CN106864591A - A kind of axle electric-controlled hydraulic steering control system of multiple-axle vehicle the 3rd - Google Patents
A kind of axle electric-controlled hydraulic steering control system of multiple-axle vehicle the 3rd Download PDFInfo
- Publication number
- CN106864591A CN106864591A CN201510913181.1A CN201510913181A CN106864591A CN 106864591 A CN106864591 A CN 106864591A CN 201510913181 A CN201510913181 A CN 201510913181A CN 106864591 A CN106864591 A CN 106864591A
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- CN
- China
- Prior art keywords
- axle
- valve
- steering
- control system
- controlled hydraulic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
- B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1554—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles
- B62D7/1563—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles provided with fluid control means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
A kind of axle electric-controlled hydraulic steering control system of multiple-axle vehicle the 3rd, mainly it is made up of hydraulic actuating mechanism, controller and rotary angle transmitter etc., the system can solve the problem that the eccentric wear problem of trailing wheel, effect is preferable, error amount ± 1 ° of enterprise requirements is disclosure satisfy that, for the Steering of multiple-axle vehicle provides solution.
Description
Technical field
The present invention relates to a kind of axle electric-controlled hydraulic steering control system of multiple-axle vehicle the 3rd, it is adaptable to mechanical field.
Background technology
Coordinate on a certain multiple-axle vehicle of steering antero posterior axis is carried out by steering gear, the 3rd axle steer wheel corner produces too great deviations when being had the reasons such as the wearing clearance of location deflection and ball pivot to cause to turn to by vehicle-mounted load change due to the long deformation of steering drag link between the second axle and the 3rd axle, pitman arm, cause it uncoordinated with the steering of first axle deflecting roller so that tire wear is excessive.
The content of the invention
To solve the problems, such as the eccentric wear of the 3rd axle tire, the 3rd axle wheel steering angle is set to meet certain angle relation with first axle wheel steering angle when turning to, the present invention proposes a kind of axle electric-controlled hydraulic steering control system of multiple-axle vehicle the 3rd, the system can solve the problem that the eccentric wear problem of trailing wheel, effect is preferable, error amount ± 1 ° of enterprise requirements is disclosure satisfy that, for the Steering of multiple-axle vehicle provides solution.
The technical solution adopted in the present invention is：
The axle electric-controlled hydraulic steering of the multiple-axle vehicle the 3rd is mainly made up of hydraulic actuating mechanism, controller and rotary angle transmitter etc., steering drag link of the systems abandon front steering axle to rear steering axle, direction information is obtained from the first steering spindle by sensor, and hydraulic coupling the 3rd axle of promotion is fully relied on the coordination steering of front steering axle, accurate positioning, high precision, can avoid tire that eccentric wear occurs, and enhance the dynamic stability and driving safety of automobile.
In the hydraulic actuating mechanism of the axle electric-controlled hydraulic steering of the multiple-axle vehicle the 3rd, valve 1, valve 2, valve 3 are two position four-way valves, valve 4 is 3-position 4-way proportional reversing valve with valve 5, the oil cylinder of hydraulic mechanism uses steering centering oil cylinder, turn to centering self-locking oil cylinder right-hand member to be fixed in vehicle bridge, left end is then welded on the 3rd steering spindle track rod by connecting rod.Whole cylinder barrel floating mount.When centering hydraulic cylinder left piston moves to left hydraulic cylinder right side A2 faces, and right piston moves to right hydraulic cylinder right side A1 faces, the 3rd axle wheel centering.Valve 1, valve 2, valve 3 are emergency backup system, valve 3 is opened during normal work, and valve 1, valve 2 are closed, and controller is according to the first axis signal and rear steering wheel angular signal, passing ratio reversal valve valve 4, valve 5 controls the motion of hydraulic cylinder, realizes rotating the follow-up steering function of coordinating.Once detecting failure, valve 3 is closed, and the motion of valve 1 makes left cylinder move to A2 faces, and the motion of valve 2 makes right cylinder move to A1 faces, and rear steering wheel centering, the 3rd axle wheel changes not as the first Shaft angle changes, so as to avoid an accident.
