Apparatus and method for determining a target rotational speed for a rotary drive driving a displacement pump of a hydraulic system of a lifting equipment

Abstract

Provided is an apparatus for determining (504, 506, 508) a target rotational speed for a rotary drive (130) driving a displacement pump (125) of a hydraulic system of a lifting equipment (120). The apparatus includes processing circuitry (110) configured to receive time series data (101) indicating a demanded hydraulic power for operating the lifting equipment (120). Furthermore, the processing circuitry (110) is configured to determine an average for the demanded hydraulic power based on the time series data (101). The processing circuitry (110) is additionally configured to determine, based on the average for the demanded hydraulic power, a parameter setting (343) for a computational model for determining (504, 506, 508) the target rotational speed. The processing circuitry (110) is configured to determine the target rotational speed based on the demanded hydraulic power according to the determined parameter setting (343). In addition, the processing circuitry (110) is configured to output control data (102) indicating the determined target rotational speed.

Description

Field

[0001] The present disclosure relates to controlling rotary drives driving displacement pumps of lifting equipment. In particular, examples of the present disclosure relate to an apparatus and a method for determining a target rotational speed for a rotary drive driving a displacement pump of a hydraulic system of a lifting equipment, and a vehicle comprising the apparatus.Background

[0002] Cranes, in particular loader cranes play a pivotal role in various industries, providing efficient lifting and handling capabilities. Various functions of a crane such as lifting, lowering, extending, retracting, rotating, and stabilizing use hydraulic power provided by a displacement pump of the crane. The displacement pump pumps hydraulic oil to provide the required hydraulic power.

[0003] The use cases of a loader crane are highly variable. An operator may require high speeds at times and precise movements at other times. Since the speed demand for a hydraulic pump is directly linked to the operator's task, the requirements for the hydraulic source also change accordingly. Applying the optimized trade-off among energy efficiency, noise emission, and required performance often presents a contradiction. The same problem arises with other types of lifting equipment equipped with a hydraulic system, such as forklifts or lifting platforms.

[0004] Hence, there may be a demand for improved control of the hydraulic system of lifting equipment.Summary

[0005] This demand is met by an apparatus and a method for determining a target rotational speed for a rotary drive driving a displacement pump of a hydraulic system of a lifting equipment, a vehicle, a non-transitory machine-readable medium and a program in accordance with the independent claims. Advantageous embodiments are defined by the dependent claims.

[0006] According to a first aspect, the present disclosure provides an apparatus for determining a target rotational speed for a rotary drive driving a displacement pump of a hydraulic system of a lifting equipment. The apparatus comprises processing circuitry configured to receive time series data indicating a demanded hydraulic power for operating the lifting equipment. Furthermore, the processing circuitry is configured to determine an average for the demanded hydraulic power based on the time series data. The processing circuitry is additionally configured to determine, based on the average for the demanded hydraulic power, a parameter setting for a computational model for determining the target rotational speed. The processing circuitry is configured to determine the target rotational speed based on the demanded hydraulic power according to the determined parameter setting. In addition, the processing circuitry is configured to output control data indicating the determined target rotational speed.

[0007] According to a second aspect, the present disclosure provides a vehicle having mounted thereon or being a lifting equipment. The vehicle comprises the apparatus according to the first aspect. Control circuitry on the vehicle is configured to control the rotary drive based on the control data. The hydraulic system comprises at least one of one or more hydraulic cylinders and one or more slewing drives coupled to the displacement pump and drivable by the hydraulic fluid.

[0008] According to a third aspect, the present disclosure provides a method for determining a target rotational speed for a rotary drive driving a displacement pump of a hydraulic system of a lifting equipment. The method comprises receiving time series data indicating a demanded hydraulic power for operating the lifting equipment. Furthermore, the method comprises determining an average for the demanded hydraulic power based on the time series data. The method additionally comprises determining, based on the average for the demanded hydraulic power, a parameter setting for a computational model for determining the target rotational speed. The method comprises determining the target rotational speed based on the demanded hydraulic power according to the determined parameter setting. In addition, the method comprises outputting control data indicating the determined target rotational speed.

[0009] According to a fourth aspect, the present disclosure provides a non-transitory machine-readable medium having stored thereon a program having a program code for performing the method according to the third aspect, when the program is executed on a processor or a programmable hardware.

[0010] According to a fifth aspect, the present disclosure provides a program having a program code for performing the method according to the third aspect, when the program is executed on a processor or a programmable hardware.

[0011] The demanded hydraulic power for operating the lifting equipment reflects the behavior of the lifting equipment's operator. By determining the parameter setting based on the average for the demanded hydraulic power, the computational model for determining the target rotational speed is adapted to the operator's behavior and / or needs. By determining the average hydraulic power demand and using it to set parameters for the computational model, the apparatus may optimize the target rotational speed to minimize energy consumption, reducing operational costs. Furthermore, optimizing the rotational speed according to demand can help reduce noise emissions, making the operation of the lifting equipment quieter and more environmentally friendly. In other words, the sustainability may be improved. The apparatus allows to adapt the lifting equipment to various use cases and operational conditions, making it suitable for a wide range of applications and increasing its versatility. By optimizing the rotational speed, the apparatus can help reduce the wear and tear on the displacement pump and other components of the hydraulic system, potentially extending the lifespan of the lifting equipment. As the determination of the target rotational speed is adjusted substantially in real-time based on the time-series data, the hydraulic system of the lifting equipment may be controlled more efficient and responsive.Brief description of the Figures

[0012] Some examples of apparatuses and / or methods will be described in the following by way of example only, and with reference to the accompanying figures, in which Fig. 1 illustrates an example of an apparatus for determining a target rotational speed for a rotary drive; Fig. 2 illustrates a graph showing an exemplary temporal course of demanded hydraulic power together with an exemplarily determined average for the demanded hydraulic power; Fig. 3 illustrates an exemplary process flow; Fig. 4 illustrates an example of a vehicle; and Fig. 5 illustrates a flowchart of an example of a method for determining a target rotational speed for a rotary drive. Detailed Description

[0013] Some examples are now described in more detail with reference to the enclosed figures. However, other possible examples are not limited to the features of these embodiments described in detail. Other examples may include modifications of the features as well as equivalents and alternatives to the features. Furthermore, the terminology used herein to describe certain examples should not be restrictive of further possible examples.

[0014] Throughout the description of the figures same or similar reference numerals refer to same or similar elements and / or features, which may be identical or implemented in a modified form while providing the same or a similar function. The thickness of lines, layers and / or areas in the figures may also be exaggerated for clarification.

