DE102022200249A1 - Method for determining a pump operating variable for controlling a hydraulic system, method for determining a mapping function and machine - Google Patents

Abstract

The invention relates to a method for determining at least one pump operating variable for controlling a hydraulic system, which is provided for operating a machine, preferably a working machine, the hydraulic system having a drive unit, a hydraulic pump which can be driven by the drive unit and in which a delivery volume can be adjusted, and at least has a hydraulic actuator which can be supplied with hydraulic fluid by the hydraulic pump (110), comprising obtaining a target value (Fsoll, Vsoll) for at least one movement operating variable of the at least one hydraulic actuator, determining (200, 220) taking into account at least one property of Machine, a target value (PS, MS, QS, φS) for at least one pump operating variable of the hydraulic pump, and outputting the target value (PS, MS, QS, φS) for the at least one pump operating variable. The invention also relates to a method for determining a mapping function (K1, K2) and a machine.

Description

The present invention relates to a method for determining at least one pump operating variable for controlling a hydraulic system that is provided for operating a machine, preferably a working machine, a method for determining at least one mapping function, a computing unit and a computer program for its implementation, and a machine with a hydraulic arrangement.

Background of the Invention

Machines, in particular work machines or mobile work machines such as e.g. excavators, have one or usually several hydraulic actuators such as hydraulic cylinders and hydraulic motors for the work operation. To supply the hydraulic actuators with hydraulic fluid (or pressure medium), a hydraulic pump can be provided, which is driven, for example, by an electric motor or an internal combustion engine.

For example, so-called DFE pumps are sold by the applicant, which have an electronic pump control system in order to regulate pressure, volumetric flow (pivoting angle), power (torque). There is also a detection of the pressure and swivel angle, as well as a subordinate valve control with stroke detection, and control of an electrical proportional valve.

An electronic pump control for controlling the pressure/pressure difference (Delta-P), volumetric flow (swivel angle), power (torque) can include the detection of the pressure and swivel angle, as well as the actuation of an electrical proportional valve.

From the U.S. 4,801,247 A is known, for example, a pump control with detection of pressure and swivel angle; there is an independent control of the pressure and the swivel angle.

From the U.S. 5,267,441 A is known a pump control with detection of pivot angle and pressure at the pump; there is a performance control via swivel angle sensor and pressure sensor, and several performance characteristics are provided in the electronic memory including minimum performance and maximum performance.

From the U.S. 5,170,625A a pivot angle detection and pressure difference detection is known; the pump is activated in order to regulate the pressure difference. In addition, variable amplification factors are dependent on the pressure gradient and the swivel angle gradient.

From the U.S. 5,182,908 A a section-dependent lift limitation of a valve is known in order to prioritize the consumers in the event of undersaturation. In this case, the pivot angle and the pressure of the pump are detected, the pump is controlled based on stored characteristic diagrams, and the delivery volume of the pump is adjusted as a function of pressure.

From the EP 2 703 652 A1 a swivel angle detection is provided on the pump; the pump is controlled via an electrical signal. In particular, the pump control regulates pressure, volumetric flow and/or power there, depending on the driver's request, the swivel angle and the diesel engine speed. Since the pump here is a hydromechanically recirculated, pressure-controlled pump with an electrical setpoint pressure setting, no pressure sensor is required. In addition, the minimum pressure is used from two pressure calculations to which control is applied, ie the software on the controller regulates the pump in such a way that a pressure is limited or a minimum pressure is regulated.

From the EP 3 770 428 A1 a hydraulic arrangement is known, for example, in which a pivoting angle of a hydraulic pump is adjusted or adjusted as part of a regulation in order to be able to supply hydraulic actuators with hydraulic fluid in a suitable manner.

An electrohydraulic interface for open circuit pumps for specifying the swivel angle and/or pressure and/or power is therefore known from the prior art, as is an implementation of these specifications at the pump control level. However, there is a need for a way to flexibly adapt or use such an interface, e.g. for mapping functions at machine level.

Disclosure of Invention

According to the invention, a method for determining at least one pump operating variable for controlling a hydraulic arrangement, a method for determining at least one mapping function, a computing unit and a computer program for its execution, and a machine with a hydraulic arrangement with the features of the independent patent claims are proposed. Advantageous configurations are the subject of the dependent claims and the following description.

