CN111267950A - Motor vehicle and steering and walking control system thereof - Google Patents
Motor vehicle and steering and walking control system thereof Download PDFInfo
- Publication number
- CN111267950A CN111267950A CN202010180090.2A CN202010180090A CN111267950A CN 111267950 A CN111267950 A CN 111267950A CN 202010180090 A CN202010180090 A CN 202010180090A CN 111267950 A CN111267950 A CN 111267950A
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- Prior art keywords
- steering
- walking
- proportional valve
- control system
- control unit
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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
- 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
- B62D5/065—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 specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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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)
Abstract
The invention relates to a motor vehicle and a steering and traveling control system thereof, wherein the steering and traveling control system comprises a control unit, a steering wheel, an angle sensor, a left bidirectional proportional valve, a right bidirectional proportional valve, a left traveling electric control pump, a right traveling electric control pump, a left traveling motor and a right traveling motor, wherein the angle sensor is used for detecting the rotation angle of the steering wheel, the control unit controls the current of the left bidirectional proportional valve and the current of the right bidirectional proportional valve according to the rotation angle detected by the angle sensor, so that the left traveling electric control pump and the right traveling electric control pump are controlled, and the left traveling motor and the right traveling motor are used for realizing the left rotation or the right rotation of the motor vehicle.
Description
Technical Field
The invention relates to the technical field of harvesting mechanical devices, in particular to steering and walking control of a harvesting machine.
Background
Steering and walking are key links in the harvesting machine, so that the operation comfort and the working environment of a driver are improved, the labor intensity is reduced, and the reliability and the safety become the inevitable trend of the development of the harvesting machine. At present, according to the prior art, when turning left and right or turning around in field operation, the button needs to be operated on the handle, the misoperation is easy, and the operation is inconvenient from the ergonomic angle.
Disclosure of Invention
The present invention has been made in view of the above disadvantages of the prior art to solve or mitigate the above disadvantages of the prior art, and at least to provide a useful alternative.
According to one aspect of the invention, a steering and walking control system is provided for a motor vehicle, and comprises a control unit, a steering wheel, an angle sensor, a left bidirectional proportional valve, a right bidirectional proportional valve, a left walking electric control pump, a right walking electric control pump, a left walking motor and a right walking motor, wherein the angle sensor is used for detecting a rotation angle of the steering wheel, the control unit controls the current of the left bidirectional proportional valve and the right bidirectional proportional valve according to the rotation angle detected by the angle sensor, so as to control the left walking electric control pump and the right walking electric control pump, and further realize the left turn or the right turn of the motor vehicle through the left walking motor and the right walking motor.
According to one embodiment of the invention, the steering-and-walking control system further comprises a walking handle for controlling whether the motor vehicle is moving forwards or backwards.
According to an embodiment of the present invention, the angle sensor is fixed to a bottom of a steering column of the steering wheel, thereby detecting a rotation angle of the steering wheel.
According to one embodiment of the invention, the angle sensor, the left two-way proportional valve and the right two-way proportional valve are connected to a control unit by a wiring harness assembly.
According to one embodiment of the invention, the steering and walking control system further comprises a monitoring unit, wherein the monitoring unit is connected with the control unit through a CAN bus and is used for displaying and setting steering related parameters.
According to one embodiment of the present invention, the monitoring unit includes a rotation angle change rate monitoring module including a rotation angle change rate display unit and a rotation angle change rate maximum threshold setting unit.
According to one embodiment of the present invention, the monitoring unit feeds back the finally confirmed rotation angle change rate to the control unit, and the control unit controls the current magnitude of the left bidirectional proportional valve and the right bidirectional proportional valve, thereby controlling the steering speed.
According to an embodiment of the present invention, the control unit calculates a rate of change of the turning angle of the steering wheel based on the turning angle of the steering wheel detected by the angle sensor, and determines the steering speed based on the rate of change of the turning angle.
According to an embodiment of the present invention, the control unit calculates a change rate of the turning angle of the steering wheel based on the turning angle of the steering wheel detected by the angle sensor, and determines the steering arc based on the change rate of the turning angle and the position of the center of gravity of the motor vehicle.
According to another aspect of the present invention, there is provided a motor vehicle using the steer-walking control system described above.
Drawings
The figures are schematic only and are not drawn to scale. Nor are other components shown which are not relevant for understanding the solution of the invention.
Fig. 1 shows a schematic view of a steering walking control system according to an embodiment of the present invention.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings. These descriptions are intended to be illustrative, and not to limit the scope of the invention, so as to enable those skilled in the art to practice the invention.
Fig. 1 shows a schematic view of a steering walking control system according to an embodiment of the present invention. As shown in fig. 1, the steering and traveling control system applicable to a motor vehicle according to one embodiment of the present invention includes a control unit 1, a steering wheel 2, an angle sensor 3, two-way proportional valves (a left two-way proportional valve 41 and a right two-way proportional valve 42), traveling electric control pumps (a left traveling electric control pump 51 and a right traveling electric control pump 52), and traveling motors (a left traveling motor 61 and a right traveling motor 62). The motor vehicle here may be, for example, a harvester such as a sugar cane harvester.
The angle sensor 3 is used for detecting a rotation angle of a steering wheel, and the control unit 1 controls the current of the left bidirectional proportional valve 41 and the current of the right bidirectional proportional valve 42 according to the rotation angle detected by the angle sensor 3, so as to control the flow of the left walking electric control pump 51 and the flow of the right walking electric control pump 52, and further realize left turning or right turning of a vehicle through the left walking motor 61 and the right walking motor 62.
The connection and control of the left and right travel motors 61, 62 to the left and right wheels may be accomplished using various techniques that are currently known and will become known in the future, and are within the scope of the present invention.
According to one embodiment, the angle sensor 3 is fixed to the bottom of the steering column of the steering wheel 2, thereby detecting the rotation angle of the steering wheel 2.
According to one embodiment, the angle sensor 3, the two-way proportional valve, is connected to the control unit 1 by a wiring harness assembly.
According to one embodiment, the mechanical steering and walking control system further comprises a walking handle 7, the walking handle 7 being used for controlling whether the vehicle is going forward or backward. According to one embodiment, the vehicle travels forward when the travel handle is pushed to the forward position and travels backward when the travel handle is pushed to the backward position.
According to the embodiment of the present invention, when it is desired that the vehicle travels straight, the steering wheel is in the initial position, and the angle detected by the angle sensor is 0. The control unit 1 makes the currents of the left bidirectional proportional valve 41 and the right bidirectional proportional valve 42 the same, so that the flow rates of the left walking electric control pump 51 and the right walking electric control pump 52 are the same. At this time, the vehicle travels straight. When the vehicle is desired to turn, the steering wheel is turned, and the angle sensor detects the turning angle (number of turns). The control unit 1 makes the currents of the left bidirectional proportional valve 41 and the right bidirectional proportional valve 42 different, so that the flow rates of the left walking electric control pump 51 and the right walking electric control pump 52 are different, and the left turn or the right turn of the vehicle is realized by controlling the flow rate difference value of the two pumps.
According to the technical scheme, compared with the prior art, the steering is controlled through the steering wheel, the operation mode is easier, the man-machine engineering is met, the misoperation is avoided, and the control is more accurate and safer; the automation degree is high, the maintenance is convenient, and the field turning is very easy and labor-saving.
According to one embodiment, the mechanical steering and walking control system further comprises a monitoring unit 8. The main function of the monitoring unit 8 is to monitor and display the data operation condition of the whole vehicle, and may include one or more of the following parameters: such as the key parameters of the engine speed, the engine oil pressure, the charging state of the generator, the working pressure of the whole vehicle and the like. The monitoring unit 8 CAN also be used for editing relevant parameters, performing fault self-diagnosis on each input/output signal and the like, and the monitoring unit 8 is connected with the control unit 1 through a CAN bus. When the machine running condition needs to be checked, the key of the monitoring unit 8 is pressed, and the relevant parameters can be edited: if the alarm point of the engine cooling water temperature is modified from 103 ℃ to 105 ℃, the corresponding data CAN be input by operating the key Pgaup or Pgdn, then the confirmation key of the monitoring unit is pressed, the data is transmitted to the control unit 1 by CAN bus communication, and the water temperature alarm point is changed to 105 ℃.
The control unit 1 controls the magnitude of the current supplied to the left and right bidirectional proportional valves according to the water temperature alarm point and the current water temperature set by the driver through the monitoring unit 8, thereby controlling the steering speed. That is, the absolute values of the current passing through the left bidirectional proportional valve 41 and the current passing through the right bidirectional proportional valve 42 and the difference between the two absolute values can be controlled, thereby controlling the steering speed. The steering speed is controlled so that steering does not cause the difference between the water temperature and the water temperature warning point to fall below a predetermined value.
The following settings may also be made: whether a CAN bus communication network between the engine and the control unit is normal or not is self-diagnosed; whether the vehicle maintenance information is automatically reminded; whether fault diagnosis of each input/output signal is intelligent or not.
