CN107618566B - For the control method of hydraulic steering gear, controller and vehicle - Google Patents
For the control method of hydraulic steering gear, controller and vehicle Download PDFInfo
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- CN107618566B CN107618566B CN201610563048.2A CN201610563048A CN107618566B CN 107618566 B CN107618566 B CN 107618566B CN 201610563048 A CN201610563048 A CN 201610563048A CN 107618566 B CN107618566 B CN 107618566B
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Abstract
The invention discloses a kind of for the control method of hydraulic steering gear, controller and vehicle, and the control method includes: acquisition vehicle wheel rotational speed；Determine whether steering column occurs high frequency revolution；In the case where vehicle wheel rotational speed obtained is greater than vehicle wheel rotational speed preset threshold and determines that high frequency revolution occurs for the steering column, it is shimmy to determine that steering wheel occurs；In the case where determining that the steering wheel occurs shimmy, the flow of the steering liquid flowed in the hydraulic steering gear is reduced.Shimmy the problem of leading to influence crew comfort and operation ease and endangering vehicle safety can occur efficiently against steering wheel provided by the present invention for the control method of hydraulic steering gear, controller and vehicle, the oil consumption that not will increase engine simultaneously, is beneficial to energy conservation emission reduction.
Description
Technical field
The present invention relates to vehicle electric fields, and in particular, to a kind of control method for hydraulic steering gear, controller
And vehicle.
Background technique
With the continuous development of vehicle electric technology, driver comfort, driving safety and operation of the user to vehicle
The requirement of convenience is higher and higher, and the shimmy of steering wheel is the FAQs for influencing these performances.The shimmy main hair of steering wheel
Raw wheel is influenced by unbalance dynamic and is swung during straight line is run at high speed, and wheel is by turning
The axial movement of diverter pull rod is driven to section, the steering column of diverter is caused to rotate, therefore steering wheel is swung therewith, and one
The hunting frequency of denier wheel and the intrinsic frequency of steering wheel are identical, and shimmy (also referred to as " resonating ") will occur for steering wheel.Side
To the shimmy driver comfort that will affect driver and operation ease of disk, the serious safety that can also endanger vehicle driving
Property.
Currently, in order to solve the problems, such as the shimmy of steering wheel, the general internal friction by increasing diverter in the related technology,
Increase the friction of gear & rack structure, so that influence of the wheel when swinging to steering column reduces, to come
Overcome the problems, such as the shimmy of steering wheel；In addition, for the vehicle using hydraulic steering gear, it can also be by reducing diverter oil pipe
Internal diameter increases the reverse thrust of diverter, is blocked shimmy to overcome the problems, such as the shimmy of steering wheel.But pass through increasing
Add the internal friction of diverter solve steering wheel it is shimmy while also will increase the oil consumption of engine；And reduce diverter oil
It will cause diverters to turn to the problems such as return is bad for the internal diameter of pipe.
Summary of the invention
The object of the present invention is to provide a kind of for the control method of hydraulic steering gear, controller and vehicle, is not increasing
Under the premise of engine consumption, the shimmy of steering wheel is solved the problems, such as.
To achieve the goals above, the present invention provides a kind of control method for hydraulic steering gear, the control method
Include:
Obtain vehicle wheel rotational speed；
Determine whether steering column occurs high frequency revolution；
It is greater than vehicle wheel rotational speed preset threshold in vehicle wheel rotational speed obtained and determines that high frequency revolution occurs for the steering column
In the case where, it is shimmy to determine that steering wheel occurs；
In the case where determining that the steering wheel occurs shimmy, the stream of the steering liquid flowed in the hydraulic steering gear is reduced
Amount.
Optionally, described in the case where determining that the steering wheel occurs shimmy, it reduces and is flowed in the hydraulic steering gear
Steering liquid flow the step of execute as follows: in the case where determining that the steering wheel occurs shimmy, reduce institute
State the actual internal area that liquid is turned in hydraulic steering gear.
Optionally, the determining steering column whether occur high frequency revolution the step of include:
In the case where receiving steering column high frequency revolution signal, determine that high frequency revolution occurs for steering column；
In the case where not receiving steering column high frequency revolution signal, determine that high frequency revolution does not occur for steering column.
