CN102372022B - Multi-axle vehicle as well as electro-hydraulic servo steering system and steering control method thereof - Google Patents
Multi-axle vehicle as well as electro-hydraulic servo steering system and steering control method thereof Download PDFInfo
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- CN102372022B CN102372022B CN 201010265429 CN201010265429A CN102372022B CN 102372022 B CN102372022 B CN 102372022B CN 201010265429 CN201010265429 CN 201010265429 CN 201010265429 A CN201010265429 A CN 201010265429A CN 102372022 B CN102372022 B CN 102372022B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000004044 response Effects 0.000 claims abstract description 11
- 230000002706 hydrostatic effect Effects 0.000 claims description 12
- 230000001276 controlling effect Effects 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000002349 favourable effect Effects 0.000 abstract 1
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004134 energy conservation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
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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
Abstract
The invention discloses an electro-hydraulic servo steering system and a steering control method of a multi-axle vehicle and the multi-axle vehicle with the steering system. The electro-hydraulic servo steering system comprises a hydraulic steering system and an electric control system, wherein the hydraulic steering system comprises a variable pump, power-assisted steering oil cylinders and a servo proportional valve; the power-assisted steering oil cylinders are at least arranged on various rear steering axles; the servo proportional valve is used for controlling the trend of an oil path and the flow adjustment; the electronic control system comprises a lower controller and an upper controller; the lower controller is in signal connection with the servo proportional valve on each steering axle and forms closed loop control; and the upper controller is used for calculating a target corner of each steering axle according to a first axle corner and a steering mode. According to the invention, the electronic control systems of a two-stage controller is optimized, so that the servo proportional valve and the lower controller form a small closed loop; the lower controller with high frequency response is matched with the servo proportional valve to ensure the precision; and a programmable logic controller is used for main calculation work and transmitting a corner instruction to the each lower controller. The invention has the advantages of simple structural arrangement, safety, reliability and favorable control stability.
Description
Technical field
The present invention relates to a kind of steering swivel system and rotating direction control method of multiple-axle vehicle, the invention still further relates to a kind of multiple-axle vehicle with this electro-hydraulic servo steering swivel system.
Background technology
Wheel steering system has direct relation for safety, manoevreability and the road-holding property of Vehicle Driving Cycle.
Along with the development of heavy motor vehicle, the car load load is increasing, and this just needs to increase vehicle bridge quantity, and vehicle body is also more and more longer.In order to reduce minimum turning radius and resistance to motion, reduce simultaneously wear on tyres, to increase steeraxle quantity on the one hand, require on the other hand each steered wheel, mutually coordinate when turning to.
What the tradition multiple-axle vehicle adopted is hydraulic booster leverage transmission turning system, taken the vehicle frame arrangement space, and leverage is yielding, might have dancing and poor stability during high vehicle speeds.In recent years, along with developing rapidly of electric liquid technology, adopt the existing application of electrohydraulic control steering swivel system on multiple-axle vehicle, but general electric-hydraulic proportion electromagnetic valve is due to the restriction of response frequency, make and turn to time error larger, especially dynamic error is larger, and this has greatly affected turning efficiency and tire life.
In view of this, demand developing a kind of new steering swivel system urgently, each performance perameter in the multi-axle steering system is proposed higher requirement, with safety, manoevreability and the road-holding property of guaranteeing Vehicle Driving Cycle.
Summary of the invention
The object of the invention is to provide a kind of steering swivel system of multiple-axle vehicle, and this steering swivel system structural arrangement is simple, safe and reliable, road-holding property is good, another object of the present invention is to provide a kind of rotating direction control method of multiple-axle vehicle.The present invention also aims to provide a kind of multiple-axle vehicle with described steering swivel system.
for this reason, one aspect of the present invention provides a kind of electro-hydraulic servo steering swivel system for multiple-axle vehicle, these multi axle car two comprise the first bridge and at rear each steeraxle, this electro-hydraulic servo steering swivel system comprises: hydrostatic steering system, it comprises the controllable capacity pump that oil sources is provided, at least be installed on described steering jack on rear each steeraxle, the servo proportion that is used for oil circuit control trend and flow regulating that arranges on the working connection between described controllable capacity pump and steering jack, electronic control system, be used for according to the angular signal of the first bridge and turn to mode computation to go out at the required target rotation angle of rear each steeraxle, and to the described described servo proportion output command signal corresponding with described target rotation angle at rear each steeraxle, regulate in real time described command signal according to described angular signal in rear each steeraxle feedback simultaneously.
