CN110816647A - Steering controller, control method, and traveling apparatus - Google Patents
Steering controller, control method, and traveling apparatus Download PDFInfo
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- CN110816647A CN110816647A CN201911138683.6A CN201911138683A CN110816647A CN 110816647 A CN110816647 A CN 110816647A CN 201911138683 A CN201911138683 A CN 201911138683A CN 110816647 A CN110816647 A CN 110816647A
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- steering control
- pulse signal
- control circuit
- signal output
- steering
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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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
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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
- 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
Abstract
The application provides a steering controller, a control method and a running device. The controller includes: the hydraulic steering control circuit is used for outputting pulse signals to an electromagnetic coil of the hydraulic electromagnetic valve; and the motor steering control circuit is used for outputting pulse signals to the motor, and the motor steering control circuit and the hydraulic steering control circuit share at least one pulse signal output channel. According to the technical scheme of the embodiment of the application, the cost and complexity of installation and maintenance of the steering controller can be reduced by multiplexing the hydraulic steering control circuit and the motor steering control circuit.
Description
Technical Field
The present application relates to the field of automatic driving, and more particularly, to a steering controller, a control method, and a running device.
Background
With the development of science and technology, automatic driving has a wide application prospect, for example, when the automatic driving device is applied to the operation of agricultural machinery, the operation precision can be improved, the labor intensity is reduced, and the mechanization degree is improved. Steering control of automatic driving is of great significance to achieving safe and stable driving of an automatic driving vehicle.
At present, two steering control schemes with similar functions and different working principles appear in the market, namely a hydraulic steering control scheme and a motor steering control scheme. Among them, the hydraulic scheme is generally used for pre-installation in a car factory, the electric motor scheme is more applied to the after-loading market, and the two requirements exist in the market at the same time, so that an automatic driving scheme manufacturer needs to use two different controllers to respectively control hydraulic steering and electric motor steering, which increases the cost and complexity of installation and maintenance.
Disclosure of Invention
The application provides a steering controller, a control method and a running device, which can reduce the installation and maintenance cost and complexity of the steering controller.
In a first aspect, there is provided a steering controller comprising: the hydraulic steering control circuit is used for outputting pulse signals to an electromagnetic coil of the hydraulic electromagnetic valve; and the motor steering control circuit is used for outputting pulse signals to the motor, and the motor steering control circuit and the hydraulic steering control circuit share at least one pulse signal output channel.
The steering controller is a universal controller and comprises a hydraulic steering control circuit and a motor steering control circuit, and the motor steering control circuit and the hydraulic steering control circuit share at least one pulse signal output channel, so that the multiplexing of hydraulic steering control and motor steering control can be realized by one steering controller, and the installation and maintenance cost and complexity of the steering controller can be reduced.
With reference to the first aspect, in certain implementations of the first aspect, the hydraulic steering control circuit includes first and second pulse signal output channels for controlling a left solenoid and a right solenoid of the hydraulic solenoid valve, respectively; the motor steering control circuit comprises a first pulse signal output channel, a second pulse signal output channel and a third pulse signal output channel, which are respectively used for controlling a three-phase winding of a motor; the first and second pulse signal output channels of the hydraulic steering control circuit multiplex two of the first, second, and third pulse signal output channels of the motor steering control circuit.
Through the multiplexing of the pulse signal output channel, the universal steering controller controls the occupied space within a certain range while multiplexing hydraulic steering control and motor steering control.
With reference to the first aspect, in certain implementations of the first aspect, the controller further includes: a processor for receiving a configuration command, the configuration command indicating an operating mode of the steering controller; if the working mode of the steering controller is a hydraulic steering control mode, steering control is carried out by using a hydraulic steering control circuit; if the working mode of the steering controller is the motor steering control mode, the motor steering control circuit is used for steering control.
The processor receives the configuration command and further sets the working mode of the controller, so that the conversion of the working mode of the steering controller is controllable.
With reference to the first aspect, in certain implementations of the first aspect, the pulse signal output channel includes: the pulse signal generating circuit comprises a first on-off control element and a second on-off control element which are connected in series, each group of on-off control element comprises a controllable device and a diode connected in reverse parallel, and the anode of a first diode in the first on-off control element and the anode of a second diode in the second on-off control element are connected with the cathode of the second diode.
