CN102267488A - Multi-steering bridge control system and method as well as engineering device - Google Patents
Multi-steering bridge control system and method as well as engineering device Download PDFInfo
- Publication number
- CN102267488A CN102267488A CN2011101292713A CN201110129271A CN102267488A CN 102267488 A CN102267488 A CN 102267488A CN 2011101292713 A CN2011101292713 A CN 2011101292713A CN 201110129271 A CN201110129271 A CN 201110129271A CN 102267488 A CN102267488 A CN 102267488A
- Authority
- CN
- China
- Prior art keywords
- steering angle
- group
- steeraxle
- assisted diversion
- steering
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
- B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a multi-steering bridge control system and method as well as an engineering device. The multi-steering bridge control system comprises a master controller, a detection unit, a first auxiliary controller and a second auxiliary controller, wherein the master controller is used for controlling the steering angle of a primary steering bridge set according to an operation command; the detection unit is used for detecting the steering angle of the primary steering bridge set; the first auxiliary controller is used for controlling the steering angle of a first auxiliary steering bridge set according to the steering angle of the primary steering bridge set; and the second auxiliary controller is used for controlling the steering angle of a second auxiliary steering bridge set according to the steering angle of the primary steering bridge set. A plurality of steering bridges of the engineering device are divided into different steering bridge sets, thereby realizing the independent control on a plurality of auxiliary steering bridge sets, accurately controlling the steering angles of the steering bridge sets, improving the precision of the steering angle control and reducing the fault probability.
Description
Technical field
The present invention relates to engineering machinery field, be meant a kind of multi-steering bridge control system, method and engineering equipment especially.
Background technology
Engineering equipments such as large-scale carrier vehicle, some special vehicle or hoisting crane in order to improve load-carrying capacity, adopt the multiaxis wheel to arrange.Cliding friction when main wear on tyres is from Vehicular turn in the multiple-axle vehicle between tire and the ground, according to incompletely statistics, the loss of tire accounts for 40% in the multiple-axle vehicle operating cost.Multiple-axle vehicle turn to full wheel of general employing or multi-wheel steering technology, thereby avoid/reduce tire and ground that cliding friction takes place, and reduce wear on tyres, improve the light performance of manipulation of vehicle.
In the prior art, general steering angle by main steeraxle control propons, control the steering angle of all assisted diversion bridges by an assisted diversion controller, owing to have only an assisted diversion controller, at et out of order or when running at high speed, to all assisted diversion bridges all is unified control, thereby causes angle control undesirable, easily et out of order.
Summary of the invention
The present invention proposes a kind of multi-steering bridge control system, method and engineering equipment, be divided into different steeraxle groups by a plurality of steeraxles with engineering equipment, realization is to the independent control of a plurality of assisted diversion bridge groups, the accurate angle control of each steeraxle group, improve the precision of angle control, reduce the fault probability of occurrence.
Technical scheme of the present invention is achieved in that
A kind of multi-steering bridge control system, be used for the control that turns to a plurality of steeraxles on the engineering equipment, described multi-steering bridge comprises main steeraxle group, the first assisted diversion bridge group and comprises the second assisted diversion bridge group of tail steeraxle that described multi-steering bridge control system comprises:
Master controller is used for controlling according to operating order the steering angle of described main steeraxle group;
Detecting unit is used to detect the steering angle of described main steeraxle group;
First subcontrol is used for the steering angle according to the described first assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
Second subcontrol is used for the steering angle according to the described second assisted diversion bridge group of the controlling steering angle of described main steeraxle group.
Preferably, described first subcontrol comprises:
First calculating unit is used for calculating according to the steering angle of described main steeraxle group the steering angle of the described first assisted diversion bridge group;
First control unit is used for the steering angle of the described first assisted diversion bridge group of controlling steering angle that calculates according to described first calculating unit;
Described second subcontrol comprises:
Second calculating unit is used for calculating according to the steering angle of described main steeraxle group the steering angle of the described second assisted diversion bridge group;
Second control unit is used for the steering angle of the described second assisted diversion bridge group of controlling steering angle that calculates according to described second calculating unit.
Preferably, described first subcontrol comprises:
First calculating unit is used for calculating according to the steering angle of described main steeraxle group the steering angle of the described first assisted diversion bridge group;
First control unit is used for the steering angle of the described first assisted diversion bridge group of controlling steering angle that calculates according to described first calculating unit;
Described second subcontrol comprises:
Second calculating unit is used for calculating according to the steering angle of the steering angle of described main steeraxle group and the described first assisted diversion bridge group steering angle of the described second assisted diversion bridge group;
Second control unit is used for the steering angle of the described second assisted diversion bridge group of controlling steering angle that calculates according to described second calculating unit.
Preferably, also comprise:
First judge module is used for judging whether to break down according to first parameter preset;
Described second subcontrol also comprises:
The 3rd control unit is used for the described second assisted diversion bridge group realization of control pressure centering after described first judge module judgement is broken down.
