CN112722066A - Ackerman-active speed difference composite steering system - Google Patents
Ackerman-active speed difference composite steering system Download PDFInfo
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- CN112722066A CN112722066A CN202110067948.9A CN202110067948A CN112722066A CN 112722066 A CN112722066 A CN 112722066A CN 202110067948 A CN202110067948 A CN 202110067948A CN 112722066 A CN112722066 A CN 112722066A
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- steering system
- speed
- crawler
- speed difference
- steering
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- 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
Abstract
The invention relates to an ackerman-active speed difference composite steering system. According to the Ackerman-active speed difference composite steering system, the hydraulic steering system and the speed difference steering system are organically integrated, a driver does not need to independently control the left and right crawler belts, only the steering wheel needs to be rotated, and the speed difference between the left and right crawler belts can be controlled by the speed difference steering system according to the rotation angle of the steering wheel, so that the smooth running of a vehicle is ensured, the intelligent control of the speed of the crawler belts is realized, and the smooth running of the vehicle is ensured. And the speed difference steering system can adjust the speed difference of the left and right tracks according to the speed information of the left and right tracks fed back by the speed sensors on the upper corners of the left and right tracks so as to realize the automatic and accurate control of the speed difference and further ensure the stable running of the vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle parts, in particular to an ackerman-active speed difference composite steering system.
Background
The traditional tracked vehicle adopts a single-section track, when the tracked vehicle turns, the outer track accelerates, the inner track decelerates or even reverses, and the vehicle body generates steering torque by utilizing the rotating speed difference of the tracks on the two sides. The track of the vehicle is circular arc-shaped while the crawler belt is straight, so most of the crawler belt slides and rubs with the ground during steering. Such sliding friction greatly increases the power loss when the vehicle is running.
Moreover, the traditional differential steering control mainly depends on the control of the acceleration pedals on the left side and the right side by a driver, and even if an ackerman steering system and a differential steering system are adopted, the steering control is realized by the driver through carrying out complex operation on the pedals and a steering wheel in the prior art.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an ackerman-active speed difference composite steering system which is applied to a crawler-type combine harvester.
In order to achieve the purpose, the invention provides the following scheme:
an ackerman-active speed difference composite steering system is applied to a crawler-type combine harvester; the ackermann-active differential speed compound steering system includes: the hydraulic steering system, the speed difference steering system, the steering wheel, the pedal and the angle sensor;
the steering wheel is connected with the hydraulic steering system; the hydraulic steering system is used for controlling the rotating direction of a left crawler belt and a right crawler belt in the crawler belt type combine harvester according to the rotating direction of the steering wheel;
the pedal and the angle sensor are both connected with the speed difference steering system; the angle sensor is used for detecting the steering angle of the steering wheel; the pedal is used for controlling the running speed of the crawler-type combine harvester; the speed difference steering system is used for generating a speed difference control signal according to the rotation angle of the steering wheel detected by the angle sensor and the running speed of the crawler-type combine harvester, and is used for adjusting the rotation speed of a left crawler speed control motor and a right crawler speed control motor in the crawler-type combine harvester according to the speed difference control signal.
Preferably, the hydraulic steering system includes: the device comprises a pressure reducing valve control module and a hydraulic valve control module;
the steering wheel is respectively connected with the hydraulic valve control module and the pressure reducing valve control module;
the hydraulic valve control module is used for opening and closing an oil inlet and an oil outlet according to the rotating direction of the steering wheel; the pressure reducing valve control module controls the rotation angles of the left and right tracks according to the steering angle of the steering wheel.
Preferably, the differential steering system includes: an ECU and a gear;
the gear shifter, the pedal and the angle sensor are all connected with the ECU;
the gear shifter is used for controlling the ECU to be opened and closed; and the ECU generates a speed difference control signal according to the rotation angle of the steering wheel detected by the angle sensor and the running speed of the crawler-type combine harvester, and is used for adjusting the rotation speed of a left crawler-type speed control motor and a right crawler-type speed control motor in the crawler-type combine harvester according to the speed difference control signal.
Preferably, the shifter includes: a first gear, a second gear, a third gear and an operating lever;
when the operating lever is located in the first gear or the third gear, the ECU is in an opening state; when the joystick is in the second gear, the ECU is in an off state.
Preferably, the method further comprises the following steps: a left track angular velocity sensor and a right track angular velocity sensor;
the left track angular velocity sensor is arranged on a left track of the crawler-type combine harvester and is used for detecting the angular velocity of the left track;
the right track angular velocity sensor is arranged on a right track of the crawler-type combine harvester and is used for detecting the angular velocity of the right track.
