CN106828601B - A kind of unmanned vehicle steering by clutch machine steering system - Google Patents
A kind of unmanned vehicle steering by clutch machine steering system Download PDFInfo
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- CN106828601B CN106828601B CN201710076559.6A CN201710076559A CN106828601B CN 106828601 B CN106828601 B CN 106828601B CN 201710076559 A CN201710076559 A CN 201710076559A CN 106828601 B CN106828601 B CN 106828601B
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- steering
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- steering shaft
- servo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/005—Hydraulic control systems
Abstract
The present invention provides a kind of unmanned vehicle steering by clutch machine steering systems, it include: foot pedal, control stick, locking mechanism, servo hydraulic cylinder, jackshaft, inclination pull rod, steering shaft tie rod arm, steering shaft, angular displacement sensor, hydraulic control oil circuit, co-operating mechanism and executing agency, servo hydraulic cylinder one end is connected to control stick, and the other end is connected on jackshaft；Jackshaft is connected with inclination pull rod；The inclination pull rod other end is connected to steering shaft tie rod arm, and the steering shaft tie rod arm other end is connected to steering shaft one end；Angular displacement sensor is mounted on steering shaft two sides；Executing agency is connected by co-operating mechanism with shaft end is turned to；Hydraulic control oil circuit is connected with servo hydraulic cylinder.This system controls the reciprocating motion of hydraulic cylinder and steering arm by electrohydraulic servo valve, to drive Vehicular turn, while it can realize the switching of manually handle and electrically controlled manipulation, mechanism simple possible, facilitate processing to install, and adapts to the harsh environments of endless-track vehicle.
Description
Technical field
The present invention relates to unmanned vehicle steering by clutch field, especially a kind of steering system for unmanned vehicle steering by clutch
System.
Background technique
Electrohydraulic servo-controlling system is a kind of most basic and most common Hydrauservo System, it have control precision it is high,
The advantages that response is fast, output power, signal processing are flexible and are easily achieved the feedback of various parameters, in the position of platen
Set, the control of the steering engine of aircraft and ship, the national economy of radar gun control system and vibration mechine and war industry it is each
A technical field has commonly used.
Controlling hydraulic cylinder by electrohydraulic servo valve is component part critically important in electrohydraulic servo-controlling system, and electro-hydraulic is watched
Clothes control hydraulic cylinder can to whole system carry out effectively, be accurately controlled, be current hydraulic control existed general problem,
Hydraulic control system be diversified, but generally can manually but also the system of hydraulic control is generally all relatively multiple
It is miscellaneous, and the component between system cannot be shared.
Summary of the invention
The object of the present invention is to provide a kind of unmanned vehicle steering by clutch machine steering systems, solve hydraulic control system configuration
Problem complicated, control is inaccurate.
Specifically, the present invention provides a kind of unmanned vehicle steering by clutch machine steering systems, comprising: control stick (1) locks
Mechanism (2), servo hydraulic cylinder (3), jackshaft (4), inclination pull rod (5), steering shaft tie rod arm (6), steering shaft (7), angular displacement
Sensor (8), hydraulic control oil circuit (9), co-operating mechanism, executing agency and foot pedal；
The foot pedal is connected to control stick (1), and the control stick (1) can be locked by locking mechanism (2)；It is described to watch
It takes hydraulic cylinder (3) one end to be connected to control stick (1), the other end is connected on jackshaft (4)；Jackshaft (4) end with incline
Brace (5) one end is connected；Described inclination pull rod (5) other end is connected to one end of steering shaft tie rod arm (6), steering shaft pull rod
Arm (6) other end is connected to steering shaft (7) one end；The angular displacement sensor (8) is mounted on steering shaft (7) two sides；It is described to hold
Row mechanism is connected by co-operating mechanism with steering shaft (7) end；The hydraulic control oil circuit (9) and servo hydraulic cylinder
(3) it is connected.
Further, the foot pedal includes left side foot pedal and right side footrest, and the control stick (1) includes left side behaviour
Vertical pole and right side control stick, the servo hydraulic cylinder (3) are two placed side by side of left and right；
The servo hydraulic cylinder (3) includes ontology and the piston rod positioned at body tip, and ontology one end and jackshaft (4) are cut with scissors
It connects, the piston-rod end and Left-Hand Drive bar in left side are hinged, hinged, the hinged knot of the piston-rod end and right side control stick on right side
Configuration formula enables forms of motion accurately to transmit, and convenient manual and hydraulic control free switching, the left side foot pedal
It is connected on Left-Hand Drive bar, the right side footrest is connected on the control stick of right side.
Further, the executing agency and the co-operating structure include two sets that left and right is installed side by side, respectively
Left and right wheels are controlled.
Further, the executing agency includes clutch and brake, the co-operating mechanism include collaboration pull rod,
Release rod and brake pushrod；
Described collaboration pull rod one end is connected with steering shaft (7) end, the other end respectively with release rod and brake pushrod phase
Even；Release rod end connects separator, brake pushrod end connecting brake, and the interconnected form between this bar makes
Forms of motion can be transmitted accurately, and enable to separator and brake effective action.
Further, the angular displacement sensor (8) is separately mounted to turn to by left installation bracket and right mounting bracket
Axis (7) two sides, two angular displacement sensors (8) simultaneously measure the angular displacement of steering shaft, guarantee the accurate of measurement result.
