CN102730057B - Method and system for controlling turning of chassis and crane with system - Google Patents
Method and system for controlling turning of chassis and crane with system Download PDFInfo
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- CN102730057B CN102730057B CN201210242223.XA CN201210242223A CN102730057B CN 102730057 B CN102730057 B CN 102730057B CN 201210242223 A CN201210242223 A CN 201210242223A CN 102730057 B CN102730057 B CN 102730057B
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Abstract
The invention discloses a method and a system for controlling the turning of a chassis and a crane with the system. The control method disclosed by the invention comprises the following steps of: prestoring the first turning angle relation between a selected axle wheel turning angle signal and a steering wheel turning signal, and the second turning angle relation between the axle wheel turning angle signal and other axle wheel turning angle signals; obtaining the turning angle signals of a steering wheel and each axle wheel at real time; and taking the turning angle signal of the steering wheel as a reference signal, and outputting the signal for controlling the wheel turning according to the reference signal. According to the control method, the turning angle of the steering wheel is used as a reference for the wheel turning, so the actual turning angle of a car is ensured to accord with the turning willingness of a driver; and the all-wheel electric turning mode is used, so the higher control precision is achieved, the turning relation of each wheel maximally meets the ackerman theorem so as to reduce the abrasion to a tire, and the transmission mechanism between the steering wheel and a front axle is omitted so as to achieve the purpose of simplifying a turning system structure.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly a kind of chassis steering control method, system, and there is the hoisting crane of this system.
Background technology
Multiple-axle vehicle chassis is in order to improve maneuverability and the bend carrying capacity of vehicle, chassis turns to by original mechanical pull bar and turns to the future development that little by little adds automatically controlled or hydraulic control to machinery, that is: adopt bearing circle directly to control the turning to of front axle wheel, all the other each axle wheels adopt automatically controlled control to turn to.Bearing circle is generally connected with front axle wheel steering device with mechanical pull rod device by deflector device, directly controls turning to of front axle wheel.
When Vehicular turn, the prerequisite that each wheel is done synchronously to turn to is that each axle wheel must rotate around same turning center, now, the corner of each axle wheel meets certain angle relation (Ackermam theorem), so, guarantee tire does PURE ROLLING, reduces the inordinate wear of tire.Synchronize and turn in order to realize the automatically controlled axle wheel of front axle wheel and all the other, need to adopt all higher control policies of particularity and safety.
At present, wheel synchronously turns to mainly and realizes by following manner: the front axle wheel steering angle signal being turned to by machinery control can reflect the requirement that turns to of navigating mate, therefore generally taking front axle wheel steering angle signal as reference signal; And each axle wheel is while synchronously turning to, the angle relation of each axle wheel need meet Ackermam theorem; Obtain front axle wheel steering angle signal as reference signal after, can dynamic calculation obtain the ideal value of all the other automatically controlled axle wheel corners according to Ackermam theorem.Adopt again angular transducer to detect in real time the angular signal of each axle wheel, and be passed to steering controller, steering controller can compare the angular signal of automatically controlled axle wheel and ideal value, action to corresponding power element (turning to electromagnetic valve etc.) is controlled, thereby realizes the control to corresponding wheel corner.
But there is following technical matters in aforesaid way:
Front axle is in manufacture and fitting process, inevitably there is error, the wheel steering angle of wheel steering angle and the chaufeur needs of the front axle detecting is actually and has deviation, all the other each automatically controlled axle wheels also turn to according to the reference signal of this deviation, cause the turning efficiency of vehicle entirety and chaufeur to turn to wish to have deviation.
In view of this, how improving the mode that chassis turns to, so that chassis turns to the wish that turns to that more meets chaufeur, is those skilled in the art's technical matterss urgently to be resolved hurrily.
Summary of the invention
Core of the present invention is for a kind of chassis steering control method and system are provided, and this system and method makes wheel steering all taking the corner of bearing circle as benchmark, thereby guarantees that actual rotational angle meets the wish that turns to of navigating mate.
Chassis steering control method provided by the invention, comprises the steps:
10) wheel of each axletree is all connected to automatically controlled steering swivel system; Prestore the first angle relation of steering wheel angle signal and a selected axle wheel angular signal, and the second angle relation between this axle wheel angular signal and all the other axle wheel angular signals;
20) angular signal of Real-time Obtaining bearing circle and the angular signal of each axle wheel;
30) taking the angular signal of bearing circle as reference signal, and control according to the angular signal of this reference signal, each axle wheel, the first angle relation, the second angle relation output the control signal that corresponding axle wheel turns to.
Preferably,
Step 10) in, safety guard-safeguard pattern prestores;
Step 20) and step 30) between, also comprise the steps:
201) judging that whether steering wheel angle signal is normal, is to enter step 30), no, enter step 40);
40) enter safety guard-safeguard pattern, export corresponding control command according to safety guard-safeguard pattern.
