CN107433975B - Vehicle, vehicle steering system and aligning control device and method thereof - Google Patents
Vehicle, vehicle steering system and aligning control device and method thereof Download PDFInfo
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- CN107433975B CN107433975B CN201610364246.6A CN201610364246A CN107433975B CN 107433975 B CN107433975 B CN 107433975B CN 201610364246 A CN201610364246 A CN 201610364246A CN 107433975 B CN107433975 B CN 107433975B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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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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Abstract
The invention discloses a return control device of a vehicle steering system, which comprises: a proximity switch facing a detection surface of the steering wheel, the proximity switch generating a detection signal according to a distance from the detection surface of the steering wheel, wherein the detection surface of the steering wheel has a height difference; the steering motor is used for driving the steering wheel to rotate; the control unit is respectively connected with the proximity switch and the steering motor, the control unit controls the steering motor according to the detection signal so as to enable the steering wheel to be in a preset return position, so that return control is performed through the proximity switch, control of complex programs and motion rules can be achieved, control accuracy is high, return control can be stably and efficiently achieved, the hardware circuit structure of the system can be simplified, and production and maintenance costs of the system are reduced. The invention also discloses a vehicle, a vehicle steering system and a aligning control method of the vehicle steering system.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a aligning control device of a vehicle steering system, the vehicle steering system with the aligning control device, a vehicle with the steering system and an aligning control method of the vehicle steering system.
Background
In related vehicles such as electric pallet trucks, where the return performance is an important aspect of the handling stability of the vehicle, active return control of an electric power steering system may improve the return performance of the electric pallet truck. In the related art, an electric power steering system generally uses an angle sensor to detect a steering angle of a vehicle, and a controller activates a steering motor to control the vehicle to actively return to a neutral position when the detected angle is not the neutral position.
However, the related art has disadvantages that a hardware circuit structure is complicated, cost is high, and an installation space is occupied, which is inconvenient to install, and at the same time, an initial value needs to be stored to calculate current angle information, and once the initial value is lost, erroneous angle information is generated, and reliability of a control system is low.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present invention is to provide a return-to-center control device for a vehicle steering system, which can stably and efficiently control a vehicle to return to center.
A second object of the present invention is to provide a vehicle steering system. A third object of the invention is to propose a vehicle. A fourth object of the present invention is to provide a return control method of a steering system of a vehicle.
In order to achieve the above object, a return control device for a steering system of a vehicle according to an embodiment of a first aspect of the present invention includes: the proximity switch is over against the detection surface of the steering wheel and generates a detection signal according to the distance between the proximity switch and the detection surface of the steering wheel, wherein the detection surface of the steering wheel has a height difference; the steering motor is used for driving the steering wheel to rotate; and the control unit is respectively connected with the proximity switch and the steering motor, and controls the steering motor according to the detection signal so as to enable the steering wheel to be at a preset aligning position.
According to the aligning control device of the vehicle steering system, after the whole vehicle is started, the proximity switch generates a detection signal according to the distance between the proximity switch and the detection surface of the steering wheel, and the control unit controls the steering motor according to the detection signal so as to drive the steering wheel to rotate to enable the steering wheel to be at the preset aligning position. From this, carry out the control of returning positive through proximity switch, can realize complicated procedure and motion law, and control accuracy is high, can stably and realize returning positive control high-efficiently, and the device's hardware circuit simple structure moreover, simple to operate, production and maintenance cost are low.
According to one embodiment of the invention, the detection surface of the steering wheel is provided with a first height surface and a second height surface, the distance between the first height surface and the proximity switch being greater than the distance between the second height surface and the proximity switch.
According to a specific embodiment of the present invention, the detection surface of the steering wheel may be divided into the first height surface and the second height surface.
According to one embodiment of the present invention, the detection signal has a first level and a second level, wherein when the detection signal is at the first level, the control unit controls the steering motor to rotate forward until the detection signal makes a transition; when the detection signal is at the second level, the control unit controls the steering motor to rotate reversely until the detection signal jumps.
According to an embodiment of the present invention, when the detection signal makes a jump, the steering wheel is in the preset return position.
According to an embodiment of the invention, the control unit further comprises: the signal processing circuit is connected with the proximity switch and is used for processing the detection signal; and the control chip is respectively connected with the signal processing circuit and the steering motor, and controls the steering motor according to the processed detection signal.
According to an embodiment of the present invention, the signal processing circuit includes: one end of the first magnetic bead is connected with the proximity switch; one end of the first capacitor is connected with the other end of the first magnetic bead, and the other end of the first capacitor is grounded; one end of the first resistor is connected with the other end of the first magnetic bead; one end of the second resistor is connected with a preset power supply; the base electrode of the triode is connected with the other end of the first resistor, the emitting electrode of the triode is grounded, the collector electrode of the triode is connected with the other end of the second resistor, and the collector electrode of the triode is also connected with the control chip; and one end of the second capacitor is connected with the collector of the triode, and the other end of the second capacitor is grounded.
