CN104443025B - Electro-hydraulic servo pure rolling steering system for multi-axis vehicle and control method - Google Patents
Electro-hydraulic servo pure rolling steering system for multi-axis vehicle and control method Download PDFInfo
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- CN104443025B CN104443025B CN201410626410.7A CN201410626410A CN104443025B CN 104443025 B CN104443025 B CN 104443025B CN 201410626410 A CN201410626410 A CN 201410626410A CN 104443025 B CN104443025 B CN 104443025B
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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
- B62D7/15—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 characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1518—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 characterised by means varying the ratio between the steering angles of the steered wheels comprising a mechanical interconnecting system between the steering control means of the different axles
- B62D7/1536—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 characterised by means varying the ratio between the steering angles of the steered wheels comprising a mechanical interconnecting system between the steering control means of the different axles provided with hydraulic assistance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an electro-hydraulic servo pure rolling steering system for a multi-axis vehicle. The steering system comprises a lateral connecting rod telescoping cylinder, a left steering boost cylinder, a right steering boost cylinder, a pilot operated check valve, a first proportional servo valve, a second proportional servo valve and a controller electrically connected between the two valves. Electro-hydraulic servo compound control is conducted on three executers through the two proportional servo valves so that the turn angles of steering wheels on two sides can be adjusted freely, the Ackerman steering condition for pure rolling of all the steering wheels is effectively guaranteed, and then high-response and high-precision dynamic steering is realized. The optimized steering system further comprises an externally controlled pilot operated check valve which can lock the lateral connecting rod telescoping cylinder in an electro-hydraulic mode, pure rolling steering is achieved, risks caused during high-speed traveling are reduced, and then the safety of the multi-axis vehicle during high-speed traveling is improved. The invention further discloses a pure rolling steering control method for the multi-axis vehicle and a multi-axis vehicle provided with the steering system.
Description
Technical field
The present invention relates to a kind of electro-hydraulic servo steering and rotating direction control method towards multiple-axle vehicle pure rolling, application
In motor turning field, the invention further relates to a kind of multiple-axle vehicle with the electro-hydraulic servo steering.
Background technology
Large-scale wheeled vehicle be widely used in infrastructure construction (as large-tonnage the full Terrain Cranes, large-scale beam car and
The civilian equipment such as quarry tipper) and military heavy industry field (such as large-scale missile transporter vehicle, heavy electronic car launcher and traction delivery
The military special type vehicle such as car).High-performance multi-axle steering can be obviously improved large-scale wheeled vehicle run at a low speed maneuverability and
Run at high speed control stability, and contribute to promoting the development of the correlation techniques such as Lei Che robots, many wheel lunar rovers, it has also become weighing apparatus
One of key technology of the modern large truck of amount and forward position delivery equipment Development level, its core technology breaks through important
Meaning.
However, for large-scale multiple-axle vehicle, its steering load is big, and need to ensure that certain geometry is closed between each wheel corner
Although system, traditional mechanical rocker-arm hydraulic power-assist steering system help to ensure that the angle relation between each wheel, but there is steering
The open defects such as pattern is single, very flexible.Such system is progressively to motility is strong, dynamic steering high precision, and drives
The big electrichydraulic control steering direction of kinetic moment is developed.
Currently, electrichydraulic control steering is designed mainly around the two aspect exhibition of tie rod linkage and electro-hydraulic control circuit
Open：(1) in terms of tie rod linkage：Tie rod linkage is optimized by Virtual Prototype Technique or optimized algorithm, makes optimization
Tie rod linkage afterwards approaches Ackermam mechanism, turns to precision (such as 201110097127.6 He of referenced patent so as to improve
93104300.x)；Or fixing groove roller is secondary or cam rotation pair by adding in tie rod linkage, make the cross-tie bar length can
Become, realize that wheel pure rolling is turned to, to reduce tire chafing (such as referenced patent 201110154053.5 and 01252825.3).
(2) in terms of electro-hydraulic control circuit：Steering mode is driven using direct cross-tie, such as cross-tie is replaced with double outlet-rod hydraulic cylinders
As executor, and with reference to electric hydraulic control valve and the control method of suppression road disturbance load, strengthen steering stability (such as
Referenced patent EP1852329A2)；Or realize turning to using electro-hydraulic proportional system, such as pass through electric control reversing valve and proportional throttle valve
Commutation and precise control of flew are realized respectively, so as to realize that ratio is turned to by the matching action of each element, its fast response time
And steering operation sensitive (such as referenced patent 201210370470.8)；Or realize turning to using electrohydraulic servo system, such as adopt and watch
Take proportional valve control double steering servo-cylinder, drive steering trapezium to turn to, not only driving load is big and frequency response is high, without zero-bit dead band
(such as referenced patent 201010265429.5).
Existing patent is favorably improved the steering flexibility of multiple-axle vehicle and dynamic steering precision, but still suffers from following one
It is a little not enough, it is mainly shown as：
1) the high-quality design of pure rolling tie rod linkage runs into bottleneck.Multiple-axle vehicle realizes that full wheel pure rolling is turned to and can be shown
Writing reduces the abrasion of tire, and improves riding stability.However, as traditional design tie rod linkage is four-bar mechanism, leading to
Cross optimization tie rod linkage and only approximately cannot strictly meet the Ackermann angle relation of pure rolling, thus cannot realize real
Pure rolling in meaning.Additionally, by deforming the mechanism for carrying out pure rolling steering to steering mechanism (such as referenced patent
201210423486.0th, 201010605346.6 etc.), meet the pure rolling condition in theory of mechanisms, but bring radius of turn it is big,
The problems such as difficult arrangement.Therefore, still need to further be lifted in the mechanism's design aspect for realizing pure rolling steering trapezium.
2) the accurate dynamic steering of the high response under the conditions of pure rolling cannot effectively be realized.The steering of multiple-axle vehicle will
Ask with high response high accuracy steering trapezium, while also requiring that each deflecting roller meets Ackermann steering condition as far as possible.Current
Steering design launches (to turn as patent 201010255429.5 is lifted by electro-hydraulic servo control mainly around one side face
To response speed and precision；Patent 201110154053.5 and 01252825.3 realizes pure rolling using new structural design).So
And, as most structure designs with pure rolling function cannot effectively realize the precise control of high response simultaneously, how to realize
Structure innovation and effective control are blended, and break through the accurate dynamic steering system design of height response under the conditions of pure rolling, this respect
Still suffer from obvious deficiency.
3) under pure rolling state, the safety of dynamic steering has to be strengthened.For current routine steering trapezium, vehicle
Run at high speed, if now steering mechanism breaks down, significant damage is also easy to produce (such as tyre side
It is sliding, turn to it is out of control etc.), therefore its safety is particularly important.However, the existing steering mechanism for possessing pure rolling function, in vehicle
Run at high speed and turn to existing defects in terms of safety, be further improved.
