CN110155206A - A kind of active independent steering assembly for heavily loaded floor truck - Google Patents
A kind of active independent steering assembly for heavily loaded floor truck Download PDFInfo
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- CN110155206A CN110155206A CN201910339905.4A CN201910339905A CN110155206A CN 110155206 A CN110155206 A CN 110155206A CN 201910339905 A CN201910339905 A CN 201910339905A CN 110155206 A CN110155206 A CN 110155206A
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- steering
- shaft
- retarder
- control
- electric machine
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C7/00—Non-inflatable or solid tyres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to a kind of active independent steering assemblies for heavily loaded floor truck, it is mainly directed towards and carries unmanned trolley, including steering motor, electric machine controller, retarder, electric machine support, splined sleeve, shaft, car body connecting plate, tapered roller bearing, deep groove ball bearing, locking nut, solid tyre and stop nut in heavy duty.Electric machine controller can be by CAN communication, steered wheel angle position signal in real time parsing CAN line, and steering motor is driven to rotate, and motor carries out reduction of speed torque increase by retarder, rotates shaft to corresponding angle using closed loop control method.It is different from traditional single-wheel, installation is there are two solid tyre in shaft of the present invention, steering moment needed for capable of promoting the bearing capacity of steering system and reducing shaft；The control system of steering motor enhances applicability and performance of the steering system under the conditions of various working, is suitable for heavy duty and carries unmanned trolley using interference control amount and saturation control method is increased.
Description
Technical field
The present invention relates to a kind of active independent steering assemblies, only more particularly, to a kind of active for heavily loaded floor truck
Vertical transfer.
Background technique
The transfer robot widespread adoption in the workshop of various industries becomes weight during contemporary item circulation
The sport technique segment wanted.In some adverse circumstances or dangerous working condition, although constantly reinforcing safety education publicity in working site,
Due to fatigue or fault safety accident still often occurs for staff.And it is easy to cause under the working environment of part chronic
Disease influences the health of staff.Therefore, many countries are all actively replacing hand labor using automated machine,
Especially in workshop, large area uses AGV automatic transporting trolley.However, the development of unmanned floor truck, it is necessary to
Active Steering Technique is relied heavily on, guarantees that floor truck can reach specified target position according to the route of planning
It sets.
Unmanned technology in recent years gradually by the attention of a large number of scientific researchers, drive for nobody by good drive-by-wire chassis technology
Offer hardware foundation is provided.Line traffic control active steering most proposes concept earlier than the 1950s, carries out mainly in automotive field
Research and development and popularization.Active front steering system is widely used in transfer robot field, and machine can be guaranteed by being primarily due to active steering
People realizes turning and other pahtfinder hards traveling.The steering system of transfer robot generallys use servo driving at present, and is turning
Closed-loop control system is formed to the shaft end of axis installation grating encoder, control system mainly uses conventional PID control.Main performance
Are as follows:
The first, steering system used in traditional transfer robot generallys use single wheel model, and tire used polyurethane
Material.According to single wheel model steering characteristic, tire on the drive wheels is rotated under static or low-speed situations, most of tire and ground
It is to slide between contact surface relatively, the frictional dissipation of tire is larger, and the service life of tire is shorter, shows under severe duty
It is particularly evident；And biggish frictional force makes the steering motor selected that need to have larger steering moment, to increase the function of motor
Rate and outer dimension；Polyurethane material is unable to satisfy outdoor scene.
