CN114789752B - Hydraulic steering system of unmanned aerial vehicle and unmanned aerial vehicle - Google Patents
Hydraulic steering system of unmanned aerial vehicle and unmanned aerial vehicle Download PDFInfo
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- CN114789752B CN114789752B CN202210466080.4A CN202210466080A CN114789752B CN 114789752 B CN114789752 B CN 114789752B CN 202210466080 A CN202210466080 A CN 202210466080A CN 114789752 B CN114789752 B CN 114789752B
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- 230000001502 supplementing effect Effects 0.000 claims abstract description 55
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 239000003921 oil Substances 0.000 description 155
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
- B62D5/12—Piston and cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/065—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/08—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of steering valve used
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The application discloses a hydraulic steering system of an unmanned vehicle and the unmanned vehicle. The hydraulic steering system comprises a power unit, a steering execution unit, an oil supplementing control valve and an energy accumulator. The power unit is provided with an oil supply port. The steering execution unit comprises a steering rod, a steering servo oil cylinder and a servo valve. The steering servo cylinder comprises a rod cavity and a rodless cavity. The servo valve is provided with a first oil port, a second oil port, a third oil port and a fourth oil port, wherein the first oil port is connected with the rod cavity, the second oil port is connected with the rodless cavity, the third oil port is connected with the oil supply port, and the fourth oil port is connected with the oil tank. The oil supplementing control valve is arranged on an oil path between the third oil port and the oil supply port. And the oil supplementing control valve is provided with a first oil supplementing port and a second oil supplementing port. The first oil supplementing port is connected with the oil supplying port. The second oil supplementing port is connected with the third oil port. The oil supplementing control valve acts to control the connection or disconnection of the first oil supplementing port and the second oil supplementing port. The energy accumulator is connected with the second oil supplementing port. The hydraulic steering system has higher steering control precision.
Description
Technical Field
The application relates to a hydraulic steering system of an unmanned vehicle and the unmanned vehicle.
Background
The four-wheel steering technology can improve the safety and maneuverability of the vehicle in high-speed running. Most vehicles adopt an Ackerman steering technology, the angles of the inner wheels and the outer wheels are different when the Ackerman steering is carried out, the turning radius of the inner tire is smaller than that of the outer tire, all the wheels accord with the natural motion track, and the wheels roll circumferentially around an instantaneous center, so that the abrasion of the tires can be reduced. For hydraulically driven steering systems, achieving ackerman steering requires that each steering cylinder be individually actuatable.
At present, a common hydraulic proportional valve is adopted in a hydraulic steering system, and because a valve core of the common hydraulic proportional valve has a certain overlapping coverage amount on a valve port when the valve core is in the middle position, the overlapping amount causes that the hydraulic proportional valve cannot respond to the movement of the valve core in a certain input signal range, and no corresponding pressure or flow is generated, so that the existence of the dead zone can seriously influence the stability and the dynamic characteristics of the hydraulic proportional valve. The hydraulic steering system generally adopts a common steering cylinder, so that the problems of low-speed crawling and low control precision exist; the existing communication mode of the hydraulic proportional valve and the steering cylinder has the problem that the cylinder cannot be locked to cause steering wheel drift when encountering road surface obstacles.
It should be noted that the statements in this background section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Disclosure of Invention
The application provides a hydraulic steering system of an unmanned vehicle and the unmanned vehicle, which are used for improving the control precision of steering control.
A first aspect of the present application provides a hydraulic steering system for an unmanned vehicle, comprising:
the power unit is provided with an oil supply port;
The steering execution unit comprises a steering rod, a steering servo oil cylinder and a servo valve, wherein the steering rod is used for being connected with wheels; the steering servo oil cylinder comprises a cylinder barrel and a piston rod which is arranged in the cylinder barrel in a telescopic manner, one of the cylinder barrel and the piston rod is connected with a steering rod, the other of the cylinder barrel and the piston rod is connected with a frame, and the inner cavity of the cylinder barrel comprises a rod cavity and a rodless cavity; the servo valve is provided with a first oil port, a second oil port, a third oil port and a fourth oil port, wherein the first oil port is connected with the rod cavity, the second oil port is connected with the rodless cavity, the third oil port is connected with the oil supply port, and the fourth oil port is connected with the oil tank;
The oil supplementing control valve is arranged on an oil path between the third oil port and the oil supply port and is provided with a first oil supplementing port and a second oil supplementing port, the first oil supplementing port is connected with the oil supply port, the second oil supplementing port is connected with the third oil port, and the oil supplementing control valve acts to control the first oil supplementing port to be communicated with or disconnected from the second oil supplementing port; and
And the energy accumulator is connected with the second oil supplementing port.
