DE3812809A1 - Method for controlling the drive, steering and levelling control of vehicles with a surface cutter and arrangement for carrying out the method - Google Patents

Abstract

The invention relates to a method for controlling the drive, steering and levelling control of vehicles with a surface cutter and an arrangement for carrying out the method. The travel speed over land is determined and the respective measured value of the travel speed is prepared as a control system-internal control variable and fed to a signal converter. The output signal of the said converter is fed to an integrated machine system control device and compared with the output signals of the set value/actual value comparator of the control modules for drive control, level control, steering control and angle of inclination control. In the event of a proportional change in the amplification of the control circuit in accordance with the variable travel speed, the control variables for the hydrostatic transmission and the hydraulic cylinders of the control modules are determined and switched on as a function of the size of the said variables.

Description

The invention relates to a method for driving, steering and level control of vehicles with a surface chenfräser such as road milling machine or the like, with a Internal combustion engine as a drive motor, with hydraulic acting actuators and hydrostatic transmissions, if necessary, an all-wheel or all-chain drive and a switchable all-wheel or all-chain steering and a conveyor, by means of which in front of the milling machine processing of broken bulk goods from the area of the surface Chenfräsers can be brought, and an arrangement for implementation procedure.

Such surface milling cutters are available in different versions events known. They show self-driving driving with a height-adjustable milling drum. The chassis usually consists of a front and a rear crawler chassis, between which the Milling drum is located. The material crushed by this is transported directly to the conveyor via the conveyor brought witnesses behind with the same speed or drive next to the surface milling cutter and for the conti ensure that bulk goods are transported away. To one Surface milling cutters either on deposits or on To be able to use roads optimally, you have to use suitable height adjustment on both sides, Inclination control and conveyor belt control may be possible. A load limitation regulation for the Drive motor, which is usually one after the diesel or Otto principle working internal combustion engine.

The object of the invention is to provide a method for Drive, steering and leveling control of vehicles with a surface milling cutter of the type mentioned and an arrangement to carry out the method so form that with manual intervention at automa automatic adjustment of the control loop dynamics Height and incline control and load limitation control the internal combustion engine and a conveyor belt control  is possible. Furthermore, the method and the arrangement system diagnosis and monitoring of the machines enable functions and also for vehicles with all-wheel drive or all-chain steering and / or all-wheel or all-chain drive can be used or in the vehicle of a surface chenfräsers if necessary an all-wheel or all-chain steering or enable an all-wheel or all-chain drive.

According to the invention, the task is solved with respect of the procedure by the characteristic features of the Claim 1 and regarding the arrangement by the kenn characterizing features of claim 5.

Due to the proportional control loop gain change corresponding to the variable driving speed fully automatic control behavior realized. Manual Control loop adaptations to changing driving speeds ten are no longer required. By generation an internal system benchmark for the speedy speed-dependent controller gain adjustment that the one individual control loops is an automatic Adjustment of the control loop dynamics given so that gat vehicles can be operated more efficiently.

Further features of the invention are set out in the dependent An described and described below with the help of the drawing nations explained in more detail. It shows:

Fig. 1 is a schematic block diagram of the Maschi nensystemregelung surface of a milling cutter,

Fig. 2 shows the arrangement according to the invention in a view over,

Fig. 3 is a block diagram of the arrangement according to Fig. 2,

Fig. 4, the control panel for the arrangement of Fig. 2 in a view from the front,

Fig. 5 shows the wiring diagram of the control panel,

Fig. 6 to 10 logic diagrams of the control circuits for the level regulation, pitch regulation, load limiting control, self-diagnosis function and machine check,

Fig. 1 shows schematically the linkage of the steering control circuit 99 , the control circuit 100 for height control and inclination control and the drive control circuit 101 . The individual control loops are characterized by a modular structure. The decisive principle is the contactless measurement of the ground speed, the measured value of which is processed into a signal to be processed. With this signal, the adjustment of the control loop gain can be carried out according to the driving speed. As a result, a proportional change in the control loop gain is generated in accordance with the variable driving speed, thus realizing a fully automatic control process. The decisive reference variable is the vehicle speed to be specified by the driver of the vehicle, changes in the load limitation control of the internal combustion engine 90 acting on the steering control circuit 99 and the control circuit 100 for height control and inclination control via a system-internal reference variable.

