CN102530064B - Engineering mechanical vehicle, vehicle steering following control system and vehicle steering following control method - Google Patents
Engineering mechanical vehicle, vehicle steering following control system and vehicle steering following control method Download PDFInfo
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- CN102530064B CN102530064B CN201110433026.1A CN201110433026A CN102530064B CN 102530064 B CN102530064 B CN 102530064B CN 201110433026 A CN201110433026 A CN 201110433026A CN 102530064 B CN102530064 B CN 102530064B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
- B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
Abstract
The invention discloses an engineering mechanical vehicle, a vehicle steering following control system and a vehicle steering following control method. The system comprises a control valve group, a steering assistance cylinder and a centering cylinder. The control valve group comprises a servo valve, a solenoid valve, a hydraulic control one-way valve and a hydraulic control reversing valve. The servo valve is connected with the steering assistance cylinder, and the solenoid 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, the first oil port of the hydraulic control one-way valve is connected with the steering assistance cylinder, and the second oil port of the hydraulic control one-way valve is connected with an oil returning 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 circuit arranged between the solenoid 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 engineering mechanical vehicle, the vehicle steering following control system and the vehicle steering following control method improve fast response of the steering assistance cylinder in the following and steering processes and guarantee fast lockout functions of the hydraulic control one-way valve simultaneously.
Description
Technical field
The present invention relates to 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 prior art, be used for changing direction or keep the device of the actions such as direction running to be called wheel steering system (steering system).The function of wheel steering system is exactly according to the operation of chaufeur, to control the travel direction of vehicle.Wheel steering system is most important to the driving safety of vehicle, so the part of wheel steering system is all called security personnel's part.
When Vehicular turn, in order to resist cornering resistance, with allow chaufeur like a cork to vehicle particularly full size vehicle operate, the general mode that adopts servo-steering (power steering), comprise hydraulic booster and electric boosted, wherein, the size of power-assisted is not only relevant with steering angle, also relevant to the speed of a motor vehicle.Servo-steering obtains more simple and light by driving variable, and makes vehicle reaction quicker, has improved to a certain extent safety.
Hydraulic booster is modal a kind of power-assisted mode, because technology maturation is reliable, and also with low cost, be able to extensively be 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.According to the difference of liquid stream mode in system, can be divided into again gerotor type hydraulic booster and permanent current formula hydraulic booster.The feature of gerotor type hydraulic booster system is no matter bearing circle keeps static or rotating in center position or steering position, bearing circle, and the fluid in system pipeline always keeps high pressure conditions; Although and the power steerig pump of permanent current formula hydraulic steering power-assisted system is worked all the time, when hydraulic booster system is not worked, oil pump is in idling conditions, the load of pipeline is less than gerotor type, and present most of hydraulic steering power-assisted systems all adopt permanent current formula.
In the hydraulic power-assist steering system of mentioning at patent DE10245618 (A1), comprise steering actuation cylinder, steering control valve, centralizing cylinder and centering control cock.During Vehicular turn, control steering actuation cylinder carry out power-assisted by steering control valve, wheel is in steering state, and centralizing cylinder is in servo-actuated state; When vehicle is kept straight on, by centering control cock, control centralizing cylinder, wheel is in craspedodrome state, and steering actuation cylinder is in servo-actuated state.The servo-actuated mode of this patent DE10245618 (A1) be mainly by two five-way electromagnetic valves control centralizing cylinders centering and and the servo-actuated action of steering actuation cylinder, but the latch performance of two five-way electromagnetic valves is undesirable, affect the Volumetric efficiency in 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, also have by the servo-actuated action of two solenoid control steering actuation cylinders and centralizing cylinder, but this servo-actuated mode must guarantee two electromagnetic valves simultaneously electric and while dead electricity, not so can cause wheel mill tire, even there is safety misadventure, therefore, there is in actual applications potential safety hazard.
