CN114872787B - Steering control method and device and electric flat car - Google Patents
Steering control method and device and electric flat car Download PDFInfo
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- CN114872787B CN114872787B CN202210611239.7A CN202210611239A CN114872787B CN 114872787 B CN114872787 B CN 114872787B CN 202210611239 A CN202210611239 A CN 202210611239A CN 114872787 B CN114872787 B CN 114872787B
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
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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
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The application relates to a steering control method and device and an electric flat car, and relates to the technical field of logistics equipment; acquiring current steering angles of wheels on different axles; obtaining target currents of a plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle; and controlling the steering proportional valves to work with respective corresponding target currents so as to synchronously steer the wheels of the multiple groups of axles to respective corresponding target steering angles. The steering control method and device and the electric flat car can reduce tire abrasion and improve steering accuracy of the electric flat car.
Description
Technical Field
The application relates to the technical field of logistics equipment, in particular to a steering control method and device and an electric flat car.
Background
The electric flat car uses a lithium iron phosphate battery as power, and a motor is used as a driving transportation tool for transporting goods. In the prior art, the working current of the steering proportional valve is used for controlling the steering of tires on an axle of the electric flat car, and in the steering process, the tires of each axle are in different states due to friction force, tire pressure, cylinder pressure and the like, so that the same steering proportional valve current is used, the steering speeds of the tires of each axle are inconsistent, and the tires are seriously worn and the steering precision of the electric flat car is lower.
Disclosure of Invention
In order to solve the technical problems, the embodiment of the application provides a steering control method and device and an electric flat car, which can reduce tire wear and improve steering precision of the electric flat car.
According to an aspect of the present application, there is provided a steering control method applied to an electric flat car, the electric flat car including a plurality of sets of axles, each set of axles being provided with wheels thereon, the steering control method including:
receiving control instructions to obtain target steering angles of wheels on different axles;
acquiring current steering angles of wheels on different axles;
obtaining target currents of a plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle; wherein each set of axles corresponds to the steering proportional valve configured to adjust a steering speed of wheels corresponding to the axles; and
and controlling the steering proportional valves to work with the respective corresponding target currents so as to synchronously steer the wheels of the multiple groups of axles to the respective corresponding target steering angles.
According to one aspect of the present application, the obtaining the target currents of the steering proportional valves according to each of the current steering angles and the corresponding target steering angles includes:
Obtaining steering angle differences of wheels on different axles according to each current steering angle and the corresponding target steering angle; and
and obtaining target currents of the steering proportional valves according to the steering angle differences of the wheels on different axles.
According to one aspect of the application, the obtaining the target currents of the steering proportional valves according to the steering angle differences of the wheels on different axles includes:
and if the steering angle difference is larger than a preset angle, taking the maximum working current of the steering proportional valve as the target current.
According to an aspect of the present application, the obtaining the target currents of the steering proportional valves according to the steering angle differences of the wheels on the different axles further includes:
obtaining steering coefficients corresponding to different axles according to the steering angle differences of the wheels on the different axles; wherein the steering coefficient characterizes a multiple of an increase or decrease in the operating current of the steering proportional valve; and
and obtaining target currents of the steering proportional valves according to different steering coefficients corresponding to the axles and the current working currents of the steering proportional valves.
According to an aspect of the present application, after the receiving the control instruction, the steering control method further includes:
acquiring the rotation direction of the electric flat car according to the control instruction; and
according to the rotation direction of the electric flat car, controlling part of the steering proportional valves to start;
the controlling the plurality of steering proportional valves to operate at the respective target currents to synchronously steer the wheels of the plurality of groups of axles to the respective target steering angles includes:
and controlling the steering proportional valves which are started to work with the corresponding target currents respectively so as to synchronously steer the wheels of the multiple groups of axles to the corresponding target steering angles respectively.
According to one aspect of the application, the control instructions include a first steering mode instruction, wherein the first steering mode instruction characterizes a control instruction that controls the electric flat car to turn at a minimum radius; the multiple groups of axles comprise a front axle and a rear axle;
the receiving the control command to obtain the target steering angles of the wheels on the different axles includes:
receiving the first steering mode instruction to acquire a target steering angle and a turning direction of the wheels on the front axle and a target steering angle and a turning direction of the wheels on the rear axle; wherein the direction of rotation on the front axle is opposite to the direction of rotation on the rear axle;
The step of obtaining the current steering angles of the wheels on different axles comprises the following steps:
the current steering angles of the wheels on the front axle and the rear axle are obtained.