Further, above-mentioned hydrostatic steering system also is included in the hydraulic control one-way valve that arranges on working connection, wherein, is provided with electromagnetic valve on the hydraulic control pipeline of hydraulic control one-way valve, and electromagnetic valve is connected with the electronic control system signal.
Further, above-mentioned hydrostatic steering system also is included in the precise oil filter that arranges on working connection.
Further, above-mentioned electronic control system comprises: be connected and form the lower level controller of closed loop control with the servo ratio valve signal at rear each steeraxle, be connected with each the next controller signals, be used for according to the first bridge corner and turn to mode computation at the upper control device of the target rotation angle of rear each steeraxle, and for detection of a plurality of angular-motion transducers of the angular signal of each steeraxle.
Further, above-mentioned upper control device also is used for carrying out vehicle-state demonstration and/or fault alarm according to the angular signal of angular-motion transducer feedback.
Further, above-mentioned upper control device is programmable logic controller (PLC).
According to a further aspect in the invention, a kind of multiple-axle vehicle with above-mentioned electro-hydraulic servo steering swivel system are also provided.
The present invention also provides a kind of rotating direction control method of multiple-axle vehicle, it comprises the following steps: detect vehicle the first bridge and at the corner of rear each steeraxle, and send the angular signal of the first bridge to the upper control device, wherein, be provided with for the servo proportion of controlling steering jack with for the lower level controller of controlling servo proportion at rear each steeraxle; The upper control device calculates at the required target rotation angle of rear each steeraxle according to the angular signal that turns to pattern and the first bridge, and exports corresponding target rotation angle control signal to each time level controller; And each time level controller sends command signal according to the target rotation angle control signal of upper control device to corresponding servo proportion, and according to the real-time regulating command signal of angular signal of steeraxle feedback.
Further, above-mentioned upper control device is programmable logic controller (PLC) or micro controller system, and the response frequency of lower level controller and the response frequency of servo operated valve are suitable.
Further, said method also comprises the step that the angular signal of steeraxle feedback is used for vehicle-state demonstration and/or fault alarm.
Being connected with electric liquid with general leverage turns to scheme to compare, steering swivel system structural arrangement of the present invention is simplified, and realizes turning to control with servo proportion, does not add pressure difference compensation valve and flow divider valve etc., realize High Performance with few components and parts of trying one's best, made system comparatively safe reliable; Adopt servo proportion, have the huge advantage of fast response time, be easy to realize accurate control; Traffic requirement when in addition, adopting controllable capacity pump not only to satisfy engine idle but also relatively energy-conservation.
Compare with general electronic control system, the present invention preferably adopts the electronic control system of two-stage controller, servo proportion and lower level controller form a little closed loop, the lower level controller of high frequency response coordinates servo proportion to guarantee precision, upper control device for example programmable logic controller (PLC) (or being called PLC or PLC controller) carries out main evaluation work, and the command signal corresponding with target rotation angle sent to each time level controller (or being called the single shaft closed loop controller).
The electro-hydraulic servo steering swivel system of multiple-axle vehicle according to the present invention, the multiple pattern that turns to can be applied in a flexible way, and is workable, turns to the convenient expansion of pattern.
Except purpose described above, feature and advantage, other purpose, feature and advantage that the present invention has are described in further detail in connection with accompanying drawing.
Description of drawings
Consist of this specification sheets a part, be used for further understanding accompanying drawing of the present invention and show the preferred embodiments of the present invention, and be used for illustrating principle of the present invention together with specification sheets.
Fig. 1 shows the schematic diagram of hydrostatic steering system of the electro-hydraulic servo steering swivel system of the multiple-axle vehicle according to the present invention;
The servo-steering oil cylinder that Fig. 2 shows hydrostatic steering system shown in Figure 1 is installed on the schematic diagram of steeraxle.