Further, the left installation bracket includes: left side axle sleeve (12), left side axle sleeve outrigger shaft (13), left side sensing
Device erection support (14), sensor stand (15), left side turn to output shaft and extend pin (16) and left sensor output shaft (17)；
Left side axle sleeve (12) is two half-axile sleeves of opposite installation, is bolted the end for being installed on steering shaft (7),
Left side axle sleeve outrigger shaft (13) is structure as a whole with left side axle sleeve (12), is installed on the side of left side axle sleeve (12), left side axle sleeve
The end of outrigger shaft (13) turns to output shaft extension pin (16) with left side and is connected, and left side axle sleeve outrigger shaft (13) can drive left side to turn
Extend pin (16) to output shaft to rotate, left side, which turns to output shaft extension pin (16) one end, sliding slot, the other end and left sensor
One end of output shaft (17) is fixedly connected, and left sensor output shaft (17) other end is fixed on left sensor erection support
(14) on, angular displacement sensor (8), which is bolted, to be installed on left sensor erection support (14).
Further, there are sliding slot, the left side axle sleeve outrigger shaft in one end that the left side turns to that output shaft extends pin (16)
(13) end is installed on left side and turns in the sliding slot of output shaft extension pin (16).
Further, the right mounting bracket include right sensor installation site (21), right sensor support (22),
Right sensor output shaft (23), right side pin shaft (24), right side rotary shaft insert (25) and right connecting crank (26)；
Right connecting crank (26) one end is connected on steering shaft (7), and the other end is fixedly connected with right side pin shaft (24) one end,
Pin shaft (24) other end in right side inserts (25) with right side rotary shaft and is connected, and right side rotary shaft, which inserts (25), to be turned around right side pin shaft (24)
Dynamic, right side rotary shaft inserts (25) and is connected by right sensor output shaft (23) with angular displacement sensor (8), right sensor
Output shaft (23) is installed on right sensor support (22) by bearing, and right sensor installation site (21) and right side sense
Device support (22) is structure as a whole, and angular displacement sensor (8), which is bolted, is installed on right sensor installation site (21)
On.
Further, there is sliding slot in one end that the right side rotary shaft inserts (25), and described right side pin shaft (24) one end is installed on
Right side rotary shaft inserts the sliding slot of (25).
Left installation bracket and right mounting bracket can guarantee that angular displacement sensor (8) is fixed on steering shaft (7), and will not
Relative displacement is generated with steering shaft (7), can guarantee that measurement result is accurate.
Particularly, a kind of control method using the unmanned vehicle steering by clutch machine steering system, including following step
It is rapid:
Step S1: whole vehicle state and course changing control instruction are transmitted to steering controller by CAN net by entire car controller；
Step S2: the vehicle's current condition that steering controller is issued according to entire car controller, judge whole vehicle state whether be
0x06, that is, AMT, which puts into gear, carries out vehicle start and be transferred to corresponding state of a control plays sub-state, and vehicle is not or not 3-30 degree ramp
Section；
Step S3: the steering shaft desired locations that steering controller is issued according to entire car controller are instructed by course changing control
Servo hydraulic cylinder and steering shaft are controlled.
This system controls the reciprocating motion of hydraulic cylinder and steering arm by electrohydraulic servo valve, to drive vehicle
It turns to, while can realize the switching of manually handle and electrically controlled manipulation, mechanism simple possible facilitates processing to install, and adapts to carry out
Harsh environments with vehicle.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is Integral connection structure schematic diagram of the invention；
Fig. 2 is left installation bracket overall structure figure of the invention；
Fig. 3 is right erection support overall structure figure of the invention；
Fig. 4 is hydraulic control oil circuit figure of the invention；
Fig. 5 is control algolithm flow chart of the invention.
In figure: 1- control stick, 2- locking mechanism, 3- servo hydraulic cylinder, 4- jackshaft, 5- inclination pull rod, 6- steering shaft are drawn
Lever arm, 7- steering shaft, 8- angular displacement sensor, 9- hydraulic control oil circuit；
901- oil suction filter, 902- breather valve, 903- liquid level liquid thermometer, 904- low pressure ball valve, 905- gear pump, 906- start
Machine transmission case, 907- pilot-operated type unloading overflow valve, 908- fine filter, 909- accumulator, 911- pressure-temperature sensor, 912- overflow
Flow valve, 913- throttling stop valve, two position four-way solenoid valve of 914-, the electro-hydraulic serving volume valve of 915-；
Axle sleeve, the left side 13- axle sleeve outrigger shaft, 14- left sensor erection support, 15- sensor stand, 16- on the left of 12-
Left side turns to output shaft and extends pin, 17- left sensor output shaft.
21- right sensor installation site, 22- right sensor support, 23- right sensor output shaft, the right side 24- pin
Axis, on the right side of 25- rotary shaft insert, the right connecting crank of 26-.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
The present invention provides a kind of unmanned vehicle steering by clutch machine steering systems, as shown in Figure 1, comprising: control stick (1),
Locking mechanism (2), servo hydraulic cylinder (3), jackshaft (4), inclination pull rod (5), steering shaft tie rod arm (6), steering shaft (7), angle
Displacement sensor (8), hydraulic control oil circuit (9), co-operating mechanism, executing agency and foot pedal.