The setpoint of the driving speed specified by the driver by means of a driving lever 1 acts as a setpoint 134 for the speed of the internal combustion engine 90 on a setpoint / actual value comparator 95 for the load limitation control, by means of which overloading of the internal combustion engine 90 is prevented. On the output side, the target / actual value limiter 95 acts on an actuator 135 for specifying the driving speed, the setting of which represents the guide variable for the traction motors, which are designed as hydrostatic gear 136 or are indirectly connected to such a gear. The hydrostatic transmission 136 is driven by an internal combustion engine 90 , so that changes in performance of the hydrostatic transmission 136 corresponding changes in the power output and thus the speed of the internal combustion engine 90 require. The speed of the internal combustion engine 90 is measured by a speed sensor 11 , the measured values of which are supplied to the setpoint / actual value comparator 95 as actual speed values. The driving speed v is measured by a contactless measuring sensor 92 , the measured values of which are fed to a signal converter 93 . In this, the signal representing the measured value of the sensor 92 is processed with the consequent adaptation of the control loop gain as a function of the driving speed. This controller amplification signal 137 is used as a system-internal control variable both the setpoint / actual value comparator 95 and the control module 94 of the steering control circuit 99 and the control modules 98 , 97 for the height control and the control module 96 for the inclination control of the control circuit 100 for the height control and inclination control fed. Each control module 98 , 97 , 94 , 96 is supplied with a signal as a command variable 139 by a setpoint / actual value comparator 88 , 87 , 89 , 86 , which results from the comparison of a respective setpoint value with the actual signal supplied from the control location via a feedback 138 . The desired / actual value comparators 88 , 87 are supplied with the desired height as the desired value, the desired / actual value comparator 86 with the desired inclination as the desired value and the desired / actual value comparator 89 with the steering angle of the vehicle as the desired value. The control modules 98 , 97 , 94 , 96 act via actuators 140 on the respective control modules 98 , 97 , 94 , 96 associated hydraulic cylinders 132 , 133 , 131 , 134 . Their respectively current position is fed as feedback to the relevant setpoint / actual value comparator 88 , 87 , 89 , 86 via feedback 138 . An example of an arrangement for realizing the machine system control according to the block diagram according to FIG. 1 is explained below.

In FIG. 2, the basic structure is shown such an arrangement. It consists of the control circuit 100 for the height control and inclination control, the drive control circuit 101 , the control circuit 102 of the conveyor system, a module 103 for setting the control loop organs, a system diagnosis system 104 for self-diagnosis and a diagnosis system 105 for machine function monitoring. There is also an energy supply device 108 , by means of which the control unit 110 is supplied with current with the associated control loop elements. A 24 V battery 106 serves as the energy source and can be charged by a charger connected to the internal combustion engine 90 . With this arrangement, the functions of the time-proportional height control on the right and left, the inclination control, the conveyor belt control, load limit control of the internal combustion engine, for example as a diesel engine, the diagnosis of the electrical system and the machine function monitoring can be carried out. Furthermore, the possibility of all-wheel or all-chain steering can be integrated in this arrangement as a further function.

For height control, at least one height sensor 9 (left) or 10 (right) is provided on each side of the vehicle (left, right). These height sensors 9 , 10 can be designed as angle sensors. If the actual values of the height control deviate from their adjustable setpoints, solenoid valves 47 , 48 , 49 , 50 are actuated on the left and right side of the vehicle, with, for example, an amplifier switching 24 V to the electromagnets of solenoid valves 47 , 48 , 49 , 50 . As a result, depending on the position of the solenoid valves 47 , 48 , 49 , 50 hydraulic cylinders 132 , 133 , hydraulic fluid is applied to both sides of the vehicle so that the desired height of the vehicle is set. For inclination control, an inclination sensor 8 is provided, which can be designed as a pendulum. If the actual value of the inclination deviates from the adjustable target value, the solenoid valves 47 , 48 , 49 , 50 of the respective vehicle side (left or right) are also controlled in a time-proportional manner, with 24 V in turn via an amplifier to the electromagnets of the solenoid valves 47 , 48 , 49 , 50 can be switched.

The drive control circuit 101 for load limitation has a speed sensor 11 , which can be designed as a magnetic pulse counter. When the speed limits are exceeded or undershot, the microcomputer 130 of the control unit 110 controls servo adjusting devices 35 , 36 , 37 , the number of which differs in the individual vehicle types. The actuation of the servo actuators 35 , 36 , 37 takes place by manual action on a drive lever 1 , via which the respective actuators are operated via electrical contacts. The drive lever 1 is connected directly to the servo adjusting devices 35 , 36 , 37 via a relay circuit.