The second, steering system usually installs grating encoder in the shaft end of rotary shaft, is calculated by recording light gate pulse
Angle signal is fed back to controller and forms closed loop angle control system with steering engine by the angle of shaft rotation.The volume of the system
Code device is typically mounted on shaft end, increases axial size, and be often easy the damage that collided, influences the stabilization of whole system
Property.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to carry for heavy duty
The active independent steering assembly of trolley.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of active independent steering assembly for heavily loaded floor truck, including steering motor, electric machine controller, deceleration
Device, electric machine support, splined sleeve, shaft, car body connecting plate, tapered roller bearing, deep groove ball bearing, locking nut, solid wheel
Tire and stop nut, the transmission shaft of the steering motor are connected with the retarder, and the output shaft of the retarder is equipped with flower
Key, the spline are connect by the splined sleeve with the top of the shaft, and biggish transfer of torque, output shaft are able to bear
It is all made of clearance fit with the splined sleeve, the shaft and the splined sleeve, it is described to make up manufacturing and positioning errors
Shaft is connected by the tapered roller bearing and the deep groove ball bearing with the car body connecting plate, and passes through the locking
Nut and the car body connecting plate form axial restraint, are provided with the electric machine support, the motor on the car body connecting plate
The inner side and outer side of bracket is respectively arranged with the steering power assembly being made of the steering motor and the retarder and described
The bottom both ends of electric machine controller, the shaft are fixed with the solid tyre by the stop nut.
Further, the transmission shaft of the steering motor passes through for offsetting the geometric tolerance generated when assembly and reduction
The plum coupling of vibration when work is connected with the transmission shaft of the retarder, and the two is fastened by bolts, the steering
Motor uses common direct current generator, performance stabilization and in the market product comparative maturity, suitable for the inexpensive volume production of high-volume
Product development.
Further, the main body of the retarder uses cast aluminium forming, and upper and lower end face is equipped with end face seal, Neng Goushi
For the adverse circumstances under severe duty, the end face is equipped with the internal thread hole of processing, and the retarder passes through the internal screw thread
Hole is threadedly coupled with the electric machine support.
Further, integrally disposed in the retarder to have absolute angle sensor, the absolute angle sensor includes
The first gear being fixedly connected with the output shaft of the retarder and the second gear and third that are meshed with the first gear
Gear, since in first gear rotary course, second gear and the rotation of third gear are uneven, therefore can be measured according to Hall effect
Their rotation position, the current absolute angle angle value of the output shaft of the retarder under extrapolating in any position, to realize
The multiturn absolute angle of the shaft measures, and the absolute angle sensor uses PCB formula coil, passes compared to traditional electromagnetic type
Sensor, overall dimension reduces, so that the absolute angle sensor can be integrated in inside the retarder, improves entire turn
To the integrated level of device.
Further, the electric machine controller is fixed on the outside side wall of the electric machine support, by CAN bus with it is whole
Vehicle controller real time communication is internally provided with the CAN card for deflecting roller expected angle position signal in real time parsing CAN line,
Angular transducer in the expected angle position and the retarder forms closed loop, and realizes eventually by the steering motor
The angle of the output shaft of the retarder is precisely controlled.
Further, the control logic of the electric machine controller is integrated with shift control algorithm, which includes feedback control
Device, interference suppressor and compensation saturated controller processed, in which:
The feedback controller, for being accumulated according to feedback proportional control parameter set in the first preset relation, feedback
Divide control parameter, feedback differential control parameter, and the actual steering angle by obtaining inside the retarder and desired steering angle
Difference determines the first control amount of the feedback controller jointly；
The interference suppressor, for controlling gain parameter, Ji Suoji according to interference set in the second preset relation
Actual steering angle value, master control output quantity and the second control amount for determining interference suppressor of calculation；
The compensation saturated controller, for utilizing the acquisition compensation saturated controller according to third preset relation
Compensating gain parameter, the maximum torque value of the steering motor, first control amount and second control amount calculating are simultaneously true
The master control output quantity of the fixed course changing control model.
Further, the electric machine controller is set there are two connector port, one of connector port respectively with electricity
Source is connected with the steering motor, and the power supply is that entire steering system is powered and by the motor control by the connector port
Device processed controls current value range and the direction of the steering motor, so that the output torque of the steering motor is controlled, another
Plug connector port respectively with the absolute angle sensor inside the retarder and the CAN bus being connect with the entire car controller
It is connected.
Further, distance is greater than 10mm between the port of described two connector ports, for preventing the motor control
Punch-through occurs for device internal circuit, avoids power supply line and signal wire that short circuit occurs, to achieve the effect that system protection.