[0015] When two elements A and B are combined using an "or", this is to be understood as disclosing all possible combinations, i.e. only A, only B as well as A and B, unless expressly defined otherwise in the individual case. As an alternative wording for the same combinations, "at least one of A and B" or "A and / or B" may be used. This applies equivalently to combinations of more than two elements.

[0016] If a singular form, such as "a", "an" and "the" is used and the use of only a single element is not defined as mandatory either explicitly or implicitly, further examples may also use several elements to implement the same function. If a function is described below as implemented using multiple elements, further examples may implement the same function using a single element or a single processing entity. It is further understood that the terms "include", "including", "comprise" and / or "comprising", when used, describe the presence of the specified features, integers, steps, operations, processes, elements, components and / or a group thereof, but do not exclude the presence or addition of one or more other features, integers, steps, operations, processes, elements, components and / or a group thereof.

[0017] Fig. 1 schematically illustrates an apparatus 100 for determining a target rotational speed for a rotary drive (rotary actuator, rotary motion drive) 130 driving a displacement pump 125 of a hydraulic system of a lifting equipment 120.

[0018] The lifting equipment 120 is any machinery (device) for lifting loads (e.g., goods and / or people) using hydraulic power. For example, the lifting equipment may be a crane such as a knuckle boom or loader crane for loading and unloading goods (loads). Alternatively, the lifting equipment may, e.g., be the crane section of a mobile crane (with a vehicle being a mobile platform having mounted thereon the crane section) or the entire mobile crane. In other examples, the lifting equipment may, e.g., be a forklift comprising a pronged device in the front, called forks, which can be inserted under loads to lift and carry them. In still other examples, the lifting equipment may, e.g., be a lifting platform (elevating platform of lift table) comprising a platform supported by a mechanical structure in a liftable manner to a base of the lifting platform.

[0019] The rotary drive 130 is configured to produce (provide) controlled rotational movement. The target rotational speed denotes the desired or intended speed at which the rotary drive 130 should rotate. In other words, the target rotational speed refers to the desired or intended speed of the rotational movement to be provided by the rotary drive 130.

[0020] As schematically indicated in Fig. 1, the displacement pump 125 of the lifting equipment 120 is driven by the rotary drive 130 to provide hydraulic power. For example, the hydraulic power may be provided by means of a flow of hydraulic fluid caused (generated) by the displacement pump 125 when driven by the rotary drive 130. In general, any type of hydraulic fluid suitable for transmitting power efficiently may be used. For example, the hydraulic fluid may be a mineral oil-based hydraulic fluid or a synthetic hydraulic fluid. The hydraulic power provided by the displacement pump 125 is used by one or more consumers of the lifting equipment 120 (not illustrated in Fig. 1). The one or more consumers of the lifting equipment 120 are hydraulically coupled to the displacement pump 125. The displacement pump 125 and the one or more consumers of the crane 120 form the hydraulic system of the lifting equipment 120.

[0021] For example, the one or more consumers may be one or more hydraulic cylinders and / or one or more slewing drives of the lifting equipment 120 for providing various functions of the lifting equipment 120 such as lifting, lowering, extending, tilting, retracting, rotating, and stabilizing. For reasons of simplicity, various elements of the lifting equipment 120 such as its one or more hydraulic cylinders, one or more slewing drives, equipment base (e.g., the crane base of a crane or the base of a lifting platform), lifting devices (e.g., a boom or crane arm of a crane, the forks of a forklift, the platform of a lifting platform) or outriggers (e.g., crane legs) are not illustrated in Fig. 1.

[0022] The rotary drive 130 may be part of the lifting equipment 120. In other examples, the rotary drive 130 may be external to the lifting equipment 120 (e.g., external to a crane such as a loader crane). In other words, the rotary drive 130 is not part of the lifting equipment 120 in some examples. The rotary drive 130 may be any device or system capable of converting energy into mechanical rotation (rotational movement) in a controlled manner. For example, the rotary drive 130 may be an electric rotary drive comprising one or more electric motors for generating the rotational movement. According to examples of the present disclosure, the rotary drive 130 may be an electric rotary drive on a vehicle having mounted thereon (holding, carrying) the lifting equipment 120 or being the lifting equipment 120. Electric rotary drives are also denoted as electric Power Take-Offs (ePTOs). In alternative examples, the rotary drive 130 may be a Power Take-Off (PTO) driven by a drive system 140 (e.g., a combustion engine and optionally a gearbox). According to examples of the present disclosure, the rotary drive 130 may be a PTO of a vehicle having mounted thereon or being the lifting equipment 120. The vehicle may be a land vehicle (e.g., wheeled, tracked or railed) or a watercraft (e.g., a ship, a boat or a barge). For example, the lifting equipment 120 may be mounted to a vehicle such as a truck. For example, the lifting equipment 120 may be a crane (e.g., a knuckle boom or loader crane) mounted to a vehicle such as a truck for loading and unloading goods onto and from the vehicle. The rotary drive 130, in particular when implemented as electric rotary drive, may be detachably attached to the vehicle. In other examples, the rotary drive 130 may be fixedly attached to the vehicle. For reasons of clarity, the vehicle is not shown in Fig. 1.

[0023] The apparatus 100 may be part of the lifting equipment 120 (e.g., be part of a crane). According to examples, equipment control circuitry (equipment controller) 121 for controlling operation of the lifting equipment 120 may comprise the apparatus 100. The equipment control circuitry 121 may, e.g., be coupled to the displacement pump 125 and control operation of the displacement pump 125 and optionally further elements of the lifting equipment 120. In other examples, the apparatus 100 and the equipment control circuitry 121 may be separate elements of the lifting equipment 120. In alternative examples, the apparatus 100 may be external to the lifting equipment 120, i.e., not be part of the lifting equipment 120. For example, a computing cloud communicatively coupled to the lifting equipment 120 (e.g., via a wireless connection) may comprise or be the apparatus 100. In still other examples, the vehicle having mounted thereon the lifting equipment 120 may comprise the apparatus 100. In case the lifting equipment 120 is a crane, the equipment control circuitry 121 may be crane control circuitry (a crane controller) for controlling operation of the crane.

[0024] The apparatus 100 comprises processing circuitry 110. For example, the processing circuitry 110 may be a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which or all of which may be shared, a digital signal processor (DSP) hardware, an application specific integrated circuit (ASIC), a system-on-a-chip (SOC), a neuromorphic processor or a field programmable gate array (FPGA). The processing circuitry 110 may optionally be coupled to, e.g., memory such as read only memory (ROM) for storing software, random access memory (RAM) and / or non-volatile memory. For example, the apparatus 100 may comprise memory configured to store instructions, which when executed by the processing circuitry 110, cause the processing circuitry 110 to perform the steps and methods described herein.