Preferably, also comprise:
Second judge module is used for judging whether straight-line travelling according to second parameter preset;
Described second subcontrol also comprises:
The 4th control unit is used for the described second assisted diversion bridge group realization of control pressure centering after described second judge module is judged straight-line travelling.
Preferably, described first subcontrol comprises first communication module, described second subcontrol comprises second communication module, and described first subcontrol and described second subcontrol are realized mutual communication by described first communication module and described second communication module and to the mutual monitoring of mode of operation.
Preferably, when the mode of operation that monitors described second subcontrol when described first communication module broke down, described first subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of the described second assisted diversion bridge group;
When the mode of operation that monitors described first subcontrol when described second communication module broke down, described second subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of the described first assisted diversion bridge group.
A kind of multi-steering bridge control method, be used to realize the control that turns to of a plurality of steeraxles on the engineering equipment, described multi-steering bridge comprises main steeraxle group, the first assisted diversion bridge group and comprises the second assisted diversion bridge group of tail steeraxle that described multi-steering bridge control method comprises:
Control the steering angle of described main steeraxle group according to operating order;
Detect the steering angle of described main steeraxle group;
Steering angle according to the described first assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
Steering angle according to the described second assisted diversion bridge group of the controlling steering angle of described main steeraxle group.
Preferably, the steering angle according to the described first assisted diversion bridge group of the controlling steering angle of described main steeraxle group comprises:
Calculate the steering angle of the described first assisted diversion bridge group according to the steering angle of described main steeraxle group;
Steering angle according to the described first assisted diversion bridge group of controlling steering angle of the described first assisted diversion bridge group that calculates;
Steering angle according to the described second assisted diversion bridge group of the controlling steering angle of described main steeraxle group comprises:
Calculate the steering angle of the described second assisted diversion bridge group according to the steering angle of described main steeraxle group;
Steering angle according to the described second assisted diversion bridge group of controlling steering angle of the described second assisted diversion bridge group that calculates.
Preferably, the steering angle that calculates the described second assisted diversion bridge group according to the steering angle of described main steeraxle group is specially:
Calculate the steering angle of the described second assisted diversion bridge group according to the steering angle of the steering angle of described main steeraxle group and the described first assisted diversion bridge group.
Preferably, also comprise:
Judge whether to break down according to first parameter preset;
After judgement is broken down, control the described second assisted diversion bridge group and realize forcing centering.
Preferably, also comprise:
Judge whether straight-line travelling according to second parameter preset;
After judging straight-line travelling, control the described second assisted diversion bridge group and realize forcing centering.
A kind of engineering equipment, comprise a plurality of steeraxles, described a plurality of steeraxle comprises main steeraxle group, the first assisted diversion bridge group and comprises the second assisted diversion bridge group of tail steeraxle, and described engineering equipment also comprises the multi-steering bridge control system, and described multi-steering bridge control system comprises:
Master controller is used for controlling according to operating order the steering angle of described main steeraxle group;
Detecting unit is used to detect the steering angle of described main steeraxle group;
First subcontrol is used for the steering angle according to the described first assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
Second subcontrol is used for the steering angle according to the described second assisted diversion bridge group of the controlling steering angle of described main steeraxle group.
Preferably, described first subcontrol comprises:
First calculating unit is used for calculating according to the steering angle of described main steeraxle group the steering angle of the described first assisted diversion bridge group;
First control unit is used for the steering angle of the described first assisted diversion bridge group of controlling steering angle that calculates according to described first calculating unit;
Described second subcontrol comprises:
Second calculating unit is used for calculating according to the steering angle of described main steeraxle group the steering angle of the described second assisted diversion bridge group;
Second control unit is used for the steering angle of the described second assisted diversion bridge group of controlling steering angle that calculates according to described second calculating unit.
Preferably, described multi-steering bridge control system also comprises:
First judge module is used for judging whether to break down according to first parameter preset;
Described second subcontrol also comprises:
The 3rd control unit is used for the described second assisted diversion bridge group realization of control pressure centering after described first judge module judgement is broken down.
Preferably, described multi-steering bridge control system also comprises:
Second judge module is used for judging whether straight-line travelling according to second parameter preset;
Described second subcontrol also comprises:
The 4th control unit is used for the described second assisted diversion bridge group realization of control pressure centering after described second judge module is judged straight-line travelling.
Preferably, described first subcontrol comprises first communication module, described second subcontrol comprises second communication module, and described first subcontrol and described second subcontrol are realized mutual communication by described first communication module and described second communication module and to the mutual monitoring of mode of operation;
When the mode of operation that monitors described second subcontrol when described first communication module broke down, described first subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of the described second assisted diversion bridge group;
When the mode of operation that monitors described first subcontrol when described second communication module broke down, described second subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of the described first assisted diversion bridge group.