Further, the deep groove ball bearing, the car body connecting plate and the tapered roller bearing are by being set to
It states the inner hole on car body connecting plate and socket-connects in order with the top of the shaft along the vertical direction and connect, and pass through the locking
Though the inner ring of the deep groove ball bearing is fastened with the top of the shaft so that the shaft is connect with the vehicle body by nut
Board shaft can be rotated in the car body connecting plate to being fixedly connected.
Further, the description formula of first preset relation are as follows:
In formula, ufbFor the first control amount, kpFor feedback proportional control parameter, kiFor feedback score control parameter, kdFor feedback
Differential control parameter, e are steering angle error；
The description formula of second preset relation are as follows:
In formula, uffFor the second control amount, ufnFor the master control output quantity of rotating direction control method, initial value is set as 0,
β1、β2、β3It indicates to interfere and controls gain parameter, the adjustment parameter of a expression interference suppressor, δ expression actual steering angle value, ε,
z1、z2It is calculating intermediate quantity, z1Initial value be control start time actual steering angle value, fal indicate constructed fuction；
The description formula of the third preset relation are as follows:
ufn=umsat[(ufb+uff/b)/um]
In formula, ufnFor the master control output quantity of rotating direction control method, initial value is set as 0, umMost for steering motor
Big torque value, b be compensating gain parameter, sat indicate saturation symbol, characterization system whether be more than control amount maximum constrained.
Further, solid tyre uses solid tire, the bearing capacity of energy lifting and traversing mechanism, while reducing institute
Steering moment needed for stating shaft；The skeleton surface of the solid tire is polished using laser, then by rubber curing forming
Entire tire is formed, the bearing capacity of tire can be greatly improved, making tire is not in rubber under biggish load working condition
The phenomenon that being separated with skeleton, to improve bearing capacity.
Compared with prior art, the invention has the following advantages that
(1) solid tire there are two being symmetrically installed in shaft of the present invention, can promote the bearing capacity of steering system, together
When in steering procedure, since simple sliding friction is converted into rolling friction, steering moment needed for greatly reducing shaft；It is solid
Rubber tyre uses special moulding process, and the bearing capacity of tire can be greatly improved.
(2) absolute angle sensor of shaft of the present invention use three gear structure principles, by measurement the number of teeth it is different two
The angular position of a pinion gear extrapolates the shaft rotary corner mutually fixed with gear wheel, it can be achieved that the multi-turn of any time shaft is exhausted
To angle measurement, while the cumulative errors of grating encoding are avoided, and without finding zero-bit after trolley powers on.
(3) absolute angle sensor of shaft of the present invention designs inside retarder, keeps entire steering system more compact,
For sensor due to collisionless risk, the reliability of steering system is higher.Meanwhile retarder uses turbine and worm principle, Neng Goushi
Existing biggish transmission ratio, biggish output torque needed for can meeting.According to the self-locking effect of turbine and worm, steering system not by by
The influence for turning to countertorque is generated in pavement roughness.
(4) closed-loop control of shaft rotary corner designed by apparatus of the present invention is on the basis for combining typical error feedback control
On, using interference control amount and saturation control method is increased, makes control independent of model, fed back and controlled by typical error
System ensure that the validity of control and can easily be accommodated, and the introducing of interference suppressor is convenient for inhibiting different working conditions if not in real time
Influence with pavement conditions to steering system control effect improves the Ability of Resisting Disturbance of system.
(5) electric machine controller in the present invention can advise grade CAN signal by vehicle and be communicated with entire car controller, make
It is more standardized in CAN bus design process.
Detailed description of the invention
Fig. 1 is the structure principle chart of transfer of the present invention；
Fig. 2 is corner control flow chart of the present invention；
Fig. 3 is the working principle diagram of absolute angle sensor of the present invention；
Fig. 4 is that single-wheel of the present invention carries stress model schematic diagram；
Fig. 5 is bearing computation model schematic diagram of the present invention；
Fig. 6 is the three dimensional structure diagram of transfer of the present invention；
In figure, 1 is steering motor；2 be electric machine controller；3 be retarder；4 be electric machine support；5 be splined sleeve；6 are
Shaft；7 be car body connecting plate；8 be tapered roller bearing；9 be deep groove ball bearing；10 be locking nut；11 be solid tyre；12
For stop nut.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is a part of the embodiments of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, those of ordinary skill in the art's every other reality obtained without making creative work
Example is applied, all should belong to the scope of protection of the invention.
