CN112298348A - Automatic steering system and control method thereof - Google Patents
Automatic steering system and control method thereof Download PDFInfo
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- CN112298348A CN112298348A CN202011241556.1A CN202011241556A CN112298348A CN 112298348 A CN112298348 A CN 112298348A CN 202011241556 A CN202011241556 A CN 202011241556A CN 112298348 A CN112298348 A CN 112298348A
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- Prior art keywords
- steering
- valve
- oil cylinder
- controller
- loop
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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
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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
- B62D5/062—Details, component parts
-
- 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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- 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 provides an automatic steering system, which comprises a steering control module; the steering control module comprises a steering oil cylinder, an automatic steering loop, a manual steering loop, a switching valve and a hydraulic pump; the automatic steering loop comprises a position sensor, a steering controller and a steering valve; the position sensor is used for acquiring the actual position of the steering oil cylinder; the steering controller is connected with the position sensor; the steering valve is connected with the steering controller; the steering valve and the manual steering loop are connected with a hydraulic pump through a switching valve, and the steering valve is connected with a steering oil cylinder. The automatic steering loop of the automatic steering system comprises a position sensor and a steering controller, and the automatic steering loop constructs a feedback loop based on the position sensor and the steering controller, so that the automatic steering loop can accurately control a steering oil cylinder; the automatic steering system further includes a switching valve, and a user can switch between the manual steering and the automatic steering by controlling the switching valve.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to an automatic steering system and a control method thereof.
Background
The tractor is a self-propelled power machine used for towing and driving the operation machinery to complete various mobile operations. Conventional tractors typically require a worker to manually control speed and direction of travel, and there are techniques that provide a number of automatic steering systems for tractor steering. However, these automatic steering systems cannot have good precision, and cannot allow the tractor to accurately travel along a predetermined route; meanwhile, some automatic steering systems in the prior art often cannot be switched with manual steering systems, and users cannot manually operate the tractor in time when the automatic steering systems have problems, so that potential safety hazards can be generated.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to solve the problems of low precision and non-switchable automatic steering systems in the prior art, the invention provides an automatic steering system and a control method thereof to solve the problems.
The technical scheme adopted by the invention for solving the technical problems is as follows: an automatic steering system includes a steering control module;
the steering control module comprises a steering oil cylinder, an automatic steering loop, a manual steering loop, a switching valve and a hydraulic pump;
the automatic steering loop comprises a position sensor, a steering controller and a steering valve; the position sensor is used for acquiring the actual position of the steering oil cylinder; the steering controller is connected with the position sensor and used for calculating a position deviation value of the steering oil cylinder according to the target position of the steering oil cylinder and the actual position of the steering oil cylinder; the steering valve is connected with a steering controller, and the steering controller is also used for controlling the steering valve according to the position deviation value; the steering valve is connected with the steering oil cylinder and used for changing the flow of hydraulic oil entering the steering oil cylinder; the steering valve is connected with the hydraulic pump through a switching valve, the manual steering loop is connected with the hydraulic pump through the switching valve, and the switching valve is used for controlling the on-off of the hydraulic pump, the steering valve and the manual steering loop;
the manual steering loop is connected with the steering oil cylinder;
the intelligent control module, the path tracking module and the environment perception module are also included;
the intelligent control module is configured to configure initial data, the initial data including a target path;
the environment awareness module is configured to obtain a current location of a vehicle;
the path tracking module is configured to calculate a target position of a steering cylinder according to a target path and a current position of the vehicle;
the steering controller is used for calculating an actual rotating angle according to the position deviation value and determining the flow of hydraulic oil according to the actual rotating angle;
the steering controller is used for sending a steering signal to the steering valve to drive the steering valve to work, and the steering controller is further used for setting the duty ratio of the steering signal according to the flow of hydraulic oil.
Preferably, the steering valve is an electro-hydraulic proportional reversing valve, and the switching valve is a two-position three-way reversing valve.
