CN108502016A - A kind of four turns of aerial work platform tires steering automatic correction methods of 4 wheel driven - Google Patents
A kind of four turns of aerial work platform tires steering automatic correction methods of 4 wheel driven Download PDFInfo
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- CN108502016A CN108502016A CN201810233485.7A CN201810233485A CN108502016A CN 108502016 A CN108502016 A CN 108502016A CN 201810233485 A CN201810233485 A CN 201810233485A CN 108502016 A CN108502016 A CN 108502016A
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000012937 correction Methods 0.000 title claims abstract description 20
- 238000006073 displacement reaction Methods 0.000 claims abstract description 33
- 239000003921 oil Substances 0.000 claims description 61
- 239000010720 hydraulic oil Substances 0.000 claims description 14
- 238000002474 experimental method Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 12
- 230000033228 biological regulation Effects 0.000 claims description 5
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 230000009471 action Effects 0.000 description 10
- 239000010727 cylinder oil Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000012530 fluid Substances 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
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- 238000009795 derivation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
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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
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
- B62D5/091—Hydraulic steer-by-wire systems, e.g. the valve being actuated by an electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1554—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles
- B62D7/1572—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles provided with electro-hydraulic control means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention discloses a kind of four turns of aerial work platform tires steering automatic correction methods of 4 wheel driven, method is obtained under various steering patterns first between driving wheel corner and other wheel steering angles, between steering cylinder piston rod displacement L and hydraulic pressure oil capacity Q and each ratio of turning solenoid valve is into the functional relation between oil stream amount q and current value I；Then steering pattern, driving wheel target rotation angle and target shift time are determined, and calculates the initial current of each wheel steering proportion magnetic valve according to fixed functional relation.In aerial work platform steering procedure, each wheel steering angle is obtained in real time, and each driven wheel theory corner is calculated according to driving wheel actual rotational angle, further according to the deviation between each driven wheel theory corner and actual rotational angle, judge that the turning velocity of each driven wheel was slow or too fast, and achieve the purpose that adjust corresponding driven wheel turning velocity by adjusting the current value of ratio of turning solenoid valve accordingly.The present invention can be improved the driving of aerial working platform chassis and turn to harmony.
Description
Technical field
The present invention relates to the wheel steering automatic deviation correction fields in four turns of technologies of aerial work platform 4 wheel driven, especially a kind of
Four turns of aerial work platform tires of 4 wheel driven turn to automatic correction method.
Background technology
Aerial work platform has extremely strong mobility, can easily conversion process place, broad covered area of constructing.Wherein
Four-wheel independent steering drive system has greater flexibility, stronger cross-country power.
At present in four turns of aerial work platform steering procedures of 4 wheel driven, nearside wheel and outboard wheel ratio of turning valve electric current initial value
Be arranged it is identical, turn to when nearside wheel turning velocity it is constant, according to the error of outboard wheel theory corner and actual rotational angle, to outside
It rotates to proportioning valve current value and implements to adjust, complete the corner correction of outboard wheels.Its existing defect has：
(1) nearside wheel is identical as the initial current setting of outboard wheel, then initial corner is equal, according to Ackermann steering original
Reason, nearside wheel corner is greater than outboard wheel corner, both sides wheel while going to theoretical position is allowed, in current steering control system
The strategy that outboard wheel waits for nearside wheel rotation is devised, outboard wheel ratio of turning valve dead electricity waits for nearside wheel close to desired value, this
Kind setting causes the frequent power-on and power-off of outboard wheel ratio of turning valve, wheel also to will appear steering Caton phenomenon, reduce electric component
And vehicle operational reliability；
(2) in steering procedure, after deviation occur in outboard wheel corner actual value and desired value, outboard wheel increases according to deviation
Subtract phase induced current, to increase outboard wheel turning velocity, to reduce deviation.But only simple adjusting outboard wheel steering is dynamic in this way
The correction mode of work is time-consuming longer, and correction can cause outboard wheel tyre skidding to wear not in time, reduces and turns to ride comfort.
Four turns of aerial work platforms of existing 4 wheel driven, not only steering correction control strategy is relatively simple, is susceptible to tire
Slippery conditions lead to tire wear, turn to the problem of frequent power-on and power-off switching of solenoid valve can cause electric component reliability to reduce,
And also there is very big room for promotion in terms of Turning travel control accuracy.
Invention content
The object of the present invention is to provide a kind of four turns of aerial work platform tires of 4 wheel driven to turn to automatic correction method and system,
Reducing aerial working platform chassis outside tire correction in steering procedure leads to the phenomenon that interim card occur not in time, improves high-altitude
The driving on job platform chassis and steering harmony.
