CN102390428B - Steering central shaft control method and hydraulic control system - Google Patents
Steering central shaft control method and hydraulic control system Download PDFInfo
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- CN102390428B CN102390428B CN201110293238.4A CN201110293238A CN102390428B CN 102390428 B CN102390428 B CN 102390428B CN 201110293238 A CN201110293238 A CN 201110293238A CN 102390428 B CN102390428 B CN 102390428B
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Abstract
The invention provides a steering central shaft control method and a hydraulic control system. The control method comprises the following steps: the vehicle is in a normal running mode, and the steering angle of the steering central shaft is controlled to be zero; the vehicle is in a crab steering or anti-deflection running mode, and the steering angle of the steering central shaft is controlled to reach a target steering angle, and the target steering angle is determined according to the steering angle of a first steering shaft of the vehicle. A hydraulic control system comprising: a hydraulic oil supply device; the steering electromagnetic valve is connected with the steering power-assisted oil cylinder of the steering central shaft; and the controller is used for controlling the steering electromagnetic valve to enable the steering angle of the steering central shaft to reach the target steering angle. The steering central shaft control method provided by the invention is convenient to operate, and can meet the working condition characteristics of high steady-state precision requirement and low dynamic precision requirement. The steering center shaft hydraulic control system provided by the invention has the advantages of simple structure, low requirement on cleanliness, safety, reliability and low cost, and all hydraulic components are switch valves.
Description
Technical field
The present invention relates to engineering machinery field, especially, relate to a kind of control method and hydraulic control system of turning center axle.
Background technology
Wheeled car steering swivel system is for the safety of Vehicle Driving Cycle, and manoevreability and road-holding property have direct relation.
Along with the development of heavy-duty vehicle, car load load is increasing, axletree quantity is also more and more, thereby vehicle body is more and more longer, travel space and the working space of vehicle make that steering swivel system has been had to higher requirement: reduce on the one hand turn radius, this need to increase steering shaft quantity, and antero posterior axis can be turned to; Need on the other hand the multiple pattern that turns to, to meet different working space requirements.
The development of electrohydraulic control technology makes electrohydraulic control steering swivel system also obtain application, and can easily realize minimum turning radius and the multiple pattern that turns to, but electrohydraulic control steering swivel system also has the shortcoming of himself: first, electrohydraulic control steering swivel system is a kind of follow-up steering control system, inevitably there will be the phenomenon that action postpones, the overshoot of control system is shaken; The second, for improving turning efficiency, be mainly stationarity, dynamic accuracy and stable state accuracy, need each axle to be furnished with angular transducer and controller, and the electro-hydraulic proportional valve of expensive high frequency response or electrohydraulic servo valve, and cost is higher; The 3rd, hydraulic efficiency pressure system belongs to valve control system, and loss of pressure is large, and energy consumption is large; The 4th, because the element relating to is more, control system is complicated and have relatively high expectations, and therefore reliability is lower.
From the viewpoint of stability, the safety of Vehicle Driving Cycle, traditional hydraulic booster leverage steering swivel system is still that current main flow turns to form.But leverage steering swivel system, because vehicle frame arrangement space, leverage transfer mode, multi-axle steering leverage are subject to the with joint efforts factor such as larger, yielding, has been subject to very large restriction in the application of multiple-axle vehicle; In order to reduce as far as possible the quantity of steering shaft, conventionally turning center is fixed on a certain axle in steering swivel system or near a certain axle, this axle is commonly called turning center axle in design, turning center axle does not turn in the time of normal vehicle operation.From turning to pattern, the comparatively popular pattern that turns to is that crab type turns to pattern at present, but, crab type turns to pattern to require all axles to comprise that turning center axle can turn to, still, and while adopting crab type to turn to pattern to turn to, majority is by hydro-pneumatic suspension system, non-steering shaft to be mentioned, namely by hydro-pneumatic suspension system, turning center axle is mentioned, this kind of method can solve that normal highway is travelled and crab type turns to the contradiction between pattern, but has following shortcoming:
The first, need hydro-pneumatic suspension system and steering swivel system compounding practice, control step complexity, process is loaded down with trivial details, and after especially crab type turns to pattern to finish, hydro-pneumatic suspension system needs leveling again just can carry out normal highway and travel;
The second, in the time that turning center axle is lifted from ground, load meeting is transferred on other axles, increases the load of other axles, and other axles and tire are had a negative impact;
The 3rd, while being lifted from ground because of turning center axle, other each axle loads need to be redistributed, if oleo-pneumatic suspension in elastic stage, body gesture cannot ensure, although now hang many places in rigid state, larger to the harm of each axle.
