CN107651005A - The electro-hydraulic mixing servo steering system and its control method of a kind of four-wheel walking machine - Google Patents
The electro-hydraulic mixing servo steering system and its control method of a kind of four-wheel walking machine Download PDFInfo
- Publication number
- CN107651005A CN107651005A CN201710913965.3A CN201710913965A CN107651005A CN 107651005 A CN107651005 A CN 107651005A CN 201710913965 A CN201710913965 A CN 201710913965A CN 107651005 A CN107651005 A CN 107651005A
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- cylinder
- arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0215—Determination of steering angle by measuring on the steering column
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
Abstract
The invention discloses the electro-hydraulic mixing servo steering system and its control method of a kind of four-wheel walking machine, it is related to walking machine field；The steering includes steering wheel, steering wheel angle sensor, steering gear, knuckle, steering wheel angle sensor, knuckle arm, steering cylinder, front-axle beam, tie rod arm, petroleum pipeline, electric cylinder, left and right drag link, solenoid directional control valve, steering hydraulic pump, oil storage tank, overflow valve and steering controller；Steering mechanism's prototype of the present invention is isosceles trapezoid connecting rod steering mechanism, and rotary angle transmitter is installed in each knuckle end；The drag link of regular length in conventional steering mechanism is replaced with electric cylinder；Steering cylinder connects steeraxle and left steering arm.This method receives the signal input from steering wheel angle sensor, steering wheel angle sensor and electric cylinder by turning control cell and analyzes current steering state, and Synchronization Control electric pushrod and hydraulic cylinder extension, left and right turn wheel rotate the angle for meeting the constraint of Ackermann steering geometries.
Description
Technical field
The present invention relates to the electro-hydraulic mixing power-assisted steering in walking machine field, more particularly to a kind of four-wheel walking machine
System and its control method.
Background technology
Four-wheel walking machine is widely used in every field, such as haulage vehicle (car, truck) and agricultural machinery power car
(tractor and harvester), Integral steering system develop into hydraulic power-assisted steering from purely mechanic turn to, steeraxle and drive axle
It is arranged in propons or back axle have multiple combinations form, but either which kind of steering layout, because hydraulic drive is difficult to accurately control
Deflecting roller meets that pure rolling turns to and required that wheel turning driving, which exists, to break away (side rolling cunning), causes road driving wheel wear
Aggravate, increase running resistance and noise, reduce driving safety and Life of Tyre.Therefore, design a kind of four-wheel vehicle with walking machine
The electro-hydraulic mixing servo steering system of tool, wheeled vehicle turning slip is significantly reduced, reduces wheels travel resistance and tire wear,
Improve chassis driving safety and Life of Tyre.
The content of the invention
The present invention makes four-wheel car turn in the presence of the problem of big of breakking away for integral hydraulic servo steering system, there is provided one
The electro-hydraulic mixing servo steering system and its control method of kind four-wheel walking machine, meet the corner of two deflecting rollers
Ackermann steering geometries constrain, and reduce wheels travel resistance and tire wear, improve chassis driving safety and tire used
Life-span.
The present invention is achieved by following technical solution：
A kind of electro-hydraulic mixing servo steering system of four-wheel walking machine, the steering include steering wheel, steering spindle, ten thousand
Xiang Jie, steering drive axle, steering wheel angle sensor, steering gear, pitman arm, bulb, steering linkage, left steering section, left-hand rotation
It is trapezoidal to wheel rotary angle transmitter, knuckle arm, steering cylinder, front-axle beam, right turn section, right turn wheel rotary angle transmitter, a left side
Arm, left drag link, petroleum pipeline, electric cylinder, pin, right drag link, right tie rod arm, solenoid directional control valve, steering hydraulic pump, oil storage
Tank, overflow valve and steering controller；The steering mechanism is isosceles trapezoid connecting rod steering mechanism, the left tie rod arm and left steering
Section is fixedly connected, and right tie rod arm is fixedly connected with right turn section, and left steering section is equipped with rotary angle transmitter with right turn section end,
To obtain walking machine front wheel slip angle；Double-acting steering cylinder connection front-axle beam and left tie rod arm, steering hydraulic pump pump
The fluid and pressure oil output in oil storage tank are taken, break-make and direction and steering cylinder piston both sides are controlled through solenoid directional control valve
Chamber be respectively communicated with；Steering controller is received from steering wheel angle sensor, left steering wheel rotary angle transmitter, right turn wheel
Current steering state is analyzed in the input of the signal of rotary angle transmitter and electric cylinder, and is changed to electric cylinder source controlled motor and electromagnetism
The instruction of control start-stop is sent to valve, left tie rod arm is driven the deflection of left steering wheel, Synchronization Control electric cylinder is flexible to make right turn
Wheel rotates the angle for meeting the constraint of Ackermann steering geometries.