The technical solution that the present invention takes is：A kind of four turns of aerial work platform tires steering automatic correction methods of 4 wheel driven,
Including：
S1 carries out the diversion experiments of aerial work platform, records the steering procedure data under variant steering pattern；
S2 obtains steering driving wheel rotational angle theta under each steering pattern0With other wheel steering angle θnBetween functional relation；
S3 is obtained based on the steering procedure data of S1 records under each steering pattern, in steering procedure, vehicle wheel rotation direction
With the relationship of steering cylinder retracted position, the functional relation between each wheel steering angle θ and corresponding steering cylinder piston rod displacement L,
And each steering cylinder stretch contracting length L and big chamber oil inlet quantity small chamber oil inlet quantity Q functional relation；
S4 obtains the type selecting for the ratio of turning solenoid valve for controlling each steering cylinder, obtains the ratio of turning of each respective model
Solenoid valve aerial work platform system liquid depress into the functional relation between oil stream amount q and current value I；
S5 determines the rotation direction, target rotation angle range and target shift time of steering pattern and driving wheel；It is described
Target rotation angle range includes start angle and target angle；
The target rotation angle angle of each driven wheel is calculated according to the crank degree of driving wheel；
S6 is determined according to the functional relation between S2-S4 obtained θ and L, between L and Q and between q and I based on S5
Target shift time and crank degree, calculate the current value I of driving wheel and each ratio of turning solenoid valve of driven wheel as initial
Electric current I0；
S7 obtains the actual rotational angle angle value of each wheel in real time in aerial work platform steering procedure；According to driving wheel
Actual rotational angle angle value θ0, the θ based on S2 acquisitions0With θnBetween functional relation, the theoretical corner of each driven wheel is calculated
Angle value θn；
S8, by the theoretical crank degree value θ of each driven wheelnWith actual rotational angle angle value θn' compared, calculate corner angle
Spend deviation delta θ=θn-θn′；
Set deviation allowable range [Δ θmin,Δθmax]；If crank degree deviation delta θ is in [Δ θmin,Δθmax] in range,
It is then not necessarily to correction, is otherwise turned to according to deviation size and wheel current goal, judges wheel steering speed to be too fast or excessively slow,
Then the current value that solenoid valve is accordingly turned to by adjusting corresponding wheel, changes the steering angular velocity of corresponding wheel, until each vehicle
Wheel redirect to target rotation angle angle.
When aerial work platform turns to, the piston rod collapsing length of steering cylinder depends on oil cylinder oil inlet flow (L/
Min), oil cylinder oil inlet flow is by ratio of turning solenoid valve control again.The current value size of ratio of turning solenoid valve determines valve
Core openings of sizes, and then determine hydraulic fluid flow rate.One steering cylinder of control is flexible to need two ratio of turning solenoid valves, wherein
One overhanging by controlling big chamber oil inlet flow control cylinder piston rod, another is by controlling small chamber oil inlet flow control oil cylinder
Piston rod inside contracts.
Four runner tire of aerial working platform vehicle 4 wheel driven provided by the invention turns to system for automatically correcting and is applied to four turns of 4 wheel driven
On aerial work platform, for inner and outer wheel, corner is different in steering, at the beginning of corresponding ratio of turning valve is arranged
Value when deviation occur in outboard wheel theory corner and actual rotational angle in steering procedure, can adjust inside, outboard wheel turning rate simultaneously
Example valve current value, corrects the angular deviation of outboard wheel in time, ensures to turn to smooth-going, improves vehicle riding stability.
Further, in S1, the steering pattern includes two rotary-die types, four rotary-die types and diagonal pattern.In two rotary-die types
Only front-wheel can turn to；Four wheels can turn in four rotary-die types, but front-wheel is opposite with rear-axle steering；In diagonal pattern
Four wheels can turn to, and four wheel steering directions and angle are all consistent.
Preferably, the steering procedure data of S1 records include：The wheel of each wheel currently deflects shape in record experimentation
State data, vehicle wheel rotation bearing data, steering cylinder piston rod retracted position data, wheel steering angle data and each steering cylinder
Piston rod displacement data.The present invention is directed to each steering pattern, carries out multiple diversion experiments respectively, records multi-group data.
In step S2, since aerial work platform structure has been determined, functional relation between each wheel steering angle oil its own
Structural constant determines, therefore is data that are known or can directly measuring acquisition, then under each steering pattern, driving wheel corner and other vehicles
Functional relation between wheel corner can measure for given data or directly acquisition.
In step S3, the wheel steering angle data of each wheel based on S1 records and each steering cylinder piston rod displacement number
According to the functional relation between each wheel steering angle and corresponding steering cylinder piston rod displacement is calculated.
Preferably, it is linear relationship in S3, between each wheel steering angle θ and steering cylinder piston rod displacement L, relational expression is：
L=k θ+b (1)
K is coefficient in formula (1), and b is constant.According to experimental verification, relational expression is consistent for four wheels, relational expression
In k and b value can according to many experiments data substitute into be calculated.
Preferably, when S1 carries out diversion experiments, wheel steering angle changes within the scope of -45~45 degree, steering cylinder piston rod
Displacement changes within the scope of -75~75mm.The various normal operating conditions of aerial work platform can be covered, are carried for subsequent correction
For authentic data basis.
