CN102530064A - Engineering mechanical vehicle, vehicle steering follow-up control system and method - Google Patents
Engineering mechanical vehicle, vehicle steering follow-up control system and method Download PDFInfo
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- CN102530064A CN102530064A CN2011104330261A CN201110433026A CN102530064A CN 102530064 A CN102530064 A CN 102530064A CN 2011104330261 A CN2011104330261 A CN 2011104330261A CN 201110433026 A CN201110433026 A CN 201110433026A CN 102530064 A CN102530064 A CN 102530064A
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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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Abstract
The invention discloses an engineering mechanical vehicle, a vehicle steering follow-up control system and a vehicle steering follow-up control method. The servo valve is connected with the power steering cylinder; the electromagnetic valve is connected with the centering cylinder; the hydraulic control one-way valve comprises a first oil port, a second oil port and a control oil port, wherein the first oil port of the hydraulic control one-way valve is connected with the steering power cylinder, and the second oil port of the hydraulic control one-way valve is connected with an oil return tank; the hydraulic control reversing valve comprises a control oil port and a working oil port, the control oil port of the hydraulic control reversing valve is communicated with a hydraulic loop between the electromagnetic valve and the centering cylinder, and the working oil port of the hydraulic control reversing valve is connected with the control oil port of the hydraulic control one-way valve. The invention improves the quick response of the power steering cylinder in the follow-up and steering processes, and simultaneously ensures the quick locking function of the hydraulic control one-way valve.
Description
Technical field
The present invention relates to the Vehicular turn field, particularly relate to a kind of engineering machinery vehicle, Vehicular turn following control system and Vehicular turn follow-up control method.
Background technology
In the prior art, be used for change of direction or keep the device of actions such as direction running to be called wheel steering system (steering system).The function of wheel steering system is exactly to come the travel direction of control vehicle according to the operation of chaufeur.Wheel steering system is most important to the driving safety of vehicle, so the part of wheel steering system all is called security personnel's part.
When Vehicular turn; In order to resist cornering resistance, with let chaufeur like a cork to vehicle particularly full size vehicle operate, generally adopt the mode of servo-steering (power steering); Comprise hydraulic booster and electric boosted; Wherein, power-assisted size is not only relevant with steering angle, and is also relevant with the speed of a motor vehicle.Servo-steering gets simple more and light by driving variable, and makes vehicle reaction quick more, has improved safety to a certain extent.
Hydraulic booster is modal a kind of power-assisted mode, because technology maturation is reliable, and also with low cost, be able to extensively popularized.The chief component of hydraulic booster system has Hydraulic Pump, oil pipe, pressure fluid control cock, V-type drive belt, petrol storage tank, electrical motor, car speed sensor and electromagnetic valve etc.Difference according to flow mode in the system can be divided into gerotor type hydraulic booster and permanent current formula hydraulic booster again.The characteristics of gerotor type hydraulic booster system are that no matter bearing circle is in center position or steering position, bearing circle keeps static or are rotating that the fluid in the system pipeline always keeps high pressure conditions; Though and the power steerig pump of permanent current formula hydraulic power-assisted steering system is worked all the time, when hydraulic booster system was not worked, oil pump was in idling conditions, and the load of pipeline is littler than gerotor type, and present most of hydraulic power-assisted steering system all adopts the permanent current formula.
In the hydraulic power-assist steering system that patent DE10245618 (A1) mentions, comprise steering actuation cylinder, steering control valve, centering cylinder and centering control cock.During Vehicular turn, carry out power-assisted through steering control valve control steering actuation cylinder, wheel is in steering state, and the centering cylinder is in the servo-actuated state; When vehicle was kept straight on, through centering control cock control centering cylinder, wheel was in the craspedodrome state, and steering actuation cylinder is in the servo-actuated state.The follow-up control mode of this patent DE10245618 (A1) mainly is to move through the centering of two five-way electromagnetic valve control centering cylinders and with the servo-actuated of steering actuation cylinder; But the latch performance of two five-way electromagnetic valves is undesirable; Influence the Volumetric efficiency in the steering procedure; And because two five-way electromagnetic valves are uncommon Hydraulic Elements, indirectly other Hydraulic Elements are had higher requirement, increased productive costs.
And in other prior art; Servo-actuated action through two solenoid control steering actuation cylinders and centering cylinder is also arranged; But this follow-up control mode must guarantee two electromagnetic valves simultaneously electric and dead electricity simultaneously, not so can cause wheel to grind tire, even safety misadventure occur; Therefore, in practical application, there is potential safety hazard.
How to solve in the prior art since centering cylinder and steering actuation cylinder turn to the follow-up system performance on the low side, cause existing the technical matters of potential safety hazard, be the problem that those skilled in the art need solution badly.
Summary of the invention
The present invention mainly solve since centering cylinder and steering actuation cylinder turn to the follow-up system performance on the low side; Cause existing the technical matters of potential safety hazard; A kind of engineering machinery vehicle, Vehicular turn following control system and Vehicular turn follow-up control method are provided, can have effectively solved the problems of the technologies described above.
