CN111717279A - Rebound correction method and structure of heavy-load suspension steering tire - Google Patents
Rebound correction method and structure of heavy-load suspension steering tire Download PDFInfo
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- CN111717279A CN111717279A CN202010718665.1A CN202010718665A CN111717279A CN 111717279 A CN111717279 A CN 111717279A CN 202010718665 A CN202010718665 A CN 202010718665A CN 111717279 A CN111717279 A CN 111717279A
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- 239000000725 suspension Substances 0.000 title claims abstract description 75
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000003321 amplification Effects 0.000 claims description 20
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 20
- 238000005070 sampling Methods 0.000 claims description 15
- 230000000694 effects Effects 0.000 description 3
- 230000005489 elastic deformation Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a rebound correction method and a structure of a heavy-load suspension steering tire, belonging to the technical field of a rebound correction system of a steering tire.
Description
Technical Field
The invention relates to a steering tire resilience correction method, in particular to a resilience correction method for a heavy-load suspension steering tire, and belongs to the technical field of steering tire resilience correction methods.
Background
In low speed heavy duty hydraulic flatbed applications, each suspension has an independent steering mechanism and the suspension top has a suspension steering angle sensor for controlling the steering angle of the suspension.
The prior suspension mechanism widely adopts a pneumatic rubber tire, which causes that the suspension tire can generate large elastic deformation under huge load pressure when the suspension mechanism is used for steering in situ, and when the steering mechanism is used for pushing the suspension to steer, the rubber tire can cause the actual turning angle of the tire to be lagged behind the steering angle of the suspension top because of strong friction torque between the rubber tire and the ground.
And this difference in the angle of rotation increases with increasing suspension load.
Due to the existence of the steering lag angle, when the suspension needs to rotate in the reverse direction, the power provided by the steering mechanism and the resilience moment stored by the tire due to elastic deformation exist, a certain return clearance exists in the steering mechanical structure, the suspension can generate very large impact load when the steering mechanism is in return steering due to the superposition of the factors, the impact load is larger when the load is larger, the early damage of the steering mechanism is caused, and the problem is optimized by designing the resilience correction method and the structure of the heavy-load suspension steering tire.
Disclosure of Invention
The invention mainly aims to provide a rebound correction method and a rebound correction structure for a heavy-load suspension steering tire, wherein a pressure sensor arranged in a suspension oil cylinder detects a pressure value, the pressure sensor detects the pressure value and sends the pressure value to a vehicle-mounted computer control system to calculate a suspended load, the load is taken as an input variable, the system calculates a lag angle of suspension steering, then the steering mechanism is controlled to push the suspension steering mechanism to push a steering wheel to input steering information, and the steering wheel inputs more lag angle than the steering wheel, then the steering mechanism releases pressure, and the suspension is rotated to a control rotation angle input by the steering wheel under the action of the rebound moment of a rubber tire, so that the problem of huge impact load generated when the original steering mechanism reversely rotates can be solved, the steering mechanism is protected, and the service life of.
The purpose of the invention can be achieved by adopting the following technical scheme:
a method for correcting rebound of a heavy-load suspension steering tire comprises the following steps:
step 1: detecting a pressure value by a pressure sensor arranged in the suspension oil cylinder;
step 2: the pressure sensor detects a pressure value and sends the pressure value to the vehicle-mounted computer control system to calculate the suspended load;
and step 3: then the load is used as an input variable, and the system calculates the lag angle of the suspension steering;
and 4, step 4: then, when the steering mechanism is controlled to push the suspension to steer, the angle of a lag angle is added to the steering information input by the steering wheel;
and 5: then the steering mechanism releases pressure and turns to a control corner input by the steering wheel under the action of rebound torque of the rubber tire in a hanging manner.
