CN104608819B - Multi-axle steering system for multi-axle vehicle and multi-axle vehicle - Google Patents
Multi-axle steering system for multi-axle vehicle and multi-axle vehicle Download PDFInfo
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- CN104608819B CN104608819B CN201410735122.5A CN201410735122A CN104608819B CN 104608819 B CN104608819 B CN 104608819B CN 201410735122 A CN201410735122 A CN 201410735122A CN 104608819 B CN104608819 B CN 104608819B
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- 230000033001 locomotion Effects 0.000 claims description 20
- 239000007788 liquid Substances 0.000 claims description 4
- 239000003921 oil Substances 0.000 description 56
- 238000010586 diagram Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 4
- 239000012530 fluid Substances 0.000 description 3
- 239000000446 fuel Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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- 239000000706 filtrate Substances 0.000 description 1
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Abstract
The invention discloses a multi-axle vehicle and a multi-axle steering system thereof, wherein each wheel is respectively provided with an electric control hydraulic steering device for controlling the steering of the wheel, the electric control hydraulic steering device comprises a motor, a reversing valve and a steering hydraulic cylinder, an electronic control unit drives a valve core of the reversing valve to move between a first position and a second position through the motor, and a piston of the steering hydraulic cylinder is connected with the valve core. The motor drives the valve core of the reversing valve to switch positions, oil is fed into a rod cavity or a rodless cavity of the steering hydraulic cylinder to control the piston of the steering hydraulic cylinder to move, the valve core of the reversing valve is driven reversely to move to seal an oil hole of the reversing valve, the main oil pump stops supplying oil, and the piston of the steering hydraulic cylinder stops moving. The electric control hydraulic steering device has a closed-loop control function, so that the multi-axis steering system only needs to be set as a simple open-loop control system, has a simple structure and can realize accurate steering control of the multi-axis vehicle.
Description
Technical field
The present invention relates to engineering machinery, in particular it relates to a kind of multi-axis steering system for multiple-axle vehicle and multiaxle trucks
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Background technology
Along with engineering construction and the needs of production and construction, the large truck with high-power and big bearing capacity obtains
Extensive application.But owing to being limited by pavement conditions and policies and regulations, only rely on increase vehicle bridge bearing capacity and
Reduce complete vehicle weight and can not meet use requirement.Meanwhile, steady in order to strengthen the mobility of vehicle, steering flexibility, manipulation
Qualitative and versatility, multi-axle steering technology is increasingly subject to the favor of large truck manufacturer.
Multi-axle heavy type vehicle is when turning to, in order to reduce the skimming wear of tire and reduce running resistance, it is desirable to participate in turning
To all wheels can do pure rolling and nonslipping rotation, even if there being slip, the most minimum sliding.At present, multiaxis
Main employing mechanical type hydraulic power-assisted steering and electric-controlled hydraulic is turned to turn to two ways.
Mechanical type hydraulic power-assisted steering generally uses the stable drive ratio steering mechanism of machinery rod-pulling type or machinery rocker-arm to come
Realize the angle relation between different vehicle bridge wheel, use double loop hydraulic booster steering to realize operating power-assisted, with gram
Take steering drag bigger in steering procedure.
Mechanical type hydraulic power-assisted multi-axis steering system has preferable ruggedness and stability, is affected little by external factor,
Safe and reliable and low cost, but steering gear connection design difficulty is big, structure is complicated, space layout is difficult, and four-bar mechanism this
Body cannot ensure that each Shaft angle complies fully with Ackermann steering relation, and control accuracy is difficult to ensure that, easily draws because stress is excessive
Send out member bending or the fault such as twist off.
It is current state-of-the-art multiaxis electrichydraulic control steering technique that electric-controlled hydraulic turns to, generally electric-hydraulic proportion closed loop feedback
Control system, its each steering spindle is not mechanically connected with front steering axle, but realizes each by sensor and electron controls technology
The coordination follow-up steering of axle.Mainly handled controlled by ECU ECU, solenoid-operated proportional reversal valve, hydraulic steering cylinder, electrical steering
Device, vehicle speed sensor, displacement transducer etc. form.
As it is shown in figure 1, its operation principle is: driver turn steering wheel is to one corner input of front-wheel, displacement transducer
Being input in steering controller ECU by the axial displacement signal collected, shift value is converted to corner value by steering controller ECU,
And the theoretical corner of each rear axle wheel is calculated according to shift control algorithm, then theory corner is passed with each rear axial displacement respectively
The actual rotational angle that sensor converses compares to deviate, and then in real time the change of deviation is converted to electricity by control algolithm
The change of pressure value is input in servo amplifier.Voltage signal is then converted to the electric current that servo valve can identify by servo amplifier
Signal, controls the aperture change of valve core of servo valve, thus drives the cylinder movement on each rear axle and pass motion to wheel,
Wheel is made to realize desired corner eventually.But owing to needing the wheel controlled more, closed loop control algorithm is complicated, the most difficult
Realize.
Summary of the invention
It is an object of the invention to provide a kind of multi-axis steering system for multiple-axle vehicle, this multi-axis steering system can lead to
Cross simple structure and more accurately control multiple-axle vehicle turning.
To achieve these goals, the present invention provides a kind of multi-axis steering system for multiple-axle vehicle, this multiple-axle vehicle
Including N number of vehicle bridge from front to back, N is the integer more than 2, and wherein, this multi-axis steering system includes electronic control unit, automatically controlled liquid
Pressure transfer and main oil pump, each wheel of described multiple-axle vehicle is separately installed with this electric-controlled hydraulic transfer with
Control turning to of this wheel,
This electric-controlled hydraulic transfer includes motor, reversal valve and hydraulic steering cylinder, and this electronic control unit is respectively to often
The motor of individual described electric-controlled hydraulic transfer send control signal and according to this control signal control described motor rotation and
Stopping, described motor can drive the spool of this reversal valve to move between the first position and the second position, described steering hydraulic
The piston of cylinder is connected with described spool,
When described in described driven by motor, valve core movement is to described primary importance, described main oil pump passes through in-line and institute
Stating and turn between the rodless cavity of hydraulic steering cylinder, described in the piston driving of described hydraulic steering cylinder, spool is towards the described second position
Direction motion until described main oil pump and described hydraulic steering cylinder rodless cavity between end；
When described motor 1 drives described valve core movement to the described second position, described main oil pump is by this in-line
And turning between the rod chamber of described hydraulic steering cylinder, described in the piston driving of described hydraulic steering cylinder, spool is towards described first
Move until ending between the rod chamber of described main oil pump and described hydraulic steering cylinder in the direction of position.