In some embodiments, the hydraulic steering system further includes a controller coupled to the makeup control valve and the servo valve and configured to control the makeup control valve to operate such that the first makeup port and the second makeup port communicate to charge the accumulator and to control the servo valve to operate such that the steering servo cylinder operates upon receipt of the steering signal.
In some embodiments, the hydraulic steering system further comprises a displacement sensor arranged in the steering servo cylinder, wherein the displacement sensor is used for detecting the displacement of the piston rod in real time and feeding back to the controller, and the controller controls the opening of the valve port of the servo valve according to the displacement of the piston rod.
In some embodiments, the controller is configured to receive the turn signal via the remote control.
In some embodiments, the power unit includes a hydraulic pump and an on-off valve, an oil outlet of the hydraulic pump is connected with the oil supply port, and an oil outlet of the hydraulic pump is connected with the oil tank through the on-off valve.
In some embodiments, the hydraulic steering system further comprises a hydraulic lock and an unloading switch valve, the hydraulic lock is arranged between the steering servo cylinder and the servo valve, the unloading switch valve is arranged between the hydraulic lock and the oil tank, a first unloading oil port of the unloading switch valve is connected with the hydraulic lock, a second unloading oil port of the unloading switch valve is connected with the oil tank, and the unloading switch valve acts to control the on-off between the first unloading oil port and the second unloading oil port.
In some embodiments, the hydraulic steering system further includes a high pressure filter through which the oil supply port of the power unit is connected with the first oil supply port of the oil supply control valve.
In some embodiments, the hydraulic steering system includes at least two steering actuators disposed corresponding to at least two wheels, and the power unit is configured to supply oil to the at least two steering actuators.
In some embodiments, the hydraulic steering system further comprises a pressure sensor for detecting the oil pressure of the accumulator.
A second aspect of the application provides an unmanned vehicle comprising the hydraulic steering system described above.
Based on the technical scheme provided by the application, the hydraulic steering system controls the action of the steering rod by adopting the steering servo oil cylinder and the servo valve so as to realize the control of steering of the wheels, and compared with the common proportional valve and the common oil cylinder in the prior art, the steering control precision is higher. The steering control precision is improved, so that the hydraulic steering system can realize direction fine adjustment during high-speed running, improve the safety of high-speed running of the unmanned vehicle and effectively prevent uncontrolled drifting of steering wheels. The steering execution unit of the hydraulic steering system is connected with the energy accumulator and the power unit, so that the energy accumulator is used as a first oil source to provide an oil source for the steering servo oil cylinder in the process of starting the power unit to build pressure, the time difference of the pressure built by the power unit is further compensated, and power is provided for the steering servo oil cylinder in real time. On the other hand, when the power unit fails, the energy accumulator can also provide an oil source for the steering servo oil cylinder, so that the steering under the emergency working condition is realized.
Other features of the present application and its advantages will become apparent from the following detailed description of exemplary embodiments of the application, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
Fig. 1 is a block diagram of a hydraulic steering system of an unmanned vehicle according to an embodiment of the present application.
Fig. 2 is a control schematic diagram of a hydraulic steering system according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways and the spatially relative descriptions used herein are construed accordingly.
As shown in fig. 1, the hydraulic steering system of the unmanned vehicle provided by the embodiment of the application comprises a power unit 6, a steering execution unit, an oil supplementing control valve 9 and an accumulator 11. Wherein the power unit 6 has an oil supply port. The steering performing unit includes a steering rod 2, a steering servo cylinder 3, and a servo valve 12. The steering rod 2 is for connection with a wheel. The steering servo cylinder 3 includes a cylinder tube and a piston rod telescopically disposed in the cylinder tube. One of the cylinder and the piston rod is connected with the steering rod 2, and the other of the cylinder and the piston rod is connected with the frame. The inner cavity of the cylinder barrel comprises a rod cavity and a rodless cavity. The servo valve 12 has a first port a, a second port B, a third port P, and a fourth port T, the first port a being connected to the rod-shaped chamber, the second port B being connected to the rodless chamber, the third port P being connected to the oil supply port, and the fourth port T being connected to the oil tank. The oil-supplementing control valve 9 is arranged on an oil path between the third oil port and the oil supply port. And the oil compensating control valve 9 has a first oil compensating port and a second oil compensating port. The first oil supplementing port is connected with the oil supplying port. The second oil supplementing port is connected with the third oil port. The oil supplementing control valve 9 acts to control the connection or disconnection of the first oil supplementing port and the second oil supplementing port. The accumulator 11 is connected to the second oil supply port.