In order to achieve the above object, a vehicle steering system according to an embodiment of a second aspect of the present invention includes the aligning control apparatus of the vehicle steering system.
According to the vehicle steering system provided by the embodiment of the invention, the aligning control device of the vehicle steering system can realize the control of complex programs and motion rules, has high control precision, can stably and efficiently realize aligning control, can simplify the hardware circuit structure of the system, and reduces the production and maintenance cost of the system.
In order to achieve the above object, a vehicle according to an embodiment of a third aspect of the present invention includes the vehicle steering system.
According to the vehicle provided by the embodiment of the invention, the vehicle steering system can realize the control of complex programs and motion rules, has high control precision, can stably and efficiently realize alignment control, can simplify the hardware circuit structure of the system, and reduces the production and maintenance cost of the system.
According to a particular embodiment of the invention, the vehicle may be an electric pallet truck.
In order to achieve the above object, a fourth aspect of the present invention provides a method for controlling a steering system of a vehicle, in which a proximity switch faces a detection surface of a steering wheel in the steering system of the vehicle, the method including: detecting a distance from a detection surface of the steering wheel by the proximity switch to generate a detection signal, wherein the detection surface of the steering wheel has a height difference; and controlling a steering motor according to the detection signal so as to enable the steering wheel to be at a preset aligning position.
According to the aligning control method of the vehicle steering system provided by the embodiment of the invention, after the whole vehicle is started, the distance between the detecting surface of the steering wheel and the detecting surface of the proximity switch is detected to generate a detecting signal, and the steering motor is controlled according to the detecting signal to enable the steering wheel to be at the preset aligning position. Therefore, the return control is carried out through the proximity switch, the control of complex programs and motion rules can be realized, the control precision is high, and the return control can be stably and efficiently realized.
According to an embodiment of the present invention, the detection signal has a first level and a second level, and the controlling of the steering motor to bring the steering wheel to a preset return position according to the detection signal includes: when the detection signal is at the first level, controlling the steering motor to rotate forwards until the detection signal jumps; and when the detection signal is at the second level, controlling the steering motor to reversely rotate until the detection signal jumps.
According to an embodiment of the present invention, when the detection signal makes a jump, the steering wheel is in the preset return position.
Drawings
FIG. 1 is a block schematic diagram of a return control arrangement for a vehicle steering system according to an embodiment of the present invention;
FIG. 2a is a front view of a structural view of a steering wheel and proximity switch of a return control device of a vehicle steering system in which the steering wheel is in a preset return position, according to an embodiment of the present invention;
FIG. 2b is a left side view of the block diagram shown in FIG. 2 a;
FIG. 2c is a top view of the block diagram shown in FIG. 2 a;
FIG. 2d is a three-dimensional view of the block diagram shown in FIG. 2 a;
fig. 3 is a schematic circuit diagram of a return control apparatus of a vehicle steering system according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method of controlling return to the neutral position of a vehicle steering system according to an embodiment of the present invention;
FIG. 5 is a flow chart of a method of controlling the return to normal of a vehicle steering system according to one embodiment of the present invention;
FIG. 6 is a flowchart of a method of controlling return to the neutral position of a vehicle steering system according to another embodiment of the present invention; and
fig. 7 is a flowchart of a return control method of a vehicle steering system according to still another embodiment of the present invention.
Reference numerals:
the device comprises a proximity switch 1, a steering wheel 2, a steering motor 3, a control unit 4 and wheels 5;
a first elevation plane a1 and a second elevation plane a 2; a signal processing circuit 41 and a control chip 42;
the circuit comprises a first magnetic bead FB1, a first capacitor C1, a first resistor R1, a second resistor R2, a triode Q1 and a second capacitor C2.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A vehicle, a vehicle steering system, and a return control apparatus and method thereof according to embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a block schematic diagram of a return control apparatus of a vehicle steering system according to an embodiment of the present invention. As shown in fig. 1, the aligning control apparatus includes: a proximity switch 1, a steering wheel 2, a steering motor 3 and a control unit 4.
Wherein, the proximity switch 1 is over against the detection surface of the steering wheel 2, such as the steering disc, the proximity switch 1 generates a detection signal according to the distance between the detection surface of the steering wheel 2 and the proximity switch 1, wherein, the detection surface of the steering wheel 2 has a height difference; the steering motor 3 is used for driving the steering wheel 2 to rotate; the control unit 4 is respectively connected with the proximity switch 1 and the steering motor 3, and the control unit 4 controls the steering motor 3 according to the detection signal so that the steering wheel 2 is in a preset aligning position.
It should be noted that the proximity switch 1 is a non-contact detection device, which utilizes the sensitivity characteristic of the displacement sensor to the proximity object to realize on or off control, for example, the proximity object may be a conductor such as a steering wheel 2 with a height difference on the detection surface, when the proximity switch 1 is aligned with the higher surface of the detection surface of the steering wheel 2, the proximity switch 1 is turned on, and when the proximity switch 1 is aligned with the lower surface of the detection surface of the steering wheel 2, the proximity switch 1 is turned off, so that the proximity switch 1 generates a corresponding detection signal to change according to the on-off state of the proximity switch 1.