According to one aspect of the application, the plurality of sets of axles includes a front axle and a rear axle; the control instructions further include a second steering mode instruction, wherein the second steering mode instruction characterizes an instruction to control steering of the front axle;
the receiving the control command to obtain the target steering angles of the wheels on the different axles includes:
receiving the second steering mode instruction to acquire a target steering angle and a rotating direction of wheels on the front axle;
the step of obtaining the current steering angles of the wheels on different axles comprises the following steps:
and acquiring the current steering angle of the wheels on the front axle.
According to one aspect of the application, the control instruction further comprises a third steering mode instruction, wherein the third steering mode instruction characterizes a control instruction for controlling the electric flat car to translate obliquely;
the receiving the control command to obtain the target steering angles of the wheels on the different axles includes:
receiving the third steering mode instruction to acquire target steering angles and turning directions of all wheels on the axle; the target steering angles of the wheels on each group of the axles are the same, and the turning directions of the wheels on each group of the axles are the same;
The step of obtaining the current steering angles of the wheels on different axles comprises the following steps:
and acquiring the current steering angles of all the wheels on the axle.
According to another aspect of the present application, there is also provided a steering control device applied to an electric flat car, the electric flat car including a plurality of sets of axles, each set of axles being provided with wheels thereon, the steering control device including:
the first receiving module is configured to receive control instructions so as to acquire target steering angles of wheels on different axles;
the first acquisition module is configured to acquire the current steering angles of the wheels on different axles;
the first calculation module is configured to obtain target currents of a plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle; wherein each set of axles corresponds to the steering proportional valve configured to adjust a steering speed of wheels corresponding to the axles; and
and the first control module is configured to control the steering proportional valves to work with the corresponding target currents so as to synchronously steer the wheels of the multiple groups of axles to the corresponding target steering angles.
According to another aspect of the present application, there is also provided an electric flat car, including:
the machine body is provided with a plurality of groups of axles, and wheels are arranged on the plurality of groups of axles; and
and the electronic equipment is arranged on the machine body and is configured to execute the steering control method.
According to the steering control method, the steering control device and the electric flat car, the target steering angles of the wheels on different axles are obtained through receiving the control instruction, then the current steering angles of the wheels on different axles are obtained, then the target currents of the steering proportional valves are obtained according to each current steering angle and the corresponding target steering angle, and finally the steering proportional valves are controlled to work with the corresponding target currents. Because each group of axles corresponds to the steering proportional valve, for different groups of axles, the target currents of the steering proportional valves corresponding to the axles of different groups are different, in the steering process, the current steering angles of the wheels of different axles change in real time, and the target currents of the steering proportional valves corresponding to the axles also change in real time, so that the steering speeds of the wheels of different axles can be adjusted in real time, the wheels on the axles of different groups are controlled to work with the respective corresponding target currents in consideration of the friction force, the tire pressure, the cylinder pressure and other factors encountered when the tires of the axles steer, the wheels on the axles of different groups can be better guaranteed to synchronously steer, tire abrasion can be effectively reduced, meanwhile, the wheels of the axles of different groups can be guaranteed to reach the corresponding target positions at the same moment, and the whole steering precision of the electric flat car is effectively improved.
Drawings
The foregoing and other objects, features and advantages of the present application will become more apparent from the following more particular description of embodiments of the present application, as illustrated in the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.
Fig. 1 is a flow chart of a steering control method according to an exemplary embodiment of the present application.
Fig. 2 is a flow chart of a steering control method according to another exemplary embodiment of the present application.
Fig. 3 is a flowchart of a steering control method according to another exemplary embodiment of the present application.
Fig. 4 is a flowchart of a steering control method according to another exemplary embodiment of the present application.
Fig. 5 is a flowchart of a steering control method according to another exemplary embodiment of the present application.
Fig. 6 is a flowchart of a steering control method according to another exemplary embodiment of the present application.
Fig. 7 is a flowchart of a steering control method according to another exemplary embodiment of the present application.
Fig. 8 is a flowchart of a steering control method according to another exemplary embodiment of the present application.
Fig. 9 is a block diagram of a steering control apparatus according to an exemplary embodiment of the present application.
Fig. 10 is a block diagram of a steering control apparatus according to another exemplary embodiment of the present application.
Fig. 11 is a block diagram of an electric flat car according to an exemplary embodiment of the present application.
Fig. 12 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application and not all of the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein.
Fig. 1 is a flow chart of a steering control method according to an exemplary embodiment of the present application. The steering control method can be applied to the electric flat car, the electric flat car can comprise a plurality of groups of axles, wheels are arranged on each group of axles, and the steering control method can be used for controlling the wheels of the plurality of groups of axles to synchronously steer. Specifically, as shown in fig. 1, the steering control method may include:
S310: and receiving a control instruction to acquire target steering angles of wheels on different axles.
