CN115075330B - Bidirectional driving steering control system and method and excavator - Google Patents
Bidirectional driving steering control system and method and excavator Download PDFInfo
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- CN115075330B CN115075330B CN202210733642.7A CN202210733642A CN115075330B CN 115075330 B CN115075330 B CN 115075330B CN 202210733642 A CN202210733642 A CN 202210733642A CN 115075330 B CN115075330 B CN 115075330B
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- 230000002457 bidirectional effect Effects 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000009471 action Effects 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010438 heat treatment Methods 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
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/225—Control of steering, e.g. for hydraulic motors driving the vehicle tracks
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2041—Automatic repositioning of implements, i.e. memorising determined positions of the implement
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2087—Control of vehicle steering
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2271—Actuators and supports therefor and protection therefor
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2275—Hoses and supports therefor and protection therefor
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2282—Systems using center bypass type changeover valves
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a bidirectional driving steering control system, a bidirectional driving steering control method and an excavator, wherein the system comprises the following components: steering gear, front wheel steering cylinder, rear wheel steering cylinder, front wheel cylinder position sensor, rear wheel cylinder position sensor, steering mode selector switch and complete machine controller. The vehicle has multiple steering modes of front and rear wheel steering and four wheel steering, so that the vehicle can move and steer more freely in a limited space. The bidirectional running function can be automatically switched according to the turning state of the vehicle, after the switching, a driver can always keep the front direction, namely the running forward direction, the operation habit of the driver is met, the driver can drive in the forward direction or the reverse direction, and multiple steering modes are indiscriminate for the driver, so that the risk of misoperation is reduced. Meanwhile, in the four-wheel steering mode, the automatic centering function of the front wheels and the rear wheels under any rotation angle is realized through the acquisition and calculation of the signals of the oil cylinder position sensor by the controller, so that the front wheels and the rear wheels are guaranteed to be in synchronous steering motion with a great possibility.
Description
Technical Field
The invention relates to the technical field of tire type engineering machinery, in particular to a bidirectional driving steering control system and method and an excavator.
Background
With the continuous perfection of urban road construction in China, the tire type engineering machinery is increasingly widely applied to projects such as urban greening and road construction, but the traditional running and steering modes are single, the operation process is not flexible enough, and the machinery is not easy to bend or turn around during narrow road operation.
The technical proposal of the prior art is as follows:
(1) CN 113386853A provides a bidirectional driving hydraulic steering system and a bidirectional driving vehicle, and provides a bidirectional driving, double cab vehicle, and four-wheel steering mode is realized by connecting front and rear axle cylinder pipelines in series;
(2) 202121280946X provides a hydraulic system capable of realizing multiple steering and a driving assembly thereof, and a plurality of hydraulic driving steering modes are realized by arranging an electromagnetic valve combined system.
Disadvantages of the prior art:
(1) In the CN 113386853A patent, double cabs are needed for bidirectional driving, the hydraulic system is more complex, and the steering resistance and the heating value of the hydraulic system in a serial connection mode of front and rear axle oil cylinder pipelines are larger;
(2) 202121280946 the system in the X patent cannot realize bidirectional running of the vehicle, and the hydraulic system cannot realize automatic centering function in a four-wheel steering mode, so that synchronization of front wheels and rear wheels is difficult to maintain in a multi-mode switching and steering process, and the functions are limited.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a bidirectional driving steering control system, a bidirectional driving steering control method and an excavator.
In order to solve the problems in the prior art, the invention discloses a bidirectional running steering control system, which is characterized by comprising a steering control system, a bidirectional running control system and a whole machine controller;
the bidirectional travel control system includes: the electronic throttle pedal is used for controlling the current of the forward proportional electromagnetic valve and the backward proportional electromagnetic valve to control the running speed of the vehicle; the whole machine controller judges whether the direction of the cab of the vehicle is consistent with the running direction or not through the real-time position of the boarding rotation;
the steering control system includes: the device comprises a steering device, a front wheel steering cylinder, a rear wheel steering cylinder, a front wheel steering direction switching electromagnetic valve, a rear wheel steering direction switching electromagnetic valve, a front wheel steering mode electromagnetic valve and a rear wheel steering mode electromagnetic valve, wherein an oil outlet of the steering device is connected with an oil inlet of a hydraulic valve block formed by the front wheel steering mode electromagnetic valve and the rear wheel steering mode electromagnetic valve through a hydraulic pipe, an oil outlet of the hydraulic valve block is respectively connected with oil inlets of the front wheel steering direction switching electromagnetic valve and the rear wheel steering direction switching electromagnetic valve through a hydraulic pipe, an oil outlet of the front wheel steering direction switching electromagnetic valve is connected with the front wheel steering cylinder through a hydraulic pipeline, and an oil outlet of the rear wheel steering direction switching electromagnetic valve is connected with the rear wheel steering cylinder through a hydraulic pipeline; the front wheel steering direction switching electromagnetic valve, the rear wheel steering direction switching electromagnetic valve, the front wheel steering mode electromagnetic valve and the rear wheel steering mode electromagnetic valve are respectively connected with the whole machine controller; the control modes of the steering control system comprise a front steering mode, a rear steering mode and a four-wheel steering mode;
when the front gear is engaged, the whole vehicle runs in the forward direction when the front wheels are positioned; when the forward gear is engaged, the whole vehicle runs in the reverse direction when the running direction is the direction in which the rear wheels are positioned; the front wheel steering mode under forward running is that the electromagnetic valve of the front wheel steering mode is electrified and the electromagnetic valve of the rear wheel steering mode is deenergized, and only the front wheel steering oil cylinder drives the front wheel to steer; the front wheel steering mode under the reverse running is that the electromagnetic valve of the front wheel steering mode is powered off and the electromagnetic valve of the rear wheel steering mode is powered on, and only the rear wheel steering oil cylinder drives the rear wheel to steer; the front wheel steering mode electromagnetic valve is powered off, and only the rear wheel steering oil cylinder drives the rear wheel to steer; the rear wheel steering mode is that the electromagnetic valve of the rear wheel steering mode is powered off and the electromagnetic valve of the front wheel steering mode is powered on under the reverse running, and only the front wheel steering oil cylinder drives the front wheel to steer; when the electromagnetic valve of the front steering mode and the electromagnetic valve of the rear steering mode are not powered, the front steering cylinder and the rear steering cylinder work simultaneously, and four wheels steer simultaneously.