[0025] The processing circuitry 110 is configured to receive time series data 101. The time series data 101 indicate (are encoded with information about) a demanded hydraulic power for operating the lifting equipment 120. The time series data 101 is a sequence of data points in chronological order for succeeding time instants. Each data point indicates the demanded hydraulic power for the respective time instant. For example, the time series data 101 may be a continuous stream of data points over time. The data points may be equally spaced in time but need not. The demand of hydraulic power represents the amount of hydraulic power needed to operate the lifting equipment at various points in time. For example, the time series data 101 may indicate how much hydraulic power is required during different phases of lifting operations, such as lifting, holding, or lowering a load. The time series data 101 may directly specify the demanded hydraulic power, i.e., without the need for further interpretation or conversion. For example, time series data 101 may indicate a power value X(t i ) for the demanded hydraulic power for each time instant t i . Alternatively, the time series data 101 may indirectly specify the demanded hydraulic power. In other words, the time series data 101 need not explicitly define the demanded hydraulic power. Instead, another parameter influencing (affecting) or indirectly describing the demanded hydraulic power or being equivalent to the demanded hydraulic power may be specified. Specific examples will be described in greater detail below. However, it is to be noted that the present disclosure is not limited thereto. The time series data 101 as well as other input data to the processing circuitry 110 may be real-time data (i.e., data that is delivered / received immediately after collection / generation without significant delay). This may ensure that the target rotational speed can be dynamically adjusted. This real-time feedback loop helps in maintaining optimal performance and safety.

[0026] Further, the processing circuitry 110 is configured to determine an average (e.g. over time) for the demanded hydraulic power based on the time series data 101. The average for the demanded hydraulic power denotes a mean value of the demanded hydraulic power that represents the central tendency of the demanded hydraulic power. The average for the demanded hydraulic power may be determined in various ways. Specific examples will be described in greater detail below. However, it is to be noted that the present disclosure is not limited thereto.

[0027] The processing circuitry 110 is additionally configured to determine, based on the average for the demanded hydraulic power, a parameter setting for a computational model for determining the target rotational speed. The computational model is a mathematical representation (e.g., a set of mathematical equations) for determining the target rotational speed for the rotary drive 130 taking into account the demanded hydraulic power and optionally further inputs. The computational model may use various signal and / or data processing operations such as signal / data addition, subtraction, multiplication, division, integration, derivation, filtering (e.g., discrete, continuous or both), delaying, etc. to determine the target rotational speed based on the various inputs to the processing circuitry 110. The computation model comprises one or more parameters that may be set or adjusted. The one or more parameters are values or configurations within the computational model that are adjustable to affect the determination of the target rotational speed by the computational model. The parameter setting refers to specific values or configurations within the computational model for the adjustable values or configurations. The parameter setting may be determined in various ways. Specific examples will be described in greater detail below. However, it is to be noted that the present disclosure is not limited thereto.

[0028] The processing circuitry 110 is configured to determine the target rotational speed based on the demanded hydraulic power according to the determined parameter setting. In other words, the processing circuitry 110 determines the target rotational speed using the demanded hydraulic power as input to the computational model. The one or more adjustable parameters of the computational model are set according to the determined parameter setting. The target rotational speed may be constant over time or may vary over time.

[0029] The processing circuitry 110 is configured to output control data 102 indicating the determined target rotational speed. The control data 102 are for controlling the rotational speed of the rotary drive 130. The control data 102 may be output by the processing circuitry 110 to various entities - depending on the implementation of the rotary drive 130. For example, the processing circuitry 110 may be configured to output the control data 102 to the rotary drive 130 such that control circuitry of the rotary drive 130 may control the rotary drive 130 to adjust its rotational speed to the determined target rotational speed. In other examples, the processing circuitry 110 may be configured to output the control data 102 to control circuitry for the rotary drive 130 external to the rotary drive 130 such that the external control circuitry may control the rotary drive 130 to adjust its rotational speed to the determined target rotational speed. For example, if the rotary drive is an electric rotary drive on a vehicle having mounted thereon or being the lifting equipment 120, the processing circuitry 110 may be configured to output the control data 102 to the electric rotary drive such that control circuitry of the electric rotary drive may control the electric rotary drive to adjust its rotational speed to the determined target rotational speed. In case the rotary drive 130 is driven by the drive system 140, the processing circuitry 110 may be configured to output the control data 102 to the drive system 140 or control circuitry for the drive system 140 external to the drive system 140 such that the drive system 140 is controlled to adjust the driving of the rotary drive 130 such that the rotational speed of the rotary drive 130 is adjusted to the determined target rotational speed. For example, if the rotary drive 130 is a PTO of a vehicle having mounted thereon or being the lifting equipment 120, the processing circuitry 110 may be configured to output the control data 102 to the vehicle such that vehicle control circuitry of the vehicle may control the drive system 140 of the vehicle (e.g., a combustion engine of the vehicle) based on the control data 102.

[0030] The demanded hydraulic power for operating the lifting equipment 120 reflects the behavior of the lifting equipment 120's operator. By determining the parameter setting based on the average for the demanded hydraulic power, the computational model for determining the target rotational speed is adapted to the operator's behavior and / or needs. By determining the average hydraulic power demand and using it to set parameters for the computational model, the apparatus 100 may, e.g., optimize the target rotational speed to minimize energy consumption, reducing operational costs. This may allow to reduce energy emissions, reduce effects on the environment and, hence, improve sustainability. Furthermore, optimizing the rotational speed according to demand can help reduce noise emissions, making the operation of the lifting equipment 120 quieter and more environmentally friendly. The apparatus 100 allows to adapt the lifting equipment 120 to various use cases and operational conditions, making it suitable for a wide range of applications and increasing its versatility. By optimizing the rotational speed, the apparatus 100 can help reduce the wear and tear on the displacement pump 125 and other components of the hydraulic system, potentially extending the lifespan of the lifting equipment 120. As the determination of the target rotational speed is adjusted substantially in real-time based on the time-series data 101, the hydraulic system of the lifting equipment 120 may be controlled more efficient and responsive.

[0031] As indicated above, the average for the demanded hydraulic power may be determined in various ways. In the following two examples will be described in greater detail. However, it is to be noted that the present disclosure is not limited to the following examples.

[0032] The first example will be described with reference to Fig. 2 which illustrates a graph 200. The abscissa of the graph 200 denotes the time t and the ordinate denotes the demanded hydraulic power P demanded (relative / in relation to a maximum hydraulic power that can be demanded). The curve 210 represents the demanded hydraulic power over time as indicated by the time series data 101.