Specifically, in the case where the remote controller controls the electric flat car, the remote controller may issue the aforementioned control instruction; when the electric flat car is loaded with the unmanned system, the unmanned system can send out the control instruction according to the current external environment and the state of the electric flat car. Thus, after the steering control device in the electric flat car receives the control instruction, the target steering angles of the wheels on different bridge cars can be obtained through the control instruction.
The target steering angle of the wheel may be understood as an angle at which the wheel is required to rotate from the initial position to the final target position. The initial position of the wheel is understood to be the position when the side surfaces of the wheel are perpendicular to the longitudinal direction of the connecting shaft of the axle in the straight-running state of the electric flat car.
It should be understood that during the steering of the electric flat car, the turning direction and turning angle of the electric flat car are different, and thus the target steering angles of the wheels on different axles are different. Therefore, after receiving the control instruction, the steering control device can calculate and obtain the target steering angles corresponding to the wheels on different axles according to the rotating direction and the rotating angle of the electric flat car represented by the control instruction.
S320: the current steering angles of the wheels on the different axles are obtained.
In particular, the current steering angle of the wheel may be understood as the angle of rotation of the wheel from the initial position to the current position.
In one embodiment, an angle encoder may be provided on the axle, by which the current steering angle of the wheel is measured.
It should be understood that the current steering angles of the wheels on the different axles may be the same or different in the different states of the electric flat car, and thus, in order to ensure the accuracy of the obtained data of the current steering angles, it is necessary to provide an angle encoder on each axle, and then the angle encoder on each axle may be used to measure the current steering angle of the wheels on the corresponding axle, respectively.
S330: and obtaining target currents of a plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle.
S340: and controlling the steering proportional valves to work at the respective corresponding target currents so as to synchronously steer the wheels of the multiple groups of axles to the respective corresponding target steering angles.
Specifically, each set of axles corresponds to a steering proportional valve that can be used to adjust the steering speed of the wheels on the corresponding axle, and in general, the greater the target current of the steering proportional valve, the greater the steering speed of the wheels on the corresponding axle.
It should be noted that, for the same group of axles, after the current steering angle and the corresponding target steering angle of the wheels of the group of axles are obtained, the target current of the steering proportional valve corresponding to the group of axles can be obtained. For different groups of axles, the target currents of the steering proportional valves corresponding to the axles of the different groups are different, and the wheels on the axles of the different groups are controlled to work with the respective corresponding target currents by taking the friction force, the tire pressure, the cylinder pressure and other factors encountered when the tires of the axles steer into consideration, so that the wheels on the axles of the different groups can be better ensured to synchronously steer.
It should be noted that, along with the continuous steering of the wheels, the current steering angles of the wheels of different axles are continuously changed, so that the target currents of the steering proportional valves corresponding to different axles are also changed in the steering process, and thus the steering speed of the wheels can be conveniently adjusted by the steering proportional valves in real time in the steering process of the wheels, the wheels on the axles of different groups are ensured to synchronously steer, the tire wear is effectively reduced, and meanwhile, the wheels of the axles of different groups can be ensured to reach the corresponding target positions at the same moment, and the integral steering precision of the electric flat car is effectively improved.
In an embodiment, the number of steering proportional valves corresponding to each set of axles may be one, two, three, etc.
According to the steering control method, the target steering angles of the wheels on different axles are obtained through receiving the control instruction, then the current steering angles of the wheels on different axles are obtained, then the target currents of the steering proportional valves are obtained according to each current steering angle and the corresponding target steering angle, and finally the steering proportional valves are controlled to work with the corresponding target currents. Because each group of axles corresponds to the steering proportional valve, for different groups of axles, the target currents of the steering proportional valves corresponding to the axles of different groups are different, in the steering process, the current steering angles of the wheels of different axles change in real time, and the target currents of the steering proportional valves corresponding to the axles also change in real time, so that the steering speeds of the wheels of different axles can be adjusted in real time, the wheels on the axles of different groups are controlled to work with the respective corresponding target currents in consideration of the friction force, the tire pressure, the cylinder pressure and other factors encountered when the tires of the axles steer, the wheels on the axles of different groups can be better guaranteed to synchronously steer, tire abrasion can be effectively reduced, meanwhile, the wheels of the axles of different groups can be guaranteed to reach the corresponding target positions at the same moment, and the whole steering precision of the electric flat car is effectively improved.
Fig. 2 is a flow chart of a steering control method according to another exemplary embodiment of the present application. As shown in fig. 2, step S330 may include:
s331: and obtaining the steering angle difference of the wheels on different axles according to each current steering angle and the corresponding target steering angle.