The content of the invention
Present invention aim at a kind of electro-hydraulic servo steering towards multiple-axle vehicle pure rolling is provided, by double servos
Proportioning valve carries out electro-hydraulic servo complex controll to multi executors, to ensure that each deflecting roller meets the Ackermam realized needed for pure rolling
Steering condition, and realize high response and high-precision dynamic steering；Preferably, the steering can be by cross-tie telescoping cylinder electricity
Liquid is locked, and risk when which is run at high speed is reduced while ensureing steering pure rolling steering effect, lifts multiple-axle vehicle high
The safety of speed traveling.Another mesh of the present invention is to provide a kind of rotating direction control method towards multiple-axle vehicle pure rolling.This
The purpose of invention also resides in a kind of multiple-axle vehicle with the steering of offer.
It is as follows to reach one of above-mentioned purpose the technical solution used in the present invention：
A kind of electro-hydraulic servo steering towards multiple-axle vehicle pure rolling, the multiple-axle vehicle include the first bridge and rear
Each steeraxle, for the electro-hydraulic servo steering of rear each steeraxle include fuel tank 1, hydraulic pump 2, the first servo proportion 4,
Vehicle frame 16, left steering servo-cylinder 9, right turn servo-cylinder 14；The nothing of the rod chamber and right turn servo-cylinder 14 of left steering servo-cylinder 9
Rod cavity forms the first working oil path R1, and the rod chamber of the rodless cavity and right turn servo-cylinder 14 of left steering servo-cylinder 9 forms second
Working oil path R2, the first working oil path R1 and two working oil path of the second working oil path R2 A, B respectively with the first servo proportion 4
Actuator port is connected；
Described electro-hydraulic servo steering includes cross-tie telescoping cylinder 12, the second servo proportion 22, Electronic Control
System；
The piston portion of cross-tie telescoping cylinder 12 is hinged with the first tie rod arm 10 of side, cross-tie telescoping cylinder 12
Cylinder part is hinged with the second tie rod arm 13 of opposite side；
Two working volumes of cross-tie telescoping cylinder 12 A, B actuator port phase respectively with the second servo proportion 22
Even, the 3rd working oil path R3 and the 4th working oil path R4 are formed respectively；First servo proportion 4 and the second servo proportion 22
P mouths are connected with oil-feed oil circuit respectively, and the T mouths of the first servo proportion 4 and the second servo proportion 22 are communicated with fuel tank 1；
Electronic control system is for calculating cross-tie telescoping cylinder according to the left and right side wheel target rotation angle of controlled steeraxle
Target length, the second servo proportion output in the electro-hydraulic servo steering being located to described controlled steeraxle with it is described
The corresponding command signal of cross-tie telescoping cylinder target length, and the electro-hydraulic servo steering being located to described controlled steeraxle
The first servo proportion in system exports the command signal corresponding with the right or left side wheels target rotation angle, while according to institute
The cross-tie telescoping cylinder Displacement Feedback signal of the controlled steeraxle stated and right or left side wheels feedback angular signal, real-time regulation institute
The each command signal stated.
Cross-tie telescoping cylinder 12 is double rod cylinders, effective work surface of described cross-tie telescoping cylinder both sides rod chamber
Product is equal.
Contain the first hydraulic control one-way valve 5, the second hydraulic control one-way valve 6, the 3rd hydraulic control one-way valve 19 and the 4th liquid in the system
Control check valve 20, which is serially connected in the first working oil path R1, the second working oil path R2, the 3rd working oil path R3, the 4th work respectively
On tetra- oil circuits of oil circuit R4；
The guide oil of the first described hydraulic control one-way valve 5 and the second hydraulic control one-way valve 6 is controlled by the first solenoid directional control valve 3
System；The guide oil of the 3rd described hydraulic control one-way valve 19 and the 4th hydraulic control one-way valve 20 is controlled by the first solenoid directional control valve 23；
The first described solenoid directional control valve 3 and the second solenoid directional control valve 23 are two-position three-way valve.
The system includes the first repairing overflow valve group 7, the second repairing overflow valve group 8, the 3rd repairing overflow valve group 17 and
Four repairing overflow valve groups 18, its be serially connected in respectively the first working oil path R1, the second working oil path R2, the 3rd working oil path R3,
On four oil circuits of working oil path R4 tetra-.
First repairing overflow valve group 7, the second repairing overflow valve group 8, the 3rd repairing overflow valve group 17 and the 4th repairing overflow
Valve group 18 has identical structure, and which respectively includes an overflow valve 24 and a check valve 25, and check valve 25 and overflow valve 24
Parallel connection, check valve 25 are used to make between 24 import of overflow valve and outlet in positive cut-off and reverse-conducting state.
Electronic control system includes：Controller 21, the rotation angular sensing for detecting the steeraxle right side or left side wheels corner
Device 15, the displacement transducer 11 for detecting the cross-tie telescoping cylinder length, the first solenoid directional control valve 3 and the second electromagnetism are changed
To valve 23；
21 Electricity Federation of controller is passed in the first servo proportion 4, the second servo proportion 22, rotary angle transmitter 15 and displacement
Sensor 11, the first solenoid directional control valve 3 and the second solenoid directional control valve 23；
Wherein controller 21, the first servo proportion 4, cross-tie telescoping cylinder 12 and displacement transducer 11 form laterally drawing
The closed loop control of bar telescoping cylinder length；Controller 21, the second servo proportion 22, right turn servo-cylinder 14, left steering are helped simultaneously
Power cylinder 9 and right or left-hand rotation angle transducer 15 form the closed loop control of the right side or left side wheels corner.