Optionally, the control method further include:
In the case where determining that the steering wheel occurs shimmy, determine whether the vehicle wheel rotational speed changes；
In the case where determining that the vehicle wheel rotational speed changes, restore the steering liquid flowed in the hydraulic steering gear
Flow.
According to another aspect of the present invention, a kind of controller for hydraulic steering gear is also provided, the controller includes:
Revolving speed obtains module, for obtaining vehicle wheel rotational speed；
First judgment module, for determining whether steering column occurs high frequency revolution；
Second judgment module obtains module with the revolving speed and the first judgment module is connect, for being obtained
Vehicle wheel rotational speed be greater than vehicle wheel rotational speed preset threshold and determine that high frequency revolution occurs for the steering column in the case where, determine direction
Disk occurs shimmy；And
Execution module is connect with second judgment module, in the case where determining that the steering wheel occurs shimmy,
Reduce the flow of the steering liquid flowed in the hydraulic steering gear.
Optionally, the execution module is configured to reduce the steering flowed in the hydraulic steering gear as follows
The flow of liquid: in the case where the steering wheel occurs shimmy, reduce the actual internal area that liquid is turned in the hydraulic steering gear.
Optionally, the first judgment module includes:
Receiving submodule, for receiving the revolution signal of steering column；
Judging submodule is connect with the receiving submodule, for receiving the steering column high frequency revolution signal
In the case where, determine that high frequency revolution occurs for steering column；
In the case where not receiving the steering column high frequency revolution signal, determine that high frequency does not occur and returns for steering column
Turn.
Optionally, the controller further include:
Third judgment module obtains module with the revolving speed and the second judgment module is connect, for sentencing described second
In the case that disconnected module determines that the steering wheel generation is shimmy, determine whether the vehicle wheel rotational speed changes；
The execution module is also connect with the third judgment module, for determining that the vehicle wheel rotational speed is changed
In the case of, restore the flow of steering liquid flowed in the hydraulic steering gear.
According to another aspect of the invention, a kind of vehicle is also provided, the vehicle includes:
Provided by the present invention for the controller of hydraulic steering gear；
Steering column rotation detecting device is connect with the controller for hydraulic steering gear, for detecting described turn
To the revolution signal of tubing string；
Diverted flow amount control device is connect, for being used for according to the controller for hydraulic steering gear
The controller of hydraulic steering gear controls to change the flow of the steering liquid flowed in the hydraulic steering gear.
Optionally, the vehicle further includes wheel speed sensors, is turned for detecting vehicle wheel rotational speed, and by detected wheel
Speed is transferred to the controller for being used for hydraulic steering gear.
Optionally, the steering column rotation detecting device is arranged inside clock spring, for turning in clock spring
The rotary angle transmitter of the steering column revolution signal is issued when dynamic.
Optionally, the diverted flow amount control device is to be arranged on the diverter oil pipe of the hydraulic steering gear, use
In the aperture valve for controlling the logical sectional area of diverted flow in the hydraulic steering gear.
Through the above technical solutions, can provided by the present invention for the control method of hydraulic steering gear, controller and vehicle
To determine it is shimmy whether steering wheel occurs according to whether vehicle wheel rotational speed and steering column occur high frequency revolution, and can be in direction
In the case that disk generation is shimmy, increase inversely pushing away for diverter by reducing the flow of the steering liquid flowed in hydraulic steering gear
Power, so that shimmy is blocked, steering column stops operating, and steering wheel is shimmy also to be stopped, thus efficiently against direction
Shimmy the problem of leading to influence crew comfort and operation ease and endangering vehicle safety, occurs for disk.In addition, this hair
The internal friction for not needing to increase diverter for the control method of hydraulic steering gear, controller and vehicle of bright offer can solve
The certainly shimmy problem of steering wheel can energy saving reduction discharge there is no need to increase the oil consumption of engine.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the flow chart for the control method for hydraulic steering gear that a kind of embodiment according to the present invention provides；
Fig. 2 is the process for the control method for hydraulic steering gear that another embodiment according to the present invention provides
Figure；
Fig. 3 A is the structural block diagram for the controller for hydraulic steering gear that a kind of embodiment according to the present invention provides；
Fig. 3 B is the structural frames for the controller for hydraulic steering gear that another embodiment according to the present invention provides
Figure；
Fig. 3 C is the structural frames for the controller for hydraulic steering gear that another embodiment according to the present invention provides
Figure；
Fig. 4 A is the connection relationship diagram in a kind of vehicle of embodiment offer according to the present invention between each device；
Fig. 4 B is the connection relationship signal in the vehicle of another embodiment offer according to the present invention between each device
Figure.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Fig. 1 is the flow chart for the control method for hydraulic steering gear that a kind of embodiment according to the present invention provides.