Further, the steering system further comprises a steering mode selection switch, wherein the steering mode selection switch is connected with the whole machine controller and is used for selecting a front steering mode, a rear steering mode or a four-wheel steering mode.
Further, the device also comprises a rotation angle sensor, wherein the rotation angle sensor is connected with the whole machine controller and is used for detecting the real-time position of the rotation of the boarding car.
Further, the front wheel steering device also comprises a front wheel cylinder position sensor, wherein the front wheel cylinder position sensor is connected with the whole machine controller and is used for detecting the position of a driving rod of the front wheel steering cylinder.
Further, the steering control device also comprises a rear wheel cylinder position sensor, wherein the rear wheel cylinder position sensor is connected with the whole machine controller and is used for detecting the position of a driving rod of the rear wheel steering cylinder.
Further, the automatic reversing switch is connected with the whole machine controller and is used for switching on or off the automatic reversing switch to automatically switch the running direction of the vehicle.
Further, the intelligent monitoring system also comprises a monitoring instrument, wherein the monitoring instrument is in communication connection with the whole machine controller.
Correspondingly, a bidirectional driving steering control method comprises the following steps:
the whole machine controller acquires an angle signal of the rotation angle sensor, judges the current rotation position of the upper vehicle and determines whether the direction of the cab is forward;
if the cab is forward, the complete machine controller calls the current state to judge whether the vehicle is running forward or not; otherwise, the complete machine controller invokes the current state to judge whether the vehicle runs reversely;
if the vehicle runs in the forward direction, entering a forward running mode, otherwise, entering a reverse running mode;
if the vehicle runs in the reverse direction, entering a reverse running mode, otherwise, entering a forward running mode;
the forward running mode is: the complete machine controller obtains the signal of the current gear switch, and the forward gear: the whole machine controller controls the output current of the forward proportional electromagnetic valve according to the signal of the electronic accelerator pedal; reverse gear: the whole machine controller controls the output current of the backward proportional electromagnetic valve according to the signal of the electronic accelerator pedal;
the reverse travel mode is: the complete machine controller obtains a current gear switch signal and a forward gear: the whole machine controller controls the output current of the backward proportional electromagnetic valve according to the pedal signal of the electronic accelerator; reverse gear: the whole machine controller controls the output current of the forward proportional electromagnetic valve according to the pedal signal of the electronic accelerator.
Further, the control method for bidirectional running further includes: when the complete machine controller calls the current state to judge that the vehicle is not running forward, continuously judging whether the automatic reversing switch is turned on, if the automatic reversing switch is turned on, acquiring an electronic accelerator pedal signal by the complete machine controller, and judging whether the electronic accelerator pedal is stepped on; otherwise, entering a reverse driving mode;
if the electronic accelerator pedal is stepped down, a reverse running mode is entered; otherwise, judging whether the current of the current forward proportional electromagnetic valve and the current of the current backward proportional electromagnetic valve are zero;
if the current of the forward proportional electromagnetic valve and the current of the backward proportional electromagnetic valve are both zero, the running direction is switched to a forward running action, and a forward running mode is entered; otherwise, the reverse driving mode is entered.
Further, the control method for bidirectional running further includes: when the complete machine controller takes the current state to judge that the vehicle is not running in the reverse direction, continuously judging whether the automatic reversing switch is turned on, if the automatic reversing switch is turned on, acquiring an electronic accelerator pedal signal by the complete machine controller, and judging whether the electronic accelerator pedal is stepped on; otherwise, entering a forward running mode;
if the electronic accelerator pedal is stepped down, a forward running mode is entered; otherwise, judging whether the current of the current forward proportional electromagnetic valve and the current of the current backward proportional electromagnetic valve are zero;
if the current of the forward proportional electromagnetic valve and the current of the backward proportional electromagnetic valve are both zero, switching the running direction into a reverse running action and entering a reverse running mode; otherwise, the forward running mode is entered.
Further, the steering control method comprises the following steps:
the whole machine controller acquires a steering mode selection switch signal and judges a steering mode;
if the front steering mode is adopted, the electromagnetic valve of the front steering mode is powered on in the forward running mode, and the electromagnetic valve of the rear steering mode is powered off; the electromagnetic valve in the front wheel steering mode is powered off in the reverse running mode, and the electromagnetic valve in the rear wheel steering mode is powered on;
if the vehicle is in the rear wheel steering mode, the electromagnetic valve of the front wheel steering mode is powered off in the forward running mode, and the electromagnetic valve of the rear wheel steering mode is powered on; the electromagnetic valve in the front wheel steering mode is powered on in the reverse running mode, and the electromagnetic valve in the rear wheel steering mode is powered off;
if the four-wheel steering mode is adopted, the electromagnetic valve of the front wheel steering mode is powered off in the forward running mode and the reverse running mode, and the electromagnetic valve of the rear wheel steering mode is powered off.