The present invention is divided into different steeraxle groups by a plurality of steeraxles with engineering equipment, thereby can carry out independent control to each steeraxle group respectively, particularly realize independent control to a plurality of assisted diversion bridge groups, the accurate angle control of each steeraxle group, improve the precision of angle control, reduce the fault probability of occurrence; Further, when et out of order or straight-line travelling, the pressure centering control by to the tail steeraxle can improve traffic safety more; The present invention also provides a kind of Redundant Control implementation of controller, can realize control to the assisted diversion bridge group of controller et out of order by other controller when a controller et out of order, thereby can further improve safety.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of multi-steering bridge control system first embodiment of the present invention;
Fig. 2 is the schematic flow sheet of a kind of multi-steering bridge of the present invention control method first embodiment;
Fig. 3 is the realization scheme drawing of an instantiation of a kind of multi-steering bridge control system of the present invention;
Fig. 4 is the realization scheme drawing of another instantiation of a kind of multi-steering bridge control system of the present invention.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
Multi-steering bridge control system of the present invention is used for the control that turns to a plurality of steeraxles on the engineering equipment.To large-scale carrier vehicle, engineering equipments such as some special vehicle or hoisting crane, usually all have a plurality of steeraxles, to described a plurality of steeraxles, can be divided into first steeraxle from front to back, second steeraxle, the 3rd steeraxle, the 4th steeraxle, tail steeraxle (last steeraxle), for described a plurality of steeraxles, the several steeraxles of common first steeraxle or front are main steeraxles, its steering angle passes through handling device (as bearing circle) ACTIVE CONTROL by the people, and other steeraxle all is the assisted diversion bridge, the steering angle of assisted diversion bridge is to determine according to the steering angle of main steeraxle, and determining of its steering angle is driven.
In embodiments of the present invention, to having the engineering equipment of a plurality of steeraxles, described a plurality of steeraxles are divided into main steeraxle group, the first assisted diversion bridge group and comprise the second assisted diversion bridge group of tail steeraxle, wherein, described main steeraxle group can include only a steeraxle (first steeraxle), also can comprise a plurality of steeraxles (as comprising first steeraxle and second steeraxle); The described second assisted diversion bridge group is meant the steeraxle group that comprises the tail steeraxle, in like manner, the described second assisted diversion bridge group also can include only a steeraxle (tail steeraxle), can also comprise a plurality of steeraxles (as comprising tail steeraxle, penult steeraxle and third from the bottom steeraxle); The quantity of the described first assisted diversion bridge group can be one, also can be a plurality of, in addition, comprises that the quantity of steeraxle is also one or more in one the first assisted diversion bridge group.Both drive axle can be comprised in described main steeraxle group, the first assisted diversion bridge group and the second assisted diversion bridge group, also non-powered axle can be comprised.
With reference to Fig. 1, show the structural representation of a kind of multi-steering bridge control system first embodiment of the present invention.
Described multi-steering bridge control system comprises:
Detecting unit 150 is used to detect the steering angle of described main steeraxle group 110.
Described detecting unit 150 can be realized by a plurality of entities (as a plurality of rotary angle transmitters) in concrete physics realization, when comprising a plurality of main steeraxle in the main steeraxle group 110, described detecting unit 150 can comprise a plurality of hardware entities, detect respectively by the steering angle of each hardware entities (as rotary angle transmitter), also can detect by the steering angle of a hardware entities to all main steeraxles to each main steeraxle.
Detecting unit 150 can be built in the displacement measurement sensor or other sensor that turn in the oil cylinder and be realized by rotary angle transmitter.
In one embodiment of the invention, described first subcontrol 160 comprises:
First calculating unit is used for calculating according to the steering angle of described main steeraxle group the steering angle of the described first assisted diversion bridge group.
When comprising a plurality of main steeraxle in the main steeraxle group 110, described first calculating unit can calculate the steering angle of the described first assisted diversion bridge group according to one of them main steeraxle; Described first calculating unit also can go out the steering angle of the described first assisted diversion bridge group according to a plurality of main steeraxle COMPREHENSIVE CALCULATING.
Described first subcontrol 160 and described second subcontrol 170 can adopt the detected data of different hardware entity in the detecting unit 150 respectively, thereby can obtain different steering angle data.
In an embodiment of the present invention, the calculating of the steering angle of the described first assisted diversion bridge group is except this factor of steering angle of considering described main steeraxle group, can also be according to other factors such as road speed, factors such as vehicle geometry are calculated in conjunction with the steering angle of main steeraxle group, and the present invention does not limit this.
First control unit is used for the steering angle of the described first assisted diversion bridge group of controlling steering angle that calculates according to described first calculating unit.
Described second subcontrol 170 comprises:
Second calculating unit is used for calculating according to the steering angle of described main steeraxle group the steering angle of the described second assisted diversion bridge group.
When comprising a plurality of main steeraxle in the main steeraxle group 110, described second calculating unit can calculate the steering angle of the described second assisted diversion bridge group according to one of them main steeraxle; Described second calculating unit also can go out the steering angle of the described second assisted diversion bridge group according to a plurality of main steeraxle COMPREHENSIVE CALCULATING.In addition, described second calculating unit can also adopt the different main steeraxle of main steeraxle that adopts with first calculating unit when calculating the steering angle of the described second assisted diversion bridge group.