Preferably,
Step 201) and step 30) between also comprise the steps:
202) judging whether normal steering wheel angle signal and selected axle wheel angular signal meet the first angle relation, is to enter step 30), no, enter step 40).
Preferably,
Step 202) and step 30) between also comprise the steps:
203) choose at least one and the axle wheel angular signal comparison of choosing in all the other axle wheel angular signals, if all meet the second angle relation, enter step 30), if there is the situation that does not meet the second angle relation, enter step 40).
Preferably, step 10) in selected axle wheel angular signal be front axle wheel steering angle signal.
Preferably,
Step 20) in, at least two group angular signals of bearing circle obtained simultaneously;
Step 201) in, judge that whether each group of angular signal of bearing circle normal, at least one group when normal, enter step 30), step 30) in taking one group of normal steering wheel angle signal as reference signal; When at least one group of mal, enter step 40).
Preferably, step 201) in, while there is mal angular signal in each group of angular signal of bearing circle, step 40) in, export the instruction of sending alerting signal according to safety guard-safeguard pattern.
Preferably,
Step 201) in, while simultaneously there is mal angular signal and normal pivot angle signal in each group of angular signal of bearing circle, step 40) in reduce speed of a motor vehicle instruction according to the output of safety guard-safeguard pattern;
Step 201) in, when the each group of equal mal of angular signal of bearing circle, step 40) in, output reduces the speed of a motor vehicle to zero locked all wheels in the instruction of meta.
Preferably, step 40) in, the instruction that alerting signal is sent in output, and output reduces the speed of a motor vehicle to zero locked all wheels in the instruction of meta.
Chassis steering control provided by the invention, comprising:
The automatically controlled steering swivel system being all connected with the wheel of the each axletree in chassis;
The second rotation angle detecting apparatus of the first rotation angle detecting apparatus of Real-time Obtaining steering wheel angle signal and the each axle wheel angular signal of Real-time Obtaining;
The steering controller being connected with the first rotation angle detecting apparatus and the second rotation angle detecting apparatus, it prestores the first angle relation of steering wheel angle signal and the axle wheel angular signal chosen, and the second angle relation between the axle wheel of choosing and all the other each axle wheel angular signals; Described steering controller is taking the angular signal of bearing circle as reference signal, and controls according to the angular signal of this reference signal, each axle wheel, the first angle relation, the second angle relation output the described automatically controlled steering swivel system that controls signal to that corresponding axle wheel turns to.
Preferably, the described steering controller safety guard-safeguard pattern that prestores, described steering controller judges when the angular signal of bearing circle is normal, taking normal steering wheel angle signal as reference signal, when mal, exports corresponding control command according to safety guard-safeguard pattern.
Preferably; the angular signal of bearing circle is normal; and described steering controller judges when normal steering wheel angle signal meets the first angle relation with the axle wheel angular signal of choosing; taking the angular signal of bearing circle as reference signal, otherwise described steering controller is exported corresponding control command according to safety guard-safeguard pattern.
Preferably; described steering controller is chosen at least one and the comparison of front axle wheel steering angle signal in all the other axle wheel angular signals; if all meet the second angle relation; taking the angular signal of bearing circle as reference signal; if there is the situation that does not meet the second angle relation, described steering controller is exported corresponding control command according to safety guard-safeguard pattern.
Preferably, described steering controller prestores the first angle relation of steering wheel angle signal and front axle wheel steering angle signal, and the second angle relation between front axle wheel steering angle signal and all the other each axle wheel angular signals.
Preferably, described the first rotation angle detecting apparatus detects at least two group angular signals of bearing circle; Described steering controller judges when at least one group of angular signal of bearing circle is normal, and taking one group of normal pivot angle signal as reference signal, when at least one group of angular signal mal, steering controller is according to safety guard-safeguard pattern output command adapted thereto.
Preferably, described the first rotation angle detecting apparatus comprises angle driver, the input end of described angle driver is connected with bearing circle by the steering column of bearing circle below, described angle driver is also provided with at least two mouths, each described mouth is all connected with angular transducer, to detect at least two group angular signals of bearing circle.
Preferably, described the first rotation angle detecting apparatus also comprises pipe link, and the two ends of described pipe link are articulated with the first hinge-point and the second hinge-point with the swing arm of the fork of described angular transducer, described angle driver mouth respectively; And the line of the center of oscillation of described fork, the center of oscillation of described swing arm, described the first hinge-point, described the second hinge-point forms parallelogram.
Preferably, also comprise the warning device being connected with steering controller, steering controller judges that bearing circle respectively organizes while there is mal angular signal in angular signal, and steering controller sends the instruction of alerting signal to described warning device.