Further, the steering wheel uses key connection and carries out shaft end with nut and fixes with steering spindle upper end, steering spindle
Lower end carries out axially position with being associated with straight pin using spline and the first universal joint upper end splined hole, the first universal joint lower end and
Steering drive axle upper end passes through pin connection, steering drive axle lower end and the second universal joint upper end pin connection, the second universal joint lower end
With steering gear input shaft pin connection, steering wheel angle sensor empty set is on steering gear input shaft, and pitman arm is by key with turning
Axis connection is exported to device；Steering linkage both ends are respectively mounted bulb, and the first bulb is connected with pitman arm, the second bulb and knuckle
Arm connects；Knuckle arm is arranged on left steering section upper end by bolt, and left steering wheel rotary angle transmitter is arranged on knuckle arm
End, left tie rod arm are arranged on left steering section lower end by bolt, and left steering section is hinged on front-axle beam left end；Right turn wheel rotation angular sensing
Device is arranged on right turn section upper end, and right tie rod arm is arranged on right turn section lower end by bolt, and right turn section is hinged on the front-axle beam right side
End；Steering cylinder both ends are hinged by pin and left tie rod arm and front-axle beam；Steering hydraulic pump by petroleum pipeline respectively with storage
Oil tank, solenoid directional control valve connection, solenoid directional control valve oil-out pass through petroleum pipeline and the chamber of steering cylinder piston both sides point
Do not connect；Overflow valve oil inlet is connected with steering hydraulic pump oil-out, and overflow valve oil-out is connected with fuel tank.Left tie rod arm passes through
3rd bulb is connected with left drag link, and right tie rod arm is connected by the 4th bulb with right drag link, and the fixing end of electric cylinder passes through
Pin is hinged with left drag link, and electric cylinder external part is hinged by pin and right drag link.
Further, the steering wheel angle sensor is hollow shaft shell type absolute value rotary encoder；The port
Steering wheel angle sensor, right turn wheel rotary angle transmitter are absolute value rotary encoder.
Further, the electric cylinder is fixed including back cylinder cover, bolt, stepper motor, cylinder body, shaft coupling, nut, motor
Plate, gear shaft, retainer for gear, the first duplicate gear, internal gear, first gear, clutch, spring, front end housing, the second duplex
Gear, push rod fixing end, bearing, second gear, Hall sensor, limit switch extension bar, gear fixed mount, limit switch,
Limit switch pulling-on piece, feed screw nut, extension bar cylinder body, leading screw and extension bar.
Further, the stepper motor is by shaft coupling and gear axis connection, gear shaft and is installed on gear guarantor for a pair
One group of tooth engagement of the first duplicate gear on frame is held, stepper motor is installed on motor fixing plate, motor fixing plate by bolt
It is bolted and is bolted on cylinder body with retainer for gear；Another group of tooth and internal gear of first duplicate gear
Engagement, internal gear and first gear are connected and affixed with clutch by spline, and first gear is by being installed on gear fixed mount
On the second duplicate gear transfer power in second gear, second gear is affixed with leading screw, bearing be installed on lead screw shaft a left side
End, feed screw nut and leading screw are threadedly coupled with merging with extension bar, and feed screw nut slides in extension bar cylinder body slideway；Hall passes
Sensor is arranged on the second duplicate gear fixing axle lower end both sides, limit switch pulling-on piece be arranged in extension bar cylinder body and with installed in
Limit switch extension bar connection on limit switch；Push rod fixing end is fixed on front end housing by nut；Cylinder body, front end housing,
Back cylinder cover and extension bar cylinder body are bolted.
Further, the stepper motor uses five or seven closed loop stepper motors, while meeting electric cylinder high dynamic response
Keep high-torque output.