Further, the steering control method further includes:
in a front wheel steering mode, the complete machine controller acquires current running state information and judges whether the vehicle runs reversely or not; if the vehicle runs reversely, the rear wheel turning direction switching electromagnetic valve is powered off, and the front wheel turning direction switching electromagnetic valve is powered on;
the whole machine controller acquires a front wheel cylinder position sensor signal and judges whether the front wheel is aligned;
if the front wheels are returned, the front wheel steering mode electromagnetic valve is powered off, and the rear wheel steering mode electromagnetic valve is powered on; otherwise, the rear wheel steering mode electromagnetic valve is powered off, the front wheel steering mode electromagnetic valve is powered on, and the steering mode is reselected;
if the vehicle runs in a non-reverse direction, the front wheel steering direction switching electromagnetic valve is powered off, and the rear wheel steering direction switching electromagnetic valve is powered on;
the complete machine controller acquires a rear wheel cylinder position sensor signal and judges whether the rear wheel is aligned;
if the rear wheels are returned, the rear wheel steering mode electromagnetic valve is powered off, and the front wheel steering mode electromagnetic valve is powered on; otherwise, the front steering mode electromagnetic valve is powered off, the rear steering mode electromagnetic valve is powered on, and the steering mode is reselected.
Further, the steering control method further includes:
in a rear wheel steering mode, the complete machine controller acquires current running state information and judges whether the vehicle runs reversely or not;
if the vehicle runs reversely, the rear wheel turning direction switching electromagnetic valve is powered off, and the front wheel turning direction switching electromagnetic valve is powered on;
the complete machine controller acquires a rear wheel cylinder position sensor signal and judges whether the rear wheel is aligned;
if the rear wheels are returned, the rear wheel steering mode electromagnetic valve is powered off, and the front wheel steering mode electromagnetic valve is powered on; otherwise, the front wheel steering mode electromagnetic valve is powered off, the rear wheel steering mode electromagnetic valve is powered on, and the steering mode is reselected;
if the vehicle runs in a non-reverse direction, the front wheel steering direction switching electromagnetic valve is powered off, and the rear wheel steering direction switching electromagnetic valve is powered on;
the whole machine controller acquires a front wheel cylinder position sensor signal and judges whether the front wheel is aligned;
if the front wheels are returned, the front wheel steering mode electromagnetic valve is powered off, and the rear wheel steering mode electromagnetic valve is powered on; otherwise, the rear wheel steering mode electromagnetic valve is powered off, the front wheel steering mode electromagnetic valve is powered on, and the steering mode is reselected.
Further, the steering control method further includes:
in the four-wheel steering mode, the complete machine controller acquires current running state information and judges whether the vehicle runs reversely or not;
if the vehicle runs reversely, the rear wheel turning direction switching electromagnetic valve is powered off, and the front wheel turning direction switching electromagnetic valve is powered on; otherwise, the front wheel steering direction switching electromagnetic valve is powered off, and the rear wheel steering direction switching electromagnetic valve is powered on;
the whole machine controller acquires a front wheel cylinder position sensor signal and a rear wheel cylinder position sensor signal, and calculates whether the rotation deviation of the front and rear cylinders is larger than a first set value;
if the rotation deviation of the front oil cylinder and the rear oil cylinder is larger than a first set value, collecting whether the electromagnetic valve in the front wheel steering mode is electrified;
if the front wheel steering mode electromagnetic valve is not powered on and the rear wheel steering mode electromagnetic valve is powered on, the fact that only the rear wheel can rotate at the moment is indicated, the whole machine controller collects and compares the stroke change value of the rear wheel oil cylinder position sensor in a short enough time t1, and the steering direction is judged;
otherwise, the front wheel or the front wheel and the rear wheel can rotate, and the whole machine controller collects and compares the stroke change value of the front wheel oil cylinder position sensor in a short enough time t1 to judge the steering direction;
under the condition that the running direction and the steering direction are known, the complete machine controller judges the leading situation of the front and rear wheels at present according to the rotation deviation of the front and rear oil cylinders;
if the front wheel rotates ahead, the electromagnetic valve of the front wheel steering mode is powered off, the electromagnetic valve of the rear wheel steering mode is powered on, and the steering mode is reselected;
otherwise, the rear wheel steering mode electromagnetic valve is powered off, the front wheel steering mode electromagnetic valve is powered on, and the steering mode is reselected;
if the rotation deviation of the front oil cylinder and the rear oil cylinder is not larger than the first set value, the front wheel steering mode electromagnetic valve and the rear wheel steering mode electromagnetic valve are powered off.
Accordingly, an excavator is provided with the bidirectional running steering control system.