Specifically, the control unit 4 may be connected to the proximity switch 1 and the steering motor 3 through a wire harness to receive and process a detection signal from the proximity switch 1 and output a motor control signal to the steering motor 3. The steering motor 3 can be connected with the steering wheel 2 through a gear to drive the steering wheel 2 to rotate, for example, when the control unit 4 controls the steering motor 3 to rotate forwards, the steering motor 3 drives the steering wheel 2 to rotate clockwise, and when the control unit 4 controls the steering motor 3 to rotate backwards, the steering motor 3 drives the steering wheel 2 to rotate anticlockwise. As shown in fig. 1, the wheels 5 of the vehicle are a follower connected to the steering wheel 2, the steering wheel 2 can drive the wheels 5 of the vehicle to rotate together with the steering motor 3 to realize the return control of the steering system of the vehicle, and the rotation angle of the wheels 5 can control the forward or backward direction of the vehicle.
In the process of performing centering control after the vehicle is powered on and started, the proximity switch 1 can detect the distance between the proximity switch 1 and the detection surface of the steering wheel 2 to generate a detection signal, and after the control unit 4 receives the detection signal generated by the proximity switch 1, the control unit judges whether the steering wheel 2 deflects clockwise or anticlockwise at the moment according to the level state of the detection signal and through a software algorithm, and judges whether the wheels 5 deflect rightwards or leftwards at the moment, so as to control the steering motor 3 to rotate forwards or reversely to enable the steering wheel 2 to rotate to a preset centering position.
According to a specific example of the present invention, when the vehicle is in a steering condition (left or right turn) at the moment of starting, if the control unit 4 does not receive a steering command or receives a straight-ahead command, the control unit 4 may control the steering wheel 2 to return to the preset return position according to the detection signal, so as to return the vehicle to the straight-ahead condition.
According to an embodiment of the present invention, as shown in fig. 2a to 2d, the detection surface of the steering wheel 2 may be provided with a first height surface a1 and a second height surface a2 at a preset return position, and a distance between the first height surface a1 and the proximity switch 1 is greater than a distance between the second height surface a2 and the proximity switch 1, wherein, as shown in fig. 2a, 2C and 2d, when the proximity switch 1 is facing a division position C of the first height surface a1 and the second height surface a2 in the detection surface, the steering wheel 2 is at the preset return position. In a preferred example, the detection surface of the steering wheel 2 may be divided into a first height surface a1 and a second height surface a 2.
As shown in fig. 2a to 2d, if the vehicle is in a turning motion, i.e., the steering wheel 2 is deviated from the preset return position, the distance between the proximity switch 1 and the detection surface of the steering wheel 2 is changed. For example, if the proximity switch 1 is directly opposite to the second height surface a2 of the steering wheel 2, the proximity switch 1 generates a high level according to the distance between the proximity switch 1 and the detection surface of the steering wheel 2, and at this time, the steering wheel 2 needs to be driven by the steering motor 3 to rotate clockwise to return to the preset return position; similarly, if the proximity switch 1 is directly opposite to the first height surface a1 of the steering wheel 2, the proximity switch 1 generates a low level according to the distance between the proximity switch 1 and the detection surface of the steering wheel 2, and at this time, the steering wheel 2 needs to be driven by the steering motor 3 to rotate counterclockwise so as to return to the preset return position.
And, if the level state of the detection signal generated by the proximity switch 1 jumps, it indicates that the steering wheel 2 is in the preset return position.
According to a specific example of the present invention, the proximity switch 1 may be fixed in the center of the body of the vehicle.
According to one embodiment of the present invention, the detection signal has a first level and a second level, and when the detection signal is at the first level, the control unit 4 controls the steering motor 3 to rotate forward until the detection signal makes a transition; when the detection signal is at the second level, the control unit 4 controls the steering motor 3 to rotate reversely until the detection signal jumps.
According to one embodiment of the invention, the steering wheel is in the preset return position when a jump in the detection signal occurs.
Specifically, as shown in fig. 2a, 2C, and 2d, when the proximity switch 1 is facing the divisional position C of the first height plane a1 and the second height plane a2 in the detection surface, the steering wheel 2 is in the preset return position. If the proximity switch 1 is over against the second height surface a2 of the steering wheel 2, the steering wheel 2 needs to be controlled to rotate clockwise to return to the preset return position, and the detection signal output by the proximity switch 1 is a first level such as a high level; if the proximity switch 1 is directly opposite to the first height surface a1 of the steering wheel 2, the steering wheel 2 needs to be controlled to rotate counterclockwise to return to the preset return position, and the detection signal output by the proximity switch 1 is at a second level, for example, a low level.
