CN102381352A - Electronic steering control system of industrial vehicle - Google Patents
Electronic steering control system of industrial vehicle Download PDFInfo
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- CN102381352A CN102381352A CN2011102880943A CN201110288094A CN102381352A CN 102381352 A CN102381352 A CN 102381352A CN 2011102880943 A CN2011102880943 A CN 2011102880943A CN 201110288094 A CN201110288094 A CN 201110288094A CN 102381352 A CN102381352 A CN 102381352A
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- steering
- industrial vehicle
- control system
- feedback transducer
- actuator
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Abstract
The invention discloses an electronic steering control system of an industrial vehicle, belonging to the technical field of control of the industrial vehicle and comprising a power supply, a steering control device, a steering drive device, a steering actuating device, a steering instruction sensor, a steering feedback sensor and a steering controller, wherein the steering instruction sensor and the steering feedback sensor input sensing signals to the steering controller; the steering controller input control signals to the steering drive device; the steering drive device drives the steering actuating device to rotate along with the steering control device; the industrial vehicle realizes steering of a vehicle body by rotation of the steering actuating device; and the steering feedback sensor continuously detects the initial angle position of the steering actuating device and the angle by which the steering actuating device rotates along with the steering control device. In the electronic steering control system, the installation and the debugging are simple, the working is reliable, the control efficiency and the reliability are higher and the device cost is lower.
Description
Technical field
The present invention relates to a kind of industrial vehicle electrical steering control system, belong to industrial vehicle and turn to the control field.
Background technology
Electronic or hydraulicdriven industrial vehicle steering hardware; Usually dispose the electrical steering control system; Dispose the sensing device of its rotational angle of detection for the steering apparatus of steering handwheel, handle and so on; And on the steer motor as steer-drive, especially commonly portion within it disposes the sensing device that detects its output angle; These sensing devices carry out computing and corresponding to steer-drive input decision its rotating of steer motor and so on and the control signal of rotating speed or rotational angle by controller according to the rule of setting to a steering controller incoming signal.Above-mentioned existing control system only is applicable to the direct current drive industrial vehicle in the practice, and machinery and sensing device assembling, dismounting and maintenance difficult, and the sensing device debugging is complicated, and installation cost is high, and system reliability is poor.
Summary of the invention
The present invention provide a kind of cost low, install and debugging is simple, the industrial vehicle electrical steering control system of reliable operation, solve mainly that existing industrial vehicle electrical steering control system device is complicated, poor reliability and the high problem of cost.
The present invention utilizes following technical scheme to realize above-mentioned technical purpose.A kind of industrial vehicle electrical steering control system; Comprise power supply, steering manipulation device, steer-drive, steering actuator, steering order sensor, turn to feedback transducer, steering controller; Said power supply, steer-drive, steering order sensor and turn to feedback transducer to connect with said steering controller circuit; The rotational angle of the said steering manipulation device of said steering order sensor; Said steering order sensor with turn to feedback transducer to said steering controller input transducing signal; Said steering controller is to said steer-drive input control signal, and said steer-drive drives said steering actuator and follows said steering manipulation device rotation, and affiliated industrial vehicle realizes that through the rotation of said steering actuator car body turns to; It is characterized in that the said feedback transducer that turns to continues to detect the initial angle position of said steering actuator and the angle that said steering actuator is followed said steering manipulation device rotation.
As preferably, said steering actuator comprises wheel flutter, the steering wheel shaft of said industrial vehicle and the steering gear that connects firmly with said steering wheel shaft.
As preferably, saidly turn to feedback transducer directly to combine interlock or through being linked by the passive drive disk assembly of steering actuator driving and said steering actuator with said steering actuator.It is so-called that to combine interlock can be to connect firmly or the multiple annexation that can make the part synchronization action of mutual direct contact such as engagement.
As preferably, the said feedback transducer that turns to comprises rotating element and fixed part, said rotating element and the interlock of said steering actuator, and said fixed part is connected with said car body.