Preferably, described steering controller judges that bearing circle respectively organizes while there is mal angular signal and normal pivot angle signal in angular signal simultaneously, reduces the instruction of the speed of a motor vehicle to the engine controller of vehicle according to the output of safety guard-safeguard pattern;
When steering controller judges the each group of equal mal of angular signal of bearing circle, steering controller is exported the instruction that reduces the speed of a motor vehicle to zero to engine controller according to safety guard-safeguard pattern, and exports locked all wheels in the extremely described automatically controlled steering swivel system of instruction of meta.
Compared in prior art to exist the front axle wheel steering angle of mechanical error as benchmark, the chassis steering control that this invention provides and method make wheel steering all taking the corner of bearing circle as benchmark, thereby can guarantee that vehicle actual rotational angle meets the wish that turns to of navigating mate.And, in this chassis steering control, each wheel turns to by automatically controlled steering swivel system control, take entirely to take turns the automatically controlled pattern that turns to, automatically controlled pattern possesses higher control accuracy, the deviation of each wheel actual rotational angle and theoretical value is reduced, each wheel steering angle relation can meet Ackermam theorem to a greater degree, all wheels in steering procedure in the nonslipping state of pure rolling, thereby reduce the wearing and tearing of tire.On this basis, owing to having adopted the automatically controlled pattern turning to of full wheel, can omit the transmission device (deflector, steering track rod etc.) between bearing circle and front axle, reach the object of simplifying body construction.
The present invention also provides a kind of hoisting crane, has chassis and crane arm, and chassis has the chassis steering control described in above-mentioned any one, and because above-mentioned chassis steering control has above-mentioned technique effect, this hoisting crane also has identical technique effect,
Brief description of the drawings
Fig. 1 is the diagram of circuit of chassis steering control method the first detailed description of the invention provided by the present invention;
Fig. 2 is the structural representation of chassis steering control the first detailed description of the invention provided by the present invention;
Fig. 3 is a kind of chassis structure schematic diagram being turned to by automatically controlled steering swivel system control in Fig. 2;
Fig. 4 is the structural representation of a kind of specific embodiment that in Fig. 2, the first rotation angle detecting apparatus is connected with bearing circle, steering controller;
Fig. 5 is the structural representation that in Fig. 4, angular transducer is connected with the swing arm of angle driver mouth;
Fig. 6 is the diagram of circuit of chassis steering control method the second detailed description of the invention provided by the present invention;
Fig. 7 is the diagram of circuit of the third detailed description of the invention of chassis steering control method provided by the present invention;
Fig. 8 is the structural representation of the third detailed description of the invention of chassis steering control provided by the present invention.
In Fig. 2-5,8:
10 steering controllers, 20 automatically controlled steering swivel systems, 30 first rotation angle detecting apparatus, 40 second detection devices, 50 bearing circle, 60 axle wheels, 100 front axles, 200 first rear axles, 300 second rear axles, 51 steering columns, 31 jiaos of drivers, 311 swing arms, 32 angular transducers, 321 forks, 33 connecting rods, the center of oscillation of A fork, B the first hinge, C the second hinge, the center of oscillation of D swing arm, 70 engine controllers, 80 warning devices.
Detailed description of the invention
Core of the present invention is for a kind of chassis steering control method and system are provided, and this system and method makes wheel steering all taking the corner of bearing circle as benchmark, thereby guarantees that actual rotational angle meets the wish that turns to of navigating mate.
In order to make those skilled in the art understand better technical scheme of the present invention, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.It should be noted that, for the ease of understanding and succinct description, below binding chassis rotating direction control method and system describe, and beneficial effect no longer repeats to discuss.
Please refer to Fig. 1-3, Fig. 1 is the diagram of circuit of chassis steering control method the first detailed description of the invention provided by the present invention; Fig. 2 is the structural representation of chassis steering control the first detailed description of the invention provided by the present invention; Fig. 3 is a kind of chassis structure schematic diagram being turned to by automatically controlled steering swivel system control in Fig. 2.
Chassis steering control method in this embodiment, comprises the steps:
S11, the wheel of each axletree is all connected to automatically controlled steering swivel system 20; Prestore the first angle relation of bearing circle 50 angular signals and selected axle wheel 60 angular signals, and the second angle relation between these axle wheel 60 angular signals and all the other axle wheels 60 angular signals;
Be that the whole wheel in chassis is controlled and turned to by automatically controlled steering swivel system 20, steering controller 10 is set simultaneously, steering controller 10 is for storing above-mentioned the first angle relation and the second angle relation, and steering controller 10 is connected with automatically controlled steering swivel system 20, manipulates automatically controlled steering swivel system 20 and control turning to of each wheel flutter to export corresponding instruction.As shown in Figure 3, chassis arranges three axletrees altogether, comprises front axle 100, the first rear axle 200 and the second rear axle 300, and three's wheel drives and turns to by steering cylinder, steering cylinder flexible by the solenoid control in automatically controlled steering swivel system 20.Can expect, the present invention is not limited to the chassis system of three axles, can be two axles or chassis systems more than three axles.
