KR20180032510A - Hydrostatic rotary drive and method for controlling hydrostatic rotary drive - Google Patents

Abstract

The present invention relates to a static rotary drive for a mobile work machine comprising an undercarriage and a rotatable superstructure therewith, the drive comprising hydraulic machines fluidly connected through operating lines in a closed hydraulic circuit, A first hydraulic machine of the hydraulic machines may be coupled to a prime mover of the mobile work machine to absorb a mechanical driving force and a second hydraulic machine may be coupled to the prime mover of the mobile work machine to transmit torque between the lower structure and the upper structure, At least one hydraulic machine of the hydraulic machines may be coupled to the upper structure and to the lower structure and to change the rotational speed and / or the rotational position of the upper structure, Wherein the encoder is provided with the rotational speed and / or the setpoint value for the rotational position, And the setting value of the set value encoder can be converted into the setting value signal of the adjusting device assigned to the displacement amount through the control device of the driving device.
The present invention also relates to a control method for the drive apparatus.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a rotary drive apparatus,

The present invention relates to a static rotary drive device according to the preamble of claim 1 and to a control method thereof according to claim 9.

Such rotary drive devices are used, for example, in mobile work machines, particularly excavators or cranes. Such a working machine includes, for example, a moving substructure having a driving drive device, and an upper structure capable of relative movement is disposed on an upper side of the substructure. Relative rotational motion is possible through a static rotary drive. The rotary drive apparatus includes two hydraulic machines arranged in a closed circuit, wherein the first hydraulic machine of the hydraulic machines mainly operates as a hydraulic pump and the second hydraulic machine mainly operates as a hydraulic motor. The hydraulic pump is designed to have an adjustable amount of displacement, and the hydraulic motor is often designed to have a constant amount of displacement.

Such a rotation drive device of a closed circuit is disclosed, for example, in DE 44 20 704 C2 and DE 196 20 664 C1.

Since the superstructure usually has a boom or stem with a receiving tool or grab tool for moving the load, the superstructure has a large mass moment of inertia. Thus, the acceleration and braking process during the operation of the rotary drive is a challenge because it can be a large load of the entire hydraulic system and its associated mechanical structure. The smooth acceleration and braking of the superstructure through the rotary drive is always required to ensure safety as well as ease of operation.

In general, the speed of the rotary drive is input into the system as a driver request via a setpoint encoder, e.g. in the form of a joystick. Then, an adjustment device capable of changing the amount of displacement of the adjustable hydraulic pump is controlled. To avoid overloading due to too rapid acceleration or braking in situations such as load fluctuations or work on slopes, DE 44 20 704 C2 recommends that the setpoint signal of the joystick for the adjustment device be applied to the hydraulic pressure of the hydraulic circuit of the two hydraulic machines We suggest a solution that can be challenged by Since the two signals, "the pressure difference of the control pressure in the joystick" and the "pressure difference of the operating pressures in the operating lines" overlap in the setting piston of the control valve, the operating states "acceleration" and "braking" It is done smoothly.

In this case, the disadvantage is that drift of the upper structure due to gravity acting in the stationary state of the rotary drive device in which the set value signal of the joystick is zero or neutral during the operation on the inclined surface is not prevented.

A similar solution is disclosed in DE 196 20 664. Here, two control valves are provided, and the control valves are operated by the set value signal of the joystick, the control pressure. Each of the operating lines is assigned to one of the control valves, and the operating pressure therein performs a control function in the control valve against the control pressure. This allows high and low pressures in the operating line to influence the displacement amount adjustment of the hydraulic pump in certain operating conditions, especially when working on an inclined plane. Here too, the adjustment of the amount of displacement of the hydraulic pump depends not only on the setpoint signal of the joystick, but also on the operating pressure indicating the current operating condition. This results in a smooth braking on the one hand and an immediate braking as an alternative. The disadvantage here is that the drift of the upper structure due to the leakage is not prevented when working on the slope, especially when holding a particular position (stop of the rotary drive).