[0033] According to the first example, the processing circuitry 110 is configured to determine for consecutive time windows of a predefined duration (i.e., time segments, periods, intervals, slots each of a fixed length and following one another) the respective maximum value of the demanded hydraulic power based on the time series data 101. The time windows are indicated in Fig. 1 by the dashed vertical lines. For example, the time window 220 illustrated in Fig. 2 covers the time from a time instant t i to a subsequent time instant t i+1 . The maximum value of the demanded hydraulic power as represented by the curve 210 is determined to be the maximum value 225 of the demanded hydraulic power for the time window 220. The respective maximum value of the demanded hydraulic power is determined for each of the consecutive time windows.

[0034] The processing circuitry 110 is configured to determine the average for the demanded hydraulic power by averaging the determined maximum values of the demanded hydraulic power for a predefined number of the consecutive time windows. Accordingly, the typical or central tendency of the demand hydraulic power over the time period given by the predefined duration and the predefined number is determined. For example, the determined maximum values of the demanded hydraulic power for the predefined number of the consecutive time windows may be summed and then divided by the by the number of values to get the average for the demanded hydraulic power.

[0035] The course of the determined average for the demanded hydraulic power over time is represented by curve 230 in Fig. 2. The determination of the average for the demanded hydraulic power according to the first example provides an accurate representation of the peak power demands over recent time windows.

[0036] The predefined duration and the predefined number may be selected as appropriate. As indicated above, the predefined duration and the predefined number determine the total (overall) time interval that is taken into consideration for determining the average for the demanded hydraulic power. For example, the total time interval may be at minimum 10 seconds, 20 second, 30 seconds, 40 seconds, 50 seconds or 60 seconds. On the other hand, the total time interval may be at maximum 2000 seconds, 1000 seconds, 500 seconds, 300 seconds, 240 seconds, 180 seconds, 120 seconds or 60 seconds. The predefined duration may, e.g., be at maximum 1 second, 2 seconds, 5 seconds, 10 seconds or 20 seconds. The predefined number may, e.g., be at maximum 5, 10, 20, 30, 40, 50, 60, 70, 80, 90 or 100. According to a non-limiting examples, the predefined duration may be 2 seconds and the predefined number may be 10.

[0037] The processing circuitry 110 may, e.g., use a ring buffer for the above described determination of the average for the demanded hydraulic power.

[0038] According to an alternative second example, the processing circuitry 110 is configured to determine the moving average (rolling average, running average, sliding window average) of the time series data 101 as the average for the demanded hydraulic power. In other words, the processing circuitry averages the demanded hydraulic power indicated by the data points of the time series data 101 within a fixed-length (fixed size) window as it moves through the time series. As new data points are added, the window moves forward, dropping the oldest data point and including the newest one.

[0039] For example, the length of the window may be at maximum 10 seconds, 20 seconds, 30 seconds, 40 seconds, 50 seconds, 60 seconds, 120 seconds, 180 seconds, 240 seconds, 300 seconds, 500 seconds, 1000 seconds or 2000 seconds.

[0040] Determining the moving average of the time series data 101 as the average for the demanded hydraulic power allows to smooth out short-term fluctuations and highlight longer-term trends or cycles in the time series data 101.

[0041] As indicated above, also the parameter setting for the computational model may be determined in various ways. In the following, two examples will be described in greater detail. However, it is to be noted that the present disclosure is not limited to the following examples.

[0042] According to a first example, the processing circuitry 110 may, e.g., be configured to determine the parameter setting by interpolating between a first set of parameters and a second set of parameters based on the average for the demanded hydraulic power. In other words, the processing circuitry 110 may be configured to determine parameter settings that are (lie) between two predefined sets of parameters. The decision on how to interpolate is based on the average demanded hydraulic power. That is, the determined average for the demanded hydraulic power influences how the parameters are blended or chosen between the two sets of parameters. For example, the first set of parameters may be for determining the target rotational speed to maximize performance of the lifting equipment 120 and the second set of parameters may be for determining the target rotational speed to optimize power consumption (of the lifting equipment 120 and the rotary drive 130). In other words, the first set may be designed to configure the apparatus 100 to achieve the highest possible performance for the lifting equipment 120, such as maximizing speed or lifting capacity, whereas the second set may be designed to configure the apparatus 100 to operate the lifting equipment 120 as energy-efficient as possible, minimizing power consumption of the lifting equipment 120 while still performing the required tasks.

[0043] For example, the determined average for the demanded hydraulic power indicates that the lifting equipment 120 is currently operating under a moderate load, the interpolation between the first set of parameters designed for maximum performance (e.g., high rotational speed and high power output) and the second set of parameters designed for optimal power consumption (e.g., lower rotational speed and reduced power output) may be such that the resulting parameter setting might lean more towards the power-saving side but still retain some aspects of high performance.

[0044] Interpolating between the two different sets of parameters may allow the apparatus 100 to intelligently and dynamically adjust the lifting equipment 120's operational settings to strike a balance between performance and energy efficiency, guided by the average power demand. This enhances the versatility and adaptability of the lifting equipment 120 in various operational scenarios.

[0045] According to a second example, the processing circuitry 110 may, e.g., be configured to determine the parameter setting by selecting one of a plurality of (e.g., predefined) sets of parameters as the parameter setting. Instead of interpolating between two sets of parameters, the processing circuitry 110 may alternatively select a single set of parameters from multiple options. Each set of parameters may be designed for particular operating conditions or requirements. For example, the plurality of sets of parameters may comprise a first set of parameters for determining the target rotational speed to maximize performance of the lifting equipment 120 and a second set of parameters for determining the target rotational speed to optimize power consumption (of the lifting equipment 120 and the rotary drive 130) as described above. Additionally, the plurality of sets of parameters may comprise a third set of parameters for determining the target rotational speed to provide a compromise between performance (maximization) and power consumption (energy efficiency). Thes second example may allow to simplify the configuration process and allows for efficient adaptation to varying operational conditions.

[0046] As described above, the time series data 101 may directly or indirectly specify the demanded hydraulic power in various ways. In the following, some examples will be described in greater detail. However, it is to be noted that the present disclosure is not limited to the following examples.