The hydraulic steering system of the embodiment of the application adopts the steering servo cylinder 3 and the servo valve 12 to control the action of the steering rod 2 so as to realize the control of steering of wheels, and compared with the common proportional valve and the common cylinder in the prior art, the hydraulic steering system has higher steering control precision. The hydraulic steering system provided by the embodiment of the application can realize fine adjustment of the direction during high-speed running by improving the steering control precision, improves the safety of high-speed running of the unmanned vehicle, and can effectively prevent uncontrolled drifting of the steering wheel. In addition, the steering execution unit of the hydraulic steering system is connected with the energy accumulator 11 and the power unit 6, so that the energy accumulator 11 is used as a first oil source to provide an oil source for the steering servo oil cylinder in the process of starting the power unit 6 to build pressure, the time difference of the power unit to build pressure is further compensated, and power is provided for the steering servo oil cylinder in real time. On the other hand, when the power unit fails, the energy accumulator 11 can also provide an oil source for the steering servo oil cylinder, so that steering under emergency working conditions is realized.
In some embodiments, the hydraulic steering system includes at least two steering actuators disposed corresponding to at least two wheels, and the power unit is configured to supply oil to the at least two steering actuators.
As shown in fig. 1, in one particular embodiment, the drone includes four wheels. Correspondingly, the hydraulic steering system comprises four steering execution units which are arranged corresponding to the four wheels. Therefore, the steering of each wheel is independently controlled by the respective steering execution unit, and the steering of the front wheels or the rear wheels can be switched in the running process of the unmanned vehicle, the ackerman steering and the crab steering can be realized, and the maneuvering performance of the unmanned vehicle is improved.
Specifically, as shown in fig. 1, the power unit 6 provides a source of oil for the four steering actuators. And the power unit 6 is connected with two steering execution units at the front end through an oil supplementing control valve 9 and an accumulator 11. The power unit 6 is connected to two steering actuators located at the rear end via a further oil make-up control valve 9 and a further accumulator 11.
The structure of each of the four steering execution units is substantially the same, so only the structure of the steering execution unit in which the steering control of the wheels 1 is performed will be described in detail below. As shown in fig. 1, the steering performing unit includes a steering rod 2, a steering servo cylinder 3, a hydraulic lock 4, and a servo valve 12. The steering rod 2 is connected to the wheel 1. The cylinder barrel of the steering servo oil cylinder 3 is connected with the steering rod 2, the piston rod of the steering servo oil cylinder 3 is connected with the frame, and the steering servo oil cylinder 3 is connected with the servo valve 12 through the hydraulic lock 4. Specifically, the rod cavity of the steering servo cylinder 3 is connected with the first oil port a of the servo valve 12 through the hydraulic lock 4, and the rodless cavity of the steering servo cylinder 3 is connected with the second oil port B of the servo valve 12 through the hydraulic lock 4. The third port P of the servo valve 12 is connected to the accumulator 11 and to the power unit 6 via the oil make-up control valve 9. The servo valve 12 is a reversing valve and the servo valve 12 acts to achieve control of the steering servo cylinder 3. For example, when the servo valve 12 is at the left position, the first oil port A is communicated with the third oil port P, so that oil enters a rod cavity of the steering servo oil cylinder 3; when the servo valve 12 is in the right position, the second oil port B is communicated with the third oil port P, so that the oil enters the rodless cavity of the steering servo cylinder 3. The servo valve 12 is an electromagnetic servo valve, and is operable under control of an electric signal received from a controller.
In some embodiments, referring to fig. 1, the hydraulic steering system further includes an unloading on-off valve 5. An unloading switch valve 5 is provided between the hydraulic lock 4 and the tank. The first unloading oil port of the unloading switch valve 5 is connected with the hydraulic lock 4. The second unloading oil port of the unloading switch valve 5 is connected with the oil tank, and the unloading switch valve 5 acts to control the on-off between the first unloading oil port and the second unloading oil port. When the unmanned vehicle moves straight and does not need to turn, the unloading switch valve 5 is controlled to act so that the first unloading oil port and the second unloading oil port are communicated, thus a pressure oil way between the hydraulic lock 4 and the servo valve 12 is unloaded to an oil tank, the hydraulic lock is prevented from being opened by oil pressure when the oil cylinder is impacted by the ground to generate steering deflection, the steering servo oil cylinder is ensured to be locked, and the straight running of the vehicle is ensured.