The invention has the beneficial effects that:
the vehicle has multiple steering modes of front and rear wheel steering and four wheel steering, so that the vehicle can move and steer more freely in a limited space. The bidirectional running function can be automatically switched according to the turning state of the vehicle, after the switching, a driver can always keep the front direction, namely the running forward direction, the operation habit of the driver is met, the driver can drive in the forward direction or the reverse direction, and multiple steering modes are indiscriminate for the driver, so that the risk of misoperation is reduced. Meanwhile, in the four-wheel steering mode, the automatic centering function of the front wheels and the rear wheels under any rotation angle is realized through the acquisition and calculation of the signals of the oil cylinder position sensor by the controller, so that the front wheels and the rear wheels are guaranteed to be in synchronous steering motion with a great possibility.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a system according to the present invention;
FIG. 3 is a schematic diagram of a bi-directional travel control flow according to the present invention;
fig. 4 is a schematic diagram of a steering control flow according to the present invention.
Description of the embodiments
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
As shown in fig. 1, in the bidirectional driving steering control system of the invention, an oil outlet of a steering gear 1 is connected with a hydraulic valve block oil inlet formed by a front wheel steering mode electromagnetic valve 6 and a rear wheel steering mode electromagnetic valve 7 through a hydraulic pipe, the oil outlet of the valve block is respectively connected with oil inlets of a front wheel steering direction switching electromagnetic valve 4 and a rear wheel steering direction switching electromagnetic valve 5 through hydraulic pipes, the oil outlet of the front wheel steering direction switching electromagnetic valve 4 is connected with a front wheel steering cylinder 2 through a hydraulic pipeline, and the oil outlet of the rear wheel steering direction switching electromagnetic valve 5 is connected with a rear wheel steering cylinder 3 through a hydraulic pipeline. When the front wheel steering mode electromagnetic valve 6 is electrified and the rear wheel steering mode electromagnetic valve 7 is not electrified, only the front wheels steer; when the rear wheel steering mode electromagnetic valve 7 is electrified and the front wheel steering mode electromagnetic valve 6 is not electrified, only the rear wheels steer; when the front steering mode electromagnetic valve 6 and the rear steering mode electromagnetic valve 7 are not powered, four wheels are simultaneously steered. Taking the left rotation of the steering gear 1 as an example, when the front wheel steering direction switching electromagnetic valve 4 is not powered, the front wheel steering oil cylinder 2 drives the front wheel to rotate left, and when the front wheel steering direction switching electromagnetic valve 4 is powered, the front wheel steering oil cylinder 2 drives the front wheel to rotate right; also taking the steering gear 1 turning to the left as an example, when the rear wheel steering direction switching solenoid valve 5 is not energized, the rear wheel steering cylinder 3 drives the rear wheel to turn to the left, and when the rear wheel steering direction switching solenoid valve 5 is energized, the rear wheel steering cylinder 3 drives the rear wheel to turn to the right.
As shown in fig. 2, a front wheel cylinder position sensor 16, a rear wheel cylinder position sensor 17, a front wheel steering direction switching solenoid valve 4, a rear wheel steering direction switching solenoid valve 5, a front wheel steering mode solenoid valve 6, a rear wheel steering mode solenoid valve 7, a forward proportional solenoid valve 8, a reverse proportional solenoid valve 9, an electronic accelerator pedal 12, a turning angle sensor 18, a gear selection switch 14, a steering mode selection switch 15 and an automatic reversing switch 13 of the bidirectional steering control system of the present invention are all electrically connected to the complete machine controller 10, and a monitor 11 is communicatively connected to the complete machine controller 10. The front and rear wheel cylinder position sensors are arranged on the front and rear wheel cylinders to detect the telescopic positions of the cylinders in real time; the gear selector switch 14 is used for switching between F (forward), N (neutral) and R (reverse); the steering mode selection switch 15 is used for selecting front wheel, rear wheel and four-wheel steering modes; the automatic reversing switch 13 is used for switching on or off the automatic switching of the running direction of the vehicle so as to achieve bidirectional running; the rotation angle sensor 18 is arranged on a central rotation body of the whole machine and is used for detecting the real-time position of the rotation of the upper vehicle; the electronic accelerator pedal 12 controls the current of the forward or backward electromagnetic valve to control the running speed; the monitoring instrument is used for monitoring the current steering mode, the positions of the front and rear wheel cylinders, the rotation angle, the advancing direction and other states in real time.
As shown in fig. 3, the control method of bidirectional running in the present invention:
the complete machine controller 10 acquires an angle signal of the rotation angle sensor 18, judges the current rotation position of the upper vehicle, and determines whether the direction of the cab is forward;
if the cab is forward, the complete machine controller 10 calls the current state to judge whether the vehicle is traveling forward or not; otherwise, executing the step 9;
if the vehicle runs in the forward direction, executing the step 7; otherwise, the complete machine controller 10 further acquires whether the automatic reversing switch 13 is opened or not;
if the automatic reversing switch 13 is turned on, the complete machine controller 10 further acquires the signal of the electronic accelerator pedal 12 and judges whether the electronic accelerator pedal is stepped on or not; otherwise, executing the step 14;
if the electronic throttle pedal 12 is stepped on, step 14 is executed; otherwise, further acquiring whether the current of the current forward and backward electromagnetic valves is zero;
if the current of the forward and backward electromagnetic valves is zero, the running direction is switched to the forward running action, and the running direction state is sent to a monitoring instrument for display; otherwise, executing the step 14;
in the forward running state, the complete machine controller 10 acquires a current gear switch 14 signal;
f (forward) gear: the whole machine controller 10 controls the output current of the forward proportional electromagnetic valve 8 according to the signal of the electronic accelerator pedal 12; r (reverse) gear: the whole machine controller 10 controls the output current of the backward proportional electromagnetic valve 9 according to the signal of the electronic accelerator pedal 12, and the flow is ended.