Can choose an axle wheel 60, and the first angle relation of direction initialization dish 50 angular signals and this axle wheel 60 angular signals, the first angle relation need be passed to wheel by bearing circle 50 angular signals, so that wheel turns to according to the wish that turns to of chaufeur,, during according to first this wheel steering of angle relation control, the effect reaching with machinery control is consistent.The second angle relation between all the other axle wheel 60 angular signals and selected wheel steering angle signal obtains according to Ackermam theorem.Based on Ackermam theorem and be convenient to conversion between each wheel signal and calculate, the first angle relation of bearing circle 50 angular signals and front axle 100 wheel steering angle signals the second angle relation prestoring between all the other each axle wheels 60 and front axle 100 wheel steering angle signals preferably prestore.Because, when machinery is controlled wheel steering, general direct control front axle 100 turns to, now, the first angle relation is equivalent in prior art by after transmission device transmission, the angle relation of bearing circle 50 corners and front axle 100 wheels, by obtaining the first angle relation to the arrangement of transmission device drive connection.
The angular signal of the angular signal of S12, Real-time Obtaining bearing circle 50 and each axle wheel 60;
The first rotation angle detecting apparatus and the second rotation angle detecting apparatus can be set, detect respectively angular signal and the wheel steering angle signal of bearing circle 50.
The first rotation angle detecting apparatus specifically can be understood with reference to figure 4 and Fig. 5, and Fig. 4 is the structural representation of a kind of specific embodiment that in Fig. 2, the first rotation angle detecting apparatus is connected with bearing circle 50, steering controller 10; Fig. 5 is the structural representation that in Fig. 4, angular transducer 32 is connected with the swing arm 311 of angle driver 31 mouths.The first rotation angle detecting apparatus 30 in this embodiment comprises angle driver 31, the input end of angle driver 31 is connected with bearing circle 50 by the steering column 51 of bearing circle 50 belows, when bearing circle 50 rotates, drive driver 31 input ends in angle to rotate, and the mouth connection angle sensor 32 of angle driver 31, this angular transducer 32 can detect the angular signal of bearing circle 50.The first rotation angle detecting apparatus of this kind of structure comprises angle driver, simply and has accurately realized the detection of bearing circle 50 angular signals, and do not interfere bearing circle 50 turn to and around parts installation, normally work.When angular transducer 32 is connected with the mouth of angle driver 31, can connect by connecting rod 33.As shown in Figure 5, the first rotation angle detecting apparatus 30 also comprises connecting rod 33, and the two ends of connecting rod 33 are articulated with the first hinge-point B and the second hinge-point C with the fork 321 (detection axle) of angular transducer 32, the swing arm 311 of angle driver 31 mouths respectively; And the line of the center of oscillation D of the center of oscillation A of fork 321, swing arm 311, the first hinge-point B, the second hinge-point C forms parallelogram, so, the angular signal that angular transducer 32 detects is equal to the corner value of bearing circle 50, detects precisely, without conversion.
Certainly, the first rotation angle detecting apparatus and the second rotation angle detecting apparatus can be to be all directly installed on the angular transducer 32 that detects position.The first rotation angle detecting apparatus 30 is all connected with steering controller 10 signals with second detection device 40, to all export the angular signal of detection to steering controller 10.
S13, taking the angular signal of bearing circle 50 as reference signal, and control according to the angular signal of this reference signal, each axle wheel 60, the first angle relation, the second angle relation output the control signal that corresponding axle wheel 60 turns to.
What the angular signal of bearing circle 50 had reflected navigating mate truly turns to wish, as reference signal, according to the first angle relation, obtain selected axle wheel 60 angular signals, again according to the second angle relation, can calculate the theoretical value of all the other wheel steering angles, and the wheel steering angle signal comparison that each theoretical value is detected with corresponding second detection device 40, export corresponding instruction to automatically controlled steering swivel system 20 according to comparative result, control and turn to accordingly the power elements such as electromagnetic valve to carry out corresponding handling maneuver by automatically controlled steering swivel system 20, to drive wheel steering angle convergence or reach theoretical value.