Preferably, described electric-controlled hydraulic transfer also includes screw rod, and this screw rod can be around the central axis of described screw rod
Rotation and the length direction along this central axis are fixed,
One end of described screw rod has been permanently connected the first nut jointly rotating with this first nut, and described reversal valve sets
Put the side of rodless cavity at described hydraulic steering cylinder, and described spool includes threaded shank, this threaded shank and described first nut
Threaded engagement,
It is formed with through hole on the piston of described hydraulic steering cylinder, the piston rod of described hydraulic steering cylinder is formed with cavity,
This through hole is connected with this cavity, is provided with the second nut in the through hole of described piston, and this second nut is common with described piston
Move along a straight line,
The other end of described screw rod penetrates described second nut in the through hole of described piston and extends to described piston rod
Cavity in, and threaded engagement between described screw rod and described second nut.
Preferably, the screw thread of the threaded shank of described first nut, described screw rod, described second nut and described spool is arranged
For:
When described in described driven by motor, spool moves to described primary importance away from described hydraulic steering cylinder, described in turn to
The piston of hydraulic cylinder and described second nut are to rod chamber one lateral movement, and described screw rod rotates and drives described first nut rotation
Turning, the threaded shank of described spool screws in drive described spool straight to the motion of described hydraulic steering cylinder relative to described first nut
Do not connect to making the described main oil pump rodless cavity with described hydraulic steering cylinder；
When spool described in described driven by motor moves to the described second position towards described hydraulic steering cylinder, described in turn to
The piston of hydraulic cylinder and described second nut are to rodless cavity one lateral movement, and described screw rod rotates and drives described first nut rotation
Turning, the threaded shank of described spool screws out to drive described spool to move away from described hydraulic steering cylinder relative to described first nut
Until making described main oil pump not connect with the rod chamber of described hydraulic steering cylinder.
Preferably, described multi-axis steering system also includes flow-limiting valve, and described main oil pump is connected to described by this flow-limiting valve
Hydraulic steering cylinder.
Preferably, described multi-axis steering system also includes high pressure filter, and described main oil pump is by this high pressure filter even
It is connected to described hydraulic steering cylinder.
Preferably, described multi-axis steering system also includes emergency valve and emergency pump, this emergency valve include two oil-ins and
One oil-out, these two oil-ins are connected with described main oil pump and this emergency pump respectively, this oil-out and described steering hydraulic
Cylinder connects, and described main oil pump includes two be serially connected.
Preferably, described multi-axis steering system also includes electrical steering dish and the pattern being connected with described electronic control unit
Selecting device, described mode selector is for selecting the driving mode of described multiple-axle vehicle and being sent to described Electronic Control list
Unit.
Preferably, when described multiple-axle vehicle be in eight words turn to pattern time, described electrical steering dish is to described Electronic Control
Unit inputs the angular signal θ turning to inboard wheel of described first vehicle bridge11, before and after described multiple-axle vehicle, symmetrical center line is
Turning center line,
The steering angle turning to inboard wheel of the i-th vehicle bridge
The steering angle turning to outboard wheels of the i-th vehicle bridge
Wherein, i=1,2 ..., N, LiIt is the steering spindle distance to the turning center line of described multiple-axle vehicle of the i-th vehicle bridge,
B is the width of described multiple-axle vehicle.
Preferably, when described multiple-axle vehicle is in diagonal pattern,
The steering angle θ turning to inboard wheel of the i-th vehicle bridgei1=θ11,
The steering angle θ turning to outboard wheels of the i-th vehicle bridgei2=θ11,
Wherein, i=1,2 ..., N.
Preferably, when described multiple-axle vehicle is in original place central rotation pattern, described electrical steering dish is to described electronics
Control unit inputs the angular signal θ turning to inboard wheel of described first vehicle bridge11, symmetrical centre before and after described multiple-axle vehicle
Line is turning center line,
The steering angle turning to inboard wheel of the i-th vehicle bridge
The steering angle turning to outboard wheels of the i-th vehicle bridge
Wherein, i=1,2 ..., N, LiIt is the steering spindle distance to the turning center line of described multiple-axle vehicle of the i-th vehicle bridge,
B is the width of described multiple-axle vehicle.
Preferably, when described multiple-axle vehicle is in front-axle steering pattern, described electrical steering dish is to described Electronic Control
Unit inputs the angular signal θ turning to inboard wheel of described N vehicle bridgeN1, the steering spindle of the first vehicle bridge of described multiple-axle vehicle
For turning center line,
The steering angle turning to inboard wheel of the i-th vehicle bridge
The steering angle turning to outboard wheels of the i-th vehicle bridge
Wherein, i=1,2 ..., N, LiIt is the steering spindle distance to the turning center line of described multiple-axle vehicle of the i-th vehicle bridge,
B is the width of described multiple-axle vehicle.
Preferably, when described multiple-axle vehicle is in rear axle steering pattern, described electrical steering dish is to described Electronic Control list
Unit inputs the angular signal θ turning to inboard wheel of described first vehicle bridge11, the steering spindle of the N vehicle bridge of described multiple-axle vehicle is
Turning center line,
The steering angle turning to inboard wheel of the i-th vehicle bridge
The steering angle turning to outboard wheels of the i-th vehicle bridge
Wherein, i=1,2 ..., N, LiIt is the steering spindle distance to the turning center line of described multiple-axle vehicle of the i-th vehicle bridge,
B is the width of described multiple-axle vehicle.