If the cab direction is not forward, the complete machine controller 10 invokes the current state to determine whether the vehicle is traveling in the reverse direction, and if so, step 14 is executed;
if the vehicle is not running in the reverse direction, the complete machine controller 10 further obtains whether the automatic reversing switch 13 is turned on;
if the automatic reversing switch 13 is turned on, the complete machine controller 10 further acquires the signal of the electronic accelerator pedal 12 and judges whether the electronic accelerator pedal is stepped on or not; if not, executing the step 7;
if the electronic accelerator pedal 12 is stepped down, executing the step 7; otherwise, further acquiring whether the current of the current forward and backward electromagnetic valves is zero;
if the current of the forward and backward electromagnetic valves is zero, the running direction is switched to the reverse running action, and the running direction state is sent to a monitoring instrument for display; if not, executing the step 7;
in the reverse driving state, the complete machine controller 10 acquires the current gear switch 14 signal;
f (forward) gear: the whole machine controller 10 controls the output current of the backward proportional electromagnetic valve 9 according to the signal of the electronic accelerator pedal 12; r (reverse) gear: the whole machine controller 10 controls the output current of the forward proportional electromagnetic valve 8 according to the signal of the electronic accelerator pedal 12, and the flow is ended.
As shown in fig. 4, the steering control method in the present invention:
the whole machine controller 10 acquires a signal of a steering mode selection switch 15 and judges a steering mode;
if the front wheel steering mode is currently adopted, the complete machine controller 10 acquires the current running state information and judges whether the vehicle runs reversely or not;
if the vehicle runs reversely, the rear wheel turning direction switching electromagnetic valve 5 is powered off, and the front wheel turning direction switching electromagnetic valve 4 is powered on; otherwise, executing the step 6;
further, the complete machine controller 10 acquires the signal of the front wheel cylinder position sensor 16 and judges whether the front wheel is aligned;
if the front wheels are returned, the front wheel steering mode electromagnetic valve 6 is powered off, the rear wheel steering mode electromagnetic valve 7 is powered on, the front wheel steering mode under the reverse running is entered, and the process is ended; otherwise, the rear wheel steering mode electromagnetic valve 7 is powered off, the front wheel steering mode electromagnetic valve 6 is powered on, and the step 1 is executed.
If the vehicle runs in a non-reverse direction, the front wheel steering direction switching electromagnetic valve 4 is powered off, and the rear wheel steering direction switching electromagnetic valve 5 is powered on;
further, the complete machine controller 10 acquires signals of the rear wheel cylinder position sensor 17 and judges whether the rear wheel is aligned;
if the rear wheels are returned, the rear wheel steering mode electromagnetic valve 7 is powered off, the front wheel steering mode electromagnetic valve 6 is powered on, the front wheel steering mode under forward running is entered, and the process is ended; otherwise, the front steering mode electromagnetic valve 6 is powered off, the rear steering mode electromagnetic valve 7 is powered on, and the step 1 is executed.
If the current steering mode is the rear wheel steering mode, the complete machine controller 10 acquires the current running state information and judges whether the vehicle runs reversely or not;
if the vehicle runs reversely, the rear wheel turning direction switching electromagnetic valve 5 is powered off, and the front wheel turning direction switching electromagnetic valve 4 is powered on; otherwise, executing the step 13;
further, the complete machine controller 10 acquires signals of the rear wheel cylinder position sensor 17 and judges whether the rear wheel is aligned;
if the rear wheels are returned, the rear wheel steering mode electromagnetic valve 7 is powered off, the front wheel steering mode electromagnetic valve 6 is powered on, the rear wheel steering mode under the reverse running is entered, and the process is ended; otherwise, the front steering mode electromagnetic valve 6 is powered off, the rear steering mode electromagnetic valve 7 is powered on, and the step 1 is executed.
If the vehicle runs in a non-reverse direction, the front wheel steering direction switching electromagnetic valve 4 is powered off, and the rear wheel steering direction switching electromagnetic valve 5 is powered on;
further, the complete machine controller 10 acquires the signal of the front wheel cylinder position sensor 16 and judges whether the front wheel is aligned;
if the front wheels are returned, the front wheel steering mode electromagnetic valve 6 is powered off, the rear wheel steering mode electromagnetic valve 7 is powered on, the front wheel steering mode electromagnetic valve enters into the rear wheel steering mode under forward running, and the process is ended; otherwise, the rear wheel steering mode electromagnetic valve 7 is powered off, the front wheel steering mode electromagnetic valve 6 is powered on, and the step 1 is executed.