Present invention additionally comprises another technical characteristic：
A kind of rotating direction control method of the electro-hydraulic servo steering towards multiple-axle vehicle pure rolling, comprises the following steps：
Step one：Electro-hydraulic servo steering is by the left and right side wheel target rotation angle signal input of controlled steeraxle to described
The controller of steeraxle；
Step 2：Judge whether to need to lock cross-tie in the range of the critical locking angle of deflecting roller middle position left and right sides
Telescoping cylinder：If need not, jump to step 3；If desired, jump to step 9；
Step 3：Controller is long according to the target that left and right side wheel target rotation angle signal of change goes out cross-tie telescoping cylinder
Degree, and system is controlled using the target rotation angle of the target length and right or left side wheels as two control targes；
Step 4：Detect the actual rotational angle of the physical length and right or left side wheels of controlled steeraxle cross-tie telescoping cylinder；
Step 5：Deviation between cross-tie telescoping cylinder physical length and target length is calculated, while calculating right or left side wheels
Deviation between actual rotational angle and target rotation angle；
Step 6：According to cross-tie telescoping cylinder length variation signal, controller sends first to the second servo proportion
Road command signal, to control the work of the second servo proportion；Watched to first according to right or left side wheel corner deviation signal simultaneously
Take proportioning valve and send the second road command signal, to control the work of the first servo proportion；
Step 7：Second servo proportion output hydraulic pressure signal control cross-tie telescoping cylinder stretches, and stretches cross-tie
The physical length of contracting cylinder is close to target length, and the first servo proportion output hydraulic pressure signal control left and right side steering actuation cylinder is stretched
Contracting, makes the right side or the actual rotational angle of left side wheels be close to target rotation angle；
Step 8：The physical length of the cross-tie telescoping cylinder that controller is fed back according to displacement transducer and rotary angle transmitter
With the actual rotational angle of right or left side wheels, the two-way command signal described in real-time regulation, under two-way command signal co- controlling, turn
Realize that pure rolling is turned to tie rod linkage, make left and right side wheel reach target rotation angle；
Step 9：Judge right or left side wheels corner whether more than critical locking corner：If being more than, step 3 is jumped to；If
No more than, jump to step 10；
Step 10：The second servo proportion is set in middle position, the second electromagnetic direction valve obtains electric, by the 3rd hydraulic control one-way valve
Lead to oil return with the guide oil of the 4th hydraulic control one-way valve, lock cross-tie telescoping cylinder.
Step 11：It is synchronous with step 10, detect the actual rotational angle of the controlled steeraxle right side or left side wheels；
Step 12：Calculate deviation between right or left side wheels actual rotational angle and target rotation angle；
Step 13：According to right or left side wheel corner deviation signal, controller sends to the first servo proportion and instructs
Signal controls the work of the first servo proportion；
Step 14：First servo proportion output hydraulic pressure signal control left and right side steering actuation cylinder stretches, and makes the right side or a left side
The actual rotational angle of side wheel is close to target rotation angle；
Step 15：The actual rotational angle of the right or left side wheels that controller is fed back according to rotary angle transmitter, described in real-time regulation
Command signal, under the control of command signal, tie rod linkage realize turn to, make the right side or left side wheels reach target rotation angle.
Described critical locking corner is positive and negative 5 °～15 °.
Described controller 21 is programmable logic controller (PLC) or single-chip microcomputer, the response frequency of the controller and described the
The response frequency of one servo proportion 4 and the second servo proportion 22 is adapted.
The beneficial effect that the present invention possesses is：
1) the change length cross-tie design tie rod linkage based on electro-hydraulic servo control, breaches high-quality pure rolling and turns
To the design bottleneck of mechanism.By will cross-tie telescoping cylinder replace conventional steering it is trapezoidal in track rod, and application electricity
Fluid servo system carries out precise control to which, makes the four-bar mechanism of original steering trapezium be changed into the five of built-in transverse pull bar telescoping cylinder
Linkage.The mechanism possesses double freedom, can control bilateral steering angle of wheel simultaneously, realizes that the Ackermam of bilateral wheel turns
To；Meanwhile, there is arrangement convenient, rapid operation and radius of turn is little, from structure to realize high response, high-precision
Ackermann steering creates condition.
2) by the electro-hydraulic servo complex controll of bilateral tie rod arm and cross-tie, under the conditions of realizing pure rolling, high response is high
The dynamic steering of precision.Bilateral tie rod arm is controlled by servo proportion, there is provided turn to driving moment, realize tie rod linkage Gao Xiang
Answer high-precision course changing control；Cross-tie telescoping cylinder is controlled by servo proportion simultaneously, the dynamic of the high response of telescoping cylinder is realized
State becomes length control.Electro-hydraulic servo is carried out to three executors (there are two degree of freedom) from there through double servo proportion to be combined
Control, can arbitrarily adjust the corner of both sides deflecting roller, realize bilateral wheel corner fully meet multiple-axle vehicle turn to required for Ah
Gram graceful condition, and ensure high response and the high accuracy of pure rolling steering procedure.
3) cross-tie telescoping cylinder is locked using electrichydraulic control formula, effectively lifts safety when multiple-axle vehicle is run at high speed
Property.During high vehicle speeds, steering angle is often operated in small angle tower scope, by electrichydraulic control formula lock cross-tie, by its by
Become born of the same parents' steering trapezium and be re-converted into conventional steering trapezium.Thus, can be prevented effectively from when mechanism becomes born of the same parents' section failure and be led
The danger of cause, is ensureing that (during small angle tower, measured length cross-tie also can approximately realize Acker to metamorphic mechanisms pure rolling steering effect
Graceful steering) while reduce when which is run at high speed risk, improve the safety that multiple-axle vehicle is run at high speed.
Description of the drawings
Fig. 1 is a kind of electro-hydraulic servo steering schematic diagram towards multiple-axle vehicle pure rolling,
Fig. 2 is to characterize cross-tie length to take turns the schematic diagram of angle relation with both sides,
Fig. 3 is a kind of control principle block diagram of the electro-hydraulic servo steering towards multiple-axle vehicle pure rolling,
Fig. 4 is the control method flow chart of electro-hydraulic servo steering of the present invention,
Fig. 5 is the schematic diagram of the electro-hydraulic servo steering that the present invention is applied to multiple-axle vehicle pure rolling.
In figure：1st, fuel tank, 2, hydraulic pump, the 3, first solenoid directional control valve, the 4, first servo proportion, the 5, first fluid-control one-way
Valve, the 6, second hydraulic control one-way valve, the 7, first repairing overflow valve group, the 8, second repairing overflow valve group, 9, left steering servo-cylinder, 10,
First tie rod arm, 11, displacement transducer, 12, cross-tie telescoping cylinder, the 13, second tie rod arm, 14, right turn servo-cylinder, 15,
Rotary angle transmitter, 16, vehicle frame, the 17, the 3rd repairing overflow valve group, 18 the 4th repairing overflow valve groups, the 19, the 3rd hydraulic control one-way valve,
20th, the 4th hydraulic control one-way valve, 21, controller, the 22, second servo proportion, the 23, second solenoid directional control valve, 24, overflow valve, 25,
Check valve, R1, the first working oil path, R2, the second working oil path, R3, the 3rd working oil path, R4, the 4th working oil path.
Specific embodiment
With reference to the accompanying drawings and examples, illustrate the specific embodiment of the present invention.
Fig. 1 is a kind of electro-hydraulic servo steering schematic diagram towards multiple-axle vehicle pure rolling.