The control circuit 102 of the conveyor system has, as an actuator, a servo adjusting device 38 with which the hydraulic drive motor of the conveyor system can be regulated. The setpoint is given to the control circuit 102 by means of a potentiometer 7 which can be actuated by the control panel 118 of the control unit 110 .

The control circuits 100 , 101 and the control circuit 102 can be set with the module 103 . The parameters left and right, the inclination, the working point of the load limitation control, the sensitivity of the height and inclination control on the right and left and the load limitation control can be set as parameters, when operating with hand control units the height left and right and the inclination and further manual drive control using the drive lever 1 .

The system diagnostic system 104 for self-diagnosis continuously checks the system electronic cards and for the voltage supply

• - cables and sensors (height - right, height - left, inclination, Speed internal combustion engine),
• - cables and hand control units for travel drive, height - right and height - left,
• - cables and solenoids of solenoid valves 47 , 48 , 49 , 50 for height - left, height - right,
• - cables and servo adjustment devices 35 , 36 , 37 , 38 for travel drive and conveyor belt drive,
• - Cables and switches for the microswitch of the hand control, the handheld device control, the switch S 22 automatic-manual,
• - cable and lamp for fault indicators,
• - Cables and limit switches for different cylinder positions ions,
• - Cables and contacts for oil temperature, oil pressure and Cooling water temperature sensors, charging current, filters differential pressure switch, milling drum flap and Mi crocomputer.

System errors are indicated optically by an error lamp 78 , the defective element being shown on the main display 122 (D1). At the same time, an alarm signal can sound through the horn 66 . The system diagnosis system 104 is with height sensors 9 , 10 , the inclination sensor 8 , the solenoid valves 47 , 48 , 49 , 50 , the speed sensor 11 , the drive lever 1 , the servo adjusting devices 35 , 36 , 37 , 38 and the central unit of the Microcomputer 130 connected to microprocessor 111 .

The lubricating oil pressure, the lubricating oil temperature, the cooling water temperatures, the differential pressures on the hydraulic filters, the position of the milling drum flap and the hydraulic oil temperature are checked by the diagnostic system 105 for machine function monitoring. The display is made in plain text in the main display 122 (D1), an error lamp 78 additionally illuminating in the event of machine errors and an alarm signal can sound from the horn 66 . The operating hours of the internal combustion engine are counted by an operating hours counter 107 .

FIG. 3 shows the simplified block diagram of the arrangement according to FIG. 1. The core is a microcomputer 130 with a microprocessor 111 , which has an interface 113 (RS 232) for connecting the test and diagnostic elements. Furthermore, the microprocessor 111 is connected to a switch group 109 on the control panel 118 , the alphanumeric main display 122 and a memory 112 which is connected to an energy supply means and the main display 122 . The energy supply means is connected to the battery 52 . Furthermore, the memory 112 is connected to alarm outputs 114 , analog inputs 115 , switch and digital inputs 116 and valve outputs 117 . The analog inputs 115 include connections for a power consumption sensor, height sensors 9 , 10 , inclination sensor 8 , driving lever 1 and the operating point for the conveyor system. The switch and digital outputs 116 are intended for the oil pressure, oil temperature, cooling water temperature, differential pressure of the hydraulic filter, battery test and the milling drum flap. The valve outputs 117 include connections for the left solenoid valves 47 , 48 and the right solenoid valves 49 , 50 , the servo adjustment device 38 for the conveyor system and the servo adjustment device 35 for traction motors. The microprocessor 111 is also connected to valve outputs, namely the outputs for servo adjusting devices 36 , 37 . Furthermore, the speed sensor 11 is connected to the microprocessor 111 .

