CN105539573A - Steering active returning system and method for all-terrain crane - Google Patents
Steering active returning system and method for all-terrain crane Download PDFInfo
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- CN105539573A CN105539573A CN201510890506.9A CN201510890506A CN105539573A CN 105539573 A CN105539573 A CN 105539573A CN 201510890506 A CN201510890506 A CN 201510890506A CN 105539573 A CN105539573 A CN 105539573A
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- returning
- oil cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a steering active returning system for an all-terrain crane. A signal collecting module collects a pressure difference between oil inlet and return pipes of a main steering oil way or the angle and angle change rate of a steering wheel; a control module carries out returning judging and returning force calculation; and a steering returning executing module provides a steering returning force to wheels according to an executing strategy of the control module. As electric power is not needed by a power source or a high pressure main oil way or an energy accumulator, active returning requirements of large-sized construction machinery can be satisfied and the control system is simple and reliable; and as the executing mechanism uses a centering oil cylinder, the active returning and centering of the system are simple and reliable; and the returning force coverage of the system is large.
Description
Technical field
The present invention relates to engineering machinery field, particularly the full Terrain Cranes of one turns to and initiatively returns positive system and method.
Background technology
The steering swivel system of automobile, under different operating modes, should have different performances.Automobile to travel and under the extremely low speed of a motor vehicle moves operating mode at low speed profile, should have not heavy and the steering handwheel power of appropriateness and the too not large steering handwheel total angle of rotation, also should have good return performance.At high speed, steering handwheel small angle tower, downside in acceleration range, automobile should have the large steering sensitivity of good yaw velocity frequency-response data, straight-line travelling ability, return performance and friendship.
No matter be at low speed driving or when running at high speed, automobile all should have good time positive ability.Automobile return that positive ability realizes primarily of swivel pin angle and wheel caster.Swivel pin angle utilizes the weight of car to press against wheel, forms the self-aligning that turns to, and it is larger that deflection angle returns more greatly positive force, is static, irrelevant with the speed of a motor vehicle; Hypsokinesis is that the centnifugal force of automobile when utilizing wheel to deflect produces self-aligning, and the speed of a motor vehicle is higher, and time positive force is larger, is dynamic.During automobile low speed driving, mainly innerly just incline back; Mainly just inclining back rearward during automobile normal running.During galloping, steering wheel angle is very little, now can think that introversion is inoperative, has just entirely inclined rearward.This dynamic self-aligning ensure that automobile straight motion stability, so when normal straight is driven, bearing circle is almost motionless.Power during high speed needed for steering wheel rotation is much larger, defines stronger road feel, this to the accuracy handled, the enjoyment of driving, the safety of traveling all cause close important.If stub not hypsokinesis is even leaned forward just do not have this effect, during scorch can perceived direction dish very light, turn to easily excessive, automobile is liked to walk snakelike etc., and speed is more high more obvious, leans forward more serious more greatly! Such as, so the vehicle of stub not hypsokinesis can not be run at high speed, some construction machinery and equipments.
Full ground car hosit vehicle bridge all only has Kingpin inclination angle at present, and without kingpin caster angle, and full Terrain Cranes all adopts electric proportional hydraulic steering swivel system (oil cylinder is many, and cornering resistance is large, even if there is wheel caster, time positive force is also not obvious).So when running at high speed, vehicle does not almost return positive force, and driver needs the moment to hold bearing circle, and attention high concentration, is unfavorable for traffic safety.
There are two large inadequate natural endowments in the automatically controlled deflector of band active return function relevant in prior art: 1, with electric boosted, need battery consumption electric energy, power is little, cannot meet the requirement of large-scale engineering machinery steering gyrus positive force; 2, return positive meta difficult judgment, easily occur back positive overshoot, control system is complicated.
Summary of the invention
In view of this, the present invention is intended to propose a kind of full Terrain Cranes and turns to and initiatively return positive system and initiatively return positive centering with realization.
For achieving the above object, technical scheme of the present invention is achieved in that
The invention provides a kind of full Terrain Cranes to turn to and initiatively return positive system, comprise the signal acquisition module of signal connection, control module and steering reversal execution module, wherein:
Signal acquisition module, gathers hoisting crane and initiatively judges that parameter is incoming signal needed for rotary transform tensor strategy, and transfer to control module;
Control module, the judgement parameter provided by signal acquisition module, judges that vehicle bridge is the need of just returning and calculating back implementation strategy corresponding to positive force;
Steering reversal execution module, the implementation strategy according to control module provides steering gyrus positive force to wheel.
Described steering reversal execution module comprises actuating unit and propulsion source, and described actuating unit is connected by pressure regulating valve with propulsion source.
Described actuating unit is centering oil cylinder, and described centering oil cylinder is located at and is turned in vehicle bridge.
