CN109625080B - Electric control hydraulic steering system, automobile crane and electric control hydraulic steering control method - Google Patents
Electric control hydraulic steering system, automobile crane and electric control hydraulic steering control method Download PDFInfo
- Publication number
- CN109625080B CN109625080B CN201811410195.1A CN201811410195A CN109625080B CN 109625080 B CN109625080 B CN 109625080B CN 201811410195 A CN201811410195 A CN 201811410195A CN 109625080 B CN109625080 B CN 109625080B
- Authority
- CN
- China
- Prior art keywords
- length
- axle
- power
- cylinder
- oil cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
-
- 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
Landscapes
- 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 an electric control hydraulic steering system, an automobile crane and an electric control hydraulic steering control method. The method comprises the following steps: acquiring the current length of a power-assisted oil cylinder of a first axle; and adjusting the length of at least one booster oil cylinder of the second axle by taking the current length of the booster oil cylinder of the first axle as a reference so as to synchronize the wheel turning angles of all the steering axles. The invention solves the technical problems that the error is larger and the tire wear is easy to accelerate when the wheel rotation angle coordination mode of the multi-axle steering large-scale engineering special vehicle provided by the related technology is used for driving at a common small rotation angle.
Description
Technical Field
The invention relates to the field of control of engineering special vehicles, in particular to an electric control hydraulic steering system, an automobile crane and an electric control hydraulic steering control method.
Background
At present, in order to meet the requirement of multi-axle multi-mode steering of an all-terrain automobile crane in the related art, an electric control hydraulic steering system is generally required, and the traditional pull rod transmission mechanism cannot meet the requirement.
In the process of controlling the all-terrain automobile crane by the electric control hydraulic steering system, the theoretical rotating angle of each wheel is determined by the Ackerman principle. The vertical extension lines of the wheels intersect at the steering center during steering. In a plurality of axles arranged from an all-ground automobile crane, adjacent axles at the front half part of an automobile body are mechanically connected through a pull rod to realize synchronous rotation, and wheels at the left side and the right side of the same axle realize synchronous rotation through a steering trapezoid mechanism. The rear half part of the vehicle body is controlled by an electric control hydraulic steering system adjacent to the left wheel of the axle, so that synchronous rotation is realized. In addition, the angle sensor is attached to the left side of the axle that performs the steering function, and the rotation angle of the wheel around the kingpin is detected. The oil cylinder pushes the wheels of the steering axle to rotate.
Considering that the control error is inevitable, according to the design requirement of the actual use condition of the automobile on the wheel rotation angle error, the use frequency of the small rotation angle is higher, and the use frequency of the large rotation angle is lower in the running process of the automobile, so that the rotation angle error in the most common small rotation angle range is reduced as much as possible so as to reduce the abrasion of the tire in high-speed running, and the rotation angle error in the less common large rotation angle range can be properly widened.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
At least part of embodiments of the invention provide an electric control hydraulic steering system, an automobile crane and an electric control hydraulic steering control method, so as to at least solve the technical problems that the error is large and the tire wear is easy to accelerate when the vehicle runs at a common small corner in a multi-axle steering large-scale engineering special vehicle corner coordination mode provided in the related technology.
According to an embodiment of the present invention, there is provided an electronically controlled hydraulic steering system including: the vehicle comprises a controller and a plurality of axles which are sequentially arranged in the direction from the vehicle head to the vehicle tail, wherein length sensors are arranged at two ends of a power-assisted oil cylinder of a first axle and at least one second axle in the plurality of axles, the first axle is the axle which is closest to the vehicle head and used for guiding the vehicle to steer, the at least one second axle is the axle which has a steering function under the guidance of the first axle, the length sensors are used for sensing the length change of the power-assisted oil cylinder of the first axle, and the controller is used for synchronously adjusting the length of the power-assisted oil cylinder of the at least one second axle according to the length change.
Optionally, the system further includes: an electro-hydraulic proportional valve; the electro-hydraulic proportional valve is used for adjusting the length of the power-assisted oil cylinder of at least one second axle by controlling the extension and retraction of the power-assisted oil cylinder under the control of the controller.
Optionally, the first axle and any one of the at least one second axle each comprise: the automobile steering system comprises an axle, a steering trapezoidal arm, a power-assisted oil cylinder and an oil cylinder support, wherein the axle is respectively connected with the steering trapezoidal arm and the oil cylinder support, a first oil cylinder hinge point of the power-assisted oil cylinder is arranged on the steering trapezoidal arm, a second oil cylinder hinge point of the power-assisted oil cylinder is arranged on the oil cylinder support, and length sensors are arranged at the first oil cylinder hinge point and the second oil cylinder hinge point.