As shown in Figure 1, the present invention provides a kind of control method for hydraulic steering gear, which may include:
In step s 110, vehicle wheel rotational speed is obtained.Wherein, vehicle wheel rotational speed for example can be by communicating with vehicle communication bus
It obtains, can also be directly obtained by the wheel speed sensors from vehicle.
In the step s 120, determine whether steering column occurs high frequency revolution.Specifically, high frequency revolution occurs for steering column
It will lead to steering wheel rotation, the rotation of steering wheel may be rotation needed for Ackermann steer angle, it is also possible to straight line traveling
When the rotation that generates when occurring shimmy of steering wheel, therefore steering column occur high frequency revolution be steering wheel occur it is shimmy it is necessary not
Adequate condition, determine steering wheel whether occur it is shimmy can determine first steering column whether occur high frequency revolution, steering column
Generation high frequency gyratory directions disk is likely to occur shimmy.Illustratively, the frequency of steering column revolution signal is in 12Hz-16Hz
When, it can determine that high frequency revolution occurs for steering column, still, the present invention is not intended to limit determining steering column and high frequency revolution occurs
Condition determines that steering column occurs the condition that high frequency turns round and can also be different according to vehicle or the difference of road conditions.
In step s 130, it is greater than vehicle wheel rotational speed preset threshold in vehicle wheel rotational speed obtained and determines steering column
In the case that high frequency turns round, it is shimmy to determine that steering wheel occurs.Shimmy due to steering wheel typically occurs in straight line high speed row
During sailing, vehicle wheel rotational speed preset threshold can for example be arranged to 80km/h (kilometer per hour), and it is pre- that vehicle wheel rotational speed is greater than this
If when threshold value, it is believed that vehicle is in high-speed travel state.In addition, the speed that vehicle is in 80Km/h or more is run at high speed
When, vehicle or in straight travel state or in the state of overtaking other vehicles, and vehicle is in when overtaking other vehicles state, even if steering tube
High frequency revolution occurs for column, influences also smaller, can ignore caused by driver comfort.Therefore vehicle wheel rotational speed can greater than 80km/h
To determine that vehicle is in straight line high-speed travel state.
Wheel will be swung once for each revolution under the influence of unbalance dynamic, and wheel passes through knuckle and drives steering
Axial movement is changed into steering column by the gear & rack structure inside diverter by the axial movement of device pull rod, diverter pull rod
Revolution.When straight line is run at high speed, the dancing of wheel is obvious, if high frequency revolution occurs for steering column at this time, really
It is shimmy to determine steering wheel generation.The present invention is not intended to limit the specific embodiment of vehicle wheel rotational speed preset threshold, other can show vehicle
The vehicle wheel rotational speed value that straight line is run at high speed also belongs to protection scope of the present invention.
In step S140, in the case where determining that steering wheel occurs shimmy, the steering flowed in hydraulic steering gear is reduced
The flow of liquid.Illustratively, after determining that steering wheel generation is shimmy, hydraulic rotation can be reduced by reducing the internal diameter of diverter oil pipe
The flow of the steering liquid flowed into device, the internal diameter for reducing diverter oil pipe, which may, for example, be, is arranged aperture on diverter oil pipe
Valve reduces the internal diameter of diverter oil pipe by reducing the aperture of aperture valve.After the flow reduction for turning to liquid, the back of diverter
Pressure can increase with it, and reverse thrust also becomes larger, therefore the swing of wheel can be blocked, and axially move so as to cause diverter pull rod
Dynamic to stop, so that steering column rotation stops, i.e., steering wheel is no longer shimmy.