The control method of the electro-hydraulic mixing servo steering system of four-wheel walking machine, comprises the following steps：
Step 1：In the case where four-wheel walking machine is in starting state, steering controller is sent out according to steering wheel angle sensor
The information of angle detection sent obtains steering wheel real time rotation angle, and steering controller is according to left steering wheel rotary angle transmitter, right-hand rotation
The real-time drift angle status information of steered wheel is obtained to wheel rotary angle transmitter, steering controller is sent according to electric cylinder phase discriminator
Pulse signal obtains the real-time telescopic direction of electric cylinder and position；
Step 2：Steering controller judgment step one) in obtain the real-time corner of steering wheel, if the real-time corner of steering wheel
The number of degrees change, i.e., when walking machine is in steering state change, steering controller, which sends pulse command, makes solenoid directional control valve
Commutation, steering hydraulic pump give power-assisted oil cylinder fuel feeding, and power-assisted oil cylinder is flexible to make left tie rod arm drive a left side around left steering section central rotation
Deflecting roller deflects, while synchronous drive right turn wheel deflects under the constraint of tie rod linkage；
Step 3：During step 2 progress, steering controller sends real-time according to left steering wheel rotary angle transmitter
Declination signal is according to Ackermann steering geometry constraintss, real-time resolving off-front wheel theoretical deflection angle；Between small sampling
Every the right side interior, that steering controller obtains the actual declination signal of off-front wheel that off-front wheel steering wheel angle sensor is sent with resolving
Front-wheel theoretical deflection angle makees difference and converted to obtain electric cylinder telescopic direction and stroke, and steering controller control is sent to electronic
The pulse frequency of cylinder driver is stretched with pulsed quantity Synchronization Control electric cylinder, and is stretched in real time according to the electric cylinder obtained in step 1
Contracting direction carries out feedback compensation and control with position, makes right turn wheel corner real-time tracking off-front wheel theoretical deflection angle, makes the right side
Steered wheel rotation meets Ackermann steering geometry constraintss.
Further, the small sampling interval described in step 3 is 100ms.
The beneficial effects of the invention are as follows：The present invention is applied to wheel chassis steeraxle, is turning to four-wheel walking machine
Ackermam motion model can be met in journey, reduce wheels travel resistance and tire wear, improve chassis driving safety and wheel
Tire service life；Mechanical steering is combined with electro-hydraulic power-assisted steering and improves Driver Steering Attention comfort level, while ensures to turn to
Mechanism steadiness and security.
Brief description of the drawings
Fig. 1 is the electro-hydraulic mixing servo steering system structure chart of the present invention；
Fig. 2 is the electric cylinder structure chart of the present invention；
Fig. 3 is the control system block diagram of the present invention.
Reference is as follows：
1- steering wheels, 2- steering spindles, the universal joints of 3- first, 4- steering drive axles, 5- steering wheels angle sensor, 6- are turned to
Device, 7- pitman arms, the bulbs of 8- first, 9- steering linkages, 10- left steerings section, 11- left steering wheels rotary angle transmitter, 12- are turned to
Joint arm, 13- steering cylinders, 14- front-axle beams, 15- right turns section, 16- right turn wheels rotary angle transmitter, the left tie rod arms of 17-,
The left drag links of 18-, 19- petroleum pipelines, 20- electric cylinders, 21- pins, the right drag links of 22-, the right tie rod arms of 23-, 24- electromagnetic switch
Valve, 25- steering hydraulic pumps, 26- oil storage tanks, 27- overflow valves, 28- back cylinder covers, 29- bolts, 30- stepper motors, 31- cylinder bodies,
32- shaft couplings, 33- nuts, 34- motor fixing plates, 35- gear shafts, 36- retainer for gear, the duplicate gears of 37- first, in 38-
Gear, 39- first gears, 40- clutches, 41- springs, 42- front end housings, the duplicate gears of 43- second, 44- push rods fixing end,
45- bearings, 46- second gears, 47- Hall sensors, 48- limit switches extension bar, 49- gears fixed mount, 50- is spacing opens
Pass, 51- limit switches pulling-on piece, 52- feed screw nuts, 53- extension bars cylinder body, 54- leading screws, 55- extension bars, 56- steering controllers；
The universal joints of 57- second；The bulbs of 58- second；The bulbs of 59- the 3rd；The bulbs of 60- the 4th.
