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EP3399105B1 - Appareil de compactage du sol - Google Patents

Appareil de compactage du sol Download PDF

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Publication number
EP3399105B1
EP3399105B1 EP18170921.3A EP18170921A EP3399105B1 EP 3399105 B1 EP3399105 B1 EP 3399105B1 EP 18170921 A EP18170921 A EP 18170921A EP 3399105 B1 EP3399105 B1 EP 3399105B1
Authority
EP
European Patent Office
Prior art keywords
soil compaction
compaction machine
control
regulating means
phase
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18170921.3A
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German (de)
English (en)
Other versions
EP3399105A1 (fr
Inventor
Armin MALASCHEWSKI
Mirco Pinkert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ammann Schweiz AG
Original Assignee
Ammann Schweiz AG
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Publication date
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Priority to PL18170921T priority Critical patent/PL3399105T3/pl
Publication of EP3399105A1 publication Critical patent/EP3399105A1/fr
Application granted granted Critical
Publication of EP3399105B1 publication Critical patent/EP3399105B1/fr
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D3/00—Improving or preserving soil or rock, e.g. preserving permafrost soil
    • E02D3/02—Improving by compacting
    • E02D3/046—Improving by compacting by tamping or vibrating, e.g. with auxiliary watering of the soil
    • E02D3/074—Vibrating apparatus operating with systems involving rotary unbalanced masses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/10—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy
    • B06B1/16—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy operating with systems involving rotary unbalanced masses
    • B06B1/161—Adjustable systems, i.e. where amplitude or direction of frequency of vibration can be varied