The present invention also provides for a kind of multiple-axle vehicle, and wherein, this multiple-axle vehicle includes multi-axis steering system of the present invention.
By technique scheme, the electric-controlled hydraulic transfer of the present invention includes motor, reversal valve and hydraulic steering cylinder,
The position switching of the spool of this driven by motor reversal valve so that the rod chamber of hydraulic steering cylinder or rodless cavity oil-feed, to control to turn
To the piston movement of hydraulic cylinder, and then reversely drive the valve core movement of reversal valve to close the oilhole of reversal valve so that main oil pump
No longer to rod chamber or the rodless cavity fuel feeding of hydraulic steering cylinder, so that the piston stop motion of hydraulic steering cylinder.So, should
Electric-controlled hydraulic transfer self has closed loop control function, and therefore the multi-axis steering system of the present invention has only to be set to simply
Open-loop control system, simple in construction and be capable of the course changing control accurately to multiple-axle vehicle.
Other features and advantages of the present invention will be described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and constitutes the part of description, with following tool
Body embodiment is used for explaining the present invention together, but is not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 is the operation principle schematic diagram that the electric-controlled hydraulic according to prior art turns to；
Fig. 2 is the operation principle schematic diagram of multi-axis steering system according to the preferred embodiment of the present invention；
Fig. 3 is the schematic diagram of multi-axis steering system according to the preferred embodiment of the present invention；
Fig. 4 is the schematic diagram of electric-controlled hydraulic transfer according to the preferred embodiment of the present invention；
Fig. 5 is each wheel steering schematic diagram that eight words turn to pattern according to the preferred embodiment of the present invention；
Fig. 6 is each wheel steering schematic diagram of straight-going mode according to the preferred embodiment of the present invention；
Fig. 7 is each wheel steering schematic diagram of diagonal pattern according to the preferred embodiment of the present invention；
Fig. 8 is each wheel steering schematic diagram walking crosswise pattern according to the preferred embodiment of the present invention；
Fig. 9 is each wheel steering schematic diagram of original place central rotation pattern according to the preferred embodiment of the present invention；
Figure 10 is each wheel steering schematic diagram of rear axle steering pattern according to the preferred embodiment of the present invention.
Description of reference numerals
1 electronic control unit；2 main oil pumps；31 motors；32 reversal valves；321 spools；322 valve bodies；33 hydraulic steering cylinders；
331 rodless cavities；332 rod chambers；333 screw rods；334 first nuts；335 pistons；336 piston rods；337 second nuts；4 current limlitings
Valve；5 high pressure filters；6 emergency valves；7 emergency pumps；8 electrical steering dishes；9 mode selectors；10 electromotors
Detailed description of the invention
Below in conjunction with accompanying drawing, the detailed description of the invention of the present invention is described in detail.It should be appreciated that this place is retouched
The detailed description of the invention stated is merely to illustrate and explains the present invention, is not limited to the present invention.
In the present invention, in the case of illustrating on the contrary, the noun of locality of use should be in conjunction with the reality of multiple-axle vehicle
Understand shown in structure and accompanying drawing.
The present invention provides a kind of multi-axis steering system for multiple-axle vehicle, and this multiple-axle vehicle includes N number of car from front to back
Bridge, N is the integer more than 2, and wherein, this multi-axis steering system includes electronic control unit 1, electric-controlled hydraulic transfer and main oil
Pump 2, each wheel of described multiple-axle vehicle is separately installed with this electric-controlled hydraulic transfer to control turning of this wheel
To,
This electric-controlled hydraulic transfer includes motor 31, reversal valve 32 and hydraulic steering cylinder 33, this electronic control unit 1 point
Do not send control signal to the motor of each described electric-controlled hydraulic transfer and control described motor 31 according to this control signal
Rotation and stopping, described motor 31 can drive the spool 321 of this reversal valve 32 to transport between the first position and the second position
Dynamic, the piston 335 of described hydraulic steering cylinder 33 is connected with described spool 321,
When described motor 31 drives described spool 321 to move to described primary importance, described main oil pump 2 passes through oil inlet pipe
Turn between the rodless cavity 331 of road and described hydraulic steering cylinder 33, spool 321 described in the piston driving of described hydraulic steering cylinder 33
Move until cutting between the rodless cavity 331 of described main oil pump 2 and described hydraulic steering cylinder 33 towards the direction of the described second position
Only；
When described motor 31 drives described spool 321 to move to the described second position, described main oil pump 2 is by this oil-feed
Turn between the rod chamber 332 of pipeline and described hydraulic steering cylinder 33, spool described in the piston driving of described hydraulic steering cylinder 33
321 towards described primary importance direction move until described main oil pump 2 and described hydraulic steering cylinder 33 rod chamber 332 between
Cut-off.
The multiple-axle vehicle of the present invention is often referred to the quantity of the vehicle bridge vehicle more than 2, and the vehicle body of this multiple-axle vehicle is longer, because of
This course changing control is more complicated, it usually needs turn each wheel accordingly respectively according to the steering angle of driver's input
To control, thus make multiple-axle vehicle existing without sliding for rolling friction between each wheel and bottom surface in steering procedure as far as possible
As occurring.
As it is shown in figure 1, the multi-axis steering system of the present invention includes motor 31, reversal valve 32 and hydraulic steering cylinder 33, wherein,
Motor 31 is preferably by motor, and this motor 31 is connected with the spool 321 of reversal valve 32 thus drives this spool 321
Translate along valve body 322, as in figure 2 it is shown, this motor 31 band movable valve plug 321 translates along valve body about 322.Preferably, described motor
The output shaft of 31 is connected with described spool 321 by connecting key.
As in figure 2 it is shown, this reversal valve 32 is two-position four way change valve, wherein the oil inlet P of reversal valve 32 and main oil pump 2 it
Between connected by in-line, oil-out T is connected by return line with fuel tank, the first actuator port A and hydraulic steering cylinder 33
Rod chamber 332 connect, the second actuator port B connects with the rodless cavity 331 of hydraulic steering cylinder 33.Electromotor 10 drives main oil pump
2 pairs of hydraulic steering cylinder 33 fuel feeding.
