CN102267488B - 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
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- CN102267488B CN102267488B CN 201110129271 CN201110129271A CN102267488B CN 102267488 B CN102267488 B CN 102267488B CN 201110129271 CN201110129271 CN 201110129271 CN 201110129271 A CN201110129271 A CN 201110129271A CN 102267488 B CN102267488 B CN 102267488B
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- steering angle
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- steeraxle
- assisted diversion
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- 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
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- 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, refer to especially a kind of multi-steering bridge control system, method and engineering equipment.
Background technology
The 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 the full wheel of general employing or multi-wheel steering technology, thereby avoid/reduce tire and ground that cliding friction occurs, 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, controlled the steering angle of all assisted diversion bridges by an assisted diversion controller, owing to only having an assisted diversion controller, at et out of order or when running at high speed, all be unified control to all assisted diversion bridges, thereby cause controlling angle 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 controlling angle of each steeraxle group, improve the precision of controlling angle, reduce fault rate.
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, and described multi-steering bridge control system comprises:
Master controller is for the steering angle of controlling described main steeraxle group according to operating order;
Detecting unit is for detection of the steering angle of described main steeraxle group;
The first subcontrol is used for the steering angle according to described the first assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
The second subcontrol is used for the steering angle according to described the second assisted diversion bridge group of the controlling steering angle of described main steeraxle group.
Preferably, described the first subcontrol comprises:
The first calculating unit is for the steering angle that calculates described the first assisted diversion bridge group according to the steering angle of described main steeraxle group;
The first control unit is for the steering angle of described the first assisted diversion bridge group of controlling steering angle that calculates according to described the first calculating unit;
Described the second subcontrol comprises:
The second calculating unit is for the steering angle that calculates described the second assisted diversion bridge group according to the steering angle of described main steeraxle group;
The second control unit is for the steering angle of described the second assisted diversion bridge group of controlling steering angle that calculates according to described the second calculating unit.
Preferably, described the first subcontrol comprises:
The first calculating unit is for the steering angle that calculates described the first assisted diversion bridge group according to the steering angle of described main steeraxle group;
The first control unit is for the steering angle of described the first assisted diversion bridge group of controlling steering angle that calculates according to described the first calculating unit;
Described the second subcontrol comprises:
The second calculating unit is used for calculating according to the steering angle of the steering angle of described main steeraxle group and described the first assisted diversion bridge group the steering angle of described the second assisted diversion bridge group;
The second control unit is for the steering angle of described the second assisted diversion bridge group of controlling steering angle that calculates according to described the second calculating unit.
Preferably, also comprise:
The first judge module is used for judging whether to break down according to the first parameter preset;
Described the second subcontrol also comprises:
The 3rd control unit is used for described the second assisted diversion bridge group realization of control forced centering after described the first judge module judgement is broken down.
Preferably, also comprise:
The second judge module is used for judging whether straight-line travelling according to the second parameter preset;
Described the second subcontrol also comprises:
The 4th control unit is used for described the second assisted diversion bridge group realization of control forced centering after described the second judge module is judged straight-line travelling.
Preferably, described the first subcontrol comprises the first communication module, described the second subcontrol comprises the second communication module, and described the first subcontrol and described the second subcontrol are realized mutual communication by described the first communication module and described the second communication module and to the mutual monitoring of mode of operation.
Preferably, when the mode of operation that monitors described the second subcontrol when described the first communication module broke down, described the first subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of described the second assisted diversion bridge group;
When the mode of operation that monitors described the first subcontrol when described the second communication module broke down, described the second subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of described the first assisted diversion bridge group.
A kind of multi-steering bridge control method, the control that turns to for a plurality of steeraxles on the realization 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, and 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 described the first assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
Steering angle according to described the second assisted diversion bridge group of the controlling steering angle of described main steeraxle group.
Preferably, the steering angle according to described the first assisted diversion bridge group of the controlling steering angle of described main steeraxle group comprises:
Calculate the steering angle of described the 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 described the first assisted diversion bridge group that calculates;
Steering angle according to described the second assisted diversion bridge group of the controlling steering angle of described main steeraxle group comprises:
Calculate the steering angle of described the 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 described the second assisted diversion bridge group that calculates.
Preferably, the steering angle that calculates described the second assisted diversion bridge group according to the steering angle of described main steeraxle group is specially:
Calculate the steering angle of described the second assisted diversion bridge group according to the steering angle of the steering angle of described main steeraxle group and described the first assisted diversion bridge group.