Preferably, the speed differential steering system generates a speed differential control signal based on the angular velocity of the left track detected by the left track angular velocity sensor and the angular velocity of the right track detected by the right track angular velocity sensor.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the Ackerman-active speed difference composite steering system provided by the invention, the hydraulic steering system and the speed difference steering system are organically integrated, a driver does not need to independently control the left and right crawler belts, and only the steering wheel is required to be rotated, so that the speed difference between the left and right crawler belts can be controlled by the speed difference steering system according to the rotation angle of the steering wheel, the stable running of a vehicle is ensured, the intelligent control of the speed of the crawler belts is realized, and the stable running of the vehicle is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic diagram of the architecture of the Ackerman-active differential hybrid steering system of the present invention;
FIG. 2 is a schematic structural diagram of a hydraulic steering system provided in an embodiment of the present invention; fig. 2a is a schematic structural diagram of a hydraulic steering system when a spring is not compressed according to an embodiment of the present invention; FIG. 2b is a schematic diagram of a hydraulic steering system with a compressed spring according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a gear position of a gearshift device according to an embodiment of the present invention
FIG. 4; the invention provides a structural schematic diagram of a speed difference steering system;
fig. 5 is a turning schematic diagram of the combine harvester provided by the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an ackerman-active differential speed composite steering system, which can organically integrate an ackerman steering system and a differential speed steering system while simplifying the operation process of a driver so as to realize automatic and accurate control of the differential speed and further ensure that a vehicle can run stably.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a structural schematic diagram of an ackerman-active speed difference hybrid steering system of the invention, and as shown in fig. 1, the ackerman-active speed difference hybrid steering system is applied to a crawler-type combine harvester. The ackermann-active differential speed compound steering system comprises: a hydraulic steering system 1, a differential steering system 2, a steering wheel 3, pedals 4 and an angle sensor 5.
The steering wheel 3 is connected to the hydraulic steering system 1. The hydraulic steering system 1 is used to control the rotation direction of the left and right tracks in the crawler type combine harvester according to the rotation direction of the steering wheel 3.
The pedal 4 and the angle sensor 5 are both connected to the differential steering system 2. The angle sensor 5 is used to detect the steering angle of the steering wheel 3. The pedals 4 are used to control the speed at which the tracked combine travels. The speed difference steering system 2 is used for generating a speed difference control signal according to the rotation angle of the steering wheel 3 detected by the angle sensor 5 and the running speed of the crawler-type combine harvester, and is used for adjusting the rotation speed of a left crawler speed control motor and a right crawler speed control motor in the crawler-type combine harvester according to the speed difference control signal.
Further, the hydraulic steering system 1 of the present invention provided above preferably includes: a pressure reducing valve control module and a hydraulic valve control module.
The steering wheel is respectively connected with the hydraulic valve control module and the pressure reducing valve control module.
The hydraulic valve control module performs opening and closing of the oil inlet and the oil outlet according to the rotating direction of the steering wheel. The pressure reducing valve control module controls the rotation angles of the left and right tracks according to the steering angle of the steering wheel.
As shown in fig. 2, when the steering wheel 3 rotates left, the left oil outlet 25 of the hydraulic valve module is opened, the right oil outlet 26 is closed, and the left oil chamber starts to feed oil through the oil inlet 27, so that the compression spring 22 moves the piston rod 21 left, and further pushes the left crawler belt to rotate left, thereby realizing steering. And the pressure reducing valve 24 controls the oil pressure of the left oil outlet 25 according to the rotation angle of the steering wheel 3, so that the compression degree of the spring 22 in the piston cylinder 23 is controlled, the piston rod 21 moves for different distances, and the left crawler belt can rotate for different angles.
The hydraulic steering system 1 provided by the invention takes mineral oil as a working medium, and has the advantages of small compressibility, high adjustment precision, quick and stable action, no impact during reversing and the like.
Further, the present invention provides a differential steering system 2 including: an ECU 6 and a gearshift 7.
The gearshift 7, the pedal 4 and the angle sensor 5 are all connected with the ECU 6.
The shifter 7 is used to control opening and closing of the ECU 6. The ECU 6 generates a speed difference control signal based on the rotation angle of the steering wheel 3 detected by the angle sensor 5 and the speed at which the crawler type combine travels, and is used to adjust the rotation speed of the left and right crawler speed control motors in the crawler type combine based on the speed difference control signal.
