CN107351910A - The closed loop control method of the electro-hydraulic steering of special vehicle - Google Patents
The closed loop control method of the electro-hydraulic steering of special vehicle Download PDFInfo
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- CN107351910A CN107351910A CN201710466846.8A CN201710466846A CN107351910A CN 107351910 A CN107351910 A CN 107351910A CN 201710466846 A CN201710466846 A CN 201710466846A CN 107351910 A CN107351910 A CN 107351910A
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- steeraxle
- special vehicle
- actual rotational
- rotational angle
- control method
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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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0475—Controlling other elements
-
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses the closed loop control method of the electro-hydraulic steering of special vehicle, the closed loop control method comprises the following steps, step 1, obtains the actual rotational angle of real-time speed and the first steeraxle；Step 2, the target rotation angle of the second steeraxle is determined using the actual rotational angle of real-time speed and the first steeraxle；Step 3, the actual rotational angle of the second steeraxle is obtained；Step 4, the corner deviation of the target rotation angle of the second steeraxle and the actual rotational angle of the second steeraxle is calculated；Step 5, based on PID control parameter mode, pulse width modulating signal is generated according to corner deviation；Step 6, the second steeraxle corner is adjusted by pulse width modulating signal.The closed loop control method of the electro-hydraulic steering of special vehicle of the present invention can effectively improve and turn to precision, realization flexibly turns to, low speed flexibility and high stability of the multiaxis special vehicle under different road surfaces, different loads are disclosure satisfy that, so as to reduce the infringement to track rod and tire.
Description
Technical field
The present invention relates to special vehicle technical field, specifically for, the present invention closing for the electro-hydraulic steering of special vehicle
Ring control method.
Background technology
Large-scale heavy duty special vehicle has the characteristics that quality is big, barycenter is high, the number of axle is more, wheelbase is big, for strengthen its mobility,
Flexibility and control stability, vehicle is set to have preferable flexibility when small place low speed is turned, can be during ensureing low speed
Realize and flexibly turn in less space, while there is preferable control stability in high speed, to ensure the security of vehicle,
Large-scale heavy duty special vehicle uses multi-axle steering technology mostly.
But existing multi-axle steering technology is mechanical transmission hydraulic power-assisted steering technology, although can realize that multiaxis turns
To, but limited by mechanical-type steering engine structure and rotating direction control method, it is low that it turns to precision, easily cause track rod deformation,
Tire wear is serious.With the development of electronic technology and control technology, electric hydraulic steering system has become multi-shaft steering vehicle steering
The developing direction of system.
Therefore, how special vehicle is improved by electro-hydraulic steering and turns to precision, reduction turn-around delay time, reduction turning machine
The abrasion of structure, become those skilled in the art's technical problem urgently to be resolved hurrily and the emphasis studied all the time.
The content of the invention
To solve low precision existing for mechanical rotating direction control method of the prior art, very flexible, track rod
Deformation, the problems such as tire wear is serious, present invention innovation propose a kind of closed loop control method of the electro-hydraulic steering of special vehicle, energy
Enough effectively improve and turn to precision, reduce the turn-around delay time and reduce the abrasion of steering mechanism.
To realize above-mentioned technical purpose, the invention discloses a kind of closed loop control method of the electro-hydraulic steering of special vehicle,
The closed loop control method comprises the following steps,
Step 1, the actual rotational angle of real-time speed and the first steeraxle is obtained, first steeraxle is before special vehicle
Steeraxle；
Step 2, the target rotation angle of the second steeraxle is determined using the actual rotational angle of speed and the first steeraxle in real time,
Second steeraxle is the rear steering bridge of special vehicle；
Step 3, the actual rotational angle of the second steeraxle is obtained；
Step 4, the corner deviation of the target rotation angle of second steeraxle and the actual rotational angle of the second steeraxle is calculated；
Step 5, based on proportional integral differential control mode, pulse width modulation letter is generated according to the corner deviation
Number；
Step 6, proportional direction valve is controlled to act by the pulse width modulating signal, the proportional direction valve is used for real
When drive cylinder piston rod movement, the cylinder piston rod be used in real time adjust the second steeraxle corner, power-assisted steering.
By above-mentioned closed loop control method, the present invention can effectively solve the problem that prior art is existing and turn to low precision, spirit
The problems such as sensitivity is low, track rod is yielding, tire wear is serious, so as to realize that special vehicle is quick, turns flexibly, exactly
To.