Preferably, also comprise:
Judge whether to break down according to the first parameter preset;
After judgement is broken down, control described the second assisted diversion bridge group and realize forced centering.
Preferably, also comprise:
Judge whether straight-line travelling according to the second parameter preset;
After judging straight-line travelling, control described the second assisted diversion bridge group and realize forced 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 for the steering angle of controlling described main steeraxle group according to operating order;
Detecting unit is for detection of the steering angle of described main steeraxle group;
The first subcontrol is used for the steering angle according to described the first assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
The second subcontrol is used for the steering angle according to described the second assisted diversion bridge group of the controlling steering angle of described main steeraxle group.
Preferably, described the first subcontrol comprises:
The first calculating unit is for the steering angle that calculates described the first assisted diversion bridge group according to the steering angle of described main steeraxle group;
The first control unit is for the steering angle of described the first assisted diversion bridge group of controlling steering angle that calculates according to described the first calculating unit;
Described the second subcontrol comprises:
The second calculating unit is for the steering angle that calculates described the second assisted diversion bridge group according to the steering angle of described main steeraxle group;
The second control unit is for the steering angle of described the second assisted diversion bridge group of controlling steering angle that calculates according to described the second calculating unit.
Preferably, described multi-steering bridge control system also comprises:
The first judge module is used for judging whether to break down according to the first parameter preset;
Described the second subcontrol also comprises:
The 3rd control unit is used for described the second assisted diversion bridge group realization of control forced centering after described the first judge module judgement is broken down.
Preferably, described multi-steering bridge control system also comprises:
The second judge module is used for judging whether straight-line travelling according to the second parameter preset;
Described the second subcontrol also comprises:
The 4th control unit is used for described the second assisted diversion bridge group realization of control forced centering after described the second judge module is judged straight-line travelling.
Preferably, described the first subcontrol comprises the first communication module, described the second subcontrol comprises the second communication module, and described the first subcontrol and described the second subcontrol are realized mutual communication by described the first communication module and described the second communication module and to the mutual monitoring of mode of operation;
When the mode of operation that monitors described the second subcontrol when described the first communication module broke down, described the first subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of described the second assisted diversion bridge group;
When the mode of operation that monitors described the first subcontrol when described the second communication module broke down, described the second subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of described the 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 the independent control to a plurality of assisted diversion bridge groups, the accurate controlling angle of each steeraxle group, improve the precision of controlling angle, reduce fault rate; Further, when et out of order or straight-line travelling, the forced 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, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structural representation of a kind of multi-steering bridge control system the 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 the first embodiment;
Fig. 3 is the realization schematic diagram of an instantiation of a kind of multi-steering bridge control system of the present invention;
Fig. 4 is the realization schematic diagram 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 obtains 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, the 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 the first steeraxle from front to back, the second steeraxle, the 3rd steeraxle, the 4th steeraxle, tail steeraxle (last steeraxle), for described a plurality of steeraxles, the several steeraxles of common the first steeraxle or front are main steeraxles, its steering angle passes through handling device (such 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 (the first steeraxle), also can comprise a plurality of steeraxles (as comprising the first steeraxle and the second steeraxle); Described the second assisted diversion bridge group refers to comprise the steeraxle group of tail steeraxle, in like manner, described the second assisted diversion bridge group also can include only a steeraxle (tail steeraxle), can also comprise a plurality of steeraxles (as comprising tail steeraxle, penultimate steeraxle and third from the bottom steeraxle); The quantity of described the 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 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 the first embodiment of the present invention.
Described multi-steering bridge control system comprises:
Detecting unit 150 is for detection of the steering angle of described main steeraxle group 110.
Described detecting unit 150 can be realized by a plurality of entities (such 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, detected respectively by the steering angle of each hardware entities (such as rotary angle transmitter) to each main steeraxle, also can be detected by the steering angle of a hardware entities to all main steeraxles.
Detecting unit 150 can be by rotary angle transmitter, and the displacement measurement sensor or other sensor that are built in the steering cylinder are realized.
The first subcontrol 160 is used for the steering angle according to described the first assisted diversion bridge group 120 of the controlling steering angle of described main steeraxle group 110.The second subcontrol 170 is used for the steering angle according to described the second assisted diversion bridge group 130 of the controlling steering angle of described main steeraxle group 110.
In one embodiment of the invention, described the first subcontrol 160 comprises:
The first calculating unit is for the steering angle that calculates described the first assisted diversion bridge group according to the steering angle of described main steeraxle group.
