121 is recorded during a measurement phase and stored as a measured value in the processing unit 160. This measured value results from a weight force F.sub.G which is exerted on the hydraulic cylinder by the attachment part 110.

[0024] The hydraulic pump 130 is then controlled to adjust the pressure in the bottom chamber 121 to the measured value as the setpoint value, specifically during operation of the machine 100. This ensures that the force F.sub.Z exerted on the attachment part by the pressure in the bottom chamber 121 and the hydraulic cylinder, which force counteracts the weight force F.sub.G, remains constant, in any case as much as possible. As a result, when the weight force F.sub.G is reduced briefly due to a movement of the attachment part, as a result of which the pressure in the bottom chamber 121 is reduced, for example, this pressure is increased by the hydraulic pump. This prevents a vibration of the attachment part, since the hydraulic cylinder or the rod is tracked. The same applies conversely.