US 7 975 410 B2 discloses a static rotary drive system in which detection of an inclination angle, specifically a pitch angle and a roll angle, which accurately represents the inclination of the vehicle, is carried out. Further, the load of the moving operation machine and the rotation speed of the rotation drive device or the rotation speed of the superstructure are detected. By means of the control unit, under the processing of the data, when the rotary drive reaches the set final position, the final position is not exceeded so that the superstructure is always within the specified spatial angular interval, Operation is guaranteed. In this case, it is unclear how the data is processed in order to maintain the position.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a stationary rotary drive apparatus in which maintenance of a stationary position during operation is ensured in a tilted ground. The present invention also provides a control method of the above-mentioned static rotary drive apparatus.

The first problem is solved by a static rotary drive apparatus having the features of claim 1, and the second problem is solved by a control method of a static rotary drive apparatus having the features of claim 9.

Preferred refinements of the invention are given in claims 2 to 8 and claims 10 to 12.

A stationary rotary drive for a mobile work machine includes a closed hydraulic circuit with two hydraulic machines fluidly connected via a stationary operation line. The first hydraulic machine of the hydraulic machines can be coupled to, and particularly coupled to, the prime mover of the mobile work machine for absorption of the mechanical driving force. The second hydraulic machine may be coupled to, and in particular coupled to, the lower structure on the one hand and the upper structure on the other, for transmitting torque between the lower structure and the upper structure. In order to change the rotational speed and / or the rotational position of the superstructure, the at least one hydraulic machine has an adjustable amount of displacement. If the amount of displacement is zero, the rotational speed of the superstructure is likewise zero if no other forces or moments are acting. The adjustment amount is assigned to the adjustable displacement amount. For adjustment of the adjusting device, the driving device includes a set value encoder, for example a joystick, through which a set value of the rotational speed and / or the rotational position can be set. The setting value of the set value encoder is converted to the set value signal of the adjusting device assigned to the displacement amount through the control device of the driving device. According to the present invention, for correct control of the rotational speed and / or the rotational position via the control device, a correction setpoint signal can be determined according to the leakage of the circuit. As a result, through the control device, the set value signal converted from the set value of the set value encoder can be added to the corrected set value signal. And a valid setpoint signal changed therefrom is given.

In this way, the leakage that appears during operation can be considered as input into the adjustment means as the preliminary control value. Thus, since the disturbance value of the leakage can be compensated proactively, a more stable adjustment mode becomes possible.

In a preferred refinement, the leakage may be determined via the control device itself. Device Unlike technically complex leakage detection, in this enhancement example, leakage can be determined through a control device, model-based, and device-less technically less complex.

In one improvement, the leakage is determined (preferably only) from hydraulic and mechanical actuation values detectable and / or determinable through the control device, and in particular from a constant of the drive or work machine that is storable or stored in the control device . The hydraulic and mechanical actuation values are in particular rotational speed, pressure and displacement. The constants of the drive or work machine include, for example, the dimensions, mass and / or mass moment of inertia of the superstructure. The mass moment of inertia may be stored in the control device as a characteristic map, for example, in accordance with the superstructure and its position and the rotational and / or inclined position of the superstructure. Additionally, as a constant, there is a friction value between the undercarriage and the superstructure and, in some cases, the transmission ratio of the connected transmission.

In an improvement of the control device, the leakage through the control device can be determined from the gliding moment M _H of the superstructure. The gliding moment is expressed by the equation M _H = M _Brems + M _Reib - I * ₂ .

In this formula,

M _Brems = V _gmot *? P / 20? * I _Getriebe

M _Reib = M _Gleit + k * n _Ober

I = cst

In this formula,

M _Brems : Braking torque of 2nd hydraulic machine

V _gMot : the second displacement amount of the second hydraulic machine

Δp: pressure difference of the operating lines

i _Getriebe : Transmission ratio of the connected transmission

M _Reib : Friction moment between the substructure and superstructure

? ₂ = angular acceleration of the superstructure, proportional to the change in rotation speed of the superstructure or the second hydraulic machine, and

I: mass moment of inertia of superstructure

In one improvement, the gliding moment M _H can be determined from the hydraulic and mechanical actuation values and the constant of the drive or prime mover via the control device. In order to provide the hydraulic and mechanical actuation values of the rotary drive to the control device, the drive comprises a sensor arrangement for this purpose in an improvement.