Through the above technical solutions, the control method provided by the present invention for hydraulic steering gear can be according to vehicle wheel rotational speed
And whether steering column occurs high frequency revolution to determine it is shimmy whether steering wheel occurs, and shimmy feelings can occur in steering wheel
Under condition, increase the reverse thrust of diverter by reducing the flow of the steering liquid flowed in hydraulic steering gear, so that wheel is put
Dynamic to be blocked, steering column stops operating, and steering wheel is shimmy also to be stopped, so that shimmy cause occur efficiently against steering wheel
The problem of influencing crew comfort and operation ease and endangering vehicle safety.In addition, provided by the present invention for liquid
The shimmy of steering wheel can be solved in the internal friction that control method, controller and the vehicle of pressure diverter do not need to increase diverter
Problem can energy saving reduction discharge there is no need to increase the oil consumption of engine.
Optionally, it in step S140 in the case where determining that steering wheel occurs shimmy, is flowed in reduction hydraulic steering gear
The flow for turning to liquid can be realized via the actual internal area for reducing steering liquid in diverter.Specifically, reduce diverted flow
Logical sectional area, in the unit time, the diverted flow amount flowed in diverter is reduced, and the reverse thrust of diverter increases, resistance
Stagnant shimmy, so that the rotation of steering column stops, the shimmy of steering wheel will also stop.
Fig. 2 is the process for the control method for hydraulic steering gear that another embodiment according to the present invention provides
Figure, as shown in Fig. 2, optionally, which may comprise steps of:
In step S210, vehicle wheel rotational speed is obtained；
In step S221, judge whether to receive steering column high frequency revolution signal；
In step S222, in the case where receiving steering column high frequency revolution signal, it is high to determine that steering column occurs
Frequency turns round；
In step S223, in the case where being not received by steering column high frequency revolution signal, determine that steering column does not have
Have and high frequency revolution occurs；
In step S230, in the case where vehicle wheel rotational speed obtained is greater than vehicle wheel rotational speed preset threshold, direction is determined
Disk occurs shimmy；
In step S240, in the case where determining that steering wheel occurs shimmy, the steering flowed in hydraulic steering gear is reduced
The flow of liquid.
It is to turn to according to determining that whether it is high frequency revolution signal that the control method receives steering column revolution signal as a result,
Whether tubing string occurs high frequency revolution, can simply directly obtain the turn state of steering column in this way, and whether determine vehicle
State in straight-line travelling, so that it is more accurate to determine whether steering wheel occurs shimmy result.
Although reducing the flow of the steering liquid flowed in hydraulic steering gear, the rotation of steering column can be made to temporarily cease,
But reduce the flow of steering liquid flowed in hydraulic steering gear for a long time to will lead to diverter return bad, influencing diverter just
It is often used.The hunting frequency of the shimmy intrinsic frequency for having to make steering wheel and wheel that fundamentally to solve steering wheel has area
Not, and the intrinsic frequency of steering wheel is only related with the build-in attribute of steering wheel, will not change because of the change of external force, so
The shimmy of steering wheel can only be overcome by changing the hunting frequency of wheel.The hunting frequency of wheel is changed with vehicle wheel rotational speed
, only vehicle wheel rotational speed and occur steering wheel it is shimmy when vehicle wheel rotational speed it is different, the shimmy problem of steering wheel can it is thorough must
To solution.Therefore, as shown in Fig. 2, optionally, which can also include:
In step s 250, judge whether vehicle wheel rotational speed changes；
In step S260, in the case where determining that vehicle wheel rotational speed changes, that restores to flow in hydraulic steering gear turns
To the flow of liquid.
Control method provided by the invention can recorde vehicle wheel rotational speed when steering wheel occurs shimmy, and can obtain in real time
Vehicle wheel rotational speed is obtained, vehicle wheel rotational speed when occurring shimmy by comparing steering wheel and the vehicle wheel rotational speed currently obtained, to determine wheel
Revolving speed (hunting frequency that the revolving speed of wheel determines wheel) whether change.The vehicle if current vehicle wheel rotational speed changes
The hunting frequency of wheel can change therewith, therefore generate difference with the intrinsic frequency of steering wheel, put steering wheel no longer
Vibration is at this time the normal return function of guaranteeing diverter, can restore the flow of steering liquid flowed in hydraulic steering gear；If
Current vehicle wheel rotational speed does not change, and the hunting frequency of wheel will not change, at this time in order to guarantee that steering wheel will not be again
It is secondary that shimmy, to continue to compare vehicle wheel rotational speed when steering wheel occurs shimmy and currently obtain vehicle wheel rotational speed occurs, until working as front truck
When vehicle wheel rotational speed when wheel speed and steering wheel occur shimmy is had any different, flow with just restoring the steering liquid flowed in hydraulic steering gear
Amount.