The controller selects Freescale S12XS128 single-chip microcomputers, it is 16 single-chip microcomputers, chip processing capabilities are strong, good stability, cost performance is high, centered on Freescale S12XS128 single-chip microcomputers, build the hardware circuit that some other functional modules carry out composition control device, the design of hardware circuit should meet all of functional requirement of system, as far as possible succinct again, it is to avoid the increased unnecessary cost of complicated circuit and signal transacting are difficult.The controller of the control system based on Freescale S12XS128 designs collects the angular signal of first axle and the 3rd axle, signal is processed to control the hydraulic system to carry out follow-up steering, wherein valve 4 and valve 5 are proportional reversing valve, are driven by supporting driving amplifier.
The program of the control system is adopted and shown a C language, carried out in CodeWarrior, program will be defined to variable when starting and call initialization program, can be placed on outside major cycle for some time-consuming long programs and called, in advancing to the major cycle of program after the completion of program initialization, major cycle is the core of whole program, each seed routine is called in major cycle and the normal operation of system is ensured using various algorithms, to ensure the promptness of electronically controlled hydraulic system operation, program each circulation time it is as far as possible small, generally no greater than 100ms.Major cycle control program is mainly made up of following 3 aspects.
The beneficial effects of the invention are as follows：The system can solve the problem that the eccentric wear problem of trailing wheel, and effect preferably, disclosure satisfy that error amount ± 1 ° of enterprise requirements, for the Steering of multiple-axle vehicle provides solution.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is steering system hydraulic mechanism principle figure of the invention.
Fig. 2 is controller control schematic diagram of the invention.
Fig. 3 is major cycle control program figure of the invention.
In figure：1. overflow valve；2. coarse filter；3. engine；4. fine filtrator；5. valve 1；6. valve 2；7. valve 3；8. valve 4；9. valve 5.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, the axle electric-controlled hydraulic steering of multiple-axle vehicle the 3rd is mainly made up of hydraulic actuating mechanism, controller and rotary angle transmitter etc., steering drag link of the systems abandon front steering axle to rear steering axle, direction information is obtained from the first steering spindle by sensor, and hydraulic coupling the 3rd axle of promotion is fully relied on the coordination steering of front steering axle, accurate positioning, high precision, can avoid tire that eccentric wear occurs, enhance the dynamic stability and driving safety of automobile.
In the hydraulic actuating mechanism of the axle electric-controlled hydraulic steering of multiple-axle vehicle the 3rd, valve 1, valve 2, valve 3 are two position four-way valves, valve 4 is 3-position 4-way proportional reversing valve with valve 5, the oil cylinder of hydraulic mechanism uses steering centering oil cylinder, turn to centering self-locking oil cylinder right-hand member to be fixed in vehicle bridge, left end is then welded on the 3rd steering spindle track rod by connecting rod.Whole cylinder barrel floating mount.When centering hydraulic cylinder left piston moves to left hydraulic cylinder right side A2 faces, and right piston moves to right hydraulic cylinder right side A1 faces, the 3rd axle wheel centering.Valve 1, valve 2, valve 3 are emergency backup system, valve 3 is opened during normal work, and valve 1, valve 2 are closed, and controller is according to the first axis signal and rear steering wheel angular signal, passing ratio reversal valve valve 4, valve 5 controls the motion of hydraulic cylinder, realizes rotating the follow-up steering function of coordinating.Once detecting failure, valve 3 is closed, and the motion of valve 1 makes left cylinder move to A2 faces, and the motion of valve 2 makes right cylinder move to A1 faces, and rear steering wheel centering, the 3rd axle wheel changes not as the first Shaft angle changes, so as to avoid an accident.
Such as Fig. 2, controller selects Freescale S12XS128 single-chip microcomputers, it is 16 single-chip microcomputers, and chip processing capabilities are strong, good stability, cost performance is high, centered on Freescale S12XS128 single-chip microcomputers, the hardware circuit that some other functional modules carry out composition control device is built, the design of hardware circuit should meet all of functional requirement of system, it is as far as possible succinct again, it is to avoid the increased unnecessary cost of complicated circuit and signal transacting are difficult.The controller of the control system based on Freescale S12XS128 designs collects the angular signal of first axle and the 3rd axle, signal is processed to control the hydraulic system to carry out follow-up steering, wherein valve 4 and valve 5 are proportional reversing valve, are driven by supporting driving amplifier.