Fig. 3 shows the electronics control of the electro-hydraulic servo steering swivel system of the multiple-axle vehicle according to the present invention
The schematic diagram of system processed; And
What Fig. 4 showed according to the present invention multiple-axle vehicle electro-hydraulic servo steering swivel system is used for realizing the control logic block diagram that steeraxle turns to.
The specific embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
The electro-hydraulic servo steering swivel system of multiple-axle vehicle of the present invention comprises hydrostatic steering system and electronic control system, and this hydrostatic steering system is shown in Fig. 1 and Fig. 2, and electronic control system illustrates at Fig. 3.In the present invention, the steering control modes of the first bridge is unrestricted, can adopt traditional steering control modes, and for example hydraulic booster adds the mode of mechanical guide, also can adopt steering jack of the present invention directly to drive the mode of steeraxle tie rod arm.This invention is intended to make, failure-free tracking first bridge corner quick, accurate at rear each steeraxle corner.Below in conjunction with Fig. 1 to Fig. 3, the electro-hydraulic servo steering swivel system of multiple-axle vehicle of the present invention is elaborated.
As depicted in figs. 1 and 2, hydrostatic steering system comprises: is arranged on two steering jacks 6 between the track arm 21,22 of vehicle bridge 30 and steeraxle tie rod arm 20, the controllable capacity pump 4 of oil sources is provided to two steering jacks 6, and the servo proportion 5 of controlling steering jack 6 actions and then realizing turning to.
In addition, hydrostatic steering system can also be included in hydraulic control one-way valve 10 and the precise oil filter 8 that arranges on two steering jack 6 working connections, wherein, is provided with electromagnetic valve 9 on the oil circuit control of hydraulic control one-way valve.
The rod chamber of one oil cylinder of two steering jacks 6 and another oil cylinder rodless cavity are connected, when an oil cylinder stretches out, another oil cylinder retraction, to realize concerted action, adopt two steering jacks, increased the vehicle bridge power steering and effectively reduced Vehicular turn hydraulic pressure demand, for energy-conservation and saving arrangement space provide condition.
Servo proportion 5 has flow regulating function and commutation function, can be by commercial acquisition, commutation function by this servo proportion 5, but oil circuit control moves towards and then realizes stretching out and bouncing back of steering jack, the fuel-flow control function can change the delivery quality to steering jack, by regulating the delivery quality to steering jack, can control the action of steering jack, and then realize the accurate control to the steeraxle steering angle.
In the present invention, electronic control system is used for according to the angular signal of the first bridge and turns to mode computation to go out at the required target rotation angle of rear each steeraxle, and to the servo proportion output command signal corresponding with target rotation angle at rear each steeraxle, simultaneously according to regulating in real time this command signal at the angular signal of rear each steeraxle feedback.
Turning to pattern here, is pattern locked such as normal direction of rotation, back axle, that the crab row turns to etc. is selected or set by the user.
electronic control system of the present invention preferably adopts the two-stage controller, as shown in Figure 3, it comprises: be connected and form the lower level controller (or being called the single shaft closed loop controller) 3 of single shaft closed loop control with the servo ratio valve signal at rear each steeraxle, be connected with each time level controller 3 signals, be used for according to the angular signal of the first bridge and turn to mode computation at the upper control device of the target rotation angle of rear each steeraxle programmable logic controller (PLC) 2 (or claiming PLC controller) for example, and at the upper angular-motion transducer 1 of installing of each steeraxle (comprise the first bridge and at rear each steeraxle), wherein, each angular-motion transducer respectively with the upper control device be connected the next controller signals and be connected, actual rotational angle signal for detection of each steeraxle.
Adopt the advantage of the electronic control system of two-stage controller to be: servo proportion 5 and lower level controller 3 form a little closed loop, the lower level controller 3 of high-frequency response coordinates the servo proportion 5 of high-frequency response, dynamic accuracy and stable state accuracy have been guaranteed, upper control device 2 carries out main evaluation work, and sends to each time level controller 3 target rotation angle command signals.
