EP1725715B1 - Method and device for damping the displacement of construction machines - Google Patents

Abstract

The invention relates to a method and a device for damping the displacement of construction machines, in particular wheel loaders, comprising working equipment that is driven by means of a hydraulic cylinder, a hydraulic source, a controlled valve for supplying the hydraulic cylinder with hydraulic fluid, a regulator unit comprising control software, in addition to an acceleration sensor.

Description

The invention relates to a method and a device for Bewegungsstilgung in self-propelled unsprung construction equipment, especially in wheel loaders, with a driven by a hydraulic cylinder implement.

Many types of self-propelled construction machines are generic in terms of damping or suspension system. This is due to the fact that for the loading suspension is disadvantageous because of their yielding under the lifting and friction forces, and on the other hand, the provision of a suspension system is a high design effort, which is associated with significant investment and maintenance costs. The good driving behavior, such as However, agility and handling of these unsprung construction machines is offset by a lack of ride comfort, especially in the work, transportation and transfer cycle.

However, the profitability of such construction machinery is largely determined by the time factor. Self-propelled construction machines are often implemented at short notice between different construction sites, with the necessary time for transferring the construction machine, ie the transfer cycle, plays a crucial role.

An increase in driving speed for reduction However, the transfer times for unsprung construction machines is closely linked to the requirements for ride comfort and driving safety and to the loads that are permissible for the operator from the point of view of occupational medicine. When exceeding a certain driving speed high unwanted pulses and vibrations that are introduced into the cab, recorded.

Therefore, in recent years, using passive vibration-damping systems, for example in wheel loaders, attempts have been made to find a compromise between driveability and ride comfort of self-propelled unsprung construction machinery. By contrast, active vibration cancellation systems have hitherto had no practical significance due to their complexity and the associated problems with the design implementation.

Known from the DE 42 21 943 C2 is designed as a passive vibration eradication system hydraulic system for working equipment provided with a movable work machine. It is provided that a hydraulic accumulator is used as a load suspension system, wherein the responsible for raising and lowering the implement hydraulic lines between the lifting cylinder and a control valve are connected. It is disclosed that for variable adjustment of the load pressure of the hydraulic accumulator at least one nozzle in conjunction with a plurality of directional control valves between the load suspension system are provided at the respective load pressure of the lifting cylinder, wherein the valves are actuated in pilot control lines between a pilot control and the control valve via provided pressure switch. In principle, in this passive vibration-damping system, the compliance of the hydraulic accumulator is used to allow an out-of-phase movement of the equipment, which in turn the movement; a shovel over the construction machine erases.

The disadvantage of this solution is that in addition to the. Hydrospeicher also directional valves, pressure switches and nozzles must be additionally provided in the construction machine, which inevitably leads to higher costs.

Furthermore, so-called suspension systems are known from the prior art, which are used in the agricultural technology sector, especially in tractors.

These are combinations of parallel springs and hydraulic dampers. The damping characteristic is fixed in passive systems (fixed nozzles) and modifiable in the case of active systems by means of electronics.

The fundamental difference between the passive vibration-damping system described above and a suspension system lies in the mechanical structure of the moving masses, the suspension system itself being a spring-damper element interposed between the mass of the vehicle and the vehicle Single masses of the wheels and axles is arranged to dissipatively destroy unwanted oscillatory movements. From the US. 5,897, 287 A further describes an invention for the immobilization of construction machinery which operates on the basis of an electro-hydraulic system for controlling the lifting cylinders. The object of this invention is to ensure a constant pressure in the lifting cylinders. By means of a pressure sensor, taking into account and position of the blade, the pressure in the lifting cylinders is constantly monitored and kept constant in order to prevent an unwanted sinking of the blade.

