| 摘要 |
The invention relates to a device ( 1 ) and a method for the controlled braking of a vehicle using a hydrostatic drive ( 3 ). The hydrostatic drive ( 3 ) comprises at least 2 pivotable hydraulic engines ( 6 ) that are each connected to an axle of the drive ( 3 ) and are driven by a hydraulic pump ( 5 ). The braking torque is carried out primarily by means of the actuating element ( 16 ) of the braking system. The excessive braking or blocking of individual wheels is prevented by an antiblocking function. To this end, the actual rotational speed of each individual hydraulic engine ( 6 ) is compared with a nominal value and the resulting regulating deviation (F) is converted by means of a regulator into a regulating variable (R) which superimposes the primarily defined control variable (S). The dynamic axle load displacement is taken into account as a result of the deceleration of the vehicle. To this end, the dynamic axle load displacement is determined by multiplication of the vehicle deceleration determined by differentiation from the instantaneous vehicle speed, with a geometry factor hs/l, and a regulating value (RI) proportional thereto is produced for the hydraulic engines. This super-imposes the predefined values for the engines of the front and rear vehicle axles. The resulting adjusting variables are used for the electro-proportional displacement of the hydraulic engines.
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