[0047] For example, the time series data 101 may be encoded with the measured position of at least one control lever of the lifting equipment 120 as an indication (indicator) for the demanded hydraulic power. The at least one control lever is for controlling operation of an element of the lifting equipment 120 that is driven by the hydraulic system. Accordingly, the processing circuitry 110 may be configured to determine the demanded hydraulic power based on the measured position of the at least one control lever. The at least one control lever is (are) operated by an operator of the lifting equipment 120 to control the operation of the lifting equipment 120. The at least one control lever of the lifting equipment 120 may, e.g., be used to control moving a crane arm in case the lifting equipment 120 is a crane, raising and lowering the forks in case the lifting equipment 120 is a forklift, or raising and lowering the liftable platform in case the lifting equipment 120 is a lifting platform. The position(s) of the at least one control lever may, e.g., be recorded over time at the lifting equipment such that the time series data 101 comprises timestamps and the corresponding control lever positions. The position of the control lever(s) serves as a proxy or indicator for the amount of demanded hydraulic power. For example, the at least one control lever may have positions ranging from 0 (neutral) to 10 (fully extended) or from 0 % to 100 %. A higher lever position (e.g., 10 or 100 %) may mean more power is required to operate the lifting equipment 120 (e.g., extend a crane arm fully in case the lifting equipment 120 is a crane), while a lower position (e.g., 1 or 0 %) may mean less power is needed. The position data is used by the processing circuitry 110 to infer how much power is being demanded at any given time. In other words, the processing circuitry 110 translates the lever position(s) into a specific hydraulic power demand.

[0048] By using the control lever position(s) as indicators, the apparatus 110 may accurately determine how much hydraulic power is demanded (needed) at any moment. This may allow to adapt the hydraulic system in real-time to the operator's inputs, ensuring efficient and responsive control of the lifting equipment 120. The operator's manual controls are directly integrated with the hydraulic power management, streamlining operations.

[0049] In case the time series data 101 are encoded with the measured positions of a plurality of control levers for controlling operation of different elements of the lifting equipment 120 (e.g., different hydraulic cylinders and / or slewing drives) that are driven by the hydraulic system, the processing circuitry 110 may, e.g., be configured to determine the demanded hydraulic power based on the maximum measured position of the measured positions of the plurality of control levers. In other words, the processing circuitry 110 may look at all the measured positions of the control levers and use the highest (maximum) position to determine the hydraulic power demand. This means if one lever is at a high position requiring a lot of power, that position dictates the overall power demand. This allows to ensure that the hydraulic system meets the power demand (requirement) of the most demanding operation (task).

[0050] Alternatively, the processing circuitry 110 may be configured to determine the demanded hydraulic power based on a combination of the measured positions of the plurality of control levers. For example, processing circuitry 110 may sum, average or apply some other mathematical function to the measured control lever positions to arrive at the demanded hydraulic power. This alternative approach may provide a more balanced approach by considering the power demands of all elements being operated.

[0051] Assuming that the lifting equipment 120 is a crane, three control levers may, e.g., be taken into account: A first control lever controlling a first hydraulic cylinder for moving a first crane arm segment (e.g., a main boom) of the crane's crane arm relative to the base. A second control lever controlling a second hydraulic cylinder for moving a second crane arm segment (e.g., an extension boom) of the of the crane's crane arm relative to the first crane arm segment. A third control lever controlling a slewing drive for rotating the crane arm relative to a crane base of the crane.

[0052] At a certain moment, the positions of the control levers are as follows: First control lever: Position 7 Second control lever: Position 4 Third control lever: Position 6

[0053] In case the processing circuitry 110 is configured to determine the demanded hydraulic power based on the maximum measured position of the measured positions of the plurality of control levers, the processing circuitry 110 selects the highest position, which is 7 (from the first lever), and uses this to determine the demanded hydraulic power. On the other hand, in case the processing circuitry 110 is configured to determine the demanded hydraulic power based on a combination of the measured positions of the plurality of control levers, the processing circuitry 110 may calculate an (e.g., weighted) average, (e.g., weighted) sum, or apply another function to the positions (e.g., [7 + 4 + 6] / 3 = 5.67 or 7 + 4 + 6 = 17) to determine the demanded hydraulic power.

[0054] Both ways may allow the apparatus 100 to adapt the lifting equipment 120 to different operational needs by using either the maximum position or a combination of positions. This may ensure that the hydraulic system can meet the most demanding task or balance power among multiple tasks, optimizing performance and energy use. A more nuanced and accurate way to calculate power demands is provided, enhancing the control and efficiency of the lifting equipment 120.

[0055] In alternative examples, the time series data 101 may be encoded with a measured opening degree or a target opening degree for at least one valve in the hydraulic system regulating the flow of the hydraulic fluid in the hydraulic system. The opening degree indicates how much the respective valve is open. The measured opening degree refers to the actual opening degree of the respective valve (as, e.g., measured with one or more sensors). The target opening degree refers the desired or intended opening degree of the respective valve (e.g., set by the equipment control system 121). The at least one valve regulates the flow of the hydraulic fluid in the hydraulic system. For example, the at least valve may be a main valve of the hydraulic system regulating the flow and pressure of hydraulic fluid throughout the hydraulic system. Additionally or alternatively, one or more of the at least one valve may regulate the flow of the hydraulic fluid to the one or more consumers of the lifting equipment 120. The at least one valve controls the flow rate of the hydraulic fluid in the hydraulic system, which in turn determines the power demanded (required) by the hydraulic system. When a valve is more open and the flow rate increases, the hydraulic system generally requires more power to maintain or achieve a desired pressure and fluid movement.

[0056] Assuming that the lifting equipment 120 is a crane, the at least one valve may, e.g., regulate the flow of the hydraulic fluid to a cylinder moving a crane arm segment of the crane for lifting a load. If the valve is, e.g., 50 % open, a moderate flow rate may be achieved, allowing hydraulic fluid to flow at a rate suitable for a medium-speed lift. If the valve is 100 % (fully) open, the flow rate may increase significantly, requiring more power to move the hydraulic fluid quickly and lift the load faster. On the other hand, if the valve is 25 % open, the flow rate may decrease, requiring less power, suitable for slower and more controlled movements.

[0057] Also the opening degree(s) of the at least one valve allow the apparatus 100 to adapt the lifting equipment 120 to different operational needs. This may ensure that the hydraulic system can meet the operational requirements efficiently and effectively.

[0058] In the above examples, the time series data 101 indirectly specify the demanded hydraulic power. In the following example, the time series data 101 directly specify the demanded hydraulic power. According to this example, the demanded hydraulic power indicated by the time series data 101 is the hydraulic power demanded by the equipment control circuitry 121 of the lifting equipment 120 for controlling operation of at least a lifting device of the lifting equipment 120 (e.g., a boom or crane arm of a crane, the forks of a forklift, the platform of a lifting platform). Alternatively or additionally, the demanded hydraulic power indicated by the time series data 101 may be the hydraulic power demanded by the equipment control circuitry 121 of the lifting equipment 120 for controlling operation of another hydraulically driven device of the lifting equipment 120 such as outriggers (e.g., crane legs).