Based on this, if the proximity switch 1 is directly opposite to the first height surface a1 of the steering wheel 2, the distance between the proximity switch 1 and the detection surface of the steering wheel 2 is relatively long, the detection signal generated by the proximity switch 1 is in a second level, i.e. a low level state, and the control unit 4 controls the steering motor 3 to rotate reversely according to the detection signal to drive the steering wheel 2 to rotate counterclockwise, so that the steering wheel 2 returns to the preset returning position; if the proximity switch 1 is directly opposite to the second height surface a2 of the steering wheel 2, the distance between the proximity switch 1 and the detection surface of the steering wheel 2 is short, the detection signal generated by the proximity switch 1 is in the first level state, i.e. the high level state, and the control unit 4 controls the steering motor 3 to rotate forward according to the detection signal so as to drive the steering wheel 2 to rotate clockwise, so that the steering wheel 2 returns to the preset return position.
Further, if the control unit 4 controls the steering motor 3 to rotate forward to drive the steering wheel 2 to rotate clockwise to return to the preset return position, the detection signal jumps from the first level to the second level at the preset return position; if the control unit 4 controls the steering motor 3 to rotate reversely to drive the steering wheel 2 to rotate counterclockwise to return to the preset returning position, the detection signal jumps from the second level to the first level at the preset returning position, that is, the steering wheel 2 rotates clockwise or counterclockwise to return to the preset returning position, and the detection signal output by the proximity switch 1 jumps (i.e. the detection signal changes from the low level to the high level or from the high level to the low level), if the control unit 4 judges that the detection signal jumps, it indicates that the steering wheel 2 is at the preset returning position, at this time, the control unit 4 controls the steering motor 3 to stop working, and the control unit 4 masks the detection signal, that is, the control unit 4 does not control the steering motor 3 according to the detection signal generated by the proximity switch 1.
It should be understood that when the steering wheel 2 is in the preset return position, the proximity switch 1 is facing the division position of the first height plane a1 and the second height plane a2 in the detection plane of the steering wheel 2, and the vehicle is in the straight-ahead driving condition.
According to an embodiment of the present invention, as shown in fig. 3, the control unit 4 further includes: a signal processing circuit 41 and a control chip 42.
The signal processing circuit 41 is connected with the proximity switch 1, and the signal processing circuit 41 is used for processing the detection signal; the control chip 42 is connected to the signal processing circuit 41 and the steering motor 3, and the control chip 42 controls the steering motor 3 according to the processed detection signal.
Specifically, the signal processing circuit 41 is configured to receive a detection signal output by the proximity switch 1, wherein the detection signal generated by the proximity switch 1 is 24V, process the detection signal to convert the detection signal into a voltage signal recognizable by the control chip 42, and input the voltage signal to the I/O port of the control chip 42, and the signal processing circuit 41 may further perform filtering processing on the detection signal.
According to an embodiment of the present invention, the control chip 42 may set the proximity switch status flag, the steering motor forward rotation flag, and the steering motor reverse rotation flag according to the processed detection signal, and control the steering motor 3 according to the proximity switch status flag, the steering motor forward rotation flag, and the steering motor reverse rotation flag.
Specifically, the control chip 42 executes the proximity switch status flag determination procedure to determine the level status of the detection signal, specifically, the I/O port of the control chip 42 is used to receive the processed detection signal, and the specific flow of the proximity switch status flag determination procedure executed by the control chip 42 is as follows: the control chip 42 scans the I/O port and determines the level state of the detection signal received by the I/O port, and if the control chip 42 determines that the level state of the detection signal received by the I/O port is low level, the detection signal generated by the proximity switch 1 is high level, and the control chip 42 marks the proximity switch state as position 1; otherwise, if the control chip 42 determines that the level state of the detection signal received by the I/O port is high level, the detection signal output by the proximity switch 1 is low level, and the control chip 42 marks the position 0 of the proximity switch state.
It should be understood that the proximity switch status flag determination procedure is executed in the main procedure, i.e., the return-to-normal control procedure, executed by the control chip 42, and each time the proximity switch status flag is assigned, the proximity switch status flag may provide data support for the steering motor forward-reverse control procedure and the steering motor return-to-normal stop procedure executed in the subsequent timer interrupt procedure.
Further, the control chip 42 implements the return control by executing the forward and reverse rotation control program of the steering motor, and specifically, the specific flow of the forward and reverse rotation control program of the steering motor executed by the control chip 42 is as follows: firstly, judging whether an assigned proximity switch state zone bit in a main program is 1, if the assigned proximity switch state zone bit is 1, then setting a forward rotation zone bit of a steering motor to be 1 and setting a reverse rotation zone bit of the steering motor to be 0, and when the forward rotation zone bit of the steering motor is 1 and the reverse rotation zone bit of the steering motor is 0, a control chip 42 obtains a forward rotation given speed and controls the steering motor 3 to rotate forward according to the forward rotation given speed; if the proximity switch state flag bit is 0, the steering motor rotates reversely at the flag position 1 and rotates forwards at the flag position 0, the control chip 42 obtains a reverse rotation given speed when the steering motor rotates reversely at the flag bit 1 and rotates forwards at the flag bit 0, and controls the steering motor 3 to rotate reversely at the reverse rotation given speed.