Definitions

  • the invention relates to a soil compaction device with a superstructure and an undercarriage with a vibrating plate and a plurality of exciter units, wherein at least a part of the exciter units can each be driven individually by a drive.
  • a vibrating plate such as a vibrating plate
  • an internal combustion engine for driving two similar, parallel, rigidly coupled via a gear and counter-rotating unbalanced shafts.
  • the opposite rotation of the unbalanced shafts operated with the same number of revolutions causes the centrifugal forces generated by the imbalances to mutually reinforce or compensate depending on the phase angle.
  • a suitable adjustment of the respective phase position of the imbalances to one another results in a resulting force vector, which can be used for locomotion and / or compression.
  • a vibrating plate usually has a hydraulic system for adjusting the phase position of the mechanically coupled to each other waves. Often this is done by means of an axially displaceable spiral shaft.
  • Object of the present invention is to provide a cost-effective and reliable solution for a comfortable soil compaction device with a finely tuned and precise steering that allows easy control of the soil compaction device in each direction of the plate plane.
  • a ground compaction device is provided with a superstructure and an undercarriage, wherein the undercarriage has a vibration plate and a plurality of excitation units, wherein at least a part of the exciter units of each drive is individually driven and each having at least one vibration exciter, which with a measuring device for Detection of its phase position is connected, wherein the phase position of a control / regulating device is fed, and wherein individual vibration exciter are coupled to each other via an elastic element, a respective electrically controllable drive and the control / regulating device and the relative phase position of the individual vibration exciter to each other via the control / regulating device is adjustable.
  • At least two of the excitation units are each individually driven by a respective drive and each have at least one vibration exciter.
  • an exciter unit can have one or two opposite, coupled to each other vibration exciter.
  • a vibration exciter may for example consist of an imbalance shaft and a rotating imbalance or an oscillator with an oscillating mass.
  • an exciter unit has exactly one vibration exciter with an imbalance shaft and a rotating imbalance.
  • control unit can advantageously consist of a higher-level control device and a plurality of control devices controlled by the control device, wherein in each case one connected to a measuring device vibration exciter each having a control device and the detectable by the respective measuring means phase positions the respective control means are supplied.
  • each vibration exciter on its own control circuit for controlling its phase position, which is the respective control device can be specified as a reference variable.
  • the phase angle of at least two vibration exciters to each other is electrically variable.
  • the change in the phase position of at least one individual vibration exciter can be changed relative to the phase position of another or further vibration exciter by changing its desired phase position as a reference variable.
  • the desired phase position can be predetermined by the control device, for example as a result of the conversion of a steering command supplied to the control device.
  • the vibration exciters are each connected via an elastic element with the respective electric drive.
  • a deviation of an actual phase position from a desired phase position due to the elastic connection can be compensated by the control device.
  • a coupling of the phase position between two vibration exciters is given via at least one elastic element and the phase position of at least one of the vibration exciters coupled via an elastic element can be regulated via a regulating device.
  • a soil compacting device is provided, the vibrating plate of which has a plurality of electrically driven and electrically controllable exciter units.
  • the electric drives are each connected in each case via an elastic element with the respective vibration exciters.
  • the arrangement of a plurality of exciting units on the vibrating plate offers the possibility to arrange them in different orientations and to generate force vectors in each direction by appropriate activation.
  • Different numbers of structurally identical exciter units can be used for the modular production of soil compactors of different weight classes, and / or on the other hand an optimization of the distribution can be achieved by distributing their orientations on the vibrating plate, for example by distributing the orientation according to the distribution of an intensity of movement directions Steering assets are achieved.