For solving the problems of the technologies described above; The technical scheme that the present invention adopts is: a kind of Vehicular turn following control system is provided; Comprise control cock group, steering actuation cylinder and centering cylinder, this control cock group comprises servovalve, electromagnetic valve, hydraulic control one-way valve and pilot operated directional control valve.This servovalve is connected with this steering actuation cylinder, is used for when the wheel steering state, controlling this steering actuation cylinder and carries out power steering; This electromagnetic valve is connected with this centering cylinder, and the rod chamber and the rodless cavity that are used for when wheel craspedodrome state, controlling this centering cylinder all get into high-voltage oil liquid; This hydraulic control one-way valve comprises first hydraulic fluid port, second hydraulic fluid port and control port, and first hydraulic fluid port of this hydraulic control one-way valve is connected with this steering actuation cylinder, and second hydraulic fluid port of this hydraulic control one-way valve is connected with oil sump tank; This pilot operated directional control valve comprises control port and actuator port, and the control port of this pilot operated directional control valve is connected with hydraulic circuit between this electromagnetic valve and this centering cylinder, and the actuator port of this pilot operated directional control valve is connected with the control port of this hydraulic control one-way valve; Wherein, when wheel craspedodrome state, bidirectional hydraulic conducting between first hydraulic fluid port of this this hydraulic control one-way valve of pilot operated directional control valve control and second hydraulic fluid port.
Wherein, This hydraulic control one-way valve comprises first hydraulic control one-way valve and second hydraulic control one-way valve; This steering actuation cylinder comprises first steering actuation cylinder and second steering actuation cylinder; First hydraulic fluid port of this first hydraulic control one-way valve is connected with the rodless cavity of the rod chamber of this first steering actuation cylinder and this second steering actuation cylinder; First hydraulic fluid port of this second hydraulic control one-way valve is connected with the rodless cavity of the rod chamber of this second steering actuation cylinder and this first steering actuation cylinder, second hydraulic fluid port of this first hydraulic control one-way valve and the mutual hydraulic pressure conducting of second hydraulic fluid port of this second hydraulic control one-way valve.
Wherein, This servovalve comprises pressure hydraulic fluid port, return opening, first actuator port and second actuator port; First actuator port of this servovalve is connected with the rodless cavity of the rod chamber of this first steering actuation cylinder and this second steering actuation cylinder; Second actuator port of this servovalve is connected with the rodless cavity of the rod chamber of this second steering actuation cylinder and this first steering actuation cylinder, and the pressure hydraulic fluid port of this servovalve is connected with pressure oil-source, and the return opening of this servovalve is connected with oil sump tank; This electromagnetic valve comprises pressure hydraulic fluid port, return opening and actuator port; This actuator port is connected with this centering cylinder and is connected with the control port of this pilot operated directional control valve; The pressure hydraulic fluid port of this electromagnetic valve is connected with pressure oil-source, and the return opening of this electromagnetic valve is connected with oil sump tank.
Wherein, Between the node of the mutual hydraulic pressure conducting of second hydraulic fluid port of second hydraulic fluid port of this first hydraulic control one-way valve and this second hydraulic control one-way valve and oil sump tank, be provided with damping hole; This damping hole is used for current limliting when wheel craspedodrome state, makes to carry out the fluid complementation between this first steering actuation cylinder and this second steering actuation cylinder.
Wherein, this pilot operated directional control valve also comprises the return opening that is connected with oil sump tank.
Wherein, This wheel steering state comprises wheel left-hand rotation steering state and wheel right-hand rotation steering state: when this wheel left-hand rotation steering state; The first actuator port hydraulic pressure conducting of the pressure hydraulic fluid port of this servovalve and this servovalve; The second actuator port hydraulic pressure conducting of the return opening of this servovalve and this servovalve; The return opening hydraulic pressure conducting of the actuator port of this electromagnetic valve and this electromagnetic valve; The return opening hydraulic pressure conducting of the actuator port of this hydraulic directional control valve and this hydraulic directional control valve is broken off between first hydraulic fluid port of this first hydraulic control one-way valve and second hydraulic fluid port of this first hydraulic control one-way valve, breaks off between first hydraulic fluid port of this second hydraulic control one-way valve and second hydraulic fluid port of this second hydraulic control one-way valve; When this wheel right-hand rotation steering state; The second actuator port hydraulic pressure conducting of the pressure hydraulic fluid port of this servovalve and this servovalve; The first actuator port hydraulic pressure conducting of the return opening of this servovalve and this servovalve; The return opening hydraulic pressure conducting of the actuator port of this electromagnetic valve and this electromagnetic valve; The return opening hydraulic pressure conducting of the actuator port of this hydraulic directional control valve and this hydraulic directional control valve is broken off between first hydraulic fluid port of this first hydraulic control one-way valve and second hydraulic fluid port of this first hydraulic control one-way valve, breaks off between first hydraulic fluid port of this second hydraulic control one-way valve and second hydraulic fluid port of this second hydraulic control one-way valve; When this wheel craspedodrome state; The actuator port hydraulic pressure conducting of the pressure hydraulic fluid port of this electromagnetic valve and this electromagnetic valve; The actuator port hydraulic pressure conducting of the control port of this pilot operated directional control valve and this pilot operated directional control valve makes high-voltage oil liquid enter into the control port of this hydraulic control one-way valve; The second hydraulic fluid port hydraulic pressure conducting of first hydraulic fluid port of this first hydraulic control one-way valve and this first hydraulic control one-way valve; The second hydraulic fluid port hydraulic pressure conducting of first hydraulic fluid port of this second hydraulic control one-way valve and this second hydraulic control one-way valve; Second hydraulic fluid port of this first hydraulic control one-way valve and the mutual hydraulic pressure conducting of second hydraulic fluid port of this second hydraulic control one-way valve, the return opening hydraulic pressure conducting of the pressure hydraulic fluid port of this servovalve and this servovalve.