As preferably, the steering operation that said steering manipulation device comprises said industrial vehicle and steering shaft, said steering shaft combines with the rotating element of said steering order sensor to link; Said steer-drive is a steer motor, and said steer motor drives said steering actuator through reducing gearbox; Said wheel flutter is the drive wheel of said industrial vehicle, and the drive motor shell is fixedly mounted on the said steering gear, and the said rotating element of feedback transducer that turns to combines interlock with said drive motor shell.
As preferably, the steering operation that said steering manipulation device comprises said industrial vehicle and steering shaft, said steering shaft combines with the rotating element of said steering order sensor to link; Said steer-drive is a steer motor, and said steer motor drives said steering actuator through reducing gearbox; The said rotating element of feedback transducer that turns to combines interlock with the final stage gear of the gear transmission box that is engaged in said steering gear.
As preferably, said steering order sensor is a potential device with turning to feedback transducer; Said combination interlock comprises and directly connecting firmly or directly engagement.
As preferably; When the steering manipulation device is identical with the steering actuator rotational angle; Said steering order sensor is equivalent voltage signal with turning to feedback transducer to the transducing signal of said steering controller input, comprises equating fully or the absolute value voltage signal that essence equates in the nominal error scope.
As preferably, said steering order sensor is opto-electronic pickup or coder or stepping motor or Hall element with turning to feedback transducer.
In sum; In the prior art on steer motor; Especially in steer motor, magneto-electric coder even stepping motor are set with detection steer motor outbound course and angle, and then the technical scheme of comparison and control steering manipulation device rotational angle and industrial vehicle wheel flutter rotational angle; Technical scheme of the present invention has following beneficial effect: establish sensing devices such as magneto-electric coder in the steer motor of said industrial vehicle is not again needed; As long as and select conventional standard electromotor for use, this all has great importance for the purchasing of reduction industrial vehicle electrical steering control system, debugging and maintenance cost; Simultaneously; Let the rotating element that turns to feedback transducer directly combine interlock or passive drive disk assembly and steering actuator interlock through being driven by steering actuator with steering actuator; And make the steering order sensor and turn to feedback transducer when detecting identical rotational angle, to send equivalent voltage signal to steering controller; Can make the circuit structure and the signal conditioning of whole industrial vehicle electrical steering control system more simple; Control efficiency and reliability are higher, and installation cost is also lower; In addition, the present invention has broken through the Applicable scope of prior art, and this industrial vehicle electrical steering control system is equally applicable to the electric boosting steering system of industrial vehicles such as AC electrical transport trolley, AC electrical forklift.
Description of drawings
Fig. 1 is that the system of the embodiment of the invention one constitutes scheme drawing;
Fig. 2 is that the system of the embodiment of the invention two constitutes scheme drawing.
Among the figure: 1-steering manipulation device; 11-steering operation handle; The 12-steering shaft; 2-steering order sensor; 3-turns to feedback transducer; 4-transmission gear box; 41-transmission gear box input gear; The 5-steering controller; The 6-steer motor; The 7-reduction gearbox for electrical motor; 71-reduction gearbox for electrical motor output gear; The 8-steering gear; The 9-steering wheel; 91-direction wheel shaft; The 10-power supply; 81-drive motor shell.