When comprising a plurality of main steeraxle in the main steeraxle group 110, described the first calculating unit can calculate according to one of them main steeraxle the steering angle of described the first assisted diversion bridge group; Described the first calculating unit also can go out according to a plurality of main steeraxle COMPREHENSIVE CALCULATING the steering angle of described the first assisted diversion bridge group.
Described the first subcontrol 160 and described the second subcontrol 170 can adopt respectively the detected data of different hardware entity in the detecting unit 150, thereby can obtain different steering angle data.
In an embodiment of the present invention, the calculating of the steering angle of described the 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, the 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.
The first control unit is for the steering angle of described the first assisted diversion bridge group of controlling steering angle that calculates according to described the first calculating unit.
Described the second subcontrol 170 comprises:
The second calculating unit is for the steering angle that calculates described the second assisted diversion bridge group according to the steering angle of described main steeraxle group.
When comprising a plurality of main steeraxle in the main steeraxle group 110, described the second calculating unit can calculate according to one of them main steeraxle the steering angle of described the second assisted diversion bridge group; Described the second calculating unit also can go out according to a plurality of main steeraxle COMPREHENSIVE CALCULATING the steering angle of described the second assisted diversion bridge group.In addition, described the second calculating unit can also adopt the different main steeraxle of main steeraxle that adopts from the first calculating unit when calculating the steering angle of described the second assisted diversion bridge group.
The calculating of the steering angle of described the 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 the factors such as vehicle geometry are calculated in conjunction with the steering angle of main steeraxle group.Therefore, the steering angle of described the second assisted diversion bridge group may be identical with described the first assisted diversion bridge group, may be not identical yet, and its concrete account form can be carried out according to actual conditions and actual demand, and the present invention does not limit this.
The second control unit is for the steering angle of described the second assisted diversion bridge group of controlling steering angle that calculates according to described the 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, the first subcontrol and the second subcontrol:
The first judge module is used for judging whether to break down according to the first parameter preset.
Described the first parameter preset can be set according to actual conditions and actual demand, and the 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 restriction to this.
Described the second subcontrol also comprises:
The 3rd control unit is used for described the second assisted diversion bridge group realization of control forced centering after described the first judge module judgement is broken down.
In another embodiment of the present invention, described multi-steering bridge control system can also comprise:
The second judge module is used for judging whether straight-line travelling according to the second parameter preset.
Described the second parameter preset can be set according to actual conditions and actual demand, and the 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 restriction to this.
Described the second subcontrol also comprises:
The 4th control unit is used for described the second assisted diversion bridge group realization of control forced centering after described the second judge module is judged straight-line travelling.
Independently centering oil cylinder can be set, breaking down or during straight-line travelling, realize forced centering to the second assisted diversion bridge group namely when turning, making the centering oil cylinder be in quick condition by described centering oil cylinder, realize forced centering when high vehicle speeds and when breaking down.
In another embodiment of the present invention, described the first subcontrol comprises the first communication module, described the second subcontrol comprises the second communication module, and described the first subcontrol and described the second subcontrol are realized mutual communication by described the first communication module and described the second communication module and to the mutual monitoring of mode of operation.
Described the first communication module and described the 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 the first subcontrol and the second subcontrol, the data of monitoring include 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 the second subcontrol when described the first communication module broke down, described the first subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of described the second assisted diversion bridge group.
When the mode of operation that monitors described the first subcontrol when described the second communication module broke down, described the second subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of described the first assisted diversion bridge group.
That is to say, in the present embodiment, a kind of Redundant Control implementation is provided, at the first subcontrol or the second subcontrol breaks down or during other situation, the first subcontrol can be taken over the work of the second subcontrol, and the second subcontrol can be taken over the work of the 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 the independent control to a plurality of assisted diversion bridge groups, the accurate controlling angle of each steeraxle group, improve the precision of controlling angle, reduce fault rate; Further, when et out of order or straight-line travelling, the forced 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, and for the control that turns to of a plurality of steeraxles on the realization 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.With reference to Fig. 2, show the schematic flow sheet of a kind of multi-steering bridge of the present invention control method the 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 described the first assisted diversion bridge group of the controlling steering angle of described main steeraxle group.
Step S240, according to the steering angle of described the 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 described the 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 described the first assisted diversion bridge group that step S232, basis calculate.
Described step S240 comprises:
Step S241, calculate the steering angle of described the 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 described the 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 the first parameter preset.
Step S260, after judgement is broken down, control described the second assisted diversion bridge group and realize forced centering.
In another embodiment, described multi-steering bridge control method can also comprise:
Step S270, judge whether straight-line travelling according to the second parameter preset.