Summary of the invention
The object of the invention is to provide a kind of turning center shaft control method and hydraulic control system, to solve existing multiple-axle vehicle in the time carrying out crab shape and turn to, need to utilize suspension that turning center axle is mentioned in the time that crab shape turns to, cause that Vehicular turn control process is loaded down with trivial details, suspension and the baroque technical matters of steering swivel system.
For achieving the above object, according to an aspect of the present invention, provide a kind of turning center shaft control method, having comprised: if vehicle is in normal driving mode, the steering angle of controlling turning center axle reaches first object steering angle, and first object steering angle is zero; If vehicle turns to or anti-beat driving mode in crab shape, the steering angle of controlling turning center axle reaches the second target diversion angle, and the second target diversion angle is determined according to the steering angle of the first steering shaft of vehicle.
Further, the steering angle of control turning center axle also comprises before reaching first object steering angle: the real-time steering angle that receives first object steering angle and turning center axle; Determine the difference of real-time steering angle and first object steering angle, reach first object steering angle according to the steering angle of this difference control turning center axle.
Further, the steering angle of control turning center axle also comprises before reaching the second target diversion angle: the real-time steering angle that receives the second target diversion angle and turning center axle; Determine the difference of real-time steering angle and the second target diversion angle, reach the second target diversion angle according to the steering angle of this difference control turning center axle.
According to another aspect of the present invention, also provide a kind of turning center axle hydraulic control system, having comprised: operating oil supplying device; Turn to electromagnetic valve, there is oil inlet, the first actuator port and the second actuator port, oil inlet is connected with operating oil supplying device, the first actuator port is connected with the rod chamber of right steering power-assisted oil cylinder with the rodless cavity of the left steering power-assisted oil cylinder of turning center axle, and the second actuator port is connected with the rod chamber of left steering power-assisted oil cylinder with the rodless cavity of right steering power-assisted oil cylinder; Controller, turn to electromagnetic valve for controlling, the first actuator port or the second actuator port are connected with oil inlet, make the deflection angle of turning center axle reach target steering angle, target steering angle comprise the first object deflection angle of vehicle turning center axle in the time of normal motoring condition and vehicle in crab shape turn to or anti-bias rotation to time turning center axle the second target steering angle.
Further, the first actuator port is connected with the rod chamber of right steering power-assisted oil cylinder with the rodless cavity of left steering power-assisted oil cylinder with the second branch by the first branch respectively, the first branch and the second branch come together in first node, between first node and the first actuator port, are provided with the first check valve; The second actuator port is connected with the rod chamber of left steering power-assisted oil cylinder with the rodless cavity of right steering power-assisted oil cylinder with the 4th branch by the 3rd branch respectively, the 3rd branch and the 4th branch come together in Section Point, between Section Point and the second working oil hydraulic fluid port, are provided with the second check valve.
Further, turn between the oil inlet of electromagnetic valve and operating oil supplying device and be provided with the first oil circuit in parallel and the second oil circuit, on the first oil circuit, be provided be electrically connected with controller for controlling the power on/off magnet valve of the first oil circuit break-make.
Further, the oil inlet end of the first oil circuit and the second oil circuit comes together in the 3rd node, between the 3rd node and the mouth of operating oil supplying device, is provided with reducing valve.
Further, be respectively arranged with the first damping hole and the second damping hole on the first oil circuit and the second oil circuit, the control port of reducing valve is connected with the second damping hole exit end with the first damping hole.
Further, controller turns to electromagnetic valve to make the deflection angle of turning center axle reach the first stage of the control process of target steering angle in control, controls power on/off magnet valve and connects, and in the subordinate phase of control process, controls power on/off magnet valve and disconnects.
Further, turning center axle hydraulic control system provided by the invention, also comprise: parameter input device, for inputting the pattern that turns to of described vehicle, and according to the computing formula turning between mode decision target steering angle and the corner of the first steering shaft, determine first object steering angle or the second target diversion angle according to corresponding described computing formula, parameter input device is electrically connected with controller; Angular-motion transducer, for detection of the real-time rotational angle of turning center axle, angular-motion transducer is arranged on turning center axle, controller is also for determining the difference of real-time rotational angle and first object steering angle or the second target diversion angle, and turn to electromagnetic valve according to this difference control, the first actuator port or the second actuator port are connected with described oil inlet.
