CN109501856A - Limit rotating direction control method and device - Google Patents
Limit rotating direction control method and device Download PDFInfo
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- CN109501856A CN109501856A CN201811544372.5A CN201811544372A CN109501856A CN 109501856 A CN109501856 A CN 109501856A CN 201811544372 A CN201811544372 A CN 201811544372A CN 109501856 A CN109501856 A CN 109501856A
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- electro
- hydraulic
- steeraxle
- corner
- steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Abstract
The application provides a kind of limit rotating direction control method and device.The described method includes: whether detection crane carrier is in limit steering pattern, and obtain the preceding bridge corner of crane carrier in real time when being in limit steering pattern；According to preceding bridge corner and the corresponding corner amplification coefficient of every electro-hydraulic steeraxle, every electro-hydraulic steeraxle currently corresponding revolver or the ultimate angle for meeting Ackermam theorem of right wheel are calculated；The current true corner for belonging to the same wheel with corresponding ultimate angle of every electro-hydraulic steeraxle is obtained in real time；Steering adjustment is carried out to the electro-hydraulic steeraxle according to the ultimate angle of every electro-hydraulic steeraxle, until when the corner absolute value of the difference between the ultimate angle and true corner of the electro-hydraulic steeraxle is not more than the predetermined angle threshold value of the electro-hydraulic steeraxle.The method can avoid the occurrence of abnormal tyre wear phenomenon when crane carrier is in limit steering pattern, and greatly reduce turning radius, to improve the traffic efficiency in small space.
Description
Technical field
This application involves cranes to turn to control technique field, in particular to a kind of limit rotating direction control method and
Device.
Background technique
With the continuous development of science and technology, mobilecrane, which generallys use, is equipped with mechanical shaft steering system and EHPS
The crane carrier of (electro-hydraulic servo steering system, Electro-Hydraulic Power Steering) system realizes movement
The mobile operation function of formula crane, while mobilecrane (for example, the full Terrain Cranes more than five axis and five axis)
The characteristics of movably carrying out weight lifting work because of it, is widely applied to various scenes and various industries field.Thus, it moves
The work-yard that dynamic formula crane will not inevitably be routed to narrow space carries out lifting operation, and wherein crane carrier is in space
Turning radius when being moved in narrow work-yard is to influence crane leading in the work-yard of narrow space
The particularly important index of one kind of line efficiency.
When current crane carrier is moved in the work-yard of narrow space, to avoid the occurrence of abnormal tyre mill
Phenomenon is damaged, is generallyd use and is met the all-wheel steering mode of Ackermam theorem and regulate and control come turning radius when being turned to it.But
This all-wheel steering mode is unable to fully transfer the working performance of EHPS system, makes crane carrier in all-wheel steering mode following table
The turning radius revealed, it is still bigger compared to for the spatial dimension of work-yard, so that crane is in the yard
Traffic efficiency in ground is not high, influences the job scheduling of crane.
Summary of the invention
In order to overcome above-mentioned deficiency in the prior art, the application's is designed to provide a kind of limit rotating direction control method
And device, the limit rotating direction control method can give full play to EHPS system when crane carrier is in limit steering pattern
Working performance, and in the case where avoiding the occurrence of abnormal tyre wear phenomenon, greatly reduce the turning radius of crane carrier,
Limit turning function is realized, to improve traffic efficiency of the crane in the work-yard of narrow space.
For method, the embodiment of the present application provides a kind of limit rotating direction control method, applied to being equipped with electro-hydraulic power-assisted
The crane carrier of EHPS system is turned to, the EHPS system includes the electro-hydraulic steeraxle of at least one, in the crane carrier
It is stored with the corresponding corner amplification coefficient of every electro-hydraulic steeraxle, which comprises
Detect whether the crane carrier is in limit steering pattern, and real-time when being in the limit steering pattern
Obtain the preceding bridge corner of the crane carrier；
According to the preceding bridge corner and the corresponding corner amplification coefficient of every electro-hydraulic steeraxle, every electro-hydraulic steeraxle is calculated
The ultimate angle for meeting Ackermam theorem of current corresponding revolver or right wheel；
Obtain in real time every electro-hydraulic steeraxle it is current belong to the true of the same wheel with the corresponding ultimate angle
Corner；
Steering adjustment is carried out to the electro-hydraulic steeraxle according to the ultimate angle of every electro-hydraulic steeraxle, until this is electro-hydraulic
Corner absolute value of the difference between the ultimate angle of steeraxle and the true corner is corresponding no more than the electro-hydraulic steeraxle
Predetermined angle threshold value when until.
Optionally, in the embodiment of the present application, above-mentioned according to the preceding bridge corner and every corresponding turn of electro-hydraulic steeraxle
Angle amplification coefficient calculates every electro-hydraulic steeraxle currently corresponding revolver or the ultimate angle for meeting Ackermam theorem of right wheel
Step includes:
According to the corner incidence relation in the preceding bridge corner and Ackermann's function between preceding bridge and each electro-hydraulic steeraxle, meter
Calculate every electro-hydraulic steeraxle currently corresponding revolver or the goal theory corner for meeting Ackermam theorem of right wheel；
By every electro-hydraulic steeraxle currently corresponding goal theory corner and the electro-hydraulic steeraxle corresponding corner amplification system
Number carries out multiplication operation, obtains the current corresponding ultimate angle of every electro-hydraulic steeraxle.