Disadvantages of this solution are, in particular, the highly dynamic valves which are necessary for the required pressure regulation, but not for the displacement of wheel loaders. The excitations / pulses or pitching vibrations generated by the pitch of the loaded blade can thus be well compensated according to experience; for the cabin vibrations, however, this solution is unsuitable. In summary, it has to be stated that the prior art passive motion or vibration / erosion systems are not or only to a limited extent optimized for changing operating conditions and, taking into account the vibration damping of the cabin, are designed for very specific tasks. A. Transmission of the suspension systems used in agricultural technology to unsprung construction machines is not possible for reasons of a fixed coupling of the front axle with the front frame. With the use of out of the US 5,897,287 A In addition, the previously known active oscillation-eradication system results in very high costs due to an unjustified expenditure of highly dynamic pressure control valves.

Out US 5,832,730 is a device for Bewegungsstilgung in self-propelled, unsprung construction equipment (eg backhoe) known. The implement is driven by a hydraulic cylinder. Furthermore, the construction machine has a hydraulic source _, a controlled valve for supplying the hydraulic cylinder with hydraulic fluid and a control unit with a control software. The boom cylinder two pressure sensors are provided, the measurement signals are processed by the control software as input signals and converted into an acceleration signal, resulting in a Control current for the valve is determined as an output variable for a compensating movement of the hydraulic cylinder. This device is effective in the operation of the implement by the driver, ie the driver control signals are automatically overridden for Bewegungsstruck when unwanted movements occur. A Bewegungsstilgung while driving, regardless of the operation of the implement by driving, is not disclosed in this document

1. a. Erfassung des Beschleunigungssignals durch den Beschleunigungssensor während der Fahrt der Baumaschine,
2. b. Verarbeiten des Beschleunigungssignals als Eingangsgröße durch die Steuersoftware der Regelungseinheit und Ermittlung eines Steuerstroms für das Ventil als Ausgangsgröße zur Bewegungstilgung und
3. c. Versorgung des Hydraulikzylinders mit Hydraulikfluid durch das Ventil in Abhängigkeit des Steuerstroms.

From US-A-5,884,204 is a method for Bewegungsstreibung in self-propelled unsprung construction equipment, in particular wheel loaders, with a driven by a hydraulic cylinder implement, a hydraulic source, a controlled valve for supplying the hydraulic cylinder with hydraulic fluid, a control unit with a control software and using a as Accelerometer sensor sensor formed, wherein the control of the speed of the hydraulic cylinder on the basis of an acceleration feedback comprises the following method steps:

1. a. Detection of the acceleration signal by the acceleration sensor while the construction machine is running,
2. b. Processing the acceleration signal as an input by the control software of the control unit and determining a control current for the valve as Initial size for motion repositioning and
3. c. Supply of the hydraulic cylinder with hydraulic fluid through the valve as a function of the control current.

The object of the invention is to develop a method and a device for motion reduction in construction machines, which are adapted to changing tasks, e.g. Cabin damping or paddle damping, the tree can be adjusted which is cost-effective and allows retrofitting in previously unsprung construction equipment with little effort, the damping should be optimized even with loaded blade.

This object is achieved by the features of the method according to claim 1 and the features of the device according to claim 9. The back-related dependent claims show further advantageous embodiments of the invention.

1. a. Erfassung des Beschleunigungssignals durch den Beschleunigungssensor während der Fahrt der Baumaschine,
2. b. Auswahl eines Dämpfungsmodus aus mehreren adaptierbaren in der Regelungseinheit abgelegten Dämpfungsfunktionen zur Minimierung der Beschleunigung der Kabine und/oder Minimierung der Beschleunigung der Schaufel
3. c. Verarbeiten des Beschleunigungssignals als Eingangsgröße durch die Steuersoftware der Regelungseinheit und Ermittlung eines Steuerstroms für das Ventil in Abhängigkeit vom ausgewählten Dämpfungsmodus als Ausgangsgröße zur Bewegungstilgung und
4. d. Versorgung des Hydraulikzylinders mit Hydraulikfluid durch das Ventil in Abhängigkeit des Steuerstroms.

