CN110001769A - A kind of pilotless automobile hydraulic type automatic steering system and its control method - Google Patents
A kind of pilotless automobile hydraulic type automatic steering system and its control method Download PDFInfo
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- CN110001769A CN110001769A CN201910168102.7A CN201910168102A CN110001769A CN 110001769 A CN110001769 A CN 110001769A CN 201910168102 A CN201910168102 A CN 201910168102A CN 110001769 A CN110001769 A CN 110001769A
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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
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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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of pilotless automobile hydraulic type automatic steering system and its control methods, belong to Vehicular intelligent and drive and turn to security control field.The system is mainly by steering working cylinder, working cylinder piston, flow controllable throttle valve, steering hydraulic pump, steering reservoir, oil return line, the composition such as oil inlet pipe and high-speed switch electromagnetic valve.The on off operating mode of four high-speed switch electromagnetic valves is controlled to form the oil liquid pressure difference of different directions at left and right sides of working cylinder piston, realizes that automobile turns left or turns right.When steering reversal, the on off operating mode of high-speed switch electromagnetic valve with it is aforementioned opposite.Flow controllable throttle valve determines the oil liquid pressure difference at left and right sides of working cylinder piston according to desired front wheel angle, and the oil liquid flow for flowing through controllable throttle valve is obtained by adaptive controller.The present invention can not only realize pilotless automobile auto-steering, and system structure is simple, and good reliability is practical.
Description
Technical field
The present invention relates to a kind of pilotless automobile hydraulic type automatic steering system and its control method, refer in particular to be comprising more
The automobile hydraulic type automatic steering system of a high-speed switch electromagnetic valve and controllable throttle valve belongs to Vehicular intelligent and drives and turn to peace
Full control field.
Background technique
With the increase of car ownership, the traffic problems such as traffic accident, traffic congestion and environmental pollution are more and more tighter
Weight, has become global social effects of pollution problem, while it is urgently to be solved heavy also to become automotive community engineers and technicians
Want project.In recent years, the auto industrys developed country such as the U.S., Europe and Japan successively puts into a large amount of man power and material and carries out
The research of intelligent transportation system (ITS), to solve automobile bring traffic problems.As the important component of ITS, nobody
Driving is the new and high technology carrier for integrating the functions such as environment sensing, programmed decision-making and motion control, can
Autonomous driving is realized under different road environments, represents the important directions of automobile future development.Motion control is to realize automobile
One of unpiloted key link, wherein course changing control changes or restore vapour for guaranteeing that automobile is travelled according to both fixed tracks
Vehicle driving direction is of great significance.
Currently, the automatic steering system of pilotless automobile be mostly be transformed on the basis of electric boosting steering system and
At, i.e., original assist motor is replaced with into the biggish motor of power, then directly by control motor output torque carry out
The auto-steering of pilotless automobile, but since driving safety of the steering system to automobile is most important, to the reliable of motor
Property is more demanding.At the same time, motor output characteristics itself is complex, pilotless automobile auto-steering on this basis
System control difficulty is larger, and control gains are inevitable.
Hydraulic type steering system operating pressure is high, and part dimension is small, and noiseless when work, and the work hysteresis time is short, can
It is good by property, moreover it is possible to absorb the impact from uneven road surface, there are many advantages, be increasingly becoming pilotless automobile from turn
To systematic research hot spot.
Summary of the invention
It is an object of the invention to propose a kind of pilotless automobile hydraulic type automatic steering system and its control method, lead to
The on off operating mode of associated solenoid valve and throttle valve oil liquid flow in control system are crossed, can be formed at left and right sides of working cylinder piston not
Equidirectional oil liquid pressure difference, to realize automobile different degrees of left-hand rotation or right-hand rotation.