The rotating direction control method of multiple-axle vehicle of the present invention comprises the following steps: detect vehicle the first bridge and at the corner of rear each steeraxle, and send the angular signal of the first bridge to the upper control device, wherein, be provided with for the servo proportion of controlling steering jack with for the lower level controller of controlling servo proportion at rear each steeraxle; The upper control device calculates at the required target rotation angle of rear each steeraxle according to the angular signal that turns to pattern and the first bridge, and exports corresponding target rotation angle control signal to each time level controller; And each time level controller sends command signal according to the target rotation angle control signal of upper control device to corresponding servo proportion, and according to the real-time regulating command signal of angular signal of steeraxle feedback.
The below describes electro-hydraulic servo steering swivel system of the present invention and rotating direction control method in conjunction with Fig. 1 to Fig. 4 again.
Referring to Fig. 4, when vehicle turned to, steering wheel rotation detected this angle signal by the angular-motion transducer 1 that is contained in the first bridge, and sends this signal to upper control device 2.
After lower level controller 3 receives the angular control signal of upper control device 2, control servo proportion 5, provide hydraulic power by controllable capacity pump 4, and then driving steering jack 6 drive steeraxles 7 (being that certain is at the rear steering bridge) are realized turning to, detect simultaneously the actual rotational angle of steeraxle 7 by angular-motion transducer 1, lower level controller 3 compares the command signal of corner feedback signal and upper control device 2, regulate in real time the control signal of servo proportion 5 according to comparative result, until feedback signal and instruction signal equates.
By the closed loop control of single shaft corner, can make each steeraxle 7 corners of back fast, accurately, failure-free follows the tracks of the first bridge corner.
Because angle relation in upper control device 2 can be set flexibly, therefore conveniently realize the multiple pattern that turns to, comprise normal direction of rotation, back axle is locked, and the crab row turns to isotype.The angular signal of each steeraxle 7 of back had both been passed to lower level controller 3 and had been compared use, also pass to simultaneously upper control device 2, upper control device 2 carries out vehicle-state demonstration and/or fault alarm (as shown in Figure 3) according to the angular signal of these angular-motion transducer 1 feedbacks, uses to realize the judgement of Real Time Monitoring and fault.
Steering swivel system of the present invention has been connected original leverage and has been connected the unfavorable factor that turns to pull bar distortion, assembly error, accumulated error in steering swivel system with rotating direction control method.The micro-control of closed loop control and servo proportion has guaranteed stable state accuracy, and the speed of response of servo proportion has also guaranteed dynamic accuracy.During Vehicle Driving Cycle, engine speed changes within a large range, adopts controllable capacity pump, and when having guaranteed idling, the delivery quality of system is sufficient, and is relatively energy-conservation again.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. electro-hydraulic servo steering swivel system that is used for multiple-axle vehicle, described multiple-axle vehicle comprise the first bridge and at rear each steeraxle, it is characterized in that, described electro-hydraulic servo steering swivel system comprises:
Hydrostatic steering system, it comprises controllable capacity pump that oil sources is provided, be installed on described between the track arm of rear each steeraxle and steeraxle tie rod arm two steering jacks and the servo proportion that is used for oil circuit control trend and flow regulating that arranges on the working connection between described controllable capacity pump and described two steering jacks, wherein, the rod chamber of the oil cylinder in described two steering jacks and another oil cylinder rodless cavity are connected, when an oil cylinder stretches out, another oil cylinder retraction, and
Electronic control system, be used for according to the angular signal of the first bridge and turn to mode computation to go out at the required target rotation angle of rear each steeraxle, and to the described described servo proportion output command signal corresponding with described target rotation angle at rear each steeraxle, regulate in real time described command signal according to described angular signal in rear each steeraxle feedback simultaneously.
2. electro-hydraulic servo steering swivel system according to claim 1, it is characterized in that, described hydrostatic steering system also is included in the hydraulic control one-way valve that arranges on described working connection, wherein, be provided with electromagnetic valve on the hydraulic control pipeline of described hydraulic control one-way valve, described electromagnetic valve is connected with described electronic control system signal.
3. electro-hydraulic servo steering swivel system according to claim 1, is characterized in that, described hydrostatic steering system also is included in the precise oil filter that arranges on described working connection.