As shown in Figure 1, the present invention provides a kind of active independent steering assembly for heavily loaded floor truck, be mainly directed towards in
Unmanned trolley is carried in heavy duty, is different from traditional active front steering system, and the present invention is carried using two-wheel model, is improved
Steering moment needed for greatly less steering system while bearing capacity, can reduce the power and size of steering motor 1；It is adopted
Solid tyre 11 (rubber) is suitable for indoor and outdoors environment simultaneously, and the skeleton of solid rubber is using laser polishing work
Skill, then rubber material vulcanization is formed into unitary solid tire 11 (rubber) on skeleton, which can be greatly improved solid tyre
The bearing capacity of 11 (rubber)；It, can using three gear engagements and Hall effect principle by sensor integration inside retarder 3
The absolute angle information of shaft is obtained in any case；The control of closed loop corner uses anti-saturation integral principle, is greatly improved and turns
To applicability of the system under different bearer operating condition.
In the active independent steering system invented, electric machine controller 2 receives the angular signal on CAN line in real time, and
And deviation calculating is carried out by the shaft rotary corner that absolute angle sensor obtains in retarder 3, the principle meter integrated using anti-saturation
The output torque for calculating steering motor, to converse controller to the output electric current of steering motor 1, control flow chart such as Fig. 2
It is shown.
Steering motor 1 is rotated according to input current, is passed torque to turbine and worm by plum coupling and is slowed down
Device.Retarder 3 can be realized biggish rotating ratio using turbine and worm, to obtain biggish output steering moment, and benefit
With the self-locking effect of turbine and worm, steering system of the invention will not be such that shaft 6 rotates due to road surface reaction.
Retarder 3 has been internally integrated absolute angle sensor, the angle position of the output shaft for real-time measurement retarder 3
It sets.Angular transducer includes the pinion gear that a gear wheel fixed with output shaft and two have magnet, as shown in figure 3, greatly
When gear drives two pinion rotations, rotated uneven since the number of teeth of two pinion gears is different.Pinion gear is equipped with magnetic
Iron can obtain the rotation position of two pinion gears according to Hall effect and magnetoresistance measurement, to extrapolate and gear wheel
The current absolute angle angle value of the output shaft of fixed retarder 3, this method can realize the multiturn absolute angle measurement of shaft 6.It passes
Sensor is connected in electric machine controller 2 by connector and signal wire, provides actual steering angle signal for corner closed loop.
The output shaft of retarder 3 is machined with spline, and is connected by splined sleeve 5 with shaft 6, and spline can transmit larger
Steering moment, and be not necessarily to additional fasteners, be conducive to whole assembly.Shaft 6 passes through tapered roller bearing 8 and deep groove ball bearing
9 are fixed on car body connecting plate 7, and can relatively rotate with car body connecting plate 7, as shown in Figure 1.Tapered roller bearing 8 is mainly held
The impact force of horizontal direction is caused by axial load and due to pavement roughness.6 upper end of shaft makes shaft 6 using locking nut 10
Axial restraint is formed with car body connecting plate 7.
Electric machine support 4 is fixed on car body connecting plate 7, bracket is for fixing electric machine controller 2 and steering motor 1 and slowing down
The steering assembly that device 3 forms.Electric machine support 4 is made into zigzag shape, is fixed by bolts with car body connecting plate 7, is easily installed and tears open
It unloads.
Shaft 6 is designed using T-type, is finished again after being welded by two cylindrical bodies, with the machined surface of three shaft ends of guarantee
Concentricity and verticality.Solid tyre 11 (rubber) is installed by stop nut 12 and forms two-wheel steering model, solid wheel in both ends
The skeleton surface of tire 11 (rubber) is polished using laser, then by rubber curing forming to skeleton surface, is eventually formed entire solid
Tire 11 (rubber).The bearing capacity of tire can be greatly improved in the tire manufacture craft, make tire in biggish load working condition
Under be not in the phenomenon that rubber is separated with skeleton, as shown in figure 4, to improving bearing capacity.