It should be understood that the control chip 42 executes the steering motor forward and reverse rotation control program in the execution of the timer interrupt program, wherein the control chip 42 executes the timer interrupt program once every period of time, the proximity switch status flag is determined every time the timer interrupt program is executed, and if the proximity switch status flag is 1, the control chip 42 controls the steering motor 3 to rotate forward; if the proximity switch status flag bit is 0, the control chip 42 controls the steering motor 3 to rotate reversely, and the steering wheel 2 is driven to rotate clockwise or counterclockwise by the forward and reverse rotation of the steering motor 3.
Further, the control chip 42 implements the stop operation at the preset return position by executing the steering motor return point stop program, and specifically, the specific flow of the steering motor return point stop program executed by the control chip 42 is as follows: firstly, judging whether a state zone bit of a proximity switch jumps or not, if the state zone bit of the proximity switch jumps, clearing a forward rotation zone bit and a reverse rotation zone bit of a steering motor, and controlling the steering motor 3 to stop working; if the proximity switch status flag bit does not jump, no operation is performed.
It should be understood that the control chip 42 executes the steering motor return point shutdown procedure in the execution of the timer interrupt procedure, wherein the control chip 42 executes the T1 interrupt procedure once every time, and each time the T1 interrupt procedure is executed, it determines whether the proximity switch status flag has a jump, and controls the steering motor 3 to execute the shutdown operation when it determines that the proximity switch status flag has a jump.
Specifically, as shown in fig. 3, the signal processing circuit 41 includes: the circuit comprises a first magnetic bead FB1, a first capacitor C1, a first resistor R1, a second resistor R2, a triode Q1 and a second capacitor C2. The first capacitor C1 and the second capacitor C2 are filter capacitors, the first magnetic bead FB1, the first capacitor C1 and the second capacitor C2 all play a filtering role, and the first resistor R1 and the second resistor R2 are current-limiting resistors.
One end of the first magnetic bead FB1 is connected with the proximity switch 1; one end of the first capacitor C1 is connected to the other end of the first magnetic bead FB1, and the other end of the first capacitor C1 is grounded; one end of the first resistor R1 is connected with the other end of the first magnetic bead FB 1; one end of the second resistor R2 is connected with a preset power supply VCC; the base electrode of the triode Q1 is connected with the other end of the first resistor R1, the emitter electrode of the triode Q1 is grounded, the collector electrode of the triode Q1 is connected with the other end of the second resistor R2, and the collector electrode of the triode Q1 is also connected with the I/O port of the control chip 42; one end of the second capacitor C2 is connected to the collector of the transistor Q1, and the other end of the second capacitor C2 is grounded.
According to a specific example of the present invention, the preset power VCC may be a +3.3V power.
Specifically, the signal processing circuit 41 is connected to the proximity switch 1, and when the proximity switch 1 is facing the second height surface a2 of the steering wheel 2, the proximity switch 1 is closer to the detection surface of the steering wheel 2, and the proximity switch 1 can output the first level, for example, the 24V level, and when the proximity switch 1 is facing the first height surface a1 of the steering wheel 2, the proximity switch 1 is farther from the detection surface of the steering wheel 2, and the proximity switch 1 can output the second level, that is, the 0V level. When the proximity switch 1 can output a 24V level, the triode Q1 is turned on, the signal processing circuit 41 outputs a first low level to the I/O port of the control chip 42, and the control chip 42 controls the steering motor 3 to rotate forward to drive the steering wheel 2 to rotate clockwise when judging that the level state of the I/O port is the first low level, so that the steering wheel 2 returns to the preset return position; when the proximity switch 1 can output a 0V level, the transistor Q1 is turned off, the signal processing circuit 41 outputs a first high level to the I/O port of the control chip 42, and the control chip 42 controls the steering motor 3 to rotate reversely to drive the steering wheel 2 to rotate counterclockwise when determining that the level state of the I/O port is the first high level, so that the steering wheel 2 returns to the preset return position. And when the control chip 42 judges that the level state of the I/O port jumps, the steering motor 3 is controlled to stop working, and the steering wheel 2 is in the preset return position.
As described above, in an embodiment of the present invention, during the return-to-center control, the proximity switch 1 may detect a distance between the proximity switch 1 and the detection surface of the steering wheel 2 to generate a detection signal, and when the proximity switch 1 is aligned with the second height surface a2 of the steering wheel 2, the detection signal generated by the proximity switch 1 is at a high level, and the control unit 4 determines that the vehicle is in a left-turn condition; when the proximity switch 1 is aligned with the first height surface a1 of the steering wheel 2, the detection signal generated by the proximity switch 1 is at a low level, and the control unit 4 judges that the vehicle is in a right-turning working condition; if the level state of the detection signal generated by the proximity switch 1 jumps, the control unit 4 determines that the steering wheel 2 is in the preset return position.