Among them, as shown in fig. 3, the shifter preferably includes: a first gear 31, a second gear 32, a third gear 33 and a lever 34.
The joystick 34 can control whether the differential steering system 2 is activated or not when in different gears. When the lever 34 is in the second gear 32, the differential steering system 2 is in the off state. When the joystick is in the first gear 31 or the third gear 33, the differential steering system 1 starts to operate.
According to fig. 4, when the differential steering system 2 is activated, the ECU 6 may receive the signal from the angle sensor 5 and control the different speed differences of the left and right tracks according to the different rotation angles of the steering wheel 3, so as to enhance the tracking performance of the tracked vehicle and make the vehicle run smoothly.
Further, in order to ensure the integrity and accuracy of vehicle control, the ackerman-active speed difference compound steering system provided by the invention further comprises: a left track angular velocity sensor 41 and a right track angular velocity sensor 42.
A left track angular velocity sensor 41 is provided on the left track of the crawler type combine harvester, and the left track angular velocity sensor 41 is used to detect the angular velocity of the left track.
A right track angular velocity sensor 42 is provided on the right track of the tracked combine, and the right track angular velocity sensor 42 is used to detect the angular velocity of the right track.
The pedal 5 can control the speed of the vehicle, and as shown in fig. 4, the left and right track angular velocity sensors can detect the left and right track speeds and transmit speed signals to the ECU 6, the ECU 6 adjusts the left and right track speed control motors according to the left and right track speed signals to realize feedback adjustment, and adjusts the speed difference of the vehicle in different speed states to realize the smooth running of the vehicle.
Based on the specific structure provided by the invention, the specific working principle of the ackerman-active speed difference composite steering system provided by the invention is as follows:
when the speed difference steering system is started (namely the control lever is in the first gear or the third gear), and the steering wheel rotates, the hydraulic steering system and the speed difference steering system can automatically cooperate to generate a speed difference control signal so as to realize the smooth steering of the vehicle.
When the speed difference steering system is closed, only the hydraulic steering control system works, and the speed difference control signal cannot be generated.
When the steering wheel is not turned and the differential steering control system is turned on, the differential steering system generates a differential speed control signal based on the angular velocity of the left track detected by the left track angular velocity sensor and the angular velocity of the right track detected by the right track angular velocity sensor.
Meanwhile, the ECU in the speed difference steering control system can also detect the speeds of the left and right tracks and control the rotating speeds of the left and right tracks according to the gears of the operating lever so as to ensure that the rotating speeds of the left and right tracks are inconsistent and further realize left and right steering. Specifically, when the joystick is in the first gear, the speed difference signal generated by the ECU controls the left and right track speeds to rotate the vehicle to the left. When the joystick is in the third gear, the speed difference signal generated by the ECU controls the left and right track speeds to rotate the vehicle to the right. The gear in this case is used as a steering controller.
An exemplary embodiment is provided to illustrate the advantages of the ackermann-active differential hybrid steering system provided above. The invention is illustrated by taking the left turn of the crawler-type combine harvester as an example, and in practical application, the person skilled in the art can map the left turn to other rotation directions.
The steering wheel rotates leftwards, the left oil outlet of the hydraulic valve is opened, the right oil outlet is closed, the left oil cavity starts to feed oil to the compression spring, so that the piston rod moves leftwards to push the left crawler belt to rotate leftwards, and steering is achieved. At this time, the ECU can receive signals from the angle sensor and control the left and right tracks to generate a speed difference according to the left rotation angle of the left track, so that the tracking performance of the tracked vehicle is enhanced, and the vehicle runs stably. The left side track realizes the structural schematic diagram of the crawler-type combine harvester of the left turn, as shown in figure 5.
In summary, the ECU can control the speed difference between the left and right tracks according to the steering wheel angle by only rotating the steering wheel without the need of the driver to control the left and right tracks independently. And in the vehicle acceleration process, the ECU can adjust the speed difference of the left and right tracks according to the speed information of the left and right tracks fed back by the angular speed sensor so as to ensure the stable running of the vehicle and realize the intelligent control of the speed of the tracks.
In the prior art, the speed difference steering control mainly depends on the control of a driver on a left acceleration pedal and a right acceleration pedal. In the technical scheme provided by the invention, the speed difference steering control automatically realizes different speed differences of the left crawler belt and the right crawler belt by depending on the detection of the ECU on the angle of the steering wheel, and the ECU can control the different speed differences of the left crawler belt and the right crawler belt according to the speed of the crawler belts by adding a speed feedback signal.