According to the conception of the invention, the method for the immobilization of construction machines comprises the method steps described below:

1. a. Detection of the acceleration signal by the acceleration sensor while the construction machine is running,
2. b. Selection of a damping mode from several adaptable damping functions stored in the control unit to minimize the acceleration of the cab and / or minimize the acceleration of the bucket
3. c. Processing the acceleration signal as an input by the control software of the control unit and determining a control current for the valve depending on the selected damping mode as the output for Bewegungsstilgung and
4. d. Supply of the hydraulic cylinder with hydraulic fluid through the valve as a function of the control current.

In a preferred embodiment of the invention, the pressure signals detected by a pressure sensor in the hydraulic cylinder for determining the degree of filling and / or detected by an angle sensor position of the mast can be supplied in addition to the input variable (A) as further input variables of the control unit.

The pressure signals in the hydraulic cylinder indicate the degree of filling or the blade load in order to be able to determine load-dependent control parameters in an adaptive control algorithm. Since the control algorithm is adaptive, that is to say self-adjusting, an optimized damping for different operating points with respect to the load on the blades can be achieved.

Particularly advantageous is the fact that the construction machine with two different damping modes, namely cabin mode and bucket mode, can be operated. The cabin mode is then preferably activated in order to achieve a higher driving speed during transfer journeys. Switching to the bucket mode is accomplished when the bucket placed on the lift equipment is damped, thus allowing better handling in the labor input of the construction machine. For completeness, it should be mentioned that, of course, a combination of both damping modes is possible. The mode selection can be done manually by the operator of the machine, or most advantageously automatically, by evaluating the signal from the pressure sensor to activate the bucket mode with the bucket full and the cabin mode with the bucket empty.

The switching between the individual damping modes can be performed by the operator of the construction machine not only when stationary but also while driving, it being possible to distinguish between an operating point of a pressure level and / or the driving speed. The switching between the individual damping modes preferably takes place using the pressure sensor arranged in the hydraulic cylinder.

• * kostengünstige Umsetzung eines aktiven Dämpfungssystems durch Ergänzung eines Beschleunigungssensors und eines in die Regeleinheit implementierten Algorithmus unter Verwendung des in der Baumaschine vorhandenen elektrohydraulischen Systems,
• * Erhöhung der erzielbaren Fahrgeschwindigkeiten durch eine Stabilisierung der Baumaschine,
• * Erhöhung der Produktivität und des Fahrkomforts durch die Möglichkeit, zwischen verschiedenen Dämpfungsmodi, z.B. Dämpfung der Kabine und/oder Dämpfung der Schaufel, auszuwählen,
• * Realisierung einer geschwindigkeitsabhängigen Dämpfung mittels der adaptiv ausgebildeten Regelungseinheit und
• * Ermittlung des Füllungsgrades der Schaufel mittels eines optionalen Drucksensors.

The significant features and advantages of the invention are essentially:

• cost-effective implementation of an active damping system by supplementing an acceleration sensor and an algorithm implemented in the control unit using the electro-hydraulic system present in the construction machine,
• * Increasing the achievable driving speeds by stabilizing the construction machine,
• Increase of productivity and ride comfort by the possibility of selecting between different damping modes, eg damping of the cab and / or damping of the bucket,
• * Realization of a speed-dependent damping by means of the adaptively designed control unit and
• * Determination of the degree of filling of the blade by means of an optional pressure sensor.

It is envisaged that the device for Bewegungsstilgung in self-propelled unsprung construction equipment, in particular wheel loaders, with a driven by a hydraulic cylinder implement a hydraulic source, a controlled valve for supplying the hydraulic cylinder with hydraulic fluid, at least one sensor for detecting a physical quantity and a control unit a control software, wherein as sensor, an acceleration sensor is provided and the control unit is designed so as to process the signals of the acceleration sensor by means of the control software as input signals and to determine a control current for the valve as an output variable for a compensating movement of the hydraulic cylinder.