Preferably, in step S3, each steering cylinder stretch contracting length L and big chamber oil inlet quantity the function of small chamber oil inlet quantity Q close
System includes：
Big chamber oil inlet oil cylinder displacement and hydraulic oil oil inlet quantity Q1Relationship calculation formula be：
Q1=L1*S1 (2)
L in formula (2)1Displacement, S are stretched for oil cylinder1For steering cylinder piston base area；
Small chamber oil inlet oil cylinder displacement and hydraulic oil oil inlet quantity Q2Relationship calculation formula be：
Q2=L2*S2 (3)
L in formula (3)2It condenses shifting for oil cylinder, S2The area after piston rod area is removed for piston base.
Steering cylinder piston base area and piston rod area are the data that can actually obtain.Large and small chamber is into oil stream
Amount is different from the calculation formula of relationship between displacement, therefore same steering cylinder is stretched, the flow of hydraulic oil needed for contracting same distance
It is different.
Preferably, in step S6, it is based on target shift time T and crank degree, calculates the corresponding ratio of turning electromagnetism of wheel
The initial current I of valve0Including：
S61, according to the piston rod telescopic displacement L of the corresponding steering cylinder of each wheel target rotation angle angle calculation；
S62 is calculated according to piston rod telescopic displacement L during turning to always, and steering cylinder hydraulic oil changes capacity Q；
S63 calculates the averaged hydraulic oil stream amount in steering procedure, i.e., is into oil stream amount according to target shift time T：
S64 obtains the initial of each ratio of turning solenoid valve using the functional relation q=f (I) between S4 obtained q and I
Electric current is：
I0=f-1[(kθ+b)*S/T] (5)。
For the ratio of turning solenoid valve of different model, according to model or experiment, can be obtained in different system hydraulic levels
Under, the relationship matched curve between percentage of current value and flow of pressurized magnitude, and then corresponding functional relation q=f (I) is obtained,
For the prior art.
Preferably, in S8, when crank degree deviation delta θ is not in [Δ θmin,Δθmax] in range, rectified a deviation as follows：
If wheel current goal turns to turn left, and Δ θ ＜ Δs θmin, then it is judged as working as front driven wheel turning velocity mistake
Slowly, increase the electric current of corresponding driven wheel left-hand rotation ratio of turning solenoid valve at this time；Otherwise Δ θ ＞ Δs θmax, then it is judged as current driven
The electric current for reducing corresponding driven wheel left-hand rotation ratio of turning solenoid valve at this time to excessive velocities is rotated, while increasing driving wheel left-hand rotation
The electric current of ratio of turning solenoid valve；
If wheel current goal turns to turn right, and Δ θ ＜ Δs θmin, then it is judged as working as front driven wheel turning velocity mistake
Soon, the electric current of corresponding driven wheel right-hand rotation ratio of turning solenoid valve is reduced at this time, while increasing driving wheel right-hand rotation ratio of turning electromagnetism
The electric current of valve；Otherwise Δ θ ＞ Δs θmax, then it is judged as when front driven wheel turning velocity is excessively slow, increasing corresponding driven wheel at this time and turning right
The electric current of ratio of turning solenoid valve, while reducing the electric current of driving wheel right-hand rotation ratio of turning solenoid valve.
Further, in S8, when being judged as when front driven wheel turning velocity is excessively slow or too fast, increasing or decreasing corresponding driven
It is also corresponding to decrease or increase the corresponding ratio of turning of driving wheel target diversion while taking turns corresponding ratio of turning electromagnetic valve current
Electromagnetic valve current.
Preferably, the deviation allowable range that S8 is set is [- 5,5].
Further, S8 of the present invention, can be according to the size of angular deviation, according to every 1 degree of deviation when carrying out current regulation
Add drop current value 1mA is adjusted, and deviation add drop current value also may be provided at 1mA or so.
Advantageous effect
(1) initial current value setting fining：Driving wheel and driven wheel initial current size are according to outside in steering procedure
The angle relation of tire carries out electric current refinement.
(2) correction current increment refinement：When corner deviation occurs in outboard wheel, while medial and lateral wheel turning velocity is adjusted,
Achieve the purpose that outboard wheel is rectified a deviation in time.
It is inclined due to turning to outboard wheel angle that the present invention solves four turns of aerial work platform steering control systems of current 4 wheel driven
The problem of wheel steering interim card caused by difference is corrected not in time and backswing, by the way that inwardly turned, outboard wheels turning rate is accurately arranged
Example valve electric current initial value and outboard wheels corner be when there is deviation, at the same adjust medial and lateral wheel steering proportioning valve current value and
When rectify a deviation, improve and turn to ride comfort, harmony, reduce tire wear, improve and turn to electric component and Life of Tyre.
Description of the drawings
Fig. 1 show steering control system schematic block diagram；
Fig. 2 show a kind of aerial work platform course changing control flow diagram of specific embodiment of the present invention；
Fig. 3 show a kind of steering method for correcting error flow diagram of specific embodiment of the present invention；
Fig. 4 show percentage of current value of the ratio of turning solenoid valve under different hydraulic pressure and the pass between flow of pressurized magnitude
It is matched curve schematic diagram.
Specific implementation mode
It is further described below in conjunction with the drawings and specific embodiments.
