CN110745176A - Safety type handle steering control system and control method for loader - Google Patents
Safety type handle steering control system and control method for loader Download PDFInfo
- Publication number
- CN110745176A CN110745176A CN201911027793.5A CN201911027793A CN110745176A CN 110745176 A CN110745176 A CN 110745176A CN 201911027793 A CN201911027793 A CN 201911027793A CN 110745176 A CN110745176 A CN 110745176A
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- CN
- China
- Prior art keywords
- steering
- controller
- control
- main controller
- loader
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/12—Hand levers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—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 means for actuating valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
Abstract
The invention discloses a safety type handle steering control system and a safety type handle steering control method for a loader, and belongs to the technical field of electrical control of engineering machinery. The method comprises the following steps: a steering valve; the steering control handle is used for sending a steering command; the angle sensor is used for detecting the steering angle of the whole machine; and the electronic controller ECU receives a steering command of the steering control handle and a steering angle detected by the angle sensor, and sends control current to the steering valve. The invention effectively reduces the labor intensity of the manipulator and improves the operation comfort and the working efficiency of the machine; the electronic controller ECU comprises a main controller and a sub-controller, the main controller controls the work of the steering system at ordinary times, the sub-controller can access all inputs and preferentially control all outputs, and when the main controller works abnormally, the sub-controller replaces the main controller to execute the work of the steering system, so that the safety of the steering control of the whole machine is ensured.
Description
Technical Field
The invention relates to a steering control technology of a loader, in particular to a safety type handle steering control system and a control method of the loader, and belongs to the technical field of electrical control of engineering machinery.
Background
At present, the loader is widely applied to agricultural production and industrial construction in the world, is one of indispensable engineering machines, and although the overall technical level is gradually mature, the requirements on the comfort and the working efficiency are higher and higher, and particularly, the steering control system with the highest operating frequency of the loader is required to be higher.
The steering control of most machines at present changes the walking direction of machine through rotating the steering wheel drive direction post, and loader operation characteristics are that the shovel material makes a round trip in little operation area, lift, the loading is unloaded, retreat, often need the manipulator to rotate the steering wheel frequently and change the machine walking direction like this, to turning to the great walking direction that can reach the requirement control of angle or even need to rotate the steering wheel several circles, because the existence of inertia hysteresis, there will be the operation of turning to the head and turning to the steering wheel again, and the manipulator that the operation machine carries out the shovel dress operation is mostly the controlling operation handle of one hand controlling equipment, rotate the steering wheel with the other hand, for the manipulator that long-time operation machine carries out the shovel dress operation, intensity of labour is very big.
Disclosure of Invention
Aiming at the problems, the invention provides a safety type handle steering control system and a control method for a loader.
The invention is realized by the following technical scheme: a loader safety handle steering control system comprising:
the steering valve is positioned in a steering hydraulic system of the whole machine, and the walking direction of the whole machine is controlled through the on-off direction and the valve opening of the steering valve;
the steering control handle is used for sending a steering command;
the angle sensor is used for detecting the steering angle of the whole machine;
and the electronic controller ECU receives a steering command of the steering control handle and a steering angle detected by the angle sensor, and sends control current to the steering valve.
Preferably: the engine controller outputs engine rotating speed information to the electronic controller ECU through the CAN communication port; and the electronic controller ECU adopts a closed-loop PID algorithm to control the current value of the control current sent to the steering valve.
Preferably: the electronic controller ECU comprises a main controller and a sub-controller, the main controller and the sub-controller respectively access the input of the electronic controller ECU and control the output of the electronic controller ECU, and the sub-controller controls the output of the electronic controller ECU in priority over the main controller.
Preferably: the electronic controller ECU is connected with a system fault alarm device; when the main controller works abnormally, the system fault alarm device sends out a system fault alarm, and the sub-controller replaces the main controller to execute the output of the electronic controller ECU.