A kind of electro-hydraulic servo steering towards multiple-axle vehicle pure rolling, the multiple-axle vehicle include the first bridge and rear
Each steeraxle, for the electro-hydraulic servo steering of rear each steeraxle include fuel tank 1, hydraulic pump 2, the first servo proportion 4,
Vehicle frame 16, left steering servo-cylinder 9, right turn servo-cylinder 14；The piston rod of left steering servo-cylinder 9 is hinged with the first tie rod arm 10,
Its cylinder body is hinged with vehicle frame 16, and the piston rod of right turn servo-cylinder 14 is hinged with the second tie rod arm 13, its cylinder body also with vehicle frame
16 are hinged；The rodless cavity of the rod chamber and right turn servo-cylinder 14 of left steering servo-cylinder 9 forms the first working oil path R1, left steering
The rod chamber of the rodless cavity and right turn servo-cylinder 14 of servo-cylinder 9 forms the second working oil path R2, R1 and two working oil paths of R2 point
It is not connected with A, B actuator port of the first servo proportion 4.
Described electro-hydraulic servo steering also includes cross-tie telescoping cylinder 12, the second servo proportion 22 and electronics control
System processed.
The piston portion of cross-tie telescoping cylinder 12 is hinged with the first tie rod arm 10 of side, cross-tie telescoping cylinder 12
Cylinder part is hinged with the second tie rod arm 13 of opposite side.
Two working volumes of cross-tie telescoping cylinder 12 A, B actuator port phase respectively with the second servo proportion 22
Even, the 3rd working oil path R3 and the 4th working oil path R4 are formed respectively；First servo proportion 4 and the second servo proportion 22
P mouths are connected with oil-feed oil circuit, and the T mouths of the first servo proportion 4 and the second servo proportion 22 are communicated with fuel tank 1.
Preferably, cross-tie telescoping cylinder 12 is double rod cylinders, and described cross-tie telescoping cylinder both sides rod chamber has
Effect work area is equal.
Preferably, in a kind of electro-hydraulic servo steering towards multiple-axle vehicle pure rolling containing the first hydraulic control one-way valve 5,
Second hydraulic control one-way valve 6, the 3rd hydraulic control one-way valve 19 and the 4th hydraulic control one-way valve 20, which is serially connected in R1, R2, R3, R4 tetra- respectively
On individual oil circuit.The guide oil of the first described hydraulic control one-way valve 5 and the second hydraulic control one-way valve 6 is controlled by the first solenoid directional control valve 3
System；The guide oil of the 3rd described hydraulic control one-way valve 19 and the 4th hydraulic control one-way valve 20 is controlled by the second solenoid directional control valve 23；
The first described solenoid directional control valve 3 and the second solenoid directional control valve 23 are two-position three-way valve.
Preferably, a kind of electro-hydraulic servo steering towards multiple-axle vehicle pure rolling include the first repairing overflow valve group 7,
Second repairing overflow valve group 8, the 3rd repairing overflow valve group 17, the 4th repairing overflow valve group 18, its be serially connected in respectively R1, R2, R3,
On tetra- oil circuits of R4.First repairing overflow valve group 7, the second repairing overflow valve group 8, the 3rd repairing overflow valve group 17, the 4th repairing
Overflow valve group 18 has identical structure, respectively including an overflow valve 24 and a check valve 25, and check valve 25 and overflow valve
24 is in parallel, and check valve 25 is used to make between the import of overflow valve 24 and outlet in positive cut-off and reverse-conducting state.
Electronic control system includes：Controller 21, the corner for detecting right (or left) the side wheel corner of the steeraxle are passed
Sensor 15, the displacement transducer 11 for detecting the cross-tie telescoping cylinder length, the first solenoid directional control valve, the second electromagnetism are changed
To valve；21 Electricity Federation of controller is in the first servo proportion 4, the second servo proportion 22, rotary angle transmitter 15, displacement transducer
11st, the first solenoid directional control valve and the second solenoid directional control valve.
Fig. 2 is to characterize cross-tie length to take turns the schematic diagram of angle relation with both sides.
When turning to, all wheels are in pure rolling steering state to multiple-axle vehicle, that is, meet Ackermann steering theorem, wheel
The abrasion of tire can be significantly reduced, and thus can improve stability and the safety of vehicle traveling.Multiple-axle vehicle includes multiple steeraxles
(general steeraxle number n >=3), when in steering procedure, to ensure each deflecting roller pure rolling, can calculate according to Ackermam theorem
Draw the corner required for each wheel.By taking the n-th bridge steeraxle as an example, as illustrated, set through Ackermam theorem calculate it is pure
The corner of rolling condition bottom left right-hand wheel is respectively αnAnd βn, the trapezoidal arm lengths of left and right side wheel are m, when tire is in middle position
Tie rod arm is γ with the angle for turning to bridge axle, and the distance between the deflecting roller stub of both sides is K.
Conventional multi-axis wheel steering system is driven using tie rod linkage, but tie rod linkage drive turn
To only one steering degree of freedom of bridge, only can guarantee that the side wheel corner in the deflecting roller of both sides is completely the same with target；And it is another
Side wheel corner is only capable of being fitted by tie rod linkage, makes both sides wheel corner meet Ackermam condition, i.e. conventional steering as far as possible
Tie rod linkage can not strictly realize that the pure rolling of left and right sides is turned to.
If considering cross-tie retractable, when left and right side wheel realizes that pure rolling is turned to, mould can be turned to according to corresponding
Ackermam theorem under formula, the n-th bridge left and right sides rotation angle value i.e. α for meeting Ackermann angle relation for calculatingnAnd βn.According to
According to the physical dimension and geometrical relationship of mechanism, the length of track rod position CD sections in figure can be calculated, i.e.,：
It can be seen that, the length of CD sections is relevant with the corner α and β of two side wheels, it is clear that CD segment length changes with steering angle and becomes
Change.Ackermam condition is met simultaneously to two side wheels, the length of cross-tie needs real-time change, that is, elongate or shorten to meet
Ackermam condition.Additionally, above formula removes αn、βnAnd LcdOutside three variables, remaining is constant, can be combined by two of which variable
Above formula obtains another variable, that is, have αn=f (βn,Lcd).Therefore, can be by controlling right-hand wheel corner βnIt is long with cross-tie
Degree LcdTo control left side wheels corner αn, make both sides wheel corner meet Ackermam condition, realize pure rolling.Certainly, also can be by control
Left side wheels corner α processednWith cross-tie length LcdTo control right-hand wheel corner βn, its principle is consistent.
Fig. 3 is a kind of control principle block diagram of the electro-hydraulic servo steering towards multiple-axle vehicle pure rolling.