With reference to the first aspect, in certain implementations of the first aspect, when the motor steering control circuit is in operation, the switching devices in the first, second, and third pulse signal output channels in the motor steering control circuit are controlled to be in a closed state; when the hydraulic steering control circuit works, the switch devices in the first pulse signal output channel and the second pulse signal output channel in the hydraulic steering control circuit are controlled to be in an open state, and meanwhile, the switch of the pulse signal output channel which is not multiplexed in the controller is controlled to be in a closed state.
In a second aspect, there is provided a control method of a steering controller, the method including: when a hydraulic steering control circuit of the steering controller is in a working state, a pulse signal is output to an electromagnetic coil of a hydraulic electromagnetic valve; when a motor steering control circuit of the steering controller is in a working state, a pulse signal is output to the motor, and the motor steering control circuit and the hydraulic steering control circuit share at least one pulse signal output channel.
The steering controller is a universal controller and comprises a hydraulic steering control circuit and a motor steering control circuit, and the motor steering control circuit and the hydraulic steering control circuit share at least one pulse signal output channel, so that the multiplexing of hydraulic steering control and motor steering control can be realized by one steering controller, and the installation and maintenance cost and complexity of the steering controller can be reduced.
With reference to the second aspect, in certain implementations of the second aspect, the hydraulic steering control circuit includes first and second pulse signal output channels for controlling a left solenoid and a right solenoid of the hydraulic solenoid valve, respectively; the motor steering control circuit comprises a first pulse signal output channel, a second pulse signal output channel and a third pulse signal output channel, which are respectively used for controlling a three-phase winding of a motor; the first and second pulse signal output channels of the hydraulic steering control circuit multiplex two of the first, second, and third pulse signal output channels of the motor steering control circuit.
Through the multiplexing of the pulse signal output channel, the universal steering controller controls the occupied space within a certain range while multiplexing hydraulic steering control and motor steering control.
With reference to the second aspect, in certain implementations of the second aspect, the method further includes: receiving a configuration command, wherein the configuration command is used for indicating the working mode of the steering controller; if the working mode of the steering controller is a hydraulic steering control mode, steering control is carried out by using a hydraulic steering control circuit; if the working mode of the steering controller is the motor steering control mode, the motor steering control circuit is used for steering control.
The steering controller can set the working mode by receiving the configuration command, so that the conversion of the working mode of the steering controller is controllable.
With reference to the second aspect, in certain implementations of the second aspect, the pulse signal output channel includes: the pulse signal generating circuit comprises a first on-off control element and a second on-off control element which are connected in series, each group of on-off control element comprises a controllable device and a diode connected in reverse parallel, and the anode of a first diode in the first on-off control element and the anode of a second diode in the second on-off control element are connected with the cathode of the second diode.
With reference to the second aspect, in certain implementations of the second aspect, the method further includes: when the motor steering control circuit works, the switching devices in the first, second and third pulse signal output channels in the motor steering control circuit are controlled to be in a closed state; when the hydraulic steering control circuit works, the switch devices in the first pulse signal output channel and the second pulse signal output channel in the hydraulic steering control circuit are controlled to be in an open state, and meanwhile, the switch of the pulse signal output channel which is not multiplexed in the controller is controlled to be in a closed state.
In a third aspect, there is provided a running apparatus including: a steering mechanism; the steering controller according to the first aspect, for controlling the steering mechanism.
Drawings
FIG. 1 is a circuit example diagram of a prior art hydraulic steering control scheme.
Fig. 2 is a diagram showing an example of a program control of the conventional hydraulic steering.
Fig. 3 is a circuit example diagram of a prior art motor steering control scheme.
Fig. 4 is a diagram showing an example of a program control of the conventional motor steering.
Fig. 5 is a diagram illustrating an example of a steering controller according to an embodiment of the present application.
Fig. 6 is a diagram of a specific application example of the steering controller according to the embodiment of the present application.
Fig. 7 is an example diagram of the steering controller of the present application in a hydraulic steering control mode.
Fig. 8 is an exemplary diagram of the steering controller of the present application in a motor steering control mode.
FIG. 9 is a diagram of an example of a processor receiving a configuration command.
Fig. 10 is a flowchart illustrating a program control flow of the steering controller according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application.
For ease of understanding, first, a brief description is given of an application scenario of the embodiment of the present application.
With the development of science and technology, automatic driving has a wide development prospect in various fields. For example, the use of an automatic driving agricultural machine in the agricultural field can reduce labor force, reduce labor intensity, improve operation precision, and further realize an unmanned farm. And the steering control of automatic driving has important significance for realizing safe and stable running of the automatic driving vehicle.