Foot pedal is connected to control stick (1), and control stick (1) can be locked by locking mechanism (2)；Servo hydraulic cylinder (3)
One end is connected to control stick (1), and the other end is connected on jackshaft (4)；Jackshaft (4) end and inclination pull rod (5) one end phase
Even；Inclination pull rod (5) other end is connected to one end of steering shaft tie rod arm (6), and steering shaft tie rod arm (6) other end, which is connected to, to be turned
To axis (7) one end；Angular displacement sensor (8) is mounted on steering shaft (7) two sides；Executing agency is by co-operating mechanism and turns to
Axis (7) end is connected；Hydraulic control oil circuit (9) is connected with servo hydraulic cylinder (3).
Foot pedal includes left side foot pedal and right side footrest, and control stick (1) includes Left-Hand Drive bar and right side control stick,
Servo hydraulic cylinder (3) is two placed side by side of left and right, and servo hydraulic cylinder (3) includes ontology and the piston positioned at body tip
Bar, hingedly, the piston-rod end and Left-Hand Drive bar in left side are hinged, the piston-rod end on right side for ontology one end and jackshaft (4)
It is hinged with right side control stick, enable the movement of control stick (1) to be transmitted to jackshaft (4).Left side foot pedal is connected to left side
On control stick, right side footrest is connected on the control stick of right side.
Executing agency includes clutch and brake, it is preferable that brake is brake band.
Co-operating mechanism includes collaboration pull rod, release rod and brake pushrod.
Collaboration pull rod one end is connected with steering shaft (7) end, and the other end is connected with release rod and brake pushrod respectively；Point
Separator, brake pushrod end connecting brake are connected from push rod end.
The presence for cooperateing with pull rod is to guarantee that control stick (1) can control clutch simultaneously within the scope of entire actuating length
And brake, and guarantee that clutch first separates, brake locking again.
Above-mentioned executing agency and co-operating structure include two sets that left and right is installed side by side, for realizing to left and right wheels
The synchronously control for turning to and braking.
Angular displacement sensor (8) is separately mounted to steering shaft (7) two sides by left installation bracket and right mounting bracket, will survey
The rotation angle of the steering shaft (7) measured feeds back to hydraulic control oil circuit (9), to judge the operating position of clutch and watch
The motion conditions of hydraulic cylinder (3) piston rod are taken, realize the closed-loop control for desired locations.
As shown in Fig. 2, left installation bracket includes left side axle sleeve (12), left side axle sleeve outrigger shaft (13), left sensor peace
Fill support (14), sensor stand (15), left side steering output shaft extension pin (16) and left sensor output shaft (17).
Left side axle sleeve (12) is two half-axile sleeves of opposite installation, is bolted the end for being installed on steering shaft (7),
Left side axle sleeve outrigger shaft (13) is structure as a whole with left side axle sleeve (12), is installed on the side of left side axle sleeve (12), left side axle sleeve
The end of outrigger shaft (13) is installed on left side and turns in the sliding slot of output shaft extension pin (16), and left side axle sleeve outrigger shaft (13) can band
It moves left side steering output shaft extension pin (16) to rotate, left side, which turns to output shaft extension, which sells (16) one end, sliding slot, the other end and a left side
One end of side senser output shaft (17) is fixedly connected, and left sensor output shaft (17) other end is fixed on left sensor peace
It fills on support (14), angular displacement sensor (8), which is bolted, to be installed on left sensor erection support (14), steering shaft
(7) it successively drives left side axle sleeve (12), left side axle sleeve outrigger shaft (13), left side to turn to output shaft and extends pin (16) and left side sensing
Device output shaft (17) rotation, and then left sensor erection support (14) and angular displacement sensor (8) rotation are driven, by angular displacement
Sensor (8) measures the rotation of steering shaft (7).
As shown in figure 3, right mounting bracket includes right sensor installation site (21), right sensor support (22), the right side
Side senser output shaft (23), right side pin shaft (24), right side rotary shaft insert (25) and right connecting crank (26).
Right connecting crank (26) one end is connected on steering shaft (7), and the other end is fixedly connected with right side pin shaft (24) one end,
Right side pin shaft (24) other end is installed on right side rotary shaft and inserts in the sliding slot of (25), and right side rotary shaft inserts (25) can be around right side pin shaft
(24) it rotates, right side rotary shaft inserts (25) and is connected by right sensor output shaft (23) with angular displacement sensor (8), right side
Sensor output shaft (23) is installed on right sensor support (22) by bearing, right sensor installation site (21) and the right side
Side senser support (22) is structure as a whole, and angular displacement sensor (8), which is bolted, is installed on right sensor installation position
It sets on (21).
As shown in figure 4, hydraulic control oil circuit includes steering controller, directional drive, electrohydraulic servo valve, solenoid valve, overflows
Flow valve (912), subsidiary engine oil sources and auxiliary controls.
Steering controller is connected with directional drive by cable, and directional drive passes through cable phase with electrohydraulic servo valve
Even.By oil circuit connection between subsidiary engine oil sources and servo hydraulic cylinder (3), overflow valve (912) is installed on subsidiary engine oil sources and servo-fluid
On oil circuit between cylinder pressure (3), electrohydraulic servo valve and solenoid valve be successively installed on servo hydraulic cylinder (3) and overflow valve (912) it
Between oil circuit on, auxiliary controls are installed on the oil circuit between overflow valve (912) and subsidiary engine oil sources.