Optionally, the controller is configured to set a current length of the power cylinder of the first axle as a target value and a current length of the power cylinder of the at least one second axle as a detected value, and control the electro-hydraulic proportional valve to adjust the current length of the power cylinder of the at least one second axle according to an absolute value of a difference between the target value and the detected value until the wheel rotation angles of the respective steering axles are synchronized.
According to an embodiment of the present invention, there is also provided a truck crane including: the electric control hydraulic steering system.
According to one embodiment of the present invention, there is also provided an electronic control hydraulic steering control method, which is applied to the electronic control hydraulic steering system, and includes:
acquiring the current length of a power-assisted oil cylinder of a first axle; and adjusting the length of at least one booster oil cylinder of the second axle by taking the current length of the booster oil cylinder of the first axle as a reference so as to synchronize the wheel turning angles of all the steering axles.
Optionally, obtaining the current length of the power cylinder of the first axle comprises: sensing the length change of the power-assisted oil cylinder of the first axle through length sensors arranged at two ends of the power-assisted oil cylinder of the first axle to obtain the initial length of the power-assisted oil cylinder of the first axle; and adjusting the initial length of the power-assisted cylinder of the first axle according to the first length and the second length to obtain the current length of the power-assisted cylinder of the first axle, wherein the first length is the length between the first cylinder hinge point of the power-assisted cylinder of the first axle and the rotation center of the main pin, and the second length is the length between the second cylinder hinge point of the power-assisted cylinder of the first axle and the rotation center of the main pin.
Optionally, adjusting the initial length of the power cylinder of the first axle according to the first length and the second length, and obtaining the current length of the power cylinder of the first axle includes: acquiring initial values of a first length, a second length and a wheel corner; and calculating the current length of the power-assisted oil cylinder of the first axle by using the first length, the second length and the initial value of the wheel rotation angle.
Optionally, adjusting the length of the power cylinder of at least one second axle based on the current length of the power cylinder of the first axle to synchronize the wheel rotation angles on the respective axles comprises: setting the current length of a power-assisted oil cylinder of a first axle as a target value; the method comprises the following steps of detecting, namely sensing the length change of the power-assisted oil cylinder of at least one second axle through length sensors arranged at two ends of the power-assisted oil cylinder of at least one second axle to obtain the current length of the power-assisted oil cylinder of at least one second axle; comparing, namely comparing whether the current length of the power cylinder of at least one second axle is consistent with the current length of the power cylinder of the first axle or not; if yes, stopping adjusting, and if not, continuing to execute the control step; and a control step, namely controlling the electro-hydraulic proportional valve to adjust the length of the power-assisted oil cylinder of at least one second axle, and returning to the detection step.
According to an embodiment of the present invention, there is also provided an electronic control hydraulic steering control apparatus, which is applied to the electronic control hydraulic steering system, the apparatus including:
the acquisition module is used for acquiring the current length of the power-assisted oil cylinder of the first axle; and the adjusting module is used for adjusting the length of the power cylinder of at least one second axle by taking the current length of the power cylinder of the first axle as a reference so as to synchronize the wheel rotation angles of all the steering axles.
Optionally, the obtaining module includes: the sensing unit is used for sensing the length change of the power-assisted oil cylinder of the first axle through length sensors arranged at two ends of the power-assisted oil cylinder of the first axle to obtain the initial length of the power-assisted oil cylinder of the first axle; and the calculation unit is used for adjusting the initial length of the power-assisted cylinder of the first axle according to a first length and a second length to obtain the current length of the power-assisted cylinder of the first axle, wherein the first length is the length between a first cylinder hinge point of the power-assisted cylinder of the first axle and the rotation center of the master pin, and the second length is the length between a second cylinder hinge point of the power-assisted cylinder of the first axle and the rotation center of the master pin.
Optionally, the calculation unit comprises: the acquisition subunit is used for acquiring initial values of the first length, the second length and the wheel rotation angle; and the calculation subunit is used for calculating the current length of the power cylinder of the first axle by using the first length, the second length and the initial value of the wheel rotation angle.
