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Bosch Rexroth Local R&D in the USA
1
Dr. Enrique Busquets, Engineering Systems Group Leader
Dr. Uwe Neumann, Engineering Mobile Hydraulics Vice President
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• 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
Bosch Rexroth Local R&D in the USA
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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
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Bosch Rexroth Local R&D in the USA
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Local Competencies
… with strong global collaboration
Wooster, OH
Fountain Inn, SC
Bethlehem, PA
Guadalajara, MX
We Can Do It All …
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Bosch Rexroth Local R&D in the USA
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
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Verification and Validation
Bosch Rexroth Local R&D in the USA
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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Bosch Rexroth Local R&D in the USA
7
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
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editing, distribution, as well as in the event of applications for industrial property rights.
SSL as one local Target Application (local for local)
Bosch Rexroth Local R&D in the USA
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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
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Header of section
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Ground Drive
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Bosch Rexroth Local R&D in the USA
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
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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
Bosch Rexroth Local R&D in the USA
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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
Bosch Rexroth Local R&D in the USA
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Implement
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Bosch Rexroth RM-10 w/ Custom Inlet
Pressure Controlled
(Pre-compensated)
Flow Controlled
Bosch Rexroth Local R&D in the USA
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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
Bosch Rexroth Local R&D in the USA
-30%
NGS-EFM
Competitor
Competitor
valve
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Priority
OFF
Priority
ON
2000 lbs.
2000 lbs.
Bosch Rexroth Local R&D in the USA
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Header of section
17
Software
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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)
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Thank you!Dr. Enrique Busquets, Engineering Systems Group Leader
Dr. Uwe Neumann, Engineering Mobile Hydraulics Vice President