  • an elastic element between the drive, or its drive shaft and the imbalance shaft has the advantage that it acts dampening and vibrations of the imbalance shaft act less on the electric drives.
  • the loss of the rigid coupling between the imbalance shafts occurring in comparison to the conventional exciters can be at least partially compensated by a fast-response, precise electrical regulation.
  • the phase position of at least one of the unbalanced shafts or oscillators coupled via an elastic element can be regulated by way of a regulating device.
  • An excitation unit has a measuring device connected to the vibration exciter for detecting the phase position of the vibration exciter. If this is designed in the form of an imbalance wave, the phase angle of the measuring device can be detected by the measurement of the phase angle.
  • the measuring device is able to detect the phase angle of the unbalance with respect to a zero position, for example, the gravitational rest position in the freewheel, and pass it as a phase to the control device.
  • the control device is set up to set the manipulated variables of the drive to achieve a desired phase position.
  • it is able to change the phase angle between two unbalanced shafts or oscillators, or to set a predetermined phase position.
  • at least a part of the exciter units each individually assigned a control device. By a higher-level control device, the individually assigned control devices can be given their respective desired phase position as a reference variable
  • the drive is electrically designed.
  • the measuring device advantageously has an encoder for the digital processing of the measured values.
  • the measuring device of the control device in addition to the phase position and the angular velocity of a shaft available.
  • the inventively provided attenuation of the electric drives relative to the imbalance shaft reduces the demands on the capacity of the electric drives, in particular their vibration resistance, and allows the use of comparatively simple and inexpensive components.
  • the electric drives are arranged in the superstructure, the vibration exciter arranged in the undercarriage, and the electric drives in the superstructure in each case individually by means of one elastic element, advantageously a belt, each connected to a vibration exciter in the undercarriage.
  • one elastic element advantageously a belt, each connected to a vibration exciter in the undercarriage.
  • the exciter units have exactly one vibration exciter with a single imbalance shaft. Such a configuration is low maintenance and inexpensive to implement.
  • the electric drive is designed as a substantially individual electric motor.
  • Electric motors are simple and inexpensive to produce, a use of a plurality of the same electric motors for the majority of excitation units promotes through the use of similar components, the rationalization of the production.
  • a single electric drive can also be designed as an electrical coupling, which is designed to partially divert a drive energy of a superordinate drive and to individualize it in terms of phase position and angular velocity.
  • the electric drive is designed as a stepper motor.
  • a stepper motor has the advantage that the angular position and thus the phase angle of the drive shaft is adjustable and thus can be assumed to be known.
  • a stepper motor can take over the function of the measuring device.
  • the execution of a measuring device as an independent component can be omitted in this case, the measuring device can be considered in this case as integrated into the stepper motor.
  • a stepper motor is vibration resistant executable.
  • a control device is designed as a PI or PID controller.
  • the connection of the imbalance shaft with the electric drive via an elastic element leads to a change in the angular velocity to an energy absorption of the elastic element, which returns this energy with a time delay to the arrangement.
  • a control device is designed to minimize a transient of an excitation unit after a phase or frequency change.
  • the measuring device for detecting the phase position can be arranged in front of the elastic element on the drive shaft, or behind the elastic element on the imbalance shaft.
  • An arrangement of the measuring device on the imbalance shaft of a vibration exciter in the undercarriage of the soil compaction device offers the advantage that a control device, the actual phase angle and angular velocity of the imbalance shaft can be supplied.
  • the measuring device is connected only indirectly via the elastic element with the imbalance shaft, so that due to a spring action of the elastic element, the determined phase angle and angular velocity may differ slightly from the actual phase angle and angular velocity of the unbalanced shaft. Knowing the step response of the controlled system and the spring constant of the elastic element and the mass of the imbalance shaft, the deviation between the measured and the actual phase position can be estimated by the control device.
  • the directions of rotation, angular velocities and phase positions of the vibration exciter form in their superposition a translational and / or rotational moment with respect to a standing surface of the soil compaction device.
  • This translational and / or rotational moment can be used for locomotion and steering.
  • the vibration exciter are arranged angularly, in particular star-shaped on the vibration plate.
  • a symmetrical arrangement at equal angles allows for a control device, for example, a steering command in respective desired phase positions as command values for the respective Vibratory exciter, a simple calculation of the required control values to produce a desired translational and / or rotational moment.
  • the input of a steering command for example, by means of a movable control in two axes control stick as part of a manual control.
  • the hand control may be an integral part of the soil compaction device or a remote control.
  • a control device is designed as a digital controller.
  • Digital controllers can be implemented quickly enough and offer great flexibility in terms of their controller characteristics.
  • a control device has a digital controller which has a predistorter for generating the manipulated variables for the electric drive, which causes such temporal predistortion of the manipulated variables that transient oscillation due to a phase or frequency change is avoided or reduced.
  • the control device is set up to compensate for vibrations which are enabled or favored by the elastic element.
  • the predistortion of the manipulated variables or setting of the parameters of a PI or PID controller based on the step response of the controlled system. Knowing the parameters of the step response, for example its inflection point, the parameters of a PI or PID controller are according to adjustment rules known in the literature, e.g. according to Ziegler / Nichols, dimensionable.
  • the soil compaction device has a calibration mode for determining the step response, in which the step response of the controlled system, for example after a belt change, can be determined.
  • the control loop can be opened and the reaction of the vibration exciter in response to a steering movement or a change in the phase position of the vibration exciter can be determined and stored.
  • a control device is designed to jointly evaluate the measured values of a plurality of measuring devices and to optimize the manipulated variables for the electric drives of a plurality of vibration exciters in such a way that undesired oscillation of the soil compacting device is avoided or reduced.
  • the various excitation units are coupled together via the vibrating plate, so that they stimulate each other to vibrate, there are energy balancing operations on. Due to this coupling, the individual control circuits for adjusting the phase position are not completely decoupled.
  • the soil compaction device has a control device which is designed to jointly evaluate the phase positions of a plurality of vibration devices and to optimize the manipulated variables for a plurality of vibration exciters such that a translational or rotational movement desired by the user is converted to phase changes of the vibration exciters such that the height of the phase jumps is minimized.
  • the optimization could, for example, be carried out in accordance with the method of minimum squares of the error such that, while maintaining the resulting motion vector, it is not the control difference of individual control loops that is minimized but the magnitude of the control difference vector.
  • Such an optimization is possible in particular if a large number of vibration exciters is available and different selections of vibration exciters contributing to the formation of a specific common force vector are possible.
  • Fig. 1 shows a sketch of the principle of a soil compaction device 1 with a superstructure 2 and an undercarriage 3, wherein the undercarriage 3 has a vibration plate 4 and a plurality of exciter units 5.
  • the exciter units 5 each have a vibration exciter arranged in the undercarriage 3 on the vibrating plate 4 in the form of an imbalance shaft 7 and are connected via an elastic element 9 in the form of a belt to a drive 6 arranged in the superstructure 2.
  • Fig. 2 shows a preferred arrangement of exciter units 5 on a vibrating plate 4 in an arrangement of the measuring devices 8 on the imbalance shaft 7.
  • the exciter units 5 are arranged in a star shape and axisymmetric to each other.
  • the axes of rotation of their unbalanced shafts 7 are in diagonally arranged exciter units 5 on a straight line.
  • the notionally extended axes of rotation of all unbalanced shafts 7 intersect at a point which is located approximately centrally on the vibrating plate 4.
  • the excitation units 5 are individually driven by an electric drive 6 and each have a vibration exciter with an imbalance shaft. 7 and a rotating unbalance 10 and connected to the vibration exciter measuring device 8 for detecting the phase position of the imbalance shaft 7.
  • the phase position of the vibration exciter is equated with the phase position of its imbalance shaft 7.
  • the measuring device 8 is arranged in the direction of the action of the drive, that is, in the direction of the imbalance shaft 7 behind the elastic element 9.
  • the electric drive 6 is preferably arranged in the superstructure 2, but it may also be arranged in the undercarriage 3 together with the vibration exciter on the vibration plate 4.
  • Fig. 3 shows the same preferred arrangement of excitation units 5 on a vibrating plate 4 in an arrangement of the measuring devices 8 on the drive shaft of the electric drive 6.
  • the only difference to Fig. 2 is the measuring device 8 in the direction of the action of the drive, that is arranged in the direction of the imbalance shaft 7, in front of the elastic element 9.
  • Fig. 4 shows a schematic diagram for controlling an exciter unit 5 in an arrangement of the measuring device 8 on the drive shaft.
  • the measuring device 8 is arranged in the upper carriage 2 and set up for direct detection of the phase position of the electric drive 6.
  • the imbalance shaft 7 may have a slightly different phase position from this phase, the difference to the detected phase position is not constant, but which may vary in time as a function of changes in the rotational speed of the drive 6 or by the transmission of vibrations to the imbalance shaft 7. Knowing the mass ratios, the spring constant of the elastic element 9 and the time course of phase position and speed, the controller 12 can estimate the deviation of the phase position of the imbalance shaft 7 of the phase angle of the drive shaft.
  • the detectable by the measuring device 8 phase position of the drive shaft can be supplied as actual phase position and feedback variable of a control loop of the control device 12.
  • a manipulated variable determined by the control device 12 and a motor controller 13 can be fed.
  • the motor controller 13 converts the manipulated variable into corresponding control voltages or signals for the phase or speed change of the electric drive 6.
  • Fig. 5 shows a schematic diagram for controlling an excitation unit 5 in an arrangement of the measuring device 8 on the imbalance shaft 7.
  • the measuring device 8 is arranged in the undercarriage 3 and set up for direct detection of the phase position of the imbalance shaft 7. This is different from Fig. 4 the actual actual phase position of the imbalance shaft 7 directly comparable to the desired phase position.
  • the elastic element 9 with its time behavior ⁇ (t) is part of the controlled system. If the control device 12 is set up to generate a manipulated variable taking into account a known step response of the controlled system, and if the electric drive 6 is sufficiently fast to respond appropriately to a manipulated variable change, precise control of the phase position of the imbalance shaft 7 is achieved by compensating the time behavior ⁇ (FIG. t) of the elastic element 9 possible.
  • Fig. 6 shows a schematic diagram for coupling two individual vibration exciter via one elastic element 9, 9 ', a respective electrically controllable drive 6, 6', a respective control device 12, 12 'and a higher-level control device 11;
  • the vibration exciters of the exciter units 5, 5 'with individually associated control devices 12, 12' their respective desired phase position can be set as a reference variable, so that between the unbalanced shafts 7, 7 'of the vibration exciter a relative phase ⁇ is adjustable.
  • Fig. 7 shows a block diagram for the common control of example four exciter units 5 via a control device 14.
  • Wie aus Fig. 6 it can be seen that the phase positions of several measuring devices 8 are supplied together as the actual size vector of a control / regulating device 14. Due to the mechanical connection via the common vibration plate 4, the vibration exciter 5 are parasitically coupled to each other, wherein the degree of coupling additionally depends on the orientation of the vibration-generating elements of the vibration exciter 5.
  • control unit 14 calculates a manipulated variable vector whose coefficients are supplied to the individual motor controllers 13.
  • the calculation of the manipulated variable vector for the plurality of control loops can be optimized in such a way that high phase jumps for individual control loops are avoided, or that the magnitude of the control difference vector is minimized while maintaining the resulting motion vector.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Agronomy & Crop Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Soil Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Paleontology (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)