In addition, in the prior art, the ackermann steering system and the differential steering system are two completely independent steering control systems without any association, and a driver needs to operate a complicated steering wheel and an acceleration pedal to realize the cooperative steering of the two systems. In the steering system provided by the invention, the hydraulic steering control system and the speed difference steering control system are not two completely independent steering control systems, and the hydraulic steering control system and the speed difference steering control system can be matched with each other to realize accurate control on the stable running of the vehicle.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. An ackerman-active speed difference compound steering system is characterized by being applied to a crawler-type combine harvester; the ackermann-active differential speed compound steering system includes: the hydraulic steering system, the speed difference steering system, the steering wheel, the pedal and the angle sensor;
the steering wheel is connected with the hydraulic steering system; the hydraulic steering system is used for controlling the rotating direction of a left crawler belt and a right crawler belt in the crawler belt type combine harvester according to the rotating direction of the steering wheel;
the pedal and the angle sensor are both connected with the speed difference steering system; the angle sensor is used for detecting the steering angle of the steering wheel; the pedal is used for controlling the running speed of the crawler-type combine harvester; the speed difference steering system is used for generating a speed difference control signal according to the rotation angle of the steering wheel detected by the angle sensor and the running speed of the crawler-type combine harvester, and is used for adjusting the rotation speed of a left crawler speed control motor and a right crawler speed control motor in the crawler-type combine harvester according to the speed difference control signal.
2. The ackermann-active differential speed compound steering system according to claim 1, wherein the hydraulic steering system comprises: the device comprises a pressure reducing valve control module and a hydraulic valve control module;
the steering wheel is respectively connected with the hydraulic valve control module and the pressure reducing valve control module;
the hydraulic valve control module is used for opening and closing an oil inlet and an oil outlet according to the rotating direction of the steering wheel; the pressure reducing valve control module controls the rotation angles of the left and right tracks according to the steering angle of the steering wheel.
3. The ackermann-active differential hybrid steering system according to claim 1, wherein the differential steering system comprises: an ECU and a gear;
the gear shifter, the pedal and the angle sensor are all connected with the ECU;
the gear shifter is used for controlling the ECU to be opened and closed; and the ECU generates a speed difference control signal according to the rotation angle of the steering wheel detected by the angle sensor and the running speed of the crawler-type combine harvester, and is used for adjusting the rotation speed of a left crawler-type speed control motor and a right crawler-type speed control motor in the crawler-type combine harvester according to the speed difference control signal.
4. The ackermann-active differential speed compound steering system according to claim 3, wherein the gearshifts comprise: a first gear, a second gear, a third gear and an operating lever;
when the operating lever is located in the first gear or the third gear, the ECU is in an opening state; when the joystick is in the second gear, the ECU is in an off state.
5. The ackermann-active differential speed compound steering system according to claim 1, further comprising: a left track angular velocity sensor and a right track angular velocity sensor;
the left track angular velocity sensor is arranged on a left track of the crawler-type combine harvester and is used for detecting the angular velocity of the left track;
the right track angular velocity sensor is arranged on a right track of the crawler-type combine harvester and is used for detecting the angular velocity of the right track.
6. The ackermann-active differential hybrid steering system according to claim 5, wherein the differential steering system generates a differential speed control signal based on the angular velocity of the left track detected by the left track angular velocity sensor and the angular velocity of the right track detected by the right track angular velocity sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110067948.9A CN112722066B (en) | 2021-01-19 | 2021-01-19 | Ackerman-active speed difference composite steering system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110067948.9A CN112722066B (en) | 2021-01-19 | 2021-01-19 | Ackerman-active speed difference composite steering system |
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| CN112722066A true CN112722066A (en) | 2021-04-30 |
| CN112722066B CN112722066B (en) | 2022-03-22 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104100A (en) * | 2021-11-03 | 2022-03-01 | 河北汉光重工有限责任公司 | Auxiliary steering system of crawler-type remote control target car |
| CN115152433A (en) * | 2022-08-17 | 2022-10-11 | 松灵机器人(深圳)有限公司 | Running gear and harvester |
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| CN110254246A (en) * | 2019-05-30 | 2019-09-20 | 浙江大华机器人技术有限公司 | Move driving wheel control method, device, chassis and the robot on chassis |
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| CN112722066B (en) | 2022-03-22 |
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