[0059] Assuming that the lifting equipment 120 is a crane, the time series data 101 may, e.g., indicate the following: At a first time instant: The control circuitry 121 demands a first amount of hydraulic power to lift a heavy load. At a consecutive second time instant: The control circuitry 121 demands a second amount of hydraulic power (which may, e.g., be lower than the first amount of hydraulic power) to extend a crane arm of the crane. At a consecutive third time instant: The control circuitry 121 demands a third amount of hydraulic power (which may, e.g., be lower larger than the first amount of hydraulic power) to both lift and rotate.

[0060] By using the power demands as indicated by the control circuitry 121, the apparatus 100 can precisely determine and control the hydraulic system to supply the required hydraulic power, ensuring efficient operation of the lifting equipment 120. The apparatus 100 may adjust the hydraulic power in real-time based on the control circuitry 121's requirements, enhancing responsiveness and performance.

[0061] Summarizing some of the above aspects, Fig. 3 illustrates an exemplary process flow 300 for determining a target rotational speed for a rotary drive. In the example of Fig. 3, it is assumed that the lifting equipment is a crane and that the rotary drive is a PTO.

[0062] The time series data 101 are encoded with the measured positions (e.g., as percentage / ratio of a respective maximum lever position) of a plurality of control levers for controlling operation of different hydraulically driven elements / functions of the crane such as the main boom, an extension boom, a knuckle boom, a slewing drive, a fly-jib extension and fly-jib lifting. The measured positions indicate the demanded hydraulic power for each of the hydraulically driven elements / functions.

[0063] At 310 the respective maximum lever position for each of the levers is determined for consecutive time windows (slots) based on the time series data 101. For example, the duration of the time windows may be 2 seconds. The maximum lever positions are added up for each time window to obtain a sum of the maximum lever positions for each time window.

[0064] An event buffer (e.g., a ring buffer) 320 stores the sum of the maximum lever positions for the ten last time windows. The sums of the maximum lever positions are averaged at 330. The averaged sums of the maximum lever positions are the average for the demanded hydraulic power.

[0065] A first set of parameters 341 for determining the target rotational speed to maximize performance of the crane and a second set of parameters 342 for determining the target rotational speed to optimize power consumption are provided. At 340, it is interpolated between the first set of parameters 341 and the second set of parameters 342 based on the averaged sums of the maximum lever positions.

[0066] The parameter setting 343 determined by the interpolation at 340 is used at 350 by the computational model to determine the target rotational speed for the PTO based on the demanded hydraulic power.

[0067] Fig. 4 further illustrates a truck as an exemplary vehicle 400 having mounted thereon (holding) a loader crane (knuckle boom crane) 420 as an exemplary lifting equipment. In the example of Fig. 4, the loader crane 420 comprises hydraulic cylinders 421, 422 and 423 for driving (moving) the crane arm 424 of the loader crane 420. The crane arm 424 is an exemplary lifting device of a lifting equipment. Additionally, the loader crane 420 comprises hydraulic cylinders 425 for driving (moving) the outriggers 426. Further illustrated in Fig. 4 is the slewing drive 428 for rotating the crane arm 424 relative to the base 427 of the loader crane 420. The hydraulic cylinders and the slewing drive(s) are hydraulically coupled to the displacement pump 125 of the loader crane 420 and form the hydraulic system of the loader crane 420. The hydraulic cylinders and the slewing drive(s) are drivable (driven) by the displacement pump 125 of the loader crane 420. The displacement pump 125 of the loader crane 420 is driven by the rotary drive 130 on the vehicle 400.

[0068] The vehicle 400 further comprises the apparatus 100 according to the present disclosure for determining a target rotational speed for the rotary drive 130. As described above, the rotary drive 130 may, e.g., be a PTO of the vehicle 400. For example, the PTO may be driven by a combustion engine and optionally a gearbox of the vehicle 400. In alternative examples, the rotary drive 130 may be an ePTO on the vehicle 400. For reasons of simplicity, the rotary drive 130 is illustrated schematically in Fig. 4.

[0069] Control circuitry 410 on the vehicle 400 is configured to control the rotary drive 130 based on the control data 102 output by the apparatus 100. As described above, the control circuitry 410 may be manifold depending on the type of rotary drive.

[0070] Compared to conventional vehicles, the vehicle 400 may achieve improved control of the loader crane 420's hydraulic system. In particular, the control of the hydraulic system may be adapted to the behavior and / or needs of the loader crane 420's operator. Furthermore, the control of the hydraulic system may be optimized to meet various operator needs such as efficiency and noise emission.

[0071] Fig. 4 focused on the loader crane 420 as an exemplary lifting equipment. However, as indicated above, present disclosure is not limited to the lifting equipment being the loader crane 420 mounted to the vehicle 400. In general, the lifting equipment may be any type of crane using a displacement pump to provide hydraulic power. Apart from a knuckle boom or loader crane for loading and unloading goods (loads), the lifting equipment may, e.g., be the crane section of a mobile crane (with the vehicle being the mobile platform having mounted thereon the crane section) or the entire mobile crane. It is to be noted further that the present disclosure is not limited to cranes. In other examples, the lifting equipment may, e.g., be a forklift using a displacement pump to provide hydraulic power for various applications such as raising and lowering its forks or tilting the mast of the forklift to which the forks are mounted. In still other examples, the lifting equipment may, e.g., be a lifting platform using a displacement pump to provide hydraulic power for various applications such as raising and lowering its platform.

[0072] For further highlighting the driving of displacement pumps of lifting equipment described above, Fig. 5 illustrates a flowchart of a method 500 for determining a target rotational speed for a rotary drive driving a displacement pump of a hydraulic system of a lifting equipment. The method 500 comprises receiving 502 time series data indicating a demanded hydraulic power for operating the lifting equipment. Furthermore, the method 500 comprises determining 504 an average for the demanded hydraulic power based on the time series data. The method 500 additionally comprises determining 506, based on the average for the demanded hydraulic power, a parameter setting for a computational model for determining the target rotational speed. The method 500 comprises determining 508 the target rotational speed based on the demanded hydraulic power according to the determined parameter setting. In addition, the method 500 comprises outputting 510 control data indicating the determined target rotational speed.

[0073] Analogously to what is described above, the method 500 may allow to adapt the computational model for determining the target rotational speed to the operator's behavior and / or needs. Furthermore, the target rotational speed may be optimized to meet various operator needs such as efficiency and noise emission of the lifting equipment. Accordingly, the sustainability may be improved.