Claims (14)

  1. Appareil de compactage de sol (1) avec un chariot supérieur (2) et un chariot inférieur (3), le chariot inférieur (2) présentant un plateau vibrant (4) et une multitude d'unités excitatrices (5), au moins une partie de ces unités (5) pouvant être individuellement entraînée respectivement par un entraînement (6), et présentant respectivement au moins un excitateur vibrant, lequel est relié à un dispositif de mesure (8) pour la saisie de sa position de phase, la position de phase pouvant être amenée à un dispositif de commande/ régulation (14),
    caractérisé par le fait que
    les différents excitateurs vibrants sont respectivement couplés entre eux par un élément élastique (9), un entraînement (6) électriquement commutable et le dispositif de commande/régulation (14) et que la position de phase relative des différents excitateurs vibrants entre eux peut être réglée et régulée par le dispositif de commande/régulation (14).
  2. Appareil de compactage de sol (1) selon la revendication 1,
    caractérisé par le fait que
    le dispositif de commande/régulation (14) comprend un dispositif de commande prioritaire (11) et plusieurs dispositifs de régulation (12) contrôlés par le dispositif de commande (11), respectivement un excitateur vibrant relié au dispositif de mesure (8) étant affecté à respectivement un dispositif de régulation (11) et les positions de phase pouvant être saisies par les dispositifs de mesure respectifs (8) pouvant être amenées aux dispositifs de régulation (11) respectifs.
  3. Appareil de compactage de sol (1) selon la revendication 1 ou la revendication 2,
    caractérisé par le fait que
    au moins une partie des unités excitatrices (5) peut être respectivement entraînée électriquement de manière individuelle par un entraînement électrique (6) et que le dispositif de commande/régulation (14) ou un dispositif de régulation (12) est formé de manière à minimiser un effet transitoire d'une unité excitatrice (5) après une modification de phase ou de fréquence.
  4. Appareil de compactage de sol (1) selon l'une des revendications ci-avant,
    caractérisé par le fait que
    le chariot inférieur (3) est relié de manière élastique avec le chariot supérieur (2), le chariot supérieur (2) présentant plusieurs entraînements électriques (6) et les excitateurs vibrants se trouvant dans le chariot inférieur (3) étant respectivement reliés de manière individuelle par un élément élastique (9) avec l'un des entraînements électriques (6).
  5. Appareil de compactage de sol (1) selon l'une des revendications ci-avant,
    caractérisé par le fait que
    les excitateurs vibrants présentent un seul arbre de balourd (7).
  6. Appareil de compactage de sol (1) selon l'une des revendications ci-avant,
    caractérisé par le fait que,
    au moins pour une partie des unités excitatrices (5), l'entraînement électrique (6) est respectivement formé essentiellement par un moteur électrique, notamment un moteur pas à pas, l'élément élastique (9) est respectivement exécuté en tant que courroie, l'excitateur vibrant présente respectivement un arbre de balourd (7) et que le dispositif de mesure (8) se trouve respectivement dans le chariot inférieur (3).
  7. Appareil de compactage de sol (1) selon l'une des revendications ci-avant,
    caractérisé par le fait que,
    les excitateurs vibrants sont disposés angulairement, notamment en forme d'étoile, sur le plateau vibrant (4) et que, par l'intermédiaire d'un dispositif de commande (11), les sens de rotation, les fréquences et les positions de phase des excitateurs vibrants peuvent être réglés de manière à obtenir un moment de translation ou de rotation dans leur superposition par rapport à une surface d'appui de l'appareil de compactage de sol (1).
  8. Appareil de compactage de sol (1) selon l'une des revendications 2 à 7,
    caractérisé par le fait que
    un dispositif de régulation (12) est au moins respectivement affecté de manière individuelle à une partie des excitateurs vibrants.
  9. Appareil de compactage de sol (1) selon l'une des revendications ci-avant,
    caractérisé par le fait que,
    le dispositif de commande/régulation (14) ou un dispositif de régulation (12) est formé en tant que régulateur PI ou PID.
  10. Appareil de compactage de sol (1) selon l'une des revendications ci-avant,
    caractérisé par le fait que,
    le dispositif de commande/régulation (14) ou un dispositif de régulation (12) est formé en tant que régulateur numérique et que le dispositif de régulation (12, 14) présente pour la production des grandeurs pour l'entraînement électrique (6) un dispositif de prédistorsion, lequel provoque une prédistorsion des grandeurs dans le temps de manière qu'un effet transitoire soit évité ou diminué suite à une modification de phase ou de fréquence.
  11. Appareil de compactage de sol (1) selon la revendication 10,
    caractérisé par le fait que
    la prédistorsion a lieu sur la base de la réponse transitoire du circuit de régulation.
  12. Appareil de compactage de sol (1) selon la revendication 11,
    caractérisé par le fait que
    l'appareil de compactage de sol (1) présente un mode de calibrage, dans lequel la réponse transitoire du circuit de régulation, notamment après un remplacement de l'élément élastique (9), peut être déterminée par l'appareil de compactage de sol (1).
  13. Appareil de compactage de sol (1) selon l'une des revendications ci-avant,
    caractérisé par le fait que
    le dispositif de commande/régulation (14) est formé de manière à évaluer les valeurs mesurées de plusieurs dispositifs de mesure (8) ensemble et à optimiser les grandeurs pour les entraînements électriques (6) de plusieurs excitateurs vibrants de manière à éviter ou à diminuer une oscillation indésirable de l'appareil de compactage de sol (1).
  14. Appareil de compactage de sol (1) selon l'une des revendications ci-avant,
    caractérisé par le fait que
    le dispositif de commande/régulation (14) est formé de manière à évaluer les valeurs mesurées de plusieurs dispositifs de mesure (8) ensemble et à optimiser les grandeurs pour plusieurs excitateurs vibrants de manière qu'un mouvement de translation ou de rotation souhaité par l'utilisateur soit converti aux modifications de phases des excitateurs vibrants de façon à minimiser la hauteur des sauts de phases.
EP18170921.3A 2017-05-05 2018-05-04 Appareil de compactage du sol Active EP3399105B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL18170921T PL3399105T3 (pl) 2017-05-05 2018-05-04 Zagęszczarka do gruntu

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017109686.8A DE102017109686B4 (de) 2017-05-05 2017-05-05 Bodenverdichtungsgerät

Publications (2)

Publication Number Publication Date
EP3399105A1 EP3399105A1 (fr) 2018-11-07
EP3399105B1 true EP3399105B1 (fr) 2019-05-22

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DE (1) DE102017109686B4 (fr)
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DE102022127864B4 (de) * 2022-10-21 2024-07-11 Inecosys Gmbh Schwingungserzeuger
DE102023114869B3 (de) * 2023-06-06 2024-11-07 Inecosys Gmbh Verfahren zur Steuerung einer Antriebseinheit für einen Bodenverdichter und Antriebseinheit für einen Bodenverdichter

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Publication number Publication date
DE102017109686B4 (de) 2019-08-29
EP3399105A1 (fr) 2018-11-07
PL3399105T3 (pl) 2019-11-29
DE102017109686A1 (de) 2018-11-08

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