Embodiment
The present invention relates to a kind of active independent steering assemblies for heavily loaded floor truck, are different from traditional actively independent turn
To system, present invention can apply to the floor trucks of severe duty, and meet indoor and outdoors scene simultaneously.
In designed transfer, need to determine the partial parameters of system according to practical application scene.Wherein turn to
1 power of motor and 3 reduction ratio of retarder can be adapted to according to steering resisting moment.And there are the tires of offset distance to turn in situ
In movement, steering resisting moment can refer to the calculating of tower black's formula, given formula are as follows:
M=λ G μ [(B2/8)+K2]0.5
In formula, M is steering resisting moment, unit Nm；λ is safety coefficient；G is to turn to wheel load, unit N；K is wheel
Tire center is at a distance from rotation center, unit mm；μ is surface friction coefficient；B is the width of tire, unit mm.
Rotating direction control method designed by 2 inside of electric machine controller includes feedback controller, interference suppressor and compensation
Saturated controller.The control method includes following calculating step:
(1) according to the feedback proportional control parameter of feedback controller, feedback score control parameter, feedback differential control parameter
The first control amount of feedback controller can be determined by the first preset relation of following formula with steering angle error.
In formula, ufbIt is the first control amount, kpIt is feedback proportional control parameter, is positive constant, kiIt is feedback score control
Parameter is positive constant, kdIt is feedback differential control parameter, is positive constant, e is steering angle error, for indicating that expectation turns
To the difference at angle and actual steering angle.
(2) controlling gain parameter, actual steering angle value, master control output quantity according to the interference of interference suppressor can pass through
Following second preset relation determines the second control amount of interference suppressor.
In formula, uffIt is the second control amount, ufnIt is the master control output quantity of rotating direction control method, initial value may be set to
0, β1、β2、β3It is interference control gain parameter, is positive constant, α is the adjustment parameter of interference suppressor, and δ is actual steering
Angle value, ξ, z1、z2It is to calculate intermediate quantity, z1Initial value be the actual steering angle value for controlling start time, fal function is a kind of
Constructed fuction, function expression are as follows:
(3) according to the compensation compensating gain parameter of saturated controller, the maximum torque value of steering motor, the first control amount and
Second control amount can determine the master control output quantity of rotating direction control method by third preset relation.
ufn=umsat[(ufb+uff/b)/um]
In formula, ufnThe master control output quantity of rotating direction control method, umIt is the maximum torque value of steering motor, b is that compensation increases
Beneficial parameter, sat be saturation symbol, characterize system whether be more than control amount maximum constrained.
In bearing type selecting, it is contemplated that the reaction force on the structure feature of steering system, load and road surface is straight by shaft
It connects and acts on bearing.As shown in figure 5, bottom end bearing is subjected to all loads, while considering that tire is stuck and waiting limiting conditions,
Bottom end bearing will also bear radial load, therefore design and 313 serial tapered roller bearings can be selected as supported underneath, main counteracting
Axial load can also bear larger radial load；And deep groove ball bearing can be selected as upper support in upper end, guarantees that tire does not take off
It falls, also offsets partially radially load.Bearing Selection and Design is as follows:
(1) tapered roller bearing 8 should bear axial load, also need to guarantee to avoid bearing damage when tire is stuck.Normally
When driving, the main load-bearing of bearing axial load identical with payload size, i.e. Fr ≈ 0, therefore according to mechanical design handbook data,
When Fa/Fr > e, dynamic equivalent radial load Pr=0.4Fr+YFa.Bearing designation can tentatively be chosen.
Assuming that there is the stuck limiting condition of tire, due to by Tire Friction, bearing will by biggish radial load,
Fr=(a+b)/a × f × FN, verify whether selected bearing meets Equivalent static load condition.
(2) the axial wheel side weight load that deep groove ball bearing 9 is born can almost be ignored under severe duty, and bearing
Failure mode is the limit radial load that bearing is born when tire is stuck.Radial load suffered by bearing is Fr=b/ at this time
a×f×FN, thereby determine that bearing designation.