The calculating of the steering angle of the described second assisted diversion bridge group can also be according to other factors such as road speed except this factor of steering angle of considering described main steeraxle group, and factors such as vehicle geometry are calculated in conjunction with the steering angle of main steeraxle group.Therefore, the steering angle of the described second assisted diversion bridge group may be identical with the described first assisted diversion bridge group, also may be inequality, and its concrete account form can be carried out according to actual conditions and actual demand, and the present invention does not limit this.
Second control unit is used for the steering angle of the described second assisted diversion bridge group of controlling steering angle that calculates according to described second calculating unit.
In another embodiment of the present invention, described multi-steering bridge control system can also comprise except comprising master controller, detecting unit, first subcontrol and second subcontrol:
First judge module is used for judging whether to break down according to first parameter preset.
Described first parameter preset can be set according to actual conditions and actual demand, and first parameter preset can be that each parameter of oil piping system, each parameter of Circuits System, speed parameter, loudspeaker pipe the time etc. as described, and the present invention does not carry out any qualification to this.
Described second subcontrol also comprises:
The 3rd control unit is used for the described second assisted diversion bridge group realization of control pressure centering after described first judge module judgement is broken down.
In another embodiment of the present invention, described multi-steering bridge control system can also comprise:
Second judge module is used for judging whether straight-line travelling according to second parameter preset.
Described second parameter preset can be set according to actual conditions and actual demand, and second parameter preset can be that the steering angle parameter of main steeraxle group adds time parameter, speed parameter etc. as described, and the present invention does not carry out any qualification to this.
Described second subcontrol also comprises:
The 4th control unit is used for the described second assisted diversion bridge group realization of control pressure centering after described second judge module is judged straight-line travelling.
Independently centering oil cylinder can be set, breaking down or during straight-line travelling, realize pressure centering to the second assisted diversion bridge group promptly when turning, making the centering oil cylinder be in quick condition by described centering oil cylinder, realize forcing centering when high vehicle speeds and when breaking down.
In another embodiment of the present invention, described first subcontrol comprises first communication module, described second subcontrol comprises second communication module, and described first subcontrol and described second subcontrol are realized mutual communication by described first communication module and described second communication module and to the mutual monitoring of mode of operation.
Described first communication module and described second communication module can pass through CAN (Controller Area Network, controller local area network) bus or other buses are carried out communication, and realization is to the mutual monitoring of the mode of operation of first subcontrol and second subcontrol, data monitored includes but not limited to whether the steering angle that calculates is correct mutually, whether controller breaks down, and whether communication is normal etc.
In the present embodiment, when the mode of operation that monitors described second subcontrol when described first communication module broke down, described first subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of the described second assisted diversion bridge group.
When the mode of operation that monitors described first subcontrol when described second communication module broke down, described second subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of the described first assisted diversion bridge group.
That is to say, in the present embodiment, a kind of Redundant Control implementation is provided, at first subcontrol or second subcontrol breaks down or during other situation, first subcontrol can be taken over the work of second subcontrol, and second subcontrol can be taken over the work of first subcontrol.
The present invention is divided into different steeraxle groups by a plurality of steeraxles with engineering equipment, thereby can carry out independent control to each steeraxle group respectively, particularly realize independent control to a plurality of assisted diversion bridge groups, the accurate angle control of each steeraxle group, improve the precision of angle control, reduce the fault probability of occurrence; Further, when et out of order or straight-line travelling, the pressure centering control by to the tail steeraxle can improve traffic safety more; The present invention also provides a kind of Redundant Control implementation of controller, can realize control to assisted diversion bridge group by other controller when a controller et out of order, thereby can further improve safety.
The present invention also provides a kind of multi-steering bridge control method, is used to realize the control that turns to of a plurality of steeraxles on the engineering equipment, and described multi-steering bridge comprises main steeraxle group, the first assisted diversion bridge group and comprises the second assisted diversion bridge group of tail steeraxle.With reference to Fig. 2, show the schematic flow sheet of a kind of multi-steering bridge of the present invention control method first embodiment.
Described multi-steering bridge control method comprises:
Step S210, control the steering angle of described main steeraxle group according to operating order.
The steering angle of step S220, the described main steeraxle group of detection.
Step S230, according to the steering angle of the described first assisted diversion bridge group of the controlling steering angle of described main steeraxle group.
Step S240, according to the steering angle of the described second assisted diversion bridge group of the controlling steering angle of described main steeraxle group.
Wherein, described step S230 comprises:
Step S231, calculate the steering angle of the described first assisted diversion bridge group according to the steering angle of described main steeraxle group.
The steering angle of the described first assisted diversion bridge group of controlling steering angle of the described first assisted diversion bridge group that step S232, basis calculate.
Described step S240 comprises:
Step S241, calculate the steering angle of the described second assisted diversion bridge group according to the steering angle of described main steeraxle group.
The steering angle of the described second assisted diversion bridge group of controlling steering angle of the described second assisted diversion bridge group that step S242, basis calculate.
In another embodiment, described multi-steering bridge control method can also comprise:
Step S250, judge whether to break down according to first parameter preset.