Optionally, in the embodiment of the present application, above-mentioned EHPS system further includes steering cylinder, described according to every electro-hydraulic turn
Carrying out the step of steering adjusts to the electro-hydraulic steeraxle to the ultimate angle of bridge includes:
For every electro-hydraulic steeraxle, it is right according to the ultimate angle institute of the electro-hydraulic steeraxle to control the steering cylinder
The steering answered is adjusted steering corresponding to the true corner of the electro-hydraulic steeraxle currently.
Optionally, in the embodiment of the present application, the above method further include:
The corresponding corner amplification coefficient of every electro-hydraulic steeraxle is configured, and corresponding pre- to every electro-hydraulic steeraxle
If angle threshold is configured.
Optionally, in the embodiment of the present application, above-mentioned that the corresponding corner amplification coefficient of every electro-hydraulic steeraxle is matched
The mode set includes:
According to installation site of the every electro-hydraulic steeraxle on the crane carrier, the maximum of the electro-hydraulic steeraxle is calculated
Theoretical corner numerical value；
Calculate the corresponding hard-over numerical value for meeting Ackermam theorem of every electro-hydraulic steeraxle；
It calculates between the every electro-hydraulic corresponding theoretical maximum corner numerical value of steeraxle and the hard-over numerical value
Corner ratio, and choose in angled numerical value the smallest target rotation angle ratio of numerical value increase as the corner of every electro-hydraulic steeraxle
Width coefficient.
For device, the embodiment of the present application provides a kind of limit steering control device, applied to being equipped with electro-hydraulic power-assisted
The crane carrier of EHPS system is turned to, the EHPS system includes the electro-hydraulic steeraxle of at least one, in the crane carrier
It is stored with the corresponding corner amplification coefficient of every electro-hydraulic steeraxle, described device includes:
Detection obtains module, for detecting whether the crane carrier is in limit steering pattern, and in described
The preceding bridge corner of the crane carrier is obtained when limit steering pattern in real time；
Corner computing module, for according to the preceding bridge corner and the corresponding corner amplification coefficient of every electro-hydraulic steeraxle,
Calculate every electro-hydraulic steeraxle currently corresponding revolver or the ultimate angle for meeting Ackermam theorem of right wheel；
Corner obtains module, and for obtaining in real time, every electro-hydraulic steeraxle is current to be belonged to the corresponding ultimate angle
The true corner of the same wheel；
Adjustment module is turned to, for turning according to the ultimate angle of every electro-hydraulic steeraxle to the electro-hydraulic steeraxle
To adjustment, until the corner absolute value of the difference between the ultimate angle and the true corner of the electro-hydraulic steeraxle is not more than
Until when the corresponding predetermined angle threshold value of the electro-hydraulic steeraxle.
Optionally, in the embodiment of the present application, above-mentioned corner computing module is specifically used for:
According to the corner incidence relation in the preceding bridge corner and Ackermann's function between preceding bridge and each electro-hydraulic steeraxle, meter
Calculate every electro-hydraulic steeraxle currently corresponding revolver or the goal theory corner for meeting Ackermam theorem of right wheel；
By every electro-hydraulic steeraxle currently corresponding goal theory corner and the electro-hydraulic steeraxle corresponding corner amplification system
Number carries out multiplication operation, obtains the current corresponding ultimate angle of every electro-hydraulic steeraxle.
Optionally, in the embodiment of the present application, above-mentioned EHPS system further includes steering cylinder, the steering adjustment module tool
Body is used for:
For every electro-hydraulic steeraxle, it is right according to the ultimate angle institute of the electro-hydraulic steeraxle to control the steering cylinder
The steering answered is adjusted steering corresponding to the true corner of the electro-hydraulic steeraxle currently.
Optionally, in the embodiment of the present application, above-mentioned apparatus further include:
Parameter configuration module, for being configured to the corresponding corner amplification coefficient of every electro-hydraulic steeraxle, and to every
The corresponding predetermined angle threshold value of electro-hydraulic steeraxle is configured.
Optionally, in the embodiment of the present application, above-mentioned parameter configuration module is specifically used for:
According to installation site of the every electro-hydraulic steeraxle on the crane carrier, the maximum of the electro-hydraulic steeraxle is calculated
Theoretical corner numerical value；
Calculate the corresponding hard-over numerical value for meeting Ackermam theorem of every electro-hydraulic steeraxle；
It calculates between the every electro-hydraulic corresponding theoretical maximum corner numerical value of steeraxle and the hard-over numerical value
Corner ratio, and choose in angled numerical value the smallest target rotation angle ratio of numerical value increase as the corner of every electro-hydraulic steeraxle
Width coefficient.