Preferably, the vehicle-mounted computer control system related in the step 2 comprises an 89C52 control module, a microcomputer control module, a keyboard display circuit, an A \ D sampling circuit, a pressure sensor, a power amplifying circuit, a switch control circuit, a steering mechanism and a display;
the 89C52 control module is used for acquiring the information of the pressure sensor, calculating the suspended load, taking the load as an input variable, calculating the lag angle of suspension steering by the system, and sending control information to the power amplification circuit;
the microcomputer control module is used for acquiring the data of the 89C52 control module and sending the data to the display for displaying;
the keyboard display circuit is used for displaying a keyboard, receiving key information and sending the key information to the 89C52 control module;
the A \ D sampling circuit is used for acquiring the electric signal of the pressure sensor and converting the electric signal into a digital signal;
the pressure sensor is used for collecting a pressure value in the suspension oil cylinder;
the power amplifying circuit is used for amplifying output power;
the switch control circuit is used for acquiring control information to control the steering mechanism to steer and adjust the angle;
the system comprises a pressure sensor, an A \ D sampling circuit, an 89C52 control module, a 89C52 control module, a power amplification circuit, a switch control circuit and a steering mechanism, wherein the pressure sensor acquires data and then sends the data to the A \ D sampling circuit, the A \ D sampling circuit sends the data to the 89C52 control module, the 89C52 control module calculates suspended load, the load is an input variable, the system calculates the lag angle of suspension steering and sends control information to the power amplification circuit, the power amplification circuit amplifies signals and then sends the signals to the switch control circuit, and the signals are sent to the steering mechanism through the switch.
Preferably, pressure sensor electric connection A \ D acquisition circuit, A \ D acquisition circuit electric connection 89C52 control module, 89C52 control module electric connection keyboard display circuit and microcomputer control module, microcomputer control module electric connection display, 89C52 control module electric connection power amplification circuit, power amplification circuit electric connection on-off control circuit, on-off control circuit electric connection steering mechanism.
Preferably, the steering mechanism in step 4 adopts a hydraulic structure as the driving force to perform steering.
The utility model provides a subassembly is revised to heavy load suspension steering tire resilience, subassembly is revised to heavy load suspension steering tire resilience includes the mounted frame, slewing bearing and car connection are passed through at the top of mounted frame, the automobile body with be equipped with between the slewing bearing and hang and turn to angle sensor, the mounted frame is kept away from slewing bearing's one end articulates there is the balance arm, just the balance arm is installed through turning to axle wheelset connecting piece and is turned to the axle wheelset, the balance arm with it has the suspension cylinder to articulate between the top in the mounted frame, the interior top of suspension cylinder is equipped with hangs pressure sensor.
Preferably, a steering bearing is arranged on the outer side of the slewing bearing, and L-shaped fixing pieces are mounted on two sides of the inner bottom of the slewing bearing.
The invention has the beneficial technical effects that:
the invention provides a rebound correction method and a rebound correction structure for a heavy-load suspension steering tire, wherein a pressure sensor arranged in a suspension oil cylinder detects a pressure value, the pressure sensor detects the pressure value and sends the pressure value to a vehicle-mounted computer control system to calculate a suspended load, the load is taken as an input variable, the system calculates a lag angle of suspension steering, then the steering mechanism is controlled to push a steering wheel to input steering information and increase an angle of the lag angle when the suspension steering is pushed, then the steering mechanism is decompressed, and the steering wheel is rotated to a control rotation angle input by the steering wheel under the action of rebound moment of a rubber tire, so that the problem of huge impact load generated when the original steering mechanism is reversely rotated can be solved, the steering mechanism is protected, and the service life of the system is.
Drawings
FIG. 1 is a front view of a preferred embodiment of a method of correcting rebound in a heavy duty suspension steer tire and structure therefor in accordance with the present invention;
FIG. 2 is a top plan view of a preferred embodiment of a method of correcting rebound in a heavy duty suspended steerable tire and structure therefor in accordance with the present invention;
FIG. 3 is a diagram of an onboard system for a preferred embodiment of a method and structure for correcting rebound of a heavy duty suspension steer tire in accordance with the present invention.