It is walked shown in Fig. 1 in addition, the specific embodiment of step S210, S230 and S240 shown in Fig. 2 correspond to
The embodiment of rapid S110, S130 and S140, therefore, identical content are not described in detail.Meanwhile it is according to the present invention another
On the one hand, a kind of controller for hydraulic steering gear is also provided, which corresponds to above-mentioned control method, identical reality
Applying mode also will not be described in great detail.
Fig. 3 A is the structural block diagram for the controller for hydraulic steering gear that a kind of embodiment according to the present invention provides.
As shown in Figure 3A, which may include:
Revolving speed obtains module 310, for obtaining vehicle wheel rotational speed；
First judgment module 320, for determining whether steering column occurs high frequency revolution；
Second judgment module 330 obtains module 310 with revolving speed and first judgment module 320 is connect, for being obtained
Vehicle wheel rotational speed be greater than vehicle wheel rotational speed preset threshold and determine that high frequency revolution occurs for the steering column in the case where, determine direction
Disk occurs shimmy；And
Execution module 340 is connect with the second judgment module 330, for subtracting in the case where determining that steering wheel occurs shimmy
The flow of the steering liquid flowed in few hydraulic steering gear.
Through the above technical solutions, provided by the present invention for hydraulic steering gear controller can according to vehicle wheel rotational speed with
And whether steering column occurs high frequency revolution to determine it is shimmy whether steering wheel occurs, and can there is a situation where shimmy in steering wheel
Under, increase the reverse thrust of diverter by reducing the flow of the steering liquid flowed in hydraulic steering gear, so that shimmy
Blocked, steering column stops operating, and steering wheel is shimmy also to be stopped, to lead to shadow efficiently against steering wheel generation is shimmy
The problem of ringing crew comfort and operation ease and endangering vehicle safety.In addition, provided by the present invention for hydraulic
The internal friction that control method, controller and the vehicle of diverter do not need increase diverter can be solved the shimmy of steering wheel and ask
Topic can energy saving reduction discharge there is no need to increase the oil consumption of engine.
Optionally, execution module 340 may be configured to the actual internal area for turning to liquid in hydraulic steering gear by reducing
To reduce the flow of the steering liquid flowed in hydraulic steering gear.
Fig. 3 B is the structural frames for the controller for hydraulic steering gear that another embodiment according to the present invention provides
Figure.As shown in Figure 3B, optionally, first judgment module 320 may include:
Receiving submodule 321, for receiving the revolution signal of steering column；
Judging submodule 322 is connect with receiving submodule 321, for receiving steering column high frequency revolution signal
In the case of, determine that high frequency revolution occurs for steering column；In the case where not receiving steering column high frequency revolution signal, determines and turn
High frequency revolution does not occur to tubing string.
Fig. 3 C is the structural block diagram for the controller for hydraulic steering gear that a kind of embodiment according to the present invention provides.
As shown in Figure 3 C, optionally, which can also include:
Third judgment module 350 obtains module 310 with revolving speed and the second judgment module 330 is connect, for sentencing second
In the case that disconnected module 330 determines that steering wheel generation is shimmy, determine whether vehicle wheel rotational speed changes；
Execution module 340 is also connect with the third judgment module 350, for determining the case where vehicle wheel rotational speed changes
Under, restore the flow of steering liquid flowed in hydraulic steering gear.
Fig. 4 A to 4B is the connection relationship diagram in the vehicle of embodiment according to the present invention offer between each device.
According to another aspect of the invention, a kind of vehicle is also provided, may include: that the present invention mentions as shown in Fig. 4 A to 4B, in the vehicle
The controller 300 for hydraulic steering gear supplied；Steering column rotation detecting device 200, with the control for hydraulic steering gear
Device 300 connects, for detecting the revolution signal of steering column；Diverted flow amount control device 400, and for hydraulic steering gear
Controller 300 connects, for changing and flowing in hydraulic steering gear according to controlling for the controller 300 for hydraulic steering gear
Turn to the flow of liquid.
As shown in Figure 4 B, optionally, which can also include wheel speed sensors 100, for detecting vehicle wheel rotational speed, and will
Detected vehicle wheel rotational speed is transferred to the controller 300 for hydraulic steering gear.
