CN113183698A - Amphibious all-terrain vehicle water-thrust steering device and control method - Google Patents
Amphibious all-terrain vehicle water-thrust steering device and control method Download PDFInfo
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- CN113183698A CN113183698A CN202110601476.0A CN202110601476A CN113183698A CN 113183698 A CN113183698 A CN 113183698A CN 202110601476 A CN202110601476 A CN 202110601476A CN 113183698 A CN113183698 A CN 113183698A
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- water
- steering
- push
- driving motor
- water push
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- 238000000034 method Methods 0.000 title claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 162
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 239000007921 spray Substances 0.000 claims abstract 4
- 238000005507 spraying Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/46—Steering or dynamic anchoring by jets or by rudders carrying jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H11/00—Marine propulsion by water jets
- B63H2011/004—Marine propulsion by water jets using the eductor or injector pump principle, e.g. jets with by-pass fluid paths
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/46—Steering or dynamic anchoring by jets or by rudders carrying jets
- B63H2025/465—Jets or thrusters substantially used for steering or dynamic anchoring only, with means for retracting, or otherwise moving to a rest position outside the water flow around the hull
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a water-thrust steering device and a control method for an amphibious all-terrain vehicle, which have the advantages of simple water-thrust steering operation, simple water-thrust steering device, easy steering return to zero and high control precision. The water-driven steering system comprises a vehicle control unit, a steering wheel sensor, a water-driven switch, a servo controller, a water-driven position sensor, a steering mechanism, a driving motor, a water-driven steering box, a transmission shaft and a diversion water spray nozzle, wherein the driving motor, the water-driven steering box, the transmission shaft and the diversion water spray nozzle are sequentially in power connection; the water pushes away position sensor and installs on water pushes away the steering box, and steering wheel sensor, water push switch link to each other with vehicle control unit through the low pressure pencil, and vehicle control unit communicates with servo controller through the CAN bus, and water pushes away position sensor, driving motor and links to each other with servo controller through the low pressure pencil.
Description
Technical Field
The invention relates to the technical field of all-terrain vehicles, in particular to a water-thrust steering device and a control method of an amphibious all-terrain vehicle.
Background
In the currently used amphibious all-terrain vehicle, the steering operation on water is complex, the water-pushing steering device is complex, the steering return to zero is difficult, and the control precision is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a water-thrust steering device and a control method for an amphibious all-terrain vehicle, and solves the problems of complex water-thrust steering operation, complex water-thrust steering device, difficult steering return to zero and low control precision.
The purpose of the invention is realized as follows:
a water-propelled steering device of an amphibious all-terrain vehicle comprises a vehicle control unit, a steering wheel sensor, a water-propelled switch, a servo controller, a water-propelled position sensor, a steering mechanism, a driving motor, a water-propelled steering box, a transmission shaft and a diversion water jet which are in power connection in sequence, wherein the steering wheel sensor is arranged on the steering mechanism and used for collecting steering angle information of a steering wheel; the water push position sensor is arranged on the water push steering box and is used for collecting the water push steering angle information, the steering wheel sensor and the water push switch are connected with the vehicle control unit through a low-voltage wire harness, the water push switch is used for outputting a starting signal, the vehicle control unit is used for collecting signals of the steering wheel sensor and the water push switch, and controlling the output water push enable control and water push turning angle demand signals, the vehicle control unit is communicated with the servo controller through a CAN bus, the water push position sensor and the driving motor are connected with a servo controller through a low-voltage wire harness, the servo controller is used for collecting signals of the water push position sensor, receiving water push enabling signals and water push turning angle demand signals sent by the vehicle control unit, and controlling to output a driving motor voltage control signal, and reporting the current water push corner and water push control information to the vehicle control unit.
Preferably, the water push switch is mounted on an instrument panel.
Preferably, the water-push steering and the vehicle steering share a steering mechanism.
A control method of a water-thrust steering device of an amphibious all-terrain vehicle,
after the water push switch is pressed down, the vehicle control unit acquires a starting signal of the water push switch and controls to output a water push enabling signal, the vehicle control unit is converted into a water push steering mode, and when the vehicle control unit is in water push steering, the vehicle control unit converts the signal of the steering wheel sensor into a corresponding water push steering angle demand and controls to output a water push steering angle demand signal;
after receiving a corner demand signal output by the vehicle control unit, the servo controller performs closed-loop control according to an actual water pushing corner converted by a collected water pushing position sensor signal and a water pushing corner demand signal issued by the vehicle control unit, outputs different driving motor voltage control signals, controls the driving motor to operate, further drives the diversion water nozzle to act, achieves the required water pushing corner, and feeds back the actual water pushing corner and water pushing control information to the vehicle control unit.