[0074] More details and aspects of the method 500 are explained in connection with the proposed technique or one or more examples described above (e.g., Fig. 1 to Fig. 4). The method 500 may comprise one or more additional optional features corresponding to one or more aspects of the proposed technique or one or more examples described above.

[0075] The examples described herein may be summarized as follows: An example (e.g., example 1) relates to an apparatus for determining a target rotational speed for a rotary drive driving a displacement pump of a hydraulic system of a lifting equipment. The apparatus comprises processing circuitry configured to receive time series data indicating a demanded hydraulic power for operating the lifting equipment. Furthermore, the processing circuitry is configured to determine an average for the demanded hydraulic power based on the time series data. The processing circuitry is additionally configured to determine, based on the average for the demanded hydraulic power, a parameter setting for a computational model for determining the target rotational speed. The processing circuitry is configured to determine the target rotational speed based on the demanded hydraulic power according to the determined parameter setting. In addition, the processing circuitry is configured to output control data indicating the determined target rotational speed.

[0076] Another example (e.g., example 2) relates to a previous example (e.g., example 1) or to any other example, wherein, for determining the average for the demanded hydraulic power, the processing circuitry is configured to: determine for consecutive time windows of a predefined duration the respective maximum value of the demanded hydraulic power based on the time series data; and determine the average for the demanded hydraulic power by averaging the determined maximum values of the demanded hydraulic power for a predefined number of the consecutive time windows.

[0077] Another example (e.g., example 3) relates to a previous example (e.g., example 2) or to any other example, wherein the predefined duration is at maximum 20 seconds, and wherein the predefined number is at maximum 100.

[0078] Another example (e.g., example 4) relates to a previous example (e.g., example 1) or to any other example, wherein the processing circuitry is configured to determine the moving average of the time series data as the average for the demanded hydraulic power.

[0079] Another example (e.g., example 5) relates to a previous example (e.g., one of the examples 1 to 4) or to any other example, wherein the processing circuitry is configured to determine the parameter setting by interpolating between a first set of parameters and a second set of parameters based on the average for the demanded hydraulic power, wherein the first set of parameters is for determining the target rotational speed to maximize performance of the lifting equipment, and wherein the second set of parameters is for determining the target rotational speed to optimize power consumption.

[0080] Another example (e.g., example 6) relates to a previous example (e.g., one of the examples 1 to 5) or to any other example, wherein the time series data are encoded with the measured position of at least one control lever of the lifting equipment as an indication for the demanded hydraulic power, wherein the at least one control lever is for controlling operation of an element of the lifting equipment that is driven by the hydraulic system, and wherein the processing circuitry is configured to determine the demanded hydraulic power based on the measured position of the at least one control lever.

[0081] Another example (e.g., example 7) relates to a previous example (e.g., example 6) or to any other example, wherein the time series data are encoded with the measured positions of a plurality of control levers for controlling operation of different elements of the lifting equipment that are driven by the hydraulic system, and wherein the processing circuitry is configured to determine the demanded hydraulic power based on the maximum measured position of the measured positions of the plurality of control levers, or determine the demanded hydraulic power based on a combination of the measured positions of the plurality of control levers.

[0082] Another example (e.g., example 8) relates to a previous example (e.g., one of the examples 1 to 5) or to any other example, wherein the time series data are encoded with a measured opening degree or a target opening degree for at least one valve in the hydraulic system regulating the flow of the hydraulic fluid in the hydraulic system, and wherein the processing circuitry is configured to determine the demanded hydraulic power based on the measured opening degree or the target opening degree for the valve.

[0083] Another example (e.g., example 9) relates to a previous example (e.g., one of the examples 1 to 5) or to any other example, wherein the demanded hydraulic power indicated by the time series data is the hydraulic power demanded by equipment control circuitry of the lifting equipment for controlling operation of at least a lifting device of the lifting equipment.

[0084] Another example (e.g., example 10) relates to a previous example (e.g., one of the examples 1 to 9) or to any other example, wherein the rotary drive is a power take-off of a vehicle, the vehicle having mounted thereon or being the lifting equipment.

[0085] Another example (e.g., example 11) relates to a previous example (e.g., one of the examples 1 to 9) or to any other example, wherein the rotary drive is an electric rotary drive on a vehicle, the vehicle having mounted thereon or being the lifting equipment.

[0086] An example (e.g., example 12) relates to a vehicle having mounted thereon or being a lifting equipment. The vehicle comprises the apparatus according to a previous example (e.g., one of the examples 1 to 11) or to any other example. Control circuitry on the vehicle is configured to control the rotary drive based on the control data. The hydraulic system comprises at least one of one or more hydraulic cylinders and one or more slewing drives coupled to the displacement pump and drivable by the hydraulic fluid.

[0087] Another example (e.g., example 13) relates to a previous example (e.g., example 12) or to any other example, wherein the at least one of the one or more hydraulic cylinders and the one or more slewing drives is configured to drive at least one of a lifting device of the lifting equipment and an outrigger of the lifting equipment.

[0088] Another example (e.g., example 14) relates to a previous example (e.g., one of the examples 12 or 13) or to any other example, wherein the lifting equipment is a loader crane.

[0089] An example (e.g., example 15) relates to a method for determining a target rotational speed for a rotary drive driving a displacement pump of a hydraulic system of a lifting equipment. The method comprises receiving time series data indicating a demanded hydraulic power for operating the lifting equipment. Furthermore, the method comprises determining an average for the demanded hydraulic power based on the time series data. The method additionally comprises determining, based on the average for the demanded hydraulic power, a parameter setting for a computational model for determining the target rotational speed. The method comprises determining the target rotational speed based on the demanded hydraulic power according to the determined parameter setting. In addition, the method comprises outputting control data indicating the determined target rotational speed.

[0090] Another example (e.g., example 16) relates to a non-transitory machine-readable medium having stored thereon a program having a program code for performing the method according to a previous example (e.g., example 15) or to any other example, when the program is executed on a processor or a programmable hardware.

[0091] Another example (e.g., example 17) relates to a program having a program code for performing the method according to a previous example (e.g., example 15) or to any other example, when the program is executed on a processor or a programmable hardware.

[0092] The aspects and features described in relation to a particular one of the previous examples may also be combined with one or more of the further examples to replace an identical or similar feature of that further example or to additionally introduce the features into the further example.