For solving the problems of the technologies described above, another technical scheme that the present invention adopts is: a kind of engineering machinery vehicle is provided, comprises above-mentioned Vehicular turn following control system.
For solving the problems of the technologies described above, another technical scheme that the present invention adopts is: a kind of Vehicular turn follow-up control method is provided, comprises step: the motoring condition of judging this vehicle; When determining when being in the wheel steering state, control electromagnetic valve all is communicated with the rod chamber of centering cylinder and rodless cavity with oil sump tank, and the control servovalve makes high-voltage oil liquid get into steering actuation cylinder; When determining when being in wheel craspedodrome state; This electromagnetic valve makes high-voltage oil liquid get into centering cylinder and pilot operated directional control valve simultaneously; Hydraulic pressure conducting between first hydraulic fluid port through this pilot operated directional control valve control hydraulic control one-way valve and second hydraulic fluid port makes conducting mutually between first steering actuation cylinder and second steering actuation cylinder of this steering actuation cylinder.
Wherein, This hydraulic control one-way valve comprises first hydraulic control one-way valve and second hydraulic control one-way valve; Hydraulic pressure conducting between first hydraulic fluid port that should be through this pilot operated directional control valve control hydraulic control one-way valve and second hydraulic fluid port; Make and comprise in the step of conducting mutually between first steering actuation cylinder and second steering actuation cylinder of this steering actuation cylinder: with hydraulic pressure conducting between second hydraulic fluid port of second hydraulic fluid port of this first hydraulic control one-way valve and second hydraulic control one-way valve, and the effect through damping hole makes and carries out the fluid complementation between this first steering actuation cylinder and this second steering actuation cylinder.
Wherein, this vehicle comprises first bridge, second bridge, third axle and the 4th bridge of arranging in regular turn, and the step of the motoring condition of this this vehicle of judgement comprises: the speed of a motor vehicle of judging this vehicle; When this speed of a motor vehicle is not more than the first pre-set velocity threshold value, make this first bridge, second bridge, third axle and the 4th bridge get into the wheel steering state; When this speed of a motor vehicle greater than this first pre-set velocity threshold value and when being not more than the second pre-set velocity threshold value, make this first bridge and second bridge get into wheel craspedodrome state, and make this third axle and the 4th bridge get into the wheel steering state; When this speed of a motor vehicle during, make this first bridge, second bridge, third axle and the 4th bridge get into wheel craspedodrome state greater than this second pre-set velocity threshold value.
The invention has the beneficial effects as follows: the situation that is different from prior art; The present invention is through solenoid control centering cylinder in the control cock group and the relation of following up between the steering actuation cylinder; Control first hydraulic fluid port and the relation of the hydraulic pressure conducting between second hydraulic fluid port of hydraulic control one-way valve through the actuator port of pilot operated directional control valve; Avoided in the prior art owing to adopt two electromagnetic valves can not be simultaneously caused potential safety hazard during electric and dead electricity; Also guaranteed the latch performance of hydraulic control one-way valve, thus improved centering cylinder and steering actuation cylinder turn to the follow-up system performance, reduced potential safety hazard.
Description of drawings
Fig. 1 is the wherein hydraulic principle structural representation of a bridge of Vehicular turn following control system of the present invention;
Fig. 2 is the enlarged diagram of the control cock group of the said Vehicular turn following control system of Fig. 1;
Fig. 3 A is first's connection structure scheme drawing of Vehicular turn following control system of the present invention;
Fig. 3 B is the second portion connection structure scheme drawing of the said Vehicular turn following control system of Fig. 3 A;
Fig. 4 is the schematic flow sheet of Vehicular turn follow-up control method one embodiment of the present invention; And
Fig. 5 is the schematic flow sheet of another embodiment of Vehicular turn follow-up control method of the present invention.
The specific embodiment
See also Fig. 1 and Fig. 2, Vehicular turn following control system of the present invention comprises control cock group 10, steering actuation cylinder 11, centering cylinder 12, pressure oil-source 13 and 14 and oil sump tank T and L.Wherein, P1 and P2 represent the hydraulic channel of pressure oil-source 13 and 14 respectively.
In the present embodiment, control cock group 10 comprises servovalve 20, hydraulic control one-way valve 21, pilot operated directional control valve 22, damping hole 23 and electromagnetic valve 24.
Please further consult Fig. 2, servovalve 20 is connected with steering actuation cylinder 11, is used for when the wheel steering state, controlling steering actuation cylinder 11 and carries out power steering.Servovalve 20 has pressure hydraulic fluid port A1, return opening A2, the first actuator port A3 and the second actuator port A4; Wherein, Pressure hydraulic fluid port A1 is connected with pressure oil-source, and return opening A2 is connected with oil sump tank T, and the first actuator port A3 is connected with steering actuation cylinder 11 with the second actuator port A4.In the present embodiment, servovalve 20 adopts the structure of 3-position 4-way.