To reach above-mentioned purpose, technical solution used by system of the invention are as follows:
A kind of pilotless automobile hydraulic type automatic steering system, the hydraulic type automatic steering system mainly include turning to
Working cylinder (1), working cylinder piston (2), flow controllable throttle valve (5), flow controllable throttle valve (7), steering hydraulic pump (10) turn
To oil tank (9), the first oil inlet pipe (11), the second oil inlet pipe (14), the first oil return line (12), the second oil return line
(13), high-speed switch electromagnetic valve (3), high-speed switch electromagnetic valve (4), high-speed switch electromagnetic valve (6) and high-speed switch electromagnetic valve
(8)；Working cylinder (1) is divided into left chamber and right chamber by working cylinder piston (2)；The hydraulic type automatic steering system include altogether two into
Oil pipe line, respectively the first oil inlet pipe (11) and the second oil inlet pipe (14)；First oil inlet pipe is in series with one on (11)
High-speed switch electromagnetic valve (3) and a flow controllable throttle valve (7) are in series with a high-speed switch on the second oil inlet pipe (14)
Solenoid valve (8) and a flow controllable throttle valve (5)；First oil inlet pipe (11) is connected to from steering hydraulic pump (10) and turns to work
Make the left chamber of cylinder (1), the second oil inlet pipe (14) is connected to the right chamber for turning to working cylinder (1) from steering hydraulic pump (10)；It is described
Hydraulic type automatic steering system also includes two oil return lines, respectively the first oil return line (12) and the second oil return line
(13)；There is a high-speed switch electromagnetic valve (6) on first oil return line (12), there is a high speed to open on the second oil return line (13)
Powered-down magnet valve (4)；First oil return line (12) is connected to steering reservoir (9), the second oil return pipe from the left chamber for turning to working cylinder (1)
Road (13) is connected to steering reservoir (9) from the right chamber for turning to working cylinder (1)；First oil return line (12) and the first oil inlet pipe
(11) it is connected to the left chamber for turning to working cylinder (1), the second oil inlet pipe (14) and the second oil return line (13) are connected to steering work
Make the right chamber of cylinder (1)；Steering hydraulic pump (10) is connected with steering reservoir (9).
Technical solution used by method of the invention are as follows: the controlling party of pilotless automobile hydraulic type automatic steering system
Method includes the following steps:
Step 1, steering system mathematical model is established, the input of the model is to flow through controllable throttle valve (5) and controllable section
The oil liquid flow for flowing valve (7), exports as vehicle front corner；
Step 2, the control strategy of the hydraulic type automatic steering system is designed based on fuzzy adaptivecontroller algorithm, it is described
Difference and difference change rate of the input of control strategy between target front wheel corner and actual front wheel corner export as flow through can
Control the oil liquid flow of throttle valve (5) and controllable throttle valve (7)；
Step 3, the Performance Analysis of system control strategy is carried out, is wanted if system is not achieved in control performance simulation result
It asks, then further adjusts control strategy, until meeting system control performance requirement.
Further, the mathematical model of the steering system is mainly Tire nonlinearity lateral deviation mechanics characteristic model, is opened at a high speed
Powered-down magnet valve oil liquid discharge model, oil liquid flow controllable throttle valve model, working cylinder piston force analysis model and working cylinder
The composition such as transitive relation model between piston traveling speed and vehicle front corner.
Further, the foundation of the Tire nonlinearity lateral deviation mechanics characteristic model includes the following steps:
Step 1.1, tire cornering power attribute testing is carried out on tyre tester, reflects wheel by testing accurate obtain
The test data of the practical lateral deviation mechanical characteristic of tire, including side force of tire data, tyre moment data, tire vertical loading
Data and Wheel slip angular data etc.；
Step 1.2, the identification of Wheel slip mechanics characteristic magic formula model parameter is carried out according to test data；
Step 1.3, the obtained Wheel slip mechanics characteristic magic formula model of identification is emulated, by simulation result with
Test data compares, and the precision of verifying identification model, if precision is met the requirements, identification terminates, if precision is unsatisfactory for wanting
It asks, then comes back to step 1.2.
Further, the reality of the control strategy of the hydraulic type automatic steering system is designed based on fuzzy adaptivecontroller algorithm
Existing process includes the following steps:
Step 2.1, the difference and difference change rate between vehicle target front wheel angle and actual front wheel corner are calculated, and right
It carries out Fuzzy processing；
Step 2.2, the fuzzy reasoning table of fuzzy controller is formulated, the input of the fuzzy controller is vehicle target front-wheel
Difference and difference change rate between corner and actual front wheel corner, export three parameters for PID controller, i.e. Kp, Ki with
And Kd；
Step 2.3, ambiguity solution is carried out to the output of fuzzy controller, so that Kp is obtained, the actual value of Ki and Kd, herein
On the basis of, the oil liquid flow for flowing through controllable throttle valve (5) and controllable throttle valve (6) is further calculated out according to PID control principle；
Step 2.4, in conjunction with the steering system mathematical model of aforementioned foundation, pilotless automobile hydraulic type auto-steering is built
System ambiguous PID control Performance Analysis platform；
Step 2.5, pilotless automobile hydraulic type automatic steering system fuzzy-adaptation PID control Performance Analysis is carried out, if
System requirements is not achieved in control performance simulation result, then comes back to step 2.2, adjusts the fuzzy reasoning table of fuzzy controller,
Performance simulation is carried out again, until system control performance is met the requirements.