Optionally, the adjustment module comprises: the setting unit is used for setting the current length of the power-assisted oil cylinder of the first axle as a target value; the detection unit is used for sensing the length change of the power-assisted oil cylinder of at least one second axle through length sensors arranged at two ends of the power-assisted oil cylinder of at least one second axle to obtain the current length of the power-assisted oil cylinder of at least one second axle; the comparison unit is used for comparing whether the current length of the power cylinder of the at least one second axle is consistent with the current length of the power cylinder of the first axle or not; if yes, stopping adjustment, and if not, turning to a control unit; and the control unit is used for controlling the electro-hydraulic proportional valve to adjust the length of the power-assisted oil cylinder of at least one second axle and returning to the detection unit.
In at least some embodiments of the invention, a method of obtaining the current length of the power cylinder of the first axle is adopted, and the length of the power cylinder of at least one second axle is adjusted by taking the current length of the power cylinder of the first axle as a reference, so that the wheel rotation angles of each steering axle are synchronized, and the purpose that the length value obtained by the length sensor can be converted into an angle value is achieved, so that the rotation angles of each steering wheel meet the ackermann principle is achieved, and the technical effects of low cost, strong reliability and high control precision are achieved, thereby solving the technical problems that the error is large and the tire wear is easy to accelerate when the wheel rotation angles of the special multi-axle steering large-scale engineering vehicle runs at the commonly used small rotation angles in a coordination mode provided by the related technology.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic illustration of a portion of an axle according to an alternate embodiment of the present invention;
FIG. 2 is a flow chart of an electronically controlled hydraulic steering control method according to one embodiment of the present invention;
fig. 3 is a block diagram of an electrically controlled hydraulic steering control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with one embodiment of the present invention, there is provided an embodiment of an electronically controlled hydraulic steering system, wherein the steps illustrated in the flowchart of the drawings may be performed in a computer system, such as a set of computer executable instructions, and wherein, although a logical ordering is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than that illustrated herein.
The system embodiment can be implemented in a truck crane. This automatically controlled hydraulic steering system includes: the vehicle comprises a controller and a plurality of axles which are sequentially arranged in the direction from the vehicle head to the vehicle tail, wherein length sensors are arranged at two ends of a power-assisted oil cylinder of a first axle and at least one second axle in the plurality of axles, the first axle is the axle which is closest to the vehicle head and used for guiding the vehicle to steer, the at least one second axle is the axle which has a steering function under the guidance of the first axle, the length sensors are used for sensing the length change of the power-assisted oil cylinder of the first axle, and the controller is used for synchronously adjusting the length of the power-assisted oil cylinder of the at least one second axle according to the length change.
In the electric control hydraulic steering system, an angle sensor is replaced by a length sensor arranged at two ends of a power-assisted oil cylinder. After the angle sensor is installed, the center of the angle sensor needs to be coaxial with the center of the main pin, and the requirement on manufacturing precision is high; and the installation of the length sensor only needs to determine two-point positions. In addition, the control error of the angle coordination by adopting the angle sensor does not change along with the position of the rotation angle; however, the length error controlled by the length sensor is insensitive to the influence of the steering angle when the vehicle is in a straight line running state or a small steering angle state, and is more suitable for the requirement of a vehicle steering system. The length value acquired by the length sensor can be converted into an angle value, so that the turning angle of each wheel meets the Ackerman principle. Considering that the length error of system control cannot be avoided, the sensitivity of the length error to the angle in the straight running or small rotation angle state of the vehicle is low by designing the position of each hinge point, and the requirement of the actual working condition of the vehicle is better met.
Optionally, the system further includes: an electro-hydraulic proportional valve; the electro-hydraulic proportional valve is used for adjusting the length of the power-assisted oil cylinder of at least one second axle by controlling the extension and retraction of the power-assisted oil cylinder under the control of the controller.
Optionally, fig. 1 is a partial structural diagram of an axle according to an alternative embodiment of the present invention, and as shown in fig. 1, each of the first axle and the at least one second axle includes an axle 1, a steering trapezoid arm 2, a power cylinder 3 and a cylinder support 4, wherein the axle is connected to the steering trapezoid arm and the cylinder support, respectively, a first cylinder hinge point of the power cylinder is disposed on the steering trapezoid arm, a second cylinder hinge point of the power cylinder is disposed on the cylinder support, and length sensors are disposed at the first cylinder hinge point and the second cylinder hinge point, and O is a rotation center of the kingpin, a is a distance from the cylinder hinge point to the rotation center of the kingpin, b is a distance from the cylinder hinge point on the steering trapezoid arm to the rotation center of the kingpin, c is a distance from the cylinder hinge point on the steering trapezoid arm to the cylinder support hinge point, i.e., a length of the cylinder, β is an initial position of a wheel corner, and θ is an included angle between the cylinder hinge point of the trapezoid arm and the kingpin.
