Real-time-capable trajectory planning for pivoting-plate-type axial piston pumps with systematic consideration of system limitations

A method for generating a setpoint trajectory which satisfies predetermined limitations for a hydraulic machine with an actuator for influencing an output variable of the hydraulic machine, the method comprising:

• supplying a trajectory of unlimited setpoints to a trajectory planning function implemented by a computing unit, the trajectory planning function generates the setpoint trajectory from the trajectory of unlimited setpoints;
• differentiating, in the trajectory planning function using the computing unit, the trajectory of unlimited setpoints at least n times in order to obtain a first derivative differentiated trajectory of unlimited setpoints corresponding a first derivative of the trajectory planning function, and a second derivative differentiated trajectory of unlimited setpoints corresponding to a second derivative of the trajectory planning function, wherein n≥2;
• applying, in the trajectory planning function using the computing unit, at least one first limitation to the first derivative differentiated trajectory of unlimited setpoints in order to obtain a first differentiated trajectory of limited setpoints;
• applying, in the trajectory planning function using the computing unit, at least one second limitation to the second derivative differentiated trajectory of unlimited setpoints in order to obtain a second differentiated trajectory of limited setpoints, the at least one second limitation different from the at least one first limitation;
• integrating the first and the second differentiated trajectories of limited setpoints using a filter integrator chain to obtain the setpoint trajectory using the computing unit;
• and
• operating the actuator based on the setpoint trajectory which satisfies the predetermined limitations of the hydraulic machine, the actuator operably connected to the computing unit.