One embodiment of a control panel 118 is shown schematically in FIG. 4. For example, on the back of the control panel 118 , a main switch 83 is arranged. The following controls are located on the operating side:

• -D1 main display 122 for displaying the sensitivity, the calibration data, the system diagnostic data etc.,
• -D2 steering display front,  
• -D3 steering display rear,
• -S1 switch 12 (last state) for sensitivity, calibration, system diagnosis etc.,
• -S2 switch 13 (next state) for sensitivity, calibration, system diagnosis etc.,
• -S3 switch 14 for increasing sensitivity,
• -S4 switch 15 for reducing sensitivity,
• -S5 switch 16 for calibration. By actuating this switch 16 and selecting the desired measuring point, it is possible to check and mechanically adjust the relevant sensor,
• -S6 switches 17 , 18 for inclination control ( 17 - left, 18 - right),
• -S7 switches 19 , 20 for operating position of the conveyor system, ( 19 - belt forward, 20 - belt reverse) - neutral position,
• -S8 switches 21 , 22 for operating mode selection of switch S1 ( 12 ),
• -S9 switches 23 , 24 for operating mode selection of switch S2, ( 13 ),
• -S10 handset switch rear left,
• -S11 hand switch rear right,
• -S12 handset switch front,
• -S13 switch 26 for travel drive 50%,
• -S14 switch 27 for travel drive 75%,
• -S15 switch 28 for travel drive 100%,
• -S16 switch 29 for steering only front,
• -S17 switch 30 for steering front and rear,
• -S18 switch 31 for steering for cancer passage,
• - Not shown a switch for close-off me the steering if the steering ability of the vehicle is interrupted
• -S19 switch 32 for confirmation,
• -P1 potentiometer 4 for height - left,
• -P2 potentiometer 5 for height - right,
• -P3 potentiometer 6 for inclination,
• -P4 potentiometer 7 for conveyor belt,
• -L1 error lamp 78 ,
• -S20 switch 33 for driving,
• -S21 switch 34 for milling,
• -S22 switch 65 for automatic / manual mode selection

The wiring diagram of the control panel 118 is shown schematically in FIG. 5. The microprocessor 111 is connected to a power supply means 121 and the memory 112 . The steering displays 120 (D2, D3) are connected to the memory 112 . The microprocessor 111 and the memory 112 are connected to a control bar 123 . Like the memory 112, this is connected to a switch ter 124 , which switches the various switches for steering, driving, milling, calibrating, confirming, increasing / decreasing, last / next state, conveyor belt control, automatic / manual, height and inclination as well as manual operation. The fault lamp 78 is arranged between the memory 112 and the control bar 123 . The memory 112 is also connected to a sensor terminal block 125 to which the height, inclination, steering and rotational speed sensors are connected. A machine function data bar 126 is connected to both the memory 112 and the microprocessor 111 . This also applies to a start / stop bar 127 . The wiring diagram shown in FIG. 5 shows that the information necessary for the function of the arrangement of electrical or electronic elements on a small space can be united.

The links of the individual elements of the arrangement according to the invention when operating the control loops are shown schematically in the functional diagrams of FIGS . 6 to 10.

The height can be adjusted on one or both sides of the vehicle, which is determined by switch S6 ( 17, 18 ). If there is only one-sided height adjustment, the inclination control can be carried out at the same time. The height is determined by potentiometers P1 ( 4 -left) and P2 ( 5 -right). The maximum stroke of the hydraulic cylinders used to adjust the height is specified. The inclination is adjusted by operating the potentiometer P3 ( 6 ). The operating mode switches S8 ( 21, 22 ) and S9 ( 23 to 25 ) indicate the various operating modes for height and incline control in automatic or manual operation at the front and rear, with the control itself being carried out digitally. The load limitation control is also done digitally. Only the respective output variables are analog. Here, the working point must always be reproduced regardless of the set sensitivity. The control takes place depending on the measured values of the speed sensor 11 and the position of the drive lever 1 as well as the operating conditions that can be specified by switches S13 ( 26 ), S14 ( 27 ), S15 ( 28 ), S20 ( 33 ), S21 ( 34 ) ( Fig. 5).

Fig. 7 shows the functional elements required for the operation of the conveyor system, the steering and the power supply.

In order to check the individual sensors and to be able to set them mechanically for the purpose of equation, the switch 16 (S5) on the control panel 118 of the control unit 110 must be actuated. The difference values between the current position and the zero position are shown on the main display 122 for the individual sensors. The comparison is carried out by eliminating these measured value differences. Switch 13 (S3) must be actuated to call up additional sensors.