The invention deals with the operation of machines, in particular work machines, and in particular hydraulic arrangements used in such machines. Such a hydraulic arrangement has a hydraulic pump (or delivery unit) in which a delivery volume can be adjusted; this can be done, for example, by adjusting a swivel angle of a swivel disk of what is known as an axial piston pump, for example by means of a suitable adjustment mechanism. Here, in particular, a so-called variable displacement pump is also mentioned. A drive unit or drive machine such as an electric motor or an internal combustion engine can be provided to drive the hydraulic pump. Such a drive machine - and thus the hydraulic pump - can usually be besttrieben with variable speed; one can then also speak of a variable-speed hydraulic pump.

The hydraulic arrangement also has at least one hydraulic actuator, which can be supplied with hydraulic fluid by the hydraulic pump. Typically, several hydraulic actuators are provided, for example one or more hydraulic cylinders with pistons for linear movements (e.g. for moving an excavator arm or a shovel), and/or one or more hydraulic motors for rotary movements (e.g. for a travel drive of an excavator). As a rule, what is known as a valve or control block (also referred to as a main valve) is then also provided, via which the hydraulic fluid provided by the hydraulic pump can be distributed in a suitable manner to the individual hydraulic actuators. A plurality of valves are typically provided in such a valve block, which can also be controlled individually. Such a hydraulic arrangement is preferably operated in an open hydraulic circuit.

In order to be able to operate the hydraulic actuators as desired or to be able to supply them with hydraulic fluid, the hydraulic pump must provide the hydraulic fluid accordingly. Here, various operating variables - also referred to below as pump operating variables - come into consideration for which (in each case) a setpoint can be specified to which the pump operating variables - or at least one of the pump operating variables - can be regulated. Such pump operating variables include, in particular, a pressure (outlet pressure) of the hydraulic fluid to be provided by the hydraulic pump, a volume flow of the hydraulic fluid to be provided by the hydraulic pump, a variable that is characteristic of the delivery volume of the hydraulic pump, e.g. the pivot angle mentioned, or a power of the hydraulic pump and a torque of the Consider hydraulic pump. The power in turn depends on the torque and speed of the hydraulic pump. The speed can also be specified if necessary. In addition, the volume flow in turn depends on the delivery volume and the speed.

The hydraulic pump can be operated, in particular regulated, based on setpoint values for one or more of these pump operating variables (in the case of several pump operating variables, there is in particular a setpoint for each of them). For this purpose, in particular, actual values of the relevant pump operating variables can also be recorded and used; these can be recorded, for example, by means of suitable sensors such as pressure, swivel angle, speed sensors, etc.

A control variable for an adjustment mechanism for adjusting the pivoting angle of the hydraulic pump can be determined as part of such a regulation. Such a manipulated variable can be used to control a valve, for example an electromagnetic proportional valve, which in turn controls a hydraulic cylinder with a piston, the piston adjusting the swash plate and thus the swivel angle. Such a procedure or such a regulation is already mentioned EP 3 770 428 A1 , there in particular in relation to the 1 and 2 , described in more detail, which is hereby explicitly referred to.

The target values for the pump operating variables depend on the specific operating requirements for the one or more hydraulic actuators, which in turn can be specified, for example, via operating or input means such as joysticks, foot pedals, levers and the like. Depending on the type of machine, an operating or input means can be provided for each hydraulic actuator, but typically several hydraulic actuators (e.g. with different directions of movement of a joystick) can be actuated with one operating or input means. Provision can also be made for a hydraulic actuator to be influenced by more than one operating or input means. Likewise - alternatively or in addition to the operating or input means - other external specifications for the hydraulic actuators can be used, e.g. from automation functions for automated driving or movement sequences.

In order to actuate the hydraulic actuators accordingly - and thus, for example, to be able to move components such as an excavator arm or a shovel - the specifications, e.g. converted. Such defaults can initially include, for example, a specific inclination of a joystick or also an inclination or movement speed of a joystick or the like. The movement operating variables to be determined from this can, for example, be a force to be provided by the hydraulic actuator, a force of include a speed to be provided by the hydraulic actuator, a torque to be provided by the hydraulic actuator and a rotational speed to be provided by the hydraulic actuator. In this context, force or speed come into consideration in particular for hydraulic cylinders, torque and speed in particular for hydraulic motors. Here, however, conversions are also possible, for example, an associated speed can be determined for a specified driving speed, which is influenced by a hydraulic motor.