In one improvement, the sensor device includes at least one second rotational speed detection unit for detecting a second rotational speed of the second hydraulic machine or superstructure.

In one improvement, the sensor device also includes a first rotation speed detection unit for detecting the first rotation speed of the first hydraulic machine and a pressure detection unit for detecting the operating pressure of each operation line.

In order to support the determination of the gliding moment and / or the leakage, the drive device is used in one improvement, for example, to detect the rotational position and / or tilt of the superstructure, such as the pitch angle, yaw angle and / / RTI > and / or roll angle sensors.

In one improvement, the stop position of the upper structure (except for small adjustment movement) can be adjusted through the control device, particularly under the influence of the gliding moment of the superstructure acting on the second hydraulic machine. In this case, the neutral position is assigned to the stop position and accordingly the neutral set value of the set value encoder.

As described, via the control device, the neutral set point is converted to the neutral set point signal. Given an external force, especially given a gliding moment, a correction setpoint signal determined on a leakage basis is added to the neutral setpoint signal. As a result of the summing, an effective setpoint signal for the adjustment device is given when the gliding moment is acting. Therefore, the stop position can be maintained even when the external force (actuation force or wind) coincides with the neutral position of the set value encoder. The drift of the superstructure in the direction of the bolt strength as can be seen in the prior art is prevented because, despite the neutral setting of the setpoint encoder (the operator does not actuate the joystick) This is because it is always compensated for by the amount of correction displacement due to the leakage volume.

In one improvement, the first hydraulic machine is a hydraulic machine with an adjustable amount of displacement, and the second hydraulic machine has a constant amount of displacement. The advantage in this case is that the amount of displacement of the hydraulic machine is always known for the above-mentioned calculation of the torque in the second hydraulic machine. This simplifies the calculation of the gliding moment (M _H ).

In one improvement, the leakage of each of the individual hydraulic machines via the control device can be determined separately from each other.

This is achieved with relatively little device technical cost if the first adjustment device for the first displacement of the first hydraulic machine is designed electro-proportionally. As a result, the actual first displacement amount substantially corresponds to the effective set value signal transmitted to the first adjusting device. Therefore, the first displacement amount is also known.

In one improvement, the first leakage (first leakage volume flow) of the first hydraulic machine is transmitted through the control device to the first rotary speed of the first hydraulic machine, the first displacement amount and the pressure difference between the two operating lines Can be determined accordingly. Further, the second leakage of the second hydraulic machine through the control device can be determined according to the second rotational speed of the second hydraulic machine, the second displacement amount, and the pressure difference between the two operating lines. The sum of the first and second leakage forms a total leakage or a total leakage volumetric flow rate. From this, only the correction volume flow rate, and hence the correction setpoint signal for the first regulator, is given only by the conversion of the sign.

The method according to the present invention for precisely controlling the rotational speed or the rotational position of a static drive device formed in accordance with one of the aspects of the above description is characterized in that the "determination of the correction setpoint signal due to leakage of the hydraulic circuit through the control device & And "forming a valid set value signal by summing the set value signal and the corrected set value signal through the control device ". The advantage in this case is that the regulation appears to be more stable, as described above, when the always appearing leakage is input into the means for adjusting the rotational speed and / or the rotational position in the sense of preliminary control.

In one improvement example, as described above, the leakage can be determined from the gliding moment of the superstructure via the control device.

In one improvement of the method, the step of "determining the correction setpoint signal due to leakage of the circuit through the control device" is "determined from the hydraulic and mechanical actuation values of the drive via the control device, Determination of the leakage of the superstructure (in the case of the first glide moment) ".