When motor 31 band movable valve plug 321 moves along valve body 322, spool 321 is transported between the first position and the second position
Dynamic, and be connected between the piston 335 of hydraulic steering cylinder 33 and the spool 321 of reversal valve 32:
When spool 321 is in the primary importance in the left side being positioned at valve body 322 as shown in Figure 2, oil inlet P and the second work
Hydraulic fluid port B connects, and now main oil pump 2 is by in-line and reversal valve 32 oiling in the rodless cavity 331 of hydraulic steering cylinder 33, turns
Move right to the piston 335 of hydraulic cylinder 33, and correspondingly band movable valve plug 321 moves right, i.e. towards the right side being positioned at valve body 322
The second position of side moves so that the valve port connected between oil inlet P with the second actuator port B gradually turns down, and this spool 321 is transported
When moving the position completely closed by this valve port, oil inlet P and the second actuator port B are fully disconnected, and now piston 335 stops fortune
Dynamic；
When spool 321 is in the second position on the right side being positioned at valve body 322 as shown in Figure 2, oil inlet P and the first work
Hydraulic fluid port A connects, and now main oil pump 2 is by in-line and reversal valve 32 oiling in the rod chamber 332 of hydraulic steering cylinder 33, turns
It is moved to the left to the piston 335 of hydraulic cylinder 33, and correspondingly band movable valve plug 321 is moved to the left, i.e. towards the left side being positioned at valve body 322
The primary importance of side moves so that the valve port of the connection between oil inlet P and the first actuator port A gradually turns down, this spool 321
When moving to the position completely closed by this valve port, oil inlet P and the first actuator port A safely disconnect, and now piston 335 stops
Motion.
From the forgoing descriptions, it can be shown that the electric-controlled hydraulic transfer of the present invention itself has the function of closed loop control, i.e. when having
Bar chamber or rodless cavity oil-filled so that piston 335 moves time, piston 335 can drive spool 321 adverse movement of reversal valve 32, thus
Making the valve port within reversal valve 32 close to stop hydraulic steering cylinder 33 oiling, the piston 335 of hydraulic steering cylinder 33 is therefore
The stop motion by the closed loop controlling structure of the inside of electric-controlled hydraulic transfer self.
In order to realize above-mentioned control, it is preferable that described reversal valve 32 is arranged on the rodless cavity of described hydraulic steering cylinder 33
Side.On the one hand it can be avoided that disturb the flexible of the piston rod 336 of hydraulic steering cylinder 33, on the other hand, reversal valve 32 should set
Be set to the primary importance of spool 321 away from hydraulic steering cylinder 33 and now main oil pump 2 connect with rodless cavity 331, the of spool 321
Two be located proximate to hydraulic steering cylinder 33 and now main oil pump 2 connect with rod chamber 332.
By technique scheme, this electric-controlled hydraulic transfer self has closed loop control function, therefore the present invention
Multi-axis steering system has only to be set to simple open-loop control system, simple in construction, and cost is relatively low, additionally it is possible to realize multiaxis
The course changing control accurately of vehicle,
Preferably, described electric-controlled hydraulic transfer also includes screw rod 333, and this screw rod 333 can be around described screw rod 333
Central axis rotation and the length direction along this central axis are fixed,
One end of described screw rod 333 has been permanently connected the first nut 334 jointly rotating with this first nut 334, institute
State spool 321 and include threaded shank, this threaded shank and described first nut 334 threaded engagement,
Through hole, shape on the piston rod 336 of described hydraulic steering cylinder 33 it is formed with on the piston 335 of described hydraulic steering cylinder 33
Becoming to have cavity, this through hole is connected with this cavity, is provided with the second nut 337 in the through hole of described piston 335, this second nut
Jointly move along a straight line with described piston 335,
The other end of described screw rod 333 penetrates described second nut 337 in the through hole of described piston 335 and extends to institute
State in the cavity of piston rod 336, and threaded engagement between described screw rod 333 and described second nut 337.
This preferred implementation exemplarily provides the piston of hydraulic steering cylinder 33 in a kind of electric-controlled hydraulic transfer
Connected mode between 335 and the spool 321 of reversal valve 32.
In the present invention, screw rod 333 and the screw pair of the second nut 337 composition, can be specifically ball screw, sliding screw
Or other worm drive form.
Wherein, screw rod 333 and the first nut 334 are permanently connected and jointly rotate, and one end of this screw rod 333 passes piston
Through hole on 335 extension in the cavity of piston rod 336.So, screw rod 333 one end is by the in the through hole of piston 335
Two nuts 337 and be connected with piston 335, the other end is by the coordinating of threaded shank of the first nut 334 and spool 321 and and spool
321 connect.
When rod chamber 332 or rodless cavity 331 oil-filled and when causing piston 335 to move, owing to screw rod 333 is along this central axis
Length direction fix, therefore relatively rotate between the second nut 337 and screw rod 333, and by the first nut 334 and spool
The rotation of the threaded shank of 321 and band movable valve plug 321 oppositely moves to close the valve port within reversal valve 32.
It is illustrated in figure 2 the present invention schematic diagram according to the operation principle of above-mentioned preferred implementation, according to mentioned above
Screw rod 333 and the second nut 337 between annexation, i.e. it is achieved that drive described spool 321 to transport when described motor 31
When moving described primary importance, described main oil pump 2 is by leading between in-line and the rodless cavity 331 of described hydraulic steering cylinder 33
Logical, spool 321 described in the piston driving of described hydraulic steering cylinder 33 moves towards the direction of the described second position until described master
End between the rodless cavity 331 of oil pump 2 and described hydraulic steering cylinder 33；When described motor 31 drives described spool 321 to move to
During the described second position, described main oil pump 2 is by leading between the rod chamber 332 of this in-line and described hydraulic steering cylinder 33
Logical, spool 321 described in the piston driving of described hydraulic steering cylinder 33 moves towards the direction of described primary importance until described master
End between the rod chamber 332 of oil pump 2 and described hydraulic steering cylinder 33.