In some embodiments, the hydraulic steering system further comprises a controller. The controller is coupled with the oil supplementing control valve 9 and the servo valve 12. And is configured to control the action of the oil replenishment control valve 9 such that the first oil replenishment port and the second oil replenishment port communicate to charge the accumulator 11. And after receiving the steering signal, controls the servo valve 12 to operate so that the steering servo cylinder 3 operates.
In some embodiments, the hydraulic steering system further comprises a pressure sensor 10 for detecting the oil pressure of the accumulator.
Thus, when the oil pressure of the accumulator 11 detected by the pressure sensor 10 is below a set value, the oil supplementing control valve 9 is opened to enable the first oil supplementing port to be communicated with the second oil supplementing port, so that the oil supplying port of the power unit 6 can charge the accumulator 11, and after the oil pressure of the accumulator 11 reaches the set pressure value, the oil supplementing control valve 9 is closed. However, after receiving the steering signal, the servo valve 12 acts under the action of the electric signal to control the steering servo cylinder 3 to act, and at this time, the accumulator 11 can serve as a first oil source to provide oil for the steering servo cylinder 3, and after the power unit 6 builds pressure, the accumulator 11 can be used to supply oil for the steering servo cylinder 3 together.
In some embodiments, the hydraulic steering system further comprises a displacement sensor disposed within the steering servo cylinder 3. The displacement sensor is used for detecting the displacement of the piston rod in real time and feeding back the displacement to the controller. The controller controls the valve opening of the servo valve 12 according to the displacement of the piston rod. The high-precision displacement sensor is arranged in the steering servo oil cylinder 3, the displacement is fed back to the controller in real time, and the controller receiving the feedback signal automatically adjusts the valve port of the servo valve according to the difference value between the set value and the actual value, so that the telescopic length of the steering servo oil cylinder 3 is automatically adjusted, and the steering precision is improved.
In some embodiments, the power unit 6 includes a hydraulic pump 61 and an on-off valve 62. An oil outlet of the hydraulic pump 61 is connected to an oil supply port. An oil outlet of the hydraulic pump 62 is connected with an oil tank through an on-off valve 62. Thus, when the hydraulic pump 61 is started, the on-off valve 62 is opened, so that the hydraulic pump 61 is started empty. After the start-up, the on-off valve 62 is closed again, and thus the oil supply to the steering execution unit is realized.
In some embodiments, the hydraulic steering system further comprises a high pressure filter 8. The oil supply port of the power unit 6 is connected with a first oil supplementing port of an oil supplementing control valve 9 through a high-pressure filter 8. The high-pressure filter 8 can effectively filter oil impurities and reduce the faults of the servo valve. The high-pressure filter 8 is also provided with a bypass valve and a differential pressure signaling device, and has a blockage alarming function.
In some embodiments, the controller is configured to receive the turn signal via the remote control. The remote controller is in wireless connection with the controller, and an operator sends a steering signal to the controller through the remote controller. For example, the remote control includes at least one of a handle, knob, steering wheel, such that when an operator dials the handle, knob, or steering wheel, the controller receives a turn signal.
The embodiment of the application also provides the unmanned vehicle, which comprises the hydraulic steering system.
The construction and control principle of the hydraulic steering system according to one embodiment of the present application will be described in detail with reference to fig. 1 and 2.
As shown in fig. 1, the hydraulic steering system of the unmanned vehicle according to the embodiment of the application comprises wheels 1, a steering rod 2, a steering servo cylinder 3, a hydraulic lock 4, an unloading switch valve 5, a power unit 6, a high-pressure filter 8, an oil supplementing control valve 9, a pressure sensor 10, an accumulator 11 and a servo valve 12.
The power unit 6 includes a hydraulic pump 61, a motor, an oil tank, an oil suction filter, a level gauge, an air filter, an overflow valve 63, and an on-off valve 62.
The cylinder barrel of the steering servo oil cylinder 3 is connected with the steering rod 2, the piston rod of the steering servo oil cylinder 3 is connected with the frame, the hydraulic lock 4 is arranged between the steering servo oil cylinder 3 and the servo valve 12, one end of the unloading switch valve 5 is arranged between the hydraulic lock 4 and the servo valve 12, and the other end of the unloading switch valve is connected with the oil tank.
