CN103661598B - Electric control steering safety control equipment, method and system and engineering machinery - Google Patents
Electric control steering safety control equipment, method and system and engineering machinery Download PDFInfo
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- CN103661598B CN103661598B CN201310683974.XA CN201310683974A CN103661598B CN 103661598 B CN103661598 B CN 103661598B CN 201310683974 A CN201310683974 A CN 201310683974A CN 103661598 B CN103661598 B CN 103661598B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000036962 time dependent Effects 0.000 claims description 13
- 238000010276 construction Methods 0.000 claims description 10
- 238000013528 artificial neural network Methods 0.000 claims description 4
- 230000015556 catabolic process Effects 0.000 abstract description 2
- 238000006731 degradation reaction Methods 0.000 abstract description 2
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- 238000005516 engineering process Methods 0.000 description 3
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Abstract
The invention discloses an electric control steering safety control device, method and system and engineering machinery. The apparatus comprises: the receiving device is used for receiving the deviation between the actual angle of the N bridge and the target angle; the control device is used for performing data fitting under the condition that the deviation between the actual angle of the N bridge and the target angle is smaller than or equal to a first preset value to obtain the trend of the deviation between the actual angle of the N bridge and the target angle along with the change of time, and determining whether to alarm or not according to the relation between the predicted value of the deviation between the actual angle of the N bridge and the target angle at the next moment and a second preset value; wherein the first preset value is greater than the second preset value; and alarming when the deviation of the actual angle of the N bridge and the target angle is greater than the first preset value. The method and the device can effectively predict the degradation trend of the state parameters of the steering system, can increase the use reliability of the steering system, and improve the driving safety.
Description
Technical field
The present invention relates to construction machinery and equipment, particularly, relate to a kind of automatically controlled steering safety control convenience, method, system and construction machinery and equipment.
Background technology
In the process that vehicle travels, course changing control has very important significance for traffic safety, and also can affect the manipulation impression of navigating mate.Course changing control scheme, along with the development of automotive technology, has developed into the wire-controlled steering system utilizing hyundai electronics and control technology from Purely mechanical steering swivel system.Wire-controlled steering system can reduce road shocks, reduces noise, and can improve driving comfort.
Existing wire-controlled steering system can simple fault diagnosis functions, but can not failure prediction be realized, thus can not ensure that navigating mate is made a response to contingent fault in time, the personal security of navigating mate may be had influence on, particularly for construction machinery and equipment, due to the working environment very severe of construction machinery and equipment, therefore wire-controlled steering system may be affected, thus predicts the wire-controlled steering system fault of construction machinery and equipment and be more necessary.
Summary of the invention
The object of this invention is to provide a kind of automatically controlled steering safety control convenience, method, system and construction machinery and equipment.
To achieve these goals, the invention provides a kind of automatically controlled steering safety control convenience, this equipment comprises: receiving device, for receiving N bridge actual angle and angle on target deviation, control setup, for when described N bridge actual angle and angle on target deviation are less than or equal to the first preset value, data fitting is carried out according to described N bridge actual angle and angle on target deviation and described N bridge actual angle time corresponding with angle on target deviation, obtain described N bridge actual angle and the time dependent trend of angle on target deviation, and the predictor of N bridge actual angle and angle on target deviation described in subsequent time is obtained according to this N bridge actual angle and the time dependent trend of angle on target deviation, determine whether to report to the police according to the relation between the described predictor in N bridge actual angle and angle on target deviation described in subsequent time and the second preset value, wherein said first preset value is greater than described second preset value, report to the police when described N bridge actual angle and angle on target deviation are greater than described first preset value.
Correspondingly, the invention provides a kind of automatically controlled steering safety control method, the method comprises: receive N bridge actual angle and angle on target deviation, when described N bridge actual angle and angle on target deviation are less than or equal to the first preset value, data fitting is carried out according to described N bridge actual angle and angle on target deviation and described N bridge actual angle time corresponding with angle on target deviation, obtain described N bridge actual angle and the time dependent trend of angle on target deviation, and the predictor of N bridge actual angle and angle on target deviation described in subsequent time is obtained according to this N bridge actual angle and the time dependent trend of angle on target deviation, determine whether to report to the police according to the relation between the described predictor in N bridge actual angle and angle on target deviation described in subsequent time and the second preset value, wherein said first preset value is greater than described second preset value, report to the police when described N bridge actual angle and angle on target deviation are greater than described first preset value.