With reference to Fig. 1 to Fig. 3, described electronic control system is based on according to the left and right side wheel target rotation angle of controlled steeraxle
The target length of cross-tie telescoping cylinder is calculated, second in the electro-hydraulic servo steering being located to described controlled steeraxle
Servo proportion 22, exports the command signal corresponding with the cross-tie telescoping cylinder target length；Meanwhile, to described quilt
The first servo proportion 4 in the electro-hydraulic servo steering that control steeraxle is located, exports and right (or left) the side wheel target
The corresponding command signal of corner, and the cross-tie telescoping cylinder Displacement Feedback signal according to described controlled steeraxle and the right side
(or left) side wheel feedback angular signal, each command signal described in real-time regulation.
Multiple-axle vehicle is according to the first bridge corner (steering wheel control direction machine is turned to, and is often mechanical-hydraulic control mode)
With selected steering pattern, can calculate according to Ackermam theorem and each bridge that pure rolling turns to requirement be met in rear each steeraxle
Left and right side wheel corner, if the n-th bridge is controlled steeraxle, the target rotation angle of the left and right side wheel of the n-th bridge is αnAnd βn。
With reference to Fig. 1 to Fig. 3, a kind of operation principle of described electro-hydraulic servo steering towards multiple-axle vehicle pure rolling
It is as follows：
First, the n-th bridge left and right side wheel corner αn、βnIt is input into controller as target rotation angle, controller is according to formula (1)
Calculate the Len req L of cross-tie telescoping cylindercd, and by this length LcdWith right-hand wheel corner βn(this sentences right turn wheel
Example, is changed to left steering wheel principle and is similar to) it is controlled respectively as target length and target rotation angle.
Secondly, the displacement transducer 11 installed on horizontal scuffing of cylinder bore telescoping cylinder 12 detects the reality of horizontal scuffing of cylinder bore telescoping cylinder 12
Displacement, according to the physical dimension of horizontal scuffing of cylinder bore telescoping cylinder 12, can calculate its physical length Lcd', controller passes through physical length
Calculating is compared with target length, length variation signal delta L is obtainedcd=Lcd-Lcd'；Meanwhile, pacify at right turn wheel stub
The rotary angle transmitter 15 of dress detects the actual rotational angle β of right-hand wheeln', controller is compared with target rotation angle by actual rotational angle
Relatively calculate, corner deviation signal Δ β is obtainedn=βn-βn'。
Again, controller is according to length variation signal delta LcdWith corner deviation signal Δ βn, by corresponding control algolithm
Such as ratio control, PID control or other control modes, by deviation signal Δ LcdWith Δ βnIt is respectively converted into first via command signal
μ1With the second road command signal μ2；Two-way command signal μ1And μ2The first servo proportion 4 and the second servo proportion are controlled respectively
22 actions, make valve element produce corresponding displacement.
Then, the second servo proportion 22 is three-position four-way valve, when which is in intersection position, cross-tie telescoping cylinder 12
F enters in chamber hydraulic oil, the oil return of E chambers, and now cross-tie telescoping cylinder 12 is in elongation state.When which is in parallel position, laterally draw
Hydraulic oil is entered in the E chambers of bar telescoping cylinder 12, the oil return of F chambers, and now cross-tie telescoping cylinder 12 is in shortening state.When which is in " O "
During type middle position, the E chambers of cross-tie telescoping cylinder 12 and F chambers are closed, and now cross-tie telescoping cylinder 12 does not stretch.Length variation is believed
Number Δ LcdCause the 4 valve element action of the second servo proportion to produce corresponding amount of opening, produce cross-tie telescoping cylinder 12 flexible,
And make which present physical length Lcd' it is close to target length LcdTrend, and then reduce length variation signal, make negative
Feedback closed loop is controlled.
Meanwhile, the first servo proportion 4 is three-position four-way valve, and when which is in intersection position, right turn servo-cylinder 14 has
The rodless cavity of rod cavity and left steering servo-cylinder 9 leads to hydraulic oil, the rodless cavity and left steering servo-cylinder 9 of right turn servo-cylinder 14
Rod chamber leads to oil return；Now right turn servo-cylinder 14 is in shortening state, and left steering servo-cylinder 9 is in elongation state, turns to
It is trapezoidal to rotate counterclockwise.When the first servo proportion 4 is in parallel position, the rodless cavity and left steering of right turn servo-cylinder 14 are helped
The rod chamber of power cylinder 9 leads to hydraulic oil, and the rodless cavity of the rod chamber and left steering servo-cylinder 9 of right turn servo-cylinder 14 leads to back
Oil, now in elongation state, left steering servo-cylinder 9 is in shortening state, tie rod linkage up time to right turn servo-cylinder 14
Pin is rotated.When the first servo proportion 4 is in " O " type middle position, the rod chamber of left steering servo-cylinder 9 and right turn servo-cylinder 14
Close with rodless cavity, now left steering servo-cylinder 9 and right turn servo-cylinder 14 do not stretch.Corner deviation signal Δ βnCause
First servo proportion, 4 valve element action produces corresponding amount of opening, produces right turn servo-cylinder 14 and left steering servo-cylinder 9 and stretches
Contracting, and make right-hand wheel present actual rotational angle βn' it is close to target rotation angle βnTrend, and then reduce corner deviation signal, be allowed to into
For negative feedback closed loop control.
Finally, it is by two servo proportions respectively to cross-tie telescoping cylinder, the control of left and right sides steering actuation cylinder, real
Accurate closed loop control of the now two parameter compensator to tie rod linkage, and then realization to left and right side wheel corner, is effectively ensured
Bilateral wheel corner fully meets the Ackermam condition required for multiple-axle vehicle is turned to, and realizes that pure rolling is turned to.Due to executor it is equal
For electro-hydraulic servo control, with high response and high accuracy, high response and the high accuracy of pure rolling dynamic steering have been ensured.
Its holding not retracted position is made when 12 liang of chambers of cross-tie expansion link need to be closed, if only making the second servo proportion 22
In middle position, as guiding valve is leaked, it is impossible to ensure the accurate lock of cross-tie telescoping cylinder 12.If in the second servo proportion 22
On middle position basis, and the guide oil of the 3rd hydraulic control one-way valve 19 and the 4th hydraulic control one-way valve 20 is changed by the second electromagnetism
Lead to oil return to valve 23, you can by two-way hydraulic control one-way valve accurate lock cross-tie telescoping cylinder 12, it is ensured that cross-tie stretches
Cylinder 12 does not stretch.
In the same manner, when each working volumes of left and right steering actuation cylinder need to be closed so as to keep not retracted position, if only making first
Servo proportion 4 is in middle position, as guiding valve is leaked, it is impossible to ensure the accurate lock of left and right steering actuation cylinder.If watching first
Proportioning valve 4 is taken on middle position basis, and by the guide oil of the first hydraulic control one-way valve 5 and the second hydraulic control one-way valve 6 by the
One solenoid directional control valve 3 leads to oil return, you can by the left and right steering actuation cylinder of two-way hydraulic control one-way valve accurate lock, it is ensured that left and right turn
Do not stretch to servo-cylinder.