The device according to the invention has the difference compared to the prior art that no pressure control, but a speed control of the hydraulic cylinder is realized on the basis of an acceleration feedback. Thus, no highly dynamic valves are needed, but it can be used in an advantageous manner, the valve for the working group of the control block.

In the event that the construction machine is equipped with an electrohydraulic system, i. if the main control block for the control of the working functions is controlled by a controller with electrical signals, no further additional hydraulic components or special electronic components are necessary to achieve the desired object.

By means of the acceleration sensor can directly detected on the bucket and / or the cab of the construction machine accelerations are detected to cause an antiphase movement of the hydraulic cylinder. The signal detected by the acceleration sensor is fed to the control unit where it is optionally weighted with a pressure signal and a path compensating signal and converted into a corresponding signal which determines the current value for the valve controlling the hydraulic cylinder. The controlled valve releases a valve cross section, so that a corresponding volume flow can flow to the hydraulic cylinder.

The arrangement of the acceleration sensor can take place at any point of the construction machine, but preferably in the region of the function or machine assembly to be damped, or the blade or driver's cab, of the construction machine.

Each external excitation of the construction machine is associated with an undesirable force and thus movement effect on the machine structure. The movement-eradication system according to the invention generates a counter force in the hydraulic cylinders of the working equipment, particularly advantageously in the lifting cylinders, in order to compensate for the force or movement action by means of the hydraulic fluid. In a particularly advantageous embodiment of the invention the pressure signal is detected by a pressure sensor, which is preferably arranged in the region of the hydraulic cylinder bottom of the lifting cylinder. This pressure signal represents the degree of filling of the blade of the equipment. Since the degree of filling can vary continuously, it is provided that the control unit is adaptive. Thus, load-adaptive optimal vibration compensation can be achieved. The pressure sensor is therefore able to distinguish an empty from a filled blade and to supply the corresponding signal to the control unit.

The pressure sensor can additionally be supplemented by an angle sensor or another position sensor (eg stroke sensor for lifting cylinder). The angle sensor detects the position of the mast and compares it with a previously stored reference value. The deviation of the angular position from the reference position is processed by a controller. In the control unit can be defined in an advantageous manner an allowable range for the position of the mast, the compliance during the repayment movement is one of the control or regulating tasks of the control device. The current position can be measured by an angle sensor arranged on the mast.

The control unit present in the construction machine for the control of the work functions is supplemented according to the invention by a control software whose algorithm can include a plurality of damping functions. While in motion cancellation systems in the prior art so far only the unwanted accelerations of the blade could be compensated, now the selection of a desired damping mode, the associated damping function can be activated. Typical damping functions for the bucket mode, the cabin mode but also for the combined mode are provided in the control software. Depending on the selected damping mode, a corresponding control current for the valve is released according to the associated damping function.

Further details, features and advantages of the invention will become apparent from the following description of an embodiment with reference to the accompanying drawings.

Fig. 1

schematische Darstellung der auf eine Bauma- schine wirkenden äußeren Anregungen/Impulse,

Fig. 2

Steuerungsarchitektur der Vorrichtung zur Bewe- gungstilgung und

Fig. 3

Signalstruktur der Vorrichtung zur Bewegungstil- gung.

Showing:

Fig. 1

schematic representation of the external excitations / impulses acting on a construction machine,

Fig. 2

Control architecture of the device for movement repayment and

Fig. 3

Signal structure of the device for moving movement.

Fig. 1 schematically illustrates the external excitations / pulses 4, which typically act on a construction machine 1. The cabin 1.1 of the wheel loader shown here is vertically accelerated by the Fahrbahnanregung 4.1 and the excitation 4.2 by the equipment movement 5. On the one hand, the generated by the unevenness of the lane 3 suggestions / pulses 4 or Hubschwingungen while driving through the tires 1.3 to the cabin 1.1 transmitted and on the other hand, the initiated by the pitch of the loaded blade 1.2.2 suggestions / pulses 4.2 or Nick vibrations introduced by the hydraulic cylinder 1.4, not shown in the cabin 1.1. The vehicle or cabin damping takes place without damping system exclusively by the tires 1.3 of the construction machine 1. During the working or transfer cycle of the construction machine 1, suggestions / pulses may overlap by the roadway 4.1 or by the equipment 4.2, which leads to an increased and thus causing unwanted cabin acceleration.