Correspondingly, the invention provides a kind of automatically controlled steering safety control system, this system comprises described equipment; This system also comprises: harvester, for gathering described N bridge actual angle and angle on target deviation.
Correspondingly, the invention provides a kind of construction machinery and equipment, this project machinery comprises described system.
The present invention can predict the degradation trend of steering swivel system state parameter effectively, can increase steering swivel system reliability of service, improve driving safety.
Other features and advantages of the present invention are described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for specification sheets, is used from explanation the present invention, but is not construed as limiting the invention with detailed description of the invention one below.In the accompanying drawings:
Fig. 1 is automatically controlled steering safety control convenience schematic diagram provided by the invention;
Fig. 2 is automatically controlled steering safety control method diagram of circuit provided by the invention;
Fig. 3 is automatically controlled steering safety control system schematic diagram provided by the invention.
Description of reference numerals
100 receiving device 200 control setups
300 harvesters
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, detailed description of the invention described herein, only for instruction and explanation of the present invention, is not limited to the present invention.
In order to predict to improve vehicle to contingent fault, the particularly safety of engineering truck, the invention provides a kind of automatically controlled steering safety control convenience, as shown in Figure 1, this equipment comprises: receiving device 100, for receiving N bridge actual angle and angle on target deviation, control setup 200, for when described N bridge actual angle and angle on target deviation are less than or equal to the first preset value, data fitting is carried out according to described N bridge actual angle and angle on target deviation and described N bridge actual angle time corresponding with angle on target deviation, obtain described N bridge actual angle and the time dependent trend of angle on target deviation, and the predictor of N bridge actual angle and angle on target deviation described in subsequent time is obtained according to this N bridge actual angle and the time dependent trend of angle on target deviation, determine whether to report to the police according to the relation between the described predictor in N bridge actual angle and angle on target deviation described in subsequent time and the second preset value, wherein said first preset value is greater than described second preset value, report to the police when described N bridge actual angle and angle on target deviation are greater than described first preset value.When carrying out data fitting, deviation time sequence can be formed according to received reception N bridge actual angle and angle on target deviation, carrying out data fitting by deviation time sequence.For the mode of data fitting, should can adopt multiple method, such as curve, time series matching or neural network matching etc.It should be noted that, the mode of data fitting is only unrestricted as example herein.In order to make data fitting more accurate, multiple order (such as 3-5 order) can be preset to adopted fit approach, for each order, index corresponding to this order can be obtained with angle on target deviation time sequence according to described N bridge actual angle, such as root-mean-square error (RMS error) (RMSE) and variance (SSE) and mean square error (MSE) etc. (for RMSE in the present embodiment), then compare the RMSE that each order is corresponding, select order that minimum RMSE is corresponding to carry out data fitting.The predictor of described control setup 200 N bridge actual angle and angle on target deviation described in subsequent time is greater than described second preset value alarm, thus navigating mate can be reminded to maintain vehicle in time, ensure traffic safety, avoid great safety misadventure to occur.Can select according to the needs of the safety of reality, the words of such as high security can select subsequent time to be next second, and subsequent time can be selected for low-security to be next minute or five minutes.
Correspondingly, the invention provides a kind of automatically controlled steering safety control method, comprise and receive N bridge actual angle and angle on target deviation, when described N bridge actual angle and angle on target deviation are less than or equal to the first preset value, data fitting is carried out according to described N bridge actual angle and angle on target deviation and described N bridge actual angle time corresponding with angle on target deviation, obtain described N bridge actual angle and the time dependent trend of angle on target deviation, and the predictor of N bridge actual angle and angle on target deviation described in subsequent time is obtained according to this N bridge actual angle and the time dependent trend of angle on target deviation, determine whether to report to the police according to the relation between the described predictor in N bridge actual angle and angle on target deviation described in subsequent time and the second preset value, wherein said first preset value is greater than described second preset value, report to the police when described N bridge actual angle and angle on target deviation are greater than described first preset value.As mentioned above, the mode of data fitting can be curve, time series matching or neural network matching etc.For convenience of explanation, trade-off curve of the present invention fits to example and is described.