As has been found, determining the pump operating variables mentioned or their target values using the movement operating variables or their target values sometimes depends very heavily on the specific application or the specific type of machine in which the hydraulic actuators are used Determination is influenced by it.

Against this background, it is proposed that, starting from a target value for at least one movement operating variable of the at least one hydraulic actuator, taking into account at least one property (or specification) of the machine, a target value for at least one pump operating variable of the hydraulic pump should be determined and output, e.g. The hydraulic pump or the hydraulic arrangement can then be controlled on the basis of the desired value for the at least one pump operating variable. For this purpose, a manipulated variable for an adjustment mechanism for adjusting the delivery volume of the hydraulic pump can be determined from the setpoint for the at least one pump operating variable, in particular as part of a control, as already mentioned above.

In this way, the concrete properties of the machine to be operated and also its current situation can be targeted in order to operate it as efficiently as possible.

The (particularly technical) properties of the machine can be taken into account in various ways. A target value for at least one hydraulic operating variable for the at least one hydraulic actuator is preferably determined taking into account the kinematics of the machine and/or a design of the energy and movement transmission (as property(s) of the machine). The kinematics of the machine can be understood, for example, as the concrete geometric dimensions of the individual components of the machine (e.g. excavator arms, shovel) as well as transfer functions from machine-related movement variables to hydraulic default variables; such properties have an influence, for example, on the type of movements that are possible with the machine.

A hydraulic operating variable for a hydraulic actuator is to be understood in particular as a hydraulic operating variable of the hydraulic fluid that is specific to the relevant hydraulic actuator (such as a pressure to be provided for this hydraulic actuator and/or a volume flow to be provided for this hydraulic actuator and/or a transmitted power). These hydraulic operating variables are of a type that is partly identical to or similar to the pump operating variables, but individually for the individual hydraulic actuators, which can be relevant in particular when there are a number of hydraulic actuators. The setpoint for the at least one pump operating variable is then determined based on the setpoint for the at least one hydraulic operating variable for the at least one hydraulic actuator. In particular when there are several hydraulic actuators, the individual values are added and/or weighted with one another, for example, in order to arrive at an overall required value that the hydraulic pump is supposed to deliver.

The setpoint value of the at least one pump operating variable based on the setpoint value for the at least one hydraulic operating variable is advantageously determined taking into account at least one of the following properties, i.e. one of the following properties of the machine and/or including the hydraulic system: a configuration of the hydraulic system, hydraulic tolerances, requirements Work functions of the machine, and a condition of the machine and / or the drive unit.

The configuration of the hydraulic system includes, for example, the specific type of connection of the individual components of the hydraulic system, not only the hydraulic pump and the hydraulic actuators, but also the valves that are present, the type of lines and the like.

Hydraulic tolerances are to be understood in particular as sample spreads that affect or can affect the hydromechanical functional behavior.

The requirements for work functions of the machine include, for example, current or general functions that are to be performed with the machine and, in particular, their design. For example, maximum speeds, maximum forces or the mapping of these variables to an actuator, the mode of sensitive handling, e.g. an excavator shovel, or whether productive performance work (e.g. also with an excavator) is necessary or desired.

The condition of the machine and/or the drive unit is to be understood, for example, as a (currently) available power and/or a (current) speed, which has an influence on how quickly a certain pressure or a certain power or change in power from the hydraulic pump can be made available. In addition, this can be understood to mean certain limits with which the machine or the drive unit can be operated. However, it can also be taken into account, for example, whether the drive unit is used for other applications in addition to the hydraulic pump.

As mentioned, the setpoint for at least one pump operating variable can be determined in this way. While, for example, the pressure of the hydraulic fluid to be provided by the hydraulic pump, the volume flow of the hydraulic fluid to be provided by the hydraulic pump and the torque of the hydraulic pump can be determined directly, the variable characteristic of the delivery volume of the hydraulic pump, e.g. the swivel angle, can be determined taking into account the (current ) The speed of the hydraulic pump or the drive unit can be determined from the volume flow.