For the use of the module 103 for the setting of the control loop organs ( Fig. 8), the switch 65 (S22) is switched to automatic, so that all control loops are in automatic mode. Switch 33 (S20) must be operated for driving, switch 29 (S16) for steering. On the main display 122 (D1), the operating data for driving, steering, height and inclination are always shown, provided that no fine adjustment of the control loops or no calibration, diagnosis or machine function monitoring is carried out. The corresponding switches 12 , 13 , 14 , 15 , 16 , 32 (S1, S2, S3, S4, S5, S19) must be actuated in accordance with the desired functions of module 103 . To activate the setting function, the main switch 83 must first be switched on. The sensitivity 0% is then shown on the main display 122 . The sensitivity only has to be set during the initial setting. Once the sensitivity has been set, it remains in the system. However, it can be variably set, for example, by the operator of the vehicle. Here, their value can be changed by operating the switch 14 (S3) or 15 (S4), the function to be set in each case being shown on the main display 122 . Here, the selection commands A _i mean:

A 1 : sensitivity right height,
A 2 : sensitivity left height,
A 3 : sensitivity inclination,
A 4 : Sensitivity load limit controller
A 5 : Working point load limiting controller
A 6 : steering.

The system diagnostic system 104 for self-diagnosis checks the entire system hardware and the system peripherals. Here cables, potentiometers, sensors and valves are checked for faults, breaks and not clean connections. The elements to be checked can be called up and are shown on the main display 122 ( FIG. 9).

The following test steps are possible for the internal system diagnosis, which are shown in the main display 122 :

D1: CPU fault
D22: Fault potentiometer 4 left height
D23: Fault potentiometer 5 right height
D23: Potentiometer 6 inclination fault
D24: Potentiometer 7 conveyor belt fault.

The hand switches for manual and emergency operation are arranged for the system diagnostic system 104 outside the system periphery, so that they are not checked as part of the system diagnosis.

As part of the external system diagnosis, the following elements of the system peripherals are checked and shown accordingly on the main display 122 :

D25: Fault sensor 9 left height
D26: Fault sensor 10 height right
D27: Fault sensor 8 inclination
D28: Malfunction of potentiometer 128 of drive lever 1
D29: Malfunction of the speed sensor 11
D30: Malfunction of valve coil 47 Lifting left
D31: Fault in valve coil 48 lower left
D32: Malfunction of valve coil 49 lifting on the right
D33: Fault in valve coil 50 sinks on the right
D34: Malfunction of servo actuators 43 , 44 , 45 for the travel drive
D35: Fault in servo adjustment device 46 for the conveyor belt
D38: Power supply failure
D47: Malfunction of cable from D + alternator.

If faults are determined, the error lamp 78 lights up in addition to the display on the main display 122 .

The diagnostic system 105 for machine function monitoring ( FIG. 10) checks certain machine functions, data such as maximum temperatures or maximum pressures being shown on the main display 122 . Secondary test programs can also be carried out with this diagnostic system.

The respective measuring points are marked by codes M 1 - M _i and are shown on the main display 122 . Here means:

A fault indication with regard to the measuring points M 9 to M 13 or M _i usually only occurs when the temperature of the hydraulic oil exceeds a certain predetermined value or the machine runs for more than 1 hour.

The side programs are called by codes N 1 to Ni and z. B. The following side programs include:

By means of the arrangement described can in complex Way the different signals analog or digital Regulation, Dianose or for monitoring the vehicle be used. This makes it possible for such equipped vehicles a higher milling per unit of time to achieve volume and also the vehicles with operate more efficiently using less personnel.

Claims (15)