The specific embodiment
Embodiment one; As shown in Figure 1; This industrial vehicle electrical steering control system comprises following main constituent elements: power supply 10, steering operation 11 with the steering manipulation device 1 of steering shaft 12 compositions, as the steer motor 6 of steer-drive; Reduction gearbox for electrical motor 7 between steer motor 6 and steering actuator; Wheel flutter 9, steering wheel shaft 91 and steering gear 8 that connects firmly with steering wheel shaft 91 and the steering actuator of forming with steering gear 8 are with steering gear 8 engagements and by the transmission gear box 4 of its driving, the precision linear potential device formula steering order sensor 2 that its turning cylinder and steering shaft 12 connect firmly; The precision linear potential device formula that the final stage central gear axis of its turning cylinder and gear transmission box 4 connects firmly turns to feedback transducer 3, steering controller 5.It is identical products that precision linear potential device formula steering order sensor 2 turns to feedback transducer 3 with precision linear potential device formula, and its shell is the fixed part of sensor, is fixedly mounted on this industrial vehicle car body.Power supply 10, steer motor 6, steering order sensor 2 and turn to feedback transducer 3 to connect with steering controller 5 circuit.Steering order sensor 2 can not only detect the initial angle position of steering manipulation device 1; And under the situation that steering shaft 12 turns an angle, the precision linear potential device formula steering order sensor 2 that connects firmly with it also can be constantly to steering controller 5 input respective change voltage sensing signal; In this simultaneously; Turn to feedback transducer 3 from establishing the angle position that the beginning promptly continues the detection steering actuator by cable; When transmission gear box 4 final stage central gear axis rotate; Precision linear potential device formula turn to feedback transducer 3 can because of voltage sensing signal from the rotation of its turning cylinder to controller 5 input respective change; And rotate and then drive the rotation of transmission gear box 4 final stage central gear axis because steering gear 8 drives steering wheel shaft 91 rotations through the relation of being fixedly connected simultaneously and then drive wheel flutter 9 turns on the ground and drive transmission gear box input gear 41 through the gear mesh connecting relation; So turn to the direction position that is actually wheel flutter 9 of feedback transducer 3 reflections or perhaps the angle position of steering wheel shaft 91, and any variation of the angle position of the direction position of wheel flutter 9 or steering wheel shaft 91 all can obtain reflection by the voltage signal that turns to feedback transducer 3 to send respective value to steering controller 5 constantly in real time.Program according to prior setting; 5 pairs of steering controllers from steering order sensor 2 with turn to the voltage signal of feedback transducer 3 to compare computing; Send motor control signal to steer motor 6, steer motor 6 is rotated drive motor reducing gearbox 7; Reducing gearbox output gear 71 drives steering gears 8 and rotates, and realizes that wheel flutter 9 advances on the ground or the orientation angle when retreating is followed steering operation and changed to 11.Certainly, this to follow change both can be equivalent, also can amplify or dwindle by fixed proportion.In the present embodiment; Reach type selecting configuration through setting to the precision linear potential device to above-mentioned mechanical drive ratio relation; Can make steering order sensor 2 and turn to feedback transducer 3 when steering manipulation device 1 is identical with the steering actuator rotational angle; Equate fully or the absolute value voltage signal that essence equates in the nominal error scope to steering controller 5 inputs; And make wheel flutter 9 direction change degree and steering operation and equate 11 level angle change degree, can make vehicle performance person feel the most direct, comfortable like this.
Embodiment two; As shown in Figure 2; The formation and the embodiment one of this industrial vehicle electrical steering control system are basic identical, and difference is, is fixedly mounting drive motor shell 81 on the steering gear 8; Connecting on the top of drive motor shell 81 and to turn to feedback transducer 3; This turns to the turning cylinder of feedback transducer 3 and this drive motor shell 81 to connect firmly together, and the car body that this shell that turns to feedback transducer 3 is fixed part and this industrial vehicle connects firmly together, and the direction of the rotational angle reflection wheel flutter 9 of this drive motor shell 81 changes degree.
In the foregoing description one and two, turn to feedback transducer 3 all through combine interlock to realize and the steering actuator interlock that comprises steering wheel shaft with the passive drive disk assembly that is driven by steering gear 8.Obviously, turn to feedback transducer 3 also can directly combine interlock, comprise with steering gear 8 engagement or with steering wheel shaft 91 connecting firmly etc. with steering actuator.And; No matter be steering order sensor 2 or turn to feedback transducer 3; Also can be fixed on the car body, directly link or link indirectly as rotating element and steering actuator through the passive drive disk assembly that is driven by steering gear 8 with its shell with its center shaft.In addition, except use potential device as steering order sensor 2 with turn to the feedback transducer 3, also can select for use opto-electronic pickup or coder or stepping motor or Hall element as sensor.