In this way, in particular, a standardized option for parameterization at the machine function level is possible without specific knowledge of the hydraulic arrangement. Rapid adaptation to changed machine parameters is also possible. A machine-function-related interface is thus made available at machine level, which can then be used on the basis of an existing control system that is based on the setpoint values of the pump operating variable. This can be helpful for automation functions or machine-external controls, because they do not have to take the hydraulic architecture into account in their interface and their required specifications and can therefore be implemented independently of the architecture and even of the drive technology

As already mentioned, specifications from operating or input means such as joysticks and the like or specifications from other functions such as automation functions are converted into the movement operating variables - or, in other words, the movement operating variables are determined from these specifications. This is particularly preferably done using one or more mapping functions such as characteristic curves or characteristic diagrams. For example, a characteristic curve can precisely determine at which inclination and/or inclination speed of a joystick (which is provided for moving an excavator arm) the relevant hydraulic actuator should provide which force and/or which speed. In general, the mapping functions can therefore depend in particular on properties or sizes of the machine, e.g. the geometric dimensions and the transfer functions to the individual components.

A further aspect of the invention is a method for determining at least one such mapping function. This is done taking into account at least one property of the machine. The at least one mapping function can then be used, for example, in the method explained above.

The at least one property of the machine is preferably selected from a movement speed requirement (during subsequent operation of the machine), a power requirement (during subsequent operation of the machine), and performance data and/or settings from a work function of the machine. The latter can, for example, include a need for volume flow of hydraulic fluid for certain work functions, a prioritization of certain components or also limitations due to attachments (e.g. if a certain type of excavator bucket has certain requirements or limitations).

A computing unit according to the invention, e.g. a control unit of a working machine, is set up, in particular in terms of programming, to carry out a method according to the invention.

The invention also relates to a machine, in particular a working machine, with a hydraulic arrangement that has a hydraulic pump with an adjustable delivery volume and at least one hydraulic actuator that can be supplied with hydraulic fluid from the hydraulic pump, and with a computing unit according to the invention.

The implementation of a method according to the invention in the form of a computer program or computer program product with program code for carrying out all method steps is advantageous because this causes particularly low costs, especially if an executing control device is also used for other tasks and is therefore available anyway. Suitable data carriers for providing the computer program are, in particular, magnetic, optical and electrical memories, such as hard drives, flash memories, EEPROMs, DVDs, etc. It is also possible to download a program via computer networks (Internet, intranet, etc.).

Further advantages and refinements of the invention result from the description and the attached drawing.

It goes without saying that the features mentioned above and those still to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

The invention is shown schematically in the drawing using an exemplary embodiment and is described in detail below with reference to the drawing.

character list

• 1 shows schematically a hydraulic arrangement in which a method according to the invention can be carried out.
• 2 shows schematically a sequence of a method according to the invention in a preferred embodiment.
• 3 shows schematically a sequence of a method according to the invention in a further preferred embodiment.
• 4 shows schematically a machine in which a method according to the invention can be carried out.

Detailed description of the drawing

In 1 a hydraulic system 100 is shown schematically, in which a method according to the invention can be carried out. The hydraulic system 100 is provided for operating a machine, in particular a (mobile) working machine such as an excavator, wheel loader, telehandler or the like. The hydraulic arrangement 100 has a drive unit 114, e.g act as an axial piston pump with a swash plate, the slewing angle of which can be adjusted in order to adjust the delivery volume. In addition, the hydraulic arrangement 100 has, for example, four hydraulic actuators, namely three hydraulic cylinders 130, 132, 134 with pistons and a hydraulic motor 136. The hydraulic actuators can be supplied with hydraulic fluid by the hydraulic pump 110. For this purpose, the hydraulic fluid can be taken from a tank 116 in an open hydraulic circuit and distributed to the individual hydraulic actuators via a control or valve block 120 .

For example, the two hydraulic cylinders 130, 132 are jointly supplied with hydraulic fluid. It is conceivable that these two hydraulic cylinders 130, 132 are provided for (jointly) moving an excavator arm, the hydraulic cylinder 134 for moving an excavator shovel and the hydraulic motor 136 as the drive system for the excavator. It goes without saying that this is purely by way of example for explanation. In practice, other and/or further hydraulic actuators and applications can be provided for them.