Under normal conditions, in order to be conducive to the processing of vehicle body fishplate bar, tapered roller bearing 8 and 9 outer diameter of deep groove ball bearing will
Select same size.
The present invention is mainly directed towards heavily loaded transfer robot, and exploitation designs a kind of active for heavily loaded floor truck and independently turns
To device, as shown in Figure 6.Active independent steering system is carried using two solid tires, improves bearing capacity
Steering moment needed for very big less steering system simultaneously, to reduce the power and size of steering motor；Used solid rubber
Glue tyre framework uses laser technique for grinding, then rubber material vulcanization is formed unitary solid rubber tyre, the work on skeleton
The bearing capacity of solid tire can be greatly improved in skill, and is suitable for indoor and outdoors environment simultaneously；By sensor integration in
Inside retarder, believed using the absolute angle that three gear engagements and Hall effect principle can obtain shaft in any case
Breath；The control of closed loop corner uses anti-saturation integral principle, and applicability of the steering system under different bearer operating condition is greatly improved.
In short, the present invention provides a kind of active independent steering assembly for heavily loaded floor truck, for heavily loaded floor truck
Good wire-controlled steering system is provided, vehicle is introduced and advises grade CAN communication, keep system stability stronger.For this purpose, heavily loaded floor truck
The research of active independent steering system has important practical application value.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (10)
1. a kind of active independent steering assembly for heavily loaded floor truck, which is characterized in that including steering motor (1), motor
Controller (2), retarder (3), electric machine support (4), splined sleeve (5), shaft (6), car body connecting plate (7), taper roller axis
(8), deep groove ball bearing (9), locking nut (10), solid tyre (11) and stop nut (12) are held, the steering motor (1)
Transmission shaft is connected with the retarder (3), and the output shaft of the retarder (3) is equipped with spline, and the spline passes through the flower
Key sleeve (5) is connect with the top of the shaft (6), and the shaft (6) passes through the tapered roller bearing (8) and the zanjon
Ball bearing (9) is connected with the car body connecting plate (7), and passes through the locking nut (10) and the car body connecting plate (7)
Form axial restraint, be provided with the electric machine support (4) on the car body connecting plate (7), the inside of the electric machine support (4) and
Outside is respectively arranged with the steering power assembly being made of the steering motor (1) and the retarder (3) and the motor control
The bottom both ends of device (2) processed, the shaft (6) are fixed with the solid tyre (11) by the stop nut (12).
2. a kind of active independent steering assembly for heavily loaded floor truck according to claim 1, which is characterized in that institute
The transmission shaft for the steering motor (1) stated passes through the plum for offsetting the geometric tolerance generated when assembly and vibration when reducing work
Flower shaft coupling is connected with the transmission shaft of the retarder (3).
3. a kind of active independent steering assembly for heavily loaded floor truck according to claim 1, which is characterized in that institute
The main body of retarder (3) is stated using cast aluminium forming, upper and lower end face is equipped with end face seal, and the end face is equipped with internal thread hole,
The retarder (3) is threadedly coupled by the internal thread hole with the electric machine support (4).
4. a kind of active independent steering assembly for heavily loaded floor truck according to claim 1, which is characterized in that institute
State it is integrally disposed in retarder (3) have absolute angle sensor, the absolute angle sensor includes and the retarder (3)
The first gear that output shaft is fixedly connected and the second gear and third gear being meshed with the first gear, the absolute angle
Sensor is spent to use for the PCB formula coil instead of conventional electromagnetic sensor.
5. a kind of active independent steering assembly for heavily loaded floor truck according to claim 1, which is characterized in that institute
Electric machine controller (2) is stated to be fixed on the outside side wall of the electric machine support (4), it is real-time with entire car controller by CAN bus
Communication, is internally provided with the CAN card for deflecting roller expected angle position signal in real time parsing CAN line, the expected angle
Angular transducer in position and the retarder (3) forms closed loop, and realizes eventually by the steering motor (1) to described
The angle of the output shaft of retarder (3) is precisely controlled.
