Abstract: To control movement of a transport unit of a linear motor, a quality functional J(SG) with quality terms JTk(SG) is used as a function of manipulated variables (SG) of active drive coils. The quality functional J(SG) controlling movement of the transport unit along the stator is optimized with regard to the manipulated variable (SG) to determine optimal manipulated variables (SGopt) for the relevant time step of the control of movement, active drive coils are energized according to the determined optimal manipulated variables (SGopt), and at least two movement phases are provided during the movement of the transport unit along the stator. In the at least two movement phases, different quality functionals J(SG) are used for determining the optimal manipulated variables (SGopt), the different quality functionals J(SG) differing by the number k of the quality terms JTk(SG) used and/or by the quality terms JTk(SG) and/or by the weighting Factors kk.

Abstract: The invention relates to a control circuit (27) for a waste heat recovery system (2) for a heat engine (36). The waste heat recovery system (2) comprises at least one evaporator (21) for converting waste heat from the exhaust gas (31, 31a) generated by the heat engine (36) into a working medium (23), at least one expansion machine (24) which can be driven by the working medium (23), at least one condenser (25) for condensing the working medium (23a) expanded in the expansion machine (24) into the liquid state (23b), and at least one conveying device (26) for increasing the pressure of the condensed working medium (23b) and conveying same into the evaporator (21). The control circuit (27) influences at least one control variable which controls the energy transmission from the exhaust gas (31, 31a) to the working medium (23b) and/or the energy transmission from the working medium (23c) to the expansion machine (24).

Abstract: The invention relates to a control circuit (27) for a waste heat recovery system (2) for a heat engine (36). The waste heat recovery system (2) comprises at least one evaporator (21) for converting waste heat from the exhaust gas (31, 31a) generated by the heat engine (36) into a working medium (23), at least one expansion machine (24) which can be driven by the working medium (23), at rl least one condenser (25) for condensing the working medium (23a) expanded in the expansion machine (24) into the liquid state (23b), and at least one conveying device (26) for increasing the pressure of the condensed working medium (23b) and conveying same into the evaporator (21). The control circuit (27) influences at least one control variable which controls the energy transmission from the exhaust gas (31, 31a) to the working medium (23b) and/or the energy transmission from the working medium (23c) to the expansion machine (24).

Abstract: A method for operating an axial piston machine of swashplate design, in which a swashplate is settable by means of an adjustment device, and in which a controlled variable of the axial piston machine is regulated by predetermining a manipulated variable. Under the assumption of a constant intended value of the controlled variable, a future profile of the controlled variable is ascertained using a model of the axial piston machine in which respective current values of at least one operating variable of the axial piston machine, which comprises the controlled variable, and a current value of the manipulated variable are taken into account. A value to be set for the manipulated variable is ascertained and set taking into account the future profile of the controlled variable.

Abstract: The invention relates to a large manipulator (1), in particular a truck-mounted concrete pump, having a mast pedestal (3) which is rotatable about a vertical axis by means of a rotary drive and which is arranged on a chassis (2), having an articulated mast (4) which comprises two or more mast arms (5, 6, 7, 8), wherein the mast arms (5, 6, 7, 8) are connected, so as to be pivotable by means of in each case one pivoting drive, to the respectively adjacent mast pedestal (3) or mast arm (5, 6, 7, 8), having a control device, which actuates the drives, for the mast movement, and having a mast sensor arrangement for detecting the position of at least one point of the articulated mast (4) or a pivot angle (?1, ?2, ?3, ?4) of at least one articulated joint. The large manipulator is characterized in that the control device (17) is designed to limit the speed of the mast movement on the basis of the output signal from the mast sensor arrangement.

Abstract: A large manipulator includes a boom arm with a turntable and a plurality of boom segments, which are configured to be pivoted at respective articulation joints with respect to an adjacent boom segment or the turntable. The boom arm further includes at least one inertial sensor configured to measure inclination and/or acceleration of at least one of the plurality of boom segments.

Abstract: A method for controlling a hydrostatic drive, which has a driving engine, a hydraulic pump coupled to the driving engine and a hydraulic motor coupled to the hydraulic pump by way of a pressurized hydraulic work line, includes calculating a manipulated variable vector comprising at least one manipulated variable for the hydrostatic drive based on (i) an output torque setpoint value for a torque on a secondary shaft driven by the hydraulic motor, (ii) a rotational speed and torque of the driving engine emerging from a predetermined operating point characteristic for the driving engine, and (iii) volumetric and mechanical losses of at least one adjuster unit comprising the hydraulic pump and the hydraulic motor. The manipulated variable vector is used to control the hydrostatic drive.

Abstract: A regulation system for controlling the orientation of a segment (5.3) of a manipulator, in particular of a large manipulator for truck-mounted concrete pumps, wherein the segment (5.3) is connected to a base (5.4) or a preceding segment (5.3) of the manipulator via a joint (5.5) and can be pivoted at the joint (5.5) relative to the base (5.4) or the preceding segment (5.3) about at least one axis of rotation by means of at least one actuating member (5.6), preferably a hydraulic actuating element, characterized in that the regulation system at least comprises: a first sensor (4.1), which is arranged on a segment (5.3) attached to the joint (5.5) and delivers a first measurement signal—referred to as a “deformation signal”—corresponding to a deformation of the segment (5.3), a second sensor (4.2, 4.3), which delivers a second measurement signal—referred to as an “orientation signal”—corresponding to the spatial orientation of the segment (5.3) attached to the joint (5.