Specifically, the steering angle difference is a positive number, and therefore, in the case where the current steering angle is larger than the corresponding target steering angle, the corresponding target steering angle may be subtracted from the current steering angle, thereby obtaining the steering angle difference. In the case where the current steering angle is smaller than the corresponding target steering angle, the corresponding current steering angle may be subtracted from the target steering angle to obtain a steering angle difference
S332: and obtaining target currents of a plurality of steering proportional valves according to steering angle differences of wheels on different axles.
Specifically, the steering angle difference of the wheels on different axles is different, and the target current of the corresponding steering proportional valve is different. For example, if there is an excessive speed of the upper wheels of some of the axles during the steering, the steering angle difference is reduced too fast, and at this time, the target current corresponding to the steering proportional valve may be reduced, so that the steering speed of the wheels is reduced, and the wheels with the excessive steering speed are synchronously steered with the wheels on the other axles.
Fig. 3 is a flowchart of a steering control method according to another exemplary embodiment of the present application. As shown in fig. 3, step S332 may include:
s3321: and if the steering angle difference is larger than the preset angle, taking the maximum working current of the steering proportional valve as the target current.
Specifically, if the steering angle difference is greater than the preset angle, the difference between the current steering angle and the target steering angle can be considered to be too large, so that the maximum working current of the steering proportional valve can be used as the target current, and when the steering proportional valve works with the maximum working current, the wheels on the corresponding axles can be controlled to rotate rapidly, so that the efficiency of the wheels reaching the target position can be improved, the integral steering operation of the electric flat car can be completed rapidly, and the working efficiency can be improved.
It should be noted that, as the wheels rotate continuously, the steering angle difference will gradually decrease, when the steering angle difference is smaller than the preset angle, the target current of the steering proportional valve will also change correspondingly, and the specific target current is determined according to the actual steering angle difference, so that the steering speed of the wheels of the control axle is reduced in the process that the current steering angle gradually approaches the target steering angle, so that the wheels can reach the final target position more accurately, and the steering accuracy of the electric flat car is effectively improved.
It should be understood that the preset angle may be set according to practical situations, and the preset angle is not specifically limited in this application.
Fig. 4 is a flowchart of a steering control method according to another exemplary embodiment of the present application. As shown in fig. 4, step S332 may further include:
s3322: and obtaining the steering coefficients corresponding to the different axles according to the steering angle difference of the wheels on the different axles.
In particular, the steering coefficient is understood to be a multiple of the increase or decrease in the operating current of the steering proportional valve. The steering speed of the wheels on different axles can be correspondingly changed if the working current is increased or reduced by different times.
Taking the case of steering the wheels on two groups of axles, in the process of simultaneously steering the wheels on the two groups of axles, if the steering angle difference is reduced faster due to the too fast steering speed in the earlier stage, and the steering angle of the wheels on the other group of axles is reduced slower, the wheels on the two groups of axles are not synchronous in steering, so that the tires are seriously worn. Therefore, in the process of steering the wheels of the two groups of axles, it is necessary to determine the steering coefficients corresponding to the two groups of axles according to the speed of reducing the steering angle difference of the wheels of the two groups of axles, set the smaller steering coefficient for the wheels with higher front steering speed, and set the larger steering coefficient for the wheels with lower front steering speed, so as to ensure that the wheels of the two groups of axles can synchronously steer at the subsequent time.
S3323: and obtaining target currents of the steering proportional valves according to the steering coefficients corresponding to different axles and the current working currents of the steering proportional valves.
Specifically, for the same set of axles, the corresponding steering coefficient is obtained after executing step S3322, and then the product of the current working current of the steering proportional valve corresponding to the set of axles and the steering coefficient is calculated, so that the target current of the steering proportional valve corresponding to the set of axles can be obtained.
Fig. 5 is a flowchart of a steering control method according to another exemplary embodiment of the present application. As shown in fig. 5, after step S310, the steering control method further includes:
s350: and acquiring the rotation direction of the electric flat car according to the control instruction.
Specifically, the control instruction includes an instruction for controlling the electric flat car to rotate towards the target direction, and according to the control instruction, the subsequent rotation direction of the electric flat car can be obtained.
S360: and controlling the starting of partial steering proportional valve according to the rotation direction of the electric flat car.