If the control unit 4 judges that the vehicle is in a left-turning working condition, the steering motor 3 is controlled to drive the steering wheel 2 to rotate clockwise, so that the steering wheel 2 returns to a preset aligning position; if the control unit 4 judges that the vehicle is in a right-turning working condition, the steering motor 3 is controlled to drive the steering wheel 2 to rotate anticlockwise so that the steering wheel 2 returns to a preset aligning position; and if the control unit 4 judges that the steering wheel 2 is in the preset aligning position through a software algorithm, controlling the steering motor 3 to stop working.
In summary, according to the aligning control device of the vehicle steering system provided by the embodiment of the invention, after the whole vehicle is started, the proximity switch generates the detection signal according to the distance between the proximity switch and the detection surface of the steering wheel, and the control unit controls the steering motor according to the detection signal so as to drive the steering wheel to rotate back to be in the preset aligning position. From this, carry out the control of returning positive through proximity switch, can realize complicated procedure and motion law, and control accuracy is high, can stably and realize returning positive control high-efficiently, and the device's hardware circuit simple structure moreover, simple to operate, production and maintenance cost are low.
The invention also provides a vehicle steering system, which comprises the aligning control device of the vehicle steering system.
The aligning control device of the vehicle steering system comprises a proximity switch, a steering wheel, a steering motor, a control unit and the like, wherein the proximity switch is over against a detection surface of the steering wheel, the detection surface of the steering wheel has a height difference, the proximity switch can generate a detection signal according to the distance between the proximity switch and the detection surface of the steering wheel, and the control unit controls the steering motor according to the detection signal so as to drive the steering wheel to rotate back to enable the steering wheel to be in a preset aligning position.
In summary, according to the vehicle steering system provided by the embodiment of the present invention, the aligning control device of the vehicle steering system according to the embodiment can realize the control of a complex program and a motion law, has high control precision, can stably and efficiently realize the aligning control, can simplify the hardware circuit structure of the system, and reduces the production and maintenance costs of the system.
The invention further provides a vehicle comprising the vehicle steering system of the embodiment.
According to one embodiment of the invention, the vehicle may be an electric pallet truck.
In summary, according to the vehicle provided by the embodiment of the invention, the vehicle steering system of the embodiment can realize control of complex programs and motion laws, has high control precision, can stably and efficiently realize return control, can simplify the hardware circuit structure of the system, and reduces the production and maintenance cost of the system.
The invention also provides a return control method of the vehicle steering system.
Fig. 4 is a flowchart of a return control method of a vehicle steering system according to an embodiment of the present invention. As shown in fig. 2a-2d, the proximity switch is directly opposite to the detection surface of the steering wheel in the vehicle steering system, and as shown in fig. 4, the aligning control method comprises the following steps:
s1: the distance to the detection surface of the steering wheel having a height difference is detected by the proximity switch to generate a detection signal.
S2: and controlling the steering motor according to the detection signal to enable the steering wheel to be in a preset aligning position.
Specifically, the control unit may receive and process detection signals from the proximity switch and output motor control signals to the steering motor. When the steering motor is controlled to rotate forwards, the steering wheel is driven to rotate clockwise; when the steering motor is controlled to rotate reversely, the steering wheel is driven to rotate anticlockwise.
In the aligning control process, a detection signal is generated by detecting the distance between the proximity switch and the detection surface of the steering wheel, and the steering wheel and the wheels are judged to deflect rightwards or leftwards according to the level state of the detection signal, so that the steering motor is controlled to rotate forwards or backwards to drive the steering wheel to rotate clockwise or anticlockwise to return to the preset aligning position.
According to a specific example of the present invention, when the vehicle is in a steering condition (left or right), if the control unit does not receive a steering command or receives a straight-driving command, the steering wheel may be controlled to return to the preset return position according to the detection signal to return the vehicle to the straight-driving condition.
According to an embodiment of the present invention, a detection signal having a first level and a second level, controlling a steering motor to bring a steering wheel to a preset return position according to the detection signal, includes: when the detection signal is at a first level, controlling the steering motor to rotate forwards until the detection signal jumps; and when the detection signal is at a second level, controlling the steering motor to reversely rotate until the detection signal jumps.
According to one embodiment of the invention, the steering wheel is in the preset return position when a jump in the detection signal occurs.
Specifically, if the proximity switch is over against the second height surface of the steering wheel, the steering wheel needs to be controlled to rotate clockwise to return to the preset aligning position, and the detection signal output by the proximity switch is at a high level; if the proximity switch is over against the first height surface of the steering wheel, the steering wheel needs to be controlled to rotate anticlockwise to return to the preset aligning position, and the detection signal output by the proximity switch is at a low level.