The method for correcting error of the present invention is suitable for four turns of aerial work platform tire steering control systems of 4 wheel driven shown in FIG. 1,
System includes controller, hydraulic system and real-time monitoring unit, and real-time monitoring unit includes that the corner being installed on each wheel passes
Sensor and the oil cylinder working-pressure sensor being installed on each steering cylinder；Hydraulic system includes being respectively used to drive each steering cylinder
Hydraulic drive mechanism；Control system controls the fortune of each steering cylinder in hydraulic system by controlling the current value of ratio of turning valve
Row；
The angular signal of each rotary angle transmitter acquisition corresponding wheel is transmitted to controller, and each oil cylinder working-pressure sensor acquires phase
The pressure signal of oil cylinder is answered to be transmitted to controller；
Controller controls each hydraulic pressure in hydraulic drive unit according to the wheel steering angle signal and oil cylinder working-pressure signal received
The operation of driving mechanism, to control corresponding cylinder action, to change wheel steering angle.
Four turns of aerial work platform tires of 4 wheel driven of the present invention turn to automatic correction method, including：
S1 carries out the diversion experiments of aerial work platform, records the steering procedure data under variant steering pattern；
S2 obtains steering driving wheel rotational angle theta under each steering pattern0With other wheel steering angle θnBetween functional relation；
S3 is obtained based on the steering procedure data of S1 records under each steering pattern, in steering procedure, vehicle wheel rotation direction
With the relationship of steering cylinder retracted position, the functional relation between each wheel steering angle θ and corresponding steering cylinder piston rod displacement L,
And each steering cylinder stretch contracting length L and big chamber oil inlet quantity small chamber oil inlet quantity Q functional relation；
S4 obtains the type selecting for the ratio of turning solenoid valve for controlling each steering cylinder, obtains the ratio of turning of each respective model
Solenoid valve aerial work platform system liquid depress into the functional relation between oil stream amount q and current value I (with reference to figure 4)；
S5 determines the rotation direction, target rotation angle range and target shift time of steering pattern and driving wheel；It is described
Target rotation angle range includes start angle and target angle；
The target rotation angle angle of each driven wheel is calculated according to the crank degree of driving wheel；
S6 is determined according to the functional relation between S2-S4 obtained θ and L, between L and Q and between q and I based on S5
Target shift time and crank degree, calculate the current value I of driving wheel and each ratio of turning solenoid valve of driven wheel as initial
Electric current I0；
S7 obtains the actual rotational angle angle value of each wheel in real time in aerial work platform steering procedure；According to driving wheel
Actual rotational angle angle value θ0, the θ based on S2 acquisitions0With θnBetween functional relation, the theoretical corner of each driven wheel is calculated
Angle value θn；
S8, by the theoretical crank degree value θ of each driven wheelnWith actual rotational angle angle value θn' compared, calculate corner angle
Spend deviation delta θ=θn-θn′；
Set deviation allowable range [Δ θmin,Δθmax]；If crank degree deviation delta θ is in [Δ θmin,Δθmax] in range,
It is then not necessarily to correction, is otherwise turned to according to deviation size and wheel current goal, judges wheel steering speed to be too fast or excessively slow,
Then the current value that solenoid valve is accordingly turned to by adjusting corresponding wheel, changes the steering angular velocity of corresponding wheel, until each vehicle
Wheel redirect to target rotation angle angle.
When aerial work platform turns to, the piston rod collapsing length of steering cylinder depends on oil cylinder oil inlet flow (L/
Min), oil cylinder oil inlet flow is by ratio of turning solenoid valve control again.The current value size of ratio of turning solenoid valve determines valve
Core openings of sizes, and then determine hydraulic fluid flow rate.One steering cylinder of control is flexible to need two ratio of turning solenoid valves, wherein
One overhanging by controlling big chamber oil inlet flow control cylinder piston rod, another is by controlling small chamber oil inlet flow control oil cylinder
Piston rod inside contracts.
When carrying out diversion experiments, when S1 carries out diversion experiments, wheel steering angle becomes the present invention within the scope of -45~45 degree
Change, steering cylinder piston rod displacement changes within the scope of -75~75mm.The steering procedure data of record include：Record was tested
Current deflection state data of the wheel of each wheel in journey, vehicle wheel rotation bearing data, steering cylinder piston rod retracted position data,
Wheel steering angle data and each steering cylinder piston rod displacement data.The present invention is directed to each steering pattern, is repeatedly turned respectively
To experiment, multi-group data is recorded.
In step S2, the functional relation under each steering pattern between driving wheel corner and other wheel steering angles is made according to high-altitude
Industry platform structure constant calculations obtain.
In step S3, the wheel steering angle data of each wheel based on S1 records and each steering cylinder piston rod displacement number
According to the functional relation between each wheel steering angle and corresponding steering cylinder piston rod displacement is calculated.
It is linear relationship, relational expression that can be obtained between each wheel steering angle θ and steering cylinder piston rod displacement L according to diversion experiments
For：
L=k θ+b (1)
K is coefficient in formula (1), and b is constant.According to experimental verification, relational expression is consistent for four wheels, relational expression
In k and b value can according to many experiments data substitute into be calculated.