Further, the parameter determination of the hydraulic type automatic steering system main component includes the following steps:
Step 3.1, working cylinder piston (2) left and right two when automobile emergency turns to is calculated according to the mathematical model of steering system
Maximum instantaneous oil liquid pressure difference needed for side；
Step 3.2, the maximum instantaneous oil liquid pressure difference according to needed at left and right sides of foregoing work the cylinder piston (2), which calculates, passes through
Oil inlet pipe flow direction turns to the maximum instantaneous oil liquid flow of working cylinder (1) left chamber or right chamber；
Step 3.3, according to the maximum instantaneous oil liquid for flowing to steering working cylinder (1) left chamber or right chamber mentioned by oil inlet pipe
Flow determines steering hydraulic pump (10), high-speed switch electromagnetic valve (3), high-speed switch electromagnetic valve (4), high-speed switch electromagnetic valve (6),
The dimensional parameters of high-speed switch electromagnetic valve (8) and controllable throttle valve (5) and controllable throttle valve (7).
From the above technical solution of the present invention shows that, the beneficial effect is that passing through four high-speed switch electromagnetic valves of control
On off operating mode, can form the oil liquid pressure difference of different directions at left and right sides of working cylinder piston, to realize that automobile turns left or turns right.
When timing is returned in motor turning, the on off operating mode of the high-speed switch electromagnetic valve is with aforementioned on the contrary, to form and aforementioned steering
When opposite direction oil liquid pressure difference, until front wheel angle is zero.The flow controllable throttle valve is according to needed for top level control system
The expectation front wheel angle that vehicle is realized determines the oil liquid pressure difference at left and right sides of working cylinder piston, the oil for flowing through controllable throttle valve
Flow quantity is by adaptive controller according to the difference and the progress of difference change rate between desired front wheel angle and target front wheel corner
Feedback control obtains, to realize being precisely controlled for pilotless automobile steering procedure.
Detailed description of the invention
Fig. 1 is pilotless automobile hydraulic type automatic steering system structure principle chart；
Fig. 2 is that the system oil liquid stream of time timing after pilotless automobile hydraulic type automatic steering system turns right or turns left moves road
Diameter schematic diagram；
Fig. 3 is that the system oil liquid stream of time timing after pilotless automobile hydraulic type automatic steering system turns left or turns right moves road
Diameter schematic diagram；
Fig. 4 is the control flow chart of pilotless automobile hydraulic type automatic steering system；
1- turns to working cylinder 2- working cylinder piston 3- high-speed switch electromagnetic valve 4- high-speed switch electromagnetic valve 5- flow can
Throttle valve 6- high-speed switch electromagnetic valve 7- flow controllable throttle valve 8- high-speed switch electromagnetic valve 9- steering reservoir 10- is controlled to turn
To hydraulic pump 11- the first oil inlet pipe 12- the first oil return line 13- the second oil return line the second oil inlet pipe of 14-；
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
As shown in Figure 1, pilotless automobile automatic steering system proposed by the present invention includes two oil inlet pipes altogether, respectively
For the first oil inlet pipe (11) and the second oil inlet pipe (14), there are a high-speed switch electromagnetic valve and stream on every oil inlet pipe
Measure controllable throttle valve, i.e. high-speed switch electromagnetic valve (3), flow controllable throttle valve (7), high-speed switch electromagnetic valve (8) and flow
Controllable throttle valve (5), and in two oil inlet pipes, high-speed switch electromagnetic valve and flow controllable throttle valve are to be serially connected
Form is connected.Two oil inlet pipes are connected to left chamber and the right side for turning to working cylinder (1) from steering hydraulic pump (10) respectively
Chamber.The hydraulic type automatic steering system also includes two oil return lines, respectively the first oil return line (12) and the second oil return
Pipeline (13) has a high-speed switch electromagnetic valve, i.e. high-speed switch electromagnetic valve (6) and high-speed switch electricity on every oil return line
Magnet valve (4), two oil return lines are connected to steering reservoir (9) from the left chamber and right chamber for turning to working cylinder (1) respectively.
