CN101003282A - System for controlling multiple car wheels turning accurately - Google Patents
System for controlling multiple car wheels turning accurately Download PDFInfo
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- CN101003282A CN101003282A CN 200710001246 CN200710001246A CN101003282A CN 101003282 A CN101003282 A CN 101003282A CN 200710001246 CN200710001246 CN 200710001246 CN 200710001246 A CN200710001246 A CN 200710001246A CN 101003282 A CN101003282 A CN 101003282A
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- wheel
- turns
- steering
- angle sensor
- microprocessor
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Abstract
An accurate steering control system for the multiple wheels of a car is composed of a steering control unit consisting of a microprocessor containing the mathematical models for various steering modes, database and control program, the angle sensor for steering wheel and the rotation angle sensor for wheels, and a steering execution unit for individual steering of each wheel by rolling without lateral sliding.
Description
Technical field
The invention belongs to the control system of mechanical movement, be specifically related to a kind of automobile multi-wheel steering control system.
Background technology
Some speciality car need turn to control operation to four-wheel or many wheels, and aircraft towing just belongs to this situation.Known aircraft towing steering swivel system is made up of main elements such as Hydraulic Pump, flow stabilizing valve, hydraulic steering gear, hydraulic actuating cylinder, steering drive axles, Hydraulic Pump is by driving engine or direct motor drive, hydraulic steering gear is coaxial with bearing circle, and hydraulic actuating cylinder is contained in and is used for drive wheels on the vehicle bridge and turns to.When bearing circle rotates, just press bearing circle rotation direction, corner size to an amount of high pressure oil of the corresponding hydraulic fluid port input of hydraulic actuating cylinder from the high pressure oil that Hydraulic Pump comes out, thereby realize turning to of vehicle.The relation of this steering hardware left and right wheels corner is determined that by tie rod linkage turning to of vehicle is instantaneous by turning to the decision of pattern and tie rod linkage.This controlling Design that turns to is retrained by the rigid construction of tie rod linkage, can't take into account simultaneously that two-wheeled turns to, when four-wheel steering even multi-wheel steering vehicle turn to instantaneous instantaneous consistent with theoretical steering, the serious reason of wear on tyres of four-wheel steering aircraft towing and other multi-wheel steering automobiles at present that Here it is.
Summary of the invention
The objective of the invention is to, a kind of precise control is provided, can satisfies the various system for controlling multiple car wheels turning accurately that turn to the pattern needs.
System for controlling multiple car wheels turning accurately provided by the invention, comprise and turn to control part and turn to operating part, described control part comprises and contains various microprocessor, steering wheel angle sensor, the wheel steering angle sensors that turn to pattern math modeling, data bank and control program, described wheel steering angle sensor is arranged on the vehicle bridge, steering wheel angle sensor and the coaxial setting of bearing circle; Steering wheel angle sensor passes to microprocessor with steering wheel angle information, and the wheel steering angle sensor passes to microprocessor with the wheel steering angle direction information simultaneously, and microprocessor realizes turning to control to turning to operating part to send instruction.
System for controlling multiple car wheels turning accurately provided by the invention, the described operating part that turns to comprises proportion magnetic valve group, Hydraulic Pump, hydraulic actuating cylinder, turns to vehicle bridge, described proportion magnetic valve is pressed the programmed instruction regulating spool stroke size of microprocessor, accurately control the oil mass of each hydraulic actuating cylinder, described hydraulic actuating cylinder is arranged on and turns on the vehicle bridge, hydraulic actuating cylinder one end is fixed on the axle housing, the other end is connected on the wheel, the described vehicle bridge that turns to is to have cancelled the vehicle bridge that turns to of tie rod linkage, and Hydraulic Pump is by oil circuit and hydraulic actuating cylinder UNICOM.
System for controlling multiple car wheels turning accurately provided by the invention, its beneficial effect is, solved thoroughly that multi-wheel steering automobile in the past can't take into account simultaneously that two-wheeled turns to, the problem of four-wheel steering even multi-wheel steering, cancelled the tie rod linkage of vehicle bridge, each wheel is independent steering, cooperation under the control of microprocessor program, can realize variously turning under the pattern that each wheel is pure to roll motion, do not have and break away, can improve tire service life greatly, cut down the consumption of energy, solved the sideslip problem when the sleety weather automobile turning travels.