In terms of existing technologies, limit rotating direction control method and device provided by the embodiments of the present application have with following
Beneficial effect: the limit rotating direction control method can give full play to EHPS system when crane carrier is in limit steering pattern
Working performance, and in the case where avoiding the occurrence of abnormal tyre wear phenomenon, greatly reduce the turning radius of crane carrier,
Limit turning function is realized, to improve traffic efficiency of the crane in the work-yard of narrow space.Firstly, the method exists
When detecting that the crane carrier is in the limit steering pattern, the preceding bridge corner of the crane carrier is obtained in real time,
And according to the preceding bridge corner and the corresponding corner amplification coefficient of every electro-hydraulic steeraxle, it is currently right to calculate every electro-hydraulic steeraxle
The ultimate angle for meeting Ackermam theorem of the revolver or right wheel answered, wherein the ultimate angle is for indicating to correspond to electro-hydraulic steering
Steering locking angle degree of the bridge when promoting the crane carrier according to target travel direction running.Then, the method passes through
The current true corner for belonging to the same wheel with the corresponding ultimate angle of every electro-hydraulic steeraxle, and root are obtained in real time
EHPS system is transferred according to the ultimate angle of every electro-hydraulic steeraxle, steering adjustment is carried out to the electro-hydraulic steeraxle, until the electricity
Corner absolute value of the difference between the ultimate angle of liquid steeraxle and the true corner is not more than the electro-hydraulic steeraxle pair
Until when the predetermined angle threshold value answered, crane carrier turning radius corresponding under limit steering pattern at this time, phase
It is smaller compared with numerical value for corresponding turning radius under all-wheel steering mode, it is ensured that the crane carrier is not in wheel
Tire inordinate wear phenomenon, to realize limit turning function, it is ensured that the crane under limit steering pattern is in narrow space
Work-yard in can also have extremely strong traffic efficiency.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, the application preferred embodiment is cited below particularly,
And cooperate appended attached drawing, it is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of the claim of this application protection scope, for those of ordinary skill in the art, what is do not made the creative labor
Under the premise of, it can also be obtained according to these attached drawings other relevant attached drawings.
Fig. 1 is a kind of flow diagram of limit rotating direction control method provided by the embodiments of the present application.
Fig. 2 is another flow diagram of limit rotating direction control method provided by the embodiments of the present application.
Fig. 3 is a kind of block diagram of limit steering control device provided by the embodiments of the present application.
Fig. 4 is another block diagram of limit steering control device provided by the embodiments of the present application.
Icon: 100- limit steering control device；110- detection obtains module；120- corner computing module；130- corner
Obtain module；140- turns to adjustment module；150- parameter configuration module.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model of the application protection
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present application, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Application product using when the orientation or positional relationship usually put, be merely for convenience of description the application and simplify description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as the limitation to the application.
In the description of the present application, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in this application.
With reference to the accompanying drawing, it elaborates to some embodiments of the application.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Fig. 1 is please referred to, is a kind of flow diagram of limit rotating direction control method provided by the embodiments of the present application.In this Shen
Please be in embodiment, the limit rotating direction control method is applied to be equipped with the crane carrier of electro-hydraulic power-assisted steering EHPS system,
The crane carrier is used to carry the lifting instrument of crane, and carries the lifting instrument and moved.The EHPS system
System includes the electro-hydraulic steeraxle of at least one, and corresponding two wheels of every electro-hydraulic steeraxle, described two wheels are located at described
The both ends of electro-hydraulic steeraxle carry out steering regulation to described two wheels by the electro-hydraulic steeraxle, wherein the crane carrier
Advance be subject to when driving itself direction of advance be located at headstock on the left of wheel be revolver, before crane carrier
It is right wheel into the wheel being located on the right side of headstock subject to direction.Every electro-hydraulic steeraxle pair is stored in the crane carrier
The corner amplification coefficient answered, the corner amplification coefficient is used to indicate corresponding electro-hydraulic steeraxle when carrying out turning to regulation, Neng Gouzhen
The enlargement ratio that front hook amplifies adjustment is worked as to the wheel that the electro-hydraulic steeraxle is responsible for.Below to the limit shown in FIG. 1
The detailed process and step of rotating direction control method are described in detail.
Step S210, detects whether the crane carrier is in limit steering pattern, and turns in the limit
The preceding bridge corner of the crane carrier is obtained when mode in real time.
In the present embodiment, the crane carrier may include at least two driving modes, and described at least two drive
Mode includes normal driving mode and limit steering pattern, and the normal driving mode is used to indicate the crane carrier and carries out
Normal driving, the limit steering pattern are used to indicate the crane carrier and use limit turning function to reduce as much as possible
The mode of turning radius.Wherein, the limit steering pattern can enter the work-yard of narrow space in the crane carrier
When interior, carried out according to demand by driver manually opened.The limit steering pattern can also pass through GPS (Global
Positioning System, global positioning system) system positions the crane carrier in real time, and it is described navigating to
When crane carrier is entered in the work-yard of narrow space, informed or controlled by the GPS system crane carrier into
Row is opened.