As can be seen from the above figure, a, b and c form a closed triangle.
From the cosine law, cos β ═ (a ^2+ b ^2-c ^2)/(2 ^ a ^ b);
β＝arccos[(a^2+b^2-c^2)/(2*a*b)]；
then it can be further calculated by the above formula:
wherein the content of the first and second substances,
sensitivity of the effect of a change in c-value on β -value
The function is analyzed:
the variable c is theoretically over a range (a-b, a + b) which, when c is a-b or c is a + b, yields
Further, to
Derivation operation when
Then, obtaining:
wherein the content of the first and second substances,
is the minimum value.
Thus, the following conclusions can be drawn from the above analysis:
when the length of the oil cylinder
When the angle theta of the steering oil cylinder is designed to be 90 degrees when the steering oil cylinder is actually arranged, the vehicle is in a straight running state or a small turning angle state, and the influence of the control error on the oil cylinder length c on the angle is minimum, wherein the control error meets the requirements of a vehicle steering system.
By integrating the analysis, when the mounting position of the ball hinge of the steering trapezoidal arm oil cylinder, the length of the power-assisted oil cylinder and the position of the oil cylinder support related to the turning of the vehicle axle are designed, when the wheels are in a straight-going state, all size relations are satisfied:
and in the process, the length error generated by the length sensor has the minimum influence on the rotating angle, so that the optimal design for meeting the running of the vehicle is realized.
Optionally, the controller is configured to set a current length of the power cylinder of the first axle as a target value and a current length of the power cylinder of the at least one second axle as a detected value, and control the electro-hydraulic proportional valve to adjust the current length of the power cylinder of the at least one second axle according to an absolute value of a difference between the target value and the detected value until the wheel rotation angles of the respective steering axles are synchronized.
In the related art, the control error of the angle coordination by adopting the angle sensor does not change along with the position of the rotation angle. Compared with the prior art, the length error controlled by the length sensor has insensitive influence on the steering angle when the vehicle is in a straight line running state or a small steering angle state, has high control precision on the angle, and is more suitable for the requirement of a vehicle steering system.
By replacing the angle sensor with a length sensor installed at both ends of the cylinder, the current length of the booster cylinder of the first axle can be set to a target value after detecting the current length of the booster cylinder of the first axle. And then comparing the detected current length of the power-assisted oil cylinder of the at least one second axle with a target value, controlling an electro-hydraulic proportional valve according to the absolute value of the difference between the target value and the detected value to adjust the current length of the power-assisted oil cylinder of the at least one second axle, and enabling the turning angles of the axles to meet the Ackerman principle according to the corresponding relation between the length and the turning angles.
A length sensor is adopted to form an electric control hydraulic steering system, the length of a hydraulic boosting oil cylinder of each wheel is controlled, and the wheel corner synchronization is realized; the length error generated by the control system has insensitive influence on the steering angle when the vehicle is in a straight line running state or a small steering angle state, and the control precision of the state on the angle is high, so that the control system is more suitable for the requirement of a vehicle steering system.
In the operating environment of the electric control hydraulic steering system, one embodiment of the invention also provides an electric control hydraulic steering control method. Fig. 2 is a flowchart of an electrically controlled hydraulic steering control method according to an embodiment of the present invention, as shown in fig. 2, the method including the steps of:
step S22, acquiring the current length of the power cylinder of the first axle;
and step S24, taking the current length of the power cylinder of the first axle as a reference, and adjusting the length of at least one power cylinder of the second axle to synchronize the wheel rotation angles of all the steering axles.
Through the steps, the method for acquiring the current length of the power-assisted cylinder of the first axle can be adopted, the length of the power-assisted cylinder of at least one second axle is adjusted by taking the current length of the power-assisted cylinder of the first axle as a reference, so that the wheel turning angles of all the steering axles are synchronous, and the purpose that the length value acquired by the length sensor can be converted into an angle value is achieved, so that the purpose that each wheel turning angle meets the Ackerman principle is achieved, the technical effects of low cost, high reliability and high control precision are achieved, and the technical problems that when a multi-axle steering large-scale engineering special vehicle provided in the related technology runs at a common small turning angle, the error is large, and the tire wear is easy to accelerate are solved.