Description of drawings
Fig. 1 is the integral structure scheme drawing of one embodiment of the invention.
Mark among the figure
1. microprocessor; 2. steering wheel angle sensor; 3. wheel steering angle sensor; 4. proportion magnetic valve group; 5. Hydraulic Pump; 6. hydraulic actuating cylinder; 7. turn to vehicle bridge.
The specific embodiment
With reference to the accompanying drawings, in conjunction with an embodiment, system for controlling multiple car wheels turning accurately provided by the invention is described in detail.
Embodiment
With reference to Fig. 1, the system for controlling multiple car wheels turning accurately of present embodiment, be that aircraft tractor four-wheel turns to accuracy-control system, it comprises and turns to control part and turn to operating part, describedly turn to control part to comprise to contain various microprocessor 1, steering wheel angle sensor 2, the wheel steering angle sensors 3 that turn to pattern math modeling, data bank and control program, described wheel steering angle sensor 3 is arranged on and turns on the vehicle bridge 7, steering wheel angle sensor 2 and the coaxial setting of bearing circle; Steering wheel angle sensor 2 passes to microprocessor 1 with steering wheel angle information, and simultaneously wheel steering angle sensor 3 passes to microprocessor 1 with the wheel steering angle direction information, and microprocessor 1 realizes turning to control to turning to operating part to send instruction.
System for controlling multiple car wheels turning accurately provided by the invention, the described operating part that turns to comprises proportion magnetic valve group 4, Hydraulic Pump 5, hydraulic actuating cylinder 6, turns to vehicle bridge 7, described proportion magnetic valve group 4 is pressed the programmed instruction regulating spool stroke size of microprocessor 1, accurately control the oil mass of each hydraulic actuating cylinder, described hydraulic actuating cylinder 6 drives the wheel that turns to vehicle bridge 7, and Hydraulic Pump 5 is by oil circuit and hydraulic actuating cylinder 6 UNICOMs.
Present embodiment has only provided the accuracy-control system that aircraft tractor four-wheel turns to, and this turns to accuracy-control system, can be applied to the control that turns to of various multi-wheel steering automobiles.
Claims (2)
1. system for controlling multiple car wheels turning accurately, comprise and turn to control part and turn to operating part, it is characterized in that: described control part comprises and contains various microprocessor, steering wheel angle sensor, the wheel steering angle sensors that turn to pattern math modeling, data bank and control program, described wheel steering angle sensor is arranged on the vehicle bridge, steering wheel angle sensor and the coaxial setting of bearing circle; Steering wheel angle sensor passes to microprocessor with steering wheel angle information, and the wheel steering angle sensor passes to microprocessor with wheel steering angle information simultaneously, and microprocessor realizes turning to control to turning to operating part to send instruction.