Preferably, described first nut 334, described screw rod 333, described second nut 337 and the screw rod of described spool 321
The screw thread in portion is set to:
When described motor 31 drives described spool 321 to move to described primary importance away from described hydraulic steering cylinder (
When described motor 31 drives described spool 321 to move to the left side shown in Fig. 2), the piston 335 of described hydraulic steering cylinder and described
Second nut 337 is to rod chamber one lateral movement, and described screw rod 333 rotates and drives described first nut 334 to rotate, described spool
The threaded shank of 321 screws in drive described spool 321 to move directly to described hydraulic steering cylinder 33 relative to described first nut 334
Do not connect to making the described main oil pump 2 rodless cavity 331 with described hydraulic steering cylinder 33；
When described motor 31 drives described spool 321 to move to the described second position towards described hydraulic steering cylinder, institute
Piston 335 and described second nut 337 of stating hydraulic steering cylinder rotate to rodless cavity one lateral movement, described screw rod 333 and drive
Described first nut 334 rotates, and the threaded shank of described spool 321 screws out to drive described valve relative to described first nut 334
Core 321 moves away from described hydraulic steering cylinder 33 until making the rod chamber 332 of described main oil pump 2 and described hydraulic steering cylinder 33 not
Connection.
It should be noted that the above a kind of preferred implementation being only exemplified by a kind of electric-controlled hydraulic transfer, this
Bright be not limited to this, in prior art any one structure being suitable for can apply with in the present invention.
In the multi-axis steering system of the present invention, electronic control unit 1 is (automatically controlled with the motor 31 of electric-controlled hydraulic transfer
Part) connect, main oil pump 2 is connected with the hydraulic steering cylinder 33 (hydraulic part) of electric-controlled hydraulic transfer.
Electrical system part in this multi-axis steering system, the turn signal of driver's input and other phases of vehicle
Off status signal is input to electronic control unit 1, and is produced the angular control signal of each wheel by this electronic control unit 1
And rotating speed and the corner of the motor 31 of the electric control hydraulic device of each wheel is controlled according to the angular control signal of each wheel.
Hydraulic system part in this multi-axis steering system, makes main oil pump 2 under the control of reversal valve 32 and turns to
Rod chamber 332 or the rodless cavity 331 of hydraulic cylinder 33 connect.Other liquid can be connected between main oil pump 2 with hydraulic steering cylinder 33
Pressure element is so that hydraulic system performance is more stable.
Preferably, described multi-axis steering system also includes that flow-limiting valve 4, described main oil pump 2 are connected to institute by this flow-limiting valve 4
Stating hydraulic steering cylinder, this flow-limiting valve 4 enables to the stability of flow of the hydraulic oil in fluid pressure line, to ensure multi-axis steering system
Safety.Preferably, described multi-axis steering system also includes high pressure filter 5, and described main oil pump 2 is by this high pressure filter 5
Be connected to described hydraulic steering cylinder, this high pressure filter 5 can filtrate force feed, to ensure the cleannes of hydraulic oil, improve liquid
The service life of pressure element and the reliability of hydraulic system.
Therefore, in the hydraulic system part of multi-axis steering system, it is preferable that hydraulic oil is defeated from the oil-out of main oil pump 2
First pass around high pressure filter 5 after going out, then enter flow-limiting valve 4,
Preferably, described main oil pump 2 includes two be serially connected.Two main oil pumps 2 of series connection are logical in hydraulic system
Often can collaborate after flow-limiting valve 4, and provide power for hydraulic steering cylinder 33 together, this serial dual pump ensure that works as
When any one main oil pump 2 breaks down, system remains able to normally work.
Preferably, described multi-axis steering system also includes emergency valve 6 and emergency pump 7, and this emergency valve 6 includes two oil-ins
With an oil-out, these two oil-ins are connected with described main oil pump 2 and this emergency pump 7 respectively, and this oil-out turns to described
Hydraulic cylinder 33 connects.
In the preferred embodiment, in order to avoid turning to safety to bring multiple-axle vehicle when main oil pump 2 breaks down
Impact, multi-axis steering system increases emergency valve 6 and emergency pump 7.On the basis of preferred implementation mentioned above,
Collaborating after flow-limiting valve 4 at hydraulic oil and enter emergency valve 6, when main oil pump 2 normally works, emergency pump 7 is in unloading
State, it is achieved energy-conservation.And (in the case of two main oil pump series connection, two main oil pumps 2 are equal when main oil pump 2 breaks down
When breaking down), this emergency valve 6 can open emergency loop, and now emergency pump 7 is supplied to hydraulic steering cylinder 33 by emergency valve 6
Oil.
Preferably, described multi-axis steering system also includes electrical steering dish 8 and the mould being connected with described electronic control unit 1
Formula selects device 9, and described mode selector 9 is for selecting the driving mode of described multiple-axle vehicle and being sent to described electronics control
Unit 1 processed.
In the preferred embodiment, this electrical steering dish 8 provides the inwardly turned of the direction that turns to and one of them vehicle bridge
The steering angle of side wheel.It is additionally, since multiple-axle vehicle and is generally of multiple Turning travel pattern, under different mode, there is difference
Turning center, and the wheel corresponding to corner that electrical steering dish 8 is given is also corresponding, therefore with this Turning travel pattern
Needs determine the corner of each wheel of each vehicle bridge according to the corner that this Turning travel pattern and electrical steering dish 8 are given
Value.
Additionally, this multi-axis steering system can also include other detection devices such as such as vehicle speed sensor, it is used for detecting car
Travel various parameters and be sent to electronic control unit 1, electronic control unit 1 comprehensive vehicle travel parameters to car
Turn to and be controlled, such as the corner of each wheel is correspondingly revised and is adjusted.