Claims (10)
1. industrial vehicle electrical steering control system; Comprise power supply (10), steering manipulation device (1), steer-drive, steering actuator, steering order sensor (2), turn to feedback transducer (3), steering controller (5); Said power supply (10), steer-drive, steering order sensor (2) and turn to feedback transducer (3) to connect with said steering controller (5) circuit; Said steering order sensor (2) detects the rotational angle of said steering manipulation device (1); Said steering order sensor (2) and turn to feedback transducer (3) to said steering controller (5) input transducing signal; Said steering controller (5) is to said steer-drive input control signal; Said steer-drive drives said steering actuator and follows said steering manipulation device (1) rotation; Affiliated industrial vehicle realizes that through the rotation of said steering actuator car body turns to, and it is characterized in that, the said feedback transducer (3) that turns to continues to detect the initial angle position of said steering actuator and the angle that said steering actuator is followed said steering manipulation device (1) rotation.
2. a kind of industrial vehicle electrical steering control system as claimed in claim 1; It is characterized in that said steering actuator comprises wheel flutter (9), the steering wheel shaft (91) of said industrial vehicle and the steering gear (8) that connects firmly with said steering wheel shaft (91).
3. a kind of industrial vehicle electrical steering control system as claimed in claim 2; It is characterized in that the said feedback transducer (3) that turns to directly combines interlock or passive drive disk assembly and the interlock of said steering actuator through being driven by steering actuator with said steering actuator.
4. a kind of industrial vehicle electrical steering control system as claimed in claim 3; It is characterized in that; The said feedback transducer (3) that turns to comprises rotating element and fixed part, said rotating element and the interlock of said steering actuator, and said fixed part is connected with said car body.
5. a kind of industrial vehicle electrical steering control system as claimed in claim 4; It is characterized in that; Said steering manipulation device (1) comprises the steering operation of said industrial vehicle (11) and steering shaft (12) thereof, and said steering shaft (12) combines interlock with the rotating element of said steering order sensor (2); Said steer-drive is steer motor (6), and said steer motor (6) drives said steering actuator through reducing gearbox (7); Said wheel flutter (9) is the drive wheel of said industrial vehicle, and drive motor shell (81) is fixedly mounted on the said steering gear (8), and the said rotating element of feedback transducer (3) that turns to combines interlock with said drive motor shell (81).
6. a kind of industrial vehicle electrical steering control system as claimed in claim 4; It is characterized in that; Said steering manipulation device (1) comprises the steering operation of said industrial vehicle (11) and steering shaft (12) thereof, and said steering shaft (12) combines interlock with the rotating element of said steering order sensor (2); Said steer-drive is steer motor (6), and said steer motor (6) drives said steering actuator through reducing gearbox (7); The said rotating element of feedback transducer (3) that turns to combines interlock with the final stage gear of the gear transmission box (4) that is engaged in said steering gear (8).
7. like claim 5 or 6 described a kind of industrial vehicle electrical steering control system, it is characterized in that said steering order sensor (2) and to turn to feedback transducer (3) be potential device.
8. like claim 1 or 2 or 3 or 4 or 5 or 6 described a kind of industrial vehicle electrical steering control system; It is characterized in that; When steering manipulation device (1) was identical with the steering actuator rotational angle, said steering order sensor (2) and the transducing signal that turns to feedback transducer (3) to import to said steering controller (5) were equivalent voltage signals.
9. a kind of industrial vehicle electrical steering control system as claimed in claim 7; It is characterized in that; When steering manipulation device (1) was identical with the steering actuator rotational angle, said steering order sensor (2) and the transducing signal that turns to feedback transducer (3) to import to said steering controller (5) were equivalent voltage signals.