Optionally, in step S22, the obtaining the current length of the power cylinder of the first axle may include the following steps:
step S221, sensing the length change of the power-assisted oil cylinders of the first axle through length sensors arranged at two ends of the power-assisted oil cylinders of the first axle to obtain the initial length of the power-assisted oil cylinders of the first axle;
step S222, adjusting an initial length of the servo cylinder of the first axle according to a first length and a second length to obtain a current length of the servo cylinder of the first axle, where the first length is a length between a first cylinder hinge point of the servo cylinder of the first axle and a rotation center of the kingpin, and the second length is a length between a second cylinder hinge point of the servo cylinder of the first axle and the rotation center of the kingpin.
As can be seen from fig. 1, a (i.e., the first length), b (i.e., the second length), and c (i.e., the length of the power cylinder of the first axle) form a closed triangle, since a and b are determined at factory setting and are not changed under normal conditions, the value of c only needs to be calculated by the angles β between a and b and the angles β between a and b.
From the cosine law, cos β ═ (a ^2+ b ^2-c ^2)/(2 ^ a ^ b);
β＝arccos[(a^2+b^2-c^2)/(2*a*b)]；
then it can be further calculated by the above formula:
wherein the content of the first and second substances,
sensitivity of the effect of a change in c-value on β -value
The function is analyzed:
the variable c is theoretically over a range (a-b, a + b) which, when c is a-b or c is a + b, yields
Further, to
Derivation operation when
Then, obtaining:
wherein the content of the first and second substances,
is the minimum value.
Optionally, in step S222, adjusting the initial length of the power cylinder of the first axle according to the first length and the second length to obtain the current length of the power cylinder of the first axle may include the following steps:
step S2221, acquiring initial values of a first length, a second length and a wheel rotation angle;
step S2222, the current length of the power cylinder of the first axle is calculated by using the first length, the second length and the initial value of the wheel rotation angle.
As shown in fig. 1, when the cylinder length is long
When the angle theta of the steering oil cylinder is designed to be 90 degrees when the steering oil cylinder is actually arranged, the vehicle is in a straight-line running or small-turning-angle state, the influence of the control error on the oil cylinder length c on the angle is minimum, and the state meets the requirements of a vehicle steering system.
Length generated by length sensorThe error has the minimum influence on the turning angle, and the optimal design for meeting the running of the vehicle is realized.
Optionally, in step S24, adjusting the length of the power cylinder of at least one second axle based on the current length of the power cylinder of the first axle to synchronize the wheel rotation angles of the respective axles may include performing the steps of:
step S241, setting the current length of the power cylinder of the first axle as a target value;
step S242, sensing the length change of the power-assisted oil cylinder of at least one second axle through length sensors arranged at two ends of the power-assisted oil cylinder of at least one second axle to obtain the current length of the power-assisted oil cylinder of at least one second axle;
step S243, comparing whether the current length of the power cylinder of at least one second axle is consistent with the current length of the power cylinder of the first axle or not; if yes, stopping the adjustment, if no, continuing to execute step S244;
and step S244, controlling the electro-hydraulic proportional valve to adjust the length of the power cylinder of at least one second axle, and returning to the step S242.
After sensing the length change of the power cylinders of the first axle through the length sensors arranged at the two ends of the power cylinders of the first axle to obtain the initial length of the power cylinders of the first axle and adjusting the length of the cylinders to minimize the influence of the length error on the wheel turning angle β, the length change of the power cylinders of at least one second axle needs to be further sensed through the length sensors arranged at the two ends of the power cylinders of at least one second axle to obtain the current length of the power cylinders of at least one second axle.
In the operating environment of the electric control hydraulic steering system, one embodiment of the invention also provides an electric control hydraulic steering control device. Fig. 3 is a block diagram showing the structure of an electrically controlled hydraulic steering control apparatus according to an embodiment of the present invention, as shown in fig. 3, the apparatus including: the obtaining module 10 is used for obtaining the current length of the power-assisted oil cylinder of the first axle; and the adjusting module 20 is used for adjusting the length of the power cylinder of at least one second axle by taking the current length of the power cylinder of the first axle as a reference so as to synchronize the wheel rotation angles of all the steering axles.