By Fig. 2 and Fig. 3 it is found that when automobile needs to turn to, by controlling the on off operating mode of four high-speed switch electromagnetic valves,
The oil liquid pressure difference of different directions at left and right sides of working cylinder piston (2) can be formed, to realize that automobile turns left or turns right.Hui Zheng
When, the on off operating mode of the high-speed switch electromagnetic valve is with aforementioned on the contrary, to form the oil with opposite direction when aforementioned steering
Hydraulic pressure difference, until front wheel angle is zero.For example, timing is returned after automobile needs to turn right or turn left, by by high-speed switch electromagnetism
Valve (3) and high-speed switch electromagnetic valve (4) are opened, and the oil liquid from steering hydraulic pump can be flowed to by the first oil inlet pipe (11)
The left chamber of working cylinder (1) is turned to, the oil liquid in steering working cylinder (1) right chamber then passes through the second oil return line (13) and flows to steering oil
Tank (9)；Conversely, returning timing, high-speed switch electromagnetic valve (6) and high-speed switch electromagnetic valve (8) after automobile needs or turns right
It opens, the oil liquid from steering hydraulic pump turns to the right chamber of working cylinder (1) by the second oil inlet pipe (14) flow direction, and turns to work
Make the oil liquid in cylinder (1) left chamber and then pass through the first oil return line (12) to flow to steering reservoir (9).
To realize different degrees of motor turning, two flux controllable throttle solenoid valves (5) and section are provided in system
Manifold solenoid valve (7) flows through the oil liquid flow of throttle solenoid valve by controlling, and can be realized at left and right sides of working cylinder piston (2) not
With the oil liquid pressure difference of degree.
As shown in Figure 4, the control process of pilotless automobile hydraulic type automatic steering system described in present embodiment is
It realizes according to the following steps:
Step 1, steering system mathematical model is established, the input of the model is to flow through controllable throttle valve (5) and controllable section
The oil liquid flow for flowing valve (7), exports as vehicle front corner；
Step 2, the control strategy of the hydraulic type automatic steering system, the control are designed based on adaptive control algorithm
Difference and difference change rate of the input of strategy between target front wheel corner and actual front wheel corner, export to flow through controllable section
Flow the oil liquid flow of valve (5) and controllable throttle valve (7)；
Step 3, the Performance Analysis of system control strategy is carried out, is wanted if system is not achieved in control performance simulation result
It asks, then further adjusts controlling strategy parameter, until meeting system control performance requirement.
The mathematical model of the steering system is mainly Tire nonlinearity lateral deviation mechanics characteristic model, high-speed switch electromagnetic valve
Oil liquid discharge model, oil liquid flow controllable throttle valve model, working cylinder piston force analysis model and working cylinder piston are mobile
The composition such as transitive relation model between speed and vehicle front corner, wherein the high-speed switch electromagnetic valve oil liquid discharge model
Are as follows:
In formula, Q1To flow through high-speed switch electromagnetic valve oil liquid flow, Cd1For high-speed switch valve valve port flow coefficient；Δ P is
The pressure difference of switch electromagnetic valve oil inlet and outlet, MPa；ρ is the density of hydraulic oil used, kg/m3；W is the area gradient of switch valve, m；
xmFor valve opening core maximum open amount, m.
Oil liquid flow controllable throttle valve model are as follows:
In formula, Cd2For restriction discharge coefficient；A is choke area, m；Δ p is restriction pressure difference, MPa；ρ is that oil liquid is close
Degree, kg/m3。
Working cylinder piston force analysis model:
F=PlA1-PrA1
In formula, F is axial force suffered by working cylinder piston, Pl、PrOil liquid pressure respectively at left and right sides of working cylinder piston
By force, MPa；A1For the sectional area of working cylinder piston, m.
Transitive relation model between working cylinder piston movement speed and vehicle front corner:
In formula, δ is front wheel angle, rad；V is piston traveling speed, m/s；K is normal to be determined by system steering mechanism
Number.