4. the described electro-hydraulic servo steering swivel system of any one according to claim 1 to 3, it is characterized in that, described electronic control system comprises: the upper control device, lower level controller, and for detection of a plurality of angular-motion transducers of the angular signal of each described steeraxle, wherein, described each the servo proportion of rear steering bridge with is connected a next controller signals and connects and form closed loop control, described upper control device is connected with each described the next controller signals, is used for according to described the first bridge corner and turns to the described target rotation angle at rear each steeraxle of mode computation.
5. electro-hydraulic servo steering swivel system according to claim 4, is characterized in that, described upper control device also is used for carrying out vehicle-state demonstration and/or fault alarm according to the angular signal of described angular-motion transducer feedback.
6. electro-hydraulic servo steering swivel system according to claim 5, is characterized in that, described upper control device is programmable logic controller (PLC).
7. multiple-axle vehicle with described electro-hydraulic servo steering swivel system of any one according to claim 1 to 6.
8. the rotating direction control method of multiple-axle vehicle according to claim 7, is characterized in that, comprises the following steps:
Detect vehicle the first bridge and at the corner of rear each steeraxle, and send the angular signal of the first bridge to the upper control device, wherein, describedly be provided with for the servo proportion of controlling steering jack and be used for controlling the lower level controller of described servo proportion at rear each steeraxle;
Described upper control device calculates described at the required target rotation angle of rear each steeraxle according to the angular signal that turns to pattern and described the first bridge, and exports corresponding target rotation angle control signal to each described lower level controller; And
Each described lower level controller sends command signal according to the target rotation angle control signal of described upper control device to corresponding servo proportion, and regulates in real time described command signal according to the angular signal of described steeraxle feedback.
9. the rotating direction control method of multiple-axle vehicle according to claim 8, is characterized in that, described upper control device is programmable logic controller (PLC) or micro controller system, and the response frequency of described lower level controller and the response frequency of described servo operated valve are suitable.
10. the rotating direction control method of multiple-axle vehicle according to claim 8, is characterized in that, also comprises the step that the angular signal of described steeraxle feedback is used for vehicle-state demonstration and/or fault alarm.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010265429 CN102372022B (en) | 2010-08-26 | 2010-08-26 | Multi-axle vehicle as well as electro-hydraulic servo steering system and steering control method thereof |
| PCT/CN2011/072742 WO2012024935A1 (en) | 2010-08-26 | 2011-04-13 | Electro-hydraulic servo steering system and steering contorl method for multi-axle vehicle and multi-axle vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010265429 CN102372022B (en) | 2010-08-26 | 2010-08-26 | Multi-axle vehicle as well as electro-hydraulic servo steering system and steering control method thereof |
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| CN102372022A CN102372022A (en) | 2012-03-14 |
| CN102372022B true CN102372022B (en) | 2013-06-05 |
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| CN102897211B (en) * | 2012-10-11 | 2015-04-15 | 中联重科股份有限公司 | Hydraulic power-assisted steering system and chassis of engineering vehicle |
| CN102910202A (en) * | 2012-10-30 | 2013-02-06 | 徐州重型机械有限公司 | Vehicle steering wheel automatic centering unit, vehicle with same and automatic centering method |
| CN102935861B (en) * | 2012-12-10 | 2015-04-01 | 中联重科股份有限公司 | Multi-axle vehicle and steering control system and steering control method of vehicle |
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| CN107856732B (en) * | 2017-11-02 | 2020-03-20 | 北京航天发射技术研究所 | Electro-hydraulic steering hydraulic system for multi-mode control |
| CN108005979A (en) * | 2017-11-10 | 2018-05-08 | 中航空工业南京伺服控制系统有限公司 | A kind of electro-hydraulic servo control unit |
| CN111098919B (en) * | 2018-10-25 | 2021-11-12 | 中车株洲电力机车研究所有限公司 | High-precision quick-response intelligent rail electric car steering system |
| CN112550444B (en) * | 2021-01-24 | 2022-04-29 | 福州大学 | Energy-saving type electro-hydraulic power-assisted steering system for heavy vehicle and control method |
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| CN102372022A (en) | 2012-03-14 |
| WO2012024935A1 (en) | 2012-03-01 |
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