The present invention has following beneficial effect:
Turning center shaft control method provided by the invention, at vehicle during in different driving mode, control turning center axle is followed the tracks of different target diversion angles and is turned to, ensure turning center axle in the time normally travelling, do not turn to, crab shape turn to or when anti-beat travels without again turning center axle being mentioned, simplified the structure of steering swivel system and suspension.In order to realize above-mentioned control method, turning center axle hydraulic control system provided by the invention, utilize controller to control and turn to electromagnetic valve in real time, realize or turn right, and according to the difference size of actual rotational angle and target rotation angle, realize two step velocity controls by controller control power on/off magnet valve, can ensure that turning center axle follows the tracks of corresponding target diversion angle all the time, improve the control accuracy of turning center axle.
Except object described above, feature and advantage, the present invention also has other object, feature and advantage.Below with reference to figure, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing that forms the application's a part is used to provide a further understanding of the present invention, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the schematic flow sheet of the turning center shaft control method of the preferred embodiment of the present invention;
Fig. 2 is the applied vehicle chassis structural representation of turning center axle hydraulic control system of the preferred embodiment of the present invention;
Fig. 3 is the theory structure schematic diagram of the turning center axle hydraulic control system of the preferred embodiment of the present invention; And
Fig. 4 is the principle of work schematic block diagram of the turning center axle hydraulic control system of the preferred embodiment of the present invention.
Detailed description of the invention
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.
As depicted in figs. 1 and 2, the invention provides a kind of turning center shaft control method, the method comprises:
S01: if vehicle in normal driving mode, the steering angle of controlling turning center axle reaches first object steering angle, described first object steering angle is zero;
S02: if vehicle turns to or anti-beat driving mode in crab shape, the steering angle of controlling described turning center axle reaches the second target diversion angle, described the second target diversion angle is determined according to the steering angle of the first steering shaft of described vehicle.
Specifically, the steering angle of control turning center axle also comprises before reaching first object steering angle: the real-time steering angle that receives first object steering angle and turning center axle; Determine the difference of real-time steering angle and first object steering angle, reach first object steering angle according to the steering angle of this difference control turning center axle.
Correspondingly, the steering angle of control turning center axle also comprises before reaching the second target diversion angle: the real-time steering angle that receives the second target diversion angle and turning center axle; Determine the difference of real-time steering angle and the second target diversion angle, reach the second target diversion angle according to the steering angle of this difference control turning center axle.
In fact, no matter vehicle is in which kind of driving mode, all that turning center axle 50 has been carried out to closed loop control, that is to say, first set an expected value, then detect in real time the real-time steering angle of turning center axle 50, this real-time steering angle is as a value of feedback, compare with expected value again, obtain a difference, controller can be controlled turning center axle 50 according to this difference, makes the rotation amplitude of turning center axle 50 and this difference match to make the steering angle of turning center axle 50 can tracking target steering angle.When vehicle is during in normal motoring condition, first object steering angle is zero, that is to say, the steering angle of turning center axle 50 remains zero, once detect that the steering angle of turning center axle 50 is non-vanishing, will adjust the steering position of turning center axle 50 so, guarantee turning center axle 50, in meta, is realized the object that turning center axle 50 does not turn in the time normally travelling.Similarly, when vehicle turns to or when the motoring condition of anti-beat in crab shape, according to the steering angle of the first steering shaft 70 of vehicle, determine the second target diversion angle, and then control turning center axle 50 and follow the tracks of the second target diversion angle, this control process is similar to above-mentioned control process, does not repeat them here.
As shown in Figure 3 and Figure 4, in order to realize the control method of above-mentioned turning center axle, the present invention also provides a kind of turning center axle hydraulic control system, and this system comprises: operating oil supplying device 10; Turn to electromagnetic valve 21, there is oil inlet 21a, the first actuator port 21b and the second actuator port 21c, oil inlet 21a is connected with operating oil supplying device 10, the first actuator port 21b is connected with the rod chamber of right steering power-assisted oil cylinder 32 with the rodless cavity of the left steering power-assisted oil cylinder 31 of turning center axle, and the second actuator port 21c is connected with the rod chamber of left steering power-assisted oil cylinder 31 with the rodless cavity of right steering power-assisted oil cylinder 32; Controller, turn to the first actuator port 21b of electromagnetic valve 21 or the second actuator port 21c to be connected with oil inlet 21a for controlling, make the deflection angle of turning center axle reach target steering angle, target steering angle comprises that the first object deflection angle of vehicle turning center axle in the time of normal motoring condition and vehicle turn to or the second target steering angle of turning center axle when anti-beat in crab shape.