Fig. 2 shows the control architecture of the device for motion reduction in construction machines 1 in a closed loop. This embodiment illustrates the use of the acceleration sensor 2.1 according to the invention, the angle sensor 2.2 and the pressure sensor 2.3, the control of the hydraulic cylinder 1.4 at a stimulation of the construction machine 1 by in the Fig. 1 illustrated equipment 1.2 and by the roadway 3.

The in the Fig. 1 shown construction machine 1 has a valve factory 1.5 of the control block, not shown, a control unit 6, the angle sensors 2.2, the optionally used pressure sensor 2.3 and an acceleration sensor 2.1.

The suggestions 4.1 of the construction machine 1 through the roadway 3 are transmitted to the car 1.1 of the construction machine 1 via the wheels / tires 1.3 of the construction machine 1 as well as via the suggestions 4.2 of the equipment 1.2. These superimposed excitations 4 are detected by an acceleration sensor 2.1 and fed to the control unit 6 as an electrical signal. This electrical signal forms the first input variable for the control unit 6. As a further input variable, the layer 10 of the mast 1.2.1 of the control unit 6 is supplied. The supervision the position 10 of the mast 1.2.1 takes place by means of the factory existing on the construction machine 1 angle sensors 2.2 in order to avoid excessive hydraulic cylinder strokes and a drifting equipment position. Furthermore, in the example shown here, the measurement of the pressure 8 in the hydraulic cylinder 1.4 takes place by means of a pressure sensor 2.3. With this optionally usable pressure sensor 2.3, the degree of filling of the bucket 1.2.2 can be determined. The mass-laden goods located in the blade 1.2.2 exert on the hydraulic cylinder 1.4 a compressive force which is detected by the pressure sensor 2.3. The above-described input signals of the sensors 2 and transducer are according to one in the Fig. 3 processed algorithm for generating an output signal. The output signal is an electrical signal and provides the current value for a valve 1.5 of a control block, not shown. The valve 1.5 releases a valve cross-section as a function of the current value, the current value being proportional to the released volume flow 7. With the insertion or discharge of hydraulic fluid, the hydraulic cylinder 1.4 is moved. The speed of the lifting movement is proportional to the released volume flow 7. The lifting movement of the hydraulic cylinder 1.4 corresponds to a compensating movement with respect to the roadway excitation 4.1 and equipment excitation 4.2. Which while in the hydraulic cylinder 1.4 adjusting pressure 8 is detected again by means of the pressure sensor 2.3 and the control unit 6 is supplied. The external stimuli 4 not erased by the control unit 6 of the construction machine 1 are detected by the acceleration sensor 2. 1 as acceleration 5 and supplied to the control unit 6 again. This closes the control loop.

By means of this control strategy using previously described components, an out-of-phase movement of the hydraulic cylinder 1.4 can be generated in order to control the external excitations 4, e.g. the roadway excitation 4.1 or the equipment excitation 4.2, to compensate.

Fig. 3 shows the signal structure of the device for Bewegungsstilgung. In the control unit 6, an algorithm for processing the input signals has been implemented. The control unit 6 has three modules 12, namely the "active-ride-compensator" 12.1, the "boom-position-compensator" 12.2 and the "load-compensator" 12.3, wherein each module 12.1-12.3 processes at least one input signal and generates a corresponding output signal.

