Method for controlling a hydrostatic drive

A method for controlling a drive to firstly change one of a first hydraulic machine and a second hydraulic machine from pump operation to motor operation and to secondly change the other of the first hydraulic machine and the second hydraulic machine from motor operation to pump operation, wherein

• the first hydraulic machine is configured to couple to a drive machine,
• the second hydraulic machine is configured to couple to an output,
• the first and second hydraulic machines are fluidically connected to one another via a working line and connected to a pressure medium sink,
• each of the first and second hydraulic machines is configured to provide a respective displacement volume that is adjustable to zero and to values above and below zero, and
• each of the first and the second hydraulic machines is operably connected to a respective electrohydraulic adjustment unit that is connectable to the working line and to the pressure medium sink, the method comprising:
• controlling the one of the first and second hydraulic machines so that a pivoting angle moves from a start pivoting angle toward a target pivoting angle,
• wherein (i) the start pivoting angle is positive and the target pivoting angle is negative, or (ii) the start pivoting angle is negative and the target pivoting angle is positive, and
• wherein the one of the first and second hydraulic machines is controlled throughout an angular interval, a travel interval, or a time interval, before and after passing through the respective zero displacement volume of the one of the first and second hydraulic machines as the pivoting angle moves from the start pivoting angle toward the target pivoting angle, such that a pivoting speed of the pivoting angle of the one of the first and second hydraulic machines does not exceed a predefined value.