In step S3, the functional relation of each steering cylinder Shen contracting length L and big chamber into the small chamber hydraulic pressure oil capacity Q of You Liuliang
Including：
Big chamber oil inlet oil cylinder displacement and hydraulic oil oil inlet quantity Q1Relationship calculation formula be：
Q1=L1*S1 (2)
L in formula (2)1Displacement, S are stretched for oil cylinder1For steering cylinder piston base area；
Small chamber oil inlet oil cylinder displacement and hydraulic oil oil inlet quantity Q2Relationship calculation formula be：
Q2=L2*S2 (3)
L in formula (3)2It condenses shifting for oil cylinder, S2The area after piston rod area is removed for piston base.
Steering cylinder piston base area and piston rod area are the data that can actually obtain.Large and small chamber is into oil stream
Amount is different from the calculation formula of relationship between displacement, therefore same steering cylinder is stretched, the flow of hydraulic oil needed for contracting same distance
It is different.
In step S6, it is based on target shift time T and crank degree, calculates the initial of the corresponding ratio of turning solenoid valve of wheel
Electric current I0Including：
S61, according to the piston rod telescopic displacement L of the corresponding steering cylinder of each wheel target rotation angle angle calculation；
S62 is calculated according to piston rod telescopic displacement L during turning to always, and steering cylinder hydraulic oil changes capacity Q；
S63 calculates the averaged hydraulic oil stream amount in steering procedure, i.e., is into oil stream amount according to target shift time T：
S64 obtains the initial of each ratio of turning solenoid valve using the functional relation q=f (I) between S4 obtained q and I
Electric current is：
I0=f-1[(kθ+b)*S/T] (5)。
For the ratio of turning solenoid valve of different model, according to model or experiment, can be obtained in different system hydraulic levels
Under, the relationship matched curve between percentage of current value and flow of pressurized magnitude, and then corresponding functional relation q=f (I) is obtained,
For the prior art.
Since the theoretical steering angle of each driven wheel has been acquired according to driving wheel actual steering angle, and S and T it is known that
Therefore the initial current of each wheel can be obtained using formula (5).
Refering to what is shown in Fig. 3, in step S8, when crank degree deviation delta θ is not in [Δ θmin,Δθmax] in range, carry out such as
Lower correction：
If wheel current goal turns to turn left, and Δ θ ＜ Δs θmin, then it is judged as working as front driven wheel turning velocity mistake
Slowly, increase the electric current of corresponding driven wheel left-hand rotation ratio of turning solenoid valve at this time；Otherwise Δ θ ＞ Δs θmax, then it is judged as current driven
The electric current for reducing corresponding driven wheel left-hand rotation ratio of turning solenoid valve at this time to excessive velocities is rotated, while increasing driving wheel left-hand rotation
The electric current of ratio of turning solenoid valve；
If wheel current goal turns to turn right, and Δ θ ＜ Δs θmin, then it is judged as working as front driven wheel turning velocity mistake
Soon, the electric current of corresponding driven wheel right-hand rotation ratio of turning solenoid valve is reduced at this time, while increasing driving wheel right-hand rotation ratio of turning electromagnetism
The electric current of valve；Otherwise Δ θ ＞ Δs θmax, then it is judged as when front driven wheel turning velocity is excessively slow, increasing corresponding driven wheel at this time and turning right
The electric current of ratio of turning solenoid valve, while reducing the electric current of driving wheel right-hand rotation ratio of turning solenoid valve.
Further, in S8, when being judged as when front driven wheel turning velocity is excessively slow or too fast, increasing or decreasing corresponding driven
It is also corresponding to decrease or increase the corresponding ratio of turning of driving wheel target diversion while taking turns corresponding ratio of turning electromagnetic valve current
Electromagnetic valve current.
In order to reduce the burden of controller, while considering that the requirement of actual steering stationarity, the present invention allow centainly inclined
Difference exists, and such as sets tolerance ranging from [- 5,5], i.e., -5 °≤allow corner deviation≤5 °：It is not needed within the scope of this
Current regulation need not rectify a deviation.
Embodiment
One, the determination about ratio of turning solenoid valve initial current under different steering patterns：
In step S1 of the present invention, the steering pattern includes two rotary-die types, four rotary-die types and diagonal pattern.In two rotary-die types
Only front-wheel can turn to；Four wheels can turn in four rotary-die types, but front-wheel is opposite with rear-axle steering；In diagonal pattern
Four wheels can turn to, and four wheel steering directions and angle are all consistent.
Under two rotary-die types, two trailing wheels of control turn left, the electromagnetic valve current initial value of right-hand rotation is set as 0, when vehicle turns left, respectively
It is setting value (calculate obtain through the invention) to control the solenoid valve initial value that the near front wheel turns left, off-front wheel turns left；Control the near front wheel
The solenoid valve initial value that right-hand rotation, off-front wheel are turned right is 0, and when vehicle is turned right, corresponding electromagnetic valve current is arranged opposite.