Selectively, signal acquisition module gathers vehicle speed signal, and by the main pressure difference value turning to oil circuit of pressure sensor collection, by this pressure difference value, control module judges that driver's operation is intended to, thus carry out back just judging, and carry out back positive force calculating according to vehicle speed signal.
Selectively, the corner of signal acquisition module collection vehicle speed signal, bearing circle and corner rate of change signal, according to the corner of bearing circle and corner rate of change, control module judges that driver's operation is intended to, thus carry out back just judging, and carries out back positive force calculating according to vehicle speed signal.
Selectively, described propulsion source is high-pressure main oil path; Pressure regulating valve carries out pressure adjustment according to the result of returning positive force calculating, and the active being realized turning to by centering oil cylinder is just returned.
Described centering oil cylinder comprises three hydraulic fluid ports, two pistons, a piston rod and a spacing back-up ring, and spacing back-up ring is located at centering oil cylinder meta, and two pistons are that spacing back-up ring upper and lower is arranged; The two-position four-way valve that described centering oil cylinder is arranged by position, left and right controls break-make, when vehicle bridge needs back timing, when two-position four-way valve is operated in left position, in three hydraulic fluid ports, first, second hydraulic fluid port connects high-pressure main oil path, 3rd hydraulic fluid port connected tank, two pistons all move until the position of spacing back-up ring to centering oil cylinder meta under the effect of the pressure, realize centering and are initiatively just returning to control vehicle bridge; When two-position four-way valve is operated in right position, three hydraulic fluid ports are communicated with, and piston rod freely up and down can move under the effect of external force in centering oil cylinder.
Selectively, described propulsion source is energy storage; When collecting the angular signal of bearing circle, the oil storage of energy storage is with the size variation of corner, and the pressure of energy storage outlet also changes thereupon, and energy storage utilizes himself stiffness characteristics, and the active automatically realizing turning to just is returned.
Relative to prior art, the present invention has following advantage:
1, propulsion source of the present invention or high-pressure main oil path or energy storage, without the need to electric boosted, can meet large-scale engineering machinery and initiatively return positive requirement;
2, by turning to oil circuit oil inlet and oil return pipe pressure difference or to the corner of bearing circle and the inspection of corner rate of change to main, and carry out back just judging and return positive force calculating, control system is simple and reliable;
3, actuating unit adopts centering oil cylinder, and it is simple and reliable initiatively to return positive centering, and time positive force coverage is large.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is that a kind of full Terrain Cranes provided by the invention turns to the structured flowchart initiatively returning positive system;
Fig. 2 is that the master of the embodiment of the present invention 1 turns to circuit diagram;
Fig. 3 is the graph of relation of the speed of a motor vehicle and time positive force in the embodiment of the present invention 1;
Fig. 4 is that a kind of full Terrain Cranes provided by the invention turns to the structural representation initiatively returning centering oil cylinder in positive system;
Fig. 5 is that the master of the embodiment of the present invention 2 turns to circuit diagram;
Fig. 6 is that the master of the embodiment of the present invention 3 turns to circuit diagram.
Detailed description of the invention
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
Refer to Fig. 1, the invention provides a kind of full Terrain Cranes to turn to and initiatively return positive system, comprise signal acquisition module 1, control module 2 and steering reversal execution module 3 that signal connects, described control module 2 comprises back positive judging unit 21 and returns positive force calculating unit 22.
Described signal acquisition module 1 initiatively judges that parameter is incoming signal needed for rotary transform tensor strategy for gathering hoisting crane, and transfers to control module 2.
By returning positive judging unit 21 and returning positive force calculating unit 22, the judgement parameter that described control module 2 is provided by signal acquisition module 1, judges that vehicle bridge is the need of just returning and calculating back implementation strategy corresponding to positive force.
Described steering reversal execution module 3 provides steering gyrus positive force according to the implementation strategy of control module 2 to wheel.
Described steering reversal execution module 3 comprises actuating unit and propulsion source, and described actuating unit is connected by pressure regulating valve with propulsion source.