The crane carrier is arranged at the data storage areas of itself for the switch state of the limit steering pattern
There is corresponding set to identify, for example, indicating that the limit steering pattern is in the open state with set position, this is indicated with reset position
Limit steering pattern is in close state；Indicate that the limit steering pattern is in close state with set position, with reset position table
Show that the limit steering pattern is in the open state.The crane carrier passes through to the corresponding set mark of the limit steering pattern
Know and carry out set knowledge otherwise, detects whether the crane carrier is in limit steering pattern.
When the crane carrier detects that itself is in limit steering pattern, the crane carrier will pass through installation
The revolver corresponding to the preceding bridge of the crane carrier or the rotary angle transmitter in right wheel, to the preceding bridge corner of the preceding bridge into
Row data acquisition, so that the crane carrier gets the preceding bridge corner situation of change of the preceding bridge in real time, wherein before described
Bridge corner situation of change includes the corner numerical value change situation and steering situation of change of the preceding bridge corner.For example, it is assumed that with institute
Stating crane carrier face direction is benchmark line, and turns to be negative to the left, when steering is positive to the right, when the preceding bridge of crane carrier
Corner becomes 20 ° from -45 ° from when turning to 45 ° to the left and becoming turning to 20 ° to the right.
Wherein, the preceding bridge is the steering being located most closely at headstock position being mounted on the crane carrier
Bridge, the preceding bridge are usually controlled by the mechanical shaft steering system in addition to the EHPS system on the crane carrier,
Regulated and controled with the target travel direction to the crane carrier.And each electro-hydraulic steeraxle in the EHPS system is for assisting
The preceding bridge promotes the crane carrier to be travelled according to the target travel direction.
Step S220 calculates every according to the preceding bridge corner and the corresponding corner amplification coefficient of every electro-hydraulic steeraxle
Electro-hydraulic steeraxle currently corresponding revolver or the ultimate angle for meeting Ackermam theorem of right wheel.
In the present embodiment, the Ackermam theorem is automobile in traveling (including straight-line travelling and turning driving) process
In, the motion profile of each wheel must comply fully with its proper motion track, to guarantee to be between tire and ground
Pure rolling and without sliding phenomenon, avoid the occurrence of abnormal tyre wear phenomenon.Therefore, Ackermam corresponding with the Ackermam theorem
Function will there are respective incidence relations for wheel and steeraxle, for example, when automobile turns to the left, every steering
Incidence relation between the revolver corner and right wheel corner of bridge；When automobile turns to the right, the revolver corner of every steeraxle with
Incidence relation between right wheel corner；And the corner incidence relation between automobile front axle and every electro-hydraulic steeraxle.
The crane carrier, can be according to the Ackermam after obtaining the current corresponding preceding bridge corner in real time of the preceding bridge
Function and the corresponding corner amplification coefficient of every electro-hydraulic steeraxle, calculating every electro-hydraulic steeraxle, currently corresponding revolver is expired
The ultimate angle of sufficient Ackermam theorem or the ultimate angle for meeting Ackermam theorem of right wheel, wherein the ultimate angle is used for
Indicate corresponding electro-hydraulic steeraxle promote the crane carrier according to the preceding bridge steering corresponding target travel direction row
Steering locking angle degree when sailing.
Optionally, described according to the preceding bridge corner and the corresponding corner amplification coefficient of every electro-hydraulic steeraxle, it calculates every
Currently corresponding revolver or the step of ultimate angle for meeting Ackermam theorem of right wheel, include: the electro-hydraulic steeraxle of root
According to the corner incidence relation in the preceding bridge corner and Ackermann's function between preceding bridge and each electro-hydraulic steeraxle, meter
Calculate every electro-hydraulic steeraxle currently corresponding revolver or the goal theory corner for meeting Ackermam theorem of right wheel；
By every electro-hydraulic steeraxle currently corresponding goal theory corner and the electro-hydraulic steeraxle corresponding corner amplification system
Number carries out multiplication operation, obtains the current corresponding ultimate angle of every electro-hydraulic steeraxle.
Wherein, the preceding bridge corner got in real time can be the corner of the revolver for the preceding bridge, be also possible to
For the corner of the right wheel of the preceding bridge.The crane carrier is for revolver or right wheel corresponding to every electro-hydraulic steeraxle
It, can be by according to the preceding bridge corner currently corresponding steering, from the Ackermam letter when seeking corresponding goal theory corner
The incidence relation between corresponding revolver corner and right wheel corner is got in number, and the preceding bridge is calculated with the incidence relation
Place be in the vehicle of the same side wheel by corner with the goal theory corner, then according to bridge preceding in Ackermann's function with it is each electro-hydraulic
Corner incidence relation between steeraxle, calculating every electro-hydraulic steeraxle, currently corresponding revolver or right wheel meet Ackermam
The goal theory corner of theorem.Wherein, goal theory corner corresponding to every electro-hydraulic steeraxle can correspond to revolver,
Right wheel can be corresponded to.In an embodiment of the present embodiment, every electro-hydraulic steeraxle in the crane carrier is current
Goal theory corner and ultimate angle corresponding to wheel be right wheel.