Embodiment
To be understood the present invention is further, carried out in conjunction with accompanying drawing as described below：
With reference to accompanying drawing 1 and 3, the electro-hydraulic mixing servo steering system of four-wheel walking machine includes steering wheel 1, steering spindle 2, ten thousand
To section 3, steering drive axle 4, steering wheel angle sensor 5, steering gear 6, pitman arm 7, bulb 8, steering linkage 9, left steering
Section 10, left steering wheel rotary angle transmitter 11, knuckle arm 12, steering cylinder 13, front-axle beam 14, right turn section 15, right turn
Take turns rotary angle transmitter 16, left tie rod arm 17, left drag link 18, petroleum pipeline 19, electric cylinder 20, pin 21, right drag link 22, right ladder
Shape arm 23, solenoid directional control valve 24, steering hydraulic pump 25, oil storage tank 26, overflow valve 27 and steering controller 56；Wherein, steering wheel 1
Use key connection with the upper end of steering spindle 2 and carry out shaft end with nut and fix, the lower end of steering spindle 2 uses spline and the first universal joint 3
Upper end splined hole carries out axially position with straight pin is associated with, and the lower end of the first universal joint 3 is connected with the upper end of steering drive axle 4 by pin
Connect, the lower end of steering drive axle 4 and the upper end pin connection of the second universal joint 57, the lower end of the second universal joint 57 inputs pivot pin with steering gear 6
Connection, on the input shaft of steering gear 6, pitman arm 7 is connected the empty set of steering wheel angle sensor 5 by key and the output shaft of steering gear 6
Connect；The both ends of steering linkage 9 are respectively mounted bulb 8, and the first bulb 8 is connected with pitman arm 7, and the second bulb 58 connects with knuckle arm 12
Connect；Knuckle arm 12 is arranged on the upper end of left steering section 10 by bolt, and left steering wheel rotary angle transmitter 11 is arranged on knuckle arm
12 upper ends, left tie rod arm 17 are arranged on the lower end of left steering section 10 by bolt, and left steering section 10 is hinged on the left end of front-axle beam 14；Turn right
The upper end of right turn section 15 is arranged on to wheel rotary angle transmitter 16, right tie rod arm 23 is arranged on the lower end of right turn section 15 by bolt,
Right turn section 15 is hinged on the right-hand member of front-axle beam 14；Cut with scissors by pin and left tie rod arm 17 and front-axle beam 14 at the both ends of steering cylinder 13
Connect；Steering hydraulic pump 25 is connected with oil storage tank 26, solenoid directional control valve 24 respectively by petroleum pipeline 19, the oil-out of solenoid directional control valve 24
It is respectively communicated with by petroleum pipeline 19 and the chamber of the piston both sides of steering cylinder 13.The oil inlet of overflow valve 27 and steering hydraulic pump
25 oil-outs are connected, and the oil-out of overflow valve 27 is connected with fuel tank.Left tie rod arm 17 is connected by the 3rd bulb 59 and left drag link 18
Connect, right tie rod arm 23 is connected by the 4th bulb 60 with right drag link 22, and the fixing end of electric cylinder 20 passes through pin and left drag link
18 is be hinged, and the external part of electric cylinder 20 is be hinged by pin and right drag link 22.
With reference to shown in accompanying drawing 1, Fig. 3, driver acts on a left side by the torque acted on steering wheel by machine driving
Steering controller 56 receives from steering wheel angle sensor 5, left steering wheel rotary angle transmitter 11, turned right simultaneously on knuckle 10
Current steering state is analyzed to the input of the signal of wheel rotary angle transmitter 16 and electric cylinder 20, and electricity is controlled to the source of electric cylinder 20
Machine and solenoid directional control valve 24 send the instruction of control start-stop, make left tie rod arm 17 drive left steering wheel to deflect, and Synchronization Control is electronic
Cylinder is flexible to make right turn wheel rotate the angle for meeting the constraint of Ackermann steering geometries, and steering wheel is manipulated so as to mitigate driver
Torque play labour-saving effect, while reduce wheels travel resistance and tire wear.Due to by mechanical steering gear with it is electro-hydraulic
Assisted power steering system effectively combines, can be when dead electricity or other reasonses cause electromagnetic switch defective valve, steering hydraulic pump output
The direct oil return box of fluid, motor turning is directly manipulated by mechanical steering gear, ensure vehicle safety travel.