Based on this, if the proximity switch is over against the first height surface of the steering wheel, the distance between the proximity switch and the detection surface of the steering wheel is far, the detection signal generated by the proximity switch is in a second level state, namely a low level state, and the steering motor is controlled to rotate reversely according to the detection signal to drive the steering wheel to rotate anticlockwise so that the steering wheel returns to the preset aligning position; if the proximity switch is over against the second height surface of the steering wheel, the distance between the proximity switch and the detection surface of the steering wheel is short, the detection signal generated by the proximity switch is in a first level state, namely a high level state, and the steering motor is controlled to rotate forwards according to the detection signal so as to drive the steering wheel to rotate clockwise, so that the steering wheel returns to the preset return position.
Further, if the steering motor is controlled to rotate forwards to drive the steering wheel to rotate clockwise to return to the preset return position, the detection signal jumps from the first level to the second level at the preset return position; and if the steering motor is controlled to rotate reversely to drive the steering wheel to rotate anticlockwise to return to the preset returning position, the detection signal jumps from the second level to the first level at the preset returning position, if the detection signal jumps, the steering wheel is positioned at the preset returning position, and at the moment, the steering motor is controlled to stop working.
According to an embodiment of the present invention, a return control method of a steering system of a vehicle includes the steps of: a proximity switch state zone bit judgment program, a steering motor forward and reverse rotation control program and a steering motor return point shutdown program.
Specifically, as shown in fig. 5, the proximity switch status flag determination procedure is executed to determine the level status of the detection signal, specifically, the I/O port of the control chip is used to receive the processed detection signal, and the proximity switch status flag determination procedure includes the following steps:
s10: and scanning the I/O port of the control chip to detect the level state of the processed detection signal.
S11: judging whether the level state of the I/O port detection signal is low level, if so, executing step S12; otherwise, step S13 is executed.
S12: the proximity switch status is flagged as position 1.
S13: the proximity switch status flag is set to 0.
It should be understood that the proximity switch status flag determination procedure is executed in the main execution procedure, i.e., the return-to-normal control procedure, and the proximity switch status flag is assigned every time the procedure is executed, and the proximity switch status flag may provide data support for the forward-to-reverse rotation control procedure and the return-to-normal point shutdown procedure of the steering motor, which are executed in the subsequent timer interrupt procedure.
Further, as shown in fig. 6, the turning back control is realized by executing a turning motor forward and backward rotation control program, specifically, the turning motor forward and backward rotation control program includes the following steps:
s20: judging whether the assigned proximity switch state flag bit in the main program is 1, if so, executing step S21; otherwise, step S23 is executed.
S21: the steering motor is rotated forward to mark position 1 and is rotated backward to mark position 0.
S22: and acquiring the forward rotation given speed, and controlling the steering motor to forward rotate according to the forward rotation given speed.
S23: the steering motor is rotated in the reverse direction to mark position 1 and the steering motor is rotated in the forward direction to mark position 0.
S24: and acquiring a reverse rotation given speed, and controlling the steering motor to perform reverse rotation according to the reverse rotation given speed.
It should be understood that, in executing the timer interrupt program, the steering motor forward and reverse rotation control program is executed, wherein the timer interrupt program is executed once every period of time, the proximity switch state flag bit is judged every time the timer interrupt program is executed, and if the proximity switch state flag bit is 1, the steering motor is controlled to rotate forward; if the state flag bit of the proximity switch is 0, the steering motor is controlled to rotate reversely, and the steering wheel is driven to rotate clockwise or anticlockwise through the forward and reverse rotation of the steering motor.
Further, as shown in fig. 7, the stop operation at the preset return-to-center position is realized by executing a steering motor return-to-center point stop program, specifically, the steering motor return-to-center point stop program includes the steps of:
s30: judging whether the proximity switch state flag bit jumps or not, if so, executing the step S31; otherwise, step S32 is executed.
S31: and clearing the forward rotation zone bit and the reverse rotation zone bit of the steering motor, and controlling the steering motor to stop working.
S32: no operation is performed.
It should be understood that the steering motor return point shutdown procedure is executed in executing the timer interrupt procedure, wherein the timer interrupt procedure is executed once every certain period of time, each time the timer interrupt procedure is executed, whether the proximity switch status flag bit jumps or not is judged, and when the proximity switch status flag bit jumps is judged, the steering motor is controlled to execute the shutdown operation.