In one improvement of the rotary drive, the rotary drive comprises a parking brake.

In particular, for the process of active braking of the superstructure at the neutral position of the setpoint encoder, the method comprises the steps "via the control device, at a second rotational speed of the second hydraulic machine against an under- Quot; step of checking the rotational speed of the motor. If it is concluded that the control device is below the threshold, that is to say that the second rotational speed is less than the limit value, the control device determines "correct setting value signal and adds it and the set value signal to form the effective set value signal & Step is executed. Thus, active braking is performed. When the limit value is exceeded, that is, when the rotation speed of the second rotation speed or the upper structure is still relatively high, the active braking is not performed, so that the "setting of the set value signal as the effective set value signal via the control device" Therefore, correction of the set value signal is not performed.

In one improvement, the rotary drive apparatus includes a parking brake for interrupting the rotational motion of the superstructure during a long stop. To protect the parking brake from over-frequent closing and opening, the method includes, in an improvement, a check of "whether the second rotational speed of the second hydraulic machine or the rotational speed of the upper structure has a zero value for the duration stored in the control device Quot; step. When the second rotational speed has a zero value for the duration, the closure of the parking brake is executed by the control device. Otherwise, the maintenance of the position or the acceleration and braking of the second hydraulic machine and the superstructure coupled thereto is carried out by the above-described method.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a control method according to the present invention of a static rotary drive apparatus and a static rotary drive apparatus according to the present invention is shown in the drawings. The present invention will be described in detail below with reference to the drawings.

1 is a hydraulic circuit diagram of an embodiment of a static rotary drive system;
2 is a block circuit diagram of one embodiment of a method according to the present invention.
3 is a circuit diagram of a controller of a control apparatus of a rotation drive apparatus.
4 is a schematic diagram showing the determination of a correction setpoint according to the present method;

According to Figure 1, a mobile work machine, such as hydrostatic rotary drive of the bucket (2) device (1) is adjustable first amount of displacement (V _4), the first hydraulic machines (4, designed as an axial piston machine of swash plate structure with ), and it includes a certain amount of displacement (V _6), second hydraulic machine (6) is designed as an axial piston machine of swash plate structure with. The hydraulic machines 4, 6 are fluidly connected to each other through the operating lines 8, 10 in a closed hydraulic circuit. The first hydraulic machine 4 includes a first adjustment device 12 through which the first displacement amount V ₄ can be adjusted electro-proportionally. The first adjustment device 1 is signaled to the control device 16 of the drive device 1 via signal lines 14 for control of the first adjustment device 12. [ The first hydraulic machine 4 is driven by an internal combustion engine, particularly a prime mover 18 formed as a diesel engine.

The second hydraulic machine 6 is connected to the transmission 20 having a speed ratio i via a drive shaft. To which the upper structure 22 is rotatably coupled. The upper structure 22 is rotatable relative to the lower structure 24 of the excavator 2 according to Fig. The torque is transmitted between the lower structure 24 and the upper structure 22 through the second hydraulic machine 6. [

The stationary rotary drive 1 also includes a parking brake 26 which is controlled by the 3/2 directional switch valve 28 to control the pressure medium source 30 and the tank T, Can be connected to the pressure medium. In this way, the parking brake 26 can be hydraulically opened and closed. The 3/2 directional switch valve 28 can be electromagnetically operated and the electromagnet 32 of the 3/2 directional switch valve 28 is connected to the control device 6 via the signal line 34.

The stationary rotary drive 1 also includes a setpoint encoder 1 or a joystick 36 and is controlled by the setpoint encoder or the joystick 36 either by an operator or by an automated unit, 22 may be set to a set value for the rotational direction and the rotational speed. Through the neutral position "0" of the setpoint encoder 36, it is set that the superstructure 22 should no longer be rotated, i. Direction is required to rotate in one direction of rotation with the direction "+ ", and the opposite direction of rotation is required in the direction" - ".