Under four rotary-die types, when vehicle turns left, the near front wheel left-hand rotation is controlled respectively, off-front wheel turns left, left rear wheel is turned right, off hind wheel
The solenoid valve initial value of right-hand rotation is setting value (being obtained by calculating)；And control the near front wheel right-hand rotation, off-front wheel right-hand rotation, a left rear wheel left side
Turn, the solenoid valve initial value that off hind wheel turns left is 0, when vehicle is turned right, corresponding solenoid valve setting is opposite.
Under diagonal pattern, when vehicle turns left, the near front wheel left-hand rotation is controlled respectively, off-front wheel turns left, left rear wheel turns left, off hind wheel
The solenoid valve initial value of left-hand rotation is setting value (being obtained by calculating), and actually four electromagnetic valve current initial values are equal；And it controls
The solenoid valve initial value that the near front wheel is turned right, off-front wheel is turned right, left rear wheel is turned right, off hind wheel is turned right is 0, when vehicle is turned right, corresponding electricity
Magnet valve setting is opposite.
Steering pattern is subdivided into：Four turn left, four turn right, two turn left, two turn right, diagonal is turned left, diagonal is turned right.
Ratio of turning electromagnetism valve PWM signal (percentage of current) and hydraulic fluid flow rate and hydraulic system pressure is shown in Fig. 4
The relationship of power chooses homologous thread in figure according to real vehicle hydraulic system pressure, then can derivation function relational expression according to curve.
Wherein, electromagnetic valve current percentage=solenoid valve actual current value/solenoid valve maximum current value
The maximum current value of solenoid valve is constant value, therefore can be according to the relationship of the electromagnetic valve current percentage and flow that obtain
Obtain the relationship q=f (I) of solenoid valve actual current and hydraulic fluid flow rate.
In the present invention, according to the structure feature of aerial work platform four-wheel, driving wheel corner and other driven wheels can be obtained
It is proportionate relationship, i.e. θ between cornern/θ0=kn, knFor the proportionality coefficient of n-th driven wheel corner and driving wheel corner, therefore should
The initial current I of driven wheel n0nIt also can be according to the initial current I of driving wheel01It is：I0n=I01*kn。
Two, about aerial work platform course changing control process
With reference to figure 1, aerial working platform chassis steering control system constitute as shown in Figure 1, including sensor monitoring system,
Hydraulic system, controller are all connected by communication cable between controller and other each modules.Sensor monitoring system is responsible for
The current working condition of Real-time Feedback apparatus for work：Rotary angle transmitter monitors each tire corner；Oil cylinder working-pressure sensor is responsible for prison
Survey the operating pressure of oil cylinder；HYDRAULIC CONTROL SYSTEM executing agency acts.Controller sends out control instruction and receives the anti-of each module
Feedforward information.
Aerial work platform is in actual steering, ranging from -45 °~45 ° of wheel steering angle；When wheel steering angle≤0 °, wheel
In left avertence state；When 0 ° of wheel steering angle ＞, wheel is in right avertence state.
The pattern that turns particularly to of wheel is：Left avertence is turned left (wheel is in left avertence state and turns left), left avertence is turned right
(wheel is in left avertence state and turns right), right avertence are turned left (wheel is in right avertence state and turns left), right avertence is turned right (at wheel
It turns right in right avertence state).
Crank degree deviation of the present invention is the difference of current time wheel theory corner value and wheel actual rotational angle value
Value, is divided into positive and negative.
Referring to figs. 2 and 3, after determining various correlation functions, the present embodiment control flow is：
1, steering pattern (two turns, four turns, diagonal) is determined；
2, judge current wheel steering state (left avertence, right avertence), determine current wheel steering pattern (left avertence turn left,
Left avertence is turned right, right avertence is turned left, right avertence is turned right) and driving wheel target rotation angle angle and target shift time；
3, according to steering pattern, driving wheel target rotation angle angle and target shift time, the initial current of each wheel is calculated
I01~I0n；
4, it controls each wheel to start to turn to according to initial current, obtains each wheel actual rotational angle angle in steering procedure in real time
Degree；
5, each driven wheel for calculating the theoretical corner of each driven wheel according to real-time driving wheel actual rotational angle, and then calculating
Crank degree deviation；
6, each driven wheel crank degree deviation is judged whether in the deviation range of permission, if need not then rectify a deviation, if
Otherwise it needs to be rectified a deviation according to wheel steering pattern.
During correction, if wheel current goal turns to turn left, and Δ θ ＜ Δs θmin, then it is judged as working as front driven wheel
Turning velocity is excessively slow, increases the electric current of corresponding driven wheel left-hand rotation ratio of turning solenoid valve at this time；Otherwise Δ θ ＞ Δs θmax, then judge
It is too fast to work as front driven wheel turning velocity, the electric current of corresponding driven wheel left-hand rotation ratio of turning solenoid valve is reduced at this time, is increased simultaneously
The electric current of driving wheel left-hand rotation ratio of turning solenoid valve；
If wheel current goal turns to turn right, and Δ θ ＜ Δs θmin, then it is judged as working as front driven wheel turning velocity mistake
Soon, the electric current of corresponding driven wheel right-hand rotation ratio of turning solenoid valve is reduced at this time, while increasing driving wheel right-hand rotation ratio of turning electromagnetism
The electric current of valve；Otherwise Δ θ ＞ Δs θmax, then it is judged as when front driven wheel turning velocity is excessively slow, increasing corresponding driven wheel at this time and turning right
The electric current of ratio of turning solenoid valve, while reducing the electric current of driving wheel right-hand rotation ratio of turning solenoid valve.
