Bosch Rexroth Local R&D in the USA - nfpahub.com · Swash plate sensor Electronic Electro-Proportional (eEP) Control. ... Active Tool Leveling Cylinder End-Stroke Damping Straight

Internal | 9/12/2016 | BUE2FNI DC-MA/ENG51-NA | © Bosch Rexroth AG 2016. All rights reserved, also regarding any disposal, exploitation, reproduction,

editing, distribution, as well as in the event of applications for industrial property rights.

Bosch Rexroth Local R&D in the USA

1

Dr. Enrique Busquets, Engineering Systems Group Leader

([email protected])

Dr. Uwe Neumann, Engineering Mobile Hydraulics Vice President

([email protected])



• Electronic electro-proportional control for skid-steer loaders

Agenda

2

• Introduction of our local R&D competencies

• Local target applications

• Electro-hydraulic implement control

• Electro-hydraulic functions

o Skid-steer loader platform example




Header of section

3

Industry Sectors & Product Areas

Construction and Mining Agricultural and Forestry

Material Handling On-Highway and Commercial

Expertise in every industry sector

Mobile Controls

Pumps/Motors

No one can match our portfolio

Compact

Hydraulics

Systems

Mobile Electronics

Transmission units




4

Local Competencies

… with strong global collaboration

Wooster, OH

Fountain Inn, SC

Bethlehem, PA

Guadalajara, MX

We Can Do It All …


editing, distribution, as well as in the event of applications for industrial property rights.5


Pro- Engineer (CAD)

Pro-Mechanica(FEA)

Computational Fluid Dynamics

(CFD)

HW/SW

In-the-loop

(HiL/SiL)

Flow characteristic Pressure gradient Thermal transfer

3-D Solid modeling BR PDM platform Solid Works 2-D design projects

3D stress analysis Virtual fatigue testing Weight & Material optimization

HW&SW of complete machine Co-Simulation Auto-Code Generation



Verification and Validation


Test StandsFunctional

Endurance

Fatigue

Hydraulic Systems

Components

Proving groundsGravel and concrete area

Vehicle ShopSmall to large machines

Machine outfitting

Field Tests

Machine Systems &

Components Integration

RequirementVerification &

Validation

Requirement

Engineering

Concept

Generation

& System

Design

Model Base

Design

Machine

System

Integration

Machine

Build &

Instrument

Verification

& Validation

Proving Grounds in Fountain Inn, SC




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Phase I (2016)

Gravel pad

Phase II (2017)

Excavation area

Cement pad

Phase III (2018)

Shelter area

Machine wash area

Push-pull post

Phase IV (2019)

Sloped roads



SSL as one local Target Application (local for local)


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Ground Drive

System Architecture A2xeEP+RCMAccurate and reliable control for improved productivity

Implement System

A1VO+RM10-Electronic Flow

ManagementCost effective and smart solution for implement actuators with priority levels

Added Safety

Cameras, telematics and displaysMore information for the operator and

safety targeted software increase

machine monitoring and surroundings

visibility

Software

Integration of inertia sensors and

smart control algorithmsSignificant increase in productivity and operator comfort

Bosch

MM5.10 sensor



Header of section

9

Ground Drive




Target A2XVG:

Basis pump as simple as possible (HT and ET Pump)

Additional functions realized by electrification (e.g. eEP)

Electrification (eEP)

eEP

“soft Pump”

“hard Pump”

Vg/Vgmax

1

1

pPump/

pPumpmax

Control Valve

Swash plate sensor

Electronic Electro-Proportional (eEP) Control



1. Build prototype vehicle for eEP test purposes

Prototype software – Matlab/Simulink on dSpace

Prototype SSL vehicle

2. Perform vehicle tests

Forward-Neutral-Reverse movement (FNR)

Pull test

3. Perform pump tests / compare to baseline > A2245 EP:

Static curve test

Pressure step test

Step response test

Sampling rate test

4. Final result / End of study

Approach




1.5 %

0.28⁰

Deviation

5.1 %

0.9⁰

7.4 %

1.3 ⁰1.3 %

0.24⁰

Deviation Deviation

Deviation

• Pressure step influence very minor

• End value of swash angle at high pressure is not same as before

• End value same as before

• Temporary deviation by pressure step

Pressure step up: 400 bar @800 ms | Pressure step down: 400 bar @250 ms

0.0 %

Deviation

Pressure step up: 400 bar @800 ms | Pressure step down: 400 bar @250 ms


Internal | 9/12/2016 | Dr. Uwe Neumann, DC-MA/ENG-NA | © Bosch Rexroth AG 2016. All rights reserved, also regarding any disposal, exploitation, reproduction,


Implement

13



Bosch Rexroth RM-10 w/ Custom Inlet

Pressure Controlled

(Pre-compensated)

Flow Controlled




Functional advantages

Ability to control LS-pump

During combined movements the software manages flow distribution between active

cylinders and prevents cylinders from moving too fast. (Open loop, no sensors required)

All functions are pressure compensated in single operation mode

Speed control of attachments, independent from load

- speed of drill is kept constant

- constant trencher speed while driving

Very good fine control to move heavy loads

Oil flow is independent from engine speed

Small pressure drop for high-flow attachment / reduced heat generation

1

23

1

2

3


-30%

NGS-EFM

Competitor

Competitor

valve



Priority

OFF

Priority

ON

2000 lbs.

2000 lbs.




Header of section

17

Software



EH Functions

Active Tool Leveling Cylinder End-

Stroke Damping

Straight TravelMeasures vehicle yaw

rate and compensates

to bring machine back

to straight travel

Prevents cylinder from

hitting the end stroke

with maximum speed

Keeps attachment leveled

to the ground if implement

moves

Return to Position

Brings implement back to

a saved position with the

push of a button

EH function library

Algorithm to measure implement position with Bosch inertia

sensors was developed at CR.

3 inertia sensors (Carrier, Boom, Bucket) to realize several

electrohydraulic functions.Bosch MM5.10 sensor

Sensor outputs:

3 accelerations

2 rotation rates

Sensors don’t have to be

mounted directly at the

joints but can be mounted

at a safe location

Position of implement can

be measured relative to the

earth (true bucket leveling

possible)



Thank you!Dr. Enrique Busquets, Engineering Systems Group Leader

([email protected])

Dr. Uwe Neumann, Engineering Mobile Hydraulics Vice President

([email protected])

Documents

Bosch Rexroth Local R&D in the USA - nfpahub.com · Swash plate sensor Electronic Electro-Proportional (eEP) Control. ... Active Tool Leveling Cylinder End-Stroke Damping Straight