[0093] Examples may further be or relate to a (computer) program including a program code to execute one or more of the above methods when the program is executed on a computer, processor or other programmable hardware component. Thus, steps, operations or processes of different ones of the methods described above may also be executed by programmed computers, processors or other programmable hardware components. Examples may also cover program storage devices, such as digital data storage media, which are machine-, processor- or computer-readable and encode and / or contain machine-executable, processor-executable or computer-executable programs and instructions. Program storage devices may include or be digital storage devices, magnetic storage media such as magnetic disks and magnetic tapes, hard disk drives, or optically readable digital data storage media, for example. Other examples may also include computers, processors, control units, (field) programmable logic arrays ((F)PLAs), (field) programmable gate arrays ((F)PGAs), graphics processor units (GPU), application-specific integrated circuits (ASICs), integrated circuits (ICs) or system-on-a-chip (SoCs) systems programmed to execute the steps of the methods described above.

[0094] It is further understood that the disclosure of several steps, processes, operations or functions disclosed in the description or claims shall not be construed to imply that these operations are necessarily dependent on the order described, unless explicitly stated in the individual case or necessary for technical reasons. Therefore, the previous description does not limit the execution of several steps or functions to a certain order. Furthermore, in further examples, a single step, function, process or operation may include and / or be broken up into several sub-steps, -functions, -processes or -operations.

[0095] If some aspects have been described in relation to a device or system, these aspects should also be understood as a description of the corresponding method. For example, a block, device or functional aspect of the device or system may correspond to a feature, such as a method step, of the corresponding method. Accordingly, aspects described in relation to a method shall also be understood as a description of a corresponding block, a corresponding element, a property or a functional feature of a corresponding device or a corresponding system.

[0096] The following claims are hereby incorporated in the detailed description, wherein each claim may stand on its own as a separate example. It should also be noted that although in the claims a dependent claim refers to a particular combination with one or more other claims, other examples may also include a combination of the dependent claim with the subject matter of any other dependent or independent claim. Such combinations are hereby explicitly proposed, unless it is stated in the individual case that a particular combination is not intended. Furthermore, features of a claim should also be included for any other independent claim, even if that claim is not directly defined as dependent on that other independent claim.

Claims

1. An apparatus (100) for determining a target rotational speed for a rotary drive (130) driving a displacement pump (125) of a hydraulic system of a lifting equipment (120), the apparatus (100) comprising processing circuitry (110) configured to: receive time series data (101) indicating a demanded hydraulic power for operating the lifting equipment (120); determine an average for the demanded hydraulic power based on the time series data (101); determine, based on the average for the demanded hydraulic power, a parameter setting for a computational model for determining the target rotational speed; determine the target rotational speed based on the demanded hydraulic power according to the determined parameter setting; and output control data (102) indicating the determined target rotational speed.

2. The apparatus (100) of claim 1, wherein, for determining the average for the demanded hydraulic power, the processing circuitry (110) is configured to: determine for consecutive time windows of a predefined duration the respective maximum value of the demanded hydraulic power based on the time series data (101); and determine the average for the demanded hydraulic power by averaging the determined maximum values of the demanded hydraulic power for a predefined number of the consecutive time windows.

3. The apparatus (100) of claim 2, wherein the predefined duration is at maximum 20 seconds, and wherein the predefined number is at maximum 100.

4. The apparatus (100) of claim 1, wherein the processing circuitry (110) is configured to determine the moving average of the time series data (101) as the average for the demanded hydraulic power.

5. The apparatus (100) of any one of claims 1 to 4, wherein the processing circuitry (110) is configured to determine the parameter setting by interpolating between a first set of parameters and a second set of parameters based on the average for the demanded hydraulic power, wherein the first set of parameters is for determining the target rotational speed to maximize performance of the lifting equipment (120), and wherein the second set of parameters is for determining the target rotational speed to optimize power consumption.

6. The apparatus (100) of any one of claims 1 to 5, wherein the time series data (101) are encoded with the measured position of at least one control lever of the lifting equipment (120) as an indication for the demanded hydraulic power, wherein the at least one control lever is for controlling operation of an element of the lifting equipment (120) that is driven by the hydraulic system, and wherein the processing circuitry (110) is configured to determine the demanded hydraulic power based on the measured position of the at least one control lever.

7. The apparatus (100) of claim 6, wherein the time series data (101) are encoded with the measured positions of a plurality of control levers for controlling operation of different elements of the lifting equipment (120) that are driven by the hydraulic system, and wherein the processing circuitry (110) is configured to: determine the demanded hydraulic power based on the maximum measured position of the measured positions of the plurality of control levers; or determine the demanded hydraulic power based on a combination of the measured positions of the plurality of control levers.

8. The apparatus (100) of any one of claims 1 to 5, wherein the time series data (101) are encoded with a measured opening degree or a target opening degree for at least one valve in the hydraulic system regulating the flow of the hydraulic fluid in the hydraulic system, and wherein the processing circuitry (110) is configured to determine the demanded hydraulic power based on the measured opening degree or the target opening degree for the valve.

9. The apparatus (100) of any one of claims 1 to 5, wherein the demanded hydraulic power indicated by the time series data (101) is the hydraulic power demanded by equipment control circuitry of the lifting equipment (120) for controlling operation of at least a lifting device of the lifting equipment (120).

10. The apparatus (100) of any one of claims 1 to 9, wherein the rotary drive (130) is a power take-off of a vehicle, the vehicle having mounted thereon or being the lifting equipment (120).

11. The apparatus (100) of any one of claims 1 to 9, wherein the rotary drive (130) is an electric rotary drive on a vehicle, the vehicle having mounted thereon or being the lifting equipment (120).

12. A vehicle (400) having mounted thereon or being a lifting equipment (420), wherein the vehicle (400) comprises the apparatus (100) according to any one of claims 1 to 11, wherein control circuitry (410) on the vehicle (400) is configured to control the rotary drive (130) based on the control data (102), and wherein the hydraulic system comprises at least one of one or more hydraulic cylinders (421, 422, 423, 425) and one or more slewing drives (428) coupled to the displacement pump (125) and drivable by the hydraulic fluid.

13. The vehicle (400) of claim 12, wherein the at least one of the one or more hydraulic cylinders (421, 422, 423, 425) and the one or more slewing drives (428) is configured to drive at least one of a lifting device (424) of the lifting equipment (420) and an outrigger (426) of the lifting equipment (420).

14. The vehicle (400) of claim 12 or claim 13, wherein the lifting equipment (420) is a loader crane.

15. A method (500) for determining a target rotational speed for a rotary drive driving a displacement pump of a hydraulic system of a lifting equipment, the method comprising: receiving (502) time series data indicating a demanded hydraulic power for operating the lifting equipment; determining (504) an average for the demanded hydraulic power based on the time series data; determining (506), based on the average for the demanded hydraulic power, a parameter setting for a computational model for determining the target rotational speed; determining (508) the target rotational speed based on the demanded hydraulic power according to the determined parameter setting; and outputting (510) control data indicating the determined target rotational speed.

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