Vehicle wheel unbalance dynamic when running at high speed just will appear the shimmy problem of steering wheel, such as vehicle is big in speed
In the case where 80 kilometer per hours (km/h), it is easy to happen the shimmy of steering wheel.In one embodiment, the present invention provides
Vehicle be provided with wheel speed sensors, wheel speed sensors can directly detect the vehicle wheel rotational speed of vehicle so that be used for fluid-link steering
Whether the controller of device can judge steering wheel according to the revolution signal of the vehicle wheel rotational speed of its detection and steering column in real time
Occur shimmy.
Optionally, steering column rotation detecting device 200, which can be, is arranged inside clock spring, in clock spring
The rotary angle transmitter of steering column revolution signal is issued when rotation.
Clock spring is each switch button such as turning indicator control and the rain brush switch etc. connected on steering wheel, with vehicle
Harness between electronic control unit, with the rotation of steering wheel, its length can be stretched, and clock spring can be in certain journey
There is a situation where turn round for reflection rotation tubing string on degree.Illustratively, it can be internally provided with rotary angle transmitter in clock spring, turned
Angle transducer can detecte clock spring pivotal angle and circle number, clock spring rotation angle and circle number it may be said that
The signal of the degree that bright steering column turns round, at this time rotary angle transmitter output can represent the revolution signal of steering column.
It should be understood that the heretofore described sensor for issuing steering column revolution signal in clock spring rotation is simultaneously
It is not limited to rotary angle transmitter, is able to reflect the other kinds of sensor of clock spring rotation, such as photoelectric sensor also belongs to
In protection scope of the present invention.
Optionally, diverted flow amount control device 400, which can be, is arranged on the diverter oil pipe of hydraulic steering gear, is used for
Control the aperture valve that the actual internal area of liquid is turned in hydraulic steering gear.
Illustratively, a solenoid valve can be set on diverter oil pipe, what which can provide according to the present invention
The control of controller for hydraulic steering gear reduces or restores the actual internal area that liquid is turned in diverter oil pipe, thus
The flow of the steering liquid flowed in control hydraulic steering gear.Not only steering wheel can occur for vehicle provided by the invention as a result,
It is shimmy in the case where reduce the actual internal area of liquid is turned in diverter oil pipe can also be to overcome the shimmy of steering wheel
The shimmy actual internal area for restoring to turn to liquid in diverter oil pipe later of steering wheel is overcome, so as to guarantee normal condition
Under, the return performance of diverter is unaffected.
Through the above technical solutions, can provided by the present invention for the control method of hydraulic steering gear, controller and vehicle
To determine it is shimmy whether steering wheel occurs according to whether vehicle wheel rotational speed and steering column occur high frequency revolution, and can be in direction
In the case that disk generation is shimmy, increase inversely pushing away for diverter by reducing the flow of the steering liquid flowed in hydraulic steering gear
Power, so that shimmy is blocked, steering column stops operating, and steering wheel is shimmy also to be stopped, thus efficiently against direction
Shimmy the problem of leading to influence crew comfort and operation ease and endangering vehicle safety, occurs for disk.In addition, this hair
The internal friction for not needing to increase diverter for the control method of hydraulic steering gear, controller and vehicle of bright offer can solve
The certainly shimmy problem of steering wheel can energy saving reduction discharge there is no need to increase the oil consumption of engine.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.Such as.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (12)
1. a kind of control method for hydraulic steering gear, which is characterized in that the control method includes:
Obtain vehicle wheel rotational speed；
Determine whether steering column occurs high frequency revolution；
It is greater than vehicle wheel rotational speed preset threshold in vehicle wheel rotational speed obtained and determines that the feelings of high frequency revolution occur for the steering column
Under condition, it is shimmy to determine that steering wheel occurs；
In the case where determining that the steering wheel occurs shimmy, the flow of the steering liquid flowed in the hydraulic steering gear is reduced.
2. control method according to claim 1, which is characterized in that described to determine that shimmy feelings occur for the steering wheel
Under condition, the step of reducing the flow of the steering liquid flowed in the hydraulic steering gear, includes:
In the case where determining that the steering wheel occurs shimmy, reduce the actual internal area that liquid is turned in the hydraulic steering gear.