For the steering control of automatic driving, two steering control schemes with similar functions and different working principles, namely a hydraulic steering control scheme and a motor steering control scheme, appear on the market at present. FIG. 1 is a circuit example diagram of a prior art hydraulic steering control scheme. As shown in fig. 1, two pulse signal output channels are used to be connected to left and right solenoids (L and R) of an electromagnetic hydraulic valve, respectively, each pulse signal output channel including: a pulse signal generating circuit and a switching device (left: S1; right: S2) for controlling the on-off of the output channel of the pulse signal, wherein the pulse generating circuit is used for generating reverse pulses, each pulse signal generating circuit comprises a first switching control element and a second switching control element (left: L1 and L2; right: R1 and R2) which are connected in series, each switching control element comprises a controllable device and a diode which is connected in parallel in an opposite direction, and the positive pole of the first diode in the first switching control element and the positive pole of the second diode in the second switching control element are connected with the negative pole of the second diode. In autonomous driving, steering control of an autonomous vehicle is generally implemented in conjunction with program control. Fig. 2 is a diagram showing an example of a program control of the conventional hydraulic steering. As shown in fig. 2, the task is executed according to the time set by the periodic control timer, and when the periodic time of the timer expires, the hydraulic steering control algorithm is started to be executed, and when the periodic time of the timer does not expire, the hydraulic steering control algorithm is continuously waited. The executing of the hydraulic steering control algorithm specifically comprises the following steps: when the timing of the left turn of the timer periodically expires, closing S1, executing a left turn task, and opening S1 after the execution is finished; when the timing for turning right of the timer periodically expires, S2 is closed, the task for turning right is executed, and S2 is opened after the execution is completed. Fig. 3 is a circuit example diagram of a prior art motor steering control scheme. As shown in FIG. 3, two pulse signal output channels are connected to A, B, C three-phase windings respectively, each pulse signal output channel is composed of a pulse signal generating circuit (a 1 and a 2; b1 and b 2; c1 and c2 respectively), wherein the pulse generating circuit is used for generating reverse pulse. Fig. 4 is a diagram showing an example of a program control of the conventional motor steering. As shown in fig. 4, the task is executed according to the time set by the periodic control timer, and when the periodic time of the timer expires, the motor steering control algorithm is started to be executed, and when the periodic time of the timer does not expire, the waiting is continued.
Among the above two rotation schemes, the electromagnetic hydraulic steering control scheme is generally applied to pre-assembly in a car factory, and the motor steering wheel steering control scheme is more applied to the after-assembly market, and these two requirements exist in the market at the same time, so that an automatic driving scheme manufacturer needs to use two different controllers to control hydraulic steering and motor steering respectively, which increases the cost and complexity of installation and maintenance.
The embodiment of the application can be used for steering control in automatic driving, and the cost and complexity of installation and maintenance of the steering controller are reduced by multiplexing a hydraulic steering control scheme and a motor steering control scheme in the same steering controller.
The steering controller of the present application will be described in detail below.
The steering controller of the present application includes: the hydraulic steering control circuit is used for outputting pulse signals to an electromagnetic coil of the hydraulic electromagnetic valve; and the motor steering control circuit is used for outputting pulse signals to the motor, and the motor steering control circuit and the hydraulic steering control circuit share at least one pulse signal output channel.
As one embodiment, the hydraulic steering control circuit includes first and second pulse signal output channels for controlling a left solenoid and a right solenoid of the hydraulic solenoid valve, respectively; the motor steering control circuit comprises a first pulse signal output channel, a second pulse signal output channel and a third pulse signal output channel which are respectively used for controlling a three-phase winding of the motor; the first and second pulse signal output channels of the hydraulic steering control circuit multiplex two of the first, second, and third pulse signal output channels of the motor steering control circuit.
It should be understood that the pulse signal output channel includes: the pulse signal generating circuit comprises a pulse signal generating circuit and a switching device for controlling the on-off of a pulse signal output channel. It should be understood that the generation circuit of the pulse signal may generate the reverse pulse. It will also be appreciated that the circuit for generating the pulse signal comprises first and second switching control elements connected in series with each other, each set of switching control elements comprising a controllable device and an antiparallel diode, the anode of the first diode of the first and second switching control elements being connected to the cathode of the second diode.
It should be understood that when the motor steering control circuit works, the switching devices in the first, second and third pulse signal output channels in the motor steering control circuit are controlled to be in a closed state; when the hydraulic steering control circuit works, the switching devices in the first pulse signal output channel and the second pulse signal output channel in the hydraulic steering control circuit are controlled to be in an open state, and meanwhile, the switch of the pulse signal output channel which is not multiplexed in the controller is controlled to be in a closed state.
Illustratively, fig. 5 shows a steering controller 500 of an embodiment of the present application. As shown in fig. 5, the steering controller 500 includes three pulse signal output channels including three pulse signal generation circuits 510 and three on-off keys 520. Taking one of the pulse signal output channels as an example, the pulse signal output channel includes a pulse signal generating circuit 511 and an on-off key Sa, and the pulse signal generating circuit 511 includes on-off control elements a1 and a2 connected in series. Each group of on-off control elements comprises a controllable device and an antiparallel diode, and the anode of the diode in the a1 on-off control element is connected with the cathode of the diode in the a2 on-off control element. Fig. 6 is a diagram of a specific application example of the steering controller according to the embodiment of the present application. As shown in fig. 6, the steering controller 500 may alternatively communicate with the left and right solenoids 530 of the hydraulic solenoid valve and also with the three-phase winding 540 of the motor, and the pulse signal output passage outputs a pulse signal to the left and right solenoids 530 of the hydraulic solenoid valve or to the three-phase winding 540 of the motor, thereby controlling hydraulic steering or motor steering.
Specifically, when the hydraulic steering control circuit works, Sc and Sc1 are connected, Sa and Sa1, Sb and Sb1 are disconnected, and the steering controller is in a hydraulic steering control mode as shown in FIG. 7, so that a hydraulic steering control algorithm is executed according to periodic instructions of a timer; when the motor steering control circuit is operated, Sa and Sa1, Sb and Sb1, Sc and Sc1 are connected, and the steering controller is in a motor steering control mode as shown in FIG. 8, so that a motor steering control algorithm is executed according to a periodic command of a timer.
It should be understood that the steering controller of the embodiment of the present application further includes: a processor for receiving a configuration command, the configuration command indicating an operating mode of the steering controller; if the working mode of the steering controller is a hydraulic steering control mode, steering control is carried out by using the hydraulic steering control circuit; and if the working mode of the steering controller is the motor steering control mode, the motor steering control circuit is utilized to carry out steering control.
The steering controller in the embodiment of the application is a universal controller, and comprises a hydraulic steering control circuit and a motor steering control circuit, and the motor steering control circuit and the hydraulic steering control circuit share at least one pulse signal output channel, so that one steering controller can realize multiplexing of hydraulic steering control and motor steering control, and further reduce the installation and maintenance cost and complexity of the steering controller. And through the multiplexing of the pulse signal output channel, the universal steering controller controls the occupied space of the steering controller within a certain range while multiplexing hydraulic steering control and motor steering control.
It should be appreciated that the steering controller of the present application occupies less space than a controller obtained by directly combining hydraulic steering and electric motor steering controllers.
FIG. 9 is a diagram of an example of a processor receiving a configuration command. As shown in fig. 9, the configuration command process includes steps S910, S920, and S930, which are described in detail below.
S910, the configuration end sends a configuration command to the processor.
It should be understood that the configuration commands are used to indicate the operating modes of the steering controller, including hydraulic steering control mode and electric machine steering control mode.
It should be understood that the configuration end sends the configuration command in a man-machine interaction manner. Alternatively, the configuration may be performed by software, for example, the mobile terminal sends a configuration command; the mode selection may also be performed manually, for example, by pressing a mode switching key in the vehicle, and the specific configuration is not limited herein.
Alternatively, the mobile terminal may be a mobile phone, a tablet, and a computer, which are not limited herein.
S920, the processor saves the working mode.
It should be understood that the processor, upon receiving the configuration command, stores the operating mode indicated by the processor, and instructs the controller to communicate with either the hydraulic steering control circuit or the electric motor steering control circuit.
S930, the processor sends a configuration success response to the configuration end.
It should be understood that after the processor successfully saves the operating mode, it will send a configuration success response to the configuration end, so that the configuration end can know the configuration state of the controller at any time. Illustratively, if the situation of no response occurs, the user can take corresponding measures to remedy the situation in time.
The processor receives the configuration command and further sets the working mode of the controller, so that the conversion of the working mode of the steering controller is controllable.
Fig. 10 is a flowchart illustrating a program control flow of the steering controller according to the present application. Specifically, the following judgment is included.