The module "active-ride-compensator" 12.1 processes the signal from the acceleration sensor 2.1 and determines the necessary control current 9 for the valve 1.5 to cause a compensating cylinder stroke. The detected acceleration is amplified by means of a gain element and converted into a signal as a function of a selected damping mode 11 by means of an interpolation function. However, the interpolation function is activated only by a generated signal of the load-compensator 12.3 described below.

The damping modes 11, cabin damping 11.1 and blade damping 11.2 contain different mathematical transfer functions that can be activated individually or in cooperation. The generated signal for the control current 9 is amplified immediately before leaving the module 12.1. The overlap existing in the valve 1.5 is further compensated by an additional portion 6.6 of the control current 9.

The boom-position-compensator 12.2 receives the signal which represents the position 10 of the mast 1.2.1. This signal is detected by arranged on the mast 1.2.1 angle sensors 2.2. At the time of activation of the damping function, the system stores the current position 10 of the mast 1.2.1 as a reference position. When load entry into the blade 1.2.2 of the implement 1.2 changes the angle of attack, wherein the position 10 of the mast 1.2.1 changed. This angular position is detected by the angle sensor 2.2 and compared in the "boom-position-compensator" 12.2 with the reference position. The deviation of the angular position from the reference position is processed by a PID controller 6.1 and subsequently processed by a designed as a limiter transmission element 6.4 on. The position controller only responds when the position of the mast leaves a permissible range. The signal generated by the PID controller 6.1 and limited by the limiter signal is now added to the generated signal of the "active-ride-compensator".

The "load-compensator" processes the signals of the pressure sensor 2.3, which is arranged in the hydraulic cylinder 1.4. The pressure in the hydraulic cylinder 1.4 indicates the degree of filling of the blade 1.2.2 or the pressure force which is applied to the hydraulic cylinder 1.4 by the mass-loaded material located in the blade 1.2.2. The signals of the pressure sensor 2.3 are converted by means of a transmission element, then amplified by a gain element and subsequently processed by means of a low-pass filter. The low pass filter only filters out the steady state portion of the signal which is proportional to the bucket load or bucket charge. The generated signal is now the "active-ride-compensator" supplied and activated depending on the size of the signal, the aforementioned interpolation function. The interpolation function includes the determination of the controller parameters of the "active-ride-compensator" as a function of the blade load.

With the described device and the method for Bewegungsstilgung in construction machines 1 could be demonstrated that the cabin acceleration 5 of construction machines 1 at roadway and equipment excitation 4.1, 4.2 compared to passive motion-eradication systems in a defined frequency range significantly reduced. Measurements have shown that with increasing bucket load, the relative movement repulsion still increases. In summary, it can be stated that the motion-eradication system according to the invention sustainably improves the machine stability and ensures better controllability of the construction machine 1, above all at higher speeds.

List of reference numbers

1

Construction machinery

1.1

cabin

1.2

implement

1.2.1

mast

1.2.2

shovel

1.3

Tires / wheels

1.4

hydraulic cylinders

1.5

Valve

2

sensors

2.1

accelerometer

2.2

angle sensor

2.3

Pressure sensor in the hydraulic cylinder

3

roadway

4

Suggestions / Impulse

4.1

road suggestions

4.2

equipment suggestions

5

car acceleration

6

Control unit / Active Ride Control

6.1

regulator

6.2

comparator

6.3

reinforcing member

6.4

transmission member

6.5

Reference value for position of the mast

6.6

Additional share of electricity

6.7

interpolation

7

Volume flow of the hydraulic fluid

8th

Pressure in the hydraulic cylinder

9

Control current for the valve

10

Location of the mast

11

damping modes

11.1

cabin mode

11.2

scoop mode

12

modules

12.1

load compensator

12.2

active ride compensator

12.3

boom position compensator

Claims (13)