Such as Fig. 3, the program of control system is adopted and shown a C language, carried out in CodeWarrior, program will be defined to variable when starting and call initialization program, can be placed on outside major cycle for some time-consuming long programs and called, in advancing to the major cycle of program after the completion of program initialization, major cycle is the core of whole program, each seed routine is called in major cycle and the normal operation of system is ensured using various algorithms, to ensure the promptness of electronically controlled hydraulic system operation, program each circulation time it is as far as possible small, generally no greater than 100ms.Major cycle control program is mainly made up of following 3 aspects.
Claims (6)
1. the axle electric-controlled hydraulic steering control system of a kind of multiple-axle vehicle the 3rd, it is characterized in that：The axle electric-controlled hydraulic steering of the multiple-axle vehicle the 3rd is mainly made up of hydraulic actuating mechanism, controller and rotary angle transmitter etc..
2. the axle electric-controlled hydraulic steering control system of a kind of multiple-axle vehicle according to claim 1 3rd, it is characterized in that：The control system systems abandon front steering axle obtains direction information, and fully relies on hydraulic coupling the 3rd axle of promotion and coordinate to turn to front steering axle by sensor to the steering drag link of rear steering axle from the first steering spindle.
3. the axle electric-controlled hydraulic steering control system of a kind of multiple-axle vehicle according to claim 1 3rd, it is characterized in that：In the hydraulic actuating mechanism of the axle electric-controlled hydraulic steering of the multiple-axle vehicle the 3rd, valve 1, valve 2, valve 3 are two position four-way valves, valve 4 is 3-position 4-way proportional reversing valve with valve 5, the oil cylinder of hydraulic mechanism uses steering centering oil cylinder, turn to centering self-locking oil cylinder right-hand member to be fixed in vehicle bridge, left end is then welded on the 3rd steering spindle track rod by connecting rod.
4. the axle electric-controlled hydraulic steering control system of a kind of multiple-axle vehicle the 3rd, it is characterized in that：The whole cylinder barrel floating mount, once detecting failure, valve 3 is closed, and the motion of valve 1 makes left cylinder move to A2 faces, and the motion of valve 2 makes right cylinder move to A1 faces, and rear steering wheel centering, the 3rd axle wheel changes not as the first Shaft angle changes, so as to avoid an accident.
5. the axle electric-controlled hydraulic steering control system of a kind of multiple-axle vehicle according to claim 1 3rd, it is characterized in that：Controller is stated from Freescale S12XS128 single-chip microcomputers, it is 16 single-chip microcomputers, chip processing capabilities are strong, good stability, cost performance is high, centered on Freescale S12XS128 single-chip microcomputers, build the hardware circuit that some other functional modules carry out composition control device, the design of hardware circuit should meet all of functional requirement of system, as far as possible succinct again, it is to avoid the increased unnecessary cost of complicated circuit and signal transacting are difficult.
6. the axle electric-controlled hydraulic steering control system of a kind of multiple-axle vehicle according to claim 1 3rd, it is characterized in that：The program of the control system is adopted and shown a C language, in CodeWarrior
In carry out, program will be defined to variable when starting and call initialization program, can be placed on outside major cycle for some time-consuming long programs and called, in advancing to the major cycle of program after the completion of program initialization, major cycle is the core of whole program, each seed routine is called in major cycle and the normal operation of system is ensured using various algorithms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510913181.1A CN106864591A (en) | 2015-12-11 | 2015-12-11 | A kind of axle electric-controlled hydraulic steering control system of multiple-axle vehicle the 3rd |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510913181.1A CN106864591A (en) | 2015-12-11 | 2015-12-11 | A kind of axle electric-controlled hydraulic steering control system of multiple-axle vehicle the 3rd |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106864591A true CN106864591A (en) | 2017-06-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510913181.1A Pending CN106864591A (en) | 2015-12-11 | 2015-12-11 | A kind of axle electric-controlled hydraulic steering control system of multiple-axle vehicle the 3rd |
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| Country | Link |
|---|---|
| CN (1) | CN106864591A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11034383B2 (en) | 2018-08-03 | 2021-06-15 | Ford Global Technologies, Llc | Vehicle including second steered axle |
-
2015
- 2015-12-11 CN CN201510913181.1A patent/CN106864591A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11034383B2 (en) | 2018-08-03 | 2021-06-15 | Ford Global Technologies, Llc | Vehicle including second steered axle |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170620 |
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| WD01 | Invention patent application deemed withdrawn after publication |