Step S260, after judgement is broken down, control the described second assisted diversion bridge group and realize forcing centering.
In another embodiment, described multi-steering bridge control method can also comprise:
Step S270, judge whether straight-line travelling according to second parameter preset.
Step S280, the described second assisted diversion bridge group of control realize forcing centering.
In each method embodiment of the present invention; the sequence number of described each step can not be used to limit the sequencing of each step; for those of ordinary skills, under the prerequisite of not paying creative work, the priority of each step is changed also within protection scope of the present invention.
In addition, described method embodiment is cooresponding mutually with described system embodiment, owing to describe in detail in the system embodiment part, for length is considered, be not described in detail in method embodiment part, the description of relevant portion gets final product among the part reference system embodiment that method embodiment does not describe in detail or do not describe again.
In addition, the invention also discloses a kind of engineering equipment, described engineering equipment comprises a plurality of steeraxles, described a plurality of steeraxle comprises main steeraxle group, the first assisted diversion bridge group and comprises the second assisted diversion bridge group of tail steeraxle, described engineering equipment also comprises the multi-steering bridge control system, described multi-steering bridge control system is described in detail in front, also no longer described at this.
Engineering equipment of the present invention can be various carrier vehicles, each special vehicle and various hoisting cranes etc.
With reference to Fig. 3, with an instantiation technical scheme of the present invention is described below, need to prove, described example is just in order to illustrate technical scheme of the present invention, because the difference of actual conditions, therefore the title of each component part in the instantiation and the description in the technical solution of the present invention may exist different, but the description in the working process of each several part and principle of work and the technical solution of the present invention is cooresponding, can not be and the scope of technical solution of the present invention is had any qualification.
Multi-steering bridge control system in the described example comprises with the lower part:
(1) first assisted diversion bridge group oil cylinder control cock piece 1.
Carry out the ratio flow control according to the steering angle of main steeraxle group or according to the steering angle and the factors such as road speed, vehicle geometry of main steeraxle group, realize simultaneously turning to the cut-out of oil cylinder two ends oil circuit, guarantee vehicle when running at high speed in and when breaking down in system with wheel lock state before cut-out.
(2) centering oil cylinder control cock piece 2.
When wheel is realized turning to, allow the centering oil cylinder be in quick condition, realize forcing centering in high vehicle speeds or when breaking down.
(3) main steering box fluid control part 3.
Realization turns to the control of oil cylinder to main steeraxle group.
(4) electronic controller 4 and 5 is controlled one group of assisted diversion bridge group respectively, and two electronic controllers can carry out communication by CAN bus or other buses.
(5) main steering box 6.
Realization turns to the control of oil cylinder to main steeraxle group and realizes mechanical connection to main steering swivel system.
(6) the pressurizing valve piece 7 of energy storage.
When high vehicle speeds or when breaking down provide pressure oil to valve piece 2, realize to force centering.
(7) main steeraxle group 8.
Form by a bridge or a plurality of bridge.Every bridge can have two to turn to oil cylinder, constitutes double pump double loop autonomous system.Bridge in this group bridge can be drive axle or non-powered axle, and this is organized main steeraxle and can be driven by 7421 steering boxs or ServoCom steering box generally speaking.
(8) first assisted diversion bridge groups 9.
Be made up of a bridge or a plurality of bridge, every bridge can have two to turn to oil cylinder, and the bridge in this group bridge can be drive axle or non-powered axle.
(9) second assisted diversion bridge groups 10.
Be made up of a bridge or a plurality of bridge, every bridge can have two to turn to oil cylinder and a centering oil cylinder, and the bridge in this group bridge can be drive axle or non-powered axle.
(10) second assisted diversion bridge group oil cylinder control cock pieces 11.
Carry out the ratio flow control according to the steering angle of main steeraxle group or according to the steering angle and the factors such as road speed, vehicle geometry of main steeraxle group.Realize the connection when turning to oil cylinder two ends oil circuit when the high vehicle speeds or in system, to break down simultaneously.
(11) rotary angle transmitter 12.
Measure the steering angle of bridge.
In addition, when Redundant Control, controller 4 also is connected with the second assisted diversion bridge group 10, and controller 5 also is connected with the first assisted diversion bridge group 9, as Fig. 4.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (17)
1. multi-steering bridge control system, be used for the control that turns to a plurality of steeraxles on the engineering equipment, it is characterized in that described multi-steering bridge comprises main steeraxle group, the first assisted diversion bridge group and comprise the second assisted diversion bridge group of tail steeraxle that described multi-steering bridge control system comprises:
Master controller is used for controlling according to operating order the steering angle of described main steeraxle group;
Detecting unit is used to detect the steering angle of described main steeraxle group;
First subcontrol is used for the steering angle according to the described first assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
Second subcontrol is used for the steering angle according to the described second assisted diversion bridge group of the controlling steering angle of described main steeraxle group.
