Method for Controlling a Hydrostatic Drive

A method for controlling a drive, which has at least two hydraulic machines, to change one of the hydraulic machines from pump operation to motor operation and to change the other of the hydraulic machines from motor operation to pump operation, the two hydraulic machines including a first hydraulic machine is configured to couple to a drive machine and a second hydraulic machine is configured to couple to an output, the two hydraulic machines being fluidically connected to one another via a working line and being connected to a pressure medium sink, each of the first and second hydraulic machines having a displacement volume that is adjustable to zero and to values left and right of zero, said hydraulic machines each having, for adjustment purposes, an electrohydraulic adjustment unit that is connectable to the working line and to the pressure medium sink, the method comprising:

• controlling the other hydraulic machine so that a pivoting angle goes from a start pivoting angle to 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,
• wherein the control of the other hydraulic machine in an angular, travel, or time interval on both sides of a respective zero displacement volume is limited such that a pivoting speed of the pivoting angle of the other hydraulic machine does not exceed a predefined value.