The present invention relates to the first solenoid directional control valve 3 and the second solenoid directional control valve 23 be two-position three-way valve, by two
The control of each hydraulic control one-way valve oil can be switched between logical hydraulic oil and logical oil return by the commutation function of position three-way valve.If by this
One solenoid directional control valve 3 and the second solenoid directional control valve 23 are changed to 2/2-way valve, as guide's oil circuit only connects hydraulic oil and breaks
Hydraulic oil two states are opened, dead cavity volume will be formed in the pilot control chamber of hydraulic control one-way valve, it is impossible to hydraulic control one-way valve is effectively ensured
Release, and then cause the hydraulic control one-way valve cannot normal work.Therefore, the first solenoid directional control valve 3 and the second solenoid directional control valve 23
Two-position three-way valve must be selected.
When cross-tie telescoping cylinder, left and right turn servo-cylinder are in latch enclosure state, and now multiple-axle vehicle deflecting roller
During by strong outer load shock, instantaneous pressure will be produced in cross-tie telescoping cylinder, left and right turn servo-cylinder, by reasonable
The set pressure of overflow valve in each overflow valve group is set, you can each hydraulic cylinder of effective protection exempts from the damage of instantaneous pressure.Need
It is noted that when closing cavity volume is also easy to produce negative pressure after overflow valve overflow, now can be by the check valve in parallel with overflow valve
Repairing is carried out, the generation of negative pressure is eliminated.
Described above is with right-hand wheel corner as control targe.If being changed to left side wheels corner as control targe, which is former
Reason is similar, you can controls right-hand wheel corner by controlling cross-tie telescoping cylinder and left side wheels corner, finally realizes left and right side
Rotate to precise control.Because involved control method is similar, it will not go into details.
Fig. 4 is the control method flow chart of electro-hydraulic servo steering of the present invention.
Comprise the following steps：
Step one：Electro-hydraulic servo steering is by the left and right side wheel target rotation angle signal input of controlled steeraxle to described
The controller of steeraxle；
Step 2：Judge whether to need to lock cross-tie in the range of the critical locking angle of deflecting roller middle position left and right sides
Telescoping cylinder：If need not, jump to step 3；If desired, jump to step 9；
Step 3：Controller is long according to the target that left and right side wheel target rotation angle signal of change goes out cross-tie telescoping cylinder
Degree, and system is controlled using the target rotation angle of the target length and right (or left) side wheel as two control targes；
Step 4：Detect that the reality of the physical length and the right side (or left) side wheel of controlled steeraxle cross-tie telescoping cylinder turns
Angle；
Step 5：Deviation between cross-tie telescoping cylinder physical length and target length is calculated, while calculating right (or left) side
Deviation between wheel actual rotational angle and target rotation angle；
Step 6：According to cross-tie telescoping cylinder length variation signal, controller sends first to the second servo proportion
Road command signal, to control the work of the second servo proportion；Simultaneously according to right (or left) side wheel steering angle deviation signal to first
Servo proportion sends the second road command signal, to control the work of the first servo proportion；
Step 7：Second servo proportion output hydraulic pressure signal control cross-tie telescoping cylinder stretches, and stretches cross-tie
The physical length of contracting cylinder is close to target length, and the first servo proportion output hydraulic pressure signal control left and right side steering actuation cylinder is stretched
Contracting, makes the actual rotational angle of right (or left) side wheel be close to target rotation angle；
Step 8：The physical length of the cross-tie telescoping cylinder that controller is fed back according to displacement transducer and rotary angle transmitter
With the actual rotational angle of right (or left) side wheel, the two-way command signal described in real-time regulation, under two-way command signal co- controlling,
Tie rod linkage realizes that pure rolling is turned to, and makes left and right side wheel reach target rotation angle；
Step 9：Judge right (or left) side wheel corner whether more than critical locking corner：If being more than, step 3 is jumped to；
If being not more than, step 10 is jumped to；
Step 10：The second servo proportion is set in middle position, the second solenoid directional control valve obtains electric, by the 3rd hydraulic control one-way valve
Lead to oil return with the guide oil of the 4th hydraulic control one-way valve, lock cross-tie telescoping cylinder；
Step 11：It is synchronous with step 10, detect the actual rotational angle of right (or left) side wheel of controlled steeraxle；
Step 12：Calculate right (or left) deviation between side wheel actual rotational angle and target rotation angle；
Step 13：According to right (or left) side wheel steering angle deviation signal, controller sends to the first servo proportion and refers to
Signal is made to control the work of the first servo proportion；
Step 14：First servo proportion output hydraulic pressure signal control left and right side steering actuation cylinder stretches, make it is right (or
It is left) actual rotational angle of side wheel is close to target rotation angle；
Step 15：The actual rotational angle of the right side (or left) side wheel that controller is fed back according to rotary angle transmitter, real-time regulation institute
The command signal stated, under the control of command signal, tie rod linkage is realized turning to, and makes right (or left) side wheel reach target and turns
Angle.
Described critical locking corner is positive and negative 5 °～15 °, you can with the critical locking corner for arranging to the left or to the right be
A certain numerical value in 5 °～15 °.
Described controller is programmable logic controller (PLC) or single-chip microcomputer, the response frequency of the controller and described first
The response frequency of servo proportion and the second servo proportion is adapted.
Electro-hydraulic servo control is carried out respectively to cross-tie telescoping cylinder, left and right sides steering actuation cylinder by two servo proportions
System, fully meets the required Ackermam condition of multiple-axle vehicle steering so that bilateral wheel corner is effectively ensured, realizes high response and height
Precision pure rolling is turned to.The electro-hydraulic servo control of cross-tie telescoping cylinder is that the steering of accurate pure rolling creates condition.To enter one
Step lifted high vehicle speeds safety, can by cross-tie telescoping cylinder electro-hydraulic locking, will cross-tie telescoping cylinder length
Degree locking, during high vehicle speeds, this mode can reduce leading because of the electrohydraulic servo-controlling system failure of cross-tie telescoping cylinder
The risk of cause.