The invention also provides a control method of the automatic steering system, which comprises the following steps:
s1, the switching valve judges whether a switching signal is received, if the switching signal is received, the switching valve communicates the automatic steering loop with the hydraulic pump, and if the switching signal is not received, the switching valve continues to communicate the manual steering loop with the hydraulic pump;
s2, acquiring the actual position of the steering oil cylinder by the position sensor, and transmitting the actual position to the steering controller by the position sensor;
s3, the steering controller calculates a position deviation value according to the target position and the actual position, the steering controller determines the flow of hydraulic oil according to the position deviation value, and the steering controller controls the steering valve according to the flow of the hydraulic oil;
and S4, changing the flow of the hydraulic oil entering the steering oil cylinder by the steering valve.
Preferably, the following steps are further included between steps S2 and S3:
s201, the intelligent control module sets initial data according to an external instruction, wherein the initial data comprises a target path;
s202, an environment sensing module acquires the current position of the vehicle, and a path tracking module calculates the target position of a steering oil cylinder according to a target path and the current position of the vehicle;
and S203, the path tracking module transmits the target position to the steering controller.
Preferably, step S3 specifically includes the following steps:
s301, the steering controller calculates a position deviation value according to the target position and the actual position, calculates an actual rotating angle according to the position deviation value, and determines the flow of hydraulic oil according to the actual rotating angle;
s302, the steering controller determines the duty ratio of a steering signal according to the flow of hydraulic oil;
and S303, the steering controller sends a steering signal with a set duty ratio to the steering valve.
Preferably, the following steps are further included between steps S1 and S2: and (3) aligning the front wheel, recording the position of the steering oil cylinder when the front wheel is aligned by the position sensor, and recording the position recorded by the position sensor as an initial position.
The automatic steering system has the advantages that the automatic steering loop of the automatic steering system comprises the position sensor and the steering controller, the automatic steering loop constructs a feedback loop based on the position sensor and the steering controller, and the automatic steering loop can realize the accurate control of the automatic steering loop on the steering oil cylinder; the automatic steering system further includes a switching valve, and a user can switch between the manual steering and the automatic steering by controlling the switching valve.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a system configuration diagram of a preferred embodiment of an automatic steering system of the present invention.
Fig. 2 is a schematic structural diagram of a steering control module of an automatic steering system according to the present invention.
Fig. 3 is a flowchart of the operation of an automatic steering circuit of an automatic steering system of the present invention.
Fig. 4 is a flowchart of a preferred embodiment of a control method of an automatic steering system of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
As shown in fig. 1-3, the present invention provides an automatic steering system including a steering control module, an intelligent control module, a path tracking module, and an environment sensing module.
The steering control module comprises a steering oil cylinder, an automatic steering loop, a manual steering loop, a switching valve and a hydraulic pump. In this embodiment, the steering valve is an electro-hydraulic proportional directional valve, and the switching valve is a two-position three-way directional valve.
An oil inlet of the manual steering loop is communicated with a first working port of the switching valve, an oil inlet of the switching valve is connected with a hydraulic pump, and the hydraulic pump is connected with an oil tank. The recovery oil port of the manual steering loop is connected with a filter, and the filter is connected with an oil tank. The working port of the manual steering loop is communicated with the steering oil cylinder.
The automatic steering circuit includes a position sensor, a steering controller, and a steering valve.
The position sensor can acquire the actual position of the steering cylinder. In the present embodiment, the position of the steering cylinder at the time of front wheel turning is taken as the initial position of the steering cylinder, and the position of the steering cylinder acquired by the position sensor is "0". When the front wheel rotates rightwards, the position of the steering oil cylinder acquired by the position sensor is positive. When the front wheel rotates to the left, the position of the steering oil cylinder acquired by the position sensor is negative.
The steering controller is connected with the position sensor, the position sensor can transmit the acquired position of the steering oil cylinder to the steering controller, and the steering controller can calculate the position deviation value of the steering oil cylinder according to the target position of the steering oil cylinder and the actual position of the steering oil cylinder. The steering controller can also calculate an actual turning angle according to the position deviation value, and the steering controller is further used for determining the flow of the hydraulic oil according to the actual turning angle.
The steering valve is in control connection with the steering controller, an oil inlet of the steering valve is communicated with the second working port of the switching valve, and the working port of the steering valve is communicated with the steering oil cylinder. In this embodiment, the steering controller can drive the steering valve to operate by sending a steering signal to the steering valve, and the steering controller can set the duty ratio of the steering signal according to the flow rate of the hydraulic oil. The steering valve can control the flow of the hydraulic oil entering the steering oil cylinder according to the duty ratio of the steering signal.