Hence one can see that, compared in prior art to exist front axle 100 wheel steering angles of mechanical error as benchmark, this chassis steering control and method make wheel steering all taking the corner of bearing circle 50 as benchmark, thereby can guarantee that vehicle actual rotational angle meets the wish that turns to of navigating mate.And, in this chassis steering control, each wheel is controlled and is turned to by automatically controlled steering swivel system 20, take entirely to take turns the automatically controlled pattern that turns to, automatically controlled pattern possesses higher control accuracy, the deviation of each wheel actual rotational angle and theoretical value is reduced, each wheel actual rotational angle relation can meet Ackermam theorem to a greater degree, all wheels in steering procedure in the nonslipping state of pure rolling, thereby reduce the wearing and tearing of tire.On this basis, owing to having adopted the automatically controlled pattern turning to of full wheel, can omit the transmission device (deflector, steering track rod etc.) between bearing circle 50 and front axle 100, reach the object of simplifying body construction.
For above-described embodiment, can also make further improvement, as shown in Figure 6, Fig. 6 is the diagram of circuit of chassis steering control method the second detailed description of the invention provided by the present invention.
In this embodiment, chassis steering control method comprises the steps:
S21, the wheel of each axletree is all connected to automatically controlled steering swivel system 20; Prestore the first angle relation of bearing circle 50 angular signals and axle wheel 60 angular signals, and the second angle relation between each axle wheel 60 angular signals; Safety guard-safeguard pattern prestores;
Some measures that safety guard-safeguard pattern contributes to provide vehicle safe driving and turn to, such as, while turning to, can report to the police, limit speed-raising under this pattern, limit and turn to, force reduction of speed etc.
The angular signal of the angular signal of S22, Real-time Obtaining bearing circle 50 and each axle wheel 60;
S23, judge that whether bearing circle 50 angular signals are normal, be, enter step S24, no, enter step S27;
The angular signal mal of bearing circle 50 mainly comprises following situation: the signal distortion that the first, the first rotation angle detecting apparatus 30 detects, such as, the signal of output exceeds presupposition theory value scope, or interior hunt of unit time etc.; The second, the first rotation angle detecting apparatus 30 no signal outputs.Certainly, the mal of angular signal output also comprises other situations.When bearing circle 50 angular signal mal; obviously should not serve as reference signal control wheel steering, now, should enter in step S27; steering controller 10 can be exported corresponding control command according to safety guard-safeguard pattern, such as the control command such as output alarm, speed limit.
S24, judge whether normal bearing circle 50 angular signals and selected axle wheel 60 angular signals meet the first angle relation, are, enter step S25, no, enter step S27;
The prerequisite that bearing circle 50 angular signals that detect and selected axle wheel 60 angular signals meet the first angle relation is that steering controller 10 can calculate according to the first pre-stored angle relation, and exports corresponding instruction.While not meeting the first angle relation, the detecting device that shows the system et out of order of steering controller 10 or detect selected axle wheel 60 angular signals breaks down, last fault can cause selected axle wheel 60 not turn to according to predetermined angle, cause all the other each axle wheels also cannot turn to according to predetermined angular simultaneously, latter can cause all the other each axle wheels cannot normal direction of rotation, now proceed to turn to, may be accidents caused.Step S24, can, in the time that above-mentioned fault produces, enter safety guard-safeguard pattern.
S25, choose at least one and the axle wheel angular signal comparison chosen in all the other axle wheel angular signals, if all meet the second angle relation, enter step S26, if there is the situation that does not meet the second angle relation, enter step S27;
Similar with the principle of step S24; all the other axle wheels 60 turn to according to selected axle wheel 60 angular signals and the second angle relation; in the time of steering controller 10 control program mistake; can cause axle wheel 60 corners not meet Ackermam theorem; carry out step S25 and can enter safety guard-safeguard pattern, be convenient to the operating mode of steering controller 10 to calibrate.Detect an axle wheel 60 and whether meet the second angle relation with the angular signal of selected axle wheel 60, whether the work that can react to a certain extent steering controller 10 is normal, certainly, the equal judge of angular signal relation by selected axle wheel 60 with all the other all axle wheels 60, can determine that steering controller 10 works normally whether.
S26, taking the angular signal of bearing circle 50 as reference signal, and control according to the angular signal of this reference signal, each axle wheel 60, the first angle relation, the second angle relation output the control signal that corresponding axle wheel 60 turns to;
S27, enter safety guard-safeguard pattern.
In this embodiment, while turning to, step S23, S25, S24 all carry out the obviously scheme for optimizing the most.But in fact, even if only carry out one in step S23, S25, S24 or both all can play the effect that improves steering safety to a certain extent,
For the second embodiment, can also make further improvement, as described in Fig. 7-8, Fig. 7 is the diagram of circuit of the third detailed description of the invention of chassis steering control method provided by the present invention; Fig. 8 is the structural representation of the third detailed description of the invention of chassis steering control provided by the present invention.