Further, in step 5, when the dutycycle of the pulse width modulating signal of generation is less than the first preset value, lead to
The mode crossed as dutycycle increase offset updates pulse width modulating signal；In step 6, adjusted by the pulse width after renewal
Signal control proportional direction valve action processed；Wherein, the resistance value of the offset passing ratio direction valve and start action when
Current value determines.
Based on above-mentioned improved technical scheme, the present invention innovatively adds dead band skew, and dead band skew is above-mentioned
Offset, offset is added with the dutycycle less than the first preset value, so as to solve proportion directional in the case of low PWM duty cycle
The problem of valve is failure to actuate, the purpose for improving the reliability and stability that the present invention controls has been finally reached it.
Further, it is the reasonability and accuracy of raising special vehicle course changing control, in step 6, obtains pulse width
After modulated signal, the switching signal of the second steeraxle locking seesaw is obtained：If the state of the switching signal is non-locking, i.e.,
Allow to be controlled the second steeraxle, then control proportional direction valve action, the second steeraxle corner of adjustment；If the switch
The state of signal is locking, i.e., does not allow to be controlled the second steeraxle, then does not control proportional direction valve action, do not adjust the
Two steeraxle corners.
Further, in step 6, when controlling the aperture size of proportional direction valve according to pulse width modulating signal and be powered
Between length, and then in real time adjust the second steeraxle corner size.This regulative mode has degree of regulation high, highly reliable etc. prominent
Go out advantage.
Further, in step 1, the is obtained by being installed on the first binary channels rotary angle transmitter on the left of the first steeraxle
The actual rotational angle of one steeraxle；In step 3, obtained by being installed on the second binary channels rotary angle transmitter on the left of the second steeraxle
The actual rotational angle of second steeraxle；The actual rotational angle of first steeraxle is gathered by calculating the first binary channels rotary angle transmitter
Binary channels angular signal be worth to, the actual rotational angle of second steeraxle, which passes through, calculates the second binary channels rotation angular sensing
The binary channels angular signal of device collection is worth to.
The present invention innovatively employs binary channels rotary angle transmitter, realizes the collection to two-way angular signal, passes through bilateral
Road Redundancy Design can be greatly enhanced the accuracy and reliability of roll angle inspection.
Further, in step 1, the actual rotational angle of the first steeraxle is between the direction of traffic before front vehicle wheel and steering
Angle；In step 3, the angle between the direction of traffic of the actual rotational angle of the second steeraxle for rear wheel and before turning to.
Further, in step 1, by the actual rotational angle of the first steeraxle compared with the first corner upper limit, if institute
The actual rotational angle for stating the first steeraxle is more than the first corner upper limit, then is alarmed；In step 3, by the second steeraxle
Actual rotational angle is compared with the second corner upper limit, if the actual rotational angle of second steeraxle is more than on second corner
Limit, then alarmed.
Present invention employs the mode of actual rotational angle overload alarm, the safety of steering procedure middle rolling car can be effectively improved
Property.After a bridge corner exceeds effective range, alarm is carried out, after a bridge corner returns to effective range, alarm eliminates；When
After four bridge corners exceed effective range, alarmed, while control four bridge corners constant, when four bridge corners return to effective range
Afterwards, alarm eliminates；After five bridge corners exceed effective range, alarmed；Control five bridge corners constant simultaneously, when five bridge corners
After returning to effective range, alarm eliminates.
Further, first steeraxle is driven by mechanical-hydraulic, and second steeraxle is driven by electric-controlled hydraulic
It is dynamic.
Further, the special vehicle is multi-axle steering special vehicle.
Further, the special vehicle is five-axle steering special vehicle, and the five-axle steering special vehicle has five bridges；
First steeraxle includes a bridge and two bridges, and second steeraxle includes four bridges and five bridges；Three bridges are non-steering axle.
Beneficial effects of the present invention are：The closed loop control method of the electro-hydraulic steering of special vehicle of the present invention can effectively improve
Turn to precision, realize and flexibly turn to, disclosure satisfy that low speed flexibility of the multiaxis special vehicle under different road surfaces, different loads and
High stability, so as to reduce the infringement to track rod and tire.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the closed loop control method of the electro-hydraulic steering of special vehicle.
Fig. 2 is the implementation state block diagram of the closed loop control method of the electro-hydraulic steering of special vehicle.
Embodiment
Carried out in detail with reference to the closed loop control method of special vehicle electro-hydraulic steering of the Figure of description to the present invention
Explanation and illustration.