Step S230, obtain in real time every electro-hydraulic steeraxle it is current belong to the same wheel with the corresponding ultimate angle
The true corner of son.
In the present embodiment, the crane carrier passes through in the corresponding revolver of every electro-hydraulic steeraxle and right wheel
The mode of installing angle sensor on wheel corresponding with the ultimate angle, obtain in real time every electro-hydraulic steeraxle it is current with
The corresponding ultimate angle belongs to the true corner of the same wheel.
Step S240 carries out steering adjustment to the electro-hydraulic steeraxle according to the ultimate angle of every electro-hydraulic steeraxle,
Until the corner absolute value of the difference between the ultimate angle and the true corner of the electro-hydraulic steeraxle is electro-hydraulic no more than this
Until when the corresponding predetermined angle threshold value of steeraxle.
In the present embodiment, every electro-hydraulic steeraxle is current corresponding to belong to same wheel to the crane carrier obtaining
Ultimate angle and true corner, can tentatively judge the corner absolute value of the difference between the ultimate angle and the true corner
Whether predetermined angle threshold value corresponding no more than the electro-hydraulic steeraxle, and be greater than corresponding predetermined angle threshold value in the absolute value
When steering adjustment carried out to the electro-hydraulic steeraxle according to the ultimate angle of every electro-hydraulic steeraxle, to the electro-hydraulic steeraxle
Current true corner is adjusted, until the corner between the ultimate angle and the true corner of the electro-hydraulic steeraxle
Until when corresponding no more than the electro-hydraulic steeraxle predetermined angle threshold value of absolute value of the difference.Wherein, every electro-hydraulic steeraxle is corresponding
Predetermined angle threshold value may be the same or different between each other, for example, the corresponding predetermined angle threshold of the electro-hydraulic steeraxle of certain root
Value is 0.2 °, and the corresponding predetermined angle threshold value of another electro-hydraulic steeraxle is 0.4 °, and there are also an electro-hydraulic steeraxle is corresponding pre-
If angle threshold is 0.2 °.
Optionally, the EHPS system further includes steering cylinder, and the limit according to every electro-hydraulic steeraxle turns
Angle carries out turning to the step of adjusting to the electro-hydraulic steeraxle
For every electro-hydraulic steeraxle, it is right according to the ultimate angle institute of the electro-hydraulic steeraxle to control the steering cylinder
The steering answered is adjusted steering corresponding to the true corner of the electro-hydraulic steeraxle currently.
Wherein, the steering cylinder can be combined the assembly formed by multiple cylinder components, and each cylinder component is to one
The steering of electro-hydraulic steeraxle is regulated and controled；The steering cylinder is also possible to multiple, and each steering cylinder is to an electro-hydraulic steering
The steering of bridge is regulated and controled.
In the present embodiment, the crane carrier, can be by executing above-mentioned steps when being in limit steering pattern
The mode of S210- step S240 gives full play to the working performance of EHPS system, and is avoiding the occurrence of abnormal tyre wear phenomenon
In the case of, greatly reduce the turning radius of crane carrier, keeps the crane carrier corresponding under limit steering pattern
Turning radius, compared under all-wheel steering mode, numerical value is smaller for corresponding turning radius, realizes that the limit turns to function
Can, to improve traffic efficiency of the crane in the work-yard of narrow space.
It referring to figure 2., is another flow diagram of limit rotating direction control method provided by the embodiments of the present application.At this
Apply in embodiment, the limit rotating direction control method can also include step S209.
Step S209 configures the corresponding corner amplification coefficient of every electro-hydraulic steeraxle, and to every electro-hydraulic steering
The corresponding predetermined angle threshold value of bridge is configured.
In the present embodiment, the driver of the crane carrier can be according to drive demand to every electro-hydraulic steeraxle pair
The predetermined angle threshold value answered is configured, to adjust Adjustment precision of the every electro-hydraulic steeraxle when turn to adjustment.Every
The corresponding corner amplification coefficient of electro-hydraulic steeraxle may be the same or different between each other.
In an embodiment of the present embodiment, the corresponding corner amplification coefficient of every electro-hydraulic steeraxle is respectively identical,
The step of configuring to the corresponding corner amplification coefficient of every electro-hydraulic steeraxle described at this time includes:
According to installation site of the every electro-hydraulic steeraxle on the crane carrier, the maximum of the electro-hydraulic steeraxle is calculated
Theoretical corner numerical value；
Calculate the corresponding hard-over numerical value for meeting Ackermam theorem of every electro-hydraulic steeraxle；
It calculates between the every electro-hydraulic corresponding theoretical maximum corner numerical value of steeraxle and the hard-over numerical value
Corner ratio, and choose in angled numerical value the smallest target rotation angle ratio of numerical value increase as the corner of every electro-hydraulic steeraxle
Width coefficient.
Wherein, the theoretical maximum corner numerical value is institute of the corresponding electro-hydraulic steeraxle when no Ackermam theorem limits
Attainable maximum corner numerical value.