In this embodiment, chassis steering control method comprises the steps:
S31, the wheel of each axletree is all connected to automatically controlled steering swivel system 20; Prestore the first angle relation of bearing circle 50 angular signals and front axle 100 wheel steering angle signals, and the second angle relation between front axle 100 wheel steering angle signals and all the other axle wheels 60 angular signals; Safety guard-safeguard pattern prestores;
This embodiment is taking the axle wheel 60 selected as front axle 100 wheels are as example.
At least two group angular signals of S32, Real-time Obtaining bearing circle 50 and the angular signal of each axle wheel 60;
When angle driver 31 is set in above-described embodiment, angle driver 31 can arrange at least two mouths, be connected with respectively angular transducer 32, an angular transducer 32 can detect one group of angular signal of bearing circle 50, in figure, is provided with three angular transducers 32, detect three groups of angular signals, certainly, also can arrange two, or three above angular transducers 32.
S33, judge that whether bearing circle 50 angular signals are normal, when all normal, enter step S34, when equal mal, enter the Section 1 of carrying out safety guard-safeguard pattern in step S37, when normal pivot angle signal and mal angular signal exist, enter step S34 simultaneously, enter in step S37 simultaneously and carry out Section 2;
To detect bearing circle 50 3 groups of angular signals as example, one group when normal, proceed following step judgement with this group normal pivot angle signal, enter safety guard-safeguard pattern simultaneously; Two groups when normal, choose one group and continue following step as normal pivot angle signal, enter safety guard-safeguard pattern simultaneously; Three groups when all normal, choose one group and continue following step as normal pivot angle signal; When three groups of equal mals, enter safety guard-safeguard pattern.
Detect bearing circle 50 angular signal more than two, while making one or more groups angular transducer 32 et out of order, the angular signal that all the other angular transducers 32 detect can provide redundancy, is meeting after other conditions as reference signal, is continued to control to turn to by steering controller 10.Three angular transducers 32 are set and conventionally can avoid angular transducer 32 to produce fault and cannot turning to smoothly of causing because three angular transducers 32 probability of et out of orders is less simultaneously.And, while detecting many groups angular signal of bearing circle 50, be easy to judge angular signal normally whether, under normal condition, respectively organizing angular signal in theory should be in full accord, certain existence due to error, the difference of each group angular signal should be in zone of reasonableness, when one group or above angular signal and other most angular signal differences are when larger, obviously, can judge and have abnormal angular signal.
S34, judge whether one group of normal bearing circle 50 angular signal and front axle 100 wheel steering angle signals meet the first angle relation, are, enter step S35, no, enter in step S37 and carry out Section 2;
Bearing circle 50 angular signals are normal, but do not meet the first angle relation with axle wheel 60 angular signals, visible, the program of steering controller 10 may break down, or the detecting device that detects selected axle wheel 60 angular signals breaks down, these two kinds of situations all can affect the normal direction of rotation of vehicle.Therefore the warning device being connected with steering controller 10 can be set, in the time that bearing circle 50 angular signals and front axle 100 wheel steering angle signals do not meet the first angle relation, steering controller 10 can be exported the instruction of sending alerting signal to warning device, and warning device sends alerting signal with warning navigating mate parking maintenance.The scheme of more optimizing is, when output alarm signal, also export the instruction that reduces the speed of a motor vehicle to zero to engine controller 70, and export locked all wheels in the extremely automatically controlled steering swivel system of instruction of meta, force to stop and impose restrictions on to turn to, further guarantee safety.
S35, choose at least one and the comparison of front axle wheel steering angle signal in all the other axle wheel angular signals, if all meet the second angle relation, enter step S36, if there is the situation that does not meet the second angle relation, enter in step S37 and carry out Section 2;
Identical with step S34 principle, when arbitrary axle wheel 60 does not meet the second angle relation with front axle wheel steering angle signal, all can affect vehicle normal direction of rotation, for the sake of security, the Section 2 in execution step S37.
S36, taking the angular signal of bearing circle 50 as reference signal, and control according to the angular signal of this reference signal, each axle wheel 60, the first angle relation, the second angle relation output the control signal that corresponding axle wheel 60 turns to;
S37, enter safety guard-safeguard pattern:
Section 1, output are sent alerting signal and are reduced the instruction of the speed of a motor vehicle;
Alerting signal is sent in Section 2, output and output reduces the speed of a motor vehicle to zero, and locked all wheels are in the instruction of meta.
When normal pivot angle signal and mal angular signal exist simultaneously, can choose a normal pivot angle signal proceeds to turn to, but mal angular signal shows that system exists fault, can send alarm message, and reduce the speed of a motor vehicle, to guarantee safety, certainly, can also carry out refinement to reduction of speed instruction as the case may be, such as, in the time detecting three groups of angular signals, one group of mal, can be by Speed Reduction to 10km/h, when two groups of mals, can, by Speed Reduction to 5km/h, so, can take into account the unification of safety factor and moving velocity.