According to one embodiment, the monitoring unit comprises a rotation angle change rate monitoring module, which comprises a rotation angle change rate display unit and a rotation angle change rate maximum threshold setting unit. When the actually input rotation angle change rate is smaller than a set maximum threshold value, the monitoring unit feeds back the actually input rotation angle change rate to the control unit; when the actually input rotation angle change rate is larger than the set maximum threshold value, the monitoring unit feeds the maximum threshold value back to the control unit, and an alarm signal is sent out from the monitoring unit. The control unit controls the current passing through the left bidirectional proportional valve and the right bidirectional proportional valve according to the steering angle information fed back by the monitoring unit, so that the steering speed is controlled.
According to one embodiment, the monitoring unit further comprises a steering speed display unit and a steering speed maximum threshold setting unit. The vehicle turning device can reduce the vehicle turning accident caused by overlarge turning speed while displaying the actual turning speed.
The angle sensor detects the rotation angle of the steering wheel and feeds the rotation angle to the control unit, the control unit calculates the rotation angle change rate of the steering wheel and feeds the rotation angle change rate to the monitoring unit, the monitoring unit feeds the finally confirmed angle change rate back to the control unit after comparing with a set maximum threshold value, then the control unit controls the currents of the left bidirectional proportional valve 41 and the right bidirectional proportional valve 42 to be different, so that the flow rates of the left walking electric control pump 51 and the right walking electric control pump 52 are different, left turning or right turning of a vehicle is realized by controlling the flow rate difference value of the two pumps, and the turning speed is determined, and the mode can well implement the turning urgency communicated by a driver.
According to one embodiment, the control unit 1 calculates the rate of change of the angle of rotation of the steering wheel 2 from the angle of rotation of the steering wheel 2 detected by the angle sensor 3, and determines the steering arc from the rate of change of the angle of rotation and the position of the center of gravity of the motor vehicle. The steering radian represents the size of the steering camber and is influenced by the steering speed. An overly abrupt turn may result in an imbalance in the center of gravity of the vehicle. According to the embodiment of the invention, the steering radian is adjusted according to the position of the gravity center, so that the steering radian can be changed for multiple times along with the change of the gravity center of the vehicle in the process of one turning, and the steering safety can be improved.
According to one embodiment, the control unit 1 calculates the rate of change of the turning angle of the steering wheel 2 from the turning angle of the steering wheel 2 detected by the angle sensor 3, and determines the steering arc from the rate of change of the turning angle, the position of the center of gravity of the motor vehicle, and the condition of the steering obstacle.
The steering radian represents the size of the steering camber, and an excessively sharp steering may cause unbalance of the gravity center of the vehicle, and in addition, an obstacle may cause an accident. According to the embodiment of the invention, the steering radian is adjusted according to the position of the center of gravity and the obstacle, so that the steering radian can be changed for a plurality of times along with the change of the center of gravity of the vehicle and the detectable obstacle in the process of one turning, and the intention of a driver can be fulfilled and the steering safety can be improved.
According to one embodiment, the mechanical steering and walking control system further comprises a key switch 9. The key switch 9 functions as a vehicle control power supply, and when the key switch 9 is turned ON (ON), the vehicle power supply is turned ON. The key switch 9 is connected with the control unit 1, and when the key switch 9 is turned to an ON position, the control unit 1 is electrified to work.
According to the embodiment of the invention, the invention has the advantages that 1) the operation is in accordance with the man-machine engineering, the operation is easier, and the operation is safer when the head is turned around in the field; 2) and the control is accurate. Because the system is a closed-loop system, the angle sensor is a high-precision feedback element, the linearity is +/-1.0%, when the vehicle turns, a steering wheel inputs a certain angle signal to the control unit 1, the set angle signal is compared with an actual turning angle signal, and the vehicle is always kept to run stably through the operation control of the control unit 1; 3) energy is saved. Compared with the traditional steering system, the system has no hydraulic steering gear and hydraulic oil cylinder, and the flow difference of the left pump and the right pump is controlled by the control unit 1, so that the differential control of the left walking motor and the right walking motor is realized, and the energy is saved and the stability is improved); 4) the maintenance is more convenient. Because the system cancels a hydraulic steering gear and a hydraulic oil cylinder, adopts an electric proportional control technology, has less elements compared with the traditional steering control, reduces oil leakage points and is more convenient to maintain; 5) automatic driving can be realized. The system only needs to replace the common steering wheel with the MDU electric steering wheel, automatic driving is easy to realize, and elements such as an independent controller unit, an electric proportional valve, an angle sensor and the like do not need to be added.
The above description of the embodiments is intended to be illustrative, and not limiting. It is intended that all such modifications and variations of the various embodiments of the present disclosure, which fall within the scope of the claims and their equivalents, be embraced by the present invention.
Claims (10)
1. A steering and walking control system for a motor vehicle comprises a control unit, a steering wheel, an angle sensor, a left bidirectional proportional valve, a right bidirectional proportional valve, a left walking electric control pump, a right walking electric control pump, a left walking motor and a right walking motor,
the angle sensor is used for detecting the rotation angle of the steering wheel,
the control unit controls the current of the left two-way proportional valve and the current of the right two-way proportional valve according to the rotation angle measured by the angle sensor, so as to control the left walking electric control pump and the right walking electric control pump, and further realize the left turn or the right turn of the motor vehicle through the left walking motor and the right walking motor.
2. The steering-walk control system according to claim 1, further comprising a walk handle for controlling whether the motor vehicle advances or retreats.
3. The steering and traveling control system according to claim 1, wherein the angle sensor is fixed to a bottom of a steering column of the steering wheel so as to detect a turning angle of the steering wheel.
4. The steer-walk control system of claim 1, wherein the angle sensor, the left two-way proportional valve, and the right two-way proportional valve are connected to the control unit by a wiring harness assembly.
5. The steering and walking control system according to claim 1, further comprising a monitoring unit connected to the control unit through a CAN bus for displaying and setting steering related parameters.
6. The steering walking control system according to claim 5, wherein the monitoring unit includes a rotation angle change rate monitoring module including a rotation angle change rate display unit and a rotation angle change rate maximum threshold value setting unit.
7. The steering and traveling control system according to claim 6, wherein the monitoring unit feeds back the finally confirmed rate of change of the rotation angle to the control unit, and the control unit controls the magnitudes of the currents of the left bidirectional proportional valve and the right bidirectional proportional valve, thereby controlling the steering speed.
8. The steering/traveling control system according to claim 5, wherein the control unit calculates a rate of change of the turning angle of the steering wheel based on the turning angle of the steering wheel detected by the angle sensor, and determines the steering speed based on the rate of change of the turning angle.
9. The steering/traveling control system according to claim 5, wherein the control unit calculates a rate of change of the turning angle of the steering wheel based on the turning angle of the steering wheel detected by the angle sensor, and determines the steering arc based on the rate of change of the turning angle and the position of the center of gravity of the motor vehicle.
10. A motor vehicle using the steer walking control system of any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010180090.2A CN111267950A (en) | 2020-03-16 | 2020-03-16 | Motor vehicle and steering and walking control system thereof |
| PCT/CN2020/114835 WO2021047650A1 (en) | 2019-09-12 | 2020-09-11 | Motor vehicle, and steering and traveling control system and method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010180090.2A CN111267950A (en) | 2020-03-16 | 2020-03-16 | Motor vehicle and steering and walking control system thereof |
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| Publication Number | Publication Date |
|---|---|
| CN111267950A true CN111267950A (en) | 2020-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010180090.2A Pending CN111267950A (en) | 2019-09-12 | 2020-03-16 | Motor vehicle and steering and walking control system thereof |
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| Country | Link |
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| CN (1) | CN111267950A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021047650A1 (en) * | 2019-09-12 | 2021-03-18 | 中联农业机械股份有限公司 | Motor vehicle, and steering and traveling control system and method therefor |
| CN113548111A (en) * | 2021-08-16 | 2021-10-26 | 合肥工业大学 | Steering wheel steering judgment and corner calculation method for tracked vehicle |
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| JPH0616145A (en) * | 1992-03-27 | 1994-01-25 | Aisin Seiki Co Ltd | Hydrostatic power steering device |
| CN1118590A (en) * | 1993-03-01 | 1996-03-13 | 魁北克水电公司 | Power steering system |
| JPH07156676A (en) * | 1993-12-02 | 1995-06-20 | Kubota Corp | Drive control device for four-wheel driven work machine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021047650A1 (en) * | 2019-09-12 | 2021-03-18 | 中联农业机械股份有限公司 | Motor vehicle, and steering and traveling control system and method therefor |
| CN113548111A (en) * | 2021-08-16 | 2021-10-26 | 合肥工业大学 | Steering wheel steering judgment and corner calculation method for tracked vehicle |
| CN113548111B (en) * | 2021-08-16 | 2022-04-26 | 合肥工业大学 | Steering wheel steering judgment and corner calculation method for tracked vehicle |
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Address after: 241080 16 e - Xi Road, San Shan Economic Development Zone, Wuhu, Anhui Applicant after: Zhonglian Agricultural Machinery Co.,Ltd. Address before: 241080 Anhui province Wuhu City mountain Economic Development Zone E Xi Road No. 16 Applicant before: ZOOMLION HEAVY MACHINERY Co.,Ltd. |
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Application publication date: 20200612 |