Optionally, the obtaining module 10 includes: the sensing unit (not shown in the figure) is used for sensing the length change of the power-assisted oil cylinder of the first axle through length sensors arranged at two ends of the power-assisted oil cylinder of the first axle to obtain the initial length of the power-assisted oil cylinder of the first axle; and a calculating unit (not shown in the figure) for adjusting an initial length of the power cylinder of the first axle according to a first length and a second length to obtain a current length of the power cylinder of the first axle, wherein the first length is a length between a first cylinder hinge point of the power cylinder of the first axle and the rotation center of the kingpin, and the second length is a length between a second cylinder hinge point of the power cylinder of the first axle and the rotation center of the kingpin.
Optionally, the calculation unit (not shown in the figure) comprises: an acquisition subunit (not shown in the drawings) for acquiring initial values of the first length, the second length, and the wheel rotation angle; and a calculating subunit (not shown in the figure) for calculating the current length of the power cylinder of the first axle by using the first length, the second length and the initial value of the wheel rotation angle.
Optionally, the adjusting module 20 comprises: a setting unit (not shown in the drawings) for setting a current length of the assist cylinder of the first axle to a target value; the detection unit (not shown in the figures) is used for sensing the length change of the at least one booster cylinder of the second axle through length sensors arranged at two ends of the at least one booster cylinder of the second axle to obtain the current length of the at least one booster cylinder of the second axle; a comparison unit (not shown in the figure) for comparing whether the current length of the power cylinder of the at least one second axle is consistent with the current length of the power cylinder of the first axle; if yes, stopping adjustment, and if not, turning to a control unit; and the control unit (not shown in the figure) is used for controlling the electro-hydraulic proportional valve to adjust the length of the power cylinder of the at least one second axle and returning to the detection unit.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. An electronically controlled hydraulic steering system, comprising: the vehicle comprises a controller and a plurality of axles which are sequentially arranged in the direction from the head to the tail, wherein length sensors are arranged at two ends of a power-assisted cylinder of a first axle and at least one second axle in the plurality of axles, the first axle is the axle which is closest to the head and used for guiding the steering of the vehicle, the at least one second axle is the axle which has the steering function under the guidance of the first axle, the length sensors are used for sensing the length change of the power-assisted cylinder of the first axle to obtain the initial length of the power-assisted cylinder of the first axle, and the initial length of the power-assisted cylinder of the first axle is adjusted according to the first length and the second length to obtain the current length of the power-assisted cylinder of the first axle, and the first length is the length between the hinge point of the first cylinder of the power-assisted cylinder of the first axle and the rotation center of a main pin, the second length is the length between a second cylinder hinge point of the power cylinder of the first axle and the rotation center of the main pin, and the controller is used for adjusting the length of the power cylinder of the at least one second axle by taking the current length of the power cylinder of the first axle as a reference.
2. The system of claim 1, further comprising: an electro-hydraulic proportional valve; the electro-hydraulic proportional valve is used for adjusting the length of the power cylinder of the at least one second axle by controlling the extension and retraction of the power cylinder under the control of the controller.
3. The system of claim 1, wherein each of the first axle and the at least one second axle comprises: the automobile steering device comprises an axle, a steering trapezoidal arm, a power-assisted oil cylinder and an oil cylinder support, wherein the axle is respectively connected with the steering trapezoidal arm and the oil cylinder support, a first oil cylinder hinge point of the power-assisted oil cylinder is arranged on the steering trapezoidal arm, a second oil cylinder hinge point of the power-assisted oil cylinder is arranged on the oil cylinder support, and the length sensor is arranged at the first oil cylinder hinge point and the second oil cylinder hinge point.
4. The system of claim 1 or 3, wherein the controller is configured to set a current length of the power cylinder of the first axle to a target value and a current length of the power cylinder of the at least one second axle to a detected value, and to control the electro-hydraulic proportional valve to adjust the current length of the power cylinder of the at least one second axle according to an absolute value of a difference between the target value and the detected value until the wheel rotation angles on the respective steering axles are synchronized.