When the working mode is motor steering control, indicating the motor steering control circuit to work, closing Sa, Sb and Sc switches in the motor steering control circuit, and starting to execute a motor steering control algorithm; and when the working mode is hydraulic steering control, indicating the hydraulic steering control circuit to work, closing a Sc switch in the hydraulic steering control circuit, enabling Sa and Sb to be in an off state, and starting to execute a hydraulic steering control algorithm.
The present application also provides a control method of a steering controller, the method including: when a hydraulic steering control circuit of the steering controller is in a working state, a pulse signal is output to an electromagnetic coil of a hydraulic electromagnetic valve; when a motor steering control circuit of the steering controller is in a working state, a pulse signal is output to the motor, and the motor steering control circuit and the hydraulic steering control circuit share at least one pulse signal output channel.
Illustratively, the hydraulic steering control circuit includes first and second pulse signal output channels for controlling left and right solenoids of the hydraulic solenoid valve, respectively; the motor steering control circuit comprises a first pulse signal output channel, a second pulse signal output channel and a third pulse signal output channel which are respectively used for controlling a three-phase winding of the motor; the first and second pulse signal output channels of the hydraulic steering control circuit multiplex two of the first, second, and third pulse signal output channels of the motor steering control circuit.
It should be understood that the pulse signal output channel includes: the pulse signal generating circuit comprises a pulse signal generating circuit and a switching device for controlling the on-off of a pulse signal output channel. It should be understood that the generation circuit of the pulse signal may generate the reverse pulse. It will also be appreciated that the circuit for generating the pulse signal comprises first and second switching control elements connected in series with each other, each set of switching control elements comprising a controllable device and an antiparallel diode, the anode of the first diode of the first and second switching control elements being connected to the cathode of the second diode.
It should also be understood that when the motor steering control circuit is operated, the switching devices in the first, second and third pulse signal output channels in the motor steering control circuit are controlled to be in a closed state; when the hydraulic steering control circuit works, the switching devices in the first pulse signal output channel and the second pulse signal output channel in the hydraulic steering control circuit are controlled to be in an open state, and meanwhile, the switch of the pulse signal output channel which is not multiplexed in the controller is controlled to be in a closed state.
It should be appreciated that the method further comprises: receiving a configuration command, wherein the configuration command is used for indicating an operating mode of the steering controller; if the working mode of the steering controller is a hydraulic steering control mode, steering control is carried out by using the hydraulic steering control circuit; and if the working mode of the steering controller is the motor steering control mode, the motor steering control circuit is utilized to carry out steering control.
The steering controller can set the working mode by receiving the configuration command, so that the conversion of the working mode of the steering controller is controllable.
The steering controller in the embodiment of the application is a universal controller, and comprises a hydraulic steering control circuit and a motor steering control circuit, and the motor steering control circuit and the hydraulic steering control circuit share at least one pulse signal output channel, so that one steering controller can realize multiplexing of hydraulic steering control and motor steering control, and further reduce the installation and maintenance cost and complexity of the steering controller. And through the multiplexing of the pulse signal output channel, the universal steering controller can control the occupied space of the steering controller within a certain range while multiplexing hydraulic steering control and motor steering control.
It should be appreciated that the steering controller of the present application occupies less space than a controller obtained by directly combining hydraulic steering and electric motor steering controllers.
The present application further provides a running apparatus including: a steering mechanism; and the steering controller of the embodiment of the application is used for controlling the steering mechanism.
Optionally, the steering mechanism is a hydraulic steering mechanism or an electric motor steering mechanism.
It should be appreciated that the steering controller is capable of controlling the steering mechanism to perform a steering task.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (11)
1. A steering controller, comprising:
the hydraulic steering control circuit is used for outputting pulse signals to an electromagnetic coil of the hydraulic electromagnetic valve;
and the motor steering control circuit is used for outputting pulse signals to the motor, and the motor steering control circuit and the hydraulic steering control circuit share at least one pulse signal output channel.
2. The steering controller according to claim 1, wherein the hydraulic steering control circuit includes first and second pulse signal output passages for controlling a left solenoid and a right solenoid of the hydraulic solenoid valve, respectively; the motor steering control circuit comprises a first pulse signal output channel, a second pulse signal output channel and a third pulse signal output channel which are respectively used for controlling a three-phase winding of the motor; the first and second pulse signal output channels of the hydraulic steering control circuit multiplex two of the first, second, and third pulse signal output channels of the motor steering control circuit.