Preferably, when described multiple-axle vehicle be in eight words turn to pattern time, described electrical steering dish 8 is to described Electronic Control
Unit 1 inputs the angular signal θ turning to inboard wheel of described first vehicle bridge11, symmetrical center line before and after described multiple-axle vehicle
For turning center line,
The steering angle turning to inboard wheel of the i-th vehicle bridge
The steering angle turning to outboard wheels of the i-th vehicle bridge
Wherein, i=2,3 ..., N, LiIt is the steering spindle distance to the turning center line of described multiple-axle vehicle of the i-th vehicle bridge,
B is the width of described multiple-axle vehicle.
As it is shown on figure 3, the turning center line of multiple-axle vehicle now is front and back's symmetrical center line, turning center is positioned at this turn
On centrage.Owing to the steering angle computing formula of this preferred implementation relating to the steering spindle of the i-th vehicle bridge to described many
Distance L of the turning center line of axle vehiclei, for multiple-axle vehicle, if wherein the i-th vehicle bridge is positioned at this turning center line
On, then this vehicle bridge is to distance L of this turning center lineiIt is just 0, according to above-mentioned formula θi1Value be 0 degree, cot θi1For nothing
Poor big, therefore θi2Also it is 0.Therefore, above-mentioned formula can be applied and turn to each wheel of multiple-axle vehicle under pattern with eight words
The calculating of steering angle.
Preferably, as shown in Figure 4, when described multiple-axle vehicle is in straight-going mode, each wheel of described multiple-axle vehicle
Steering angle be 0 degree, now vehicle the most linearly travels there is no and turns to.
Preferably, as it is shown in figure 5, when described multiple-axle vehicle is in diagonal pattern,
The steering angle θ turning to inboard wheel of the i-th vehicle bridgei1=θ11,
The steering angle θ turning to outboard wheels of the i-th vehicle bridgei2=θ11。
Now, multiple-axle vehicle keeps the body gesture oblique traveling ahead of constant entirety.
Preferably, as shown in Figure 6, when described multiple-axle vehicle is in and walks crosswise pattern, each wheel of described multiple-axle vehicle
Steering angle be 90 degree.
Now, multiple-axle vehicle keeps the constant entirety of body gesture laterally to the left or to right travel.
Preferably, as it is shown in fig. 7, when described multiple-axle vehicle is in original place central rotation pattern, described electrical steering dish 8
The angular signal θ turning to inboard wheel of described first vehicle bridge is inputted to described electronic control unit 111, described multiple-axle vehicle
Front and back symmetrical center line is turning center line,
The steering angle turning to inboard wheel of the i-th vehicle bridge
The steering angle turning to outboard wheels of the i-th vehicle bridge
Wherein, i=2,3 ..., N, LiIt is the steering spindle distance to the turning center line of described multiple-axle vehicle of the i-th vehicle bridge,
B is the width of described multiple-axle vehicle.
Now, the turning center of multiple-axle vehicle is positioned on the line of turning center and is positioned at the center of vehicle.Owing to this is the most real
Execute the steering spindle relating to the i-th vehicle bridge in the steering angle computing formula of the mode distance to the turning center line of described multiple-axle vehicle
Li, for multiple-axle vehicle, if wherein the i-th vehicle bridge is positioned on this turning center line, then during this vehicle bridge turns to this
Distance L of heart lineiIt is just 0, according to above-mentioned formula θi1Value be 0 degree, cot θi1For infinity, therefore θi2Also it is 0.Therefore, on
State the calculating that formula can apply the steering angle of each wheel with the multiple-axle vehicle under the central rotation pattern of original place.
Preferably, when described multiple-axle vehicle is in front-axle steering pattern, described electrical steering dish 8 is to described Electronic Control
Unit 1 inputs the angular signal θ turning to inboard wheel of described N vehicle bridgeN1, the steering spindle of the first vehicle bridge of described multiple-axle vehicle
For turning center line,
The steering angle turning to inboard wheel of the i-th vehicle bridge
The steering angle turning to outboard wheels of the i-th vehicle bridge
Wherein, i=1,2 ..., N, LiIt is the steering spindle distance to the turning center line of described multiple-axle vehicle of the i-th vehicle bridge,
B is the width of described multiple-axle vehicle.
When multiple-axle vehicle is in front-axle steering pattern, the steering angle of propons (the i.e. first vehicle bridge) both sides wheel is 0, now
The steering angle turning to inboard wheel that angular signal is back axle (i.e. N vehicle bridge) of electrical steering dish 8 input.
Owing to the steering angle computing formula of this preferred implementation relating to the steering spindle of the i-th vehicle bridge to described multiaxle trucks
Distance L of turning center linei, for multiple-axle vehicle, the first vehicle bridge is positioned on this turning center line, then the first car
Bridge is to distance L of this turning center line1It is just 0, according to above-mentioned formula θ11Value be 0 degree, cot θ11For infinity, therefore θ12Also
It is 0.Therefore, above-mentioned formula can apply the calculating of steering angle of each wheel with the multiple-axle vehicle under front-axle steering pattern.
Preferably, as shown in Figure 8, when described multiple-axle vehicle is in rear axle steering pattern, described electrical steering dish 8 is to described
Electronic control unit 1 inputs the angular signal θ turning to inboard wheel of described first vehicle bridge11, the N vehicle bridge of described multiple-axle vehicle
Steering spindle be turning center line,
The steering angle turning to inboard wheel of the i-th vehicle bridge
The steering angle turning to outboard wheels of the i-th vehicle bridge
Wherein, i=1,2 ..., N, LiIt is the steering spindle distance to the turning center line of described multiple-axle vehicle of the i-th vehicle bridge,
B is the width of described multiple-axle vehicle.
When multiple-axle vehicle is in rear axle steering pattern, the steering angle of back axle (i.e. N vehicle bridge) both sides wheel is 0, now
The steering angle turning to inboard wheel that angular signal is propons (the i.e. first vehicle bridge) of electrical steering dish 8 input.