The present invention turns to describing described full Terrain Cranes in detail by following multiple embodiment the configuration and principle initiatively returning positive system:
Embodiment 1
Refer to Fig. 2 and composition graphs 1, the judgement parameter that signal acquisition module 1 gathers is vehicle speed signal and the main pressure difference value signal turning to oil circuit 10, and actuating unit is centering oil cylinder 20, and propulsion source is high-pressure main oil path 30; Centering oil cylinder 20 is located at master and is turned in vehicle bridge, control module 2 turns to the pressure difference value of oil circuit 10 to judge that driver's operation is intended to by main, thus carry out back just judging, then carry out back positive force according to vehicle speed signal to calculate, finally control pressure regulating valve 40 and carry out flow regulating, realized turning to by centering oil cylinder 20 and initiatively just returning.Wherein:
Acquisition of signal: read vehicle speed signal, gathers the main pressure difference value turning to oil circuit by pressure sensor 70;
Return and just judge: when chaufeur steering wheel rotation, there is larger difference of pressure in main turning in oil circuit oil inlet and oil return pipeline, its pressure is greater than steering mechanical friction drag, thus drive steering cylinder generation action, drive Vehicular turn, now initiatively return positive system not work, thus retain the original ease of steering of vehicle; When master turns to oil circuit oil inlet and oil return line pressure difference to be less than steering mechanical friction drag, prove that now bearing circle remains static, now turn to and initiatively return positive system participation work, provide suitable time positive force according to vehicle speed signal, impel vehicle to keep straight-line travelling;
Return positive force to calculate: power during high speed needed for steering wheel rotation needs to strengthen, and is convenient to like this form stronger road feel, this to the accuracy handled, the enjoyment of driving, the safety of traveling all cause close important.Wherein, the relation curve of the speed of a motor vehicle and time positive force as shown in Figure 3;
Return and just perform: as shown in Figure 4, centering oil cylinder 20 comprises three hydraulic fluid port (A, B, O), two pistons (201,202), piston rod 203 and a spacing back-up ring 204, spacing back-up ring 204 is located at centering oil cylinder 20 meta, and the upper and lower of two pistons (201,202) in spacing back-up ring 204 is arranged; The two-position four-way valve (not shown) that described centering oil cylinder 20 is arranged by position, left and right controls break-make, when vehicle bridge needs back timing, when two-position four-way valve is operated in left position, in three hydraulic fluid ports, the first hydraulic fluid port A, the second hydraulic fluid port B connect high-pressure main oil path, 3rd hydraulic fluid port O connected tank, two pistons (201,202) all move until the position of spacing back-up ring 204 to centering oil cylinder 20 meta under the effect of the pressure, realize centering and are initiatively just returning to control vehicle bridge; When two-position four-way valve is operated in right position, three hydraulic fluid ports (A, B, O) are communicated with, and piston rod 203 freely up and down can move under the effect of external force in centering oil cylinder 20.
Embodiment 2
Refer to Fig. 5 and composition graphs 1, Fig. 4, the judgement parameter that signal acquisition module 1 gathers is corner and the corner rate of change of vehicle speed signal and bearing circle, and actuating unit is centering oil cylinder 20, and propulsion source is high-pressure main oil path 30.Wherein:
Return and just judge: the operation intention judging operator according to the corner of bearing circle and corner rate of change, all the other are with embodiment 1.
Embodiment 3
Refer to Fig. 6 and composition graphs 1, Fig. 4, the judgement parameter that signal acquisition module 1 gathers is the corner of bearing circle, and actuating unit is centering oil cylinder 20, and propulsion source changes energy storage 50 into.
When hoisting crane does not turn to, centering oil cylinder 20 is in meta, and now two pistons (201,202) are all near spacing back-up ring 204, thus piston rod 203 is positioned at meta, and the cavity volume now formed between two pistons (201,202) is 0.When vehicle bridge has corner time, piston 201 or piston 202 can be pushed up or draw move up or down by piston rod 203, and another piston 202 or piston 201 keep original position motionless due to the effect of spacing back-up ring 204, such two pistons (201,202) cavity volume between is greater than 0, is set to V.Also increase along with corner increases cavity volume V.When hoisting crane turns to, the first hydraulic fluid port A and the second hydraulic fluid port B will the hydraulic oil of discharge side body bulk V, enters energy storage 50 by two-position four-way valve.The oil storage of energy storage 50 changes with corner size, and while oil storage changes, the pressure that energy storage 50 exports also changes thereupon, corner is larger, and the pressure of the outlet of energy storage 50 is larger, when centering oil cylinder 20 piston area is constant, centering force is also larger, and it is larger namely to return positive force.It is little that energy storage utilizes himself small angle tower to return positive force, and large corner returns the large stiffness characteristics of positive force, and the active automatically realizing turning to just is returned.
To sum up, described full Terrain Cranes provided by the invention turns to and initiatively returns its propulsion source of positive system or high-pressure main oil path or energy storage, without the need to electric boosted, can meet large-scale engineering machinery and initiatively return positive requirement; By turning to oil circuit oil inlet and oil return pipe pressure difference or to the corner of bearing circle and the inspection of corner rate of change to main, and carry out back just judging and return positive force calculating, control system is simple and reliable; Actuating unit adopts centering oil cylinder, and it is simple and reliable initiatively to return positive centering, and time positive force coverage is large.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. full Terrain Cranes turns to and initiatively returns a positive system, it is characterized in that, comprises signal acquisition module, control module and steering reversal execution module that signal connects, wherein:
Signal acquisition module, gathers hoisting crane and initiatively judges that parameter is incoming signal needed for rotary transform tensor strategy, and transfer to control module;
Control module, the judgement parameter provided by signal acquisition module, judges that vehicle bridge is the need of just returning and calculating back implementation strategy corresponding to positive force;
Steering reversal execution module, the implementation strategy according to control module provides steering gyrus positive force to wheel.