The working process of the hydraulic steering system comprises the following steps: the motor drives the hydraulic pump 61 to output hydraulic oil, the switch valve 62 is in a normally open state, so that the power unit is started in an idle state, after the power unit is started, the switch valve 62 is powered on, meanwhile, the oil supplementing control valve 9 is powered on, the energy accumulator 11 is charged, after the pressure set by the pressure sensor 10 is reached, the oil supplementing control valve 9 is powered off, the switch valve 62 is powered on simultaneously, then the pump is unloaded in an idle state and stops running, when the servo valve 12 receives a steering current signal, the valve port is opened, the energy accumulator 11 firstly supplies oil to the steering servo oil cylinder 3, the switch valve 62 is powered on, the power unit 6 and the energy accumulator 11 simultaneously supply oil to the steering servo oil cylinder 3, the steering servo oil cylinder 3 pushes the steering rod 2, and the steering rod 2 drives the wheels 1 to rotate.
When the pressure sensor 10 detects that the pressure of the accumulator 11 is lower than the set value, the power unit 6 is started to supply oil to the accumulator 11, and the power unit 6 stops supplying oil until the pressure of the accumulator 11 reaches the set value.
The high-pressure filter 8 can effectively filter oil impurities, reduce the faults of the servo valve, is provided with a bypass valve and a differential pressure signaling device, and has a blockage alarming function.
As shown in fig. 2, the controller of the present embodiment includes a servo controller and a vehicle controller. The high-precision displacement sensor is arranged in the steering servo oil cylinder 3, the displacement is fed back to the servo controller and the whole vehicle controller in real time, and the servo controller receiving the feedback signal automatically adjusts the opening and closing of the servo valve according to the difference value between the set value and the actual value, so that the telescopic length of the servo oil cylinder is automatically adjusted, and the steering precision is improved; the whole vehicle controller receiving the feedback signal can convert the displacement signal into a corner signal and display the corner signal on a whole vehicle display screen.
During the power-on period of the servo valve 12, the unloading switch valve 5 is always closed, when the steering handle returns to the neutral position, the current signal of the servo valve 12 is zero, the wheels run straight, and the unloading switch valve 5 is instantly powered on, so that a pressure oil way between the hydraulic lock 4 and the servo valve 12 is unloaded to an oil tank, the hydraulic lock is prevented from being opened by oil pressure when the oil cylinder is impacted by the ground to generate steering deflection, the servo oil cylinder is ensured to be locked, and the straight running of the vehicle is ensured.
As shown in fig. 2, the steering control process of the unmanned vehicle is as follows: and a steering instruction is sent to the whole vehicle controller by toggling the handle of the remote controller. The whole vehicle controller sends an instruction to the servo controller through the CAN bus, the servo controller sends an instruction signal to the servo valve 12, an electric-mechanical converter in the servo valve 12 converts an input electric signal into mechanical quantity, and a pilot stage valve converts the mechanical quantity into hydraulic pressure to drive the main valve, so that flow and pressure are output. The magnitude of the current signal determines the direction and magnitude of the output flow of the main valve of the servo valve. The whole vehicle controller sends different steering instructions to the four servo controllers, and the four servo controllers respectively control the opening degrees of the four servo valves, so that front wheel steering, rear wheel steering, all wheel steering and crab steering can be realized. Meanwhile, signals of the displacement sensor are fed back to the whole vehicle controller and the servo controller, the target value and the actual value of the extending length of the oil cylinder are compared in real time, and the servo controller adjusts the opening degree of each servo valve in real time, so that steering closed-loop control is realized.
In summary, the hydraulic steering system of the embodiment can realize high-precision fine tuning steering during high-speed running by adopting the servo valve and the servo steering cylinder, and the running maneuver performance and the safety performance of the whole vehicle are high. And the energy accumulator can realize the quick start of the steering servo oil cylinder and the emergency steering when the power unit fails.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application and not for limiting the same; while the application has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present application or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the application, it is intended to cover the scope of the application as claimed.