Owing to the steering angle computing formula of this preferred implementation relating to the steering spindle of the i-th vehicle bridge to described multiaxle trucks
Distance L of turning center linei, for multiple-axle vehicle, N vehicle bridge is positioned on this turning center line, then N vehicle bridge
Distance L to this turning center lineNIt is just 0, according to above-mentioned formula θN1Value be 0 degree, cot θN1For infinity, therefore θN2Also it is
0.Therefore, above-mentioned formula can apply the calculating of steering angle of each wheel with the multiple-axle vehicle under rear axle steering pattern.
The present invention also provides for a kind of multiple-axle vehicle, and wherein, this multiple-axle vehicle includes multi-axis steering system of the present invention.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, but, the present invention is not limited to above-mentioned reality
Execute the detail in mode, in the technology concept of the present invention, technical scheme can be carried out multiple letter
Monotropic type, these simple variant belong to protection scope of the present invention.
It is further to note that each the concrete technical characteristic described in above-mentioned detailed description of the invention, at not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to various can
The compound mode of energy illustrates the most separately.
Additionally, combination in any can also be carried out between the various different embodiment of the present invention, as long as it is without prejudice to this
The thought of invention, it should be considered as content disclosed in this invention equally.
Claims (13)
1., for a multi-axis steering system for multiple-axle vehicle, this multiple-axle vehicle includes N number of vehicle bridge from front to back, and N is more than 2
Integer, it is characterised in that this multi-axis steering system includes electronic control unit (1), electric-controlled hydraulic transfer and main oil pump
(2), each wheel of described multiple-axle vehicle is separately installed with this electric-controlled hydraulic transfer to control turning of this wheel
To,
This electric-controlled hydraulic transfer includes motor (31), reversal valve (32) and hydraulic steering cylinder (33), this electronic control unit
(1) send control signal to the motor (31) of each described electric-controlled hydraulic transfer respectively and control institute according to this control signal
Stating rotation and the stopping of motor (31), described motor (31) can drive the spool (321) of this reversal valve (32) in primary importance
And move between the second position, the piston (335) of described hydraulic steering cylinder (33) is connected with described spool (321),
When described motor (31) drives described spool (321) to move to described primary importance, described main oil pump (2) passes through oil-feed
Turn between the rodless cavity (331) of pipeline and described hydraulic steering cylinder (33), piston (335) band of described hydraulic steering cylinder (33)
Dynamic described spool (321) moves towards the direction of the described second position until described main oil pump (2) and described hydraulic steering cylinder
(33) end between rodless cavity (331)；
When described motor (31) drives described spool (321) to move to the described second position, described main oil pump (2) is entered by this
Turn between the rod chamber (332) of oil pipe line and described hydraulic steering cylinder (33), the piston (335) of described hydraulic steering cylinder (33)
Described spool (321) is driven to move towards the direction of described primary importance until described main oil pump (2) and described hydraulic steering cylinder
(33) end between rod chamber (332).
Multi-axis steering system the most according to claim 1, it is characterised in that described electric-controlled hydraulic transfer also includes spiral shell
Bar (333), this screw rod (333) can be around the central axis rotation of described screw rod (333) and the length direction along this central axis
It is fixing,
One end of described screw rod (333) has been permanently connected the first nut (334) jointly rotating with this first nut (334),
Described reversal valve (32) is arranged on the side of the rodless cavity of described hydraulic steering cylinder (33), and described spool (321) includes screw rod
Portion, this threaded shank and described first nut (334) threaded engagement,
Through hole it is formed with, the piston rod (336) of described hydraulic steering cylinder (33) on the piston (335) of described hydraulic steering cylinder (33)
On be formed with cavity, this through hole is connected with this cavity, is provided with the second nut (337) in the through hole of described piston (335), should
Second nut (337) moves along a straight line jointly with described piston (335),
The other end of described screw rod (333) penetrates described second nut (337) in the through hole of described piston (335) and extends to
In the cavity of described piston rod (336), and threaded engagement between described screw rod (333) and described second nut (337).
Multi-axis steering system the most according to claim 2, it is characterised in that described first nut (334), described screw rod
(333), the screw thread of the threaded shank of described second nut (337) and described spool (321) is set to:
When described motor (31) drives described spool (321) to move to described primary importance away from described hydraulic steering cylinder, institute
Piston (335) and described second nut (337) of stating hydraulic steering cylinder rotate to rod chamber one lateral movement, described screw rod (333)
And driving described first nut (334) to rotate, the threaded shank of described spool (321) screws in relative to described first nut (334)
To drive described spool (321) to described hydraulic steering cylinder (33) motion until making described main oil pump (2) and described steering hydraulic
The rodless cavity (331) of cylinder (33) does not connects；
When described motor (31) drives described spool (321) to move to the described second position towards described hydraulic steering cylinder, institute
Piston (335) and described second nut (337) of stating hydraulic steering cylinder rotate to rodless cavity one lateral movement, described screw rod (333)
And driving described first nut (334) to rotate, the threaded shank of described spool (321) screws out relative to described first nut (334)
To drive described spool (321) away from described hydraulic steering cylinder (33) motion until making described main oil pump (2) turn to liquid with described
The rod chamber (332) of cylinder pressure (33) does not connects.
Multi-axis steering system the most according to claim 1, it is characterised in that described multi-axis steering system also includes flow-limiting valve
(4), described main oil pump (2) is connected to described hydraulic steering cylinder by this flow-limiting valve (4).
Multi-axis steering system the most according to claim 1, it is characterised in that described multi-axis steering system also includes that height presses through
Filter (5), described main oil pump (2) is connected to and described hydraulic steering cylinder by this high pressure filter (5).
Multi-axis steering system the most according to claim 1, it is characterised in that described multi-axis steering system also includes emergency valve
And emergency pump (7) (6), this emergency valve (6) includes two oil-ins and an oil-out, these two oil-ins respectively with described master
Oil pump (2) and this emergency pump (7) connect, and this oil-out is connected with described hydraulic steering cylinder (33), and described main oil pump (2) includes phase
Two of series connection mutually.
Multi-axis steering system the most according to claim 1, it is characterised in that described multi-axis steering system also includes with described
Electrical steering dish (8) that electronic control unit (1) connects and mode selector (9), described mode selector (9) is used for selecting
Select the driving mode of described multiple-axle vehicle and be sent to described electronic control unit (1).