If the vehicle is in the four-wheel steering mode, the complete machine controller 10 acquires the current running state information and judges whether the vehicle runs reversely;
if the vehicle runs reversely, the rear wheel turning direction switching electromagnetic valve 5 is powered off, and the front wheel turning direction switching electromagnetic valve 4 is powered on; otherwise, the front wheel steering direction switching electromagnetic valve 4 is powered off, and the rear wheel steering direction switching electromagnetic valve 5 is powered on;
further, the complete machine controller 10 obtains signals of a front wheel cylinder position sensor 16 and signals of a rear wheel cylinder position sensor 17, and calculates whether rotation deviation of the front and rear cylinders is larger than a first set value;
if the rotation deviation of the front oil cylinder and the rear oil cylinder is larger than a first set value, collecting whether the front wheel steering mode electromagnetic valve 6 is electrified; otherwise, executing the step 25;
if the front wheel steering mode solenoid valve 6 is already powered, then step 22 is performed;
if the rear wheel steering mode electromagnetic valve 7 is powered on, the rear wheel can rotate at the moment, the whole machine controller 10 collects and compares the stroke change value of the rear wheel cylinder position sensor 17 in a short enough time t1, the steering direction is judged, and the step 23 is executed; otherwise, the front wheel can rotate, and step 22 is executed;
the whole machine controller 10 collects and compares the travel change value of the front wheel cylinder position sensor 16 in a short enough time t1 to judge the steering direction;
further, the complete machine controller 10 judges the current leading situation of the front and rear wheels according to the rotation deviation of the front and rear cylinders under the condition that the running direction and the steering direction are known;
if the front wheel rotates ahead, the front wheel steering mode electromagnetic valve 6 loses power, the rear wheel steering mode electromagnetic valve 7 gets power, and the step 16 is executed in a return mode; otherwise, the rear wheel steering mode electromagnetic valve 7 loses power, the front wheel steering mode electromagnetic valve 6 gets power, and the step 1 is executed in a returning mode;
if the rotation deviation of the front and rear cylinders is not greater than the first set value, the front steering mode electromagnetic valve 6 and the rear steering mode electromagnetic valve 7 are powered off, the four-wheel steering mode is entered, and the process is ended.
The front wheels in the front wheel steering, rear wheel steering and four wheel steering modes are opposite to the running direction of the vehicle, namely, when the front wheel steering mode is entered during reverse running, the turning steering device actually turns the rear wheels of the vehicle, when the rear wheel steering mode is entered, the turning steering device actually turns the front wheels of the vehicle, when the four wheel steering mode is entered, the turning steering device turns the rear wheels of the vehicle in the same direction as the turning direction of the steering device, the turning direction of the front wheels is opposite to the turning direction of the steering device, and the turning radius of the vehicle which can be turned is turned.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Also in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. And in the drawings of the present invention, the filling patterns are only for distinguishing the layers, and are not limited in any way.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (12)
1. A bidirectional driving steering control system is characterized by comprising a steering control system, a bidirectional driving control system and a whole machine controller (10);
the bidirectional travel control system includes: the electronic throttle pedal (12) is used for controlling the current of the forward proportional solenoid valve (8) and the backward proportional solenoid valve (9) to control the running speed of the vehicle; the turning angle sensor (18) is used for detecting the real-time position of the turning of the upper vehicle, and the whole machine controller (10) judges whether the direction of the cab of the vehicle is consistent with the running direction or not through the real-time position of the turning of the upper vehicle;
the steering control system includes: the device comprises a steering gear (1), a front wheel steering cylinder (2), a rear wheel steering cylinder (3), a front wheel steering direction switching electromagnetic valve (4), a rear wheel steering direction switching electromagnetic valve (5), a front wheel steering mode electromagnetic valve (6) and a rear wheel steering mode electromagnetic valve (7), wherein an oil outlet of the steering gear (1) is connected with an oil inlet of a hydraulic valve block formed by the front wheel steering mode electromagnetic valve (6) and the rear wheel steering mode electromagnetic valve (7) through a hydraulic pipe, an oil outlet of the hydraulic valve block is respectively connected with oil inlets of the front wheel steering direction switching electromagnetic valve (4) and the rear wheel steering direction switching electromagnetic valve (5) through a hydraulic pipe, and an oil outlet of the front wheel steering direction switching electromagnetic valve (4) is connected with the front wheel steering cylinder (2) through a hydraulic pipeline, and an oil outlet of the rear wheel steering direction switching electromagnetic valve (5) is connected with the rear wheel steering cylinder (3) through a hydraulic pipeline; the front wheel steering direction switching electromagnetic valve (4), the rear wheel steering direction switching electromagnetic valve (5), the front wheel steering mode electromagnetic valve (6) and the rear wheel steering mode electromagnetic valve (7) are respectively connected with the whole machine controller (10); the control modes of the steering control system comprise a front steering mode, a rear steering mode and a four-wheel steering mode;
when the front gear is engaged, the whole vehicle runs in the forward direction when the front wheels are positioned; when the forward gear is engaged, the whole vehicle runs in the reverse direction when the running direction is the direction in which the rear wheels are positioned; the front wheel steering mode under forward running is that the front wheel steering mode electromagnetic valve (6) is powered on and the rear wheel steering mode electromagnetic valve (7) is powered off, and only the front wheel steering oil cylinder (2) drives the front wheels to steer; the front wheel steering mode under the reverse running is that the front wheel steering mode electromagnetic valve (6) is powered off and the rear wheel steering mode electromagnetic valve (7) is powered on, and only the rear wheel steering oil cylinder (3) drives the rear wheel to steer; the front wheel steering mode electromagnetic valve (6) is powered off and only the rear wheel steering oil cylinder (3) drives the rear wheel to steer; the rear wheel steering mode under the reverse running is that the rear wheel steering mode electromagnetic valve (7) is powered off and the front wheel steering mode electromagnetic valve (6) is powered on, and only the front wheel steering oil cylinder (2) drives the front wheel to steer; when the four-wheel steering mode under forward running and reverse running is that the front wheel steering mode electromagnetic valve (6) and the rear wheel steering mode electromagnetic valve (7) are not powered, the front wheel steering oil cylinder (2) and the rear wheel steering oil cylinder (3) work simultaneously, and four wheels steer simultaneously;
the automatic reversing switch (13) is connected with the whole machine controller (10), and the automatic reversing switch (13) is used for switching on or off the running direction of the vehicle automatically;
when the complete machine controller calls the current state to judge that the vehicle is not running forward, continuously judging whether the automatic reversing switch is turned on, if the automatic reversing switch is turned on, acquiring an electronic accelerator pedal signal by the complete machine controller, and judging whether the electronic accelerator pedal is stepped on; otherwise, entering a reverse driving mode;
if the electronic accelerator pedal is stepped down, a reverse running mode is entered; otherwise, judging whether the current of the current forward proportional electromagnetic valve and the current of the current backward proportional electromagnetic valve are zero;
if the current of the forward proportional electromagnetic valve and the current of the backward proportional electromagnetic valve are both zero, the running direction is switched to a forward running action, and a forward running mode is entered; otherwise, the reverse driving mode is entered.