The switching valve can control the on-off between the oil inlet of the switching valve and the two working ports of the switching valve according to a switching signal sent by an external system. In this embodiment, the oil inlet and the first working port of the switching valve are in a normally open state, the hydraulic pump drives oil in the oil tank to enter the automatic steering loop, and a user can manually complete steering of the vehicle. When the switching valve receives the switching signal, the switching valve disconnects the oil inlet from the first working port and simultaneously enables the oil inlet to be communicated with the second working port, the hydraulic pump drives oil in the oil tank to enter the steering valve, and the automatic steering loop works to complete automatic steering of the vehicle.
The intelligent control module is used for configuring initial data by a user, and the initial data comprises an initial straight line, a machine tool width and a target path. The intelligent control module can also realize automatic line-changing of the vehicle according to the width of the implement and the target path.
The environment perception module comprises a positioning unit and an environment monitoring unit.
The positioning unit can acquire the current position of the vehicle. The positioning unit comprises a GPS, an inertial navigation module and a milemeter, the GPS can accurately acquire the position of the vehicle, the inertial navigation module can assist the GPS to determine the position of the vehicle at a position where a GPS signal is weak, and the milemeter can acquire the driving distance of the vehicle and can assist the GPS to more accurately determine the position of the vehicle.
The environment monitoring unit can acquire environment information, and the environment monitoring unit includes laser radar and camera, and laser radar can acquire the distribution of the barrier around the vehicle, and the camera can acquire the outdoor scene image around the vehicle.
The path tracking module can calculate the target position of the steering oil cylinder according to the target path and the current position of the vehicle.
Based on the above-mentioned automatic steering system, the present invention further provides an embodiment of a control method of an automatic steering system, as shown in fig. 4, including the following steps:
s1, the switching valve judges whether a switching signal is received, and if the switching signal is received, the switching valve connects the automatic steering loop with the hydraulic pump; the correction of the position sensor is carried out by: aligning the front wheel, recording the position of the steering oil cylinder when the front wheel is aligned by the position sensor, recording the position recorded by the position sensor as an initial position, and entering the step S2;
if the switching signal is not received, the switching valve continues to communicate the manual steering loop and the hydraulic pump, and the step S1 is repeated;
s2, acquiring the actual position of the steering oil cylinder by the position sensor, and transmitting the actual position to the steering controller by the position sensor;
s21, setting initial data by the intelligent control module according to an external instruction, wherein the initial data comprises a target path;
s22, the environment sensing module acquires the current position of the vehicle, and the path tracking module calculates the target position of the steering oil cylinder according to the target path and the current position of the vehicle;
s23, the path tracking module transmits the target position to the steering controller;
s3, controlling the steering valve by the steering controller according to the target position and the actual position, and specifically comprising the following steps:
s301, the steering controller calculates a position deviation value according to the target position and the actual position, calculates an actual rotating angle according to the position deviation value, and determines the flow of hydraulic oil according to the actual rotating angle;
s302, the steering controller determines the duty ratio of a steering signal according to the flow of hydraulic oil;
s303, the steering controller sends a steering signal with a set duty ratio to the steering valve;
s4, changing the flow of hydraulic oil entering a steering oil cylinder by a steering valve, and driving the front wheels of the vehicle to rotate by the steering oil cylinder; in the present embodiment, when the steering cylinder is moved
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic representation of the term does not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (6)
1. An automatic steering system is characterized by comprising a steering control module;
the steering control module comprises a steering oil cylinder, an automatic steering loop, a manual steering loop, a switching valve and a hydraulic pump;
the automatic steering loop comprises a position sensor, a steering controller and a steering valve; the position sensor is used for acquiring the actual position of the steering oil cylinder; the steering controller is connected with the position sensor and used for calculating a position deviation value of the steering oil cylinder according to the target position of the steering oil cylinder and the actual position of the steering oil cylinder; the steering valve is connected with a steering controller, and the steering controller is also used for controlling the steering valve according to the position deviation value; the steering valve is connected with the steering oil cylinder and used for changing the flow of hydraulic oil entering the steering oil cylinder; the steering valve is connected with the hydraulic pump through a switching valve, the manual steering loop is connected with the hydraulic pump through the switching valve, and the switching valve is used for controlling the on-off of the hydraulic pump, the steering valve and the manual steering loop;
the manual steering loop is connected with the steering oil cylinder;
the intelligent control module, the path tracking module and the environment perception module are also included;
the intelligent control module is configured to configure initial data, the initial data including a target path;
the environment awareness module is configured to obtain a current location of a vehicle;
the path tracking module is configured to calculate a target position of a steering cylinder according to a target path and a current position of the vehicle;
the steering controller is used for calculating an actual rotating angle according to the position deviation value and determining the flow of hydraulic oil according to the actual rotating angle;
the steering controller is used for sending a steering signal to the steering valve to drive the steering valve to work, and the steering controller is further used for setting the duty ratio of the steering signal according to the flow of hydraulic oil.
2. An automatic steering system according to claim 1, wherein:
the steering valve is an electro-hydraulic proportional reversing valve, and the switching valve is a two-position three-way reversing valve.
3. A control method of an automatic steering system, characterized by comprising the steps of:
s1, the switching valve judges whether a switching signal is received, if the switching signal is received, the switching valve communicates the automatic steering loop with the hydraulic pump, and if the switching signal is not received, the switching valve continues to communicate the manual steering loop with the hydraulic pump;
s2, acquiring the actual position of the steering oil cylinder by the position sensor, and transmitting the actual position to the steering controller by the position sensor;
s3, the steering controller calculates a position deviation value according to the target position and the actual position, the steering controller determines the flow of hydraulic oil according to the position deviation value, and the steering controller controls the steering valve according to the flow of the hydraulic oil;
and S4, changing the flow of the hydraulic oil entering the steering oil cylinder by the steering valve.
4. A control method of an automatic steering system according to claim 3, characterized in that:
the steps between the steps S2 and S3 further include the following steps:
s201, the intelligent control module sets initial data according to an external instruction, wherein the initial data comprises a target path;
s202, an environment sensing module acquires the current position of the vehicle, and a path tracking module calculates the target position of a steering oil cylinder according to a target path and the current position of the vehicle;
and S203, the path tracking module transmits the target position to the steering controller.
5. A control method of an automatic steering system according to claim 4, characterized in that:
step S3 specifically includes the following steps:
s301, the steering controller calculates a position deviation value according to the target position and the actual position, calculates an actual rotating angle according to the position deviation value, and determines the flow of hydraulic oil according to the actual rotating angle;
s302, the steering controller determines the duty ratio of a steering signal according to the flow of hydraulic oil;
and S303, the steering controller sends a steering signal with a set duty ratio to the steering valve.
6. A control method of an automatic steering system according to claim 5, characterized in that:
the following steps are also included between steps S1 and S2: and (3) aligning the front wheel, recording the position of the steering oil cylinder when the front wheel is aligned by the position sensor, and recording the position recorded by the position sensor as an initial position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011241556.1A CN112298348A (en) | 2020-11-09 | 2020-11-09 | Automatic steering system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011241556.1A CN112298348A (en) | 2020-11-09 | 2020-11-09 | Automatic steering system and control method thereof |
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| CN112298348A true CN112298348A (en) | 2021-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011241556.1A Pending CN112298348A (en) | 2020-11-09 | 2020-11-09 | Automatic steering system and control method thereof |
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| CN (1) | CN112298348A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112298347A (en) * | 2020-11-09 | 2021-02-02 | 江苏悦达集团有限公司 | Automatic steering system |
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| CN108327783A (en) * | 2018-02-07 | 2018-07-27 | 北京理工大学 | A kind of automatic steering control device, automatic steering control system and control method |
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| CN112298347A (en) * | 2020-11-09 | 2021-02-02 | 江苏悦达集团有限公司 | Automatic steering system |
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2020
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| 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 |
| CN204527297U (en) * | 2015-03-31 | 2015-08-05 | 淮安信息职业技术学院 | A kind of for agricultural vehicle auto-manual dual rotation system |
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| CN112298347A (en) * | 2020-11-09 | 2021-02-02 | 江苏悦达集团有限公司 | Automatic steering system |
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Application publication date: 20210202 |