Hydraulic control one-way valve 21 comprises that first hydraulic control one-way valve 211 and second hydraulic control one-way valve, 212 first hydraulic control one-way valves 211 comprise the first hydraulic fluid port B1, control port B2 and the second hydraulic fluid port B3; In like manner; Second hydraulic control one-way valve 212 comprises the first hydraulic fluid port b1, control port b2 and the second hydraulic fluid port b3; Wherein, The first hydraulic fluid port B1 of hydraulic control one-way valve 21, b1 all are connected with steering actuation cylinder 11, and the second hydraulic fluid port B3 of hydraulic control one-way valve 21, b3 all are connected with oil sump tank T, and the control port B2 of hydraulic control one-way valve 21, b2 all are connected with pilot operated directional control valve 22.It should be noted that hydraulic pressure conducting each other between the second hydraulic fluid port b3 of the second hydraulic fluid port B3 and second hydraulic control one-way valve 212 of first hydraulic control one-way valve 211, complementary to realize two fluid between the hydraulic path.In a further embodiment, if steering actuation cylinder 11 is one, then hydraulic control one-way valve 21 can correspondence adopt one mode, does not limit at this.
Pilot operated directional control valve 22 comprises control port C1, actuator port C2 and return opening C3.Wherein, the control port C1 of pilot operated directional control valve 22 is connected with hydraulic circuit between electromagnetic valve 24 and the centering cylinder 12, and its high-voltage oil liquid is taken from the hydraulic circuit between electromagnetic valve 24 and the centering cylinder 12; As previously mentioned, the actuator port C2 of pilot operated directional control valve 22 is connected with control port B2, the b2 of hydraulic control one-way valve 21; In order to reduce the close Effect on Performance of back pressure to hydraulic control one-way valve 21, the return opening C3 of pilot operated directional control valve 22 is connected with oil sump tank L.
Damping hole 23 is located between the node 213 and oil sump tank T of the mutual hydraulic pressure conducting of the second hydraulic fluid port b3 of the second hydraulic fluid port B3 and second hydraulic control one-way valve 212 of first hydraulic control one-way valve 211, and is as shown in Figure 2.
Electromagnetic valve 24 comprises pressure hydraulic fluid port D1, return opening D2 and actuator port D3; Pressure hydraulic fluid port D1 is connected with pressure oil-source; The return opening D2 of electromagnetic valve 24 is connected with oil sump tank T, and actuator port D3 is connected with centering cylinder 12 and is connected with the control port C1 of pilot operated directional control valve 22.
Steering actuation cylinder 11 comprises first steering actuation cylinder 111 and second steering actuation cylinder 112 that is arranged at same bridge.As previously mentioned; The first hydraulic fluid port B1 of first hydraulic control one-way valve 211 is connected with the rodless cavity of the rod chamber of first steering actuation cylinder 111 and second steering actuation cylinder 112, and the first hydraulic fluid port b1 of second hydraulic control one-way valve 212 is connected with the rodless cavity of the rod chamber of second steering actuation cylinder 112 and first steering actuation cylinder 111.
The rod chamber of centering cylinder 12 is connected with the actuator port D3 of electromagnetic valve 24 through node P with rodless cavity simultaneously, and its return opening R then is connected with oil sump tank T.
Pressure oil-source 13,14 is for providing the controllable capacity pump of high-voltage oil liquid; Comprise radial plunger pump and axial plunger pump etc.; In other embodiments, pressure oil-source 13,14 is shared pressure oil-sources, and oil sump tank T, L also can adopt one mode; In the scope that present technique field personnel understand, do not give unnecessary details.
Below in conjunction with its principle of work so that Vehicular turn following control system of the present invention is explained in detail.The motoring condition of this vehicle comprises wheel craspedodrome state and wheel steering state, and this wheel steering state comprises wheel left-hand rotation steering state and wheel right-hand rotation steering state.
In the present embodiment, when this wheel left-hand rotation steering state, servovalve 20 is used to control steering actuation cylinder 11 and carries out power steering.The first actuator port A3 hydraulic pressure conducting of the pressure hydraulic fluid port A1 of servovalve 20 and servovalve 20, the second actuator port A4 hydraulic pressure conducting of the return opening A2 of servovalve 20 and servovalve 20; And the return opening D2 hydraulic pressure conducting of the actuator port D3 of electromagnetic valve 24 and electromagnetic valve 24; Simultaneously; The return opening C3 hydraulic pressure conducting of the actuator port C2 of hydraulic directional control valve 22 and hydraulic directional control valve 22; Break off between first hydraulic fluid port B1 of first hydraulic control one-way valve 211 and the second hydraulic fluid port B3 of first hydraulic control one-way valve 211, break off between first hydraulic fluid port b1 of second hydraulic control one-way valve 212 and the second hydraulic fluid port b3 of second hydraulic control one-way valve 212.High-voltage oil liquid enters into the rodless cavity of rod chamber and second steering actuation cylinder 112 of first steering actuation cylinder 111 carrying out power-assisted, and centering cylinder 12 is in the servo-actuated state, and this vehicle turns to.
In like manner, when this wheel right-hand rotation steering state, the second actuator port A4 hydraulic pressure conducting of the pressure hydraulic fluid port A1 of servovalve 20 and servovalve 20, the first actuator port A3 hydraulic pressure conducting of the return opening A2 of servovalve 20 and servovalve 20; The return opening D2 hydraulic pressure conducting of the actuator port D3 of electromagnetic valve 24 and electromagnetic valve 24; The return opening C3 hydraulic pressure conducting of the actuator port C2 of hydraulic directional control valve 22 and hydraulic directional control valve 22; Break off between first hydraulic fluid port B1 of first hydraulic control one-way valve 211 and the second hydraulic fluid port B3 of first hydraulic control one-way valve 211, break off between first hydraulic fluid port b1 of second hydraulic control one-way valve 212 and the second hydraulic fluid port b3 of second hydraulic control one-way valve 212.High-voltage oil liquid enters into the rodless cavity of rod chamber and first steering actuation cylinder 111 of second steering actuation cylinder 112 carrying out power-assisted, and centering cylinder 12 is in the servo-actuated state, and this vehicle is turned right and turned to.