2. The bidirectional running steering control system according to claim 1, further comprising a steering mode selection switch (15), the steering mode selection switch (15) being connected to the overall controller (10), the steering mode selection switch (15) being configured to select a front-wheel steering mode, a rear-wheel steering mode, or a four-wheel steering mode.
3. The bidirectional running steering control system according to claim 1, further comprising a front wheel cylinder position sensor (16), wherein the front wheel cylinder position sensor (16) is connected to the complete machine controller (10), and the front wheel cylinder position sensor (16) is configured to detect a driving lever position of the front wheel steering cylinder (2).
4. The bidirectional running steering control system according to claim 1, further comprising a rear wheel cylinder position sensor (17), wherein the rear wheel cylinder position sensor (17) is connected to the complete machine controller (10), and the rear wheel cylinder position sensor (17) is configured to detect a driving lever position of the rear wheel steering cylinder (3).
5. The bidirectional steering control system according to claim 1, further comprising a monitoring instrument (11), wherein the monitoring instrument (11) is communicatively connected to the overall controller (10).
6. A bidirectional driving steering control method is characterized in that: the control method of the bidirectional running comprises the following steps:
the whole machine controller acquires an angle signal of the rotation angle sensor, judges the current rotation position of the upper vehicle and determines whether the direction of the cab is forward;
if the cab is forward, the complete machine controller calls the current state to judge whether the vehicle is running forward or not; otherwise, the complete machine controller invokes the current state to judge whether the vehicle runs reversely;
if the vehicle runs in the forward direction, entering a forward running mode, otherwise, entering a reverse running mode;
if the vehicle runs in the reverse direction, entering a reverse running mode, otherwise, entering a forward running mode;
the forward running mode is: the complete machine controller obtains the signal of the current gear switch, and the forward gear: the whole machine controller controls the output current of the forward proportional electromagnetic valve according to the signal of the electronic accelerator pedal; reverse gear: the whole machine controller controls the output current of the backward proportional electromagnetic valve according to the signal of the electronic accelerator pedal;
the reverse travel mode is: the complete machine controller obtains a current gear switch signal and a forward gear: the whole machine controller controls the output current of the backward proportional electromagnetic valve according to the pedal signal of the electronic accelerator; reverse gear: the whole machine controller controls the output current of the forward proportional electromagnetic valve according to the electronic accelerator pedal signal;
when the complete machine controller calls the current state to judge that the vehicle is not running forward, continuously judging whether the automatic reversing switch is turned on, if the automatic reversing switch is turned on, acquiring an electronic accelerator pedal signal by the complete machine controller, and judging whether the electronic accelerator pedal is stepped on; otherwise, entering a reverse driving mode;
if the electronic accelerator pedal is stepped down, a reverse running mode is entered; otherwise, judging whether the current of the current forward proportional electromagnetic valve and the current of the current backward proportional electromagnetic valve are zero;
if the current of the forward proportional electromagnetic valve and the current of the backward proportional electromagnetic valve are both zero, the running direction is switched to a forward running action, and a forward running mode is entered; otherwise, the reverse driving mode is entered.
7. The bidirectional-running steering control method according to claim 6, characterized in that the bidirectional-running control method further comprises: when the complete machine controller takes the current state to judge that the vehicle is not running in the reverse direction, continuously judging whether the automatic reversing switch is turned on, if the automatic reversing switch is turned on, acquiring an electronic accelerator pedal signal by the complete machine controller, and judging whether the electronic accelerator pedal is stepped on; otherwise, entering a forward running mode;
if the electronic accelerator pedal is stepped down, a forward running mode is entered; otherwise, judging whether the current of the current forward proportional electromagnetic valve and the current of the current backward proportional electromagnetic valve are zero;
if the current of the forward proportional electromagnetic valve and the current of the backward proportional electromagnetic valve are both zero, switching the running direction into a reverse running action and entering a reverse running mode; otherwise, the forward running mode is entered.
8. The bidirectional traveling steering control method according to claim 6, characterized in that the steering control method is:
the whole machine controller acquires a steering mode selection switch signal and judges a steering mode;
if the front steering mode is adopted, the electromagnetic valve of the front steering mode is powered on in the forward running mode, and the electromagnetic valve of the rear steering mode is powered off; the electromagnetic valve in the front wheel steering mode is powered off in the reverse running mode, and the electromagnetic valve in the rear wheel steering mode is powered on;
if the vehicle is in the rear wheel steering mode, the electromagnetic valve of the front wheel steering mode is powered off in the forward running mode, and the electromagnetic valve of the rear wheel steering mode is powered on; the electromagnetic valve in the front wheel steering mode is powered on in the reverse running mode, and the electromagnetic valve in the rear wheel steering mode is powered off;
if the four-wheel steering mode is adopted, the electromagnetic valve of the front wheel steering mode is powered off in the forward running mode and the reverse running mode, and the electromagnetic valve of the rear wheel steering mode is powered off.