Turning to electromagnetic valve 21 can be 3-position 4-way solenoid directional control valve.
The first actuator port 21b is connected with the rod chamber of right steering power-assisted oil cylinder 32 with the rodless cavity of left steering power-assisted oil cylinder 31 with the second branch by the first branch respectively, the first branch and the second branch come together in first node A, between first node A and the first actuator port 21b, are provided with the first check valve 23; The second actuator port 21c is connected with the rod chamber of left steering power-assisted oil cylinder 31 with the rodless cavity of right steering power-assisted oil cylinder 32 with the 4th branch by the 3rd branch respectively, the 3rd branch and the 4th branch come together in Section Point B, between Section Point B and the second working oil hydraulic fluid port 21c, are provided with the second check valve 25.
Turn between the oil inlet 21a of electromagnetic valve 21 and operating oil supplying device 10 and be provided with the first oil circuit in parallel and the second oil circuit, on the first oil circuit, be provided be electrically connected with controller for controlling the power on/off magnet valve 22 of the first oil circuit break-make.Power on/off magnet valve 22 can adopt 2/2-way electromagnetic valve.The oil inlet end of the first oil circuit and the second oil circuit comes together in the 3rd node C, between the 3rd node C and the mouth of operating oil supplying device 10, is provided with reducing valve 24.
On the first oil circuit and the second oil circuit, be respectively arranged with the first damping hole 27 and the second damping hole 29.By the angle feedback on turning center axle 50, calculate and control the switch of two damping holes, to reach the object of two step velocitys (turning velocity).Controller is turning to electromagnetic valve 21 to make the deflection angle of turning center axle reach the first stage of the control process of target steering angle by control, power on/off magnet valve 22 must not be electric, the first damping hole 27 is in on-state, now, the first damping hole 27 and the second damping hole 29 send oil simultaneously in two steering jacks, make the kinematic velocity of steering jack very fast, also can say, first stage is the turning velocity stage faster of turning center axle 50; And in the subordinate phase of control process, power on/off magnet valve 22 obtains electric disconnection, now, only have the path at the second damping hole 29 places to send oil in steering jack, oil mass is less, and the action of steering jack is slower, makes the turning velocity of turning center axle 50 slower, also can say, subordinate phase is the slower stage of the turning velocity of turning center axle 50.
By the control of two step velocitys, make turning center axle 50 to meet targetedly stable state accuracy requirement high, the less demanding features of dynamic accuracy.After the control port of aforementioned reducing valve 24 is connected in the first damping hole 27 and the second damping hole 29.
Turning center axle hydraulic control system provided by the invention, also comprise: parameter input device, for inputting the pattern that turns to of vehicle, according to the different different computing formula of mode decision that turn to, and then drawing first object steering angle and the second target diversion angle, parameter input device is electrically connected with controller; Angular-motion transducer 80, for detection of the real-time rotational angle of turning center axle 50, angular-motion transducer 80 is arranged on turning center axle, controller is also for determining the difference of real-time rotational angle and first object steering angle, the second target diversion angle, and control turns to the output oil mass of the first actuator port 21b and the second actuator port 21c of electromagnetic valve 21 according to difference.
Target rotation angle is the function of the first steering shaft corner, the different patterns that turn to, corresponding different functional relations, therefore in steering procedure, the corner of the first steering shaft is obtained by angular-motion transducer 80 Real-time Collections, and calculate in real time according to functional relation through controller, thereby obtain the target rotation angle of turning center axle 50.