3. The steering controller according to claim 1 or 2, characterized by further comprising:
a processor for receiving a configuration command, the configuration command indicating an operating mode of the steering controller; if the working mode of the steering controller is a hydraulic steering control mode, steering control is carried out by using the hydraulic steering control circuit; and if the working mode of the steering controller is the motor steering control mode, the motor steering control circuit is utilized to carry out steering control.
4. The steering controller according to claim 2, wherein the pulse signal output channel includes: the pulse signal generating circuit comprises a first on-off control element and a second on-off control element which are connected in series, each group of on-off control element comprises a controllable device and a diode connected in reverse parallel, and the anode of a first diode in the first on-off control element and the anode of a second diode in the second on-off control element are connected with the cathode of the second diode.
5. The steering controller according to claim 4, wherein when the motor steering control circuit is operated, the switching devices in the first, second, and third pulse signal output channels in the motor steering control circuit are controlled to be in a closed state; when the hydraulic steering control circuit works, the switching devices in the first pulse signal output channel and the second pulse signal output channel in the hydraulic steering control circuit are controlled to be in an open state, and meanwhile, the switch of the pulse signal output channel which is not multiplexed in the controller is controlled to be in a closed state.
6. A control method of a steering controller, characterized by comprising:
when a hydraulic steering control circuit of the steering controller is in a working state, a pulse signal is output to an electromagnetic coil of a hydraulic electromagnetic valve;
when a motor steering control circuit of the steering controller is in a working state, a pulse signal is output to the motor, and the motor steering control circuit and the hydraulic steering control circuit share at least one pulse signal output channel.
7. The control method according to claim 6, wherein the hydraulic steering control circuit includes first and second pulse signal output channels for controlling a left solenoid coil and a right solenoid coil of the hydraulic solenoid valve, respectively; the motor steering control circuit comprises a first pulse signal output channel, a second pulse signal output channel and a third pulse signal output channel which are respectively used for controlling a three-phase winding of the motor; the first and second pulse signal output channels of the hydraulic steering control circuit multiplex two of the first, second, and third pulse signal output channels of the motor steering control circuit.
8. The control method according to claim 6 or 7, characterized by further comprising:
receiving a configuration command, wherein the configuration command is used for indicating an operating mode of the steering controller; if the working mode of the steering controller is a hydraulic steering control mode, steering control is carried out by using the hydraulic steering control circuit; and if the working mode of the steering controller is the motor steering control mode, the motor steering control circuit is utilized to carry out steering control.
9. The control method according to claim 7, wherein the pulse signal output channel includes: the pulse signal generating circuit comprises a first on-off control element and a second on-off control element which are connected in series, each group of on-off control element comprises a controllable device and a diode connected in reverse parallel, and the anode of a first diode in the first on-off control element and the anode of a second diode in the second on-off control element are connected with the cathode of the second diode.
10. The control method according to claim 9, characterized by further comprising:
when the motor steering control circuit works, the switching devices in the first, second and third pulse signal output channels in the motor steering control circuit are controlled to be in a closed state; when the hydraulic steering control circuit works, the switching devices in the first pulse signal output channel and the second pulse signal output channel in the hydraulic steering control circuit are controlled to be in an open state, and meanwhile, the switch of the pulse signal output channel which is not multiplexed in the controller is controlled to be in a closed state.
11. A running device characterized by comprising:
a steering mechanism;
a steering controller as claimed in any one of claims 1 to 5, for controlling the steering mechanism.
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| CN201911138683.6A CN110816647B (en) | 2019-11-20 | 2019-11-20 | Steering controller, control method, and traveling apparatus |
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| CN201911138683.6A CN110816647B (en) | 2019-11-20 | 2019-11-20 | Steering controller, control method, and traveling apparatus |
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| CN105471360A (en) * | 2014-09-29 | 2016-04-06 | 日立汽车系统株式会社 | Electric Motor Drive Control Device, Electrically Driven Power Steering Device, Electrically Driven Brake Device, and Electrically Driven Pump Device |
| CN109955891A (en) * | 2017-12-25 | 2019-07-02 | 财团法人车辆研究测试中心 | The method for handover control of electronic assisted diversion mould group and electrohydraulic steering mould group |
| CN109131542A (en) * | 2018-09-25 | 2019-01-04 | 江苏大学 | A kind of double servo steering system constructional devices |
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