Preferably: the angle sensor is arranged at the hinged position of the front frame and the rear frame of the whole machine and detects the relative angle of the front frame and the rear frame.
A safety type handle steering control method for a loader comprises the following steps:
the steering valve is positioned in a steering hydraulic system of the whole machine, and the walking direction of the whole machine is controlled through the on-off direction and the valve opening of the steering valve;
the steering control handle is used for sending a steering command;
the angle sensor is used for detecting the steering angle of the whole machine;
the electronic controller ECU receives a steering instruction of the steering control handle and a steering angle detected by the angle sensor and sends control current to the steering valve;
the engine controller outputs engine rotating speed information to the electronic controller ECU through the CAN communication port;
the method comprises the following steps of;
the electronic controller ECU performs self-checking on the whole system, and if a fault occurs in the self-checking process, an alarm indicating lamp prompts the fault type, so that the troubleshooting is convenient;
after the self-checking is passed, when the loader is started to enter a normal working mode, when the rotating speed of the engine is read to exceed a set value through a CAN bus, the steering control handle starts to work;
the electronic controller ECU starts to receive steering instruction data of a steering control handle and whole machine walking direction data detected by an angle sensor in real time; comparing the two sets of obtained data according to internal software of an Electronic Control Unit (ECU), carrying out PID analysis operation on steering instruction data of a steering control handle and the traveling direction data of the whole machine when the two sets of data are different, automatically adjusting current output to a steering valve according to an operation result, and changing the steering of the whole machine by changing the on-off direction and the opening degree of a steering valve core;
when the main controller executes the system control function, the auxiliary controller reads the input data of the main controller in real time and monitors the output of the main controller; when the output of the main controller is abnormal, the sub-controller takes the priority of the main controller to control all the outputs.
Compared with the prior art, the invention has the beneficial effects that:
1, the steering control of the loader is realized through a steering control handle, so that the labor intensity of a manipulator is effectively reduced, and the operation comfort and the working efficiency of the loader are improved;
and 2, the electronic controller ECU is provided with two systems of a main controller and a sub-controller, the main controller controls the steering system to work at ordinary times, the sub-controller can access all inputs and preferentially control all outputs, and when the main controller works abnormally, the sub-controller replaces the main controller to execute the steering system to work, so that the safety of the steering control of the whole machine can be ensured.
Drawings
FIG. 1 is a logical block diagram of a control system of an embodiment of the present invention;
FIG. 2 is a control flow diagram of an embodiment of the present invention;
FIG. 3 is a component layout diagram of an embodiment of the present invention;
FIG. 4 is a schematic circuit diagram of an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings and application examples.
Example one
Referring to fig. 1, 3 and 4, a safety handle steering control system for a loader comprises:
the steering valve 2 is positioned in a steering hydraulic system of the loader and controls the traveling direction of the whole loader through the on-off direction and the valve opening of the steering valve; the steering hydraulic system of the loader is the prior art, and the embodiment is not further limited;
a steering handle 3 for giving a steering instruction; the steering control handle replaces a traditional rotating steering wheel, and a control steering instruction is transmitted to the electronic controller ECU1 through the steering control handle;
the angle sensor 4 is used for detecting the steering angle of the whole machine; the angle sensor is arranged at the hinged part of the front frame and the rear frame of the whole machine, detects the relative angle of the front frame and the rear frame and transmits the steering angle information to the electronic controller ECU 1;
the engine controller outputs information such as engine speed and the like to the electronic controller ECU through the CAN communication port;
the electronic controller ECU1 receives a steering instruction of a steering control handle, steering angle information detected by an angle sensor, information such as the rotating speed of an engine and the like, adjusts and sends control current to a steering valve by adopting a closed-loop PID algorithm; the steering valve 2 changes the on-off direction and the valve opening of the steering valve body according to the current value, thereby changing the steering of the loader. Because closed-loop PID analysis operation is adopted, the steering system pressure is very stable.
In this embodiment, the electronic controller ECU includes a main controller and a sub-controller, and the main controller and the sub-controller both access the input of the electronic controller ECU respectively and control the output of the electronic controller ECU. However, the sub-controller controls the output of the electronic controller ECU preferentially over the main controller. And the electronic controller ECU is connected with a system fault alarm device. The main controller controls the steering system to work normally, when the main controller works abnormally, the system fault alarm device gives out a system fault alarm, and the sub-controller replaces the main controller to execute the steering system to work, so that the safety of the steering control of the whole machine is ensured.
Example two
On the basis of the first embodiment, with reference to fig. 2, the method for controlling the steering of the safety handle of the loader includes the following steps:
the electronic controller ECU performs self-checking on the whole system, and if a fault occurs in the self-checking process, an alarm indicating lamp prompts the fault type, so that the troubleshooting is convenient;
after the self-checking is passed, when the loader is started and enters a normal working mode, when the rotating speed of the engine is read to exceed a set value through a CAN bus, the steering control handle 3 starts to work;
the electronic controller ECU starts to receive steering instruction data of the steering control handle 3 and whole machine walking direction data detected by the angle sensor 4 in real time; comparing the two sets of obtained data according to internal software of an Electronic Control Unit (ECU), carrying out PID analysis operation on steering instruction data of a steering control handle 3 and the traveling direction data of the whole machine when the two sets of data are different, automatically adjusting current output to a steering valve 2 according to an operation result, and changing the steering of the whole machine by changing the on-off direction and the opening degree of a steering valve core;
when the main controller executes the system control function, the auxiliary controller reads the input data of the main controller in real time and monitors the output of the main controller; when the output of the main controller is abnormal, the sub-controller takes the priority of the main controller to control all the outputs.
In the embodiment, the electronic controller ECU is a dual-core controller composed of a main controller and a sub-controller, so that the safety and reliability of the whole system are ensured. The steering control system breaks the mode that the walking direction of the machine is changed by rotating the steering wheel of the traditional loader, effectively reduces the labor intensity of a manipulator, improves the operation comfort and the working efficiency of the machine, and meanwhile, the adoption of the dual-core controller also guarantees the safety and the reliability of the system.
Claims (6)
1. A safety handle steering control system for a loader, comprising:
the steering valve is positioned in a steering hydraulic system of the whole machine, and the walking direction of the whole machine is controlled through the on-off direction and the valve opening of the steering valve;
the steering control handle is used for sending a steering command;
the angle sensor is used for detecting the steering angle of the whole machine;
and the electronic controller ECU receives a steering command of the steering control handle and a steering angle detected by the angle sensor, and sends control current to the steering valve.
2. The safety handle steering control system of a loader of claim 1, wherein: the engine controller outputs engine rotating speed information to the electronic controller ECU through the CAN communication port; and the electronic controller ECU adopts a closed-loop PID algorithm to control the current value of the control current sent to the steering valve.
3. The safety handle steering control system of a loader of claim 1, wherein: the electronic controller ECU comprises a main controller and a sub-controller, the main controller and the sub-controller respectively access the input of the electronic controller ECU and control the output of the electronic controller ECU, and the sub-controller controls the output of the electronic controller ECU in priority over the main controller.
4. The safety handle steering control system of a loader of claim 3, wherein: the electronic controller ECU is connected with a system fault alarm device; when the main controller works abnormally, the system fault alarm device sends out a system fault alarm, and the sub-controller replaces the main controller to execute the output of the electronic controller ECU.
5. The safety handle steering control system of a loader of claim 1, wherein: the angle sensor is arranged at the hinged position of the front frame and the rear frame of the whole machine and detects the relative angle of the front frame and the rear frame.
6. A safety type handle steering control method for a loader is characterized by comprising the following steps:
the steering valve is positioned in a steering hydraulic system of the whole machine, and the walking direction of the whole machine is controlled through the on-off direction and the valve opening of the steering valve;
the steering control handle is used for sending a steering command;
the angle sensor is used for detecting the steering angle of the whole machine;
the electronic controller ECU receives a steering instruction of the steering control handle and a steering angle detected by the angle sensor and sends control current to the steering valve;
the engine controller outputs engine rotating speed information to the electronic controller ECU through the CAN communication port;
the method comprises the following steps of;
the electronic controller ECU performs self-checking on the whole system, and if a fault occurs in the self-checking process, an alarm indicating lamp prompts the fault type, so that the troubleshooting is convenient;
after the self-checking is passed, when the loader is started to enter a normal working mode, when the rotating speed of the engine is read to exceed a set value through a CAN bus, the steering control handle starts to work;
the electronic controller ECU starts to receive steering instruction data of a steering control handle and whole machine walking direction data detected by an angle sensor in real time; comparing the two sets of obtained data according to internal software of an Electronic Control Unit (ECU), carrying out PID analysis operation on steering instruction data of a steering control handle and the traveling direction data of the whole machine when the two sets of data are different, automatically adjusting current output to a steering valve according to an operation result, and changing the steering of the whole machine by changing the on-off direction and the opening degree of a steering valve core;
when the main controller executes the system control function, the auxiliary controller reads the input data of the main controller in real time and monitors the output of the main controller; when the output of the main controller is abnormal, the sub-controller takes the priority of the main controller to control all the outputs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911027793.5A CN110745176A (en) | 2019-10-28 | 2019-10-28 | Safety type handle steering control system and control method for loader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911027793.5A CN110745176A (en) | 2019-10-28 | 2019-10-28 | Safety type handle steering control system and control method for loader |
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| Publication Number | Publication Date |
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| CN110745176A true CN110745176A (en) | 2020-02-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911027793.5A Pending CN110745176A (en) | 2019-10-28 | 2019-10-28 | Safety type handle steering control system and control method for loader |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008044428A (en) * | 2006-08-11 | 2008-02-28 | Komatsu Ltd | Steering control device for vehicle |
| CN101833334A (en) * | 2010-02-09 | 2010-09-15 | 北京农业信息技术研究中心 | Tractor automatic navigation control system and method thereof |
| DE202013009644U1 (en) * | 2013-11-02 | 2014-01-20 | Richard Albert Käsbauer | Electronically controlled joystick steering for construction machinery |
| CN104049530A (en) * | 2013-03-14 | 2014-09-17 | 通用汽车环球科技运作有限责任公司 | Fault tolerant control system |
| CN104973122A (en) * | 2015-05-18 | 2015-10-14 | 徐工集团工程机械股份有限公司科技分公司 | Loader electronic-control-handle steering and intelligent-braking control system |
| CN211006836U (en) * | 2019-10-28 | 2020-07-14 | 徐工集团工程机械股份有限公司科技分公司 | Safety type handle steering control system of loader |
-
2019
- 2019-10-28 CN CN201911027793.5A patent/CN110745176A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008044428A (en) * | 2006-08-11 | 2008-02-28 | Komatsu Ltd | Steering control device for vehicle |
| CN101833334A (en) * | 2010-02-09 | 2010-09-15 | 北京农业信息技术研究中心 | Tractor automatic navigation control system and method thereof |
| CN104049530A (en) * | 2013-03-14 | 2014-09-17 | 通用汽车环球科技运作有限责任公司 | Fault tolerant control system |
| DE202013009644U1 (en) * | 2013-11-02 | 2014-01-20 | Richard Albert Käsbauer | Electronically controlled joystick steering for construction machinery |
| CN104973122A (en) * | 2015-05-18 | 2015-10-14 | 徐工集团工程机械股份有限公司科技分公司 | Loader electronic-control-handle steering and intelligent-braking control system |
| CN211006836U (en) * | 2019-10-28 | 2020-07-14 | 徐工集团工程机械股份有限公司科技分公司 | Safety type handle steering control system of loader |
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