The foundation of the Tire nonlinearity lateral deviation mechanics characteristic model includes the following steps:
Step 1.1, tire cornering power attribute testing is carried out on tyre tester, reflects wheel by testing accurate obtain
The test data of the practical lateral deviation mechanical characteristic of tire, including side force of tire data, tyre moment data, tire vertical loading
Data and Wheel slip angular data etc.；
Step 1.2, the identification of Wheel slip mechanics characteristic magic formula model parameter is carried out according to test data；
Step 1.3, the obtained Wheel slip mechanics characteristic magic formula model of identification is emulated, by simulation result with
Test data compares, and the precision of verifying identification model, if precision is met the requirements, identification terminates, if precision is unsatisfactory for wanting
It asks, then comes back to step 2.
Present embodiment carries out the control strategy design of automobile automatic steering system using Fuzzy PID, described
The realization process of control strategy includes the following steps:
Step 2.1, the difference and difference change rate between vehicle target front wheel angle and actual front wheel corner are calculated, and right
It carries out Fuzzy processing；
Step 2.2, the fuzzy reasoning table of fuzzy controller is formulated, the input of the fuzzy controller is vehicle target front-wheel
Difference and difference change rate between corner and actual front wheel corner, export three parameters for PID controller, i.e. Kp, Ki with
And Kd；In the fuzzy reasoning table formulation process, it is necessary first to be blurred to the input and output of fuzzy controller, i.e., to vapour
Three parameters of difference, difference change rate and PID controller between vehicle target front wheel corner and actual front wheel corner carry out
Blurring.The input and output blurring of fuzzy controller, subset are carried out using fuzzy variable [NB, NM, NS, ZO, PS, PM, PB]
Middle element respectively represents negative big, bears, bear it is small, zero, just small, center is honest.It is practical special by system during controller design
Property defines the value range of input value and output valve, wherein difference between vehicle target front wheel angle and actual front wheel corner,
The domain of difference change rate is respectively [- 1,1] E,Three parameter K of PID controllerp, KiAnd KdFive ginsengs
Several domains is respectively [- 20,20], [- 50,50] and [- 100,100].
The fuzzy control rule table of three parameters of PID controller, i.e. Kp, Ki and Kd are as shown in table 1-3.
The fuzzy control rule table of 1 Kp of table
2 K of tableiFuzzy control rule table
3 K of tabledFuzzy control rule table
By a large amount of simulation comparison, in terms of subordinating degree function, the input variable of fuzzy control selects triangle letter
Number, output variable select Gauss type function.
Step 2.3, ambiguity solution is carried out to the output of fuzzy controller, so that Kp is obtained, the actual value of Ki and Kd, herein
On the basis of, the oil liquid flow for flowing through controllable throttle valve (5) and controllable throttle valve (7) is further calculated out according to PID control principle；
Step 2.4, in conjunction with the steering system mathematical model of aforementioned foundation, pilotless automobile hydraulic type auto-steering is built
System ambiguous PID control Performance Analysis platform；
Step 2.5, pilotless automobile hydraulic type automatic steering system fuzzy-adaptation PID control Performance Analysis is carried out, if
System requirements is not achieved in control performance simulation result, then comes back to step 2, adjusts the fuzzy reasoning table of fuzzy controller, then
Secondary carry out performance simulation, until system control performance is met the requirements.
The parameter determination of the hydraulic type automatic steering system main component includes the following steps:
Step 3.1, working cylinder piston (2) left and right two when automobile emergency turns to is calculated according to the mathematical model of steering system
Maximum instantaneous oil liquid pressure difference needed for side；
Step 3.2, the maximum instantaneous oil liquid pressure difference according to needed at left and right sides of foregoing work the cylinder piston (2), which calculates, passes through
Oil inlet pipe flow direction turns to the maximum instantaneous oil liquid flow of working cylinder (1) left chamber or right chamber；
Step 3.3, according to the maximum instantaneous oil liquid for flowing to steering working cylinder (1) left chamber or right chamber mentioned by oil inlet pipe
Flow determines steering hydraulic pump (10), high-speed switch electromagnetic valve (3), high-speed switch electromagnetic valve (4), high-speed switch electromagnetic valve (6),
The dimensional parameters of high-speed switch electromagnetic valve (8) and controllable throttle valve (5) and controllable throttle valve (7).
