Method of controlling a hydropneumatic suspension of a vehicle crane
A method for controlling a hydropneumatic suspension of a mobile crane having at least four wheels that are each allocated a spring cylinder, having at least four spring circuits in which at least one spring cylinder is incorporated in each case, each spring circuit being allocated a pressure measurement sensor and a path measurement sensor, in which signals of the pressure measurement sensors and of the path measurement sensors are processed by a control unit, and the spring cylinders are actuated. To optimize control of a hydropneumatic suspension for road travel operation of the mobile crane the mobile crane is levelled using preset suspension height set values of the spring circuits, then, in the control unit, on the basis of pressures detected by pressure sensors, pressure set values are calculated per spring circuit and pressures in the spring circuits are readjusted with the aid of pressure set values.
1. A method for controlling a hydropneumatic suspension of a mobile crane having at least four wheels which are each allocated a spring cylinder, and having at least four spring circuits in which at least one spring cylinder is incorporated in each case, with each spring circuit being allocated a pressure measurement sensor and a path measurement sensor, said method comprising:
processing signals of the pressure measurement sensors and of the path measurement sensors by a control unit and actuating the spring cylinders;
leveling the mobile crane for road travel operation of the mobile crane using preset suspension height set values of the spring circuits;
calculating pressure set values per spring circuit in the control unit on the basis of the pressures detected by the pressure measurement sensors; and
readjusting the pressures in the spring circuits with the aid of the pressure set values;
wherein calculating the pressure set values of the spring circuits comprises calculating the pressure set values with knowledge of the position of the overall center of gravity of the mobile crane and of the overall weight of the mobile crane; and
wherein calculating the pressure set values of the spring circuits comprises distributing the sum of the detected pressures of the spring circuits to the calculated pressure set values of the spring circuits.
2. The method as claimed in claim 1 , wherein in order to level the mobile crane suspension heights of the spring circuits detected by the path measurement sensors are regulated to the associated suspension height set values of the spring circuits.
3. The method as claimed in claim 2 , further comprising calculating the position of the overall center of gravity of the mobile crane and the overall weight of the mobile crane with the control unit using the pressures of the spring circuits.
4. The method as claimed in claim 1 , further comprising calculating the position of the overall center of gravity of the mobile crane and the overall weight of the mobile crane with the control unit using the pressures of the spring circuits.
5. The method as claimed in claim 1 , wherein readjusting the pressures in the spring circuits with the aid of the pressure set values comprises readjusting the pressures in the spring circuits using the pressure set values with a tolerance of at most+/−4%.
6. The method as claimed in claim 5 , wherein readjusting the pressures in the spring circuits with the aid of the pressure set values comprises readjusting the pressures in the spring circuits using the pressure set values with a tolerance of at most+/−2%.
7. A method for controlling a hydropneumatic suspension of a mobile crane having at least four wheels which are each allocated a spring cylinder, and having at least four spring circuits in which at least one spring cylinder is incorporated in each case, with each spring circuit being allocated a pressure measurement sensor and a path measurement sensor, said method comprising:
processing signals of the pressure measurement sensors and of the path measurement sensors by a control unit and actuating the spring cylinders;
leveling the mobile crane for road travel operation of the mobile crane using preset suspension height set values of the spring circuits;
calculating pressure set values per spring circuit in the control unit on the basis of the pressures detected by the pressure measurement sensors; and
readjusting the pressures in the spring circuits with the aid of the pressure set values;
wherein readjusting the pressures in the spring circuits with the aid of the pressure set values comprises readjusting the pressures in the spring circuits using the pressure set values with a tolerance of at most+/−4%.
8. The method as claimed in claim 7 , wherein readjusting the pressures in the spring circuits with the aid of the pressure set values comprises readjusting the pressures in the spring circuits using the pressure set values with a tolerance of at most+/−2%.
9. The method as claimed in claim 7 , wherein in order to level the mobile crane suspension heights of the spring circuits detected by the path measurement sensors are regulated to the associated suspension height set values of the spring circuits.
10. The method as claimed in claim 7 , further comprising calculating the position of the overall center of gravity of the mobile crane and the overall weight of the mobile crane with the control unit using the pressures of the spring circuits.
11. The method as claimed in claim 7 , wherein calculating the pressure set values of the spring circuits comprises calculating the pressure set values with knowledge of the position of the overall center of gravity of the mobile crane and of the overall weight of the mobile crane.