The cross-tie length of conventional tie rod linkage is definite value, it is impossible to realized by the length adjustment of cross-tie left
Right-hand wheel pure rolling.Typically by the optimization design of four-bar mechanism, make steering trapezium approximately meet the trapezoidal corner of Ackermam and close
System, that is, present both sides deflecting roller deviation very little between actual rotational angle and Ackermann angle in small angle tower scope, and in big corner
During scope, between actual rotational angle and Ackermann angle, deviation is just significantly increased.Therefore, in high vehicle speeds, the technology of the present invention
Scheme locks cross-tie in the range of small angle tower, has both ensured that left and right sides wheel corner meets Ackermann steering relation as far as possible, and
It is obviously improved the safety run at high speed.By the critical locking angle value of reasonable set, which is such as set as positive and negative 5 °～15 °, i.e.,
From middle position, (or to the right) turns to 5 °～15 ° to deflecting roller to the left, and using the steering angle of side as control benchmark.Finally, facing
Boundary's angle value is demarcation line, passes through the real-time regulation of cross-tie telescoping cylinder in polarizers of big angle scope (mostly running at a low speed), by
This ensures that the accurate pure rolling of left and right side wheel is turned to；And in small angle range, by locking cross-tie telescoping cylinder, it is ensured that high
The safety of speed traveling simultaneously takes into account the approximate pure rolling of left and right side wheel and turns to.
There is the switching of four-bar mechanism and five-rod in above-mentioned steering procedure, i.e., little steering range is four-bar mechanism, and big
Angle range is five-rod；Concurrently there are the switching of degree of freedom quantity, i.e. small angle tower scope and turn to for single-degree-of-freedom, and it is big
Angle range is turned to for double freedom.It can be seen that, in the tie rod linkage with cross-tie telescoping cylinder, due to being stretched by this
The control whether contracting cylinder locks, by the change and the freedom that cause tie rod linkage to there is mechanism's topological structure in steering procedure
The change of the number of degrees.However, variable topological structure and variable freedom are two necessary and sufficient condition of metamorphic mechanisms, this has cross-tie
The tie rod linkage of telescoping cylinder, can referred to as become born of the same parents' steering trapezium, and cross-tie telescoping cylinder is change born of the same parents' steering trapezium
Become born of the same parents part.Therefore, change born of the same parents tie rod linkage creates condition into the pure rolling Design of Steering Mechanism of high-quality.
Fig. 5 is the schematic diagram of the electro-hydraulic servo steering that the present invention is applied to multiple-axle vehicle pure rolling.
The electro-hydraulic servo steering of the present invention can be used for the multiple-axle vehicle with two (or two or more) vehicle bridge.The car
The first bridge typically adopt the power steering mode such as mechanical type or mechanical hydraulic servo, each bridge electro-hydraulic watching using the present invention thereafter
Steering is taken, for applying the steeraxle of electro-hydraulic servo steering of the present invention, the left and right sides of the bridge is can effectively ensure that
Deflecting roller meets the Ackermann steering condition needed for pure rolling, and then makes each bridge thereafter realize that high response and high-precision dynamic are pure
Roll and turn to.
If additionally, the first bridge is also adopted by the electro-hydraulic servo steering of the present invention, being capable of achieving full-bridge steering-by-wire.It is now square
To at disk, steering wheel angle signal is converted to signal of telecommunication input controller by rotary angle transmitter, and controller is according to corresponding steering pattern
The target rotation angle of all steeraxles (including the first bridge) is calculated, essence is carried out by the electro-hydraulic servo steering that each bridge has subsequently
Really control.Thus the left and right sides deflecting roller that whole steeraxles are effectively ensured meets Ackermann steering condition needed for pure rolling, enters
And make full-bridge realize that high response and high-precision dynamic pure rolling are turned to.
The electro-hydraulic servo steering that each bridge has can unify fuel feeding, and unified oil sump tank, i.e., above-mentioned each bridge by hydraulic pump
Electro-hydraulic servo steering using parallel connection by the way of, in-line is connected to into the outlet of hydraulic pump 2, oil return line parallel connection takes back oil
Case 1.
The foregoing is only presently preferred embodiments of the present invention, all impartial changes done according to scope of the present invention patent with
Modification, should all belong to the covering scope of the present invention.
Claims (8)
1. a kind of electro-hydraulic servo steering towards multiple-axle vehicle pure rolling, the multiple-axle vehicle include the first bridge and rear each
Steeraxle, for including fuel tank in the electro-hydraulic servo steering of rear each steeraxle（1）, hydraulic pump（2）, the first servo proportion
（4）, vehicle frame（16）, left steering servo-cylinder（9）With right turn servo-cylinder（14）；Left steering servo-cylinder（9）Rod chamber and right-hand rotation
To servo-cylinder（14）Rodless cavity formed the first working oil path (R1), left steering servo-cylinder（9）Rodless cavity and right turn power-assisted
Cylinder（14）Rod chamber formed the second working oil path (R2), two working oil of the first working oil path (R1) and the second working oil path (R2)
Road respectively with the first servo proportion（4）A, B actuator port be connected；
It is characterized in that：Described electro-hydraulic servo steering includes cross-tie telescoping cylinder（12）, the second servo proportion
（22）And electronic control system；
Cross-tie telescoping cylinder（12）Piston portion and side the first tie rod arm（10）It is hinged, cross-tie telescoping cylinder（12）
Cylinder part and opposite side the second tie rod arm（13）It is hinged；
Cross-tie telescoping cylinder（12）Two working volumes respectively with the second servo proportion（22）A, B actuator port phase
Even, the 3rd working oil path (R3) and the 4th working oil path (R4) are formed respectively；First servo proportion（4）With the second servo ratio
Valve（22）P mouths be connected with oil-feed oil circuit, the first servo proportion（4）With the second servo proportion（22）T mouths with oil
Case（1）Communicate；Also contain the first hydraulic control one-way valve in the system（5）, the second hydraulic control one-way valve（6）, the 3rd hydraulic control one-way valve
（19）With the 4th hydraulic control one-way valve（20）, which is serially connected in the first working oil path (R1), the second working oil path (R2), the 3rd work respectively
Make on oil circuit (R3), the 4th four oil circuits of working oil path (R4)；
The first described hydraulic control one-way valve（5）With the second hydraulic control one-way valve（6）Guide oil by the first solenoid directional control valve（3）Control
System；The 3rd described hydraulic control one-way valve（19）With the 4th hydraulic control one-way valve（20）Guide oil by the second solenoid directional control valve（23）
Control；The first described solenoid directional control valve（3）With the second solenoid directional control valve（23）It is two-position three-way valve；
Electronic control system for calculating the target of cross-tie telescoping cylinder according to the left and right side wheel target rotation angle of controlled steeraxle
Length, the second servo proportion in the electro-hydraulic servo steering being located to described controlled steeraxle, exports and the horizontal stroke
To the corresponding command signal of pull bar telescoping cylinder target length；Meanwhile, the electro-hydraulic servo being located to described controlled steeraxle turns
To the first servo proportion in system, the command signal corresponding with the right or left side wheels target rotation angle is exported, and according to
The cross-tie telescoping cylinder Displacement Feedback signal of described controlled steeraxle and right or left side wheels feedback angular signal, real-time regulation
Described each command signal.