Specifically, in the same group of axles, steering proportional valves are arranged at two ends of the axles, if the turning direction of the electric flat car turns right, the turning proportional valves arranged on the right side of the axles can be controlled to be started, so that the corresponding wheels can be controlled to turn right subsequently; if the rotation direction of the electric flat car is left rotation, a rotation proportional valve arranged on the left side of the axle can be controlled to be started, and the corresponding wheels can be controlled to steer left conveniently. The rotary proportional valve after starting is in a waiting working state, so that the rotary proportional valve can be controlled to enter the working state rapidly by target current conveniently, and the steering efficiency is improved.
Correspondingly, as shown in fig. 5, step S340 may include:
s341: and controlling the started steering proportional valves to work with the respective corresponding target currents so as to synchronously steer the wheels of the multiple groups of axles to the respective corresponding target steering angles.
Specifically, after step S360 is performed, in which a part of the steering proportional valves have been started in a state to be operated, and then after step S320 and step S330 are performed, the target currents respectively corresponding to the started steering proportional valves are obtained, and thus, the operation of the started steering proportional valves is controlled according to the obtained target currents.
Fig. 6 is a flowchart of a steering control method according to another exemplary embodiment of the present application. As shown in fig. 6, the control command includes a first steering mode command, the plurality of sets of axles includes a front axle and a rear axle, and step S310 may include:
s311: a first steering mode command is received to obtain a target steering angle and a turning direction of the wheels on the front axle and a target steering angle and a turning direction of the wheels on the rear axle.
Specifically, the first steering mode command characterizes a control command for controlling the electric flat car to turn at a minimum radius, according to which a target steering angle and a turning direction of the wheels on the front axle and a target steering angle and a turning direction of the wheels on the rear axle can be obtained, and during the steering, the turning direction on the front axle is opposite to the turning direction on the rear axle because the turning is required at the minimum radius.
Correspondingly, step S320 may include:
s321: the current steering angles of the wheels on the front axle and the rear axle are obtained.
Specifically, since the wheels on the front axle and the rear axle are required to be steered in the first steering mode, it is necessary to acquire the current steering angles of the wheels on the front axle and the rear axle, and then step S330 and step S340 are performed to control the steering proportional valves respectively corresponding to the front axle and the rear axle to operate with the respective target currents, thereby completing the steering operation with the minimum radius in the first steering mode.
Fig. 7 is a flowchart of a steering control method according to another exemplary embodiment of the present application. As shown in fig. 7, the control instruction may further include a second steering mode, and step S310 may further include:
s312: and receiving a second steering mode instruction to acquire a target steering angle and a turning direction of wheels on the front axle.
In particular, the second steering mode command characterizes a command for controlling the steering of the front axle, that is to say, in the second steering mode, the steering of the wheels on the front axle is required, the wheels on the rear axle remain straight, and therefore, according to the second steering mode command, only the target steering angle and the steering direction of the wheels on the front axle need be obtained.
Correspondingly, step S320 may include:
s322: the current steering angle of the wheel on the front axle is obtained.
Specifically, in the second steering mode, only the wheels on the front axle and the rear axle need to be steered, so that only the current steering angle of the wheels on the front axle is obtained, step S330 and step S340 are then executed, and the steering proportional valve corresponding to the front axle is controlled to work with the target current, so that the steering operation is completed in the second steering mode.
Fig. 8 is a flowchart of a steering control method according to another exemplary embodiment of the present application. As shown in fig. 8, the control instruction further includes a third steering mode instruction, and step S310 may further include:
s313: and receiving a third steering mode instruction to acquire target steering angles and turning directions of wheels on all axles.
Specifically, the third steering mode command characterizes a control command for controlling the electric flat car to translate obliquely. In the third steering mode, each group of axles on the electric flat car needs to perform steering operation, so that according to the instruction of the third steering mode, the target steering angles and the turning directions of the wheels on all the axles need to be obtained. In order to ensure the oblique translation of the electric flat car, the target steering angles of the wheels on each group of axles are required to be the same, and the rotation directions of the wheels on each group of axles are the same.
Correspondingly, step S320 may include:
s323: the current steering angles of the wheels on all the axles are obtained.
Specifically, in the third steering mode, the wheels on all the axles need to be steered, so that the current steering angles of the wheels on all the axles need to be obtained, then step S330 and step S340 are executed, and the steering proportional valves corresponding to all the axles are controlled to work with respective target currents, so that in the third steering mode, the oblique translation operation is completed.