How to solve in prior art due to centralizing cylinder and steering actuation cylinder turn to 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 solves and turns to follow-up system performance on the low side due to centralizing cylinder and steering actuation cylinder, 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 centralizing 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, for controlling this steering actuation cylinder when the wheel steering state, carries out power steering; This electromagnetic valve is connected with this centralizing cylinder, for controlling rod chamber and the rodless cavity of this centralizing cylinder when the wheel craspedodrome state, all enters high-voltage oil liquid; This hydraulic control one-way valve comprises the first hydraulic fluid port, the second hydraulic fluid port and control port, and the first hydraulic fluid port of this hydraulic control one-way valve is connected with this steering actuation cylinder, and the 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 the hydraulic circuit between this electromagnetic valve and this centralizing 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, this pilot operated directional control valve is controlled bidirectional hydraulic conducting between the first hydraulic fluid port of this hydraulic control one-way valve and the second hydraulic fluid port.
Wherein, this hydraulic control one-way valve comprises the first hydraulic control one-way valve and the second hydraulic control one-way valve, this steering actuation cylinder comprises the first steering actuation cylinder and the second steering actuation cylinder, the first hydraulic fluid port of this first hydraulic control one-way valve is connected with the rodless cavity of this second steering actuation cylinder with the rod chamber of this first steering actuation cylinder, the first hydraulic fluid port of this second hydraulic control one-way valve is connected with the rodless cavity of this first steering actuation cylinder with the rod chamber of this second steering actuation cylinder, the mutual hydraulic pressure conducting of the second hydraulic fluid port of the second hydraulic fluid port of this first hydraulic control one-way valve and this second hydraulic control one-way valve.
Wherein, this servovalve comprises pressure hydraulic fluid port, return opening, the first actuator port and the second actuator port, the first actuator port of this servovalve is connected with the rodless cavity of this second steering actuation cylinder with the rod chamber of this first steering actuation cylinder, the second actuator port of this servovalve is connected with the rodless cavity of this first steering actuation cylinder with the rod chamber of this second steering actuation cylinder, 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 centralizing 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 second hydraulic fluid port of this first hydraulic control one-way valve and the mutual hydraulic pressure conducting of the second hydraulic fluid port of this second hydraulic control one-way valve and oil sump tank, be provided with damping hole, this damping hole, for current limliting when wheel craspedodrome state, makes to carry out 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 being 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, between the first hydraulic fluid port of this first hydraulic control one-way valve and the second hydraulic fluid port of this first hydraulic control one-way valve, disconnect, between the first hydraulic fluid port of this second hydraulic control one-way valve and the second hydraulic fluid port of this second hydraulic control one-way valve, disconnect, 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, between the first hydraulic fluid port of this first hydraulic control one-way valve and the second hydraulic fluid port of this first hydraulic control one-way valve, disconnect, between the first hydraulic fluid port of this second hydraulic control one-way valve and the second hydraulic fluid port of this second hydraulic control one-way valve, disconnect, 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 the 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 the first hydraulic fluid port of this second hydraulic control one-way valve and this second hydraulic control one-way valve, the mutual hydraulic pressure conducting of the second hydraulic fluid port of the second hydraulic fluid port of this first hydraulic control one-way valve and 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 solution used in the present invention 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 solution used in the present invention is: a kind of Vehicular turn follow-up control method is provided, comprises step: the motoring condition that judges this vehicle; When determining in wheel steering state, control electromagnetic valve the rod chamber of centralizing cylinder and rodless cavity are all communicated with oil sump tank, control servovalve and make high-voltage oil liquid enter steering actuation cylinder; When determining in wheel craspedodrome state, this electromagnetic valve makes high-voltage oil liquid enter centralizing cylinder and pilot operated directional control valve simultaneously, by this pilot operated directional control valve, control hydraulic pressure conducting between the first hydraulic fluid port of hydraulic control one-way valve and the second hydraulic fluid port, make conducting mutually between the first steering actuation cylinder of this steering actuation cylinder and the second steering actuation cylinder.
Wherein, this hydraulic control one-way valve comprises the first hydraulic control one-way valve and the second hydraulic control one-way valve, hydraulic pressure conducting between this first hydraulic fluid port by this pilot operated directional control valve control hydraulic control one-way valve and the second hydraulic fluid port, make between the first steering actuation cylinder of this steering actuation cylinder and the second steering actuation cylinder the step of conducting mutually comprise: by hydraulic pressure conducting between the second hydraulic fluid port of this first hydraulic control one-way valve and the second hydraulic fluid port of the second hydraulic control one-way valve, and to make to carry out fluid complementation between this first steering actuation cylinder and this second steering actuation cylinder by the effect of damping hole.
Wherein, this vehicle comprises the first bridge, the second bridge, the 3rd bridge and the 4th bridge of sequentially arranging, and this step that judges the motoring condition of this vehicle comprises: the speed of a motor vehicle that judges this vehicle; When this speed of a motor vehicle is not more than the first pre-set velocity threshold value, make this first bridge, the second bridge, the 3rd bridge and the 4th bridge enter wheel steering state; When this speed of a motor vehicle is greater than this first pre-set velocity threshold value and is not more than the second pre-set velocity threshold value, make this first bridge and the second bridge enter wheel craspedodrome state, and make the 3rd bridge and the 4th bridge enter wheel steering state; When this speed of a motor vehicle is greater than this second pre-set velocity threshold value, make this first bridge, the second bridge, the 3rd bridge and the 4th bridge enter wheel craspedodrome state.
The invention has the beneficial effects as follows: the situation that is different from prior art, the present invention is by solenoid control centralizing cylinder in control cock group and the relation of following up between steering actuation cylinder, actuator port by pilot operated directional control valve is controlled the first hydraulic fluid port of hydraulic control one-way valve and the hydraulic pressure conducting relation between the second hydraulic fluid port, avoided in prior art owing to adopting two electromagnetic valves can not be simultaneously electric caused potential safety hazard during with dead electricity, also guaranteed the latch performance of hydraulic control one-way valve, thereby that has improved centralizing cylinder and steering actuation cylinder turns to follow-up system performance, reduced potential safety hazard.
Accompanying drawing explanation
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 Vehicular turn following control system described in Fig. 1;
Fig. 3 A is first's connection structure schematic diagram of Vehicular turn following control system of the present invention;
Fig. 3 B is the second portion connection structure schematic diagram of Vehicular turn following control system described in 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
Refer to Fig. 1 and Fig. 2, Vehicular turn following control system of the present invention comprises control cock group 10, steering actuation cylinder 11, centralizing cylinder 12, pressure oil-source 13 and 14 and oil sump tank T and L.Wherein, P1 and P2 represent respectively the hydraulic channel of pressure oil-source 13 and 14.
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, for controlling steering actuation cylinder 11 when the wheel steering state, 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 the first hydraulic control one-way valve 211 and the 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, the 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, the b1 of hydraulic control one-way valve 21 are all connected with steering actuation cylinder 11, the second hydraulic fluid port B3, the b3 of hydraulic control one-way valve 21 are all connected with oil sump tank T, and control port B2, the b2 of hydraulic control one-way valve 21 is all connected with pilot operated directional control valve 22.It should be noted that hydraulic pressure conducting mutually between the second hydraulic fluid port B3 of the first hydraulic control one-way valve 211 and the second hydraulic fluid port b3 of the second hydraulic control one-way valve 212, complementary to realize two fluid between hydraulic path.In a further embodiment, if steering actuation cylinder 11 is one, hydraulic control one-way valve 21 can correspondence adopt the mode of, in this no limit.
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 the hydraulic circuit between electromagnetic valve 24 and centralizing cylinder 12, and its high-voltage oil liquid is taken from the hydraulic circuit between electromagnetic valve 24 and centralizing cylinder 12; As previously mentioned, the actuator port C2 of pilot operated directional control valve 22 and control port B2, the b2 of hydraulic control one-way valve 21 are connected; In order to reduce the impact of closing performance of back pressure on hydraulic control one-way valve 21, the return opening C3 of pilot operated directional control valve 22 is connected with oil sump tank L.
Steering actuation cylinder 11 comprises the first steering actuation cylinder 111 and the second steering actuation cylinder 112 that is arranged at same bridge.As previously mentioned, the first hydraulic fluid port B1 of the first hydraulic control one-way valve 211 is connected with the rodless cavity of the second steering actuation cylinder 112 with the rod chamber of the first steering actuation cylinder 111, and the first hydraulic fluid port b1 of the second hydraulic control one-way valve 212 is connected with the rodless cavity of the first steering actuation cylinder 111 with the rod chamber of the second steering actuation cylinder 112.
The rod chamber of centralizing cylinder 12 is connected with the actuator port D3 of electromagnetic valve 24 by node P with rodless cavity simultaneously, and its return opening R 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 a pressure oil-source, and oil sump tank T, L also can adopt the mode of, in the scope of understanding the art personnel, do not repeat.
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 carries out power steering for controlling steering actuation cylinder 11.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, between the first hydraulic fluid port B1 of the first hydraulic control one-way valve 211 and the second hydraulic fluid port B3 of the first hydraulic control one-way valve 211, disconnect, between the first hydraulic fluid port b1 of the second hydraulic control one-way valve 212 and the second hydraulic fluid port b3 of the second hydraulic control one-way valve 212, disconnect.High-voltage oil liquid enters into the rod chamber of the first steering actuation cylinder 111 and the rodless cavity of the second steering actuation cylinder 112 to carry out power-assisted, and centralizing cylinder 12 is in 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; Between the first hydraulic fluid port B1 of the first hydraulic control one-way valve 211 and the second hydraulic fluid port B3 of the first hydraulic control one-way valve 211, disconnect, between the first hydraulic fluid port b1 of the second hydraulic control one-way valve 212 and the second hydraulic fluid port b3 of the second hydraulic control one-way valve 212, disconnect.High-voltage oil liquid enters into the rod chamber of the second steering actuation cylinder 112 and the rodless cavity of the first steering actuation cylinder 111 to carry out power-assisted, and centralizing cylinder 12 is in servo-actuated state, and this vehicle is turned right and turned to.
And when this wheel craspedodrome state, the rod chamber of solenoid control centralizing cylinder 12 and rodless cavity all enter 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 the first hydraulic control one-way valve 211 and the first hydraulic control one-way valve 211, the second hydraulic fluid port b3 hydraulic pressure conducting of the first hydraulic fluid port b1 of the second hydraulic control one-way valve 212 and the 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 the first hydraulic control one-way valve 211 and the second hydraulic control one-way valve 212, by the effect of damping hole 23, make to carry out fluid complementation between the first steering actuation cylinder 111 and the 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.
It is above-mentioned for structure and the principle of work of a wherein bridge of Vehicular turn following control system of the present invention are described, please further consult Fig. 3 A and Fig. 3 B, in the embodiment of the present invention, this Vehicular turn following control system comprises controller (not shown), the first bridge 31 and corresponding the first electromagnetic valve 301, the second bridge 32 and corresponding the second electromagnetic valve 302, the 3rd bridge 33 and corresponding the 3rd electromagnetic valve 303 and the 4th bridge 34 and the 4th corresponding electromagnetic valve 304 thereof thereof thereof thereof, certainly, in other embodiments, can comprise the 5th bridge or more, therefore not to repeat here.
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 as follows.
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, the second bridge 32, the 3rd bridge 33 and the 4th bridge 34 enter wheel steering state; Now, the first electromagnetic valve 301, the second electromagnetic valve 302, the 3rd electromagnetic valve 303 and the 4th electromagnetic valve 304 all obtain electric, make centralizing cylinder in servo-actuated state.
When this speed of a motor vehicle n is greater than this first pre-set velocity threshold value n1 and is not more than the second pre-set velocity threshold value n2, make this first bridge 31 and the second bridge 32 enter wheel craspedodrome state, and make the 3rd bridge 33 and the 4th bridge 34 enter wheel steering state; Accordingly, the first electromagnetic valve 301 and the second electromagnetic valve 302 dead electricity, its corresponding steering actuation cylinder is in servo-actuated state, and the 3rd electromagnetic valve 303 and the 4th electromagnetic valve 304 must be electric, its corresponding centralizing cylinder is in servo-actuated state.
When this speed of a motor vehicle n is greater than this second pre-set velocity threshold value n2, make this first bridge 31, the second bridge 32, the 3rd bridge 33 and the 4th bridge 34 enter wheel craspedodrome state, now, the first electromagnetic valve 301, the second electromagnetic valve 302, the 3rd electromagnetic valve 303 and the 4th electromagnetic valve 304 be dead electricity all, makes steering actuation cylinder all in servo-actuated state.
Wherein, this the 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 setting, in addition, for the hoisting crane of large-tonnage or super-tonnage, it is even more that 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, in the scope of understanding the art personnel, do not repeat.
The embodiment of the present invention adopt electromagnetic valve 24 control centralizing cylinders 12 to neutralizing servo-actuated state, pilot control switch using electromagnetic valve 24 as hydraulic control one-way valve 21 simultaneously, to control the open and close of hydraulic control one-way valve 21, realize the lag function of steering actuation cylinder 11 and the fast-response in steering procedure, in addition, by pilot operated directional control valve 22, guarantee quick lock function and the failure-free latch functions of hydraulic control one-way valve 21, by damping hole 23, realize the quick lag function of steering actuation cylinder 11 simultaneously.The present invention effectively avoided in prior art owing to adopting two electromagnetic valves can not be simultaneously electric caused potential safety hazard during with dead electricity, also guaranteed the latch performance of hydraulic control one-way valve 21, thereby that has improved centralizing cylinder 12 and steering actuation cylinder 11 turns to follow-up system performance, has reduced potential safety hazard.In addition, the present embodiment all adopts conventional Hydraulic Elements, has effectively controlled productive costs.
Refer to 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 wheel steering state, execution step S402, if when wheel craspedodrome state, perform step 403.As previously mentioned, by controller, control the centralizing cylinder of each bridge and the servo-actuated state of steering actuation cylinder in the Vehicular turn following control system of many bridges.
Step S402, controls electromagnetic valve the rod chamber of centralizing cylinder and rodless cavity is all communicated with oil sump tank, controls servovalve and makes high-voltage oil liquid enter steering actuation cylinder.
Step S403, this electromagnetic valve makes high-voltage oil liquid enter centralizing cylinder and pilot operated directional control valve simultaneously, by this pilot operated directional control valve, control hydraulic pressure conducting between the first hydraulic fluid port of hydraulic control one-way valve and the second hydraulic fluid port, make conducting mutually between the first steering actuation cylinder of this steering actuation cylinder and the second steering actuation cylinder.
Before referring to, its specific works principle of Vehicular turn follow-up control method of the present invention for the description of Vehicular turn following control system, in the scope of understanding the art personnel, do not repeat.
Refer to Fig. 5, in the present embodiment, Vehicular turn follow-up control method of the present invention comprises:
Step S500, starts.
Step S501, judges the speed of a motor vehicle n of this vehicle, when this speed of a motor vehicle n≤the first pre-set velocity threshold value n1, execution step S502, when this speed of a motor vehicle n > the second pre-set velocity threshold value n2, execution step S503, when n1 < n≤n2, execution step S504.
Step S502, makes this first bridge, the second bridge, the 3rd bridge and the 4th bridge enter wheel steering state.
Step S503, makes this first bridge, the second bridge, the 3rd bridge and the 4th bridge enter wheel craspedodrome state.
Step S504, makes this first bridge and the second bridge enter wheel craspedodrome state, and the first bridge and the second bridge perform step S506, and make the 3rd bridge and the 4th bridge enter wheel steering state, i.e. the 3rd bridge and the 4th bridge execution step S505.
Step S505, controls electromagnetic valve the rod chamber of centralizing cylinder and rodless cavity is all communicated with oil sump tank, controls servovalve and makes high-voltage oil liquid enter steering actuation cylinder.
Step S506, this electromagnetic valve makes high-voltage oil liquid enter centralizing cylinder and pilot operated directional control valve simultaneously, by this pilot operated directional control valve, control hydraulic pressure conducting between the first hydraulic fluid port of hydraulic control one-way valve and the second hydraulic fluid port, make conducting mutually between the first steering actuation cylinder of this steering actuation cylinder and the second steering actuation cylinder.
Wherein, this the 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 setting, and in other embodiments, for the hoisting crane of large-tonnage or super-tonnage, it is even more that 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, in the scope of understanding the art personnel, do not repeat.
Before referring to, its specific works principle of Vehicular turn follow-up control method of the present invention for the description of Vehicular turn following control system, in the scope of understanding the art personnel, do not repeat.
Vehicular turn follow-up control method of the present invention effectively avoided in prior art owing to adopting two electromagnetic valves can not be simultaneously electric caused potential safety hazard during with dead electricity, also guaranteed the latch performance of hydraulic control one-way valve, thereby that has improved centralizing cylinder and steering actuation cylinder turns to 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, by this Vehicular turn follow-up control system method of unifying, can realize small-sized, medium-sized and large-scale engineering machinery vehicle is controlled, the runabout crane such as the wheel crane of large-tonnage, super-tonnage automobile or full Terrain Cranes etc. for example, certainly, also can be for general engineering machinery vehicle, in this no limit.What the present invention can improve centralizing cylinder and steering actuation cylinder effectively turns to follow-up system performance, has reduced potential safety hazard.
Engineering machinery vehicle of the present invention, Vehicular turn follow-up control system unify method effectively avoided in prior art owing to adopting 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 centralizing cylinder and steering actuation cylinder turns to follow-up system performance, has reduced potential safety hazard.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes specification sheets of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in 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 centralizing cylinder, and described control cock group comprises:
Servovalve, described servovalve is connected with described steering actuation cylinder, for controlling described steering actuation cylinder when the wheel steering state, carries out power steering;
Electromagnetic valve, described electromagnetic valve is connected with described centralizing cylinder, for controlling rod chamber and the rodless cavity of described centralizing cylinder when the wheel craspedodrome state, all enters high-voltage oil liquid;
Hydraulic control one-way valve, described hydraulic control one-way valve comprises the first hydraulic fluid port, the second hydraulic fluid port and control port, and the first hydraulic fluid port of described hydraulic control one-way valve is connected with described steering actuation cylinder, and the second hydraulic fluid port of described hydraulic control one-way valve is connected with oil sump tank;
Pilot operated directional control valve, described pilot operated directional control valve comprises control port and actuator port, the control port of described pilot operated directional control valve is connected with the hydraulic circuit between described electromagnetic valve and described centralizing cylinder, and the actuator port of described pilot operated directional control valve is connected with the control port of described hydraulic control one-way valve;
Wherein, when wheel craspedodrome state, described pilot operated directional control valve is controlled bidirectional hydraulic conducting between the first hydraulic fluid port of described hydraulic control one-way valve and the second hydraulic fluid port.
2. system according to claim 1, it is characterized in that, described hydraulic control one-way valve comprises the first hydraulic control one-way valve and the second hydraulic control one-way valve, described steering actuation cylinder comprises the first steering actuation cylinder and the second steering actuation cylinder, the first hydraulic fluid port of described the first hydraulic control one-way valve is connected with the rodless cavity of described the second steering actuation cylinder with the rod chamber of described the first steering actuation cylinder, the first hydraulic fluid port of described the second hydraulic control one-way valve is connected with the rodless cavity of described the first steering actuation cylinder with the rod chamber of described the second steering actuation cylinder, the mutual hydraulic pressure conducting of the second hydraulic fluid port of the second hydraulic fluid port of described the first hydraulic control one-way valve and described the second hydraulic control one-way valve.
3. system according to claim 2, it is characterized in that, described servovalve comprises pressure hydraulic fluid port, return opening, the first actuator port and the second actuator port, the first actuator port of described servovalve is connected with the rodless cavity of described the second steering actuation cylinder with the rod chamber of described the first steering actuation cylinder, the second actuator port of described servovalve is connected with the rodless cavity of described the first steering actuation cylinder with the rod chamber of described the second steering actuation cylinder, the pressure hydraulic fluid port of described servovalve is connected with pressure oil-source, and the return opening of described servovalve is connected with oil sump tank;
Described electromagnetic valve comprises pressure hydraulic fluid port, return opening and actuator port, described actuator port is connected with described centralizing cylinder and is connected with the control port of described pilot operated directional control valve, the pressure hydraulic fluid port of described electromagnetic valve is connected with pressure oil-source, and the return opening of described electromagnetic valve is connected with oil sump tank.
4. system according to claim 3, it is characterized in that, between the node of the second hydraulic fluid port of described the first hydraulic control one-way valve and the mutual hydraulic pressure conducting of the second hydraulic fluid port of described the second hydraulic control one-way valve and oil sump tank, be provided with damping hole, described damping hole, for current limliting when wheel craspedodrome state, makes to carry out fluid complementation between described the first steering actuation cylinder and described the second steering actuation cylinder.
5. system according to claim 4, is characterized in that, described pilot operated directional control valve also comprises the return opening being connected with oil sump tank.
6. system according to claim 5, is characterized in that, described wheel steering state comprises wheel left-hand rotation steering state and wheel right-hand rotation steering state:
When described wheel left-hand rotation steering state, the first actuator port hydraulic pressure conducting of the pressure hydraulic fluid port of described servovalve and described servovalve, the second actuator port hydraulic pressure conducting of the return opening of described servovalve and described servovalve, the return opening hydraulic pressure conducting of the actuator port of described electromagnetic valve and described electromagnetic valve, the return opening hydraulic pressure conducting of the actuator port of described hydraulic directional control valve and described hydraulic directional control valve, between the first hydraulic fluid port of described the first hydraulic control one-way valve and the second hydraulic fluid port of described the first hydraulic control one-way valve, disconnect, between the first hydraulic fluid port of described the second hydraulic control one-way valve and the second hydraulic fluid port of described the second hydraulic control one-way valve, disconnect,
When described wheel right-hand rotation steering state, the second actuator port hydraulic pressure conducting of the pressure hydraulic fluid port of described servovalve and described servovalve, the first actuator port hydraulic pressure conducting of the return opening of described servovalve and described servovalve, the return opening hydraulic pressure conducting of the actuator port of described electromagnetic valve and described electromagnetic valve, the return opening hydraulic pressure conducting of the actuator port of described hydraulic directional control valve and described hydraulic directional control valve, between the first hydraulic fluid port of described the first hydraulic control one-way valve and the second hydraulic fluid port of described the first hydraulic control one-way valve, disconnect, between the first hydraulic fluid port of described the second hydraulic control one-way valve and the second hydraulic fluid port of described the second hydraulic control one-way valve, disconnect,
When described wheel craspedodrome state, the actuator port hydraulic pressure conducting of the pressure hydraulic fluid port of described electromagnetic valve and described electromagnetic valve, the actuator port hydraulic pressure conducting of the control port of described pilot operated directional control valve and described pilot operated directional control valve makes high-voltage oil liquid enter into the control port of described hydraulic control one-way valve, the second hydraulic fluid port hydraulic pressure conducting of the first hydraulic fluid port of described the first hydraulic control one-way valve and described the first hydraulic control one-way valve, the second hydraulic fluid port hydraulic pressure conducting of the first hydraulic fluid port of described the second hydraulic control one-way valve and described the second hydraulic control one-way valve, the mutual hydraulic pressure conducting of the second hydraulic fluid port of the second hydraulic fluid port of described the first hydraulic control one-way valve and described the second hydraulic control one-way valve, the return opening hydraulic pressure conducting of the pressure hydraulic fluid port of described servovalve and described servovalve.
7. an engineering machinery vehicle, is characterized in that, comprises according to the Vehicular turn following control system described in claim 1～6 any one.
8. as a control method for the Vehicular turn following control system of one of claim 1-6, it is characterized in that, comprising:
Judge the motoring condition of described vehicle;
When determining in wheel steering state, control electromagnetic valve the rod chamber of centralizing cylinder and rodless cavity are all communicated with oil sump tank, control servovalve and make high-voltage oil liquid enter steering actuation cylinder;
When determining in wheel craspedodrome state, described electromagnetic valve makes high-voltage oil liquid enter centralizing cylinder and pilot operated directional control valve simultaneously, by described pilot operated directional control valve, control hydraulic pressure conducting between the first hydraulic fluid port of hydraulic control one-way valve and the second hydraulic fluid port, make conducting mutually between the first steering actuation cylinder of described steering actuation cylinder and the second steering actuation cylinder.
9. method according to claim 8, it is characterized in that, described hydraulic control one-way valve comprises the first hydraulic control one-way valve and the second hydraulic control one-way valve, by described pilot operated directional control valve, control hydraulic pressure conducting between the first hydraulic fluid port of hydraulic control one-way valve and the second hydraulic fluid port, make between the first steering actuation cylinder of described steering actuation cylinder and the second steering actuation cylinder the step of conducting mutually comprise:
By hydraulic pressure conducting between the second hydraulic fluid port of described the first hydraulic control one-way valve and the second hydraulic fluid port of the second hydraulic control one-way valve, and make to carry out fluid complementation between described the first steering actuation cylinder and described the second steering actuation cylinder by the effect of damping hole.
10. method according to claim 8 or claim 9, is characterized in that, described vehicle at least comprises the first bridge, the second bridge, the 3rd bridge and the 4th bridge of sequentially arranging, and the step of the motoring condition of the described vehicle of described judgement comprises:
Judge the speed of a motor vehicle of described vehicle;
When the described speed of a motor vehicle is not more than the first pre-set velocity threshold value, make described the first bridge, the second bridge, the 3rd bridge and the 4th bridge enter wheel steering state;
When the described speed of a motor vehicle is greater than described the first pre-set velocity threshold value and is not more than the second pre-set velocity threshold value, make described the first bridge and the second bridge enter wheel craspedodrome state, and make described the 3rd bridge and the 4th bridge enter wheel steering state;
When the described speed of a motor vehicle is greater than described the second pre-set velocity threshold value, make described the first bridge, the second bridge, the 3rd bridge and the 4th bridge enter wheel craspedodrome state.
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 following control system and vehicle steering following control 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 following control system and vehicle steering following control method |
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| CN102530064A CN102530064A (en) | 2012-07-04 |
| CN102530064B true 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 following control system and vehicle steering following control method |
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| WO (1) | WO2013091424A1 (en) |
Cited By (1)
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| CN106627754A (en) * | 2016-12-30 | 2017-05-10 | 中联重科股份有限公司 | Centering oil cylinder control system and method, electrohydraulic control steering system and engineering vehicle |
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| CN102530064B (en) * | 2011-12-21 | 2014-02-26 | 中联重科股份有限公司 | Engineering mechanical vehicle, vehicle steering following control system and vehicle steering following control method |
| CN102862600B (en) * | 2012-09-27 | 2015-09-02 | 中联重科股份有限公司 | Vehicle centering control system and vehicle |
| CN102951198B (en) * | 2012-11-14 | 2016-03-23 | 三一重工股份有限公司 | A kind of vehicle and fluid-link steering drive system |
| CN105235739B (en) * | 2015-10-22 | 2018-05-11 | 湖北三江航天万山特种车辆有限公司 | A kind of semitrailer brake system with following steering axle control |
| CN111874092B (en) * | 2019-04-22 | 2022-04-12 | 中国北方车辆研究所 | Steering return locking mechanism assembly operating system |
| CN110304138B (en) * | 2019-07-15 | 2020-08-28 | 徐州重型机械有限公司 | Vehicle hydraulic control steering system and control method |
| 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 |
| CN112623024B (en) * | 2020-12-30 | 2022-07-12 | 徐州徐工挖掘机械有限公司 | Steering system and engineering vehicle |
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| CN101947975A (en) * | 2010-09-28 | 2011-01-19 | 中国三江航天工业集团公司特种车辆技术中心 | Numerical-control rear-combined steering control device |
| CN201907559U (en) * | 2010-12-06 | 2011-07-27 | 徐州重型机械有限公司 | Six-axle automobile chassis hoisting machine and steering control system thereof |
| CN102079331A (en) * | 2010-12-27 | 2011-06-01 | 长沙科达建设机械制造有限公司 | Hydraulic control device for multiple drive steering ways of wheel type vehicle |
| CN202368642U (en) * | 2011-12-21 | 2012-08-08 | 中联重科股份有限公司 | Engineering machinery vehicle and vehicle steering follow-up control system |
| CN102530064B (en) * | 2011-12-21 | 2014-02-26 | 中联重科股份有限公司 | Engineering mechanical vehicle, vehicle steering following control system and vehicle steering following control method |
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2011
- 2011-12-21 CN CN201110433026.1A patent/CN102530064B/en active Active
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2012
- 2012-09-27 WO PCT/CN2012/082153 patent/WO2013091424A1/en active Application Filing
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106627754A (en) * | 2016-12-30 | 2017-05-10 | 中联重科股份有限公司 | Centering oil cylinder control system and method, electrohydraulic control steering system and engineering vehicle |
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| Publication number | Publication date |
|---|---|
| CN102530064A (en) | 2012-07-04 |
| WO2013091424A1 (en) | 2013-06-27 |
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