2. multi-steering bridge control system according to claim 1 is characterized in that, described first subcontrol comprises:
First calculating unit is used for calculating according to the steering angle of described main steeraxle group the steering angle of the described first assisted diversion bridge group;
First control unit is used for the steering angle of the described first assisted diversion bridge group of controlling steering angle that calculates according to described first calculating unit;
Described second subcontrol comprises:
Second calculating unit is used for calculating according to the steering angle of described main steeraxle group the steering angle of the described second assisted diversion bridge group;
Second control unit is used for the steering angle of the described second assisted diversion bridge group of controlling steering angle that calculates according to described second calculating unit.
3. multi-steering bridge control system according to claim 1 is characterized in that, described first subcontrol comprises:
First calculating unit is used for calculating according to the steering angle of described main steeraxle group the steering angle of the described first assisted diversion bridge group;
First control unit is used for the steering angle of the described first assisted diversion bridge group of controlling steering angle that calculates according to described first calculating unit;
Described second subcontrol comprises:
Second calculating unit is used for calculating according to the steering angle of the steering angle of described main steeraxle group and the described first assisted diversion bridge group steering angle of the described second assisted diversion bridge group;
Second control unit is used for the steering angle of the described second assisted diversion bridge group of controlling steering angle that calculates according to described second calculating unit.
4. according to each described multi-steering bridge control system of claim 1 to 3, it is characterized in that, also comprise:
First judge module is used for judging whether to break down according to first parameter preset;
Described second subcontrol also comprises:
The 3rd control unit is used for the described second assisted diversion bridge group realization of control pressure centering after described first judge module judgement is broken down.
5. multi-steering bridge control system according to claim 4 is characterized in that, also comprises:
Second judge module is used for judging whether straight-line travelling according to second parameter preset;
Described second subcontrol also comprises:
The 4th control unit is used for the described second assisted diversion bridge group realization of control pressure centering after described second judge module is judged straight-line travelling.
6. multi-steering bridge control system according to claim 5, it is characterized in that, described first subcontrol comprises first communication module, described second subcontrol comprises second communication module, and described first subcontrol and described second subcontrol are realized mutual communication by described first communication module and described second communication module and to the mutual monitoring of mode of operation.
7. multi-steering bridge control system according to claim 6, it is characterized in that, when the mode of operation that monitors described second subcontrol when described first communication module broke down, described first subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of the described second assisted diversion bridge group;
When the mode of operation that monitors described first subcontrol when described second communication module broke down, described second subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of the described first assisted diversion bridge group.
8. multi-steering bridge control method, be used to realize the control that turns to of a plurality of steeraxles on the engineering equipment, it is characterized in that described multi-steering bridge comprises main steeraxle group, the first assisted diversion bridge group and comprise the second assisted diversion bridge group of tail steeraxle that described multi-steering bridge control method comprises:
Control the steering angle of described main steeraxle group according to operating order;
Detect the steering angle of described main steeraxle group;
Steering angle according to the described first assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
Steering angle according to the described second assisted diversion bridge group of the controlling steering angle of described main steeraxle group.
9. multi-steering bridge control method according to claim 8 is characterized in that, comprises according to the steering angle of the described first assisted diversion bridge group of the controlling steering angle of described main steeraxle group:
Calculate the steering angle of the described first assisted diversion bridge group according to the steering angle of described main steeraxle group;
Steering angle according to the described first assisted diversion bridge group of controlling steering angle of the described first assisted diversion bridge group that calculates;
Steering angle according to the described second assisted diversion bridge group of the controlling steering angle of described main steeraxle group comprises:
Calculate the steering angle of the described second assisted diversion bridge group according to the steering angle of described main steeraxle group;
Steering angle according to the described second assisted diversion bridge group of controlling steering angle of the described second assisted diversion bridge group that calculates.
10. multi-steering bridge control method according to claim 9 is characterized in that, the steering angle that calculates the described second assisted diversion bridge group according to the steering angle of described main steeraxle group is specially:
Calculate the steering angle of the described second assisted diversion bridge group according to the steering angle of the steering angle of described main steeraxle group and the described first assisted diversion bridge group.
11. to 10 each described multi-steering bridge control methods, it is characterized in that according to Claim 8, also comprise:
Judge whether to break down according to first parameter preset;
After judgement is broken down, control the described second assisted diversion bridge group and realize forcing centering.
12. multi-steering bridge control method according to claim 11 is characterized in that, also comprises:
Judge whether straight-line travelling according to second parameter preset;
After judging straight-line travelling, control the described second assisted diversion bridge group and realize forcing centering.
13. engineering equipment, comprise a plurality of steeraxles, it is characterized in that, described a plurality of steeraxle comprises main steeraxle group, the first assisted diversion bridge group and comprises the second assisted diversion bridge group of tail steeraxle, described engineering equipment also comprises the multi-steering bridge control system, and described multi-steering bridge control system comprises:
Master controller is used for controlling according to operating order the steering angle of described main steeraxle group;
Detecting unit is used to detect the steering angle of described main steeraxle group;
First subcontrol is used for the steering angle according to the described first assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
Second subcontrol is used for the steering angle according to the described second assisted diversion bridge group of the controlling steering angle of described main steeraxle group.