In general, using the large-scale heavy duty special vehicle of electric hydraulic steering system, it is necessary to realize instantaneous positioning, guarantor to wheel
The accuracy and reliability turned to is demonstrate,proved, the present invention proposes a kind of multi-axle steering special vehicle electric hydraulic steering system control program, and
The control method for adding dead band to offset using segmentation PID (proportional-integral-differential) algorithm is proposed, so as to efficiently solve electro-hydraulic turn
To system turn-around delay time length, turn to the problem of low precision.Specifically, the invention discloses a kind of electro-hydraulic steering of special vehicle
Closed loop control method.As shown in Figure 1, 2, the closed loop control method comprises the following steps.
Step 1, the actual rotational angle of real-time speed and the first steeraxle is obtained, the first steeraxle is the front steering of special vehicle
Bridge, driven by mechanical-hydraulic, and the actual rotational angle of the first steeraxle be front vehicle wheel and turn to before direction of traffic between
Angle；In the present embodiment, the first steeraxle is obtained by being installed on the first binary channels rotary angle transmitter on the left of the first steeraxle
Actual rotational angle, the actual rotational angle of the first steeraxle, which passes through, to be calculated the binary channels corner that the first binary channels rotary angle transmitter gathers and believes
Number be worth to.In order to improve the security of course changing control, the actual rotational angle of the first steeraxle and the first corner upper limit are entered
Row compares, if the actual rotational angle of the first above-mentioned steeraxle is more than the first corner upper limit, is alarmed.
Special vehicle of the present invention is the special vehicle of multi-axle steering, and the present embodiment is with five-axle steering heavy type special purpose vehicle
Exemplified by, five-axle steering special vehicle has five bridges；First steeraxle includes a bridge and two bridges, and a bridge and two bridges are front steering
Bridge, the second steeraxle include four bridges and five bridges, and four bridges and five bridges are rear steering bridge and independent control；Three bridges are non-steering axle.Under
The input/output signal of the electro-hydraulic steering control system of the present embodiment five-axle steering heavy special vehicle is described in detail table.
Step 2, the target rotation angle of the second steeraxle is determined using the actual rotational angle of real-time speed and the first steeraxle, for
Calculate target rotation angle strategy, the present invention technical inspiration under, those skilled in the art can from routine techniques reasonable selection；
Second steeraxle is the rear steering bridge of special vehicle and passes through Electro-hydraulic drive.
Step 3, the actual rotational angle of the second steeraxle is obtained, and the actual rotational angle of the second steeraxle is rear wheel and steering
The angle between direction of traffic before；In the present embodiment, pass through the second binary channels corner being installed on the left of the second steeraxle
Sensor obtains the actual rotational angle of the second steeraxle, and the actual rotational angle of the second steeraxle is by calculating the second binary channels rotation angular sensing
The binary channels angular signal of device collection is worth to.To improve the security of course changing control, the reality of the second steeraxle is turned
, if the actual rotational angle of the second steeraxle is more than the second corner upper limit, alarmed compared with the second corner upper limit at angle.
In the present embodiment, respectively one binary channels rotary angle transmitter of installation, two paths are only on the left of a bridge, four bridges and five bridges
Vertical collection angular signal, by corresponding corner calculative strategy, respectively obtains a bridge, four bridges, the actual rotational angle of five bridges, the present invention
It is designed to improve the reliability of roll angle inspection by binary-channel redundancy.For two bridges, a bridge can be followed to turn to simultaneously, can also entered
Row individually control.
Step 4, the corner deviation of the target rotation angle of the second steeraxle and the actual rotational angle of the second steeraxle is calculated, it is specific next
Say, realize that calculating corner is inclined by way of the actual rotational angle of the target rotation angle of the second steeraxle and the second steeraxle is made the difference
Difference, the two poor absolute value are corner deviation.
Step 5, the control mode based on proportional-integral-differential (PID), pulse width modulation is generated according to corner deviation
Signal, in the present embodiment, respectively as input, output is respectively used to control four bridges and five bridges the corner deviation of Jiang Siqiao and five bridges
Proportioning valve BL1 and BL2 both in one, the PWM duty cycle signal of one in both BL3 and BL4, four bridges of control, five
The wheel of bridge turns left or turned right, and according to the control accuracy requirement of steering, the proportional component P in PID is divided into seven by the present invention
Section, adjust parameter corresponding to every section respectively, so as to improve can steering sensitivity, certainly, according to actual control accuracy need
Will, the proportional component P in PID can be divided into some sections, adjust parameter corresponding to every section respectively；To improve the reliable of course changing control
Property, when the dutycycle of the pulse width modulating signal of generation is less than the first preset value, by increasing offset for dutycycle
Mode updates pulse width modulating signal, and the first preset value can rationally be set as needed.The present invention innovatively increases
Dead band skew, it is added with the PWM duty cycle of segmentation pid algorithm output, when solving low PWM duty cycle, proportioning valve is motionless
The problem of making.Moreover, present invention design segmentation pid algorithm, adjusts to pid parameter, can be effectively increased low corner
The sensitivity turned to during deviation.With dead band, skew is combined to obtain control method to segmentation pid algorithm, is effectively improved the essence of steering
Degree, reduce the abrasion of tire in steering procedure, increase Life of Tyre.