5. A truck crane, comprising: the electrically controlled hydraulic steering system of any one of claims 1 to 4.
6. An electrically controlled hydraulic steering control method, characterized in that the method is applied to the electrically controlled hydraulic steering system according to any one of claims 1 to 4, the method comprising:
acquiring the current length of a power-assisted oil cylinder of a first axle;
taking the current length of the power-assisted oil cylinder of the first axle as a reference, and adjusting the length of at least one power-assisted oil cylinder of a second axle to synchronize the wheel rotation angles of all the steering axles;
wherein, obtain the current length of the helping hand hydro-cylinder of first axle includes: sensing the length change of the power-assisted oil cylinder of the first axle through length sensors arranged at two ends of the power-assisted oil cylinder of the first axle to obtain the initial length of the power-assisted oil cylinder of the first axle; and adjusting the initial length of the power cylinder of the first axle according to a first length and a second length to obtain the current length of the power cylinder of the first axle, wherein the first length is the length between a first cylinder hinge point of the power cylinder of the first axle and a rotation center of a main pin, and the second length is the length between a second cylinder hinge point of the power cylinder of the first axle and the rotation center of the main pin.
7. The method of claim 6, wherein adjusting the initial length of the power cylinder of the first axle based on the first length and the second length to obtain the current length of the power cylinder of the first axle comprises:
acquiring the variation of the first length, the second length and the wheel rotation angle on initial values;
and calculating the current length of the power-assisted oil cylinder of the first axle by using the first length, the second length and the variation of the wheel rotation angle on the initial value.
8. The method of claim 6, wherein adjusting the length of the power cylinder of the at least one second axle to synchronize the wheel angle on each axle based on the current length of the power cylinder of the first axle comprises:
setting the current length of a power cylinder of the first axle as a target value;
a detection step, namely sensing the length change of the power-assisted cylinder of the at least one second axle through length sensors arranged at two ends of the power-assisted cylinder of the at least one second axle to obtain the current length of the power-assisted cylinder of the at least one second axle;
comparing, namely comparing whether the current length of the power cylinder of the at least one second axle is consistent with the current length of the power cylinder of the first axle or not; if yes, stopping adjusting, and if not, continuing to execute the control step;
and in the control step, controlling an electro-hydraulic proportional valve to adjust the length of the power-assisted oil cylinder of the at least one second axle, and returning to the detection step.
9. An electrically controlled hydraulic steering control apparatus, characterized in that the apparatus is applied to the electrically controlled hydraulic steering system according to any one of claims 1 to 4, the apparatus comprising:
the acquisition module is used for acquiring the current length of the power-assisted oil cylinder of the first axle;
the adjusting module is used for adjusting the length of the power-assisted oil cylinder of at least one second axle by taking the current length of the power-assisted oil cylinder of the first axle as a reference so as to synchronize the wheel turning angles of all the steering axles;
wherein the acquisition module comprises: the sensing unit is used for sensing the length change of the power-assisted oil cylinder of the first axle through length sensors arranged at two ends of the power-assisted oil cylinder of the first axle to obtain the initial length of the power-assisted oil cylinder of the first axle; and the calculation unit is used for adjusting the initial length of the power cylinder of the first axle according to a first length and a second length to obtain the current length of the power cylinder of the first axle, wherein the first length is the length between a first cylinder hinge point of the power cylinder of the first axle and a rotation center of the kingpin, and the second length is the length between a second cylinder hinge point of the power cylinder of the first axle and the rotation center of the kingpin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811410195.1A CN109625080B (en) | 2018-11-23 | 2018-11-23 | Electric control hydraulic steering system, automobile crane and electric control hydraulic steering control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811410195.1A CN109625080B (en) | 2018-11-23 | 2018-11-23 | Electric control hydraulic steering system, automobile crane and electric control hydraulic steering control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109625080A CN109625080A (en) | 2019-04-16 |
| CN109625080B true CN109625080B (en) | 2020-07-24 |
Family
ID=66069275