Furthermore, a processing unit 150 embodied as a control unit is shown, which serves to control the hydraulic pump 110 or its adjustment mechanism 112 and the drive unit 114 . The specific type of adjustment mechanism is irrelevant in the present case. For an exemplary explanation of a possible adjustment mechanism is on the EP 3 770 428 A1 , there in particular on the 1 and their explanation. A pressure sensor 152 is also shown, by means of which, for example, a current pressure of the hydraulic fluid provided by the hydraulic pump can be detected; the pressure sensor 152 is connected to the computing unit. Likewise, for example, a speed sensor (not shown) can be provided for the drive unit or the hydraulic pump.

Furthermore, two joysticks 140, 142 and a foot pedal 144 are shown as operating or input means, by means of which an operator of the machine can make specifications for the movement of components such as the excavator arm, shovel and travel drive, which are then to be implemented accordingly for the hydraulic actuators. The operating or input means 140, 142, 144 are connected to the processing unit 150, for example via a data line, e.g. a data bus, so that the specifications can be obtained or received there.

In 2 a sequence of a method according to the invention is shown schematically in a preferred embodiment. For this purpose, three operating or input means (e.g. those from 1 ) shown, by means of which specifications for the movement of the hydraulic actuators can be made, for example, by an operator of the machine. This is to be explained as an example using specification E of only one joystick. As already mentioned, specifications can also be made, for example, by automation functions, for example in order to carry out a specified movement of the excavator arm or to drive it at a specific speed.

Based on specification E, which can be, for example, a specific deflection or inclination of the joystick in a specific direction (e.g. given as a percentage of a maximum deflection or a rate), two characteristic diagrams K ₁ and K ₂ are used as mapping functions Target value F _{is intended} for a force that is applied by a relevant hydraulic actuator is, and a target value V _is for a speed at which the relevant hydraulic actuator is to be moved. Instead of the characteristic diagrams, other mapping functions can also be considered.

One possibility of determining such mapping functions or characteristic diagrams will be explained in more detail later.

The force and the speed for the hydraulic actuator are each a movement operating variable of the hydraulic actuator, specifically in particular individually for a specific hydraulic actuator. It is conceivable that this also applies to two hydraulic actuators if they are to be moved together, such as in the case of hydraulic actuators 130, 132 according to FIG 1 the case. Likewise, individual motion operating variables or target values for this can be determined for the other existing hydraulic actuators.

The target values of all movement operating variables are then fed to a processing step 200 . Setpoint values for hydraulic operating variables for the hydraulic actuators are determined there, taking into account a kinematics 210 of the machine (or kinematic properties of the machine). Examples are in 2 a target value P's for a pressure that is to be made available to the hydraulic actuator in question, and a target value Q's for a volume flow that is to be made available to the hydraulic actuator in question. These are, in particular, hydraulic operating variables individually for a relevant hydraulic actuator or possibly for two or more hydraulic actuators that are moved together.

Likewise, in this processing step 200, any further desired values that may be present for further movement operating variables (as indicated by dots) can be taken into account. In this processing step 200, setpoint values for further movement operating variables (as indicated by dashed arrows) can also be determined for any further hydraulic actuators that may be present.

Taking into account the machine kinematics data and known transfer function(s) from machine-related variables (machine size world) to hydraulic-related variables (hydraulic world), a conversion into the physical variables of the hydraulics takes place. For example, if a target value for the lifting force on the shovel is 3000 N, this means a pressure requirement of 190 bar as a target value for the pump for the given cylinder diameters and lever lengths.

The target values of all hydraulic operating variables are then fed to a processing step 220 . There, taking into account a configuration 230 of the hydraulic arrangement and hydraulic tolerances 232 (i.e. in particular example-dependent tolerances or variations), a setpoint P _S for a pressure to be provided by the hydraulic pump, if necessary a setpoint M _S for a torque of the hydraulic pump, and a setpoint Q _S for determines a volume flow of the hydraulic fluid to be provided by the hydraulic pump. In particular, the conversion from the specifications from the individual functions (setpoint values of the hydraulic operating variables) to the total specification for the hydraulic pump also takes place here, for example a total of two individual volume flow requirements. If the volumetric efficiency is known or determined depending on the model, this can be added to the requirements of the individual consumers and a compensated hydraulic target specification value (target value of the pump operating variable) can thus be generated.