14. engineering equipment according to claim 13 is characterized in that, described first subcontrol comprises:
First calculating unit is used for calculating according to the steering angle of described main steeraxle group the steering angle of the described first assisted diversion bridge group;
First control unit is used for the steering angle of the described first assisted diversion bridge group of controlling steering angle that calculates according to described first calculating unit;
Described second subcontrol comprises:
Second calculating unit is used for calculating according to the steering angle of described main steeraxle group the steering angle of the described second assisted diversion bridge group;
Second control unit is used for the steering angle of the described second assisted diversion bridge group of controlling steering angle that calculates according to described second calculating unit.
15. engineering equipment according to claim 14 is characterized in that, described multi-steering bridge control system also comprises:
First judge module is used for judging whether to break down according to first parameter preset;
Described second subcontrol also comprises:
The 3rd control unit is used for the described second assisted diversion bridge group realization of control pressure centering after described first judge module judgement is broken down.
16. engineering equipment according to claim 15 is characterized in that, described multi-steering bridge control system also comprises:
Second judge module is used for judging whether straight-line travelling according to second parameter preset;
Described second subcontrol also comprises:
The 4th control unit is used for the described second assisted diversion bridge group realization of control pressure centering after described second judge module is judged straight-line travelling.
17. according to each described engineering equipment of claim 13 to 16, it is characterized in that, described first subcontrol comprises first communication module, described second subcontrol comprises second communication module, and described first subcontrol and described second subcontrol are realized mutual communication by described first communication module and described second communication module and to the mutual monitoring of mode of operation;
When the mode of operation that monitors described second subcontrol when described first communication module broke down, described first subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of the described second assisted diversion bridge group;
When the mode of operation that monitors described first subcontrol when described second communication module broke down, described second subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of the described first assisted diversion bridge group.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110129271 CN102267488B (en) | 2011-05-18 | 2011-05-18 | Multi-steering bridge control system and method as well as engineering device |
| PCT/CN2012/074206 WO2012155746A1 (en) | 2011-05-18 | 2012-04-17 | Multi-steering bridge control system, method and engineering apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110129271 CN102267488B (en) | 2011-05-18 | 2011-05-18 | Multi-steering bridge control system and method as well as engineering device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102267488A true CN102267488A (en) | 2011-12-07 |
| CN102267488B CN102267488B (en) | 2013-03-27 |
Family
ID=45049994
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110129271 Expired - Fee Related CN102267488B (en) | 2011-05-18 | 2011-05-18 | Multi-steering bridge control system and method as well as engineering device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102267488B (en) |
| WO (1) | WO2012155746A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012155746A1 (en) * | 2011-05-18 | 2012-11-22 | 湖南三一智能控制设备有限公司 | Multi-steering bridge control system, method and engineering apparatus |
| CN103481943A (en) * | 2013-09-30 | 2014-01-01 | 北京航空航天大学 | Fault diagnosis system for hydraulic steering system of self-propelled hydraulic loader |
| CN104443026A (en) * | 2014-10-21 | 2015-03-25 | 宁波润轴汽配有限公司 | Steering drive axle with two steering knuckle arms |
| CN109083661A (en) * | 2018-09-19 | 2018-12-25 | 中国铁建重工集团有限公司 | A kind of steering system and method for concrete spraying trolley |
| CN110843903A (en) * | 2019-11-06 | 2020-02-28 | 重庆长安工业(集团)有限责任公司 | Unmanned vehicle distributing type all-wheel steering device |
| CN117392649A (en) * | 2023-12-11 | 2024-01-12 | 武汉未来幻影科技有限公司 | Identification method and device for indicating operation of vehicle part and processing equipment |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114932948B (en) * | 2022-06-29 | 2023-03-17 | 北京主线科技有限公司 | Method and device for determining vehicle wheel angle control quantity and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2507737Y (en) * | 2001-10-23 | 2002-08-28 | 泰安特种车制造厂 | Multiaxle mechanical steering controlling device |
| EP1847443A2 (en) * | 2006-04-20 | 2007-10-24 | ZF Lenksysteme GmbH | Multi-axle steering system |
| JP2007320502A (en) * | 2006-06-02 | 2007-12-13 | Komatsu Ltd | Multi-axle vehicle and its steering control device |
| JP2008184123A (en) * | 2007-01-31 | 2008-08-14 | Komatsu Ltd | Yawing moment control device for vehicle |
| CN101293533A (en) * | 2008-05-12 | 2008-10-29 | 吉林大学 | Steering control system and control method for multi-shaft steering vehicle |