Steering controller includes input processing circuit, microprocessor, output processing circuit, system communication circuit and power supply electricity
Road is the core component of entire unmanned vehicle steering by clutch machine steering system, for completing transmission and the position of course changing control instruction
The reception for setting transducing signal carries out operation in inside and completes various control processes, and is sent to driving signal by cable
Directional drive；
Directional drive includes servo amplifier and solid-state relay, and servo amplifier one end is connected with steering controller,
The other end is connected with electrohydraulic servo valve, and the driving signal for sending steering controller amplifies；Solid-state relay one end
It is connected with steering controller, the other end is connected with solenoid valve, can avoid the on-off moment of electrohydraulic servo valve to portions such as clutches
Part damages, and guarantees system safe and stable operation；
Solenoid valve selects two two position four-way solenoid valves, the on-off as hydraulic lock control Hydraulic servo drive oil circuit；Turn
Control to controller by control solid-state relay realization to solenoid directional control valve.Solid-state relay is powered, and solenoid valve leads to simultaneously
Electricity, hydraulic lock are opened, and hydraulic circuit is connected, and enter the oil circuit conducting of electrohydraulic servo valve and hydraulic cylinder；Solid-state relay power-off,
Solenoid valve powers off simultaneously, and hydraulic lock is closed, and hydraulic circuit is closed, and enters the oil circuit shutdown of electrohydraulic servo valve and hydraulic cylinder.When
When oil circuit is in an off state, the position of hydraulic cylinder can be kept completely, and electro-hydraulic servo valve core zero bias is avoided to generate leakage pair
Position of Hydraulic Cylinder influences brought by keeping.
Flow and pressure needed for subsidiary engine oil sources and overflow valve (912) are used to supply servo hydraulic cylinder (3), and to servo-fluid
Pressure, oil temperature, the dustiness etc. of cylinder pressure (3) are effectively controlled, and subsidiary engine oil sources is set by overflow valve (912) with constant pressure
10MPa flows back to subsidiary engine oil sources by servo hydraulic cylinder (3) to servo hydraulic cylinder (3) supply pressure oil, low pressure oil return；Electrohydraulic servo valve
Free switching, it can be achieved that manually handle and electrically controlled manipulation is controlled to servo hydraulic cylinder (3)；
Auxiliary controls include oil suction filter (901), breather valve (902), liquid level liquid thermometer (903), low pressure ball valve
(904), gear pump (905), engine transmission case (906), pilot-operated type unloading overflow valve (907), fine filter (908) and accumulator
(909)。
Oil suction filter (901), liquid level liquid thermometer (903), low pressure ball valve (904), breather valve (902) are installed on subsidiary engine oil sources
On, gear pump (905) is connected with low pressure ball valve (904), and engine transmission case (906) is installed on gear pump (905), pilot-operated type
Unloading overflow valve (907) is connected with gear pump (905), and fine filter (908) is connected with pilot-operated type unloading overflow valve (907), accumulation of energy
Device (909) is installed between overflow valve (912) and two position four-way solenoid valves (914), and fine filter (908) is installed on accumulator
(909) between overflow valve (912).
Oil sources in subsidiary engine oil sources first passes through oil suction filter (901) to filter the biggish impurity of particle in hydraulic oil, protects simultaneously
Protect the normal operation of pump；Low pressure ball valve (904) in oil inlet oil circuit plays the important function of cutting and throttling to oil circuit where it,
Facilitate the maintenance and disassembly of oil supply system；Transmission case drives as power and pumps, and mechanical energy is changed into hydraulic energy；Pilot-operated type off-load
Overflow valve (907) is the combination of pilot operated compound relief valve (912) and check valve, realizes the automatic deloading of pump and builds pressure automatically, sets up
System pressure is 10MPa, and when system pressure is lower than the set pressure of overflow valve (912), overflow valve (912) is closed, and pump passes through
Check valve is to system fuel feeding, while accumulator (909) pressurising；When system pressure is higher than the set pressure of overflow valve (912), overflow
It flows valve (912) to open, pumps off-load, while closed check valve, system pressure is maintained by accumulator (909)；Fine filter (908) is used to
Further filter the impurity and moisture in hydraulic oil, prevent impurity from entering servo valve, refined filtration have fine filter (908) check valve and
Alarm composition, to guarantee the normal on-off of oil circuit, hydraulic oil passes through from fine filter (908) under normal circumstances, closed check valve
When impurity excessively blocks the work of alarm device in fine filter (908), while check valve is opened, hydraulic oil passes through.Liquid level liquid thermometer
(903) it is used to refer to the height of liquid level and liquid temperature in fuel tank, breather valve (902) is to guarantee that the internal and external pressure difference of fuel tank is maintained at fair
Perhaps it is worth in range.Overflow valve (912) is used as safety valve, limits system maximum pressure as 11MPa, throttling stop valve (913)
Whether with pressure control entire oil supply system.
In the case where control stick (1) is unlocked, the inlet and outlet of fuel channel of servo hydraulic cylinder (3) is in dissengaged positions, servo-fluid
Cylinder pressure (3) and its piston rod are equivalent to a rigid rod, achievable manual operation.