Specifically, electromagnetic valve current regulation flow process is as shown in Figure 3 under different go to action patterns：
(1) when wheel is under left avertence left-hand rotation steering pattern, ＜ -5 ° of driven wheel deviation, driven wheel go to action is excessively slow, from
Driving wheel left-hand rotation proportioning valve electric current increases, and driving wheel left-hand rotation proportioning valve electric current is reduced；
(2) when wheel is under left avertence right-hand rotation steering pattern, ＜ -5 ° of driven wheel deviation, driven wheel go to action is too fast, from
Driving wheel left-hand rotation proportioning valve electric current is reduced, and driving wheel left-hand rotation proportioning valve electric current increases；
(3) wheel is under left avertence left-hand rotation steering pattern, and 5 ° of driven wheel deviation ＞, driven wheel go to action is too fast, driven
It takes turns left-hand rotation proportioning valve electric current to reduce, driving wheel left-hand rotation proportioning valve electric current increases；
(4) wheel is under left avertence right-hand rotation steering pattern, and 5 ° of driven wheel deviation ＞, driven wheel go to action is excessively slow, driven
It takes turns left-hand rotation proportioning valve electric current to increase, driving wheel left-hand rotation proportioning valve electric current is reduced；
(5) wheel is under right avertence left-hand rotation steering pattern, and 5 ° of driven wheel deviation ＞, driven wheel go to action is too fast, driven
It takes turns left-hand rotation proportioning valve electric current to reduce, driving wheel left-hand rotation proportioning valve electric current increases；
(6) wheel is under right avertence right-hand rotation steering pattern, and 5 ° of driven wheel deviation ＞, driven wheel go to action is excessively slow, driven
It takes turns left-hand rotation proportioning valve electric current to increase, driving wheel left-hand rotation proportioning valve electric current is reduced；
(7) wheel is under right avertence left-hand rotation steering pattern, and ＜ -5 ° of driven wheel deviation, driven wheel go to action is excessively slow, driven
It takes turns left-hand rotation proportioning valve electric current to increase, driving wheel left-hand rotation proportioning valve electric current is reduced；
(8) wheel is under right avertence right-hand rotation steering pattern, and ＜ -5 ° of driven wheel deviation, driven wheel go to action is too fast, driven
It takes turns left-hand rotation proportioning valve electric current to reduce, driving wheel left-hand rotation proportioning valve electric current increases.
When carrying out current regulation, it can be adjusted according to every 1 degree of deviation add drop current value 1mA according to the size of angular deviation
Section, deviation add drop current value also may be provided at 1mA or so.
The present invention takes turns the corner difference in steering for inner and outer, at the beginning of corresponding ratio of turning valve is respectively set
Value when deviation occur in outboard wheel theory corner and actual rotational angle in steering procedure, can adjust inside, outboard wheel turning rate simultaneously
Example valve current value, corrects the angular deviation of outboard wheel in time, ensures to turn to smooth-going, improves vehicle riding stability.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of four turns of aerial work platform tires of 4 wheel driven turn to automatic correction method, characterized in that including：
S1 carries out the diversion experiments of aerial work platform, records the steering procedure data under variant steering pattern；
S2 obtains steering driving wheel rotational angle theta under each steering pattern0With other wheel steering angle θnBetween functional relation；
S3, based on S1 record steering procedure data, obtain under each steering pattern, in steering procedure, vehicle wheel rotation direction with turn
To the relationship of oil cylinder retracted position, the functional relation between each wheel steering angle θ and corresponding steering cylinder piston rod displacement L, and
Each steering cylinder stretch contracting length L and big chamber oil inlet quantity small chamber oil inlet quantity Q functional relation；
S4 obtains the type selecting for the ratio of turning solenoid valve for controlling each steering cylinder, obtains the ratio of turning electromagnetism of each respective model
Valve aerial work platform system liquid depress into the functional relation between oil stream amount q and current value I；
S5 determines the rotation direction, target rotation angle range and target shift time of steering pattern and driving wheel；The target
Angle range includes start angle and target angle；
The target rotation angle angle of each driven wheel is calculated according to the crank degree of driving wheel；
S6, according to the functional relation between S2-S4 obtained θ and L, between L and Q and between q and I, the mesh determined based on S5
Turnaround time and crank degree are marked, calculates the current value I of driving wheel and each ratio of turning solenoid valve of driven wheel as initial current
I0；
S7 obtains the actual rotational angle angle value of each wheel in real time in aerial work platform steering procedure；According to the reality of driving wheel
Border crank degree value θ0, the θ based on S2 acquisitions0With θnBetween functional relation, the theoretical crank degree of each driven wheel is calculated
Value θn；
S8, by the theoretical crank degree value θ of each driven wheelnWith actual rotational angle angle value θn' compared, it is inclined to calculate crank degree
Poor Δ θ=θn-θn′；
Set deviation allowable range [Δ θmin,Δθmax]；If crank degree deviation delta θ is in [Δ θmin,Δθmax] in range, then without
It needs to rectify a deviation, is otherwise turned to according to deviation size and wheel current goal, judge wheel steering speed to be too fast or excessively slow, then
The current value that solenoid valve is accordingly turned to by adjusting corresponding wheel, changes the steering angular velocity of corresponding wheel, until each wheel turns
To target rotation angle angle.