In summary, according to the aligning control method of the vehicle steering system provided by the embodiment of the invention, after the whole vehicle is started, the proximity switch detects the distance between the detection surface of the steering wheel to generate the detection signal, and the steering motor is controlled according to the detection signal to enable the steering wheel to be at the preset aligning position. Therefore, the return control is carried out through the proximity switch, the control of complex programs and motion rules can be realized, the control precision is high, and the return control can be stably and efficiently realized.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (11)
1. A return-to-center control apparatus of a vehicle steering system, characterized in that the vehicle steering system includes a steering wheel, the return-to-center control apparatus comprising:
the proximity switch is over against the detection surface of the steering wheel and generates a detection signal according to the distance between the proximity switch and the detection surface of the steering wheel, wherein the detection surface of the steering wheel has a height difference;
the steering motor is used for driving the steering wheel to rotate;
a control unit, which is respectively connected with the proximity switch and the steering motor, and controls the steering motor according to the detection signal to enable the steering wheel to be in a preset return position, wherein,
the control unit further includes: the signal processing circuit is connected with the proximity switch and is used for processing the detection signal;
the control chip is respectively connected with the signal processing circuit and the steering motor, and controls the steering motor according to a processed detection signal, wherein the detection signal is processed by the signal processing circuit and then converted into a voltage signal which can be identified by the control chip; wherein the signal processing circuit comprises: one end of the first magnetic bead is connected with the proximity switch;
one end of the first capacitor is connected with the other end of the first magnetic bead, and the other end of the first capacitor is grounded;
one end of the first resistor is connected with the other end of the first magnetic bead;
one end of the second resistor is connected with a preset power supply;
the base electrode of the triode is connected with the other end of the first resistor, the emitting electrode of the triode is grounded, the collector electrode of the triode is connected with the other end of the second resistor, and the collector electrode of the triode is also connected with the control chip;
and one end of the second capacitor is connected with the collector of the triode, and the other end of the second capacitor is grounded.
2. The return-to-center control apparatus of a vehicle steering system according to claim 1, characterized in that a detection surface of the steering wheel is provided with a first height surface and a second height surface, and a distance between the first height surface and the proximity switch is larger than a distance between the second height surface and the proximity switch.
3. The return-to-center control apparatus of a vehicle steering system according to claim 2, characterized in that the detection surface of the steering wheel is divided into the first height surface and the second height surface.
4. The return-to-center control apparatus of a vehicle steering system according to claim 1, characterized in that the detection signal has a first level and a second level, wherein,
when the detection signal is at the first level, the control unit controls the steering motor to rotate forwards until the detection signal jumps;
when the detection signal is at the second level, the control unit controls the steering motor to rotate reversely until the detection signal jumps.
5. The return-to-center control apparatus of a vehicle steering system according to claim 4, characterized in that the steering wheel is in the preset return-to-center position when a jump occurs in the detection signal.
6. A vehicle steering system characterized by comprising the return-to-center control apparatus of the vehicle steering system according to any one of claims 1 to 5.
7. A vehicle characterized by comprising the vehicle steering system according to claim 6.
8. The vehicle of claim 7, wherein the vehicle is an electric pallet truck.
9. A method for controlling return to a straight state of a steering system of a vehicle, wherein a proximity switch faces a detection surface of a steering wheel in the steering system of the vehicle, the method comprising the steps of:
detecting a distance from a detection surface of the steering wheel by the proximity switch to generate a detection signal, wherein the detection surface of the steering wheel has a height difference;
processing the detection signal to convert the detection signal into a voltage signal which can be identified, and controlling a steering motor according to the processed detection signal to enable the steering wheel to be in a preset aligning position, wherein the detection signal is processed by a signal processing circuit to convert the detection signal into the voltage signal which can be identified by a control chip, and the signal processing circuit comprises: one end of the first magnetic bead is connected with the proximity switch;
one end of the first capacitor is connected with the other end of the first magnetic bead, and the other end of the first capacitor is grounded;
one end of the first resistor is connected with the other end of the first magnetic bead;
one end of the second resistor is connected with a preset power supply;
the base electrode of the triode is connected with the other end of the first resistor, the emitting electrode of the triode is grounded, the collector electrode of the triode is connected with the other end of the second resistor, and the collector electrode of the triode is also connected with the control chip;
and one end of the second capacitor is connected with the collector of the triode, and the other end of the second capacitor is grounded.
10. The return-to-center control method of a vehicle steering system according to claim 9, wherein the detection signal has a first level and a second level, and the controlling of the steering motor to bring the steering wheel to a preset return-to-center position based on the processed detection signal comprises:
when the detection signal is at the first level, controlling the steering motor to rotate forwards until the detection signal jumps;
and when the detection signal is at the second level, controlling the steering motor to reversely rotate until the detection signal jumps.
11. The return-to-center control method of a vehicle steering system according to claim 10, characterized in that the steering wheel is in the preset return-to-center position when a jump occurs in the detection signal.
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| CN113232717A (en) * | 2021-04-30 | 2021-08-10 | 前海七剑科技(深圳)有限公司 | Steering wheel correcting method and correcting device |
| CN113859359A (en) * | 2021-12-03 | 2021-12-31 | 南京天创电子技术有限公司 | Movement control method of light explosion-proof four-wheel eight-drive chassis |
| CN114506384B (en) * | 2022-04-19 | 2022-07-26 | 临工集团济南重机有限公司 | Four-wheel steering control system and control method thereof |
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