When locking mechanism (2) unlocks, servo hydraulic cylinder (3) is in locking state, and the piston rod of servo hydraulic cylinder (3) is in
Non-retractable state, at this time achievable manual operation.Left-Hand Drive bar or foot-operated left side foot pedal are pulled, steering force is through manipulating
Bar (1), servo hydraulic cylinder (3), jackshaft (4), inclination pull rod (5), steering shaft tie rod arm (6) drive steering shaft (7) rotation, turn
The release rod in left side is driven to act through collaboration pull rod to axis (7), release rod pushes the clutch operating in left side, so that left side
Active wheel speed reduces, and realizes and slows down, and right side wheels revolving speed is constant, then realizes vehicle revolving speed to the left.Pull on left side
Control stick or foot-operated left side foot pedal, so that clutch separation, meanwhile, collaboration pull rod drives the brake pushrod movement in left side, system
Dynamic push rod pushes the brake band in left side, makes to brake band brake.In the entire actuating length of control stick (1), clutch is first separated, is braked
Band is braked again, successively undergoes clutch combination-clutch separation-braking band brake.Left and right sides control stick (1) is pulled simultaneously,
Then two sides wheel is synchronous slows down until vehicle braking.
When under unmanned operating condition, locking mechanism (2) is locked, and control stick (1) is completely fixed immovable.Angle displacement transducer
The rotation angle for the steering shaft (7) that measurement obtains is fed back to steering controller by device (8), and steering controller judges the work of clutch
The motion conditions for making position and servo hydraulic cylinder (3) piston rod, when left side being needed to turn to, steering controller sends steering order,
Driving signal is sent to directional drive by cable, after driving signal is amplified processing by servo amplifier, by cable
It is sent to electrohydraulic servo valve and solid-state relay, driving signal is converted hydraulic pressure signal by electrohydraulic servo valve, and solid-state relay is logical
Electricity, left side solenoid valve are connected；Meanwhile subsidiary engine oil sources passes through the servo hydraulic cylinder of overflow valve (912) with constant pressure 10MPa to the left
(3) supply pressure oil；Pressure oil is transmitted to the servo hydraulic cylinder (3) in left side, makes servo hydraulic cylinder (3) movement in left side, in
Between axis (4), rotation horizontal axis tie rod arm and inclination pull rod (5), drive steering shaft (7) rotation, steering shaft (7) is left through collaboration pull rod band
The dynamic release rod of side acts, and release rod pushes the clutch operating in left side, so that active wheel speed in left side reduces, realization subtracts
Speed, and right side wheels revolving speed is constant, then realizes vehicle revolving speed to the left.When the pressure of holding pressure oil is constant, servo-hydraulic
The piston rod of cylinder (3) continues to move, so that clutch separation, meanwhile, collaboration pull rod drives brake pushrod movement, and brake pushrod pushes away
Dynamic brake band makes to brake band brake.
Specifically, FF102W-15 electrohydraulic servo valve, important technological parameters and performance parameter are chosen are as follows:
Specified charge oil pressure Ps=21Mpa, metered flow 15L/min, nominal drive current 10mA；
Above-mentioned parameter is prepared by the following:
The load of the system is the resistance encountered when servo hydraulic cylinder (3) move, i.e., drives needed for servo hydraulic cylinder (3)
Object manipulation bar (1) and clutch, static load, servo hydraulic cylinder (3) piston rod movement including whole system itself are used to
Property load and viscous damping load, servo hydraulic cylinder (3) need to provide certain power and speed drive load.
According to the best match principle of load, the maximum power loaded with the method for approximate calculation by servo hydraulic cylinder (3)
The corresponding maximum load power of point determines the specification of electrohydraulic servo valve.
The load force of servo hydraulic cylinder (3) is
F in formula --- the outer load force on servo hydraulic cylinder (3) is acted on, that is, through control link machine when including handling maneuver
The active force on frictional force equivalency transform to piston rod between the elastic force and each component of structure transmitting；
xp--- the displacement of servo-hydraulic cylinder piston rod；
M --- the gross mass including piston rod and each component equivalency transform of handling maneuver to piston rod, if m=10kg；
Bp--- piston rod and load equivalent convert the viscosity to piston rod, since viscosity is typically small,
It can be ignored；
F0--- static load power is 2100N.
It can thus be appreciated that need to only calculate the inertia load power of servo hydraulic cylinder (3), it is assumed that servo-hydraulic cylinder piston rod, which drives, to be turned
One-way movement process to manipulation jackshaft (4) tie rod arm is even acceleration, at the uniform velocity with even deceleration, is assumed according to the actual situation hydraulic
The maximum response time of cylinder one-way expansion is 0.5s, and it is 0.08m that steering control mechanism longitudinal tie one-way movement, which translates maximum distance,.