The electric cylinder cut-away view with reference to used in accompanying drawing 2 is a kind of variable-length drag link, mainly include back cylinder cover 28, spiral shell
Bolt 29, stepper motor 30, cylinder body 31, shaft coupling 32, nut 33, motor fixing plate 34, gear shaft 35, retainer for gear 36,
One duplicate gear 37, internal gear 38,1# gears 39, clutch 40, spring 41, front end housing 42, the second duplicate gear 43, push rod are solid
Fixed end 44, bearing 45, second gear 46, Hall sensor 47, limit switch extension bar 48, gear fixed mount 49, limit switch
50th, limit switch pulling-on piece 51, feed screw nut 52, extension bar cylinder body 53, leading screw 54, extension bar 55 form.Wherein, stepper motor 30
It is connected by shaft coupling 32 with gear shaft 35, gear shaft 35 and the first duplicate gear 37 being installed on for a pair on retainer for gear 36
The engagement of one group of tooth, stepper motor 30 is installed on motor fixing plate 34 by bolt, motor fixing plate 34 and retainer for gear 36
It is bolted and is bolted on cylinder body 31；Another group of tooth of the first duplicate gear 37 engages with internal gear 38,
Internal gear 38 and first gear 39 are connected and affixed with clutch 40 by spline, and first gear 39 is fixed by being installed on gear
The second duplicate gear 43 on frame 49 is transferred power in second gear 46, and second gear 46 and leading screw 54 are affixed, bearing 45
It is installed on lead screw shaft left end, feed screw nut 52 and leading screw 54 to be threadedly coupled with extension bar 55 with merging, feed screw nut 52 is stretching out
Slided in the slideway of bar cylinder body 53；Hall sensor 47 is arranged on the fixing axle lower end both sides of the second duplicate gear 43, and limit switch is drawn
Piece 51 is arranged in extension bar cylinder body 53 and is connected with the limit switch extension bar 48 on limit switch 50；Push rod is fixed
End 44 is fixed on front end housing 42 by nut；Cylinder body 31, front end housing 42, back cylinder cover 28 and extension bar cylinder body 53 are connected by bolt
Connect.Stepper motor 30 drives leading screw to rotate by cylinder body gear train, the linear motion of push rod is converted into by nut, and promote
Drag link does reciprocating linear motion；Meanwhile during the transmission device rotation of electric cylinder, control circuit produces Hall sensor signal,
Send the forward and backward count pulse that phase difference is 90 °；After differentiating direction by phase discriminator, pulse signal is admitted to controller
Umber of pulse calculating is carried out, telescopic direction and position by quadrature signal record electric cylinder, controls the stroke of electric cylinder to change；When
Push rod stroke reach capacity position when limit switch 50 play position of transfiniting and be protected from motor and continue to act；When push-pull effort exceedes volume
During definite value, clutch 40 plays overload protection effect, avoids the damage of motor and its component.
Electro-hydraulic mixing servo steering system structure chart and electric cylinder internal structure, electric cylinder push away with reference to shown in accompanying drawing 1, Fig. 2
Bar fixing end 44 is connected by pin with left drag link 18, and extension bar 55 is connected by pin with right drag link 22, in electric cylinder
Stepper motor receives steering controller 56 and controls the pulse for being sent to electric cylinder driver, and leading screw is driven by cylinder body gear train
Rotation, the linear motion of push rod is converted into by nut, and promote right drag link 22 to move；Hall sensor in electric cylinder simultaneously
47 send the forward and backward count pulse that phase difference is 90 °；After differentiating direction by phase discriminator, pulse signal is admitted to control
Device carries out umber of pulse calculating, and telescopic direction and the position of electric cylinder are obtained by quadrature signal, using this signal as feedback so that
Right turn wheel corner real-time tracking off-front wheel theoretical deflection angle, meet Ackermann steering geometry about so as to which left and right turn wheel rotates
Beam condition.When push rod stroke reaches capacity position, limit switch 50, which plays position of transfiniting and is protected from motor, continues to act；When pushing away
During pulling force overrate, clutch 40 plays overload protection effect, avoids the damage of motor and its component.
A kind of electro-hydraulic mixing servo steering system control method of four-wheel walking machine, comprises the following steps：
Step 1：In the case where four-wheel walking machine is in starting state, steering controller 56 is according to steering wheel angle sensor 5
The information of angle detection of transmission obtains steering wheel real time rotation angle, and steering controller 56 is according to left steering wheel rotary angle transmitter
11st, right turn wheel rotary angle transmitter 16 obtains the real-time drift angle status information steering wheel angle sensor 5 of steered wheel, left steering wheel
Rotary angle transmitter 11, right turn wheel rotary angle transmitter 16 are due to using absolute value rotary encoder, the feedback of each sensor
Signal is Gray code, and Gray code need to be converted into decimal number, and steering controller 56 is sent according to the phase discriminator of electric cylinder 20
Pulse signal obtains the real-time telescopic direction of electric cylinder and position；
Step 2：The real-time corner of steering wheel obtained in the judgment step one of steering controller 56, if steering wheel turns in real time
Angle number changes, i.e., when walking machine is in steering state change, steering controller 56, which sends pulse command, changes electromagnetism
Commutated to valve 24, steering hydraulic pump 25 gives the fuel feeding of power-assisted oil cylinder 13, and power-assisted oil cylinder 13 is flexible to make left tie rod arm 17 around left steering section
10 central rotations drive the deflection of left steering wheel, while synchronous drive right turn wheel deflects under the constraint of tie rod linkage.
Step 3：During step 2 progress, steering controller 56 is sent according to left steering wheel rotary angle transmitter 11
Real-time declination signal is according to Ackermann steering geometry constraintssReal-time resolving off-front wheel is theoretical
Deflection angleWithin the small sampling interval, before the right side that steering controller 56 sends off-front wheel steering wheel angle sensor 16
Take turns actual declination signalWith resolving obtained off-front wheel theoretical deflection angleMake difference and convert to obtain electric cylinder telescopic direction
With stroke, steering controller 56 controls the pulse frequency and pulsed quantity Synchronization Control electric cylinder 20 for being sent to electric cylinder driver
It is flexible, and feedback compensation and control are carried out according to the real-time telescopic direction of the electric cylinder obtained in step 1 and position, make right turn
Corner real-time tracking off-front wheel theoretical deflection angle is taken turns, right turn wheel is rotated and meets Ackermann steering geometry constraintss.
In above-mentioned technical proposal, the small sampling interval described in step 3 is 100ms, for preferably after sampling interval.
Including motor starting time in the computing of steering controller 56 and electric cylinder 20.
The embodiment is preferred embodiment of the invention, but the present invention is not limited to above-mentioned embodiment, not
Away from the present invention substantive content in the case of, those skilled in the art can make it is any it is conspicuously improved, replace
Or modification belongs to protection scope of the present invention.
Claims (8)
- A kind of 1. electro-hydraulic mixing servo steering system of four-wheel walking machine, it is characterised in that：The steering includes steering wheel (1), steering spindle (2), steering drive axle (4), steering wheel angle sensor (5), steering gear (6), pitman arm (7), steering are drawn Bar (9), left steering section (10), left steering wheel rotary angle transmitter (11), knuckle arm (12), steering cylinder (13), front-axle beam (14), right turn section (15), right turn wheel rotary angle transmitter (16), left tie rod arm (17), left drag link (18), petroleum pipeline (19), electric cylinder (20), pin (21), right drag link (22), right tie rod arm (23), solenoid directional control valve (24), steering hydraulic pump (25), oil storage tank (26), overflow valve (27) and steering controller (56)；The steering mechanism is isosceles trapezoid bar linkage steering engine Structure, the left tie rod arm (17) are fixedly connected with left steering section (10), and right tie rod arm (23) is fixedly connected with right turn section (15), Left steering section (10) is equipped with rotary angle transmitter with right turn section (15) end, to obtain walking machine front wheel slip angle；Double cropping Steering cylinder (13) connection front-axle beam (14) and left tie rod arm (17), steering hydraulic pump (25) pumping oil storage tank (26) are interior Fluid and pressure oil output, the chamber point of break-make and steering cylinder (13) piston both sides is controlled through solenoid directional control valve (24) Do not connect；Steering controller (56) receives from steering wheel angle sensor (5), left steering wheel rotary angle transmitter (11), turned right To the current steering state of the signal of wheel rotary angle transmitter (16) and electric cylinder (20) input analysis, and to electric cylinder (20) source Controlled motor and solenoid directional control valve (24) send the instruction of control start-stop, left tie rod arm (17) is driven the deflection of left steering wheel, together Step control electric cylinder is flexible to make right turn wheel rotate the angle for meeting the constraint of Ackermann steering geometries.