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811410195.1A Active CN109625080B (en) | 2018-11-23 | 2018-11-23 | Electric control hydraulic steering system, automobile crane and electric control hydraulic steering control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109625080B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12017699B2 (en) | 2021-02-19 | 2024-06-25 | Caterpillar Inc. | System for detecting failure of an Ackerman-type steering mechanism |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11745552B2 (en) | 2021-02-19 | 2023-09-05 | Caterpillar Inc. | System for detecting failure of an articulated steering mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000344124A (en) * | 1999-06-04 | 2000-12-12 | Shinko Electric Co Ltd | Steering device for four-wheel and motor axle integrated type moving body |
| CN104443025A (en) * | 2014-11-08 | 2015-03-25 | 福州大学 | Electro-hydraulic servo pure rolling steering system for multi-axis vehicle and control method |
| CN106828597A (en) * | 2016-12-27 | 2017-06-13 | 徐州重型机械有限公司 | Transfer, hanging oil cylinder, control system, method and crane |
| CN107140017A (en) * | 2017-04-12 | 2017-09-08 | 西华大学 | The orchard management power platform of four-wheel steering four-wheel drive |
| CN107972730A (en) * | 2017-12-19 | 2018-05-01 | 中联重科股份有限公司 | Steeraxle linked system and crane |
-
2018
- 2018-11-23 CN CN201811410195.1A patent/CN109625080B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000344124A (en) * | 1999-06-04 | 2000-12-12 | Shinko Electric Co Ltd | Steering device for four-wheel and motor axle integrated type moving body |
| CN104443025A (en) * | 2014-11-08 | 2015-03-25 | 福州大学 | Electro-hydraulic servo pure rolling steering system for multi-axis vehicle and control method |
| CN106828597A (en) * | 2016-12-27 | 2017-06-13 | 徐州重型机械有限公司 | Transfer, hanging oil cylinder, control system, method and crane |
| CN107140017A (en) * | 2017-04-12 | 2017-09-08 | 西华大学 | The orchard management power platform of four-wheel steering four-wheel drive |
| CN107972730A (en) * | 2017-12-19 | 2018-05-01 | 中联重科股份有限公司 | Steeraxle linked system and crane |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12017699B2 (en) | 2021-02-19 | 2024-06-25 | Caterpillar Inc. | System for detecting failure of an Ackerman-type steering mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109625080A (en) | 2019-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106553688B (en) | Control method, system and the four-wheel drive cars of four-wheel drive cars | |
| EP3564095B1 (en) | Steering device, suspension cylinder, control system and method, and crane | |
| CA2297881C (en) | Electronically controlled ackerman steering | |
| CN111094106B (en) | Synchronization of actuators in steer-by-wire systems | |
| US20180273005A1 (en) | System and method for steering compensation | |
| US10029728B2 (en) | Vehicle adaptive steering control apparatus | |
| US20140019006A1 (en) | Steering and control systems for a three-wheeled vehicle | |
| US20120025477A1 (en) | Method Of Automatically Changing Wheel Toe Angle | |
| CN103085871B (en) | The system and method controlling vehicle using system in wheel | |
| US20160227698A1 (en) | An assembly comprising a chassis for a variable-track machinery equipment such as a sprayer-type agricultural machinery equipment or a straddle machinery equipment | |
| CN107826164A (en) | A kind of multi-wheel steering system and control method based on electric power-assisted | |
| US9919736B2 (en) | Vehicle adaptive steering control apparatus | |
| US11459021B2 (en) | Steer-by-wire steering system with a feedback actuator having redundant sleep-mode rotor position sensors | |
| US20120059552A1 (en) | Rear wheel toe angle control device and method for calibrating a reference position of an electric actuator in a rear wheel toe angle control device | |
| CN109625080B (en) | Electric control hydraulic steering system, automobile crane and electric control hydraulic steering control method | |
| US8180530B2 (en) | Steering control device | |
| EP1892180B1 (en) | Variable toe angle control system for a vehicle | |
| Chiu et al. | The critical hitch angle for jackknife avoidance during slow backing up of vehicle–trailer systems | |
| CN107161206B (en) | Vehicle and its steering reversal control device, method | |
| KR102019947B1 (en) | Car wheel steering system | |
| CN104554433A (en) | Steering systems and methods for supporting the straight running of vehicle and the vehicle | |
| CN111017017A (en) | System, method and equipment for controlling differential speed of chassis supporting legs of aerial work platform | |
| CN102717726A (en) | Electronic differential control method and electrically driven mine car using same | |
| CN111017005A (en) | Torque control method and system for electric power-assisted transport vehicle | |
| AU2017276355B2 (en) | Improved articulated vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200929 Address after: No.202 Xuanfu street, Xuanhua District, Zhangjiakou, Hebei Province Patentee after: Hebei Leisa Heavy Construction Machinery Co.,Ltd. Address before: 102206, Beijing, Shahe, Changping District Town, Sha Yang Road, Lao Wan Village North Patentee before: BEIQI FOTON MOTOR Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230616 Address after: No. 25, Wanjiang Avenue, Laofeng Town, Economic Development Zone, Anqing City, Anhui Province 246008 Patentee after: Rexa Co.,Ltd. Address before: No.202 Xuanfu street, Xuanhua District, Zhangjiakou, Hebei Province Patentee before: Hebei Leisa Heavy Construction Machinery Co.,Ltd. |
|
| TR01 | Transfer of patent right |