Step 6, proportional direction valve is controlled to act by pulse width modulating signal, if pulse width modulating signal is by more
New mistake, then proportional direction valve is controlled to act by the pulse width modulating signal after renewal；The offset of the present embodiment passes through
The resistance value of proportional direction valve is determined with current value when starting action, and proportional direction valve is controlled according to pulse width modulating signal
Aperture size and conduction time length, proportional direction valve moves for Real Time Drive cylinder piston rod, and cylinder piston rod is used for
The second steeraxle corner of adjustment, power-assisted steering in real time, it is final to realize the second steeraxle corner size of adjustment in real time.In this step,
It should be noted that after pulse width modulating signal is obtained, the switching signal of the second steeraxle locking seesaw is obtained：If open
The state of OFF signal is non-locking, and ECU control solenoid directional control valves YA3, YA4 are powered, then controls proportional direction valve action, adjustment the
Two steeraxle corners, then four bridges and five bridges turn to；If the state of switching signal is locking, ECU control solenoid directional control valves
YA3, YA4 are powered off, then do not control proportional direction valve action, do not adjust the second steeraxle corner, then four bridges and five bridges do not turn to.
In actual control, above-mentioned steps often perform repeatedly, i.e., step 6 perform after the completion of can return to step 1, and the in step 3
The actual rotational angle of two steeraxles is the result after the control of last time step 6.
It should be noted that car can be integrated in using the electro-hydraulic steering control system of the heavy special vehicle of the present invention program
Electronic control unit (ECU) in, such as, the switching signal of the second steeraxle locking seesaw is gathered by the ECU, judgement is
No contact back axle locking.In the present embodiment, ECU uses TTC60 controllers, and the above-mentioned pid algorithm being related to can run in ECU,
And CodeSys Development of Configuration Software control algolithm and control strategy can be applied.In addition, the electro-hydraulic steering of special vehicle of the present invention is closed
Ring control method has stronger versatility, and other vehicles are applicable to after changing Rational Parameters.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, limited unless otherwise clear and definite.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the description of this specification, above-mentioned reference term " the present embodiment ", " one embodiment ", " some implementations
The description of example ", " example ", " specific example " or " some examples " etc. means the specific spy for combining the embodiment or example description
Sign, structure, material or feature are contained at least one embodiment or example of the present invention.In this manual, to above-mentioned
The schematic representation of term is necessarily directed to identical embodiment or example.Moreover, the specific features of description, structure, material
Material or feature can combine in an appropriate manner in any one or more embodiments or example.In addition, not conflicting
In the case of, those skilled in the art can be by the different embodiments or example described in this specification and different embodiments
Or the feature of example is combined and combined.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Any modification, equivalent substitution and simple modifications for being made in content etc., should be included in the scope of the protection.
Claims (10)
1. the closed loop control method of the electro-hydraulic steering of special vehicle, it is characterised in that：The closed loop control method comprises the following steps,
Step 1, the actual rotational angle of real-time speed and the first steeraxle is obtained, first steeraxle is the front steering of special vehicle
Bridge；
Step 2, the target rotation angle of the second steeraxle is determined using the actual rotational angle of speed and the first steeraxle in real time, it is described
Second steeraxle is the rear steering bridge of special vehicle；
Step 3, the actual rotational angle of the second steeraxle is obtained；
Step 4, the corner deviation of the target rotation angle of second steeraxle and the actual rotational angle of the second steeraxle is calculated；
Step 5, based on proportional integral differential control mode, pulse width modulating signal is generated according to the corner deviation；
Step 6, proportional direction valve is controlled to act by the pulse width modulating signal, the proportional direction valve is used to drive in real time
Dynamic cylinder piston rod motion, the cylinder piston rod are used to adjust the second steeraxle corner, power-assisted steering in real time.
2. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 1, it is characterised in that：In step 5, when
When the dutycycle of the pulse width modulating signal of generation is less than the first preset value, by way of increasing offset for dutycycle more
New pulse width modulating signal；In step 6, proportional direction valve is controlled to act by the pulse width modulating signal after renewal；Its
In, the resistance value of the offset passing ratio direction valve determines with current value when starting action.
3. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 1 or 2, it is characterised in that：Step 6
In, after obtaining pulse width modulating signal, obtain the switching signal of the second steeraxle locking seesaw：If the switching signal
State is non-locking, then controls proportional direction valve action, the second steeraxle corner of adjustment；If the state of the switching signal is
Locking, then proportional direction valve action is not controlled, does not adjust the second steeraxle corner.
4. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 3, it is characterised in that：In step 6, root
According to the aperture size and conduction time length of pulse width modulating signal control proportional direction valve, and then second is adjusted in real time and is turned to
Bridge corner size.
5. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 1 or 4, it is characterised in that：Step 1
In, by the actual rotational angle for the first binary channels rotary angle transmitter the first steeraxle of acquisition being installed on the left of the first steeraxle；Step
In rapid 3, the actual rotational angle of the second steeraxle is obtained by being installed on the second binary channels rotary angle transmitter on the left of the second steeraxle；
The actual rotational angle of first steeraxle pass through calculate the first binary channels rotary angle transmitter gather binary channels angular signal it is equal
It is worth to, the actual rotational angle of second steeraxle is believed by calculating the binary channels corner that the second binary channels rotary angle transmitter gathers
Number be worth to.
6. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 5, it is characterised in that：In step 1, the
Angle of the actual rotational angle of one steeraxle between the direction of traffic before front vehicle wheel and steering；In step 3, the second steeraxle
Actual rotational angle for rear wheel and turn to before direction of traffic between angle.
7. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 1 or 6, it is characterised in that：Step 1
In, by the actual rotational angle of the first steeraxle compared with the first corner upper limit, if the actual rotational angle of first steeraxle
More than the first corner upper limit, then alarmed；In step 3, by the actual rotational angle of the second steeraxle and the second corner upper limit
It is compared, if the actual rotational angle of second steeraxle is more than the second corner upper limit, is alarmed.
8. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 7, it is characterised in that：Described first turn
Driven to bridge by mechanical-hydraulic, second steeraxle passes through Electro-hydraulic drive.
9. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 1 or 8, it is characterised in that：The spy
Kind vehicle is multi-axle steering special vehicle.
10. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 9, it is characterised in that：The special type
Vehicle is five-axle steering special vehicle, and the five-axle steering special vehicle has five bridges；First steeraxle include a bridge and
Two bridges, second steeraxle include four bridges and five bridges；Three bridges are non-steering axle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710466846.8A CN107351910B (en) | 2017-06-20 | 2017-06-20 | The closed loop control method of the electro-hydraulic steering of special vehicle |
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| CN201710466846.8A CN107351910B (en) | 2017-06-20 | 2017-06-20 | The closed loop control method of the electro-hydraulic steering of special vehicle |
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| CN107351910B CN107351910B (en) | 2019-08-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112172918A (en) * | 2020-09-29 | 2021-01-05 | 北京航天发射技术研究所 | Double-closed-loop control system and method for multi-axis electro-hydraulic steering system |
| CN113642101A (en) * | 2021-07-21 | 2021-11-12 | 北京航天发射技术研究所 | Fault diagnosis method and device for hydraulic power steering gear |
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| US20130075169A1 (en) * | 2011-09-22 | 2013-03-28 | Philip J. Otto | Swather Tractor with Rear Wheel Active Steering |
| CN106080753A (en) * | 2016-06-14 | 2016-11-09 | 宁波工程学院 | A kind of Electric Motor Wheel steering control system merging active steering, power-assisted steering and direct yaw moment control function and control method thereof |
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| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112172918A (en) * | 2020-09-29 | 2021-01-05 | 北京航天发射技术研究所 | Double-closed-loop control system and method for multi-axis electro-hydraulic steering system |
| CN112172918B (en) * | 2020-09-29 | 2022-04-01 | 北京航天发射技术研究所 | Double-closed-loop control system and method for multi-axis electro-hydraulic steering system |
| CN113642101A (en) * | 2021-07-21 | 2021-11-12 | 北京航天发射技术研究所 | Fault diagnosis method and device for hydraulic power steering gear |
| CN113642101B (en) * | 2021-07-21 | 2023-12-01 | 北京航天发射技术研究所 | Fault diagnosis method and device for hydraulic power steering gear |
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| CN107351910B (en) | 2019-08-20 |
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