2. system for controlling multiple car wheels turning accurately according to claim 1, it is characterized in that: the described operating part that turns to comprises proportion magnetic valve group, Hydraulic Pump, hydraulic actuating cylinder, turns to vehicle bridge, described proportion magnetic valve is pressed the programmed instruction regulating spool stroke size of microprocessor, accurately control the oil mass of each hydraulic actuating cylinder, described hydraulic actuating cylinder is arranged on and turns on the vehicle bridge, hydraulic actuating cylinder one end is fixed on the axle housing, the other end is connected on the wheel, the described vehicle bridge that turns to is to have cancelled the vehicle bridge that turns to of tie rod linkage, and Hydraulic Pump is by oil circuit and hydraulic actuating cylinder UNICOM.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710001246 CN101003282A (en) | 2007-01-09 | 2007-01-09 | System for controlling multiple car wheels turning accurately |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710001246 CN101003282A (en) | 2007-01-09 | 2007-01-09 | System for controlling multiple car wheels turning accurately |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101003282A true CN101003282A (en) | 2007-07-25 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710001246 Pending CN101003282A (en) | 2007-01-09 | 2007-01-09 | System for controlling multiple car wheels turning accurately |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101003282A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102039929A (en) * | 2010-12-21 | 2011-05-04 | 徐州重型机械有限公司 | Multi-axis chassis steering control method and system and wheeled crane employing system |
| CN102730057A (en) * | 2012-07-12 | 2012-10-17 | 徐州重型机械有限公司 | Method and system for controlling turning of chassis and crane with system |
| CN102874306A (en) * | 2012-10-30 | 2013-01-16 | 重庆理工大学 | Motor steering purely-rolling device |
| CN103010303A (en) * | 2011-09-28 | 2013-04-03 | 比亚迪股份有限公司 | Vehicle control system and vehicle comprising system |
| CN103979011A (en) * | 2014-05-19 | 2014-08-13 | 安徽江淮汽车股份有限公司 | Second-front-axle steering device and double-front-axle steering system |
| CN104058002A (en) * | 2014-06-17 | 2014-09-24 | 宁波如意股份有限公司 | Steering device of vehicle with four wheels and four driving directions |
| CN105424404A (en) * | 2015-12-16 | 2016-03-23 | 西安建筑科技大学 | Four-DOF (degree-of-freedom) coal sampling vehicle capable of independently turning |
| CN110304136A (en) * | 2019-07-18 | 2019-10-08 | 上海振华重工(集团)股份有限公司 | A kind of the independent electrohydraulic steering system and method for straddle carrier wheel |
-
2007
- 2007-01-09 CN CN 200710001246 patent/CN101003282A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102039929B (en) * | 2010-12-21 | 2012-06-27 | 徐州重型机械有限公司 | Multi-axis chassis steering control method and system and wheeled crane employing system |
| CN102039929A (en) * | 2010-12-21 | 2011-05-04 | 徐州重型机械有限公司 | Multi-axis chassis steering control method and system and wheeled crane employing system |
| CN103010303A (en) * | 2011-09-28 | 2013-04-03 | 比亚迪股份有限公司 | Vehicle control system and vehicle comprising system |
| CN103010303B (en) * | 2011-09-28 | 2016-01-13 | 比亚迪股份有限公司 | A kind of vehicle control system and comprise the vehicle of this system |
| CN102730057B (en) * | 2012-07-12 | 2014-12-10 | 徐州重型机械有限公司 | Method and system for controlling turning of chassis and crane with system |
| CN102730057A (en) * | 2012-07-12 | 2012-10-17 | 徐州重型机械有限公司 | Method and system for controlling turning of chassis and crane with system |
| CN102874306A (en) * | 2012-10-30 | 2013-01-16 | 重庆理工大学 | Motor steering purely-rolling device |
| CN102874306B (en) * | 2012-10-30 | 2015-02-25 | 重庆理工大学 | Motor steering purely-rolling device |
| CN103979011A (en) * | 2014-05-19 | 2014-08-13 | 安徽江淮汽车股份有限公司 | Second-front-axle steering device and double-front-axle steering system |
| CN103979011B (en) * | 2014-05-19 | 2016-04-06 | 安徽江淮汽车股份有限公司 | A kind of second propons steering hardware and double-front axle automobile steering system |
| CN104058002A (en) * | 2014-06-17 | 2014-09-24 | 宁波如意股份有限公司 | Steering device of vehicle with four wheels and four driving directions |
| CN104058002B (en) * | 2014-06-17 | 2016-03-30 | 宁波如意股份有限公司 | A kind of four-wheel four direction driving vehicle steering hardware |
| CN105424404A (en) * | 2015-12-16 | 2016-03-23 | 西安建筑科技大学 | Four-DOF (degree-of-freedom) coal sampling vehicle capable of independently turning |
| CN105424404B (en) * | 2015-12-16 | 2018-04-17 | 西安建筑科技大学 | A kind of four-degree-of-freedom coal samling car of independent steering |
| CN110304136A (en) * | 2019-07-18 | 2019-10-08 | 上海振华重工(集团)股份有限公司 | A kind of the independent electrohydraulic steering system and method for straddle carrier wheel |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |