CN102910202A - Vehicle steering wheel automatic centering unit, vehicle with same and automatic centering method - Google Patents
Vehicle steering wheel automatic centering unit, vehicle with same and automatic centering method Download PDFInfo
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- CN102910202A CN102910202A CN2012104229345A CN201210422934A CN102910202A CN 102910202 A CN102910202 A CN 102910202A CN 2012104229345 A CN2012104229345 A CN 2012104229345A CN 201210422934 A CN201210422934 A CN 201210422934A CN 102910202 A CN102910202 A CN 102910202A
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Abstract
The invention provides an automatic centering unit for automatically centering steering wheels of a vehicle. The automatic centering unit is characterized by comprising a hydraulic steering gear, an electro-hydraulic proportional valve group, an angle sensor and a controller; as the controller is programmable, a control program is set, and an algorithm function of the control program is Z equal to g (X,Y); and the controller is used for receiving an angle signal from a front axle sensor and controlling the electro-hydraulic proportional valve group according to a selected steering mode to drive a steering oil cylinder to move, thereby realizing the control requirements for a corner of a rear wheel when the vehicle is in a steering mode, and the steering mode is switched. The invention further relates to a vehicle comprising the automatic centering unit, in particular to an engineering vehicle or a wheel type crane. In addition, the invention further relates to a method for automatically centering the steering wheels of the vehicle.
Description
Technical field
The present invention relates to a kind of automatic centering unit and method for pivoted wheels on vehicle, and the vehicle that comprises this automatic centering unit, relate to especially engineering truck or wheel crane.
Background technology
At present, engineering truck is reply complex road surface situation, generally all is provided with and realizes the multiple device that turns to mode capabilities.Vehicle need have a cover wheel centering method in turning to the pattern handoff procedure, be in meta to guarantee vehicle wheel under normal motoring condition.
Term " the multiple pattern that turns to " refers to the multiple form that turns to of vehicle.The common form that turns to has: propons (front group) independent steering, back axle (rear group) independent steering, little turning (claiming again to coordinate) turn to, the crab row turns to etc.When little turning turned to, the steering direction of front group of wheel and rear group of wheel was opposite, can realize minimum turn radius, so claim little turning to turn to; When the crab row turned to, front group of wheel was identical with the steering direction of rear group of wheel, can realize motion as the crab walking, so claim the crab row to turn to.Fig. 1 is common four kinds and turns to pattern diagram.
Usually adopt two kinds of centerings that method realizes wheel in the prior art.
First method is automatic centering, namely adopts the centering oil cylinder to carry out meta centering, and its mode as shown in Figure 2.The method is equipped with special centering oil cylinder 4 in vehicle bridge, when carrying out pattern when turning to (such as little turning and crab row), steering pump 1 is to the first control cock group 2 fuel feeding, the first control cock group realizes handling maneuver by A1, B1 mouth to the steering cylinder fuel feeding by control of valve position, simultaneously this valve control T, N, X mouth, make 3 off-loads of the second control cock group, thereby making centering oil cylinder A, B chamber is low pressure, and the centering oil cylinder is in released state, but wheel normal direction of rotation; Switch (switching to the propons independent steering such as need) when turning to pattern, the high pressure oil that the first control cock group provides steering pump by T, N, X mouth is introduced the second control cock group, the second control cock group is switched by valve position, make high pressure oil effect centering oil cylinder A, B chamber, thereby make centralizing cylinder be in the middle position locking state, back axle does not turn to.
Second method is manual centering: adopt limit switch to carry out position probing, its mounting means as shown in Figure 3.It is equipped with limit switch 1 in vehicle bridge one side, generally places on the axle center line, in vehicle bridge stub center, block 2 is installed, and block 2 is relative with limit switch, can rotate with vehicle wheel rotation.When wheel was in the meta state, block 2 contacted with limit switch 1, limit switch closed (or shutoff); When wheel was in non-meta state, block 2 broke away from limit switch 1, and limit switch turn-offs (or closed).
Usually adopt steering swivel system such as Fig. 4 of the method, when multiple when turning to mode valve to switch to little turning and crab row steering position (that is: valve body is in the 2nd position, left side and the 4th position), forward and backward group of steering hydraulic oil cylinder is a cascaded structure, chaufeur can drive trailing wheel deflection by the steering dish, in deflection, such as limit switch closed (or shutoff), illustrate that then rear axle is in the meta state.
When adopting centering technology shown in Figure 2, need to increase centralizing cylinder, system architecture is complicated, and cost is high.
When adopting Fig. 3, centering technology shown in Figure 4, can't realize automatic centering function, when turning to pattern to switch, propons must at first return meta, otherwise after turning to pattern to switch, propons and the back axle angle relation of can't realizing ideal; When carrying out centering when operation, because limit switch can only detect meta a bit, can't judge that therefore wheel steering angle takes back or take over, use inconvenient.
In the prior art, adopt oil cylinder to carry out the wheel automatic centering, this system complex, cost is higher, is unfavorable for promoting at two bridge-type vehicles.In addition, adopt traditional limit switch to carry out centering, operation inconvenience can't realize automatic centering.
Summary of the invention
The purpose of this invention is to provide a kind of wheel flutter automatic centring device and method easy to operate, simple in structure, automatic centering when this device and method can realize that wheel turns to pattern to switch under any attitude, and guarantee that wheel is in the centering position all the time, reduce wear on tyres, the swing of wheel when preventing from running at high speed.
A kind of automatic centering unit that makes the wheel flutter automatic centering of vehicle is provided according to an aspect of the present invention, and wherein, described automatic centering unit comprises: hydraulic steering gear, and it controls the rotation of the propons of described vehicle; The electro-hydraulic proportional valve group, it controls the rotation of the back axle of described vehicle; Angular transducer, it passes to controller for detection of corner and with angular signal, described angular transducer comprise be installed on the described propons for detection of the front bridge sensor of the corner of front-wheel and be installed in the rear bridge sensor for detection of the corner of trailing wheel on the described back axle; Controller, described controller is programmable, thereby is provided with control program, the algorithmic function of described control program is Z=g(X, Y), wherein X is the propons angle, Y is angle of rear axle, and Z is vehicle control requirement to the corner of trailing wheel in turning to pattern and when turning to pattern to switch; Described controller receives the angle signal from described front bridge sensor, according to the selected pattern that turns to, control the electro-hydraulic proportional valve group according to the control program of described controller, drive steering cylinder motion, thus realize the control requirement to the corner of trailing wheel when turning to pattern and turn to pattern to switch of described vehicle.
Preferably, when turning to pattern to switch to propons independent steering pattern, front bridge sensor detect turn to pattern and front wheel angle in, introduce control algorithm, that is, make that Y value is 0 in the algorithmic function of described control program, then the programming control algorithmic function is:
This moment, the corner of back axle did not move with the propons corner, and auto back reaches the centering effect to meta.
Preferably, algorithmic function Z=g(X, the Y of described control program) be:
The inside and outside angle relation of taking turns of same steering shaft is:
cotβ
i-cotα
i=K/L
i
The angle relation of the same side wheel of different steering shafts should satisfy:
L
i/L
j=tanα
i /tanα
j L
i/L
j=tanβ
i/tanβ
j
Wherein,
K---the distance between two stub pick-up points;
L
i---vehicle i axle is to the distance of turning center line, and i gets 1,2,3......
L
j---vehicle j axle foreign steamer corner, j=i+1;
β
i---vehicle i axle foreign steamer corner, i gets 1,2,3......;
α
i---wheel corner in the vehicle i axle, i gets 1,2,3......;
L---turning center is to interior distance of taking turns stub;
β
j---vehicle j axle foreign steamer corner, j=i+1;
α
j---vehicle j axle foreign steamer corner, j=i+1.
Preferably, the described pattern that turns to is that propons independent steering, back axle independent steering, little turning turn to, the crab row turns to etc.
Preferably, described automatic centering unit also comprises the bidirectional hydraulic lock that is arranged in the electro-hydraulic proportional valve group, and when the steering cylinder of described back axle during to described meta, described electro-hydraulic proportional valve group keeps power failure state, the oil cylinder of described back axle is locked by described bidirectional hydraulic lock, guarantees traffic safety.
Preferably, described automatic centering unit also comprises gear type pump, bypass disc and by pass valve.
According to a further aspect in the invention, also provide a kind of vehicle, wherein, described vehicle comprises aforementioned any described automatic centering unit.
In accordance with a further aspect of the present invention, also provide a kind of automatic centering method that makes the wheel flutter automatic centering of vehicle, wherein, described automatic centering method comprises: hydraulic steering gear is set, and it controls the rotation of the propons of described vehicle; The electro-hydraulic proportional valve resistance is set, and it controls the rotation of the back axle of described vehicle; Angular transducer is set; It passes to controller for detection of corner and with angular signal, described angular transducer comprise be installed on the described propons for detection of the front bridge sensor of the corner of front-wheel and be installed in the rear bridge sensor for detection of the corner of trailing wheel on the described back axle; Controller is set, and described controller is programmable, thereby is provided with control program, the algorithmic function of described control program is Z=g(X, Y), wherein X is the propons angle, Y is angle of rear axle, and Z is vehicle control requirement to the corner of trailing wheel in turning to pattern and when turning to pattern to switch; Described controller receives the angle signal from described front bridge sensor, according to the selected pattern that turns to, control the electro-hydraulic proportional valve group according to the control program of described controller, drive steering cylinder motion, thus realize the control requirement to the corner of trailing wheel when turning to pattern and turn to pattern to switch of described vehicle.
Preferably, when turning to pattern to switch to propons independent steering pattern, front bridge sensor detect turn to pattern and front wheel angle in, make that Y value is 0 in the algorithmic function of described control program, then the programming control algorithmic function is:
This moment, the corner of back axle did not move with the propons corner, and auto back reaches the centering effect to meta.
Preferably, algorithmic function Z=g(X, the Y of described control program) be:
The inside and outside angle relation of taking turns of same steering shaft is:
cotβ
i-cotα
i=K/L
i
The angle relation of the same side wheel of different steering shafts should satisfy:
L
i/L
j=tanα
i/tanα
j L
i/L
j=tanβ
i/tanβ
j
Wherein,
K---the distance between two stub pick-up points;
L
i---vehicle i axle is to the distance of turning center line, and i gets 1,2,3......
L
j---vehicle j axle foreign steamer corner, j=i+1;
β
i---vehicle i axle foreign steamer corner, i gets 1,2,3......;
α
i---wheel corner in the vehicle i axle, i gets 1,2,3......;
L---turning center is to interior distance of taking turns stub;
β
j---vehicle j axle foreign steamer corner, j=i+1;
α
j---vehicle j axle foreign steamer corner, j=i+1.
Preferably, the described pattern that turns to is that propons independent steering, back axle independent steering, little turning turn to, the crab row turns to etc.
Preferably, also be provided with bidirectional hydraulic lock in the electro-hydraulic proportional valve group, when the steering cylinder of described back axle during to described meta, described electro-hydraulic proportional valve group keeps power failure state, and the oil cylinder of described back axle is locked by described bidirectional hydraulic lock, guarantees traffic safety.
Preferably, described automatic centering unit also comprises gear type pump, bypass disc and by pass valve.
Advantage of the present invention and useful effect are that the present invention adopts angular transducer, utilize procedural language to carry out automatic centering, and cost is lower.
The present invention can also obtain following useful effect in addition: simple in structure, adopt process control language among the present invention, and realize the automatic switchover in the multi-steering pattern handoff procedure, omitted special centering oil cylinder, simplified system; Easy to operate, native system can be realized multimodal switching owing to detect angular signal under any rotation angle attitude, do not carry out centering and do not need to return first meta again; Safe and reliable, native system detects the back axle angular signal in real time, when back axle during not at meta, can provide warning, guarantees traffic safety.
Description of drawings
Other features and advantages of the present invention obtain from following description and from related accompanying drawing, wherein:
Fig. 1 shows the pattern diagram that turns to of the prior art;
Fig. 2 shows centering oil cylinder mode of operation of the prior art;
Fig. 3 shows limit switch mounting means of the prior art;
Fig. 4 shows the control principle of a kind of multi-mode steering of the prior art system;
Fig. 5 shows according to automatic centering steering principle of the present invention;
Fig. 6 shows according to control flow chart under little turning of the present invention or the crab row mode;
Fig. 7 shows according to little turning of the present invention or crab row mode and switches to propons independent steering control flow chart;
Fig. 8 shows the sketch for the interior foreign steamer relation of the diaxon vehicle of explanation Ackermam theorem;
Fig. 9 shows the sketch of the interior foreign steamer relation of multiple-axle vehicle.
The specific embodiment
As shown in Figure 5, the present invention adopts all-hydraulic control system, and propons is directly controlled by hydraulic steering gear 2, back axle by being installed in the angular transducer on the front-rear axle, detects angular signal by electro-hydraulic proportional valve 3 controls, according to the control policy of setting, realize the controlling angle requirement.
When carrying out pattern when turning to (such as little turning and crab row), its control flow such as Fig. 6.Controller is by group wheel steering angle signal before detecting, and according to the pattern that turns to of selecting, according to the different current signal of control program output that sets, thereby the flow of control electro-hydraulic proportional valve opening degree, hydraulic oil makes steering cylinder promote vehicle wheel rotation according to the operation intention of chaufeur.Programme controlled algorithmic function is Z=g(X, Y), wherein X is the propons angle, and Y is angle of rear axle, and Z is vehicle control requirement to the corner of trailing wheel in turning to pattern and when turning to pattern to switch, then
When turning to pattern to switch, as switch to the propons independent steering, its control flow such as Fig. 7.When front bridge sensor detection turns to pattern and front wheel angle, (for example by being arranged on the triggering of the button in the bridge operation platform) introduces control algorithm by known methods, that is, make that Y value is 0 in the algorithmic function of described control program, then the programming control algorithmic function is:
This moment, the back axle corner did not move with the propons corner, and auto back does not reach the centering effect, simultaneously to meta, in the electro-hydraulic proportional valve group, be provided with bidirectional hydraulic lock, when rear group of steering cylinder during to meta, electromagnetic valve keeps power failure state, and rear group oil cylinder is locked by bidirectional hydraulic lock, guarantees traffic safety.
The below is to above-mentioned programming control algorithmic function: Z=g(X, Y) describe.This function obtains according to the Ackermam theorem.
The Ackermam theorem is well known in the art, that is: when automobile only had front-wheel steering, in the situation of ignoring the tyre slip angle impact, the extended line of two steering front wheel axles should be handed on the extended line of two hind axles, shown in Fig. 8 (that is, the inside and outside wheel of diaxon vehicle concerns sketch).
Represent respectively the inside and outside steered wheel corner of front axle.L is vehicle wheel base, and B is the distance between the two stub pick-up points, and then tie rod linkage should guarantee that following relation is arranged between the inside and outside wheel flutter:
Ackermam theorem that Here it is.
In like manner, for the multi-wheel steering vehicle, can both make nonslipping pure rolling at different circumference around same instantaneous center of turn for making all wheels, under the impact of ignoring tyre slip angle, all axle extended lines of taking turns should meet at a bit, the wheel steering angle that is a plurality of axles all should satisfy the Ackermam theorem, shown in Fig. 9 (that is, foreign steamer concerns sketch in the multiple-axle vehicle).
At first define following parameter;
K---the distance between two stub pick-up points;
L
i---vehicle i axle is to the distance of turning center line, and i gets 1,2,3......
L
j---vehicle j axle foreign steamer corner, j=i+1;
β
i---vehicle i axle foreign steamer corner, i gets 1,2,3......;
α
i---wheel corner in the vehicle i axle, i gets 1,2,3......;
L---turning center is to interior distance of taking turns stub;
β j---vehicle j axle foreign steamer corner, j=i+1;
α
j---vehicle j axle foreign steamer corner, j=i+1.
According to Fig. 9 (that is, foreign steamer concerns sketch in the multiple-axle vehicle), because the inside and outside angle relation of taking turns of same steering shaft meets Ackerman principle, can obtain:
cotα
i=L/L
i
cotβ
i=(L+K)/L
i
Thereby just drawn the programming control algorithmic function among the application: Z=g(X, Y)
That is, the inside and outside angle relation of taking turns of same steering shaft is:
cotβ
i-cotα
i=K/L
i
The angle relation of the same side wheel of different steering shafts should satisfy:
L
i/L
j=tanα
i/tanα
jL
i/L
j=tanβ
i/tanβ
j
The different characteristic of each embodiment is combination with one another preferably, in order to do not need these embodiments is not thought strict independent modification.