The run duration in even acceleration and even decelerating phase assumes respectively to be the 5% of maximum response time:
t1=t3=0.025s
Wherein, t1For uniformly accelerated motion time, t3For the uniformly retarded motion time
This makes it possible to obtain the accessible maximum movement speeds of servo-hydraulic cylinder piston rod to be
vmax=at1=0.025a (2)
Wherein: a is acceleration；
Maximum movement speed movement is kept according to constant velocity stage's telescopic rod simultaneously, can also be listed
Simultaneous above formula (2) and (3) can acquire even acceleration and the acceleration in even decelerating phase is
A=6.74m/s2
Servo hydraulic cylinder (3) movement maximum speed be
vmax=at1=0.025 × 6.74=0.1685m/s
Thus inertia load power is acquired
Ignore the sticky load power of servo hydraulic cylinder (3), total load force is up to
Fmax=2100+67.4=2167.4N
Therefore the maximum power of servo hydraulic cylinder (3) load is
Pmax=Fmax×vmax=2167.4 × 0.1685=365Nm/s
The load pressure of electrohydraulic servo valve is limited,And think that load force exists simultaneously as maximum value, in which:
PLFor electrohydraulic servo valve load pressure, Ps is charge oil pressure；
Can calculate the effective area of servo hydraulic cylinder (3) is
It is also contemplated that the maximum load power of servo hydraulic cylinder (3) should appear in being moved through for servo-hydraulic cylinder piston rod contraction
Cheng Zhong, so above-mentioned servo hydraulic cylinder (3) effective area found out is rod chamber area,
D in formula --- servo hydraulic cylinder internal diameter of cylinder；
D --- servo hydraulic cylinder diameter of piston rod；
M --- experience structure coefficient takes m=0.56,
It can calculate
D=mD=0.56 × 24.55=13.75mm
Take D=25mm after rounding, d=14mm, the effective area of servo hydraulic cylinder (3) is after rounding
According to servo hydraulic cylinder (3) effective area calculated, by maximum load speed vmaxDetermine electrohydraulic servo valve sky
Current-carrying capacity, and think maximum load speed and maximum load power while occurring, and consider leakage compensation, efficiency eta=0.95 is taken,
Then electrohydraulic servo valve no load discharge is
The Hydraulic servo drive steering control mechanism simple possible facilitates processing to install, adapts to the severe of endless-track vehicle
Working environment.
According to one embodiment of present invention, a kind of unmanned vehicle turning machine steering based on Hydraulic servo drive is additionally provided
The control method of system, comprising the following steps:
Step S1: whole vehicle state and course changing control instruction are transmitted to steering controller by CAN net by entire car controller.
Step S2: the vehicle's current condition that steering controller is issued according to entire car controller, judge whole vehicle state whether be
0x06, that is, AMT, which puts into gear, carries out vehicle start and be transferred to corresponding state of a control plays sub-state, and vehicle is not or not 3-30 degree ramp
Section.
Step S3: the steering shaft desired locations that steering controller is issued according to entire car controller are instructed by course changing control
Servo hydraulic cylinder (3) and steering shaft (7) are controlled.
Specifically, the step S3 further includes following sub-step:
Step S301: steering controller judges steering shaft (7) desired locations that entire car controller issues for application position, knot
Coincidence is set or other positions；
Specifically, it four kinds of Working pasitions according to clutch in steering procedure: is partially separated, is kept completely separate, part is made
The judgement of steering shaft (7) position is divided into three kinds of states: application position, binding site and other positions by dynamic, braking completely.
Step S302: after the course changing control instruction that entire car controller issues is converted to specific control instruction by steering controller
It is transmitted to servo amplifier；
Step S303: the control instruction that turns particularly to that servo amplifier sends steering controller is amplified and is sent to
Electrohydraulic servo valve；
Step S304: electrohydraulic servo valve is by the amplified control instruction that turns particularly to servo hydraulic cylinder (3) and steering
Axis (7) is controlled.
Electrohydraulic servo valve is controlled servo hydraulic cylinder, it can be achieved that manually handle and the free switching of electrically controlled manipulation, right
The fast driving and servo-hydraulic cylinder piston rod impulse stroke of steering shaft (7) and the accurate control of response speed；
Fig. 5 is the unmanned vehicle steering shaft control algolithm flow chart based on Hydraulic servo drive；
When steering shaft (7) desired locations are application position, for the quick locking for guaranteeing two sides driving wheel, electro-hydraulic watch is controlled
Electrohydraulic valve actuator stream is taken to be positive maximum, steering shaft quickly arrives application position；
Specifically, steering controller is instructed according to the course changing control that entire car controller issues, and passes through the drive of electrohydraulic servo valve
Streaming current size controls the position of two sides servo-hydraulic cylinder piston rod extension and contraction control steering shaft (7), the control of driving current respectively
Range is -10mA~10mA, and -10mA is negative sense maximum current, and 10mA is positive maximum current；
When steering shaft (7) desired locations are binding site, pid algorithm closed-loop control is used in combining starting process,
According to the difference of steering shaft (7) actual angle and expected angle, when difference reaches within a certain range with negative sense maximum drive electricity
Stream quickly combines, and hydraulic lock is closed after steering brake is braked completely, and electrohydraulic servo valve driving current is 0；
Specifically, when steering shaft (7) desired locations are binding site, to guarantee that driving wheel will not cause to send out in conjunction with too fast
Motivation is flame-out, pid algorithm closed-loop control is used in combining starting process, according to steering shaft (7) physical location and desired locations
Difference, quickly combined when difference reaches within a certain range 9 with negative sense maximum drive current, judge steering shaft (7) actual bit
It sets and whether the difference of desired locations is to 3, the cumulative control 100ms of deviation timer within 3 makes to turn with negative sense maximum drive current
Position is rapidly moved to axis (7), hydraulic lock is closed after 100ms, and electrohydraulic servo valve driving current is 0；
Specifically, described 9 be 9 sensor units, and described 3 be 3 sensor units, 0-255 sensor units table
Show the section of 0-90 degree, a sensor units indicate 0.353 degree；
When the desired locations of steering shaft (7) are other positions, steering shaft is all guaranteed using the closed-loop control of pid algorithm
(7) the accurate control of position, judge the difference of steering shaft (7) physical location and desired locations whether within 3, liquid after deviation to 3
Pressure lock is closed, and electrohydraulic servo valve driving current is 0, and steering shaft (7) maintains in situ；
Preferably due to which steering shaft (7) is stretched, inertia and control positional accuracy difficulty are larger, in handling maneuver closed loop system
In system using pid control algorithm when steering shaft (7) physical location and target position generate small deviation to steering shaft angle into
Row bias correction also avoids hydraulic while the response speed of the system of raising and guarantee steering shaft (7) position more accurately control
The control of servo-drive steering control mechanism generates concussion.