Fig. 9 is a block diagram of a steering control apparatus according to an exemplary embodiment of the present application. As shown in fig. 9, the steering control device 500 provided in the present application is applied to an electric flat car, the electric flat car includes a plurality of groups of axles, each group of axles is provided with wheels, and the steering control device 500 includes: the first receiving module 510 is configured to receive a control instruction to obtain target steering angles of wheels on different axles; a first acquisition module 520 configured to acquire a current steering angle of wheels on different axles; a first calculation module 530 configured to obtain target currents of the plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle; each group of axles corresponds to a steering proportional valve, and the steering proportional valve is configured to adjust the steering speed of wheels on the corresponding axle; and a first control module 540 configured to control the plurality of steering proportional valves to operate at respective corresponding target currents to synchronously steer the wheels of the plurality of groups of axles to respective corresponding target steering angles.
According to the steering control device, the target steering angles of the wheels on different axles are obtained through receiving the control instruction, then the current steering angles of the wheels on different axles are obtained, then the target currents of the steering proportional valves are obtained according to each current steering angle and the corresponding target steering angle, and finally the steering proportional valves are controlled to work with the corresponding target currents. Because each group of axles corresponds to the steering proportional valve, for different groups of axles, the target currents of the steering proportional valves corresponding to the axles of different groups are different, in the steering process, the current steering angles of the wheels of different axles change in real time, and the target currents of the steering proportional valves corresponding to the axles also change in real time, so that the steering speeds of the wheels of different axles can be adjusted in real time, the wheels on the axles of different groups are controlled to work with the respective corresponding target currents in consideration of the friction force, the tire pressure, the cylinder pressure and other factors encountered when the tires of the axles steer, the wheels on the axles of different groups can be better guaranteed to synchronously steer, tire abrasion can be effectively reduced, meanwhile, the wheels of the axles of different groups can be guaranteed to reach the corresponding target positions at the same moment, and the whole steering precision of the electric flat car is effectively improved.
Fig. 10 is a block diagram of a steering control apparatus according to another exemplary embodiment of the present application. As shown in fig. 10, in an embodiment, the first calculating module 530 may include a second calculating module 531 configured to obtain a steering angle difference of the wheels on different axles according to each current steering angle and the corresponding target steering angle; the third calculation module 532 is configured to obtain the target currents of the steering proportional valves according to the steering angle differences of the wheels on the different axles.
As shown in fig. 10, in an embodiment, the third calculation module 532 includes a replacement module 5321 configured to take the maximum operating current of the steering proportional valve as the target current if the steering angle difference is greater than the preset angle.
As shown in fig. 10, in an embodiment, the third calculation module 532 includes a fourth calculation module 5322 configured to obtain steering coefficients corresponding to different axles according to steering angle differences of wheels on the different axles; the steering coefficient represents the multiple of the increase or decrease of the working current of the steering proportional valve; and a fifth calculation module 5323 configured to obtain target currents of the steering proportional valves according to steering coefficients corresponding to different axles and current working currents of the steering proportional valves.
As shown in fig. 10, in an embodiment, the steering control device 500 may further include a second acquisition module 550 configured to acquire a rotation direction of the electric flat car according to the control instruction; a second control module 560 configured to control the actuation of a part of the steering proportional valve according to the rotation direction of the electric flat car; correspondingly, the first control module 540 may also be configured to control the steering proportional valves that have been activated to operate at respective target currents to synchronously steer the wheels of the plurality of sets of axles to respective target steering angles.
As shown in fig. 10, in an embodiment, the first receiving module 510 may include a second receiving module 511 configured to receive a first steering mode instruction to obtain a target steering angle and a turning direction of a wheel on a front axle and a target steering angle and a turning direction of a wheel on a rear axle; wherein the rotation direction on the front axle is opposite to the rotation direction on the rear axle; correspondingly, the first acquisition module 520 may include a third acquisition module 521 configured to acquire the current steering angles of the wheels on the front and rear axles.
As shown in fig. 10, in an embodiment, the first receiving module 510 may include a third receiving module 512 configured to receive a second steering mode instruction to obtain a target steering angle and a turning direction of the wheels on the front axle; correspondingly, the first acquisition module 520 may include a fourth acquisition module 522 configured to acquire a current steering angle of the wheels on the front axle.
As shown in fig. 10, in an embodiment, the first receiving module 510 may include a fourth receiving module 513 configured to receive the third steering mode command to obtain the target steering angles and the turning directions of the wheels on all the axles; the target steering angles of the wheels on each group of axles are the same, and the turning directions of the wheels on each group of axles are the same; the first acquisition module 520 may include a fifth acquisition module 523 configured to acquire the current steering angles of the wheels on all axles.
Fig. 11 is a block diagram of an electric flat car according to an exemplary embodiment of the present application. As shown in fig. 11, the electric flat car 600 provided in the present application includes: the machine body 610 is provided with a plurality of groups of axles, and wheels are arranged on the groups of axles; and an electronic device 620 provided on the body, the electronic device 620 being configured to execute the steering control method as set forth in the claims.