2. a kind of electro-hydraulic servo steering towards multiple-axle vehicle pure rolling according to claim 1, it is characterised in that：
Cross-tie telescoping cylinder（12）For double rod cylinders, effective work area phase of described cross-tie telescoping cylinder both sides rod chamber
Deng.
3. a kind of electro-hydraulic servo steering towards multiple-axle vehicle pure rolling according to claim 1, it is characterised in that：
The system also includes the first repairing overflow valve group（7）, the second repairing overflow valve group（8）, the 3rd repairing overflow valve group（17）With
Four repairing overflow valve groups（18）, which is serially connected in the first working oil path (R1), the second working oil path (R2), the 3rd working oil path respectively
(R3), on the 4th four oil circuits of working oil path (R4).
4. a kind of electro-hydraulic servo steering towards multiple-axle vehicle pure rolling according to claim 3, it is characterised in that：
First repairing overflow valve group（7）, the second repairing overflow valve group（8）, the 3rd repairing overflow valve group（17）With the 4th repairing overflow valve
Group（18）With identical structure, which respectively includes an overflow valve（24）With a check valve（25）, and check valve（25）With overflow
Stream valve（24）It is in parallel.
5. a kind of electro-hydraulic servo steering towards multiple-axle vehicle pure rolling according to claim 1, it is characterised in that：
Electronic control system includes：Controller（21）, for detecting that the steeraxle is right or the rotary angle transmitter of left side wheels corner（15）、
For detecting the displacement transducer of the cross-tie telescoping cylinder length（11）, the first solenoid directional control valve（3）Change with the second electromagnetism
To valve（23）；
Controller（21）Electricity Federation is in the first servo proportion（4）, the second servo proportion（22）, rotary angle transmitter（15）, displacement
Sensor（11）, the first solenoid directional control valve（3）With the second solenoid directional control valve（23）；
Wherein controller（21）, the second servo proportion（22）, cross-tie telescoping cylinder（12）And displacement transducer（11）Formed
For the closed loop control of cross-tie telescoping cylinder length；While controller（21）, the first servo proportion（4）, right turn power-assisted
Cylinder（14）, left steering servo-cylinder（9）With the rotary angle transmitter on a right or left side（15）Form the closed loop control for right or left side wheels corner
System.
6. a kind of steering of a kind of electro-hydraulic servo steering towards multiple-axle vehicle pure rolling that can be used for described in claim 1
Control method, it is characterised in that：Comprise the following steps：
Step one：Electro-hydraulic servo steering is by the left and right side wheel target rotation angle signal input of controlled steeraxle to the steering
The controller of bridge；
Step 2：Judge whether to need the locking cross-tie in the range of the critical locking angle of deflecting roller middle position left and right sides to stretch
Cylinder：If need not, jump to step 3；If desired, jump to step 9；
Step 3：Controller goes out the target length of cross-tie telescoping cylinder according to left and right side wheel target rotation angle signal of change, and
System is controlled using the target rotation angle of the target length and right or left side wheels as two control targes；
Step 4：Detect the actual rotational angle of the physical length and right or left side wheels of controlled steeraxle cross-tie telescoping cylinder；
Step 5：Deviation between cross-tie telescoping cylinder physical length and target length is calculated, while calculating right or left side wheels reality
Deviation between corner and target rotation angle；
Step 6：According to cross-tie telescoping cylinder length variation signal, controller sends the first via to the second servo proportion and refers to
Signal is made, to control the work of the second servo proportion；Simultaneously according to right or left side wheel corner deviation signal to the first servo-ratio
Example valve sends the second road command signal, to control the work of the first servo proportion；
Step 7：Second servo proportion output hydraulic pressure signal control cross-tie telescoping cylinder stretches, and makes cross-tie telescoping cylinder
Physical length be close to target length, the first servo proportion output hydraulic pressure signal control left and right side steering actuation cylinder stretches, and makes
The actual rotational angle of right or left side wheels is close to target rotation angle；
Step 8：The physical length of the cross-tie telescoping cylinder that controller is fed back according to displacement transducer and rotary angle transmitter and the right side
Or the actual rotational angle of left side wheels, the two-way command signal described in real-time regulation, under two-way command signal co- controlling, steering ladder
Shape mechanism realizes that pure rolling is turned to, and makes left and right side wheel reach target rotation angle；
Step 9：Judge right or left side wheels corner whether more than critical locking corner：If being more than, step 3 is jumped to；If less
In jumping to step 10；
Step 10：The second servo proportion is set in middle position, the second solenoid directional control valve obtains electric, by the 3rd hydraulic control one-way valve and the
The logical oil return of the guide oil of four hydraulic control one-way valves, locks cross-tie telescoping cylinder；
Step 11：It is synchronous with step 10, detect the actual rotational angle of the controlled steeraxle right side or left side wheels；
Step 12：Calculate deviation between right or left side wheels actual rotational angle and target rotation angle；
Step 13：According to right or left side wheel corner deviation signal, controller sends command signal to the first servo proportion
Control the work of the first servo proportion；
Step 14：First servo proportion output hydraulic pressure signal control left and right side steering actuation cylinder stretches, and makes the right side or left side wheels
Actual rotational angle be close to target rotation angle；
Step 15：The actual rotational angle of the right or left side wheels that controller is fed back according to rotary angle transmitter, the finger described in real-time regulation
Signal is made, under the control of command signal, tie rod linkage is realized turning to, and makes the right side or left side wheels reach target rotation angle.
7. a kind of rotating direction control method according to claim 6, it is characterised in that：Described critical locking corner is positive and negative
5°~15°。
8. a kind of rotating direction control method according to claim 6, it is characterised in that：Described controller（21）It is programmable
Logic controller or single-chip microcomputer, the response frequency of the controller and first servo proportion（4）With the second servo ratio
Valve（22）Response frequency be adapted, and the first servo proportion（4）With the second servo proportion（22）Under 5% spool displacement
Response frequency be not less than 40Hz, the response frequency under 100% spool displacement be not less than 20Hz.
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| CN102862603B (en) * | 2012-09-28 | 2015-12-09 | 中联重科股份有限公司 | Proportional steering valve, proportional steering hydraulic circuit, proportional steering system and vehicle |
| CN102923187B (en) * | 2012-11-27 | 2015-08-19 | 徐州重型机械有限公司 | The follow-up steering control system of multi-wheeler hoisting crane and multi-wheeler hoisting crane |
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2014
- 2014-11-08 CN CN201410626410.7A patent/CN104443025B/en active Active
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