| CN101450681A (en) * | 2008-12-25 | 2009-06-10 | 武汉创想未来汽车设计开发有限公司 | Numerical control hydraulic transmission multi-axle steering system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19714485A1 (en) * | 1997-04-08 | 1998-10-15 | Kidde Ind Inc | Steering for a multi-axle vehicle |
| CN200981579Y (en) * | 2006-01-27 | 2007-11-28 | 中国三江航天工业集团公司 | Multi-axis grouping steering gear |
| 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 |
| CN102267488B (en) * | 2011-05-18 | 2013-03-27 | 三一汽车起重机械有限公司 | Multi-steering bridge control system and method as well as engineering device |
-
2011
- 2011-05-18 CN CN 201110129271 patent/CN102267488B/en not_active Expired - Fee Related
-
2012
- 2012-04-17 WO PCT/CN2012/074206 patent/WO2012155746A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2507737Y (en) * | 2001-10-23 | 2002-08-28 | 泰安特种车制造厂 | Multiaxle mechanical steering controlling device |
| EP1847443A2 (en) * | 2006-04-20 | 2007-10-24 | ZF Lenksysteme GmbH | Multi-axle steering system |
| JP2007320502A (en) * | 2006-06-02 | 2007-12-13 | Komatsu Ltd | Multi-axle vehicle and its steering control device |
| JP2008184123A (en) * | 2007-01-31 | 2008-08-14 | Komatsu Ltd | Yawing moment control device for vehicle |
| CN101293533A (en) * | 2008-05-12 | 2008-10-29 | 吉林大学 | Steering control system and control method for multi-shaft steering vehicle |
| CN101450681A (en) * | 2008-12-25 | 2009-06-10 | 武汉创想未来汽车设计开发有限公司 | Numerical control hydraulic transmission multi-axle steering system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012155746A1 (en) * | 2011-05-18 | 2012-11-22 | 湖南三一智能控制设备有限公司 | Multi-steering bridge control system, method and engineering apparatus |
| CN103481943A (en) * | 2013-09-30 | 2014-01-01 | 北京航空航天大学 | Fault diagnosis system for hydraulic steering system of self-propelled hydraulic loader |
| CN103481943B (en) * | 2013-09-30 | 2016-01-13 | 北京航空航天大学 | A kind of fault localization system for self-propelled hydraulic bogie hydrostatic steering system |
| CN104443026A (en) * | 2014-10-21 | 2015-03-25 | 宁波润轴汽配有限公司 | Steering drive axle with two steering knuckle arms |
| CN109083661A (en) * | 2018-09-19 | 2018-12-25 | 中国铁建重工集团有限公司 | A kind of steering system and method for concrete spraying trolley |
| CN110843903A (en) * | 2019-11-06 | 2020-02-28 | 重庆长安工业(集团)有限责任公司 | Unmanned vehicle distributing type all-wheel steering device |
| CN117392649A (en) * | 2023-12-11 | 2024-01-12 | 武汉未来幻影科技有限公司 | Identification method and device for indicating operation of vehicle part and processing equipment |
| CN117392649B (en) * | 2023-12-11 | 2024-02-27 | 武汉未来幻影科技有限公司 | Identification method and device for indicating operation of vehicle part and processing equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102267488B (en) | 2013-03-27 |
| WO2012155746A1 (en) | 2012-11-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102267488B (en) | Multi-steering bridge control system and method as well as engineering device | |
| US8935048B2 (en) | Multi-function vehicle-rollover judgment system and automatic anti-rollover device | |
| CN111038480B (en) | Automatic driving execution system and automatic driving control command execution method | |
| US20070282459A1 (en) | Method and Device for Monitoring Signal Processing Units for Sensors | |
| CN104085804B (en) | A kind of full Terrain Cranes and center of gravity control monitor unit thereof and method | |
| CA2881103C (en) | Electric-control multimode steering valve, steering hydraulic control system, and wheel type crane | |
| CN102803069A (en) | Steering Angle Control System For Aircraft | |
| CN112428758A (en) | Whole vehicle control method of amphibious all-terrain vehicle | |
| WO2017221836A1 (en) | Air supply system | |
| CN112249000A (en) | System and method for improving running safety of automatic driving vehicle | |
| CN108995562A (en) | A kind of more driving wheel integrated control systems of electric car and method | |
| CN102785664B (en) | Hoisting crane and the system and method travelled according to axle load control overloaded vehicle | |
| CN110497962A (en) | A kind of servo integrated electric hydraulic steering system of straddle carrier volume and its control method | |
| CN102431410A (en) | Hanging group control system and method for vehicle | |
| CN203529754U (en) | Wheeled crane and control system for switching working modes of differential lock | |
| CN103496634A (en) | Control method and system for switching operating modes of differential lock, and wheel crane | |
| CN116424318A (en) | New energy automobile self-adaptive cruise control method and system | |
| CN103612549B (en) | Wheel crane suspension regulation and control system, method, device and wheel crane | |
| CN205168627U (en) | Full ground hoist chassis multi -mode a steering system | |
| CN105584526A (en) | Steering system for eight-wheel four-axle passenger car | |
| CN102042381A (en) | Mode switching control system and method for differential | |
| CN202686461U (en) | Chassis steering control system and crane provided with same | |
| CN105620548A (en) | Rubber wheel power frame for trolley guiding bus and trolley guiding bus | |
| CN103723187B (en) | A kind of Vehicular turn fault tolerance judgment equipment, system, method and construction machinery and equipment | |
| CN202953039U (en) | Multi-axle steering control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130327 Termination date: 20180518 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |