CN110497962A - A kind of servo integrated electric hydraulic steering system of straddle carrier volume and its control method - Google Patents
A kind of servo integrated electric hydraulic steering system of straddle carrier volume and its control method Download PDFInfo
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- CN110497962A CN110497962A CN201910648068.3A CN201910648068A CN110497962A CN 110497962 A CN110497962 A CN 110497962A CN 201910648068 A CN201910648068 A CN 201910648068A CN 110497962 A CN110497962 A CN 110497962A
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- servo
- hydraulic steering
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims description 20
- 239000003921 oil Substances 0.000 claims description 15
- 239000000725 suspension Substances 0.000 claims description 11
- 239000002828 fuel tank Substances 0.000 claims description 9
- 239000007788 liquid Substances 0.000 claims description 7
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 238000011010 flushing procedure Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000007812 deficiency Effects 0.000 abstract description 2
- 239000000969 carrier Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 239000012530 fluid Substances 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000010729 system oil Substances 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/08—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of steering valve used
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
A kind of servo integrated electric hydraulic steering system of straddle carrier volume provided by the invention and its control method, including sequentially connected control unit, power unit and actuator, it further include for completing the rotary angle transmitter of wheel physical location live signal feedback and being used for transmission the turn signal setter of straddle carrier steering order, the feedback angle of rotary angle transmitter is compared with the given steering angle of turn signal setter, and the output signal of comparison result reaches control unit；The power unit, including servomotor, coupled two-way closed hydraulic pump, two-way closed hydraulic pump are connect by hydraulic system pipeline with actuator；Described control unit, including for driving the servo-driver of servomotor, and the steering controller of the output signal for receiving comparison result；The actuator is hydraulic steering cylinder.The further hoisting device of the present invention is horizontal, changes the configuration of existing driving and steering system, improves deficiency existing for existing system.
Description
Technical field
The present invention relates to harbour Wheel type plane haulage vehicles to turn to driving and control technology, more specifically to one kind
The servo integrated electric hydraulic steering system of straddle carrier volume and its control method.
Background technique
The Plane Transportation System of container terminal is classified according to loading and unloading capacity and device configuration, can be divided into two major classes:
First is that being realized between harbour gantry crane and stockyard crane by AGV or truck, and the container transshipment between different heaps area is made
Industry；Second is that realizing container transshipment and stacking operation by straddle carrier.The two respectively has advantage and disadvantage, and the latter can save stockyard lifting
Machine configuration, saves equipment investment, and operation is more flexible.Due to country variant or the container terminal loading and unloading technique in area
Formed for a long time and the mode continued to use is different, and the difference of pier facilities investment and job management mode, Europe and North America
Container terminal mostly uses greatly straddle carrier as the capital equipment of plane transportation.Since the country is set without harbour application straddle carrier
It is standby, the research of domestic not the relevant technologies.
Under the booming background of harbour AGV automation, electric driveization, greenization, for external straddle carrier technical field
It conducts a research, in straddle carrier steering system, since driving force is larger, required precision is high and has both the passive compensation function of suspension,
It therefore is entirely to use Proportional Valve-controlled hydraulic system, it is each driving and steering system fuel feeding which, which passes through centralized hydraulic station,
There are weight it is big, pipeline is more, energy consumption is high, malfunction elimination is complicated, great in constructing amount the problems such as.
Summary of the invention
In view of the above defects of the prior art, the object of the present invention is to provide a kind of straddle carrier volume servo one
Change electric hydraulic steering system and its control method, further hoisting device is horizontal, changes the configuration of existing driving and steering system, improves
Deficiency existing for existing system.
To achieve the above object, the present invention adopts the following technical scheme:
On the one hand, a kind of servo integrated electric hydraulic steering system of straddle carrier volume, including it is sequentially connected control unit, dynamic
Power unit and actuator further include for completing the rotary angle transmitter and be used for transmission that wheel physical location live signal is fed back
The turn signal setter (being steering wheel when pilot steering, be navigation system when automatic Pilot) of straddle carrier steering order, turns
The feedback angle of angle transducer is compared with the given steering angle of turn signal setter, the output signal of comparison result
Reach control unit；
The power unit, including servomotor, coupled two-way closed hydraulic pump, two-way closed hydraulic pump are logical
Hydraulic system pipeline is crossed to connect with actuator；
Described control unit, including for driving the servo-driver of servomotor, and for receiving comparison result
The steering controller of output signal；
The actuator is hydraulic steering cylinder.
The power unit is installed on the vehicle frame of straddle carrier, and power unit is for driving hydraulic steering cylinder, steering hydraulic
The piston rod of cylinder and the suspension of straddle carrier connect, and are connected with wheel group on suspension.
The hydraulic system pipeline, including be connected on two-way closed hydraulic pump integrated fuel tank, logic valve group and for connecting
Connect the fluid pressure line of each component.
The logic valve group, including
Flushing valve prevents hydraulic oil temperature in pipeline from spending for realizing the displacement of hydraulic oil in fluid pressure line, integrated fuel tank
It is high；
Two check valves, for prevent hydraulic steering cylinder by load effect and when passive movement, is emptied state；
Two safety valves, for preventing steering hydraulic in-cylinder pressure superpressure；
Solenoid valve, when conducting, balance two cavity pressure of hydraulic steering cylinder, and hydraulic steering cylinder is in suspended state.
On the other hand, the servo integrated electro-hydraulic rotating direction control method of a kind of straddle carrier volume:
After straddle carrier control system issues steering order to turn signal setter, gives steering angle and corner passes
Sensor feedback angle is compared, when there are when difference, provide adjustment signal to steering controller, steering controller for two angles
Comprehensive shift control algorithm issues control instruction to servo-driver, servo-driver control servomotor rotation revolving speed,
Corner, servomotor drive two-way closed hydraulic pump to rotate to hydraulic system pipeline and provide high pressure oil, and high pressure oil driving turns to
Hydraulic cylinder stretches out/retraction movement, the final accurate control for realizing straddle carrier wheel group steering angle.
When road surface occurs concave-convex, when the deformation of load-carrying different kinds of tyre is different, suspension can generate the phase of vertical direction with vehicle frame
To movement, hydraulic steering cylinder needs to adjust extension elongation in real time according to the feedback signal of rotary angle transmitter.
In the above technical solution, a kind of servo integrated electric hydraulic steering system of straddle carrier volume provided by the present invention
And its control method, also have the following the utility model has the advantages that
It 1), can be by the dynamic of the servo integrated electric hydraulic steering system of volume of the present invention under conditions of using connecting rod steering mechanism
The hydraulic cylinder of the original promotion link motion of power unit driving, realizes that steering mechanical is synchronous, meets and turn to requirement；Turn using independent
To under conditions of mechanism, the power unit of the servo integrated electric hydraulic steering system of volume of the present invention can be driven to the liquid of each wheel
Cylinder pressure realizes high-precision independent steering；
2) the servo integrated electric hydraulic steering system of volume of the present invention is suitable for (only using whole straddle carriers of fluid-link steering
Vertical, dependent, which turns to, can be used).When the servo integrated electric hydraulic steering system of this volume be configured at dependent steering system across
When transporting vehicle, straddle carrier can realize Ackermann steering mode (can only realize this mode using the straddle carrier that link mechanism turns to)；
When the servo integrated electric hydraulic steering system of this volume is configured at the straddle carrier of independent steering system, straddle carrier can realize Ackermam
Steering pattern, truck steering pattern, diagonal steering pattern and pivot stud (revolution) mode.
3) the servo integrated electric hydraulic steering system of volume of the present invention uses enclosed volumetric void fraction, and abandoning tradition throttling control is former
Reason, it is suppressed that proportioning valve throttling control energy loss effectively improves control system efficiency, it is flexible to improve control system；
4) the servo integrated electric hydraulic steering system of volume of the present invention uses integrated design scheme, by power unit and executes
Device is arranged nearby, fluid pressure line, compact-sized, weight saving is greatly decreased, and hydraulic station weight is changed by roof to vehicle
Position is taken turns, vehicle's center of gravity is further decreased, improves roadability, reduces risk of toppling.
Detailed description of the invention
Fig. 1 is the scheme of installation of power unit, actuator in the servo integrated electric hydraulic steering system of volume of the present invention；
Fig. 2 is the control principle drawing of the servo integrated electric hydraulic steering system of volume of the present invention；
The servo integrated electric hydraulic steering system of volume realizes Ackermam through the invention when Fig. 3 a is the movement of six wheel straddle carriers
Steering pattern schematic diagram；
The servo integrated electric hydraulic steering system of volume realizes that truck turns through the invention when Fig. 3 b is the movement of six wheel straddle carriers
To pattern diagram；
The servo integrated electric hydraulic steering system of volume realizes that diagonal turns through the invention when Fig. 3 c is the movement of six wheel straddle carriers
To pattern diagram；
The servo integrated electric hydraulic steering system of volume realizes pirouette through the invention when Fig. 3 d is the movement of six wheel straddle carriers
To (revolution) pattern diagram；
The servo integrated electric hydraulic steering system of volume realizes Ackermam through the invention when Fig. 4 a is the movement of eight wheel straddle carriers
Steering pattern schematic diagram；
The servo integrated electric hydraulic steering system of volume realizes that truck turns through the invention when Fig. 4 b is the movement of eight wheel straddle carriers
To pattern diagram；
The servo integrated electric hydraulic steering system of volume realizes that diagonal turns through the invention when Fig. 4 c is the movement of eight wheel straddle carriers
To pattern diagram.
Specific embodiment
Technical solution of the present invention is further illustrated with reference to the accompanying drawings and examples.
Incorporated by reference to shown in Fig. 1 to Fig. 2, a kind of servo integrated electro-hydraulic steering system of straddle carrier volume provided by the present invention
System, including sequentially connected control unit, power unit and actuator, further include for completing wheel physical location live signal
The rotary angle transmitter 1 of feedback and the turn signal setter 2 for being used for transmission straddle carrier steering order, rotary angle transmitter 1 it is anti-
Feedback angle is compared with the given steering angle of turn signal setter 2, and it is single that the output signal of comparison result reaches control
Member.
Preferably, the power unit 200, including servomotor 3, coupled two-way closed hydraulic pump 4 are two-way
Closed type hydraulic pump 4 is connect by hydraulic system pipeline with actuator.
Preferably, described control unit, including for driving the servo-driver 6 of servomotor 3, and for receiving ratio
The steering controller 7 of the output signal of relatively result.
Preferably, the actuator selects hydraulic steering cylinder 5.
Preferably, the installation of power unit 200 is on the vehicle frame 8 of straddle carrier, power unit 200 turns to liquid for driving
Cylinder pressure 5, the piston rod of hydraulic steering cylinder 5 and the suspension 9 of straddle carrier connect, and are connected with wheel group 10 on suspension 9.
Preferably, the hydraulic system pipeline, including integrated fuel tank 11, the logical valve being connected on two-way closed hydraulic pump 4
Group and fluid pressure line for connecting components.
Preferably, the logic valve group, comprising:
Flushing valve 12 prevents hydraulic in pipeline for realizing the displacement of hydraulic oil in hydraulic system pipeline, integrated fuel tank 11
Oil temperature is excessively high；
Two check valves 13,14, for prevent hydraulic steering cylinder 5 by load effect and when passive movement, is emptied shape
State protects hydraulic steering cylinder 5；
Two safety valves 15,16, for preventing pressure superpressure in hydraulic steering cylinder 5, it is ensured that system safety；
Solenoid valve 17, when conducting, make 5 liang of cavity pressures balances of hydraulic steering cylinder, and hydraulic steering cylinder 5 is in suspended state, prevents
Straddle carrier generates high pressure when not working in hydraulic system pipeline, and can make system release when safeguarding hydraulic system.
The present invention also provides a kind of servo integrated electro-hydraulic rotating direction control methods of straddle carrier volume:
After straddle carrier control system issues steering order to turn signal setter 2, steering angle and corner are given
1 feedback angle of sensor is compared, when there are when difference, provide adjustment signal to steering controller 7, steering control for two angles
The comprehensive shift control algorithm of device 7 processed issues control instruction to servo-driver 6, and servo-driver 6 controls servomotor 3 and rotates
Revolving speed, corner, servomotor 3 drive two-way closed hydraulic pump 4 rotate to hydraulic system pipeline provide high pressure oil, high pressure oil
Driving hydraulic steering cylinder 5 stretches out/retraction movement, the final accurate control for realizing straddle carrier wheel group steering angle.
When road surface occurs concave-convex, when the deformation of load-carrying different kinds of tyre is different, suspension 9 and vehicle frame 8 can generate vertical direction
Relative motion, hydraulic steering cylinder 5 need to adjust extension elongation in real time according to the feedback signal of rotary angle transmitter 1, it is ensured that straddle carrier
Driving direction it is accurate.
Steering controller 7 integrates shift control algorithm: for turning to the high-precision control of volume servo-control system, the calculation
Method is by the three close-loop control (electric current loop-control motor torque of servo electrical machinery system；Speed ring-control motor speed；Position ring-control
Corner (model that position ring needs to increase hydraulic system in such a system) processed) upgrade to the three close-loop control of steering system, wherein
Position ring increases the nonlinear model of two-way closed pump control system while considering the characteristic of servo electrical machinery system, and will pipe
The amount of nonlinearity such as road effect, leakage, oil liquid elasticity compensate in the controls, establish electro-hydraulic volume servo-control system and turn to control
Algorithm processed is realized and turns to high-precision control.
After straddle carrier starting, solenoid valve 17 is in obtain electricity condition always, includes following three kinds of states:
1) straight-going state, in this case, rotary angle transmitter 1 give corner with turn signal setter 2 and are compared,
When differential seat angle is less than threshold values, servomotor 3 maintains the original state without control signal, hydraulic steering cylinder 5；
2) steering state, after straddle carrier control system issues steering order to turn signal setter 2, turn signal
Setter 2 gives steering angle and is compared with 1 feedback angle of rotary angle transmitter, when two angles there are difference and are more than valve
When value, adjustment signal is provided to steering controller 7, the comprehensive shift control algorithm of steering controller 7 issues control instruction to servo
Driver 6, servo-driver 6 control revolving speed, the corner that servomotor 3 rotates, and servomotor 3 drives two-way closed hydraulic
Pump 4, which is rotated to hydraulic system pipeline, provides high pressure oil, and high pressure oil driving hydraulic steering cylinder 5 stretches out/retraction movement, final to realize
The accurate control of straddle carrier wheel group steering angle.
When two-way closed hydraulic pump 4 exports high pressure oil to system, high-pressure side can will be in part system by flushing valve 12
Hot oil be expelled back into integrated fuel tank 11, and low-pressure side sucks cold oil from integrated fuel tank 11 by check valve 13 or 14, completes
The displacement of oil liquid, it is ensured that system oil temperature is in good working order；
3) jounce condition, when road surface occurs concave-convex, suspension 9 and vehicle frame 8 can be in the opposite fortune for instantaneously generating vertical direction
It is dynamic, since under jounce condition, corner control instruction is not changed because jolting, therefore under this operating condition, hydraulic system
Always in passive adjustment state, at this point, the stroke variation of the hydraulic steering cylinder 5 for generation of jolting is inhaled by oil liquid elasticity in pipeline
Receive, when instantaneous pressure be more than safety value after, corresponding 15 or 16 overflow of safety valve, guarantee system within safe pressure, meanwhile,
Low-pressure side sucks hydraulic oil by check valve 13 or 14 from integrated fuel tank 11, realizes repairing.
As shown in Fig. 3 a to Fig. 3 d, the servo integrated electric hydraulic steering system of volume through the invention when six wheel straddle carriers movements
Realize four kinds of steering patterns:
The first is Ackermann steering mode, and in such a mode, the rotation center of circle of each wheel group 10 of straddle carrier meets at one
Point, but the rotational angle of each wheel group 10 is different (as shown in Figure 3a).
Second is truck steering pattern, i.e., the wheel group 10 of preceding two axis all turns over certain angle according to a certain ratio, is completed
The Turning travel (as shown in Figure 3b) of straddle carrier.
The third is diagonal mode, and in such a mode, each wheel group 10 of straddle carrier rotates same angle, makes straddle carrier
It can be along straight-line travelling (as shown in Figure 3c) in a direction in front of side.
4th kind is pivot stud (revolution) mode, i.e. straddle carrier can be realized 360 ° of casts.
As shown in Fig. 4 a to Fig. 4 c, the servo integrated electric hydraulic steering system of volume through the invention when eight wheel straddle carriers movements
Realize three kinds of steering patterns:
The first is Ackermann steering mode, and in such a mode, the rotation center of circle of each wheel group 10 of straddle carrier meets at one
Point, but the rotational angle of each wheel group 10 is different (as shown in fig. 4 a).
Second is diagonal mode, and in such a mode, each wheel group 10 of straddle carrier rotates same angle, makes straddle carrier
It can be along straight-line travelling (as shown in Figure 4 b) in a direction in front of side.
The third is truck steering pattern, i.e. the wheel group 10 of first three axis all turns over certain angle according to a certain ratio, and the
The wheel group 10 of four axis remains stationary, thus to complete the Turning travel of straddle carrier (as shown in Figure 4 b).
Those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate the present invention,
And be not used as limitation of the invention, as long as the change in spirit of the invention, to embodiment described above
Change, modification will all be fallen within the scope of claims of the present invention.