The actual rotational angle of turning center axle is also obtained by angular-motion transducer 80 Real-time Collections, at this moment by controller, the actual rotational angle of turning center axle 50 and target diversion are compared, and send instruction to steering control valve group 20, wherein turn to electromagnetic valve 21 to control the left and right of turning center axle 50 to turn to.Such as: if difference is for just, controller sends to obtain electric signal to the first actuator port 21b end that turns to electromagnetic valve 21, now turn to the first actuator port 21b of electromagnetic valve 21 to be connected with oil inlet 21a, pressure oil enters the rodless cavity of the left steering power-assisted oil cylinder 31 being connected with A point and the rod chamber of right steering power-assisted oil cylinder 32, is jointly promoted the tyre revolution of turning center axle 50 to (supposition is now for turning left) by two oil cylinders; If difference is for negative, controller sends to obtain electric signal to the second actuator port 21c that turns to electromagnetic valve 21, now turn to the second actuator port 21c of electromagnetic valve 21 to be connected with oil inlet 21a, pressure oil enters the rodless cavity of the left steering power-assisted oil cylinder 31 being connected with B point and the rod chamber of right steering power-assisted oil cylinder 32, is jointly promoted the tyre revolution of turning center axle 50 to (supposition is now for turning right) by two oil cylinders.
Above-mentioned difference is plus or minus, represents that now the actual rotational angle of turning center axle 50 is to the left or to the right compared with target rotation angle, and turning to electromagnetic valve 21 by controller control is that the first actuator port 21b or the second actuator port 21c are connected with oil inlet 21a.
In addition, according to the size of difference decide power on/off magnet valve 22 whether electric, and then realize two step velocity controls.This is by reducing valve 24, and power on/off magnet valve (2/2-way electromagnetic valve) 22, the first damping holes 27 and the second damping hole 29 are realized.While being greater than 3 ° such as difference, power on/off magnet valve 22 must not be electric, and the flow that now enters steering jack 30 is the stack of two damping holes, speed, the first stage that this process is control process; When difference is less than 3 °, power on/off magnet valve 22 obtains electric, and the flow that now enters oil cylinder is to be only the flow of damping hole 29, and speed is slower, the subordinate phase that this process is control process.Reducing valve 24 plays pressure compensated effect, makes to keep constant through the front and back pressure reduction of damping hole, and then constant flow, make turning center axle 50 stable action in steering procedure, and turning velocity has nothing to do with load.
Can ensure that like this turning center axle follows the tracks of corresponding target diversion angle all the time.
The first check valve 23 and the second check valve 25 lock steering jack 30, keep turning center axle 50 in target diversion angle.
The control method of turning center axle provided by the invention, easy to operate, reliability is high, and cost is low, and it is high to meet stable state accuracy requirement, the less demanding features of dynamic accuracy.
Hydraulic control system provided by the invention is simple in structure, Hydraulic Elements are all switch valve, require low to cleanliness level, control algorithm is simple, safe and reliable, cost is low, and it is high to meet targetedly stable state accuracy requirement, the less demanding crab type of dynamic accuracy features, and crab type operating mode is simple to operate.
The foregoing is 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 amendment of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. a turning center shaft control method, is characterized in that, this turning center shaft control method is closed loop control method, comprising:
If vehicle is in normal driving mode, the steering angle of controlling turning center axle reaches first object steering angle, and described first object steering angle is zero;
If vehicle turns to or anti-beat driving mode in crab shape, the steering angle of controlling described turning center axle reaches the second target diversion angle, and described the second target diversion angle is determined according to the steering angle of the first steering shaft of described vehicle;
The steering angle of controlling turning center axle reaches first object steering angle and also comprises before:
Receive the real-time steering angle of first object steering angle and described turning center axle;
Determine the difference of described real-time steering angle and described first object steering angle, reach described first object steering angle according to the steering angle of turning center axle described in described difference control.
2. turning center shaft control method according to claim 1, is characterized in that, the steering angle of controlling described turning center axle reaches the second target diversion angle and also comprises before:
Receive the real-time steering angle of the second target diversion angle and described turning center axle;
Determine the difference of described real-time steering angle and described the second target diversion angle, reach described the second target diversion angle according to the steering angle of turning center axle described in described difference control.
3. a turning center axle hydraulic control system, is characterized in that, comprising:
Operating oil supplying device (10);
Turn to electromagnetic valve (21), there is oil inlet (21a), the first actuator port (21b) and the second actuator port (21c), described oil inlet (21a) is connected with described operating oil supplying device (10), described the first actuator port (21b) is connected with the rod chamber of right steering power-assisted oil cylinder (32) with the rodless cavity of the left steering power-assisted oil cylinder (31) of turning center axle, and described the second actuator port (21c) is connected with the rod chamber of described left steering power-assisted oil cylinder (31) with the rodless cavity of described right steering power-assisted oil cylinder (32);
Controller, described in being used for controlling, turn to electromagnetic valve (21), described the first actuator port (21b) or described the second actuator port (21c) are connected with described oil inlet (21a), make the deflection angle of described turning center axle reach target steering angle, described target steering angle comprise the first object deflection angle of turning center axle described in vehicle is in the time of normal motoring condition and described vehicle in crab shape turn to or anti-bias rotation to time described in the second target steering angle of turning center axle.