Claims (13)
1. an automatic centering unit that makes the wheel flutter automatic centering of vehicle is characterized in that, described automatic centering unit comprises:
Hydraulic steering gear (2), it controls the rotation of the propons of described vehicle;
Electro-hydraulic proportional valve group (3), it controls the rotation of the back axle of described vehicle;
Angular transducer, it passes to controller for detection of corner and with angular signal, described angular transducer comprise be installed on the described propons for detection of the front bridge sensor of the corner of front-wheel and be installed in the rear bridge sensor for detection of the corner of trailing wheel on the described back axle;
Controller, described controller is programmable, thereby is provided with control program, the algorithmic function of described control program is Z=g(X, Y), wherein X is the propons angle, Y is angle of rear axle, and Z is vehicle control requirement to the corner of trailing wheel in turning to pattern and when turning to pattern to switch;
Described controller receives the angle signal from described front bridge sensor, according to the selected pattern that turns to, control the electro-hydraulic proportional valve group according to the control program of described controller, drive steering cylinder motion, thus realize the control requirement to the corner of trailing wheel when turning to pattern and turn to pattern to switch of described vehicle.
2. automatic centering according to claim 1 unit is characterized in that,
When turning to pattern to switch to propons independent steering pattern, front bridge sensor detect turn to pattern and front wheel angle in, introduce control algorithm, that is, make that Y value is 0 in the algorithmic function of described control program, then the programming control algorithmic function is:
This moment, the corner of back axle did not move with the propons corner, and auto back reaches the centering effect to meta.
3. automatic centering according to claim 1 and 2 unit is characterized in that algorithmic function Z=g(X, the Y of described control program) be:
The inside and outside angle relation of taking turns of same steering shaft is:
cotβ
i-cotα
i=K/L
i
The angle relation of the same side wheel of different steering shafts should satisfy:
L
i/L
j=tanα
i/tanα
j L
i/L
j=tanβ
i/tanβ
j
Wherein,
K---the distance between two stub pick-up points;
L
i---vehicle i axle is to the distance of turning center line, and i gets 1,2,3......
L
j---vehicle j axle foreign steamer corner, j=i+1;
β
i---vehicle i axle foreign steamer corner, i gets 1,2,3......;
α
i---wheel corner in the vehicle i axle, i gets 1,2,3......;
L---turning center is to interior distance of taking turns stub;
β
j---vehicle j axle foreign steamer corner, j=i+1;
α
j---vehicle j axle foreign steamer corner, j=i+1.
4. automatic centering according to claim 1 unit is characterized in that, the described pattern that turns to is that propons independent steering, back axle independent steering, little turning turn to, the crab row turns to etc.
5. automatic centering according to claim 1 unit, it is characterized in that, described automatic centering unit also comprises the bidirectional hydraulic lock that is arranged in the electro-hydraulic proportional valve group, when the steering cylinder of described back axle during to described meta, described electro-hydraulic proportional valve group keeps power failure state, the oil cylinder of described back axle is locked by described bidirectional hydraulic lock, guarantees traffic safety.
6. automatic centering according to claim 1 unit is characterized in that described automatic centering unit also comprises gear type pump, bypass disc and by pass valve.
7. a vehicle is characterized in that, described vehicle comprises each described automatic centering unit in the aforementioned claim.
8. an automatic centering method that makes the wheel flutter automatic centering of vehicle is characterized in that, described automatic centering method comprises:
Hydraulic steering gear (2) is set, and it controls the rotation of the propons of described vehicle;
Electro-hydraulic proportional valve resistance (3) is set, and it controls the rotation of the back axle of described vehicle;
Angular transducer is set; It passes to controller for detection of corner and with angular signal, described angular transducer comprise be installed on the described propons for detection of the front bridge sensor of the corner of front-wheel and be installed in the rear bridge sensor for detection of the corner of trailing wheel on the described back axle;
Controller is set, and described controller is programmable, thereby is provided with control program, the algorithmic function of described control program is Z=g(X, Y), wherein X is the propons angle, Y is angle of rear axle, and Z is vehicle control requirement to the corner of trailing wheel in turning to pattern and when turning to pattern to switch;
Described controller receives the angle signal from described front bridge sensor, according to the selected pattern that turns to, control the electro-hydraulic proportional valve group according to the control program of described controller, drive steering cylinder motion, thus realize the control requirement to the corner of trailing wheel when turning to pattern and turn to pattern to switch of described vehicle.