Multi-axis steering system the most according to claim 7, it is characterised in that turn to mould when described multiple-axle vehicle is in eight words
During formula, the corner turning to inboard wheel that described electrical steering dish (8) inputs the first vehicle bridge to described electronic control unit (1) is believed
Number θ11, before and after described multiple-axle vehicle, symmetrical center line is turning center line,
The steering angle turning to inboard wheel of the i-th vehicle bridge
The steering angle turning to outboard wheels of the i-th vehicle bridge
Wherein, i=1,2 ..., N, LiBeing the steering spindle distance to the turning center line of described multiple-axle vehicle of the i-th vehicle bridge, B is institute
State the width of multiple-axle vehicle.
Multi-axis steering system the most according to claim 7, it is characterised in that when described multiple-axle vehicle is in diagonal pattern
Time,
The steering angle θ turning to inboard wheel of the i-th vehicle bridgei1=θ11,
The steering angle θ turning to outboard wheels of the i-th vehicle bridgei2=θ11,
Wherein, i=1,2 ..., N.
Multi-axis steering system the most according to claim 7, it is characterised in that when described multiple-axle vehicle is in center, original place
During rotary mode, described electrical steering dish (8) inputs the inboard wheel that turns to of the first vehicle bridge to described electronic control unit (1)
Angular signal θ11, before and after described multiple-axle vehicle, symmetrical center line is turning center line,
The steering angle turning to inboard wheel of the i-th vehicle bridge
The steering angle turning to outboard wheels of the i-th vehicle bridge
Wherein, i=1,2 ..., N, LiBeing the steering spindle distance to the turning center line of described multiple-axle vehicle of the i-th vehicle bridge, B is institute
State the width of multiple-axle vehicle.
11. multi-axis steering system according to claim 7, it is characterised in that when described multiple-axle vehicle is in front-axle steering
During pattern, described electrical steering dish (8) inputs the corner turning to inboard wheel of N vehicle bridge to described electronic control unit (1)
Signal θN1, the steering spindle of the first vehicle bridge of described multiple-axle vehicle is turning center line,
The steering angle turning to inboard wheel of the i-th vehicle bridge
The steering angle turning to outboard wheels of the i-th vehicle bridge
Wherein, i=1,2 ..., N, LiBeing the steering spindle distance to the turning center line of described multiple-axle vehicle of the i-th vehicle bridge, B is institute
State the width of multiple-axle vehicle.
12. multi-axis steering system according to claim 7, it is characterised in that described multiple-axle vehicle is in rear axle steering mould
During formula, the corner turning to inboard wheel that described electrical steering dish (8) inputs the first vehicle bridge to described electronic control unit (1) is believed
Number θ11, the steering spindle of the N vehicle bridge of described multiple-axle vehicle is turning center line,
The steering angle turning to inboard wheel of the i-th vehicle bridge
The steering angle turning to outboard wheels of the i-th vehicle bridge
Wherein, i=1,2 ..., N, LiBeing the steering spindle distance to the turning center line of described multiple-axle vehicle of the i-th vehicle bridge, B is institute
State the width of multiple-axle vehicle.
13. 1 kinds of multiple-axle vehicles, it is characterised in that this multiple-axle vehicle includes in the claims 1-12 described in any one
Multi-axis steering system.
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| EP4147947A4 (en) * | 2020-05-06 | 2024-02-14 | Xuzhou Heavy Machinery Co., Ltd. | Hydraulic steering system and mobile crane |
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| CN107284521B (en) * | 2017-06-26 | 2019-08-09 | 北京航天发射技术研究所 | The control method of the electro-hydraulic steering of vehicle multi-mode formula |
| CN107364489B (en) * | 2017-07-25 | 2019-07-09 | 徐州工业职业技术学院 | A kind of heavy-duty truck electro-hydraulic steering control system |
| CN107856735A (en) * | 2017-11-02 | 2018-03-30 | 湖北三江航天万山特种车辆有限公司 | The control system turned to by multiple servo valve Collaborative Control heavy flat transport vehicles |
| CN107991864B (en) * | 2017-11-14 | 2020-07-24 | 南京航空航天大学 | Electro-hydraulic active steering system and multidisciplinary optimization method thereof |
| CN112654931B (en) * | 2020-08-31 | 2022-05-13 | 华为技术有限公司 | Control system, control method, intelligent automobile and device |
| CN112208631A (en) * | 2020-10-22 | 2021-01-12 | 北京航天发射技术研究所 | Electro-hydraulic steering system with double oil sources |
| CN114236264B (en) * | 2021-11-12 | 2024-04-05 | 柳州汽车检测有限公司 | Anti-interference capability detection system of whole vehicle electronic power steering system |
| CN114633801B (en) * | 2022-04-22 | 2023-07-21 | 武汉科技大学 | Automatic deviation correcting system and method for walking of beam transporting vehicle tunnel |
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| RU2102260C1 (en) * | 1996-12-27 | 1998-01-20 | Московский энергетический институт (Технический университет) | Electric multiple-axle vehicle with hydropneumatic energy storage system |
| CN2374430Y (en) * | 1999-02-02 | 2000-04-19 | 北京航天万方新技术有限公司 | Synchronous steering system of multi-shaft semitrailer |
| CN101293533A (en) * | 2008-05-12 | 2008-10-29 | 吉林大学 | Steering control system and control method for multi-shaft steering vehicle |
| CN201545056U (en) * | 2009-12-07 | 2010-08-11 | 三江瓦力特特种车辆有限公司 | Multiple-shaft steering hydraulic controlling mechanism |
| CN203528598U (en) * | 2013-11-07 | 2014-04-09 | 中联重科股份有限公司 | Multi-axis grouping steering device and multi-axis vehicle |
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| EP4147947A4 (en) * | 2020-05-06 | 2024-02-14 | Xuzhou Heavy Machinery Co., Ltd. | Hydraulic steering system and mobile crane |
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