According to the electric flat car, the target steering angles of the wheels on different axles are obtained through receiving the control instruction, then the current steering angles of the wheels on different axles are obtained, then the target currents of the steering proportional valves are obtained according to each current steering angle and the corresponding target steering angle, and finally the steering proportional valves are controlled to work with the corresponding target currents. Because each group of axles corresponds to the steering proportional valve, for different groups of axles, the target currents of the steering proportional valves corresponding to the axles of different groups are different, in the steering process, the current steering angles of the wheels of different axles change in real time, and the target currents of the steering proportional valves corresponding to the axles also change in real time, so that the steering speeds of the wheels of different axles can be adjusted in real time, the wheels on the axles of different groups are controlled to work with the respective corresponding target currents in consideration of the friction force, the tire pressure, the cylinder pressure and other factors encountered when the tires of the axles steer, the wheels on the axles of different groups can be better guaranteed to synchronously steer, tire abrasion can be effectively reduced, meanwhile, the wheels of the axles of different groups can be guaranteed to reach the corresponding target positions at the same moment, and the whole steering precision of the electric flat car is effectively improved.
Fig. 12 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application. An electronic device 620 according to an embodiment of the present application is described with reference to fig. 12. The electronic device 620 may be either or both of the first device and the second device, or a stand-alone device independent thereof, which may communicate with the first device and the second device to receive the acquired input signals therefrom.
As shown in fig. 12, the electronic device 620 includes one or more processors 621 and memory 622.
The processor 621 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 620 to perform desired functions.
Memory 622 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by the processor 621 to implement the control methods and/or other desired functions of the various embodiments of the present application as described above. Various contents such as an input signal, a signal component, a noise component, and the like may also be stored in the computer-readable storage medium.
In one example, the electronic device 620 may further include: input devices 623 and output devices 624, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).
Where the controller is a stand-alone device, the input means 623 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
In addition, the input means 623 may also include, for example, a keyboard, a mouse, and the like.
The output device 624 may output various information to the outside, including the determined distance information, direction information, and the like. The output 624 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, among others.
Of course, only some of the components of the electronic device 620 that are relevant to the present application are shown in fig. 12 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 620 may include any other suitable components depending on the particular application.
The computer program product may write program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (8)
1. The utility model provides a steering control method, is applied to electric flat car, electric flat car includes multiunit axle, every group all be equipped with the wheel on the axle, its characterized in that, steering control method includes:
Receiving control instructions to obtain target steering angles of wheels on different axles;
acquiring current steering angles of wheels on different axles;
obtaining target currents of a plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle; wherein each set of axles corresponds to the steering proportional valve configured to adjust a steering speed of wheels corresponding to the axles; and
controlling the steering proportional valves to work with the respective corresponding target currents so as to synchronously steer the wheels of the multiple groups of axles to the respective corresponding target steering angles;
wherein, the obtaining the target currents of the steering proportional valves according to each current steering angle and the corresponding target steering angle includes:
obtaining steering angle differences of wheels on different axles according to each current steering angle and the corresponding target steering angle; and
obtaining target currents of the steering proportional valves according to the steering angle differences of the wheels on different axles;
wherein, according to the steering angle difference of the wheels on different axles, obtaining the target currents of the steering proportional valves further comprises:
Obtaining steering coefficients corresponding to different axles according to the speed of reducing the steering angle difference of the wheels on the different axles; wherein the steering coefficient characterizes a multiple of an increase or decrease in the operating current of the steering proportional valve; and
and obtaining target currents of the steering proportional valves according to different steering coefficients corresponding to the axles and the current working currents of the steering proportional valves.
2. The steering control method according to claim 1, wherein the obtaining the target currents of the plurality of steering proportional valves according to the steering angle differences of the wheels on the different axles includes:
and if the steering angle difference is larger than a preset angle, taking the maximum working current of the steering proportional valve as the target current.
3. The steering control method according to claim 1, characterized in that after the receiving of the control instruction, the steering control method further comprises:
acquiring the rotation direction of the electric flat car according to the control instruction; and
according to the rotation direction of the electric flat car, controlling part of the steering proportional valves to start;
the controlling the plurality of steering proportional valves to operate at the respective target currents to synchronously steer the wheels of the plurality of groups of axles to the respective target steering angles includes:
And controlling the steering proportional valves which are started to work with the corresponding target currents respectively so as to synchronously steer the wheels of the multiple groups of axles to the corresponding target steering angles respectively.