In the figure: the device comprises a steering axle wheel set 1, a balance arm 2, a suspension bracket 3, a suspension cylinder 4, a suspension steering angle sensor 5, a suspension pressure sensor 6, a steering axle wheel set connecting piece 7, a slewing bearing 8, a steering bearing 9 and a fixing piece 10L.
Detailed Description
In order to make the technical solutions of the present invention more clear and definite for those skilled in the art, the present invention is further described in detail below with reference to the examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
Example one
The method for correcting the rebound of the heavy-load suspension steering tire comprises the following steps:
step 1: detecting a pressure value by a pressure sensor arranged in the suspension oil cylinder;
step 2: the pressure sensor detects a pressure value and sends the pressure value to the vehicle-mounted computer control system to calculate the suspended load;
and step 3: then the load is used as an input variable, and the system calculates the lag angle of the suspension steering;
and 4, step 4: then, when the steering mechanism is controlled to push the suspension to steer, the angle of a lag angle is added to the steering information input by the steering wheel;
and 5: then the steering mechanism releases pressure and turns to a control corner input by the steering wheel under the action of rebound torque of the rubber tire in a hanging manner.
Example two
In this embodiment, when the vehicle is turned on site under heavy load, the steering wheel input angle is 30 degrees, at this time, according to the load, the system calculates that the steering lag angle generated by the elasticity of the tire is 3 degrees, then the steering mechanism pushes the steering wheel to turn 30+3 degrees to 33 degrees, and at this time, the tire is still located at the corner position of 30 degrees because of huge friction torque and elastic deformation, then the steering mechanism releases the pressure, and the vehicle is hung to turn to the position of 30 degrees under the effect of the rebound torque of the tire deformation.
When the suspension needs to rotate reversely again, a large impact load cannot be generated, and the effect of protecting a steering system is achieved.
EXAMPLE III
In this embodiment, as shown in fig. 3, the vehicle-mounted computer control system related in step 2 includes an 89C52 control module, a microcomputer control module, a keyboard display circuit, an a \ D sampling circuit, a pressure sensor, a power amplification circuit, a switch control circuit, a steering mechanism, and a display;
the 89C52 control module is used for acquiring the information of the pressure sensor, calculating the suspended load, taking the load as an input variable, calculating the lag angle of suspension steering by the system, and sending control information to the power amplification circuit;
the microcomputer control module is used for acquiring the data of the 89C52 control module and sending the data to the display for displaying;
the keyboard display circuit is used for displaying a keyboard, receiving key information and sending the key information to the 89C52 control module;
the A \ D sampling circuit is used for acquiring the electric signal of the pressure sensor and converting the electric signal into a digital signal;
the pressure sensor is used for collecting a pressure value in the suspension oil cylinder;
the power amplifying circuit is used for amplifying output power;
the switch control circuit is used for acquiring control information to control the steering mechanism to steer and adjust the angle;
the system comprises a pressure sensor, an A \ D sampling circuit, an 89C52 control module, a 89C52 control module, a power amplification circuit, a switch control circuit and a steering mechanism, wherein the pressure sensor acquires data and then sends the data to the A \ D sampling circuit, the A \ D sampling circuit sends the data to the 89C52 control module, the 89C52 control module calculates suspended load, the load is an input variable, the system calculates the lag angle of suspension steering and sends control information to the power amplification circuit, the power amplification circuit amplifies signals and then sends the signals to the switch control circuit, and the signals are sent to the steering mechanism through the switch.
In this embodiment, pressure sensor electric connection A \ D acquisition circuit, A \ D acquisition circuit electric connection 89C52 control module, 89C52 control module electric connection keyboard display circuit and microcomputer control module, microcomputer control module electric connection display, 89C52 control module electric connection power amplification circuit, power amplification circuit electric connection on-off control circuit, on-off control circuit electric connection steering mechanism.