And when this wheel craspedodrome state, the rod chamber and the rodless cavity of solenoid control centering cylinder 12 all get into high-voltage oil liquid.The actuator port D3 hydraulic pressure conducting of the pressure hydraulic fluid port D1 of electromagnetic valve 24 and electromagnetic valve 24; The actuator port C2 hydraulic pressure conducting of the control port C1 of pilot operated directional control valve 22 and pilot operated directional control valve 22 makes high-voltage oil liquid enter into control port B2, the b2 of hydraulic control one-way valve 21; The second hydraulic fluid port B3 hydraulic pressure conducting of the first hydraulic fluid port B1 of first hydraulic control one-way valve 211 and first hydraulic control one-way valve 211; The second hydraulic fluid port b3 hydraulic pressure conducting of the first hydraulic fluid port b1 of second hydraulic control one-way valve 212 and second hydraulic control one-way valve 212; Simultaneously; The mutual hydraulic pressure conducting of the second hydraulic fluid port b3 of the second hydraulic fluid port B3 of first hydraulic control one-way valve 211 and second hydraulic control one-way valve 212, through the effect of damping hole 23, making wins carries out the fluid complementation between the steering actuation cylinder 111 and second steering actuation cylinder 112; The return opening A2 hydraulic pressure conducting of the pressure hydraulic fluid port A1 of servovalve 20 and servovalve 20.
Above-mentionedly describe for structure and principle of work the wherein bridge of Vehicular turn following control system of the present invention; Please further consult Fig. 3 A and Fig. 3 B; In the embodiment of the invention; This Vehicular turn following control system comprises controller (figure do not show), first bridge 31 and cooresponding first electromagnetic valve 301 thereof, second bridge 32 and cooresponding second electromagnetic valve 302, third axle 33 and cooresponding the 3rd electromagnetic valve 303 and the 4th bridge 34 and cooresponding the 4th electromagnetic valve 304 thereof, certainly, and in other embodiments; Can comprise the 5th bridge or more, not give unnecessary details at this.
The motoring condition of this vehicle is embodied on the speed of a motor vehicle n of vector, for example size.The working process of the Vehicular turn following control system of these many bridges is following.
When this speed of a motor vehicle n is not more than the first pre-set velocity threshold value n1, make this first bridge 31, second bridge 32, third axle 33 and the 4th bridge 34 get into the wheel steering states; At this moment, first electromagnetic valve 301, second electromagnetic valve 302, the 3rd electromagnetic valve 303 and the 4th electromagnetic valve 304 all get electric, make the centering cylinder be in the servo-actuated state.
When this speed of a motor vehicle n greater than this first pre-set velocity threshold value n1 and when being not more than the second pre-set velocity threshold value n2, make this first bridge 31 and second bridge 32 get into wheel craspedodrome states, and make this third axle 33 and the 4th bridge 34 entering wheel steering states; Accordingly, first electromagnetic valve 301 and second electromagnetic valve, 302 dead electricity, its cooresponding steering actuation cylinder is in the servo-actuated state, and the 3rd electromagnetic valve 303 and the 4th electromagnetic valve 304 must be electric, its cooresponding centering cylinder is in the servo-actuated state.
As this speed of a motor vehicle n during greater than this second pre-set velocity threshold value n2; Make this first bridge 31, second bridge 32, third axle 33 and the 4th bridge 34 get into wheel craspedodrome states; At this moment; First electromagnetic valve 301, second electromagnetic valve 302, the 3rd electromagnetic valve 303 and the 4th electromagnetic valve 304 be dead electricity all, makes steering actuation cylinder all be in the servo-actuated state.
Wherein, This first pre-set velocity threshold value n1 and this second pre-set velocity threshold value n2 can be according to the kinds of vehicle and corresponding the setting; In addition, for the hoisting crane of large-tonnage or super-tonnage, first to fourth bridge also can correspondingly increase or directly replace with the 5th bridge, the 6th bridge, the 7th bridge and/or the 8th bridge even more; In the scope that present technique field personnel understand, do not give unnecessary details.
The embodiment of the invention adopt electromagnetic valve 24 control centering cylinders 12 in the servo-actuated state; Simultaneously with the guide master cock of electromagnetic valve 24 as hydraulic control one-way valve 21; Open and close with control hydraulic control one-way valve 21 realize the lag function of steering actuation cylinder 11 and the fast-response in the steering procedure; In addition, guarantee the quick lock function and the failure-free latch functions of hydraulic control one-way valve 21, realize the quick lag function of steering actuation cylinders 11 simultaneously through damping hole 23 through pilot operated directional control valve 22.The present invention avoided effectively in the prior art owing to adopt two electromagnetic valves can not be simultaneously caused potential safety hazard during electric and dead electricity; Also guaranteed the latch performance of hydraulic control one-way valve 21; Thereby that has improved centering cylinder 12 and steering actuation cylinder 11 turns to the follow-up system performance, has reduced potential safety hazard.In addition, present embodiment all adopts Hydraulic Elements commonly used, has controlled productive costs effectively.