When the each group of equal mal of angular signal of bearing circle 50, show that now steering controller 10 turns to control without suitable reference signal, now should not make handling maneuver, can send alarm message warning navigating mate parking checking; Meanwhile, accidents caused for avoiding navigating mate still to operate turning to, can export and reduce the speed of a motor vehicle to zero and locked all wheels in the instruction of meta, force to stop and impose restrictions on to turn to, to guarantee safety.
The present invention also provides a kind of hoisting crane, have chassis and crane arm, chassis has the chassis steering control described in above-mentioned arbitrary embodiment, because above-mentioned chassis steering control has above-mentioned technique effect, this hoisting crane also has identical technique effect, is not repeated herein.
Above to a kind of chassis steering control method provided by the present invention, system, and the hoisting crane with this system is all described in detail.Applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of the claims in the present invention.
Claims (20)
1. a chassis steering control method, is characterized in that, comprises the steps:
10) wheel of each axletree is all connected to automatically controlled steering swivel system; Prestore the first angle relation of steering wheel angle signal and a selected axle wheel angular signal, and the second angle relation between this axle wheel angular signal and all the other axle wheel angular signals;
20) angular signal of Real-time Obtaining bearing circle and the angular signal of each axle wheel;
30) taking the angular signal of bearing circle as reference signal, and control according to the angular signal of this reference signal, each axle wheel, the first angle relation, the second angle relation output the control signal that corresponding axle wheel turns to.
2. chassis steering control method according to claim 1, is characterized in that,
Step 10) in, safety guard-safeguard pattern prestores;
Step 20) and step 30) between, also comprise the steps:
201) judging that whether steering wheel angle signal is normal, is to enter step 30), no, enter step 40);
40) enter safety guard-safeguard pattern, export corresponding control command according to safety guard-safeguard pattern.
3. chassis steering control method according to claim 2, is characterized in that,
Step 201) and step 30) between also comprise the steps:
202) judging whether normal steering wheel angle signal and selected axle wheel angular signal meet the first angle relation, is to enter step 30), no, enter step 40).
4. chassis steering control method according to claim 3, is characterized in that,
Step 202) and step 30) between also comprise the steps:
203) choose at least one and the axle wheel angular signal comparison of choosing in all the other axle wheel angular signals, if all meet the second angle relation, enter step 30), if there is the situation that does not meet the second angle relation, enter step 40).
5. according to the chassis steering control method described in claim 1-4 any one, it is characterized in that step 10) in selected axle wheel angular signal be front axle wheel steering angle signal.
6. according to the chassis steering control method described in claim 2-4 any one, it is characterized in that,
Step 20) in, at least two group angular signals of bearing circle obtained simultaneously;
Step 201) in, judge that whether each group of angular signal of bearing circle normal, at least one group when normal, enter step 30), step 30) in taking one group of normal steering wheel angle signal as reference signal; When at least one group of mal, enter step 40).
7. chassis steering control method according to claim 6; it is characterized in that step 201) in, while there is mal angular signal in each group of angular signal of bearing circle; step 40) in, the instruction of sending alerting signal exported according to safety guard-safeguard pattern.
8. chassis steering control method according to claim 7, is characterized in that,
Step 201) in, while simultaneously there is mal angular signal and normal pivot angle signal in each group of angular signal of bearing circle, step 40) in reduce speed of a motor vehicle instruction according to the output of safety guard-safeguard pattern;
Step 201) in, when the each group of equal mal of angular signal of bearing circle, step 40) in, output reduces the speed of a motor vehicle to zero locked all wheels in the instruction of meta.
9. according to the chassis steering control method described in claim 3 or 4, it is characterized in that step 40) in, the instruction that alerting signal is sent in output, and output reduces the speed of a motor vehicle to zero locked all wheels in the instruction of meta.
10. a chassis steering control, is characterized in that, comprising:
The automatically controlled steering swivel system being all connected with the wheel of the each axletree in chassis;
The second rotation angle detecting apparatus of the first rotation angle detecting apparatus of Real-time Obtaining steering wheel angle signal and the each axle wheel angular signal of Real-time Obtaining;
The steering controller being connected with the first rotation angle detecting apparatus and the second rotation angle detecting apparatus, it prestores the first angle relation of steering wheel angle signal and the axle wheel angular signal chosen, and the second angle relation between the axle wheel of choosing and all the other each axle wheel angular signals; Described steering controller is taking the angular signal of bearing circle as reference signal, and controls according to the angular signal of this reference signal, each axle wheel, the first angle relation, the second angle relation output the described automatically controlled steering swivel system that controls signal to that corresponding axle wheel turns to.