2. according to the method described in claim 1, it is characterized in that, in S1, the steering pattern include two rotary-die types, four rotary-die types
With diagonal pattern.
3. according to the method described in claim 1, it is characterized in that, S1 record steering procedure data include：Record experimentation
In the current deflection state data of wheel of each wheel, vehicle wheel rotation bearing data, steering cylinder piston rod retracted position data, vehicle
Take turns angle data and each steering cylinder piston rod displacement data.
4. according to the method described in claim 1, it is characterized in that, in S3, each wheel steering angle θ and steering cylinder piston rod displacement L
Between be linear relationship, relational expression is：
L=k θ+b (1)
K is coefficient in formula (1), and b is constant.
5. according to the method described in claim 4, it is characterized in that, in step S3, each steering cylinder stretch contracting length L and big chamber into
Oil mass the functional relation of small chamber oil inlet quantity Q include：
Big chamber oil inlet oil cylinder displacement and hydraulic oil oil inlet quantity Q1Relationship calculation formula be：
Q1=L1*S1 (2)
L in formula (2)1Displacement, S are stretched for oil cylinder1For steering cylinder piston base area；
Small chamber oil inlet oil cylinder displacement and hydraulic oil oil inlet quantity Q2Relationship calculation formula be：
Q2=L2*S2 (3)
L in formula (3)2It condenses shifting for oil cylinder, S2The area after piston rod area is removed for piston base.
6. according to the method described in claim 5, it is characterized in that, in step S6, be based on target shift time T and crank degree,
Calculate the initial current I of the corresponding ratio of turning solenoid valve of wheel0Including：
S61, according to the piston rod telescopic displacement L of the corresponding steering cylinder of each wheel target rotation angle angle calculation；
S62 is calculated according to piston rod telescopic displacement L during turning to always, and steering cylinder hydraulic oil changes capacity Q；
S63 calculates the averaged hydraulic oil stream amount in steering procedure, i.e., is into oil stream amount according to target shift time T：
S64 obtains the initial current of each ratio of turning solenoid valve using the functional relation q=f (I) between S4 obtained q and I
For：
I0=f-1[(kθ+b)*S/T] (5)。
7. according to the method described in claim 1, it is characterized in that, in S8, when crank degree deviation delta θ is not in [Δ θmin,Δ
θmax] in range, rectified a deviation as follows：
If wheel current goal turns to turn left, and Δ θ ＜ Δs θmin, then be judged as when front driven wheel turning velocity it is excessively slow, this
The electric current of the corresponding driven wheel left-hand rotation ratio of turning solenoid valves of Shi Zengjia；Otherwise Δ θ ＞ Δs θmax, then it is judged as turning when front driven wheel
To excessive velocities, the electric current of corresponding driven wheel left-hand rotation ratio of turning solenoid valve is reduced at this time, while being increased driving wheel and being turned to
The electric current of proportion magnetic valve；
If wheel current goal turns to turn right, and Δ θ ＜ Δs θmin, then be judged as when front driven wheel turning velocity it is too fast, this
When reduce the electric current of corresponding driven wheel right-hand rotation ratio of turning solenoid valve, while increasing the electricity of driving wheel right-hand rotation ratio of turning solenoid valve
Stream；Otherwise Δ θ ＞ Δs θmax, then be judged as when front driven wheel turning velocity it is excessively slow, increase corresponding driven wheel right-hand rotation turning rate at this time
The electric current of example solenoid valve, while reducing the electric current of driving wheel right-hand rotation ratio of turning solenoid valve.
8. according to the method described in claim 7, it is characterized in that, in S8, when being judged as when front driven wheel turning velocity is excessively slow or
It is too fast, it is also corresponding to decrease or increase actively while increasing or decreasing corresponding driven wheel corresponding ratio of turning electromagnetic valve current
Take turns the corresponding ratio of turning electromagnetic valve current of target diversion.
9. according to the method described in claim 7, it is characterized in that, the deviation allowable range that S8 is set is [- 5,5].
10. according to the method described in claim 7, it is characterized in that, S8 is when carrying out current regulation, according to the big of angular deviation
It is small, it is adjusted according to every 1 degree of deviation add drop current value 1mA.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112960613A (en) * | 2021-03-10 | 2021-06-15 | 徐工消防安全装备有限公司 | Overhead working truck |
| CN114460931A (en) * | 2021-12-23 | 2022-05-10 | 广东嘉腾机器人自动化有限公司 | Ribbon navigation deviation rectifying method, storage medium and electronic equipment |
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| CN108502016B (en) | 2019-07-23 |
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