Claims (6)
1. a kind of servo integrated electric hydraulic steering system of straddle carrier volume, it is characterised in that: including sequentially connected control unit,
Power unit and actuator, further include for complete wheel physical location live signal feedback rotary angle transmitter and for passing
The turn signal setter of defeated straddle carrier steering order, the feedback angle of rotary angle transmitter and giving for turn signal setter
Determine steering angle to be compared, the output signal of comparison result reaches control unit；
The power unit, including servomotor, coupled two-way closed hydraulic pump, two-way closed hydraulic pump pass through liquid
Pressure system pipeline is connect with actuator；
Described control unit, including for driving the servo-driver of servomotor, and the output for receiving comparison result
The steering controller of signal；
The actuator is hydraulic steering cylinder.
2. a kind of servo integrated electric hydraulic steering system of straddle carrier volume as described in claim 1, it is characterised in that: the power
Unit is installed on the vehicle frame of straddle carrier, power unit for driving hydraulic steering cylinder, the piston rod of hydraulic steering cylinder with across fortune
The suspension of vehicle connects, and is connected with wheel group on suspension.
3. a kind of servo integrated electric hydraulic steering system of straddle carrier volume as claimed in claim 2, it is characterised in that: described hydraulic
System pipeline, including be connected on two-way closed hydraulic pump integrated fuel tank, logic valve group and for the hydraulic tube of connecting components
Road.
4. a kind of servo integrated electric hydraulic steering system of straddle carrier volume as claimed in claim 3, it is characterised in that: the logic
Valve group, including
Flushing valve prevents hydraulic oil temperature in pipeline from spending for realizing the displacement of hydraulic oil in hydraulic system pipeline, integrated fuel tank
It is high；
Two check valves, for prevent hydraulic steering cylinder by load effect and when passive movement, is emptied state；
Two safety valves, for preventing steering hydraulic in-cylinder pressure superpressure；
Solenoid valve, when conducting, balance two cavity pressure of hydraulic steering cylinder, and hydraulic steering cylinder is in suspended state.
5. a kind of servo integrated electro-hydraulic rotating direction control method of straddle carrier volume as described in claim any one of 1-4, feature
It is:
After straddle carrier control system issues steering order to turn signal setter, steering angle and rotary angle transmitter are given
Feedback angle is compared, and when two angles are there are adjustment signal when difference, is provided to steering controller, steering controller is comprehensive
Shift control algorithm issues control instruction to servo-driver, and servo-driver controls the revolving speed of servomotor rotation, corner,
Servomotor drives two-way closed hydraulic pump to rotate to hydraulic system pipeline and provides high pressure oil, and high pressure oil drives hydraulic steering cylinder
/ retraction movement is stretched out, the final accurate control for realizing straddle carrier wheel group steering angle.
6. a kind of servo integrated electro-hydraulic rotating direction control method of straddle carrier volume as claimed in claim 5, it is characterised in that: work as road
When face occurs concave-convex, when the deformation of load-carrying different kinds of tyre is different, suspension can generate the relative motion of vertical direction with vehicle frame, turn to liquid
Cylinder pressure needs to adjust extension elongation in real time according to the feedback signal of rotary angle transmitter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910648068.3A CN110497962B (en) | 2019-07-18 | 2019-07-18 | Volume servo integrated electro-hydraulic steering system of straddle carrier and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910648068.3A CN110497962B (en) | 2019-07-18 | 2019-07-18 | Volume servo integrated electro-hydraulic steering system of straddle carrier and control method thereof |
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| Publication Number | Publication Date |
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| CN110497962A true CN110497962A (en) | 2019-11-26 |
| CN110497962B CN110497962B (en) | 2023-11-24 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112498213A (en) * | 2020-12-09 | 2021-03-16 | 上海振华重工(集团)股份有限公司 | Automatic container guiding vehicle |
| CN112722063A (en) * | 2021-01-18 | 2021-04-30 | 北京九曜智能科技有限公司 | Closed-loop control system and control method for hydraulic steering system |
| CN114919656A (en) * | 2022-06-29 | 2022-08-19 | 天津港第二集装箱码头有限公司 | Vehicle steering control system and method |
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| CN112498213A (en) * | 2020-12-09 | 2021-03-16 | 上海振华重工(集团)股份有限公司 | Automatic container guiding vehicle |
| CN112722063A (en) * | 2021-01-18 | 2021-04-30 | 北京九曜智能科技有限公司 | Closed-loop control system and control method for hydraulic steering system |
| CN112722063B (en) * | 2021-01-18 | 2024-04-30 | 北京九曜智能科技有限公司 | Closed-loop control system and control method for hydraulic steering system |
| CN114919656A (en) * | 2022-06-29 | 2022-08-19 | 天津港第二集装箱码头有限公司 | Vehicle steering control system and method |
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| CN110497962B (en) | 2023-11-24 |
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