In the present embodiment, the steering mechanism in step 4 is a steering mechanism that uses a hydraulic structure as the driving force.
Example four
In this embodiment, as shown in fig. 1-2, a heavy-duty suspension steering tire rebound correction assembly includes a suspension bracket 3, the top of the suspension bracket 3 is connected with a vehicle body through a slewing bearing 8, a suspension steering angle sensor 5 is arranged between the vehicle body and the slewing bearing 8, one end of the suspension bracket 3, which is far away from the slewing bearing 8, is hinged with a balance arm 2, the balance arm 2 is provided with a steering axle wheel set 1 through a steering axle wheel set connecting piece 7, a suspension cylinder 4 is hinged between the balance arm 2 and the inner top of the suspension bracket 3, and the inner top of the suspension cylinder 4 is provided with a suspension pressure sensor 6.
In the present embodiment, as shown in fig. 1-2, a steering bearing 9 is provided on the outer side of the slewing bearing 8, and L-shaped fixing members 10 are mounted on both sides of the inner bottom of the slewing bearing 8.
The above description is only for the purpose of illustrating the present invention and is not intended to limit the scope of the present invention, and any person skilled in the art can substitute or change the technical solution of the present invention and its conception within the scope of the present invention.
Claims (6)
1. A method for correcting rebound of a heavy-load suspension steering tire is characterized by comprising the following steps: the method comprises the following steps:
step 1: detecting a pressure value by a pressure sensor arranged in the suspension oil cylinder;
step 2: the pressure sensor detects a pressure value and sends the pressure value to the vehicle-mounted computer control system to calculate the suspended load;
and step 3: then the load is used as an input variable, and the system calculates the lag angle of the suspension steering;
and 4, step 4: then, when the steering mechanism is controlled to push the suspension to steer, the angle of a lag angle is added to the steering information input by the steering wheel;
and 5: then the steering mechanism releases pressure and turns to a control corner input by the steering wheel under the action of rebound torque of the rubber tire in a hanging manner.
2. The method for correcting rebound of a heavy duty suspension steering tire according to claim 1, wherein: the vehicle-mounted computer control system related in the step 2 comprises an 89C52 control module, a microcomputer control module, a keyboard display circuit, an A \ D sampling circuit, a pressure sensor, a power amplification circuit, a switch control circuit, a steering mechanism and a display;
the 89C52 control module is used for acquiring the information of the pressure sensor, calculating the suspended load, taking the load as an input variable, calculating the lag angle of suspension steering by the system, and sending control information to the power amplification circuit;
the microcomputer control module is used for acquiring the data of the 89C52 control module and sending the data to the display for displaying;
the keyboard display circuit is used for displaying a keyboard, receiving key information and sending the key information to the 89C52 control module;
the A \ D sampling circuit is used for acquiring the electric signal of the pressure sensor and converting the electric signal into a digital signal;
the pressure sensor is used for collecting a pressure value in the suspension oil cylinder;
the power amplifying circuit is used for amplifying output power;
the switch control circuit is used for acquiring control information to control the steering mechanism to steer and adjust the angle;
the system comprises a pressure sensor, an A \ D sampling circuit, an 89C52 control module, a 89C52 control module, a power amplification circuit, a switch control circuit and a steering mechanism, wherein the pressure sensor acquires data and then sends the data to the A \ D sampling circuit, the A \ D sampling circuit sends the data to the 89C52 control module, the 89C52 control module calculates suspended load, the load is an input variable, the system calculates the lag angle of suspension steering and sends control information to the power amplification circuit, the power amplification circuit amplifies signals and then sends the signals to the switch control circuit, and the signals are sent to the steering mechanism through the switch.
3. The method for correcting rebound of a heavy duty suspension steering tire according to claim 2, wherein: pressure sensor electric connection A \ D acquisition circuit, A \ D acquisition circuit electric connection 89C52 control module, 89C52 control module electric connection keyboard display circuit and microcomputer control module, microcomputer control module electric connection display, 89C52 control module electric connection power amplification circuit, power amplification circuit electric connection on-off control circuit, on-off control circuit electric connection steering mechanism.
4. The method for correcting rebound of a heavy duty suspension steering tire according to claim 1, wherein: wherein the steering mechanism in the step 4 adopts a hydraulic structure as the driving force to steer.
5. A heavy load suspension turns to tire resilience correction subassembly which characterized in that: heavy load hangs and turns to tire resilience correction subassembly includes mounted frame (3), slewing bearing (8) and car connection are passed through at the top of mounted frame (3), the automobile body with be equipped with between slewing bearing (8) and hang and turn to angle sensor (5), mounted frame (3) are kept away from the one end of slewing bearing (8) articulates there is balance arm (2), just steering axle wheelset (1) is installed through steering axle wheelset connecting piece (7) in balance arm (2), balance arm (2) with it has suspension cylinder (4) to articulate between the top in mounted frame (3), the interior top of suspension cylinder (4) is equipped with suspension pressure sensor (6).
6. The heavy duty suspension steer tire rebound correction assembly of claim 5, wherein: and a steering bearing (9) is arranged on the outer side of the slewing bearing (8), and L-shaped fixing pieces (10) are installed on two sides of the inner bottom of the slewing bearing (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010718665.1A CN111717279B (en) | 2020-07-23 | 2020-07-23 | Rebound correction method and structure for heavy-load suspension steering tire |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010718665.1A CN111717279B (en) | 2020-07-23 | 2020-07-23 | Rebound correction method and structure for heavy-load suspension steering tire |
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| Publication Number | Publication Date |
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| CN111717279A true CN111717279A (en) | 2020-09-29 |
| CN111717279B CN111717279B (en) | 2024-05-07 |
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| CN202010718665.1A Active CN111717279B (en) | 2020-07-23 | 2020-07-23 | Rebound correction method and structure for heavy-load suspension steering tire |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008273385A (en) * | 2007-04-27 | 2008-11-13 | Shinko Electric Co Ltd | Steering control device of self-propelling carriage, self-propelling carriage and steering control method |
| CN102267487A (en) * | 2011-05-11 | 2011-12-07 | 江苏大学 | Electro-hydraulic power steering system based on vehicle speed and load signal control |
| CN108248601A (en) * | 2018-01-10 | 2018-07-06 | 大连理工大学 | A kind of steering stability control system and method based on four motorized wheels electric vehicle |
| CN109795553A (en) * | 2019-01-10 | 2019-05-24 | 徐工集团工程机械有限公司 | A kind of rotating direction control method and system on narrow region four-wheel independent steering rescue chassis |
| CN212828662U (en) * | 2020-07-23 | 2021-03-30 | 苏州大学应用技术学院 | Rebound correction system for heavy-load suspension steering tire |
-
2020
- 2020-07-23 CN CN202010718665.1A patent/CN111717279B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008273385A (en) * | 2007-04-27 | 2008-11-13 | Shinko Electric Co Ltd | Steering control device of self-propelling carriage, self-propelling carriage and steering control method |
| CN102267487A (en) * | 2011-05-11 | 2011-12-07 | 江苏大学 | Electro-hydraulic power steering system based on vehicle speed and load signal control |
| CN108248601A (en) * | 2018-01-10 | 2018-07-06 | 大连理工大学 | A kind of steering stability control system and method based on four motorized wheels electric vehicle |
| CN109795553A (en) * | 2019-01-10 | 2019-05-24 | 徐工集团工程机械有限公司 | A kind of rotating direction control method and system on narrow region four-wheel independent steering rescue chassis |
| CN212828662U (en) * | 2020-07-23 | 2021-03-30 | 苏州大学应用技术学院 | Rebound correction system for heavy-load suspension steering tire |
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| Publication number | Publication date |
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| CN111717279B (en) | 2024-05-07 |
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