Two pressure regulating valves (not shown) are operated according to the rotational direction ("+", "-") required by the set value encoder 36, Lt; / RTI > The pressure set value is converted to a voltage set value via the pressure / voltage converter 38 and is transmitted to the controller 16.

Other input values of the control device 16 include a first rotational speed n ₄ of the first hydraulic machine 4 detected by the first rotational speed detection unit 42, A second rotational speed n ₆ of the second hydraulic machine 6 detected by the first pressure detecting unit 46, a first operating pressure p ₈ in the first operating line 8 detected by the first pressure detecting unit 46, There is a second operating pressure p ₁₀ in the second operating line 10 detected by the second pressure detecting unit 48. [

Figure 2 illustrates one embodiment of a method according to the present invention for controlling and regulating the rotational and / or rotational position of the superstructure 22 relative to the substructure 24. In the first step 100, the setpoint encoder 36 is deflected in the direction "-" or "+" outside its neutral position "0 ". In this case, by the above-described method, the set value p _soll of the set value encoder 36 is not corrected (only the set value signal U _soll by the pressure / voltage converter 38) And the control device 16 transmits the set value signal U _soll to the first adjusting device 12 without change.

In another step 102, the setpoint encoder 36 is at its neutral position "0 ". The operator expresses that he wants to keep the superstructure 22 stationary or keep it there. Thus, the upper structure 22 must be braked from the previous rotational motion. The rotational speed (n ₂₂₎ of the upper structure 22 is larger than the threshold value stored in the controller 16, the controller 16 does not interfere with the output of the set value signal to the first adjusting device (12). That is, the above-described step 101 is executed.

Step 104 "Active braking" is executed only when the rotational speed n22 of the superstructure ₂₂ is less than the limit value. At this point in time, the upper structure 22 is provided with a torque M _brems (braking torque of the second hydraulic machine 6), M _reib (upper structure 22 for the lower structure 24) the moment of friction), Iφ ₂ mass moment of inertia of the (upper structure 22) and the sliding moment of the M _H (the upper structure 22) acts. Here, it is assumed that the excavator 2 is, for example, on an inclined plane. In this case, according to Fig. 4, the second detected second rotation speed of the hydraulic machine ₍₆₎ (n 6) and the operating pressure by the above method (p _8), and (p ₁₀₎ the pressure difference (Δp of _10,8 The second leakage volume flow Q _L6 of the second hydraulic machine 6 is calculated through the model stored in the controller 16. The pressure first car (Δp _{10, 8),} and the first hydraulic machine 4, the rotational speed (n ₄₎ and the first amount of displacement (V ₄₎ or the first turning claim from each of (α ₄₎ first hydraulic The first leakage volume flow Q _L4 of the machine 4 is calculated. The two leakage volume flows Q _L6 and Q _L4 are added by the controller 16 to form the total leakage volume flow Q _L. (-Q _L ) that compensates for the leakage from the leakage (leakage volume flow Q _L ) determined in step 105 according to FIGS. 2 and 4, and from the given first rotational speed n ₄ The assignable correction setpoint signal alpha _korr (corrected turning angle) is calculated for control of the first adjustment device 12 and transmitted to the first adjustment device 12 via the signal line 14. [

2, the method includes an " active stop " Here, when the set value encoder 36 is held at the neutral position "0 &_quot;, the leakage Q _L appearing therefrom in accordance with the gliding moment M _H according to FIG. 3 acting on the upper structure 22, The correction set value signal? _Korr is determined through the correction value setting unit 105. [ The control system of the "active stop" step 106 is shown in FIG. The setting value phi _soll is input into the control system as the set value signal for the rotation angle or the rotation position of the upper structure 22 and the set value phi _soll is compared with the actual value phi _ist of the rotation angle , So that the adjustment deviation is input into the PID-adjuster of the control device 16. [ The regulator the set rotational speed (n ₂₂₎ is configured to output the set rotational speed (n _22), as the signal has a first turning angle, that is, the first displacement of the first hydraulic machine (4) in the controller 16 ( It is converted into a setting signal (α _soll) of the V _4). Thus determined set value signal (α _soll) and by summation of the parallel correction set value signal (α _korr) is determined as, α _eff of the first valid settings for a given turning angle signal value.