Abstract: The invention relates to a large manipulator (1), in particular a truck-mounted concrete pump, having a mast pedestal (3) which is rotatable about a vertical axis by means of a rotary drive and which is arranged on a chassis (2), having an articulated mast (4) which comprises two or more mast arms (5, 6, 7, 8), wherein the mast arms (5, 6, 7, 8) are connected, so as to be pivotable by means of in each case one pivoting drive, to the respectively adjacent mast pedestal (3) or mast arm (5, 6, 7, 8), having a control device, which actuates the drives, for the mast movement, and having a mast sensor arrangement for detecting the position of at least one point of the articulated mast (4) or a pivot angle (?1, ?2, ?3, ?4) of at least one articulated joint. The large manipulator is characterized in that the control device (17) is designed to limit the speed of the mast movement on the basis of the output signal from the mast sensor arrangement.

Abstract: A method for operating an axial piston machine of swashplate design, in which a swashplate is settable by means of an adjustment device, and in which a controlled variable of the axial piston machine is regulated by predetermining a manipulated variable. Under the assumption of a constant intended value of the controlled variable, a future profile of the controlled variable is ascertained using a model of the axial piston machine in which respective current values of at least one operating variable of the axial piston machine, which comprises the controlled variable, and a current value of the manipulated variable are taken into account. A value to be set for the manipulated variable is ascertained and set taking into account the future profile of the controlled variable.

Abstract: A large manipulator includes a boom arm with a turntable and a plurality of boom segments, which are configured to be pivoted at respective articulation joints with respect to an adjacent boom segment or the turntable. The boom arm further includes at least one inertial sensor configured to measure inclination and/or acceleration of at least one of the plurality of boom segments.

Abstract: An electrohydraulic control circuit for driving a hydraulically actuated actuating element (5, 6), by means of which a segment (5.3) of a manipulator, in particular of a large manipulator for truck-mounted concrete pumps, can be adjusted in terms of its orientation, wherein there are provided an electrically driven first valve (2.4), which is connected to hydraulic working lines of the actuating element (5.6) for the drive thereof, and leak-free check valves (2.5, 2.6) provided in the working lines of the actuating element (5.6), which valves are arranged on the actuating element (5.6) or on the segment (5.3) associated with this actuating element (5.6) and can be released for the normal operation of the actuating element (5.6), wherein the release of the check valves (2.5, 2.6) is driven by an electronic control unit (ECU) separate from the first valve (2.4) and the check valves (2.5, 2.6).

Abstract: An electrohydraulic control circuit for driving a hydraulically actuated actuating element (5, 6), by means of which a segment (5.3) of a manipulator, in particular of a large manipulator for truck-mounted concrete pumps, can be adjusted in terms of its orientation, wherein there are provided an electrically driven first valve (2.4), which is connected to hydraulic working lines of the actuating element (5.6) for the drive thereof, and leak-free check valves (2.5, 2.6) provided in the working lines of the actuating element (5.6), which valves are arranged on the actuating element (5.6) or on the segment (5.3) associated with this actuating element (5.6) and can be released for the normal operation of the actuating element (5.6), wherein the release of the check valves (2.5, 2.6) is driven by an electronic control unit (ECU) separate from the first valve (2.4) and the check valves (2.5, 2.6).

Abstract: A regulation system for controlling the orientation of a segment (5.3) of a manipulator, in particular of a large manipulator for truck-mounted concrete pumps, wherein the segment (5.3) is connected to a base (5.4) or a preceding segment (5.3) of the manipulator via a joint (5.5) and can be pivoted at the joint (5.5) relative to the base (5.4) or the preceding segment (5.3) about at least one axis of rotation by means of at least one actuating member (5.6), preferably a hydraulic actuating element, characterised in that the regulation system at least comprises: a first sensor (4.1), which is arranged on a segment (5.3) attached to the joint (5.5) and delivers a first measurement signal—referred to as a “deformation signal”—corresponding to a deformation of the segment (5.3), a second sensor (4.2, 4.3), which delivers a second measurement signal—referred to as an “orientation signal”—corresponding to the spatial orientation of the segment (5.3) attached to the joint (5.

Abstract: For an object on a bearing mounting having a magnetic bearing providing a magnetic field generally produced by an electromagnet, the bearing is regulated based on a position of the object relative to the bearing. The position of the object is determined by reference to an estimate of the inductance obtained using a least squares method, in which the electrical resistance of the bearing is taken into account. The resistance is subject to variations, for example due to temperature fluctuations; however, the electrical resistance can be estimated by regulating the inductance error, ?{circumflex over (L)}={circumflex over (L)}2,sLS?{circumflex over (L)}1,sLS down to zero, where the resistance adjustment facility may be a low-pass filter and an integration controller.

Abstract: For an object on a bearing mounting having a magnetic bearing providing a magnetic field generally produced by an electromagnet, the bearing is regulated based on a position of the object relative to the bearing. The position of the object is determined by reference to an estimate of the inductance obtained using a least squares method, in which the electrical resistance of the bearing is taken into account. The resistance is subject to variations, for example due to temperature fluctuations; however, the electrical resistance can be estimated by regulating the inductance error, ?{circumflex over (L)}={circumflex over (L)}2,sLS?{circumflex over (L)}1,sLS down to zero, where the resistance adjustment facility may be a low-pass filter and an integration controller.