In addition, in processing step 220, in order to determine the setpoint values in question, requirements 240 for work functions of the machine and a state 242 of the machine and/or the drive unit, ie e.g. a current speed n of the drive unit, are taken into account. The requirements for the work functions relate, for example, to the type of operating mode desired, such as handling mode or performance mode. Here, for example, it may be relevant how individual hydraulic actuators are dealt with in the event of a possible undersupply (e.g. by suitable distribution of hydraulic fluid); Likewise, for example, a quantity prioritization (i.e. a prioritized supply of hydraulic fluid) of individual consumers (hydraulic actuators) can be considered, but also a power limitation via quantity restrictions (i.e. the limitation of the quantity or volume flow of hydraulic fluid) for specific hydraulic actuators.

From the setpoint Q _S for a volume flow of hydraulic fluid to be provided by the hydraulic pump, a setpoint φ _s for a swivel angle can also be determined based on the current speed n of the drive assembly or the hydraulic pump as a characteristic variable for the delivery volume of the hydraulic pump.

The desired values P _S and φ _S and, if applicable, M _S can then be supplied to a controller 250, by means of which, for example, a manipulated variable for the adjustment mechanism of the hydraulic pump can be determined.

In 3 a sequence of a method according to the invention is shown schematically in a further preferred embodiment, in particular for determining one or more Mapping functions such as the characteristics K ₁ and K ₂ in relation to 2 be mentioned.

For this purpose, various properties of the machine or functional requirements on or from the machine, such as in particular a movement speed requirement 300 (when the machine is later operated), a power requirement 310 (when the machine is later operated), performance data 320 and settings 330 from a Work functions of the machine taken into account. The latter can, for example, include a need for volume flow of hydraulic fluid for certain work functions, a prioritization of certain components or also limitations due to attachments (e.g. if a certain type of excavator bucket has certain requirements or limitations).

In other words, taking these properties or requirements into account, for example, a connection is established between a specification such as an inclination of a joystick and the movement operating variables to be generated therefrom, such as force and speed of hydraulic actuators. The set or determined in this way mapping functions can then, for example, in relation to the 1 and 2 The hydraulic system described or the method described there can be used to obtain or derive the target values for operation.

In 4 a machine 400 in which a method according to the invention can be carried out is shown schematically. Machine 400 is a mobile work machine, here in the form of an excavator. An excavator arm 410, a shovel 420 and a travel drive 430 are shown as examples. In particular, machine 400 includes a hydraulic assembly such as hydraulic assembly 100 according to FIG 1 on.

How regarding 1 mentioned, such components can be moved by means of the hydraulic actuators. For example, the excavator arm 410 could be moved by means of the hydraulic cylinders 130, 132, the excavator shovel 420 could be moved by means of the hydraulic cylinder 134, and the hydraulic motor 136 could be used as a traction drive 430. It goes without saying that this is purely by way of example for explanation; in practice other and/or further hydraulic actuators and applications can be provided for this.

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• US4801247A [0005]
• US5267441A [0006]
• US5170625A [0007]
• US5182908A [0008]
• EP 2703652 A1 [0009]
• EP 3770428 A1 [0010, 0017, 0043]

Claims (18)