See also Fig. 4, in the present embodiment, Vehicular turn follow-up control method of the present invention comprises:
Step S401 judges the motoring condition of this vehicle, if when being in the wheel steering state, and execution in step S402, if when being in wheel craspedodrome state, execution in step 403.As previously mentioned, control the centering cylinder of each bridge in the Vehicular turn following control system of many bridges and the servo-actuated state of steering actuation cylinder through controller.
Step S402, control electromagnetic valve all is communicated with the rod chamber of centering cylinder and rodless cavity with oil sump tank, and the control servovalve makes high-voltage oil liquid get into steering actuation cylinder.
Step S403; This electromagnetic valve makes high-voltage oil liquid get into centering cylinder and pilot operated directional control valve simultaneously; Hydraulic pressure conducting between first hydraulic fluid port through this pilot operated directional control valve control hydraulic control one-way valve and second hydraulic fluid port makes conducting mutually between first steering actuation cylinder and second steering actuation cylinder of this steering actuation cylinder.
Its concrete principle of work of Vehicular turn follow-up control method of the present invention sees also the description of front to the Vehicular turn following control system, in the scope that present technique field personnel understand, does not give unnecessary details.
See also Fig. 5, in the present embodiment, Vehicular turn follow-up control method of the present invention comprises:
Step S500, beginning.
Step S501 judges the speed of a motor vehicle n of this vehicle, when this speed of a motor vehicle n≤first pre-set velocity threshold value n1, and execution in step S502, when this speed of a motor vehicle n＞second pre-set velocity threshold value n2, execution in step S503, when n1＜n≤n2, execution in step S504.
Step S502 makes this first bridge, second bridge, third axle and the 4th bridge get into the wheel steering state.
Step S503 makes this first bridge, second bridge, third axle and the 4th bridge get into wheel craspedodrome state.
Step S504 makes this first bridge and second bridge get into wheel craspedodrome state, i.e. first bridge and the second bridge execution in step S506, and make this third axle and the 4th bridge get into wheel steering state, i.e. third axle and the 4th bridge execution in step S505.
Step S505, control electromagnetic valve all is communicated with the rod chamber of centering cylinder and rodless cavity with oil sump tank, and the control servovalve makes high-voltage oil liquid get into steering actuation cylinder.
Step S506; This electromagnetic valve makes high-voltage oil liquid get into centering cylinder and pilot operated directional control valve simultaneously; Hydraulic pressure conducting between first hydraulic fluid port through this pilot operated directional control valve control hydraulic control one-way valve and second hydraulic fluid port makes conducting mutually between first steering actuation cylinder and second steering actuation cylinder of this steering actuation cylinder.
Wherein, This first pre-set velocity threshold value n1 and this second pre-set velocity threshold value n2 can be according to the kinds of vehicle and corresponding the setting; And in other embodiments, for the hoisting crane of large-tonnage or super-tonnage, first to fourth bridge also can correspondingly increase or directly replace with the 5th bridge, the 6th bridge, the 7th bridge and/or the 8th bridge even more; In the scope that present technique field personnel understand, do not give unnecessary details.
Its concrete principle of work of Vehicular turn follow-up control method of the present invention sees also the description of front to the Vehicular turn following control system, in the scope that present technique field personnel understand, does not give unnecessary details.
Vehicular turn follow-up control method of the present invention avoided effectively in the prior art owing to adopt two electromagnetic valves can not be simultaneously caused potential safety hazard during electric and dead electricity; Also guaranteed the latch performance of hydraulic control one-way valve; Thereby that has improved centering cylinder and steering actuation cylinder turns to the follow-up system performance, has reduced potential safety hazard.
The present invention also provides a kind of engineering machinery vehicle; Comprise the above-mentioned Vehicular turn follow-up control system method of unifying; Can realize small-sized, medium-sized and large-scale engineering machinery vehicle is controlled through this Vehicular turn follow-up control system method of unifying, such as runabout cranes such as the wheel crane of large-tonnage, super-tonnage automobile or full ground hoisting crane etc., certainly; Can not limit at this for general engineering machinery vehicle yet.What the present invention can improve centering cylinder and steering actuation cylinder effectively turns to the follow-up system performance, has reduced potential safety hazard.
Engineering machinery vehicle of the present invention, Vehicular turn follow-up control system unify that method has been avoided in the prior art effectively owing to adopt two electromagnetic valves can not be simultaneously caused potential safety hazard during electric and dead electricity; Also guaranteed the latch performance of hydraulic control one-way valve; Thereby that has improved centering cylinder and steering actuation cylinder turns to the follow-up system performance, has reduced potential safety hazard.
The above is merely embodiments of the invention; Be not so limit claim of the present invention; Every equivalent structure or equivalent flow process conversion that utilizes specification sheets of the present invention and accompanying drawing content to be done; Or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (10)
1. a Vehicular turn following control system is characterized in that, comprises control cock group, steering actuation cylinder and centering cylinder, and said control cock group comprises:
Servovalve, said servovalve is connected with said steering actuation cylinder, is used for when the wheel steering state, controlling said steering actuation cylinder and carries out power steering;
Electromagnetic valve, said electromagnetic valve is connected with said centering cylinder, and the rod chamber and the rodless cavity that are used for when wheel craspedodrome state, controlling said centering cylinder all get into high-voltage oil liquid;
Hydraulic control one-way valve, said hydraulic control one-way valve comprises first hydraulic fluid port, second hydraulic fluid port and control port, and first hydraulic fluid port of said hydraulic control one-way valve is connected with said steering actuation cylinder, and second hydraulic fluid port of said hydraulic control one-way valve is connected with oil sump tank;
Pilot operated directional control valve; Said pilot operated directional control valve comprises control port and actuator port; The control port of said pilot operated directional control valve is connected with hydraulic circuit between said electromagnetic valve and the said centering cylinder, and the actuator port of said pilot operated directional control valve is connected with the control port of said hydraulic control one-way valve;
Wherein, when wheel craspedodrome state, said pilot operated directional control valve is controlled bidirectional hydraulic conducting between first hydraulic fluid port and second hydraulic fluid port of said hydraulic control one-way valve.