In a final step 108 of the method, the rotational speed n22 of the superstructure ₂₂ is parameterized in the control device 16 to determine whether it is between the zero value and the set threshold, do. Step 110 of closing the parking brake 26 is executed and the electric current is supplied to the electromagnet 32 via the control device 16 and the signal line 34 in this step only when the two criteria are met So that the parking brake 26 is supplied with the pressure medium and is closed.

 There is disclosed a static rotary drive system with hydraulic machines operating with a closed hydraulic circuit wherein one of the hydraulic machines has an adjustable amount of displacement to adjust the rotational position or rotational speed of the upper structure of the rotary drive system . In order to compensate for the drift due to the leakage of the superstructure due to the external force acting on the superstructure, the leakage can be estimated through the control device of the drive system and the set value encoder's value can be changed or corrected, The leakage is compensated.

Further, a mobile work machine having such a rotation drive device is disclosed.

It also discloses a control method of a drive device comprising a step of determining a correction setpoint signal in accordance with the estimated leakage of the circuit and forming a valid setpoint signal by summing the setpoint signal and the correction setpoint signal.

1 Constant mechanical rotation drive
2 Moving work machine
4 1st hydraulic machine
6 2nd hydraulic machine
8 First operating line
10 Second operating line
12 First adjustment device
14 signal line
16 control device
18 prime mover
20 transmission
22 Superstructure
24 Infrastructure
26 Parking brake
28 3/2-way selector valve
30 control pressure medium source
32 electromagnets
34 signal line
36 Setpoint Encoder
38 pressure / voltage converter
40 signal line
42 First rotation speed detection unit
44 Second rotation speed detection unit
46 1st pressure detection unit
48 Second pressure detection unit
100 "Set Value Encoder Deflection" step
101 "set value signal invariant" step
Step 102 "Joystick Neutral Position"
Step 104 "Active Braking"
105 "determination of correction set value" step
Step 106 "Active Stop"
Step 108 "Stop"
Step 110 "Closing the parking brake"
I Superstructure mass moment of inertia
M _H Pulling moment
M _brems 2nd hydraulic machine braking torque
M _reib superstructure / substructure friction moment
"0" set value Encoder neutral position
n ₄ 1st rotation speed
V ₄ 1st displacement
α ₄ 1st turning angle
n ₆ 2nd rotation speed
Δp _{10 , 8} Operating line pressure difference
Q _L4 1st hydraulic machine leakage volume flow
Q _L6 2nd hydraulic machine leakage volume flow
Q _L Total leakage volume flow
φ _soll Superstructure rotation angle setting value
φ _ist superstructure rotation angle actual value
φ ₁ Superstructure rotation angular velocity
φ ₂ superstructure rotation angle acceleration
α _{soll Turn} angle setting signal
α _korr turning angle correction setpoint signal
α _eff turning angle effective setpoint signal

Claims (12)