Unmanned vehicle steering by clutch machine steering system of the invention can be used above-mentioned control method and be controlled, but not
It is confined to the above method.
In conclusion this system controls the reciprocating motion of hydraulic cylinder and steering arm by electrohydraulic servo valve,
To drive Vehicular turn, while it can realize the switching of manually handle and electrically controlled manipulation, mechanism simple possible facilitates processing to pacify
Dress, and adapt to the harsh environments of endless-track vehicle.
It will be understood by those skilled in the art that realizing all or part of the process of above-described embodiment method, meter can be passed through
Calculation machine program is completed to instruct relevant hardware, and the program can be stored in computer readable storage medium.Wherein, institute
Stating computer readable storage medium is disk, CD, read-only memory or random access memory etc..
Although having been combined preferred embodiment to be described in detail the present invention, those skilled in the art are answered
What it is when understanding is without prejudice to spirit of that invention and essence, and various amendments are all allowed, they both fall within this hair
Among bright scope of protection of the claims.
Claims (7)
1. a kind of unmanned vehicle steering by clutch machine steering system characterized by comprising control stick (1), is watched locking mechanism (2)
Take hydraulic cylinder (3), jackshaft (4), inclination pull rod (5), steering shaft tie rod arm (6), steering shaft (7), angular displacement sensor (8),
Hydraulic control oil circuit (9), co-operating mechanism, executing agency and foot pedal；
The foot pedal is connected to control stick (1), and the control stick (1) can be locked by locking mechanism (2)；The servo-fluid
Cylinder pressure (3) one end is connected to control stick (1), and the other end is connected on jackshaft (4)；Jackshaft (4) end and inclination are drawn
Bar (5) one end is connected；Described inclination pull rod (5) other end is connected to one end of steering shaft tie rod arm (6), steering shaft tie rod arm
(6) other end is connected to steering shaft (7) one end；The angular displacement sensor (8) is mounted on steering shaft (7) two sides；The execution
Mechanism is connected by co-operating mechanism with steering shaft (7) end；The hydraulic control oil circuit (9) and servo hydraulic cylinder (3)
It is connected；
The angular displacement sensor (8) is separately mounted to steering shaft (7) two sides by left installation bracket and right mounting bracket；
The left installation bracket includes: left side axle sleeve (12), left side axle sleeve outrigger shaft (13), left sensor erection support
(14), sensor stand (15), left side turn to output shaft extension pin (16) and left sensor output shaft (17)；
Left side axle sleeve (12) is two half-axile sleeves of opposite installation, is bolted the end for being installed on steering shaft (7), left side
Axle sleeve outrigger shaft (13) is structure as a whole with left side axle sleeve (12), is installed on the side of left side axle sleeve (12), and left side axle sleeve extends
The end of axis (13) turns to output shaft extension pin (16) with left side and is connected, and it is defeated that left side axle sleeve outrigger shaft (13) can drive left side to turn to
Shaft extends pin (16) rotation, and left side, which turns to output shaft extension pin (16) one end, sliding slot, and the other end and left sensor export
One end of axis (17) is fixedly connected, and left sensor output shaft (17) other end is fixed on left sensor erection support (14)
On, angular displacement sensor (8), which is bolted, to be installed on left sensor erection support (14)；
The left side, which turns to one end that output shaft extends pin (16), sliding slot, the end installation of the left side axle sleeve outrigger shaft (13)
Output shaft is turned in left side to extend in the sliding slot of pin (16).
2. a kind of unmanned vehicle steering by clutch machine steering system according to claim 1, which is characterized in that the foot pedal
Including left side foot pedal and right side footrest, the control stick (1) includes Left-Hand Drive bar and right side control stick, the servo-fluid
Cylinder pressure (3) is two placed side by side of left and right；
The servo hydraulic cylinder (3) includes ontology and the piston rod positioned at body tip, ontology one end and jackshaft (4) hingedly,
The piston-rod end in left side and Left-Hand Drive bar are hinged, and the piston-rod end and right side control stick on right side are hinged, the left side foot
Pedal is connected on Left-Hand Drive bar, and the right side footrest is connected on the control stick of right side.
3. a kind of unmanned vehicle steering by clutch machine steering system according to claim 1 or 2, which is characterized in that described to hold
Row mechanism and the co-operating structure include two sets that left and right is installed side by side.