2. system according to claim 1; It is characterized in that; Said hydraulic control one-way valve comprises first hydraulic control one-way valve and second hydraulic control one-way valve; Said steering actuation cylinder comprises first steering actuation cylinder and second steering actuation cylinder; First hydraulic fluid port of said first hydraulic control one-way valve is connected with the rodless cavity of the rod chamber of said first steering actuation cylinder and said second steering actuation cylinder, and first hydraulic fluid port of said second hydraulic control one-way valve is connected with the rodless cavity of the rod chamber of said second steering actuation cylinder and said first steering actuation cylinder, second hydraulic fluid port of said first hydraulic control one-way valve and the mutual hydraulic pressure conducting of second hydraulic fluid port of said second hydraulic control one-way valve.
3. system according to claim 2; It is characterized in that; Said servovalve comprises pressure hydraulic fluid port, return opening, first actuator port and second actuator port; First actuator port of said servovalve is connected with the rodless cavity of the rod chamber of said first steering actuation cylinder and said second steering actuation cylinder; Second actuator port of said servovalve is connected with the rodless cavity of the rod chamber of said second steering actuation cylinder and said first steering actuation cylinder, and the pressure hydraulic fluid port of said servovalve is connected with pressure oil-source, and the return opening of said servovalve is connected with oil sump tank;
Said electromagnetic valve comprises pressure hydraulic fluid port, return opening and actuator port; Said actuator port is connected with said centering cylinder and is connected with the control port of said pilot operated directional control valve; The pressure hydraulic fluid port of said electromagnetic valve is connected with pressure oil-source, and the return opening of said electromagnetic valve is connected with oil sump tank.
4. system according to claim 3; It is characterized in that; Between the node of the mutual hydraulic pressure conducting of second hydraulic fluid port of second hydraulic fluid port of said first hydraulic control one-way valve and said second hydraulic control one-way valve and oil sump tank, be provided with damping hole; Said damping hole is used for current limliting when wheel craspedodrome state, makes to carry out the fluid complementation between said first steering actuation cylinder and said second steering actuation cylinder.
5. system according to claim 4 is characterized in that said pilot operated directional control valve also comprises the return opening that is connected with oil sump tank.
6. system according to claim 5 is characterized in that, said wheel steering state comprises wheel left-hand rotation steering state and wheel right-hand rotation steering state:
When said wheel left-hand rotation steering state; The first actuator port hydraulic pressure conducting of the pressure hydraulic fluid port of said servovalve and said servovalve; The second actuator port hydraulic pressure conducting of the return opening of said servovalve and said servovalve; The return opening hydraulic pressure conducting of the actuator port of said electromagnetic valve and said electromagnetic valve; The return opening hydraulic pressure conducting of the actuator port of said hydraulic directional control valve and said hydraulic directional control valve is broken off between first hydraulic fluid port of said first hydraulic control one-way valve and second hydraulic fluid port of said first hydraulic control one-way valve, breaks off between first hydraulic fluid port of said second hydraulic control one-way valve and second hydraulic fluid port of said second hydraulic control one-way valve;
When said wheel right-hand rotation steering state; The second actuator port hydraulic pressure conducting of the pressure hydraulic fluid port of said servovalve and said servovalve; The first actuator port hydraulic pressure conducting of the return opening of said servovalve and said servovalve; The return opening hydraulic pressure conducting of the actuator port of said electromagnetic valve and said electromagnetic valve; The return opening hydraulic pressure conducting of the actuator port of said hydraulic directional control valve and said hydraulic directional control valve is broken off between first hydraulic fluid port of said first hydraulic control one-way valve and second hydraulic fluid port of said first hydraulic control one-way valve, breaks off between first hydraulic fluid port of said second hydraulic control one-way valve and second hydraulic fluid port of said second hydraulic control one-way valve;
When said wheel craspedodrome state; The actuator port hydraulic pressure conducting of the pressure hydraulic fluid port of said electromagnetic valve and said electromagnetic valve; The actuator port hydraulic pressure conducting of the control port of said pilot operated directional control valve and said pilot operated directional control valve makes high-voltage oil liquid enter into the control port of said hydraulic control one-way valve; The second hydraulic fluid port hydraulic pressure conducting of first hydraulic fluid port of said first hydraulic control one-way valve and said first hydraulic control one-way valve; The second hydraulic fluid port hydraulic pressure conducting of first hydraulic fluid port of said second hydraulic control one-way valve and said second hydraulic control one-way valve; Second hydraulic fluid port of said first hydraulic control one-way valve and the mutual hydraulic pressure conducting of second hydraulic fluid port of said second hydraulic control one-way valve, the return opening hydraulic pressure conducting of the pressure hydraulic fluid port of said servovalve and said servovalve.
7. an engineering machinery vehicle is characterized in that, comprises according to each described Vehicular turn following control system of claim 1～6.