2. the full Terrain Cranes of one according to claim 1 turns to and initiatively returns positive system, it is characterized in that, described steering reversal execution module comprises actuating unit and propulsion source, and described actuating unit is connected by pressure regulating valve with propulsion source.
3. the full Terrain Cranes of one according to claim 2 turns to and initiatively returns positive system, it is characterized in that, described actuating unit is centering oil cylinder, and described centering oil cylinder is located at and is turned in vehicle bridge.
4. the full Terrain Cranes of one according to claim 3 turns to and initiatively returns positive system, it is characterized in that, signal acquisition module gathers vehicle speed signal, by the main pressure difference value turning to oil circuit of pressure sensor collection, by this pressure difference value, control module judges that driver's operation is intended to, thus carry out back just judging, and carry out back positive force calculating according to vehicle speed signal.
5. the full Terrain Cranes of one according to claim 3 turns to and initiatively returns positive system, it is characterized in that, the corner of signal acquisition module collection vehicle speed signal, bearing circle and corner rate of change signal, according to the corner of bearing circle and corner rate of change, control module judges that driver's operation is intended to, thus carry out back just judging, and carry out back positive force calculating according to vehicle speed signal.
6. the full Terrain Cranes of the one according to claim 4 or 5 turns to and initiatively returns positive system, it is characterized in that, described propulsion source is high-pressure main oil path; Pressure regulating valve carries out flow regulating according to the result of returning positive force calculating, and the active being realized turning to by centering oil cylinder is just returned.
7. the full Terrain Cranes of one according to claim 6 turns to and initiatively returns positive system, it is characterized in that, described centering oil cylinder comprises three hydraulic fluid ports, two pistons, a piston rod and a spacing back-up ring, and spacing back-up ring is located at centering oil cylinder meta, and two pistons are that spacing back-up ring upper and lower is arranged; The two-position four-way valve that described centering oil cylinder is arranged by position, left and right controls break-make, when vehicle bridge needs back timing, when two-position four-way valve is operated in left position, in three hydraulic fluid ports, first, second hydraulic fluid port connects high-pressure main oil path, 3rd hydraulic fluid port connected tank, two pistons all move until the position of spacing back-up ring to centering oil cylinder meta under the effect of the pressure, realize centering and are initiatively just returning to control vehicle bridge; When two-position four-way valve is operated in right position, three hydraulic fluid ports are communicated with, and piston rod freely up and down can move under the effect of external force in centering oil cylinder.
8. the full Terrain Cranes of one according to claim 5 turns to and initiatively returns positive system, it is characterized in that, described propulsion source is energy storage; When collecting the angular signal of bearing circle, the oil storage of energy storage is with the size variation of corner, and the pressure of energy storage outlet also changes thereupon, and energy storage utilizes himself stiffness characteristics, and the active automatically realizing turning to just is returned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510890506.9A CN105539573B (en) | 2015-12-07 | 2015-12-07 | Positive system is actively returned in a kind of steering of the full Terrain Cranes |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510890506.9A CN105539573B (en) | 2015-12-07 | 2015-12-07 | Positive system is actively returned in a kind of steering of the full Terrain Cranes |
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| CN105539573A true CN105539573A (en) | 2016-05-04 |
| CN105539573B CN105539573B (en) | 2018-09-21 |
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Cited By (5)
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| CN108622195A (en) * | 2017-03-16 | 2018-10-09 | 郑州宇通客车股份有限公司 | A kind of chassis and the vehicle using the chassis |
| CN109083661A (en) * | 2018-09-19 | 2018-12-25 | 中国铁建重工集团有限公司 | A kind of steering system and method for concrete spraying trolley |
| CN109649482A (en) * | 2019-01-24 | 2019-04-19 | 安百拓（南京）建筑矿山设备有限公司 | Vehicle hydraulic steering system |
| CN113492906A (en) * | 2020-04-03 | 2021-10-12 | 郑州宇通客车股份有限公司 | Hydraulic steering system and control method and device thereof |
| CN114132314A (en) * | 2021-12-20 | 2022-03-04 | 杭叉集团股份有限公司 | Industrial vehicle turning deceleration control system and method thereof |
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| CN114132314B (en) * | 2021-12-20 | 2023-09-01 | 杭叉集团股份有限公司 | Industrial vehicle turning deceleration control system and method thereof |
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| CN105539573B (en) | 2018-09-21 |
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