11. chassis steering controls according to claim 10; it is characterized in that; the described steering controller safety guard-safeguard pattern that prestores; described steering controller judges when the angular signal of bearing circle is normal; taking normal steering wheel angle signal as reference signal; when mal, export corresponding control command according to safety guard-safeguard pattern.
12. chassis steering controls according to claim 11; it is characterized in that; the angular signal of bearing circle is normal; and described steering controller judges when normal steering wheel angle signal meets the first angle relation with the axle wheel angular signal of choosing; taking the angular signal of bearing circle as reference signal, otherwise described steering controller is exported corresponding control command according to safety guard-safeguard pattern.
13. chassis steering controls according to claim 12; it is characterized in that; described steering controller is chosen at least one and the comparison of front axle wheel steering angle signal in all the other axle wheel angular signals; if all meet the second angle relation; taking the angular signal of bearing circle as reference signal; if there is the situation that does not meet the second angle relation, described steering controller is exported corresponding control command according to safety guard-safeguard pattern.
14. according to the chassis steering control described in claim 11-13 any one, it is characterized in that, described steering controller prestores the first angle relation of steering wheel angle signal and front axle wheel steering angle signal, and the second angle relation between front axle wheel steering angle signal and all the other each axle wheel angular signals.
15. according to the chassis steering control described in claim 11-13 any one, it is characterized in that, described the first rotation angle detecting apparatus detects at least two group angular signals of bearing circle; Described steering controller judges when at least one group of angular signal of bearing circle is normal, and taking one group of normal pivot angle signal as reference signal, when at least one group of angular signal mal, steering controller is according to safety guard-safeguard pattern output command adapted thereto.
16. chassis steering controls according to claim 15, it is characterized in that, described the first rotation angle detecting apparatus comprises angle driver, the input end of described angle driver is connected with bearing circle by the steering column of bearing circle below, described angle driver is also provided with at least two mouths, each described mouth is all connected with angular transducer, to detect at least two group angular signals of bearing circle.
17. chassis steering controls according to claim 16, it is characterized in that, described the first rotation angle detecting apparatus also comprises pipe link, and the two ends of described pipe link are articulated with the first hinge-point and the second hinge-point with the swing arm of the fork of described angular transducer, described angle driver mouth respectively; And the line of the center of oscillation of described fork, the center of oscillation of described swing arm, described the first hinge-point, described the second hinge-point forms parallelogram.
18. chassis steering controls according to claim 15, it is characterized in that, also comprise the warning device being connected with steering controller, steering controller judges that bearing circle respectively organizes while there is mal angular signal in angular signal, and steering controller sends the instruction of alerting signal to described warning device.
19. chassis steering controls according to claim 16, is characterized in that,
Described steering controller judges that bearing circle respectively organizes while there is mal angular signal and normal pivot angle signal in angular signal simultaneously, reduces the instruction of the speed of a motor vehicle to the engine controller of vehicle according to the output of safety guard-safeguard pattern;
When steering controller judges the each group of equal mal of angular signal of bearing circle, steering controller is exported the instruction that reduces the speed of a motor vehicle to zero to engine controller according to safety guard-safeguard pattern, and exports locked all wheels in the extremely described automatically controlled steering swivel system of instruction of meta.
20. 1 kinds of hoisting cranes, have chassis and crane arm, it is characterized in that, described chassis has the chassis steering control as described in claim 1-19 any one.
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| CN201210242223.XA CN102730057B (en) | 2012-07-12 | 2012-07-12 | Method and system for controlling turning of chassis and crane with system |
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| CN103625546B (en) * | 2013-12-09 | 2016-03-23 | 中联重科股份有限公司 | Auxiliary power steering control method and device and vehicle |
| US11364950B2 (en) * | 2016-12-27 | 2022-06-21 | Xuzhou Heavy Machinery Co., Ltd. | Steering control system and method as well as crane |
| CN107284521B (en) * | 2017-06-26 | 2019-08-09 | 北京航天发射技术研究所 | The control method of the electro-hydraulic steering of vehicle multi-mode formula |
| CN108128349B (en) * | 2017-11-22 | 2020-11-13 | 徐州重型机械有限公司 | Steering neutral position control system and adjustment method for wheeled heavy-duty vehicle |
| CN108045431B (en) * | 2017-12-11 | 2020-09-25 | 徐州重型机械有限公司 | Steering control method and system, steering controller and computer readable storage medium |
| CN110654450B (en) * | 2018-06-29 | 2021-10-22 | 比亚迪股份有限公司 | Vehicle and steering control system, method and device of vehicle |
| CN111301515A (en) * | 2019-12-10 | 2020-06-19 | 东风越野车有限公司 | Control method of rear wheel linear control electro-hydraulic steering system |
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