The above shows pilotless automobile hydraulic type automatic steering system proposed by the present invention and its control method only
The on off operating mode of four high-speed switch electromagnetic valves need to be controlled, the oil liquid pressure of different directions at left and right sides of working cylinder piston can be formed
Difference, to realize that automobile turns left or turns right.On this basis, further two flows are controlled by adaptive controller controllably to save
Effective tracking of target front wheel corner can be realized in the oil liquid flow of stream valve.The scheme proposed can not only be realized unmanned
The auto-steering of automobile, and system structure is simple, good reliability, it is practical.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (7)
1. a kind of pilotless automobile hydraulic type automatic steering system, which is characterized in that the hydraulic type automatic steering system master
It to include turning to working cylinder (1), working cylinder piston (2), flow controllable throttle valve (5), flow controllable throttle valve (7), steering liquid
Press pump (10), steering reservoir (9), the first oil inlet pipe (11), the second oil inlet pipe (14), the first oil return line (12), second
Oil return line (13), high-speed switch electromagnetic valve (3), high-speed switch electromagnetic valve (4), high-speed switch electromagnetic valve (6) and high speed are opened
Powered-down magnet valve (8)；
Working cylinder (1) is divided into left chamber and right chamber by working cylinder piston (2)；
The hydraulic type automatic steering system includes two oil inlet pipes, respectively the first oil inlet pipe (11) and the second oil inlet altogether
Pipeline (14)；A high-speed switch electromagnetic valve (3) and a flow controllable throttle valve are in series on first oil inlet pipe (11)
(7), a high-speed switch electromagnetic valve (8) and a flow controllable throttle valve (5) are in series on the second oil inlet pipe (14)；First
Oil inlet pipe (11) is connected to the left chamber for turning to working cylinder (1) from steering hydraulic pump (10), and the second oil inlet pipe (14) is from steering
Hydraulic pump (10) is connected to the right chamber for turning to working cylinder (1)；
The hydraulic type automatic steering system also includes two oil return lines, respectively the first oil return line (12) and the second oil return
Pipeline (13)；There is a high-speed switch electromagnetic valve (6) on first oil return line (12), has a height on the second oil return line (13)
Fast switch electromagnetic valve (4)；First oil return line (12) is connected to steering reservoir (9) from the left chamber for turning to working cylinder (1), and second time
Oil pipe line (13) is connected to steering reservoir (9) from the right chamber for turning to working cylinder (1)；
First oil return line (12) and the first oil inlet pipe (11) are connected to the left chamber for turning to working cylinder (1), the second oil inlet pipe
(14) right chamber for turning to working cylinder (1) is connected to the second oil return line (13)；Steering hydraulic pump (10) and steering reservoir (9) phase
Even.
2. a kind of control method of pilotless automobile hydraulic type automatic steering system according to claim 1, feature
It is, includes the following steps:
Step 1, steering system mathematical model is established, the input of the model is to flow through controllable throttle valve (5) and controllable throttle valve
(7) oil liquid flow exports as vehicle front corner；
Step 2, the control strategy of the hydraulic type automatic steering system, the control are designed based on fuzzy adaptivecontroller algorithm
Difference and difference change rate of the input of strategy between target front wheel corner and actual front wheel corner, export to flow through controllable section
Flow the oil liquid flow of valve (5) and controllable throttle valve (7)；
Step 3, the Performance Analysis of system control strategy is carried out, if system requirements is not achieved in control performance simulation result,
Control strategy is further adjusted, until meeting system control performance requirement.
3. a kind of control method of pilotless automobile hydraulic type automatic steering system according to claim 2, feature
It is, the mathematical model of the steering system is mainly Tire nonlinearity lateral deviation mechanics characteristic model, high-speed switch electromagnetic valve oil
The mobile speed of flow quantity model, oil liquid flow controllable throttle valve model, working cylinder piston force analysis model and working cylinder piston
Transitive relation model between degree and vehicle front corner.