3. control method according to claim 1, which is characterized in that whether the determining steering column occurs high frequency revolution
The step of include:
In the case where receiving steering column high frequency revolution signal, determine that high frequency revolution occurs for steering column；
In the case where not receiving steering column high frequency revolution signal, determine that high frequency revolution does not occur for steering column.
4. control method according to claim 3, which is characterized in that the control method further include:
In the case where determining that the steering wheel occurs shimmy, determine whether the vehicle wheel rotational speed changes；
In the case where determining that the vehicle wheel rotational speed changes, restore the stream of steering liquid flowed in the hydraulic steering gear
Amount.
5. a kind of controller for hydraulic steering gear, which is characterized in that the controller includes:
Revolving speed obtains module, for obtaining vehicle wheel rotational speed；
First judgment module, for determining whether steering column occurs high frequency revolution；
Second judgment module obtains module with the revolving speed and the first judgment module is connect, in vehicle obtained
In the case that wheel speed is greater than vehicle wheel rotational speed preset threshold and determines that high frequency revolution occurs for the steering column, determine that steering wheel is sent out
Life is shimmy；And
Execution module is connect with second judgment module, for reducing in the case where determining that the steering wheel occurs shimmy
The flow of the steering liquid flowed in the hydraulic steering gear.
6. controller according to claim 5, which is characterized in that the execution module is configured as subtracting as follows
The flow of the steering liquid flowed in few hydraulic steering gear:
In the case where determining that the steering wheel occurs shimmy, reduce the actual internal area that liquid is turned in the hydraulic steering gear.
7. controller according to claim 5, which is characterized in that the first judgment module includes:
Receiving submodule, for receiving the revolution signal of steering column；
Judging submodule is connect with the receiving submodule, in the high frequency revolution signal for receiving the steering column
In the case of, determine that high frequency revolution occurs for steering column；
In the case where the high frequency for not receiving the steering column turns round signal, determine that high frequency revolution does not occur for steering column.
8. controller according to claim 7, which is characterized in that the controller further include:
Third judgment module obtains module with the revolving speed and the second judgment module is connect, for judging mould described second
In the case that block determines that the steering wheel generation is shimmy, determine whether the vehicle wheel rotational speed changes；
The execution module is also connect with the third judgment module, for determining the case where vehicle wheel rotational speed changes
Under, restore the flow of steering liquid flowed in the hydraulic steering gear.
9. a kind of vehicle, which is characterized in that the vehicle includes:
The controller of hydraulic steering gear is used for according to any one of claim 5-8；
Steering column rotation detecting device is connect, for detecting the steering tube with the controller for hydraulic steering gear
The revolution signal of column；
Diverted flow amount control device is connect with the controller for hydraulic steering gear, hydraulic for being used for according to
The controller of diverter controls to change the flow of the steering liquid flowed in the hydraulic steering gear.
10. vehicle according to claim 9, which is characterized in that the vehicle further includes wheel speed sensors, for detecting vehicle
Wheel speed, and detected vehicle wheel rotational speed is transferred to the controller for being used for hydraulic steering gear.
11. vehicle according to claim 9, which is characterized in that the steering column rotation detecting device is that setting is turning
Rotation angular sensing inside clock spring on tubing string, for issuing the steering column revolution signal when clock spring rotates
Device.
12. vehicle according to claim 9, which is characterized in that the diverted flow amount control device is arranged described
Lead to the aperture valve of sectional area on the diverter oil pipe of hydraulic steering gear, for controlling diverted flow in the hydraulic steering gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610563048.2A CN107618566B (en) | 2016-07-15 | 2016-07-15 | For the control method of hydraulic steering gear, controller and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610563048.2A CN107618566B (en) | 2016-07-15 | 2016-07-15 | For the control method of hydraulic steering gear, controller and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107618566A CN107618566A (en) | 2018-01-23 |
| CN107618566B true CN107618566B (en) | 2019-09-20 |
Family
ID=61087847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610563048.2A Active CN107618566B (en) | 2016-07-15 | 2016-07-15 | For the control method of hydraulic steering gear, controller and vehicle |
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| US9434415B2 (en) * | 2013-11-08 | 2016-09-06 | Ford Global Technologies, Llc | Tire windup compensation |
| DE102015112360B4 (en) * | 2014-07-30 | 2020-07-09 | Steering Solutions IP Holding Corp. | MODULE FOR WHEEL BALANCE REJECTION |
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