In the another embodiment of the present embodiment, the mutual not phase of the corresponding corner amplification coefficient of every electro-hydraulic steeraxle
Together, the step of configuring to the corresponding corner amplification coefficient of every electro-hydraulic steeraxle described at this time, includes:
According to installation site of the every electro-hydraulic steeraxle on the crane carrier, the maximum of the electro-hydraulic steeraxle is calculated
Theoretical corner numerical value；
Calculate the corresponding hard-over numerical value for meeting Ackermam theorem of every electro-hydraulic steeraxle；
It calculates between the every electro-hydraulic corresponding theoretical maximum corner numerical value of steeraxle and the hard-over numerical value
Corner ratio, and using the corner ratio of calculated every electro-hydraulic steeraxle as corresponding corner amplification coefficient.
It referring to figure 3., is a kind of block diagram of limit steering control device 100 provided by the embodiments of the present application.?
In the embodiment of the present application, the limit steering control device 100 is equipped with electro-hydraulic power-assisted steering EHPS system applied to above-mentioned
Crane carrier, the EHPS system includes the electro-hydraulic steeraxle of at least one, is stored with every electricity in the crane carrier
The corresponding corner amplification coefficient of liquid steeraxle, the limit steering control device 100 include that detection obtains module 110, corner meter
Module 120 is calculated, corner obtains module 130 and turns to adjustment module 140.
The detection obtains module 110, for detecting whether the crane carrier is in limit steering pattern, and is locating
Obtain the preceding bridge corner of the crane carrier in real time when the limit steering pattern.
In the present embodiment, the detection, which obtains module 110, can execute step S210 shown in Fig. 1, specifically retouch
Stating can refer to above to the detailed description of step S210.
The corner computing module 120, for being increased according to the preceding bridge corner and the corresponding corner of every electro-hydraulic steeraxle
Width coefficient calculates every electro-hydraulic steeraxle currently corresponding revolver or the ultimate angle for meeting Ackermam theorem of right wheel.
In the present embodiment, the corner computing module 120 is corresponding according to the preceding bridge corner and every electro-hydraulic steeraxle
Corner amplification coefficient, calculate every electro-hydraulic steeraxle currently the limit for meeting Ackermam theorem of corresponding revolver or right wheel turn
The mode at angle includes:
According to the corner incidence relation in the preceding bridge corner and Ackermann's function between preceding bridge and each electro-hydraulic steeraxle, meter
Calculate every electro-hydraulic steeraxle currently corresponding revolver or the goal theory corner for meeting Ackermam theorem of right wheel；
By every electro-hydraulic steeraxle currently corresponding goal theory corner and the electro-hydraulic steeraxle corresponding corner amplification system
Number carries out multiplication operation, obtains the current corresponding ultimate angle of every electro-hydraulic steeraxle.
Wherein, the corner computing module 120 can execute step S220 shown in Fig. 1, and specific description can refer to
Above to the detailed description of step S220.
The corner obtains module 130, current with the corresponding limit for obtaining every electro-hydraulic steeraxle in real time
Corner belongs to the true corner of the same wheel.
In the present embodiment, the corner, which obtains module 130, can execute step S230 shown in Fig. 1, specifically retouch
Stating can refer to above to the detailed description of step S230.
The steering adjusts module 140, for the ultimate angle according to every electro-hydraulic steeraxle to the electro-hydraulic steering
Bridge carries out steering adjustment, until the outer corner difference between the ultimate angle and the true corner of the electro-hydraulic steeraxle is absolute
Until when corresponding no more than the electro-hydraulic steeraxle predetermined angle threshold value of value.
In the present embodiment, the steering adjustment module 140 is according to the ultimate angle of every electro-hydraulic steeraxle to this
Electro-hydraulic steeraxle carry out turn to adjustment mode include:
For every electro-hydraulic steeraxle, it is right according to the ultimate angle institute of the electro-hydraulic steeraxle to control the steering cylinder
The steering answered is adjusted steering corresponding to the true corner of the electro-hydraulic steeraxle currently.
Wherein, the steering adjustment module 140 can execute step S240 shown in Fig. 1, and specific description can refer to
Above to the detailed description of step S240.
It referring to figure 4., is another block diagram of limit steering control device 100 provided by the embodiments of the present application.
In the embodiment of the present application, the limit steering control device 100 can also include parameter configuration module 150.
The parameter configuration module 150, for being configured to the corresponding corner amplification coefficient of every electro-hydraulic steeraxle, and
The corresponding predetermined angle threshold value of every electro-hydraulic steeraxle is configured.
In an embodiment of the present embodiment, the parameter configuration module 150 is corresponding to every electro-hydraulic steeraxle
The mode that corner amplification coefficient is configured includes:
According to installation site of the every electro-hydraulic steeraxle on the crane carrier, the maximum of the electro-hydraulic steeraxle is calculated
Theoretical corner numerical value；
Calculate the corresponding hard-over numerical value for meeting Ackermam theorem of every electro-hydraulic steeraxle；
It calculates between the every electro-hydraulic corresponding theoretical maximum corner numerical value of steeraxle and the hard-over numerical value
Corner ratio, and choose in angled numerical value the smallest target rotation angle ratio of numerical value increase as the corner of every electro-hydraulic steeraxle
Width coefficient.