10. a kind of industrial vehicle electrical steering control system as claimed in claim 1 is characterized in that, said steering order sensor (2) and to turn to feedback transducer (3) be opto-electronic pickup or coder or stepping motor or Hall element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110288094 CN102381352B (en) | 2011-09-26 | 2011-09-26 | Electronic steering control system of industrial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110288094 CN102381352B (en) | 2011-09-26 | 2011-09-26 | Electronic steering control system of industrial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102381352A true CN102381352A (en) | 2012-03-21 |
| CN102381352B CN102381352B (en) | 2013-05-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110288094 Expired - Fee Related CN102381352B (en) | 2011-09-26 | 2011-09-26 | Electronic steering control system of industrial vehicle |
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| Country | Link |
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| CN (1) | CN102381352B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103661579A (en) * | 2013-12-11 | 2014-03-26 | 苏州先锋物流装备科技有限公司 | Electric steering mechanism |
| CN104228937A (en) * | 2014-08-26 | 2014-12-24 | 苏州市职业大学 | Dual-mode control electronic power steering system for industrial vehicle |
| CN107773357A (en) * | 2017-11-10 | 2018-03-09 | 左国刚 | Intelligent wheel chair |
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| US20060015230A1 (en) * | 2004-06-01 | 2006-01-19 | Favess Co., Ltd. | Power steering apparatus |
| JP2006256559A (en) * | 2005-03-18 | 2006-09-28 | Honda Motor Co Ltd | Electric power steering device |
| CN201580429U (en) * | 2009-04-30 | 2010-09-15 | 浙江关西电机有限公司 | Servo-power-assisted steering system |
| CN101870302A (en) * | 2010-06-25 | 2010-10-27 | 南京航空航天大学 | Vehicle semi-active steering control device |
| CN101954859A (en) * | 2010-03-26 | 2011-01-26 | 刘宗锋 | Electronic differential system based on relative slip ratio control |
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| CN102123902A (en) * | 2009-10-30 | 2011-07-13 | 日本精工株式会社 | Electric power steering device |
| JP2011148408A (en) * | 2010-01-22 | 2011-08-04 | Fujitsu Ten Ltd | Electric hydraulic power steering control device |
| CN202264816U (en) * | 2011-09-26 | 2012-06-06 | 杭州拜特电驱动技术有限公司 | Electronic steering control system for industrial vehicle |
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2011
- 2011-09-26 CN CN 201110288094 patent/CN102381352B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060015230A1 (en) * | 2004-06-01 | 2006-01-19 | Favess Co., Ltd. | Power steering apparatus |
| JP2006256559A (en) * | 2005-03-18 | 2006-09-28 | Honda Motor Co Ltd | Electric power steering device |
| CN201580429U (en) * | 2009-04-30 | 2010-09-15 | 浙江关西电机有限公司 | Servo-power-assisted steering system |
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| CN101954859A (en) * | 2010-03-26 | 2011-01-26 | 刘宗锋 | Electronic differential system based on relative slip ratio control |
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| CN202264816U (en) * | 2011-09-26 | 2012-06-06 | 杭州拜特电驱动技术有限公司 | Electronic steering control system for industrial vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661579A (en) * | 2013-12-11 | 2014-03-26 | 苏州先锋物流装备科技有限公司 | Electric steering mechanism |
| CN104228937A (en) * | 2014-08-26 | 2014-12-24 | 苏州市职业大学 | Dual-mode control electronic power steering system for industrial vehicle |
| CN107773357A (en) * | 2017-11-10 | 2018-03-09 | 左国刚 | Intelligent wheel chair |
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| Publication number | Publication date |
|---|---|
| CN102381352B (en) | 2013-05-08 |
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Granted publication date: 20130508 Termination date: 20200926 |