Step S280, described the second assisted diversion bridge group of control realize forced centering.
In each embodiment of the method for the present invention; the sequence number of described each step can not be used for limiting 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 embodiment of the method is mutually corresponding with described system embodiment, owing to describing in detail in the system embodiment part, for length is considered, be not described in detail in the embodiment of the method part, the description of relevant portion gets final product among the part reference system embodiment that embodiment of the method is not described in detail or do not described 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, the below describes technical scheme of the present invention with an instantiation, need to prove, described example is just in order to illustrate technical scheme of the present invention, because the difference of actual conditions, 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 working process of each several part and principle of work are corresponding with description in the technical solution of the present invention, can not be therefore and the scope of technical solution of the present invention is had any restriction.
Multi-steering bridge control system in the described example comprises following part:
(1) first assisted diversion bridge group oil cylinder control cock piece 1.
Carry out proportional flow control according to the steering angle of main steeraxle group or according to steering angle and the factors such as road speed, vehicle geometry of main steeraxle group, realize simultaneously the cut-out to steering 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 forced centering in high vehicle speeds or when breaking down.
(3) main steering box fluid control part 3.
Realization is to the control of main steeraxle group steering cylinder.
(4) electronic controller 4 and 5 is controlled respectively one group of assisted diversion bridge group, and two electronic controllers can carry out communication by CAN bus or other buses.
(5) main steering box 6.
Realization is to the control of main steeraxle group steering cylinder and realize 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 forced centering.
(7) main steeraxle group 8.
Formed by a bridge or a plurality of bridge.Every bridge can have two steering cylinders, consists of 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 comprised of a bridge or a plurality of bridge, every bridge can have two steering cylinders, and the bridge in this group bridge can be drive axle or non-powered axle.
(9) second assisted diversion bridge groups 10.
Be comprised of a bridge or a plurality of bridge, every bridge can have two steering cylinders 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 proportional flow control according to the steering angle of main steeraxle group or according to steering angle and the factors such as road speed, vehicle geometry of main steeraxle group.Realize simultaneously the connection when steering cylinder two ends oil circuit broken down when the high vehicle speeds or in system.
(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, such as Fig. 4.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, 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 comprises the second assisted diversion bridge group of tail steeraxle, and described multi-steering bridge control system comprises:
Master controller is for the steering angle of controlling described main steeraxle group according to operating order;
Detecting unit is for detection of the steering angle of described main steeraxle group;
The first subcontrol is used for the steering angle according to described the first assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
The second subcontrol is used for the steering angle according to described the second assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
Described the first subcontrol comprises:
The first calculating unit is for the steering angle that calculates described the first assisted diversion bridge group according to the steering angle of described main steeraxle group;
The first control unit is for the steering angle of described the first assisted diversion bridge group of controlling steering angle that calculates according to described the first calculating unit.
2. multi-steering bridge control system according to claim 1 is characterized in that,
Described the second subcontrol comprises:
The second calculating unit is for the steering angle that calculates described the second assisted diversion bridge group according to the steering angle of described main steeraxle group;
The second control unit is for the steering angle of described the second assisted diversion bridge group of controlling steering angle that calculates according to described the second calculating unit.
3. multi-steering bridge control system according to claim 1 is characterized in that,
Described the second subcontrol comprises:
The second calculating unit is used for calculating according to the steering angle of the steering angle of described main steeraxle group and described the first assisted diversion bridge group the steering angle of described the second assisted diversion bridge group;
The second control unit is for the steering angle of described the second assisted diversion bridge group of controlling steering angle that calculates according to described the second calculating unit.
4. according to claim 2 to 3 each described multi-steering bridge control systems, it is characterized in that, also comprise:
The first judge module is used for judging whether to break down according to the first parameter preset;
Described the second subcontrol also comprises:
The 3rd control unit is used for described the second assisted diversion bridge group realization of control forced centering after described the first judge module judgement is broken down.
5. multi-steering bridge control system according to claim 4 is characterized in that, also comprises:
The second judge module is used for judging whether straight-line travelling according to the second parameter preset;
Described the second subcontrol also comprises:
The 4th control unit is used for described the second assisted diversion bridge group realization of control forced centering after described the second judge module is judged straight-line travelling.
6. multi-steering bridge control system according to claim 5, it is characterized in that, described the first subcontrol comprises the first communication module, described the second subcontrol comprises the second communication module, and described the first subcontrol and described the second subcontrol are realized mutual communication by described the first communication module and described the 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 the second subcontrol when described the first communication module broke down, described the first subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of described the second assisted diversion bridge group;
When the mode of operation that monitors described the first subcontrol when described the second communication module broke down, described the second subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of described the first assisted diversion bridge group.