In the another embodiment of the present embodiment, the parameter configuration module 150 is corresponding to every electro-hydraulic steeraxle
The mode that is configured of corner amplification coefficient include:
According to installation site of the every electro-hydraulic steeraxle on the crane carrier, the maximum of the electro-hydraulic steeraxle is calculated
Theoretical corner numerical value；
Calculate the corresponding hard-over numerical value for meeting Ackermam theorem of every electro-hydraulic steeraxle；
It calculates between the every electro-hydraulic corresponding theoretical maximum corner numerical value of steeraxle and the hard-over numerical value
Corner ratio, and using the corner ratio of calculated every electro-hydraulic steeraxle as corresponding corner amplification coefficient.
Wherein, the parameter configuration module 150 can execute step S209 shown in Fig. 2, and specific description can refer to
Above to the detailed description of step S209.
In conclusion the limit turns to control in limit rotating direction control method provided by the embodiments of the present application and device
Method processed can give full play to the working performance of EHPS system when crane carrier is in limit steering pattern, and avoid the occurrence of
In the case where abnormal tyre wear phenomenon, greatly reduce the turning radius of crane carrier, limit turning function is realized, to mention
Traffic efficiency of the high crane in the work-yard of narrow space.Firstly, the method is detecting the crane carrier
When in the limit steering pattern, obtain the preceding bridge corner of the crane carrier in real time, and according to the preceding bridge corner and
The corresponding corner amplification coefficient of every electro-hydraulic steeraxle calculates the every electro-hydraulic steeraxle currently satisfaction of corresponding revolver or right wheel
The ultimate angle of Ackermam theorem, wherein the ultimate angle is for indicating that corresponding to electro-hydraulic steeraxle is promoting the lifting airborne
Steering locking angle degree when having according to target travel direction running.Then, the method by obtaining every electro-hydraulic steering in real time
The current true corner for belonging to the same wheel with the corresponding ultimate angle of bridge, and according to the institute of every electro-hydraulic steeraxle
It states ultimate angle transfer EHPS system and steering adjustment is carried out to the electro-hydraulic steeraxle, until the limit of the electro-hydraulic steeraxle turns
It is when corresponding no more than the electro-hydraulic steeraxle predetermined angle threshold value of corner absolute value of the difference between angle and the true corner
Only, crane carrier turning radius corresponding under limit steering pattern at this time, compared under all-wheel steering mode
Numerical value is smaller for corresponding turning radius, it is ensured that and the crane carrier is not in abnormal tyre wear phenomenon, thus
Realize limit turning function, it is ensured that the crane under limit steering pattern can also have in the work-yard of narrow space
Extremely strong traffic efficiency.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of limit rotating direction control method, which is characterized in that applied to the lifting for being equipped with electro-hydraulic power-assisted steering EHPS system
Airborne tool, the EHPS system include the electro-hydraulic steeraxle of at least one, and every electro-hydraulic steering is stored in the crane carrier
The corresponding corner amplification coefficient of bridge, which comprises
It detects whether the crane carrier is in limit steering pattern, and is obtained in real time when being in the limit steering pattern
The preceding bridge corner of the crane carrier；
According to the preceding bridge corner and the corresponding corner amplification coefficient of every electro-hydraulic steeraxle, it is current to calculate every electro-hydraulic steeraxle
The ultimate angle for meeting Ackermam theorem of corresponding revolver or right wheel；
The current true corner for belonging to the same wheel with the corresponding ultimate angle of every electro-hydraulic steeraxle is obtained in real time；
Steering adjustment is carried out to the electro-hydraulic steeraxle according to the ultimate angle of every electro-hydraulic steeraxle, until the electro-hydraulic steering
Corner absolute value of the difference between the ultimate angle of bridge and the true corner is corresponding pre- no more than the electro-hydraulic steeraxle
If until when angle threshold.
2. the method according to claim 1, wherein described according to the preceding bridge corner and every electro-hydraulic steeraxle
Corresponding corner amplification coefficient calculates the every electro-hydraulic steeraxle currently pole for meeting Ackermam theorem of corresponding revolver or right wheel
Limit corner the step of include:
According to the corner incidence relation in the preceding bridge corner and Ackermann's function between preceding bridge and each electro-hydraulic steeraxle, calculate every
The electro-hydraulic steeraxle of root currently corresponding revolver or the goal theory corner for meeting Ackermam theorem of right wheel；
By every electro-hydraulic steeraxle currently corresponding goal theory corner corner amplification coefficient corresponding with the electro-hydraulic steeraxle into
Row multiplication operation obtains the current corresponding ultimate angle of every electro-hydraulic steeraxle.
3. the method according to claim 1, wherein the EHPS system further includes steering cylinder, the basis
The ultimate angle of every electro-hydraulic steeraxle carries out turning to the step of adjusting to the electro-hydraulic steeraxle
For every electro-hydraulic steeraxle, control corresponding to the ultimate angle of the steering cylinder according to the electro-hydraulic steeraxle
It turns to, steering corresponding to the true corner current to the electro-hydraulic steeraxle is adjusted.