A stationary rotary drive for a mobile work machine (2) comprising an undercarriage (24) and a rotatable upper structure (22), said drive device (1) Wherein the first hydraulic machine (4) of the hydraulic machines comprises a prime mover (18) of the mobile work machine (2) for absorbing a mechanical driving force, And the second hydraulic machine 6 can be coupled to the lower structure 24 on the one hand and to the lower structure 24 on the other hand for transmitting torque between the lower structure 24 and the upper structure 22. [ At least one of the hydraulic machines 4, 6 may be coupled to the upper structure 22 and / or to change the rotational speed [phi] ₁ and / or the rotational position [ hydraulic machine (4) comprises an adjustable amount of displacement (V ₄₎ and the adjusting device 12, the rotation speed ( φ ₁₎ and / or a control device of the rotary position (Φ) setting encoder 36 is provided and, the set value (φ _1soll / φ _soll) of the set value encoder 36 is the drive assembly (1) (? _Soll ) of the adjustment device (12) assigned to the amount of displacement (V ₄ ) through the control device (16)
For correct control of the rotational speed phi ₁ and / or the rotational position phi, a correction setpoint signal? _Korr is determined via the control device 16 according to the leakage (Q _L ) of the circuit number, and hydrostatic rotary drive device, characterized in that it is summed with the set value signal (α _soll) to form a valid set value signal (α _eff). A device according to claim 1, characterized in that said leakage (Q _L ) can be determined via said control device (16). 3. A method according to claim 1 or 2, characterized in that the leakage (Q _L ) is controlled by means of the control device (16) to the hydraulic and mechanical actuation values (n ₂₂ , n ₄ , n ₆ , V ₄ , V ₆ , p ₈ , ₁₀ p) and from the hydrostatic rotary drive device, characterized in that, which may be determined from a constant of the drive system (1) or the work machine (2) (l, k, m). 4. A method according to any one of claims 1 to 3, characterized in that the leakage (Q _L ) can be determined from the gliding moment (M _H ) of the superstructure (22) via the control device Mechanically rotational drive. 5. The method according to claim 4, characterized in that the gliding moment (M _H ) is determined by the hydraulic and mechanical actuation values (n ₂₂ , n ₄ , n ₆ , V ₄ , V ₆ , p ₈ , p ₁₀ ) And from constants (l, k, m) of the drive device (1) or the working machine (2). 6. Method according to any one of the preceding claims, characterized in that the stop position of the upper structure (22) can be adjusted via the control device (16) and the neutral position of the set value encoder And a neutral position ("0"). Claim 1 to according to any one of claim 6, wherein said first hydraulic machine 4 is adjustable first amount of displacement (V ₄₎ and assigned to have a first adjustment device 12, the second hydraulic 6 hydrostatic rotary drive device, characterized in that it has a certain second amount of displacement (V _6). The method of claim 7, wherein the first rotation speed (n ₄₎ of the first leakage (Q _L4) of said first hydraulic machine 4 via the control device 16, the first hydraulic machine 4, the one agent of the amount of displacement (V _4), and two working lines (10, 8), the pressure difference and the second hydraulic machine (6) can be determined according to (Δp _{10, 8),} via the control device 16 between 2 leakage Q _L6 is greater than the second rotational speed n ₆ of the second hydraulic machine 6, the second displacement amount V ₆ and the pressure difference? P _{10 , 8} ). ≪ / RTI > 9. A precision control method for a static rotary drive system (1) formed according to any one of claims 1 to 8,
- determining a correction setpoint signal (? _Korr ) according to the leakage (Q _L ) of the circuit through the control device, and
- a control method for forming a valid set value signal (α _eff) by summing the set value signal (α _soll) and the corrected set value signal (α _korr) via the control device 16. 10. The method of claim 9,
- the step of determining the correction setpoint signal (? _Soll ) according to the leakage (Q _L ) of the circuit through the control device
- hydraulically via the controller 16, and a mechanical operating values _{(n 22, n 4, n} 6, V 4, V 6, p 8, p 10) and the drive means (1) and work machine (2 the control method executed by determining a leak (Q _l) from a constant (l, k, m) of a). 11. The method according to claim 9 or 10,
- inspecting the second rotational speed (n ₆ ) of the second hydraulic machine (6) over the limit stored in the control device (16) via the control device (16)
- effective by summing the said correction setting signal determining (α _korr) and, in the case of a limit value below the corrected set value signal (α _korr) and the setting value signal (α _soll) via the control device 16 set Value signal? _Eff , or
- limit values for more than, the control method comprising the step of setting the set value signal (α _soll) via the control device 16 as an effective set value signal (α _eff). 12. The method according to any one of claims 9 to 11,
- checking the second rotational speed (n ₆ ) of the second hydraulic machine (6) against zero for a duration stored in the control device (16), and
-, the control method comprising the step of closing the parking brake (26) to block when the second rotation speed (n ₆₎ which has a value zero for the time durations, rotary motion.

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