4. The steering control method according to claim 1, wherein the control command includes a first steering mode command, wherein the first steering mode command characterizes a control command that controls the electric flat car to turn at a minimum radius; the multiple groups of axles comprise a front axle and a rear axle;
the receiving the control command to obtain the target steering angles of the wheels on the different axles includes:
receiving the first steering mode instruction to acquire a target steering angle and a turning direction of the wheels on the front axle and a target steering angle and a turning direction of the wheels on the rear axle; wherein the direction of rotation on the front axle is opposite to the direction of rotation on the rear axle;
the step of obtaining the current steering angles of the wheels on different axles comprises the following steps:
the current steering angles of the wheels on the front axle and the rear axle are obtained.
5. The steering control method of claim 1, wherein the plurality of sets of axles includes a front axle and a rear axle; the control instructions further include a second steering mode instruction, wherein the second steering mode instruction characterizes an instruction to control steering of the front axle;
The receiving the control command to obtain the target steering angles of the wheels on the different axles includes:
receiving the second steering mode instruction to acquire a target steering angle and a rotating direction of wheels on the front axle;
the step of obtaining the current steering angles of the wheels on different axles comprises the following steps:
and acquiring the current steering angle of the wheels on the front axle.
6. The steering control method of claim 1, wherein the control instructions further comprise a third steering mode instruction, wherein the third steering mode instruction characterizes a control instruction that controls the electric flat car to translate diagonally;
the receiving the control command to obtain the target steering angles of the wheels on the different axles includes:
receiving the third steering mode instruction to acquire target steering angles and turning directions of all wheels on the axle; the target steering angles of the wheels on each group of the axles are the same, and the turning directions of the wheels on each group of the axles are the same;
the step of obtaining the current steering angles of the wheels on different axles comprises the following steps:
and acquiring the current steering angles of all the wheels on the axle.
7. The utility model provides a steering control device, is applied to electric flat car, electric flat car includes multiunit axle, every group all be equipped with the wheel on the axle, its characterized in that, steering control device includes:
the first receiving module is configured to receive control instructions so as to acquire target steering angles of wheels on different axles;
the first acquisition module is configured to acquire the current steering angles of the wheels on different axles;
the first calculation module is configured to obtain target currents of a plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle; wherein each set of axles corresponds to the steering proportional valve configured to adjust a steering speed of wheels corresponding to the axles; and
the first control module is configured to control the steering proportional valves to work with the corresponding target currents respectively so as to synchronously steer the wheels of the multiple groups of axles to the corresponding target steering angles respectively;
the first computing module includes:
the second calculation module is configured to obtain steering angle differences of wheels on different axles according to each current steering angle and the corresponding target steering angle; and
The third calculation module is configured to obtain target currents of the steering proportional valves according to the steering angle differences of the wheels on different axles;
the third computing module includes:
the fourth calculation module is configured to obtain steering coefficients corresponding to different axles according to the speed of reducing the steering angle difference of the wheels on the different axles; wherein the steering coefficient characterizes a multiple of an increase or decrease in the operating current of the steering proportional valve; and
and the fifth calculation module is configured to obtain target currents of the steering proportional valves according to different steering coefficients corresponding to the axles and the current working currents of the steering proportional valves.
8. An electric flat car, comprising:
the machine body is provided with a plurality of groups of axles, and wheels are arranged on the plurality of groups of axles; and
an electronic device provided on the body, the electronic device being configured to execute the steering control method according to any one of claims 1 to 6.
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| DE102013019483A1 (en) * | 2013-11-20 | 2015-05-21 | Audi Ag | Method and device for vibration damping of a driven axle with moment transverse distribution |
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| RU2125720C1 (en) * | 1996-07-26 | 1999-01-27 | Казанское коммунальное унитарное пассажирское автотранспортное предприятие N 3 | Method measuring skewness of axles of wheeled vehicles ( variants ) |
| CN102358342A (en) * | 2011-09-09 | 2012-02-22 | 杭州赛奇高空作业机械有限公司 | Four-wheel driving double-steering travelling device and method |
| CN104843059A (en) * | 2014-03-24 | 2015-08-19 | 北汽福田汽车股份有限公司 | Steering system of multi-axle vehicle, and multi-axle vehicle |
| CN107792172B (en) * | 2017-10-30 | 2019-09-24 | 湖北三江航天万山特种车辆有限公司 | A kind of control system and control method turned to for control module flat car |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013019483A1 (en) * | 2013-11-20 | 2015-05-21 | Audi Ag | Method and device for vibration damping of a driven axle with moment transverse distribution |
| CN114427981A (en) * | 2022-01-18 | 2022-05-03 | 三一汽车制造有限公司 | Tire lift-off detection method and device for working machine, and working machine |
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