4. a kind of control method of pilotless automobile hydraulic type automatic steering system according to claim 3, feature
It is, the foundation of the Tire nonlinearity lateral deviation mechanics characteristic model includes the following steps:
Step 1.1, tire cornering power attribute testing is carried out on tyre tester, reflects that tire is real by testing accurate obtain
The test data of border lateral deviation mechanical characteristic, including side force of tire data, tyre moment data, tire vertical loading data
And Wheel slip angular data etc.；
Step 1.2, the identification of Wheel slip mechanics characteristic magic formula model parameter is carried out according to test data；
Step 1.3, the Wheel slip mechanics characteristic magic formula model obtained to identification emulates, by simulation result and test
Data compare, and the precision of verifying identification model, if precision is met the requirements, identification terminates, if precision is unsatisfactory for requiring,
Come back to step 1.2.
5. a kind of control method of pilotless automobile hydraulic type automatic steering system according to claim 2, feature
It is, the realization process for designing the control strategy of the hydraulic type automatic steering system based on fuzzy adaptivecontroller algorithm includes
Following steps:
Step 2.1, calculate the difference and difference change rate between vehicle target front wheel angle and actual front wheel corner, and to its into
Row Fuzzy processing；
Step 2.2, the fuzzy reasoning table of fuzzy controller is formulated, the input of the fuzzy controller is vehicle target front wheel angle
Difference and difference change rate between actual front wheel corner export three parameters for PID controller, i.e. Kp, Ki and Kd；
Step 2.3, ambiguity solution is carried out to the output of fuzzy controller, to obtain Kp, the actual value of Ki and Kd are basic herein
On, the oil liquid flow for flowing through controllable throttle valve (5) and controllable throttle valve (6) is further calculated out according to PID control principle；
Step 2.4, in conjunction with the steering system mathematical model of aforementioned foundation, pilotless automobile hydraulic type automatic steering system is built
Fuzzy-adaptation PID control Performance Analysis platform；
Step 2.5, pilotless automobile hydraulic type automatic steering system fuzzy-adaptation PID control Performance Analysis is carried out, if control
System requirements is not achieved in Performance Simulation Results, then comes back to step 2.2, adjusts the fuzzy reasoning table of fuzzy controller, again
Performance simulation is carried out, until system control performance is met the requirements.
6. a kind of control method of pilotless automobile hydraulic type automatic steering system according to claim 2, feature
It is, the parameter determination of the hydraulic type automatic steering system main component includes the following steps:
Step 3.1, working cylinder piston (2) left and right sides institute when automobile emergency turns to is calculated according to the mathematical model of steering system
The maximum instantaneous oil liquid pressure difference needed；
Step 3.2, the maximum instantaneous oil liquid pressure difference according to needed at left and right sides of foregoing work the cylinder piston (2), which calculates, passes through oil inlet
Pipeline flow direction turns to the maximum instantaneous oil liquid flow of working cylinder (1) left chamber or right chamber；
Step 3.3, according to the maximum instantaneous oil liquid flow for flowing to steering working cylinder (1) left chamber or right chamber mentioned by oil inlet pipe
It determines steering hydraulic pump (10), high-speed switch electromagnetic valve (3), high-speed switch electromagnetic valve (4), high-speed switch electromagnetic valve (6), high speed
The dimensional parameters of switch electromagnetic valve (8) and controllable throttle valve (5) and controllable throttle valve (7).
7. a kind of control method of pilotless automobile hydraulic type automatic steering system according to claim 3, feature
It is, high-speed switch electromagnetic valve oil liquid discharge model are as follows:
In formula, Q1To flow through high-speed switch electromagnetic valve oil liquid flow, Cd1For high-speed switch valve valve port flow coefficient；Δ P is switch
The pressure difference of solenoid valve oil inlet and outlet, MPa；ρ is the density of hydraulic oil used, kg/m3；W is the area gradient of switch valve, m；xmFor
Valve opening core maximum open amount, m.
Oil liquid flow controllable throttle valve model are as follows:
In formula, Cd2For restriction discharge coefficient；A is choke area, m；Δ p is restriction pressure difference, MPa；ρ is oil liquid density,
kg/m3。
Working cylinder piston force analysis model:
F=PlA1-PrA1
In formula, F is axial force suffered by working cylinder piston, Pl、PrOil liquid pressure respectively at left and right sides of working cylinder piston,
MPa；A1For the sectional area of working cylinder piston, m.
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| CN113635967A (en) * | 2021-09-17 | 2021-11-12 | 山东蓬翔汽车有限公司 | Control method of energy-saving hydraulic power-assisted steering system of heavy-duty car |
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