1. Method for driving, steering and leveling control of vehicles with a surface milling cutter such as a road milling machine or the like, with an internal combustion engine as the drive motor, with hydraulically acting actuators and hydrostatic transmissions, if appropriate an all-wheel or all-chain drive and a switchable all-wheel drive or all-chain steering and a conveyor device by means of which bulk material broken up in front of the milling device can be brought from the area of the surface milling cutter, characterized in that the driving speed is determined over the ground and the respective driving speed measured value is processed as a control system internal command variable and is fed to a signal converter whose output signal For adapting the control loop gain as a reference variable to the travel speed, the control modules for drive control, height control, steering control and inclination control are supplied to an integrated machine system control device and with the off signals of the setpoint / actual value comparator of the individual control modules are compared and then, in the case of a proportional change in the control loop gain in accordance with the variable driving speed, the reference variables for the hydrostatic transmission or the hydraulic cylinder of the control modules are determined and activated. 2. The method according to claim 1, characterized in that the control modules from a control panel control command le are supplied as setpoints. 3. The method according to claim 1 and 2, characterized net that the trained as a load limiting control element The setpoint / actual value comparator is the control module for the Drive control from the operating point of the Hydrosta Controlled speed of the internal combustion engine ne as the actual value and the output signal of the controller ver strength adjustment member as system-internal leadership size is supplied. 4. The method according to claim 1 to 3, characterized in net that the setpoint / actual value comparators of the control modules Height control, steering control and level control as Actual values are the measured values of the operating positions of each because hydraulic cylinders are supplied. 5. Arrangement for performing the method according to claim 1 to 4, characterized by a control unit ( 110 ) with at least one microcomputer ( 130 ) and a control panel ( 118 ) with at least one dis play and with switching elements and control elements with sensors and Actuators of the control loops ( 100 , 101 ) for height control, inclination control, and drive control as well as the control circuit ( 102 ) of the conveyor system are operatively connected, self-diagnosis of the electrical components and the machine functions being carried out by means of an adapted operating system by the microcomputer ( 130 ) is, with a sensor ( 92 ) for contactless measurement of the vehicle speed, which is connected to a signal converter ( 93 ), the output of which for transmitting a vehicle speed-dependent system-internal guide variable with a setpoint formed as a load limitation control element of the control circuit ( 101 ) of the drive control / Actual value comparator with R Control modules ( 98 , 97 , 96 ) of the control loop ( 100 ) for height control and inclination control and with a control module ( 94 ) of the steering control loop ( 99 ). 6. Arrangement according to claim 5, characterized in that the target / actual value comparator ( 95 ) is connected to a speed sensor ( 11 ) which is connected to the internal combustion engine ( 90 ). 7. Arrangement according to claim 5 and 6, characterized in that the control modules ( 96 , 97 , 98 , 99 ) are connected on the input side to a setpoint / actual value comparator ( 86 , 87 , 88 , 89 ), one of which is an actual value input at least one position sensor of at least one hydraulic cylinder ( 131 ) of the steering control circuit ( 99 ) or hydraulic cylinder ( 132 , 133 ; 134 ) of the control circuit ( 100 ) for the height control and inclination control is connected. 8. Arrangement according to claim 7, characterized in that for the height control at least each side of the vehicle "left" or "right" each a height sensor ( 9 , 10 ) and as switching elements for hydraulic actuators each because two solenoid valves ( 47 , 48 ; 49 , 50 ) are assigned. 9. Arrangement according to claim 7 and 8, characterized in that for the inclination control, the solenoid valves ( 47 , 48 ; 49 , 50 ) depending on the measured values of an inclination sensor ( 8 ) such as a pendulum or the like can be actuated. 10. The arrangement according to claim 6, characterized in that the setpoint / actual value comparator ( 95 ) connected to the speed sensor ( 11 ) is formed as a load limiting controller which is in operative connection with the servo adjusting devices ( 35 , 36 ; 37 ) of the traction motors of the trolleys . 11. The arrangement according to claim 5, characterized in that the conveying capacity of the conveyor system is adjustable by a servo actuator ( 38 ) depending on the default setting of a potentiometer ( 7 ). 12. The arrangement according to claim 5 to 11, characterized in that the microcomputer ( 130 ) for system diagnosis with the height sensors ( 9 , 10 ), the inclination sensor ( 8 ), the solenoid valves ( 47 , 48 ; 49 , 50 ), the drive lever ( 1 ), the speed sensor ( 11 ), the servo adjusting devices ( 35 , 36 ; 37 ; 38 ) for the hydraulic traction motors and the conveyor system and optical and acoustic display devices is in operative connection. 13. The arrangement according to claim 5 to 11, characterized in that the microcomputer ( 130 ) for machine function monitoring with an oil pressure sensor ( 61 ), an oil temperature sensor ( 60 ), cooling water temperature sensors ( 63 ), a battery sensor ( 52 ), oil filter differential pressure sensors ( 55 , 56 , 57 , 58 , 59 ) and couplings ( 62 ) for the milling drum drive and optical and acoustic display devices are in operative connection. 14. Arrangement according to claim 12 and 13, characterized in that the optical display devices as fault lamps ( 78 ), displays ( 120 , 122 ) and operating hours counter ( 107 ) are formed and the acoustic display device is a horn ( 66 ). 15. The arrangement according to claim 5 to 14, characterized in that on the control panel ( 118 ) for the adjustment of the control loops ( 100 , 101 , 102 ) height adjustment members "left", height adjustment members "right", at least one inclination adjustment, sensitivity Adjusting elements for height - right, height - left and inclination, displays for loading control, hand control units for height - right, height - left and inclination as well as an actuator for the manually operable driving lever ( 1 ) are arranged.