Fig. 2 shows automatically controlled steering safety control method diagram of circuit provided by the invention.As shown in Figure 2, first start vehicle, after this gather N bridge actual angle and angle on target deviation (step 201), and judge whether N bridge actual angle and angle on target deviation are greater than setting value (step 203), such as, whether be greater than the first preset value.(step 219) is reported to the police when N bridge actual angle and angle on target deviation are greater than the first preset value.When N bridge actual angle and angle on target deviation are less than or equal to the first preset value, the deviation time sequence that can be formed by the deviation collected is carried out curve fitting.In the process carried out curve fitting, first carry out prediction curve order initialization (step 205), such as initialized order can be 1.Suppose in this example that the order quantity preset is 3, therefore in whole flow process, after the initialization of curve order, judge whether initial order is greater than the preset value (step 209) of order, if be not more than, then can calculation deviation time series in the RMSE(step 211 of this curve order lower linear matching), and increase curve order (step 207), and perform step 209, until curve order is greater than the preset value of order at this.When curve order is greater than the preset value of order, choose RMSE minimum in RMSE, and choose corresponding order according to this minimum RMSE, carry out curve fitting with this corresponding order, obtain parameter of curve (step 213).The time dependent curve of deviation is obtained by curve, thus can dope deviate (step 215) at future time by this curve, such as this curve can be the function of deviation and time, can obtain corresponding prediction deviation according to selected future time.After obtaining the deflection forecast value of future time (such as subsequent time), the setting value (such as the second preset value) of this predictor and the angular deviation of N bridge can be compared, just can report to the police if this predictor is greater than the second preset value, otherwise can continue to perform step 203.Various ways can be taked for when carrying out warning, such as can determine that the second preset value being greater than the angular deviation of N bridge in the predictor at following five minutes places is reported to the police, or the second preset value being greater than the angular deviation of N bridge in the predictor at following one hour place is reported to the police etc., and those skilled in the art can select different alarm scheme according to the requirement of safety.For the determination of the first preset value and the second preset value, can set according to practical experience, such as, be tested by several times and determine this two preset values.
Correspondingly, present invention also offers a kind of automatically controlled steering safety control system, as shown in Figure 3, this system comprises described equipment; This system also comprises: harvester 300, for gathering described N bridge actual angle and angle on target deviation.After data are gathered, can so that control setup 200 processes accordingly.
Correspondingly, the invention provides a kind of construction machinery and equipment, this project machinery comprises described system.
Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition, each the concrete technical characteristic described in above-mentioned detailed description of the invention, in reconcilable situation, can be combined by any suitable mode.In order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible array mode.
In addition, also can carry out combination in any between various different embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (12)
1. an automatically controlled steering safety control convenience, is characterized in that, this equipment comprises:
Receiving device, for receiving N bridge actual angle and angle on target deviation;
Control setup, for when N bridge actual angle and angle on target deviation are less than or equal to the first preset value, data fitting is carried out according to described N bridge actual angle and angle on target deviation and described N bridge actual angle time corresponding with angle on target deviation, obtain described N bridge actual angle and the time dependent trend of angle on target deviation, and the predictor of N bridge actual angle and angle on target deviation described in subsequent time is obtained according to this N bridge actual angle and the time dependent trend of angle on target deviation, determine whether to report to the police according to the relation between the described predictor in N bridge actual angle and angle on target deviation described in subsequent time and the second preset value, wherein said first preset value is greater than described second preset value,
Report to the police when described N bridge actual angle and angle on target deviation are greater than described first preset value.
2. equipment according to claim 1, is characterized in that, described data fitting is curve, time series matching or neural network matching.
3. equipment according to claim 1, it is characterized in that, described control setup is also for when carrying out data fitting according to described N bridge actual angle and angle on target deviation and described N bridge actual angle time corresponding with angle on target deviation, the time corresponding with angle on target deviation according to described N bridge actual angle and angle on target deviation, described N bridge actual angle and default multiple orders obtain the corresponding index of multiple and described default multiple orders, and select order corresponding to optimum index to carry out data fitting.
4. equipment according to claim 3, is characterized in that, the index of described optimum is that root-mean-square error (RMS error) is minimum.
5. equipment according to claim 3, is characterized in that, described control setup is used for the preset value alarm that the predictor of described N bridge actual angle and angle on target deviation described in subsequent time is greater than described N bridge actual angle and angle on target deviation.
6. an automatically controlled steering safety control method, it is characterized in that, the method comprises:
Receive N bridge actual angle and angle on target deviation;
When described N bridge actual angle and angle on target deviation are less than or equal to the first preset value, data fitting is carried out according to described N bridge actual angle and angle on target deviation and described N bridge actual angle time corresponding with angle on target deviation, obtain described N bridge actual angle and the time dependent trend of angle on target deviation, and the predictor of N bridge actual angle and angle on target deviation described in subsequent time is obtained according to this N bridge actual angle and the time dependent trend of angle on target deviation, determine whether to report to the police according to the relation between the described predictor in N bridge actual angle and angle on target deviation described in subsequent time and the second preset value, wherein said first preset value is greater than described second preset value,
Report to the police when described N bridge actual angle and angle on target deviation are greater than described first preset value.