4. method described in any one of -3 according to claim 1, which is characterized in that the method also includes:
The corresponding corner amplification coefficient of every electro-hydraulic steeraxle is configured, and to the corresponding preset angle of every electro-hydraulic steeraxle
Degree threshold value is configured.
5. according to the method described in claim 4, it is characterized in that, described to every electro-hydraulic steeraxle corresponding corner amplification system
Counting the mode configured includes:
According to installation site of the every electro-hydraulic steeraxle on the crane carrier, the theoretical maximum of the electro-hydraulic steeraxle is calculated
Corner numerical value；
Calculate the corresponding hard-over numerical value for meeting Ackermam theorem of every electro-hydraulic steeraxle；
Calculate the corner between the every electro-hydraulic corresponding theoretical maximum corner numerical value of steeraxle and the hard-over numerical value
Ratio, and choose corner amplification system of the smallest target rotation angle ratio of numerical value as every electro-hydraulic steeraxle in angled numerical value
Number.
6. a kind of limit steering control device, which is characterized in that applied to the lifting for being equipped with electro-hydraulic power-assisted steering EHPS system
Airborne tool, the EHPS system include the electro-hydraulic steeraxle of at least one, and every electro-hydraulic steering is stored in the crane carrier
The corresponding corner amplification coefficient of bridge, described device include:
Detection obtains module, for detecting whether the crane carrier is in limit steering pattern, and is being in the limit
The preceding bridge corner of the crane carrier is obtained when steering pattern in real time；
Corner computing module, for calculating according to the preceding bridge corner and the corresponding corner amplification coefficient of every electro-hydraulic steeraxle
Every electro-hydraulic steeraxle currently corresponding revolver or the ultimate angle for meeting Ackermam theorem of right wheel；
Corner obtains module, for obtain in real time every electro-hydraulic steeraxle it is current belong to the corresponding ultimate angle it is same
The true corner of a wheel；
Adjustment module is turned to, for carrying out steering tune to the electro-hydraulic steeraxle according to the ultimate angle of every electro-hydraulic steeraxle
It is whole, until the corner absolute value of the difference between the ultimate angle and the true corner of the electro-hydraulic steeraxle is not more than the electricity
Until when the corresponding predetermined angle threshold value of liquid steeraxle.
7. device according to claim 6, which is characterized in that the corner computing module is specifically used for:
According to the corner incidence relation in the preceding bridge corner and Ackermann's function between preceding bridge and each electro-hydraulic steeraxle, calculate every
The electro-hydraulic steeraxle of root currently corresponding revolver or the goal theory corner for meeting Ackermam theorem of right wheel；
By every electro-hydraulic steeraxle currently corresponding goal theory corner corner amplification coefficient corresponding with the electro-hydraulic steeraxle into
Row multiplication operation obtains the current corresponding ultimate angle of every electro-hydraulic steeraxle.
8. device according to claim 6, which is characterized in that the EHPS system further includes steering cylinder, the steering
Adjustment module is specifically used for:
For every electro-hydraulic steeraxle, control corresponding to the ultimate angle of the steering cylinder according to the electro-hydraulic steeraxle
It turns to, steering corresponding to the true corner current to the electro-hydraulic steeraxle is adjusted.
9. the device according to any one of claim 6-8, which is characterized in that described device further include:
Parameter configuration module, for being configured to the corresponding corner amplification coefficient of every electro-hydraulic steeraxle, and it is electro-hydraulic to every
The corresponding predetermined angle threshold value of steeraxle is configured.
10. device according to claim 9, which is characterized in that the parameter configuration module is specifically used for:
According to installation site of the every electro-hydraulic steeraxle on the crane carrier, the theoretical maximum of the electro-hydraulic steeraxle is calculated
Corner numerical value；
Calculate the corresponding hard-over numerical value for meeting Ackermam theorem of every electro-hydraulic steeraxle；
Calculate the corner between the every electro-hydraulic corresponding theoretical maximum corner numerical value of steeraxle and the hard-over numerical value
Ratio, and choose corner amplification system of the smallest target rotation angle ratio of numerical value as every electro-hydraulic steeraxle in angled numerical value
Number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811544372.5A CN109501856B (en) | 2018-12-17 | 2018-12-17 | Limit steering control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811544372.5A CN109501856B (en) | 2018-12-17 | 2018-12-17 | Limit steering control method and device |
Publications (2)
| Publication Number | Publication Date |
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| CN109501856A true CN109501856A (en) | 2019-03-22 |
| CN109501856B CN109501856B (en) | 2020-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811544372.5A Active CN109501856B (en) | 2018-12-17 | 2018-12-17 | Limit steering control method and device |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113562066A (en) * | 2021-07-20 | 2021-10-29 | 浙江万安科技股份有限公司 | Wire-controlled steering system and fault diagnosis method |
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| US6256561B1 (en) * | 1998-10-12 | 2001-07-03 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle steering control system |
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| CN109501856B (en) | 2020-06-05 |
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