4. a kind of unmanned vehicle steering by clutch machine steering system according to claim 1 or 2, which is characterized in that described to hold
Row mechanism includes clutch and brake, and the co-operating mechanism includes collaboration pull rod, release rod and brake pushrod；
Described collaboration pull rod one end is connected with steering shaft (7) end, and the other end is connected with release rod and brake pushrod respectively；Point
Separator, brake pushrod end connecting brake are connected from push rod end.
5. a kind of unmanned vehicle steering by clutch machine steering system according to claim 4, which is characterized in that the right installation
Bracket includes right sensor installation site (21), right sensor support (22), right sensor output shaft (23), right side pin
Axis (24), right side rotary shaft insert (25) and right connecting crank (26)；
Right connecting crank (26) one end is connected on steering shaft (7), and the other end is fixedly connected with right side pin shaft (24) one end, right side
Pin shaft (24) other end inserts (25) with right side rotary shaft and is connected, and right side rotary shaft is inserted (25) and can be rotated around right side pin shaft (24), right
Sidespin shaft inserts (25) and is connected by right sensor output shaft (23) with angular displacement sensor (8), right sensor output
Axis (23) is installed on right sensor support (22) by bearing, right sensor installation site (21) and right sensor branch
Seat (22) is structure as a whole, and angular displacement sensor (8), which is bolted, to be installed on right sensor installation site (21).
6. a kind of unmanned vehicle steering by clutch machine steering system according to claim 5, which is characterized in that the right side rotation
There is sliding slot in one end that shaft inserts (25), and described right side pin shaft (24) one end is installed on the sliding slot that right side rotary shaft inserts (25).
7. a kind of control method using unmanned vehicle steering by clutch machine steering system described in any one of claims 1-6,
It is characterized in that, comprising the following steps:
Step S1: whole vehicle state and course changing control instruction are transmitted to steering controller by CAN net by entire car controller；
Step S2: the vehicle's current condition that steering controller is issued according to entire car controller judges whether whole vehicle state is 0x06
That is AMT, which puts into gear, carries out vehicle start and be transferred to corresponding state of a control plays sub-state, and vehicle is not or not 3-30 degree ramp section；
Step S3: the steering shaft desired locations that steering controller is issued according to entire car controller, by course changing control instruction to watching
It takes hydraulic cylinder and steering shaft is controlled；
The step S3 further includes following sub-step:
Step S301: steering controller judges steering shaft (7) desired locations that entire car controller issues for application position, bound site
Set still other positions；
Specifically, it four kinds of Working pasitions according to clutch in steering procedure: is partially separated, is kept completely separate, is partial brake, complete
The judgement of steering shaft (7) position is divided into three kinds of states: application position, binding site and other positions by full application of brake；
Step S302: steering controller transmits after the course changing control instruction that entire car controller issues is converted to specific control instruction
To servo amplifier；
Step S303: the control instruction that turns particularly to that servo amplifier sends steering controller is amplified and is sent to electro-hydraulic
Servo valve；
Step S304: electrohydraulic servo valve is by the amplified control instruction that turns particularly to servo hydraulic cylinder (3) and steering shaft (7)
It is controlled.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710076559.6A CN106828601B (en) | 2017-02-13 | 2017-02-13 | A kind of unmanned vehicle steering by clutch machine steering system |
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|---|---|---|---|
| CN201710076559.6A CN106828601B (en) | 2017-02-13 | 2017-02-13 | A kind of unmanned vehicle steering by clutch machine steering system |
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| CN106828601A CN106828601A (en) | 2017-06-13 |
| CN106828601B true CN106828601B (en) | 2019-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710076559.6A Active CN106828601B (en) | 2017-02-13 | 2017-02-13 | A kind of unmanned vehicle steering by clutch machine steering system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110217290B (en) * | 2019-05-23 | 2020-07-14 | 北京理工大学 | Unmanned vehicle steering system and method based on secondary planet steering machine |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1319521A (en) * | 2000-03-29 | 2001-10-31 | 株式会社久保田 | Steering device for working vehicle |
| CN203567804U (en) * | 2013-11-22 | 2014-04-30 | 湖北万山宏业汽车零部件有限公司 | Electrical-hydraulic steering mechanism of steering wheel type crawler truck |
| CN105501055A (en) * | 2014-09-26 | 2016-04-20 | 上海中科深江电动车辆有限公司 | Transmission device and driving control method for track vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004009030B4 (en) * | 2004-02-23 | 2020-07-23 | Renk Aktiengesellschaft | Drive for a tracked vehicle |
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2017
- 2017-02-13 CN CN201710076559.6A patent/CN106828601B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1319521A (en) * | 2000-03-29 | 2001-10-31 | 株式会社久保田 | Steering device for working vehicle |
| CN203567804U (en) * | 2013-11-22 | 2014-04-30 | 湖北万山宏业汽车零部件有限公司 | Electrical-hydraulic steering mechanism of steering wheel type crawler truck |
| CN105501055A (en) * | 2014-09-26 | 2016-04-20 | 上海中科深江电动车辆有限公司 | Transmission device and driving control method for track vehicle |
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| Title |
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| 履带式遥控车辆自动驾驶控制系统的研制;何忠波等;《工程机械》;20031231;第3页-第7页 |
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