7. method according to claim 6, is characterized in that, described data fitting is curve, time series matching or neural network matching.
8. method according to claim 6, is characterized in that, describedly carries out data fitting according to described N bridge actual angle and angle on target deviation and described N bridge actual angle time corresponding with angle on target deviation and comprises:
When carrying out data fitting according to described N bridge actual angle and angle on target deviation and described N bridge actual angle time corresponding with angle on target deviation, the time corresponding with angle on target deviation according to described N bridge actual angle and angle on target deviation, described N bridge actual angle and default multiple orders obtain the corresponding index of multiple and described default multiple orders, and select order corresponding to optimum index to carry out data fitting.
9. method according to claim 8, is characterized in that, the index of described optimum is that root-mean-square error (RMS error) is minimum.
10. method according to claim 8, is characterized in that, the relation described in described basis between the predictor of N bridge actual angle and angle on target deviation described in subsequent time and the second preset value determines whether that warning comprises:
The predictor of described N bridge actual angle and angle on target deviation described in subsequent time is greater than the preset value alarm of described N bridge actual angle and angle on target deviation.
11. 1 kinds of automatically controlled steering safety control systems, is characterized in that, this system comprises the equipment according to claim 1-5 any one; This system also comprises:
Harvester, for gathering described N bridge actual angle and angle on target deviation.
12. 1 kinds of construction machinery and equipments, is characterized in that, this project machinery comprises system according to claim 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310683974.XA CN103661598B (en) | 2013-12-13 | 2013-12-13 | Electric control steering safety control equipment, method and system and engineering machinery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310683974.XA CN103661598B (en) | 2013-12-13 | 2013-12-13 | Electric control steering safety control equipment, method and system and engineering machinery |
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| Publication Number | Publication Date |
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| CN103661598A CN103661598A (en) | 2014-03-26 |
| CN103661598B true CN103661598B (en) | 2016-02-24 |
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| CN201310683974.XA Active CN103661598B (en) | 2013-12-13 | 2013-12-13 | Electric control steering safety control equipment, method and system and engineering machinery |
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| CN110843911B (en) * | 2019-10-24 | 2021-02-19 | 中联重科股份有限公司 | Early warning method and system and crane comprising system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001088675A (en) * | 1999-09-28 | 2001-04-03 | Sumitomo Electric Ind Ltd | Behavior controller for vehicle |
| EP1088726A2 (en) * | 1999-09-28 | 2001-04-04 | Sumitomo Electric Industries, Ltd. | Apparatus for controlling behavior of vehicle |
| JP2004330879A (en) * | 2003-05-07 | 2004-11-25 | Koyo Seiko Co Ltd | Steering gear for vehicle |
| CN101670851A (en) * | 2009-09-29 | 2010-03-17 | 长沙中联重工科技发展股份有限公司 | Follow-up control method and control system of vehicle rear axle electronically controlled steering wheel |
| CN102320326A (en) * | 2011-07-08 | 2012-01-18 | 吉林大学 | Control method used for automobile steer-by-wire system |
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- 2013-12-13 CN CN201310683974.XA patent/CN103661598B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001088675A (en) * | 1999-09-28 | 2001-04-03 | Sumitomo Electric Ind Ltd | Behavior controller for vehicle |
| EP1088726A2 (en) * | 1999-09-28 | 2001-04-04 | Sumitomo Electric Industries, Ltd. | Apparatus for controlling behavior of vehicle |
| JP2004330879A (en) * | 2003-05-07 | 2004-11-25 | Koyo Seiko Co Ltd | Steering gear for vehicle |
| CN101670851A (en) * | 2009-09-29 | 2010-03-17 | 长沙中联重工科技发展股份有限公司 | Follow-up control method and control system of vehicle rear axle electronically controlled steering wheel |
| CN102320326A (en) * | 2011-07-08 | 2012-01-18 | 吉林大学 | Control method used for automobile steer-by-wire system |
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Address after: 410013 Yuelu District, Hunan, silver basin Road, No. 361, No. Applicant after: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Address before: 410007 ZOOMLION grand pond Industrial Park, Yuanda Road, Changsha economic and Technological Development Zone, Changsha, Hunan 2, China Applicant before: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. |
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