Claims (8)
1. A hydraulic steering system for an unmanned vehicle, comprising:
a power unit (6) having an oil supply port;
The steering execution unit comprises a steering rod (2), a steering servo cylinder (3) and a servo valve (12), wherein the steering rod (2) is used for being connected with wheels; the steering servo oil cylinder (3) comprises a cylinder barrel and a piston rod which is arranged in the cylinder barrel in a telescopic manner, one of the cylinder barrel and the piston rod is connected with the steering rod (2), the other one of the cylinder barrel and the piston rod is connected with the frame, and the inner cavity of the cylinder barrel comprises a rod cavity and a rodless cavity; the servo valve (12) is provided with a first oil port, a second oil port, a third oil port and a fourth oil port, the first oil port is connected with the rod cavity, the second oil port is connected with the rodless cavity, the third oil port is connected with the oil supply port, and the fourth oil port is connected with the oil tank;
The oil supplementing control valve (9) is arranged on an oil path between the third oil port and the oil supply port, the oil supplementing control valve (9) is provided with a first oil supplementing port and a second oil supplementing port, the first oil supplementing port is connected with the oil supply port, the second oil supplementing port is connected with the third oil port, and the oil supplementing control valve (9) acts to control the first oil supplementing port to be communicated with or disconnected from the second oil supplementing port; and
The energy accumulator (11) is connected with the second oil supplementing port;
The hydraulic steering system further comprises a controller, wherein the controller is coupled with the oil supplementing control valve and the servo valve, and is configured to control the oil supplementing control valve to act so that the first oil supplementing port and the second oil supplementing port are communicated to charge the energy accumulator, and after a steering signal is received, control the servo valve to act so that the steering servo oil cylinder (3) is acted, the hydraulic steering system further comprises a pressure sensor (10) for detecting the oil pressure of the energy accumulator, and when the oil pressure of the energy accumulator (11) detected by the pressure sensor (10) is below a set value, the controller controls the oil supplementing control valve (9) to open so that the first oil supplementing port and the second oil supplementing port are communicated, and the oil supply port of the power unit (6) is used for charging the energy accumulator (11); and after the oil pressure of the accumulator (11) reaches a set pressure value, the controller controls the oil supplementing control valve (9) to be closed.
2. The hydraulic steering system of the unmanned vehicle according to claim 1, further comprising a displacement sensor provided in the steering servo cylinder (3), the displacement sensor being configured to detect the displacement of the piston rod in real time and feed back to a controller, the controller controlling the valve port opening of the servo valve (12) according to the displacement of the piston rod.
3. The unmanned vehicle hydraulic steering system of claim 1, wherein the controller is configured to receive the steering signal via a remote control.
4. The hydraulic steering system of an unmanned vehicle according to claim 1, wherein the power unit (6) comprises a hydraulic pump (61) and an on-off valve (62), an oil outlet of the hydraulic pump (61) is connected with the oil supply port, and an oil outlet of the hydraulic pump (61) is connected with an oil tank through the on-off valve (62).
5. The hydraulic steering system of the unmanned vehicle according to claim 1, further comprising a hydraulic lock (4) and an unloading switch valve (5), wherein the hydraulic lock (4) is arranged between the steering servo cylinder (3) and the servo valve (12), the unloading switch valve (5) is arranged between the hydraulic lock (4) and the oil tank, a first unloading oil port of the unloading switch valve (5) is connected with the hydraulic lock (4), a second unloading oil port of the unloading switch valve (5) is connected with the oil tank, and the unloading switch valve (5) acts to control the on-off between the first unloading oil port and the second unloading oil port.
6. The hydraulic steering system of an unmanned vehicle according to claim 1, further comprising a high-pressure filter (8), wherein the oil supply port of the power unit (6) is connected with the first oil supply port of the oil supply control valve (9) via the high-pressure filter (8).
7. The hydraulic steering system of an unmanned vehicle according to claim 1, wherein the hydraulic steering system includes at least two of the steering execution units provided corresponding to at least two wheels, and the power unit is configured to supply oil to the at least two steering execution units.
8. An unmanned vehicle comprising a hydraulic steering system as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| JP6996900B2 (en) * | 2017-08-11 | 2022-01-17 | 株式会社小松製作所 | Work vehicle |
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| DE10245618A1 (en) * | 2002-09-30 | 2004-04-15 | Liebherr-Werk Ehingen Gmbh | Active rear-axle steering for a vehicular crane has steered rear-axles in pairs to trigger a rear-axle steering deflection electronically and to activate movement via hydraulic steering cylinders |
| CN102019958A (en) * | 2010-12-06 | 2011-04-20 | 徐州重型机械有限公司 | Six-shaft automobile chassis crane and steering control system and method thereof |
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| CN114789752A (en) | 2022-07-26 |
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