9. The bidirectional traveling steering control method according to claim 8, characterized in that the steering control method further comprises:
in a front wheel steering mode, the complete machine controller acquires current running state information and judges whether the vehicle runs reversely or not; if the vehicle runs reversely, the rear wheel turning direction switching electromagnetic valve is powered off, and the front wheel turning direction switching electromagnetic valve is powered on;
the whole machine controller acquires a front wheel cylinder position sensor signal and judges whether the front wheel is aligned;
if the front wheels are returned, the front wheel steering mode electromagnetic valve is powered off, and the rear wheel steering mode electromagnetic valve is powered on; otherwise, the rear wheel steering mode electromagnetic valve is powered off, the front wheel steering mode electromagnetic valve is powered on, and the steering mode is reselected;
if the vehicle runs in a non-reverse direction, the front wheel steering direction switching electromagnetic valve is powered off, and the rear wheel steering direction switching electromagnetic valve is powered on;
the complete machine controller acquires a rear wheel cylinder position sensor signal and judges whether the rear wheel is aligned;
if the rear wheels are returned, the rear wheel steering mode electromagnetic valve is powered off, and the front wheel steering mode electromagnetic valve is powered on; otherwise, the front steering mode electromagnetic valve is powered off, the rear steering mode electromagnetic valve is powered on, and the steering mode is reselected.
10. The bidirectional traveling steering control method according to claim 8, characterized in that the steering control method further comprises:
in a rear wheel steering mode, the complete machine controller acquires current running state information and judges whether the vehicle runs reversely or not;
if the vehicle runs reversely, the rear wheel turning direction switching electromagnetic valve is powered off, and the front wheel turning direction switching electromagnetic valve is powered on;
the complete machine controller acquires a rear wheel cylinder position sensor signal and judges whether the rear wheel is aligned;
if the rear wheels are returned, the rear wheel steering mode electromagnetic valve is powered off, and the front wheel steering mode electromagnetic valve is powered on; otherwise, the front wheel steering mode electromagnetic valve is powered off, the rear wheel steering mode electromagnetic valve is powered on, and the steering mode is reselected;
if the vehicle runs in a non-reverse direction, the front wheel steering direction switching electromagnetic valve is powered off, and the rear wheel steering direction switching electromagnetic valve is powered on;
the whole machine controller acquires a front wheel cylinder position sensor signal and judges whether the front wheel is aligned;
if the front wheels are returned, the front wheel steering mode electromagnetic valve is powered off, and the rear wheel steering mode electromagnetic valve is powered on; otherwise, the rear wheel steering mode electromagnetic valve is powered off, the front wheel steering mode electromagnetic valve is powered on, and the steering mode is reselected.
11. The bidirectional traveling steering control method according to claim 8, characterized in that the steering control method further comprises:
in the four-wheel steering mode, the complete machine controller acquires current running state information and judges whether the vehicle runs reversely or not;
if the vehicle runs reversely, the rear wheel turning direction switching electromagnetic valve is powered off, and the front wheel turning direction switching electromagnetic valve is powered on; otherwise, the front wheel steering direction switching electromagnetic valve is powered off, and the rear wheel steering direction switching electromagnetic valve is powered on;
the whole machine controller acquires a front wheel cylinder position sensor signal and a rear wheel cylinder position sensor signal, and calculates whether the rotation deviation of the front and rear cylinders is larger than a first set value;
if the rotation deviation of the front oil cylinder and the rear oil cylinder is larger than a first set value, collecting whether the electromagnetic valve in the front wheel steering mode is electrified;
if the front wheel steering mode electromagnetic valve is not powered on and the rear wheel steering mode electromagnetic valve is powered on, the fact that only the rear wheel can rotate at the moment is indicated, the whole machine controller collects and compares the stroke change value of the rear wheel oil cylinder position sensor in a short enough time t1, and the steering direction is judged;
otherwise, the front wheel or the front wheel and the rear wheel can rotate, and the whole machine controller collects and compares the stroke change value of the front wheel oil cylinder position sensor in a short enough time t1 to judge the steering direction;
under the condition that the running direction and the steering direction are known, the complete machine controller judges the leading situation of the front and rear wheels at present according to the rotation deviation of the front and rear oil cylinders;
if the front wheel rotates ahead, the electromagnetic valve of the front wheel steering mode is powered off, the electromagnetic valve of the rear wheel steering mode is powered on, and the steering mode is reselected;
otherwise, the rear wheel steering mode electromagnetic valve is powered off, the front wheel steering mode electromagnetic valve is powered on, and the steering mode is reselected;
if the rotation deviation of the front oil cylinder and the rear oil cylinder is not larger than the first set value, the front wheel steering mode electromagnetic valve and the rear wheel steering mode electromagnetic valve are powered off.
12. An excavator provided with a bi-directional travel steering control system as claimed in any one of claims 1 to 5.
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| CN202210733642.7A CN115075330B (en) | 2022-06-27 | 2022-06-27 | Bidirectional driving steering control system and method and excavator |
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| CN115627811A (en) * | 2022-10-21 | 2023-01-20 | 徐州徐工挖掘机械有限公司 | Auxiliary calibration control system and method for traveling direction of wheel excavator |
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