1. Method for damping the displacement of a self-driven construction vehicle without suspension (1), in particular a wheel loader with a cabin (1.1), a bucket (1.2.2) driven by means of a hydraulic cylinder (1.4), a hydraulic source, a controlled valve (1.5) for supplying the hydraulic cylinder (1.4) with hydraulic fluid, an active ride control (6) with a control software, and at least one accelerator sensor (2.1), characterized in that this method comprises the following procedural steps:

   a. Registration of the acceleration signal through the accelerator sensor (2.1) while the construction machine travels,

   b. Selection of a damping mode from several adaptable damping functions stored in the active ride control (6) to minimize the acceleration (5) of the cabin (1.1) and/or to minimize the acceleration (4.2) of the bucket (1.2.2),

   c. Processing of the acceleration signal as input parameter by the control software of the active ride control (6) and measurement of the control current (9) for the valve (1.5) based on the selected damping mode as output parameter for damping the displacement, and

   d. Supplying the hydraulic cylinder (1.4) with hydraulic fluid via the valve (1.5) based on the control current (9).
2. Method for damping a displacement according to claim 1, characterized in that a control current (9) for the valve (1.5) is measured by the active ride control (6) after a first damping mode to affect maximum damping of the cabin (1.1), or after a second damping mode to affect maximum damping of the bucket (1.2.2).
3. Method for damping a displacement according to claim 1 or 2, characterized in that the damping mode is selected by the operator of the construction vehicle (1).
4. Method for damping a displacement according to claim 1 or 2, characterized in that the election of the damping mode is triggered automatically based on the fill level of the bucket (1.2.2).
5. Method for damping a displacement according to claim 4, characterized in that for the measurement of the fill level of the bucket a pressure sensor (2.3) mounted inside the hydraulic cylinder (1.4) is used whose pressure signals are transferred to the active ride control (6) to select the optimum load-based damping mode.
6. Method for damping a displacement according to any of the preceding claims 1 to 5, characterized in that in addition, the position (10) of the bucket (1.2.1) measured by an angle sensor (2.2) is also transmitted to the active ride control (6) in order to compensate inadmissible lifting movements of the hydraulic cylinder (1.4).
7. Method for damping a displacement according to any of the preceding claims 1 to 6, characterized in that a distinction is made between a pressure level operating point and/or the travel speed.
8. Device for damping the displacement of a self-driven construction vehicle without suspension (1), in particular a wheel loader with a cabin (1.1), a bucket (1.2.2) driven by means of a hydraulic cylinder (1.4), a hydraulic source, a controlled valve (1.5) for supplying the hydraulic cylinder (1.4) with hydraulic fluid, at least one accelerator sensor (2.1) and an active ride control (6) with a control software, characterized in that the active ride control (6) offers several adaptable damping functions to minimize the acceleration (5) of the cabin (1.1) and/or to minimize the acceleration (4.2) of the bucket (1.2.2) and is designed to process the signals of the sensor (2) by means of the control software as an input signal and to determine a control current for the valve as output parameter for a compensating movement of the hydraulic cylinder (1.4) based on the damping mode selected from the damping functions stored in the active ride control (6).
9. Device according to claim 8, characterized in that the ride control (6) provides at least one damping mode to affect maximum damping of the cabin (1.1) and a second damping mode to affect maximum damping of the bucket (1.2.2).
10. Device according to claim 8 or 9, characterized in that a pressure sensor (2.3) for measuring the pressure in the hydraulic cylinder (1.4) to determine the fill level of the bucket (1.2.2) as an additional input parameter is provided for the active ride control in order to allow for optimum load-based vibration compensation.
11. Device according to claim 8, 9 or 10, characterized in that an angle sensor for measuring the position of the lifting mast (1.2.1) is provided as an additional input parameter for the active ride control (6) in order to compensate inadmissible lifting movements of the hydraulic cylinder (1.4).
12. Device according to any of the preceding claims 8 to 11, characterized in that the accelerator sensor (2.1) is mounted in the cabin (1.1) of the construction vehicle.
13. Device according to any of the preceding claims 8 to 12, characterized in that the accelerator sensor (2.1)is mounted in the bucket (1.2.2)) of the construction vehicle.

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