- 2. the electro-hydraulic mixing servo steering system of four-wheel walking machine according to claim 1, it is characterised in that：Described turn Using key connection and carries out shaft end to disk (1) and steering spindle (2) upper end with nut and fixes, steering spindle (2) lower end using spline and First universal joint (3) upper end splined hole carries out axially position with straight pin is associated with, and the first universal joint (3) lower end is driven with turning to Axle (4) upper end passes through pin connection, steering drive axle (4) lower end and the second universal joint (57) upper end pin connection, the second universal joint (57) lower end and steering gear (6) input shaft pin connection, steering wheel angle sensor (5) empty set turn on steering gear (6) input shaft Axis connection is exported by key and steering gear (6) to rocking arm (7)；Steering linkage (9) both ends are respectively mounted bulb (8), the first bulb (8) It is connected with pitman arm (7), the second bulb (58) is connected with knuckle arm (12)；Knuckle arm (12) is arranged on a left side by bolt Knuckle (10) upper end, left steering wheel rotary angle transmitter (11) are arranged on knuckle arm (12) upper end, and left tie rod arm (17) passes through Bolt is arranged on left steering section (10) lower end, and left steering section (10) is hinged on front-axle beam (14) left end；Right turn wheel rotary angle transmitter (16) right turn section (15) upper end is arranged on, right tie rod arm (23) is arranged on right turn section (15) lower end, right turn by bolt Section (15) is hinged on front-axle beam (14) right-hand member；Steering cylinder (13) both ends pass through pin and left tie rod arm (17) and front-axle beam (14) It is be hinged；Steering hydraulic pump (25) is connected with oil storage tank (26), solenoid directional control valve (24) respectively by petroleum pipeline (19), electromagnetic switch Valve (24) oil-out is respectively communicated with by petroleum pipeline (19) and the chamber of steering cylinder (13) piston both sides；Overflow valve (27) Oil inlet is connected with steering hydraulic pump (25) oil-out, and overflow valve (27) oil-out is connected with fuel tank；Left tie rod arm (17) passes through 3rd bulb (59) is connected with left drag link (18), and right tie rod arm (23) is connected by the 4th bulb (60) and right drag link (22) Connect, electric cylinder (20) fixing end is be hinged by pin and left drag link (18), and electric cylinder (20) external part passes through pin and right horizontal stroke Pull bar (22) is be hinged.
- 3. the electro-hydraulic mixing servo steering system of four-wheel walking machine according to claim 1, it is characterised in that：Described turn It is hollow shaft shell type absolute value rotary encoder to disk angle sensor (5)；The port steering wheel angle sensor (11), Right turn wheel rotary angle transmitter (16) is absolute value rotary encoder.
- 4. the electro-hydraulic mixing servo steering system of four-wheel walking machine according to claim 1, it is characterised in that：The electricity Dynamic cylinder (20) includes back cylinder cover (28), bolt (29), stepper motor (30), cylinder body (31), shaft coupling (32), nut (33), electricity Machine fixed plate (34), gear shaft (35), retainer for gear (36), the first duplicate gear (37), internal gear (38), first gear (39), clutch (40), spring (41), front end housing (42), the second duplicate gear (43), push rod fixing end (44), bearing (45), Second gear (46), Hall sensor (47), limit switch extension bar (48), gear fixed mount (49), limit switch (50), limit Bit switch pulling-on piece (51), feed screw nut (52), extension bar cylinder body (53), leading screw (54) and extension bar (55).
- 5. the electro-hydraulic mixing servo steering system of four-wheel walking machine according to claim 4, it is characterised in that：The step Stepper motor (30) is connected by shaft coupling (32) with gear shaft (35), and gear shaft (35) is installed on retainer for gear (36) with a pair On the first duplicate gear (37) the engagement of one group of tooth, stepper motor (30) is installed on motor fixing plate (34) by bolt, electricity Machine fixed plate (34) is bolted and is bolted on cylinder body (31) with retainer for gear (36)；First duplex-gear Another group of tooth of wheel (37) engages with internal gear (38), and internal gear (38) and first gear (39) pass through spline connection and and clutch Device (40) is affixed, and first gear (39) is transmitted power by the second duplicate gear (43) being installed on gear fixed mount (49) Onto second gear (46), second gear (46) and leading screw (54) are affixed, and bearing (45) is installed on lead screw shaft left end, feed screw nut (52) it is threadedly coupled with leading screw (54) with merging with extension bar (55), feed screw nut (52) is sliding in extension bar cylinder body (53) slideway It is dynamic；Hall sensor (47) is arranged on the second duplicate gear (43) fixing axle lower end both sides, and limit switch pulling-on piece (51) is arranged on It is connected in extension bar cylinder body (53) and with the limit switch extension bar (48) on limit switch (50)；Push rod fixing end (44) it is fixed on by nut on front end housing (42)；Cylinder body (31), front end housing (42), back cylinder cover (28) and extension bar cylinder body (53) It is bolted.