8. multi-steering bridge control method, the control that turns to for a plurality of steeraxles on the realization engineering equipment, it is characterized in that, 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, and 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 described the first assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
Steering angle according to described the second assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
Steering angle according to described the first assisted diversion bridge group of the controlling steering angle of described main steeraxle group comprises:
Calculate the steering angle of described the 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 described the first assisted diversion bridge group that calculates.
9. multi-steering bridge control method according to claim 8 is characterized in that,
Steering angle according to described the second assisted diversion bridge group of the controlling steering angle of described main steeraxle group comprises:
Calculate the steering angle of described the 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 described the 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 described the second assisted diversion bridge group according to the steering angle of described main steeraxle group is specially:
Calculate the steering angle of described the second assisted diversion bridge group according to the steering angle of the steering angle of described main steeraxle group and described the 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 the first parameter preset;
After judgement is broken down, control described the second assisted diversion bridge group and realize forced centering.
12. multi-steering bridge control method according to claim 11 is characterized in that, also comprises:
Judge whether straight-line travelling according to the second parameter preset;
After judging straight-line travelling, control described the second assisted diversion bridge group and realize forced 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 for the steering angle of controlling described main steeraxle group according to operating order;
Detecting unit is for detection of the steering angle of described main steeraxle group;
The first subcontrol is used for the steering angle according to described the first assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
The second subcontrol is used for the steering angle according to described the second assisted diversion bridge group of the controlling steering angle of described main steeraxle group;
Described the first subcontrol comprises:
The first calculating unit is for the steering angle that calculates described the first assisted diversion bridge group according to the steering angle of described main steeraxle group;
The first control unit is for the steering angle of described the first assisted diversion bridge group of controlling steering angle that calculates according to described the first calculating unit.
14. engineering equipment according to claim 13 is characterized in that,
Described the second subcontrol comprises:
The second calculating unit is for the steering angle that calculates described the second assisted diversion bridge group according to the steering angle of described main steeraxle group;
The second control unit is for the steering angle of described the second assisted diversion bridge group of controlling steering angle that calculates according to described the second calculating unit.
15. engineering equipment according to claim 14 is characterized in that, described multi-steering bridge control system also comprises:
The first judge module is used for judging whether to break down according to the first parameter preset;
Described the second subcontrol also comprises:
The 3rd control unit is used for described the second assisted diversion bridge group realization of control forced centering after described the 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:
The second judge module is used for judging whether straight-line travelling according to the second parameter preset;
Described the second subcontrol also comprises:
The 4th control unit is used for described the second assisted diversion bridge group realization of control forced centering after described the second judge module is judged straight-line travelling.
17. according to claim 13 to 16 each described engineering equipments, it is characterized in that, described the first subcontrol comprises the first communication module, described the second subcontrol comprises the second communication module, and described the first subcontrol and described the second subcontrol are realized mutual communication by described the first communication module and described the second communication module and to the mutual monitoring of mode of operation;
When the mode of operation that monitors described the second subcontrol when described the first communication module broke down, described the first subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of described the second assisted diversion bridge group;
When the mode of operation that monitors described the first subcontrol when described the second communication module broke down, described the second subcontrol also was used for calculating and controlling according to the steering angle of described main steeraxle group the steering angle of described the 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 |
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| Publication Number | Publication Date |
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| CN102267488A CN102267488A (en) | 2011-12-07 |
| CN102267488B true CN102267488B (en) | 2013-03-27 |
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| 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 |
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| Country | Link |
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| CN (1) | CN102267488B (en) |
| WO (1) | WO2012155746A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| 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 |
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| 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 |
| CN2507737Y (en) * | 2001-10-23 | 2002-08-28 | 泰安特种车制造厂 | Multiaxle mechanical steering controlling device |
| 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 |
| DE102006018391A1 (en) * | 2006-04-20 | 2007-10-25 | Zf Lenksysteme Gmbh | multi-axle steering |
| 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 |
| CN101450681B (en) * | 2008-12-25 | 2010-08-18 | 武汉创想未来汽车设计开发有限公司 | Numerical control hydraulic transmission multi-axle steering system |
| 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
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2012
- 2012-04-17 WO PCT/CN2012/074206 patent/WO2012155746A1/en active Application Filing
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| Publication number | Publication date |
|---|---|
| WO2012155746A1 (en) | 2012-11-22 |
| CN102267488A (en) | 2011-12-07 |
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