A method for determining at least one pump operating variable for activating a hydraulic system (100) which is provided for operating a machine (400), preferably a work machine, the hydraulic system (100) having a drive unit (114), a drive unit (114) which can be driven by means of the drive unit (114). Hydraulic pump (110), in which a delivery volume can be adjusted, and at least one hydraulic actuator (130, 132, 134, 136), which can be supplied with hydraulic fluid by the hydraulic pump (110), comprising: obtaining a setpoint value (F _setpoint , V _target ) for at least one movement operating variable of the at least one hydraulic actuator, determining (200, 220), taking into account at least one property of the machine (400), a target value (P _S , M _S , Q _S , φ _S ) for at least one pump operating variable of the hydraulic pump (110), and outputting the target value (P _S , M _S , Q _S , φ _S ) for the at least one pump operating variable. procedure after claim 1 , taking into account the kinematics (210) of the machine (400) and/or the design of the energy and movement transmission, a target value (P' _S , Q' _S ) for at least one hydraulic operating variable for the at least one hydraulic actuator (130, 132, 134 , 136) is determined _, and the setpoint ₍ P _S , M _S , Q _S , φ _S ) for which at least one pump operating variable is determined. procedure after claim 2 , wherein, based on the target value (P' _S , Q' _S ) for the at least one hydraulic operating variable for the at least one hydraulic actuator, the target value (P _S , M _S , Q _S , φ _S ) for the at least one pump operating variable, taking into account at least one of the following is determined: a configuration (230) of the hydraulic arrangement, hydraulic tolerances (232), requirements (240) for work functions of the machine, and a condition (242) of the machine and/or the power unit. Method according to one of the preceding claims, wherein the at least one pump operating variable is selected from: a pressure of the hydraulic fluid to be provided by the hydraulic pump (110), a volume flow of the hydraulic fluid to be provided by the hydraulic pump (100), a variable characteristic of the delivery volume of the hydraulic pump, a Swivel angle of the hydraulic pump (110), a power of the hydraulic pump (110), and a torque of the hydraulic pump (110). Method according to one of the preceding claims, further comprising an activation of the hydraulic pump (110) based on the target value for the at least one pump operating variable. procedure after claim 5 In order to control the hydraulic pump (110), a manipulated variable for an adjustment mechanism for adjusting the delivery volume of the hydraulic pump (110) is determined from the target value for the at least one pump operating variable, in particular as part of a regulation. Method according to one of the preceding claims, wherein the target value (P _S , M _S , Q _S , φ _S ) for the at least one movement operating variable has been determined based on at least one specification (E) for the at least one hydraulic actuator. procedure after claim 7 , wherein the target value for the at least one movement operating variable using at least one mapping function (K ₁ , K ₂ ) has been determined from the at least one specification (E) for the at least one hydraulic actuator. Method for determining at least one mapping function (K ₁ , K ₂ ), wherein using the at least one mapping function from at least one specification (E) for at least one hydraulic actuator (130, 132, 134, 136) of a hydraulic system (100) a setpoint (F _setpoint , V _setpoint ) can be determined for at least one movement operating variable of the at least one hydraulic actuator, the hydraulic arrangement (100) being provided for operating a machine (400), preferably a working machine, and a drive unit (114), and a drive unit ( 114) drivable hydraulic pump (110), in which a delivery volume can be adjusted, wherein the at least one hydraulic actuator (130, 132, 134, 136) can be supplied with hydraulic fluid by the hydraulic pump (110), comprising: determining the at least one mapping function ( K ₁ , K ₂ ) taking into account at least one property of the machine (400). procedure after claim 9 , wherein the at least one property of the machine (400) is selected from: a movement speed requirement (300), a power requirement (310), and performance data (320) and/or settings (330) from a work function of the machine (400 ). procedure after claim 8 , wherein the at least one mapping function (K ₁ , K ₂ ) by means of a method claim 9 or 10 has been determined. Procedure according to one of Claims 7 until 11 , wherein the at least one specification (E) has been determined or specified by at least one operating or input means (140, 142, 144) and/or at least one automation function for the at least one hydraulic actuator. Method according to one of the preceding claims, wherein the at least one movement operating variable of the at least one hydraulic actuator is selected from: a force to be provided by the hydraulic actuator, a speed to be provided by the hydraulic actuator, a torque to be provided by the hydraulic actuator, and a speed to be provided by the hydraulic actuator. Method according to one of the preceding claims, wherein the at least one hydraulic actuator is selected from: at least one hydraulic cylinder with piston, and at least one hydraulic motor. Arithmetic unit (150) which is set up to carry out a method according to one of the preceding claims. Machine (400), in particular a working machine, with a hydraulic arrangement (100), which has a hydraulic pump (110), in which a delivery volume can be adjusted, and at least one hydraulic actuator (130, 132, 134, 136), which can be supplied with hydraulic fluid by the hydraulic pump is, having, and with a computing unit (150). claim 15 . Computer program that causes a computing unit (150) to use a method according to one of Claims 1 until 14 to be performed when it is executed on the computing unit (150). Machine-readable storage medium with a computer program stored on it Claim 17 .

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