4. turning center axle hydraulic control system according to claim 3, is characterized in that,
Described the first actuator port (21b) is connected with the rod chamber of described right steering power-assisted oil cylinder (32) with the rodless cavity of described left steering power-assisted oil cylinder (31) with the second branch by the first branch respectively, described the first branch and described the second branch come together in first node (A), between described first node (A) and described the first actuator port (21b), are provided with the first check valve (23);
Described the second actuator port (21c) is connected with the rod chamber of described left steering power-assisted oil cylinder (31) with the rodless cavity of described right steering power-assisted oil cylinder (32) with the 4th branch by the 3rd branch respectively, described the 3rd branch and described the 4th branch come together in Section Point (B), between described Section Point (B) and described the second actuator port (21c), are provided with the second check valve (25).
5. turning center axle hydraulic control system according to claim 3, it is characterized in that, between the described described oil inlet (21a) that turns to electromagnetic valve (21) and described operating oil supplying device (10), be provided with the first oil circuit in parallel and the second oil circuit, on described the first oil circuit, be provided be electrically connected with described controller for controlling the power on/off magnet valve (22) of described the first oil circuit break-make.
6. turning center axle hydraulic control system according to claim 5, it is characterized in that, the oil inlet end of described the first oil circuit and described the second oil circuit comes together in the 3rd node (C), between described the 3rd node (C) and the mouth of described operating oil supplying device (10), is provided with reducing valve (24).
7. turning center axle hydraulic control system according to claim 6, it is characterized in that, on described the first oil circuit and described the second oil circuit, be respectively arranged with the first damping hole (27) and the second damping hole (29), the control port (24a) of described reducing valve (24) is connected with described the second damping hole (29) exit end with described the first damping hole (27).
8. turning center axle hydraulic control system according to claim 5, is characterized in that:
Described controller is turning to electromagnetic valve (21) to make the deflection angle of described turning center axle reach the first stage of the control process of target steering angle described in controlling, controlling described power on/off magnet valve (22) connects, in the subordinate phase of described control process, control described power on/off magnet valve (22) and disconnect.
9. according to the turning center axle hydraulic control system described in any one in claim 3 to 8, it is characterized in that, also comprise:
Parameter input device, for inputting the pattern that turns to of described vehicle, and according to turning to the computing formula between target steering angle and the corner of the first steering shaft described in mode decision, determine described first object deflection angle or described the second target steering angle according to corresponding described computing formula, described parameter input device is electrically connected with described controller;
Angular-motion transducer (80), for detection of the real-time rotational angle of described turning center axle, described angular-motion transducer (80) is arranged on described turning center axle (50), described controller is also for determining the difference of described real-time rotational angle and described first object deflection angle or described the second target steering angle, and turn to electromagnetic valve (21) according to described in described difference control, described the first actuator port (21b) or described the second actuator port (21c) are connected with described oil inlet (21a).
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| CN105584524A (en) * | 2015-12-21 | 2016-05-18 | 山河智能装备股份有限公司 | Engineering machine steering control system and control method thereof |
| CN105711641B (en) * | 2016-01-26 | 2017-12-19 | 北京航天发射技术研究所 | A kind of hydraulic machinery steering for multi-axle smei-trailer |
| CN115009356B (en) * | 2022-05-26 | 2024-04-09 | 泰安航天特种车有限公司 | Multi-axis electric control steering hydraulic system and flow matching control method |
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| WO1997026170A1 (en) * | 1996-01-17 | 1997-07-24 | Carlton John Davis | Control system for a steerable axle and a steerable axle |
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| AT383900B (en) * | 1984-03-01 | 1987-09-10 | Bernhaider Wilhelm Ing | Electronic steering device for vehicles or the like |
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| CN102390428A (en) | 2012-03-28 |
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Denomination of invention: Steering Center Axis Control Method and Hydraulic Control System Effective date of registration: 20231122 Granted publication date: 20140827 Pledgee: ZOOMLION Group Finance Co.,Ltd. Pledgor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Registration number: Y2023980066999 |