9. automatic centering method according to claim 8 is characterized in that,
When turning to pattern to switch to propons independent steering pattern, front bridge sensor detect turn to pattern and front wheel angle in, make that Y value is 0 in the algorithmic function of described control program, then the programming control algorithmic function is:
This moment, the corner of back axle did not move with the propons corner, and auto back reaches the centering effect to meta.
10. according to claim 8 or 9 described automatic centering methods, it is characterized in that algorithmic function Z=g(X, the Y of described control program) be:
The inside and outside angle relation of taking turns of same steering shaft is:
cotβ
i-cotα
i=K/L
i
The angle relation of the same side wheel of different steering shafts should satisfy:
L
i/L
j=tanα
i/tanα
j L
i/L
j=tanβ
i/tanβ
j
Wherein,
K---the distance between two stub pick-up points;
L
i---vehicle i axle is to the distance of turning center line, and i gets 1,2,3......
L
j---vehicle j axle foreign steamer corner, j=i+1;
β
i---vehicle i axle foreign steamer corner, i gets 1,2,3......;
α
i---wheel corner in the vehicle i axle, i gets 1,2,3......;
L---turning center is to interior distance of taking turns stub;
β
j---vehicle j axle foreign steamer corner, j=i+1;
α
j---vehicle j axle foreign steamer corner, j=i+1.
11. automatic centering method according to claim 8 is characterized in that, the described pattern that turns to is that propons independent steering, back axle independent steering, little turning turn to, the crab row turns to etc.
12. automatic centering method according to claim 8, it is characterized in that, also in the electro-hydraulic proportional valve group, be provided with bidirectional hydraulic lock, when the steering cylinder of described back axle during to described meta, described electro-hydraulic proportional valve group keeps power failure state, the oil cylinder of described back axle is locked by described bidirectional hydraulic lock, guarantees traffic safety.
13. automatic centering method according to claim 8 is characterized in that, described automatic centering unit also comprises gear type pump, bypass disc and by pass valve.
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|---|---|---|---|
| CN2012104229345A CN102910202A (en) | 2012-10-30 | 2012-10-30 | Vehicle steering wheel automatic centering unit, vehicle with same and automatic centering method |
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|---|---|---|---|
| CN2012104229345A CN102910202A (en) | 2012-10-30 | 2012-10-30 | Vehicle steering wheel automatic centering unit, vehicle with same and automatic centering method |
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| CN108128349A (en) * | 2017-11-22 | 2018-06-08 | 徐州重型机械有限公司 | Level controlling system and method for adjustment during a kind of wheeled heavy-duty vehicle turns to |
| CN109083661A (en) * | 2018-09-19 | 2018-12-25 | 中国铁建重工集团有限公司 | A kind of steering system and method for concrete spraying trolley |
| CN109484478A (en) * | 2018-12-10 | 2019-03-19 | 山海特种装备股份有限公司 | A kind of wheel deviation correcting device |
| CN112298078A (en) * | 2020-11-05 | 2021-02-02 | 湖北航天技术研究院特种车辆技术中心 | Vehicle rear group steering control system and method |
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| CN109484478A (en) * | 2018-12-10 | 2019-03-19 | 山海特种装备股份有限公司 | A kind of wheel deviation correcting device |
| CN112298078A (en) * | 2020-11-05 | 2021-02-02 | 湖北航天技术研究院特种车辆技术中心 | Vehicle rear group steering control system and method |
| CN112298078B (en) * | 2020-11-05 | 2022-05-10 | 湖北航天技术研究院特种车辆技术中心 | Vehicle rear group steering control system and method |
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Application publication date: 20130206 |