8. a Vehicular turn follow-up control method is characterized in that, comprising:
Judge the motoring condition of said vehicle;
When determining when being in the wheel steering state, control electromagnetic valve all is communicated with the rod chamber of centering cylinder and rodless cavity with oil sump tank, and the control servovalve makes high-voltage oil liquid get into steering actuation cylinder;
When determining when being in wheel craspedodrome state; Said electromagnetic valve makes high-voltage oil liquid get into centering cylinder and pilot operated directional control valve simultaneously; Hydraulic pressure conducting between first hydraulic fluid port through said pilot operated directional control valve control hydraulic control one-way valve and second hydraulic fluid port makes conducting mutually between first steering actuation cylinder and second steering actuation cylinder of said steering actuation cylinder.
9. method according to claim 8; It is characterized in that; Said hydraulic control one-way valve comprises first hydraulic control one-way valve and second hydraulic control one-way valve; Hydraulic pressure conducting between said first hydraulic fluid port and second hydraulic fluid port through said pilot operated directional control valve control hydraulic control one-way valve makes to comprise in the step of conducting mutually between first steering actuation cylinder and second steering actuation cylinder of said steering actuation cylinder:
With hydraulic pressure conducting between second hydraulic fluid port of second hydraulic fluid port of said first hydraulic control one-way valve and second hydraulic control one-way valve, and the effect through damping hole makes and carries out the fluid complementation between said first steering actuation cylinder and said second steering actuation cylinder.
10. according to Claim 8 or 9 described methods, it is characterized in that said vehicle comprises first bridge, second bridge, third axle and the 4th bridge of arranging in regular turn at least, the step of the motoring condition of the said vehicle of said judgement comprises:
Judge the speed of a motor vehicle of said vehicle;
When the said speed of a motor vehicle is not more than the first pre-set velocity threshold value, make said first bridge, second bridge, third axle and the 4th bridge get into the wheel steering state;
When the said speed of a motor vehicle greater than the said first pre-set velocity threshold value and when being not more than the second pre-set velocity threshold value, make said first bridge and second bridge get into wheel craspedodrome state, and make said third axle and the 4th bridge get into the wheel steering state;
When the said speed of a motor vehicle during, make said first bridge, second bridge, third axle and the 4th bridge get into wheel craspedodrome state greater than the said second pre-set velocity threshold value.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110433026.1A CN102530064B (en) | 2011-12-21 | 2011-12-21 | Engineering mechanical vehicle, vehicle steering follow-up control system and method |
| PCT/CN2012/082153 WO2013091424A1 (en) | 2011-12-21 | 2012-09-27 | Engineering mechanical vehicle, and vehicle steering following control system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110433026.1A CN102530064B (en) | 2011-12-21 | 2011-12-21 | Engineering mechanical vehicle, vehicle steering follow-up control system and method |
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| CN102530064A true CN102530064A (en) | 2012-07-04 |
| CN102530064B CN102530064B (en) | 2014-02-26 |
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| CN201110433026.1A Active CN102530064B (en) | 2011-12-21 | 2011-12-21 | Engineering mechanical vehicle, vehicle steering follow-up control system and method |
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| WO (1) | WO2013091424A1 (en) |
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| CN102862600A (en) * | 2012-09-27 | 2013-01-09 | 中联重科股份有限公司 | Vehicle centering control system and vehicle |
| CN102951198A (en) * | 2012-11-14 | 2013-03-06 | 三一重工股份有限公司 | Vehicle and hydraulic steering driving system |
| WO2013091424A1 (en) * | 2011-12-21 | 2013-06-27 | 中联重科股份有限公司 | Engineering mechanical vehicle, and vehicle steering following control system and method |
| CN110304138A (en) * | 2019-07-15 | 2019-10-08 | 徐州重型机械有限公司 | Vehicle hydraulic control steering system and control method |
| CN111874092A (en) * | 2019-04-22 | 2020-11-03 | 中国北方车辆研究所 | Steering return locking mechanism assembly operating system |
| CN111976829A (en) * | 2020-08-27 | 2020-11-24 | 徐工集团工程机械有限公司 | Full-hydraulic steering vehicle and steering method of full-hydraulic steering vehicle |
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| WO2013091424A1 (en) * | 2011-12-21 | 2013-06-27 | 中联重科股份有限公司 | Engineering mechanical vehicle, and vehicle steering following control system and method |
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| CN111874092A (en) * | 2019-04-22 | 2020-11-03 | 中国北方车辆研究所 | Steering return locking mechanism assembly operating system |
| CN111891213A (en) * | 2019-04-22 | 2020-11-06 | 中国北方车辆研究所 | Method and system for controlling return locking mechanism of rear axle steering |
| CN110304138A (en) * | 2019-07-15 | 2019-10-08 | 徐州重型机械有限公司 | Vehicle hydraulic control steering system and control method |
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| CN111976829A (en) * | 2020-08-27 | 2020-11-24 | 徐工集团工程机械有限公司 | Full-hydraulic steering vehicle and steering method of full-hydraulic steering vehicle |
| CN111976829B (en) * | 2020-08-27 | 2022-04-05 | 徐工集团工程机械有限公司 | Full-hydraulic steering vehicle and steering method of full-hydraulic steering vehicle |
| CN112623024A (en) * | 2020-12-30 | 2021-04-09 | 徐州徐工挖掘机械有限公司 | Steering system and engineering vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102530064B (en) | 2014-02-26 |
| WO2013091424A1 (en) | 2013-06-27 |
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