- 6. the electro-hydraulic mixing servo steering system of four-wheel walking machine according to claim 4, it is characterised in that：The step Stepper motor (30) uses five or seven closed loop stepper motors, meets to keep high-torque output while electric cylinder high dynamic response.
- 7. the control of the electro-hydraulic mixing servo steering system based on four-wheel walking machine according to any one of claim 1 to 6 Method processed, it is characterised in that comprise the following steps：Step 1：In the case where four-wheel walking machine is in starting state, steering controller (56) is according to steering wheel angle sensor (5) The information of angle detection of transmission obtains steering wheel real time rotation angle, and steering controller (56) is according to left steering wheel rotary angle transmitter (11), right turn wheel rotary angle transmitter (16) obtains the real-time drift angle status information of steered wheel, and steering controller (56) is according to electricity The pulse signal that dynamic cylinder (20) phase discriminator is sent obtains the real-time telescopic direction of electric cylinder and position；Step 2：Steering controller (56) judgment step one) in obtain the real-time corner of steering wheel, if the real-time corner of steering wheel The number of degrees change, i.e., when walking machine is in steering state change, steering controller (56), which sends pulse command, changes electromagnetism Commutated to valve (24), steering hydraulic pump (25) gives power-assisted oil cylinder (13) fuel feeding, and power-assisted oil cylinder (13) is flexible to make left tie rod arm (17) The deflection of left steering wheel is driven around left steering section (10) central rotation, while synchronous drive is turned right under the constraint of tie rod linkage Deflected to wheel；Step 3：During step 2 progress, steering controller (56) is sent according to left steering wheel rotary angle transmitter (11) Real-time declination signal is according to Ackermann steering geometry constraintss, real-time resolving off-front wheel theoretical deflection angle；Adopted small In sample interval, the actual declination signal of off-front wheel that steering controller (56) sends off-front wheel steering wheel angle sensor (16) with Obtained off-front wheel theoretical deflection angle is resolved to make difference and convert to obtain electric cylinder telescopic direction and stroke, steering controller (56) control is sent to the pulse frequency of electric cylinder driver and pulsed quantity Synchronization Control electric cylinder (20) stretches, and according to step The real-time telescopic direction of electric cylinder obtained in one carries out feedback compensation and control with position, makes right turn wheel corner real-time tracking right Front-wheel theoretical deflection angle, rotate right turn wheel and meet Ackermann steering geometry constraintss.
- 8. the electro-hydraulic mixing servo steering system control method of four-wheel walking machine according to claim 7, its feature exist In：The small sampling interval described in step 3 is 100ms.
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| CN201710913965.3A CN107651005A (en) | 2017-09-30 | 2017-09-30 | The electro-hydraulic mixing servo steering system and its control method of a kind of four-wheel walking machine |
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| CN201710913965.3A CN107651005A (en) | 2017-09-30 | 2017-09-30 | The electro-hydraulic mixing servo steering system and its control method of a kind of four-wheel walking machine |
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| CN109398477A (en) * | 2018-09-26 | 2019-03-01 | 江苏理工学院 | A kind of engineering mechanical device direction of travel control method and device |
| CN110588765A (en) * | 2019-08-28 | 2019-12-20 | 江苏大学 | Four-wheel multi-mode steering system of distributed drive automobile and control method |
| CN110775156A (en) * | 2019-10-25 | 2020-02-11 | 北京星航机电装备有限公司 | Automatic guided vehicle steering control system and control method thereof |
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| CN112032125A (en) * | 2020-05-14 | 2020-12-04 | 廊坊中集空港设备有限公司 | Hydraulic system and aviation food car |
| CN112389536A (en) * | 2020-12-10 | 2021-02-23 | 福州盛世凌云环保科技有限公司 | Automobile steering transmission mechanism |
| CN112659815A (en) * | 2019-10-15 | 2021-04-16 | 中车唐山机车车辆有限公司 | Trolley bus running system and trolley bus |
| CN113665667A (en) * | 2021-08-27 | 2021-11-19 | 一汽解放汽车有限公司 | Steering device and vehicle |
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| CN112659815A (en) * | 2019-10-15 | 2021-04-16 | 中车唐山机车车辆有限公司 | Trolley bus running system and trolley bus |
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| CN113665667A (en) * | 2021-08-27 | 2021-11-19 | 一汽解放汽车有限公司 | Steering device and vehicle |
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Application publication date: 20180202 |