6. a kind of active independent steering assembly for heavily loaded floor truck according to claim 5, which is characterized in that institute
The control logic for stating electric machine controller (2) is integrated with shift control algorithm, the algorithm include feedback controller, interference suppressor and
Compensate saturated controller, in which:
The feedback controller, for according to feedback proportional control parameter set in the first preset relation, feedback score control
Parameter processed, feedback differential control parameter, and the difference by the actual steering angle and desired steering angle that are obtained inside the retarder (3)
Value, determines the first control amount of the feedback controller jointly；
The interference suppressor, for according to interference control gain parameter set in the second preset relation and calculated
Actual steering angle value, master control output quantity and the second control amount for determining interference suppressor；
The compensation saturated controller, for utilizing the compensation for obtaining the compensation saturated controller according to third preset relation
Gain parameter, the maximum torque value of the steering motor (1), first control amount and second control amount are calculated and determined
The master control output quantity of the course changing control model.
7. a kind of active independent steering assembly for heavily loaded floor truck according to claim 5, which is characterized in that institute
Electric machine controller (2) is stated to set there are two connector port, one of connector port respectively with power supply and the steering motor
(1) it is connected, the power supply is powered for entire steering system by the connector port and controls institute by the electric machine controller (2)
Current value range and the direction of steering motor (1) are stated, so that the output torque of the steering motor (1) is controlled, another grafting
Part the port absolute angle sensor internal with the retarder (3) and the CAN bus being connect with the entire car controller respectively
It is connected.
8. a kind of active independent steering assembly for heavily loaded floor truck according to claim 7, which is characterized in that institute
Distance is greater than 10mm between stating the port of two connector ports, for preventing the electric machine controller (2) internal circuit from hitting
Phenomenon is worn, avoids power supply line and signal wire that short circuit occurs, to achieve the effect that system protection.
9. a kind of active independent steering assembly for heavily loaded floor truck according to claim 1, which is characterized in that institute
Deep groove ball bearing (9), the car body connecting plate (7) is stated to connect with the tapered roller bearing (8) by being set to the vehicle body
Inner hole on plate (7) socket-connects with the top of the shaft (6) in order along the vertical direction to be connect, and passes through the locking nut
(10) top of the inner ring of the deep groove ball bearing (9) and the shaft (6) is fastened so that the shaft (6) though with described
The connection of car body connecting plate (7) axial restraint, but can the rotation in the car body connecting plate (7).
10. a kind of active independent steering assembly for heavily loaded floor truck according to claim 6, which is characterized in that
The description formula of first preset relation are as follows:
In formula, ufbFor the first control amount, kpFor feedback proportional control parameter, kiFor feedback score control parameter, kdTo feed back differential
Control parameter, e are steering angle error；
The description formula of second preset relation are as follows:
In formula, uffFor the second control amount, ufnFor the master control output quantity of rotating direction control method, initial value is set as 0, β1、β2、
β3Indicate interference control gain parameter, a indicates the adjustment parameter of interference suppressor, and δ indicates actual steering angle value, ε, z1、z2?
To calculate intermediate quantity, z1Initial value be control start time actual steering angle value, fal indicate constructed fuction；
The description formula of the third preset relation are as follows:
ufn=umsat[(ufb+uff/b)/um]
In formula, ufnFor the master control output quantity of rotating direction control method, initial value is set as 0, umTurn for the maximum of steering motor
Square value, b be compensating gain parameter, sat indicate saturation symbol, characterization system whether be more than control amount maximum constrained.
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Cited By (2)
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| CN114179773A (en) * | 2021-12-30 | 2022-03-15 | 舜泰汽车有限公司 | Electronic mechanical brake system |
| CN114408056A (en) * | 2021-12-30 | 2022-04-29 | 上海龙创汽车设计股份有限公司 | Multifunctional service robot chassis |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114179773A (en) * | 2021-12-30 | 2022-03-15 | 舜泰汽车有限公司 | Electronic mechanical brake system |
| CN114408056A (en) * | 2021-12-30 | 2022-04-29 | 上海龙创汽车设计股份有限公司 | Multifunctional service robot chassis |
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| CN110155206B (en) | 2021-07-20 |
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