Preferably, when the water push control signal received by the servo controller is an enable signal, the driving motor has no fault, the water push sensor has no fault, the driving motor does not overflow, and the water push control is not overtime, the control signal output of the driving motor is valid, otherwise, the control signal of the driving motor is set to 0.
Preferably, when the control signal output of the driving motor is effective, and the difference between the water push turning angle requirement and the position of the actual water push turning angle is larger than a set dead zone, turning angle closed-loop control is started, the control signal of the driving motor is output, and the driving motor starts to work.
Preferably, when the water pushing control signal received by the servo controller is enabled, the driving motor is not in fault, the water pushing sensor is not in fault, the water pushing motor is not in overflow, and the required water pushing rotation angle is not changed, the water pushing steering control is started to be timed, after the timed time exceeds the set time, the water pushing control overtime fault is output, the control signal of the driving motor is set to be 0, and the driving motor stops working.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
the water-thrust steering and the normal steering of the vehicle share the same steering input device, so that the problem of complex water-thrust steering operation is solved; compared with the traditional zipper transmission ratio, the invention solves the problem of complex water push steering device; the invention adopts the water pushing corner requirement and the closed-loop control of the position of the actual water pushing corner, has high response speed and high control precision, and solves the problems of difficult steering return to zero and low control precision in the traditional control. The water steering operation is simple, the water pushing steering device is simple, the steering is easy to return to zero, and the control precision is high.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a control diagram of the present invention.
Detailed Description
Referring to fig. 1, the amphibious all-terrain vehicle water-thrust steering device comprises a vehicle control unit, a steering wheel sensor, a water-thrust switch, a servo controller, a water-thrust position sensor, a driving motor, a water-thrust steering box, a transmission shaft and a diversion water jet. The driving motor is connected with the water pushing steering box, the water pushing steering box is connected with the transmission shaft, and the transmission shaft is connected with the flow guide water spraying port; the driving motor drives the transmission shaft to rotate through the water push steering box, and the transmission shaft drives the diversion water jet to rotate through the connecting rod mechanism.
The water-push steering box comprises a shell and a worm gear transmission mechanism arranged in the shell, wherein the worm end of the worm gear transmission mechanism is connected with a driving motor, and the worm end of the worm gear transmission mechanism is connected with a transmission shaft. The shell comprises a box body and a box cover, and the box body and the box cover are connected together through bolts. The link mechanism comprises a driving rod, a driven rod fixed on the diversion water jet and a linkage rod hinged with the driving rod and the driven rod respectively, one end of the transmission shaft is hinged (universal joint) with the worm gear end of the worm gear transmission mechanism, and the other end of the transmission shaft is fixedly connected with the driving rod.
Preferably, the driving motor and the linkage rod are perpendicular to the transmission shaft.
The steering wheel sensor is arranged on the steering mechanism; the water push switch is arranged on the instrument panel; the water pushes away the position sensor to install on water pushes away the turn box.
The steering wheel sensor and the water push switch are connected with the whole vehicle controller through a low-voltage wire harness; the water pushing position sensor and the driving motor are connected with the servo controller through a low-voltage wire harness; and the vehicle control unit is communicated with the servo controller through a CAN bus.
The vehicle control unit is responsible for completing: collecting signals of a steering wheel sensor and a water push switch, and controlling output water push enable control and water push turning angle demand signals.
The servo controller is responsible for completing: collecting water pushing position sensor signals, receiving water pushing enabling signals and water pushing rotation angle demand signals sent by a vehicle control unit, and controlling output voltage signals to a driving motor; and simultaneously reporting the current water push corner and water push control information.
Referring to fig. 2, a control method of the water-thrust steering device of the amphibious all-terrain vehicle:
the water push steering device controls and outputs water push enabling signals and water push turning angle demand signals after the vehicle control unit collects water push switch signals; and after receiving the water pushing enable, the servo controller performs closed-loop control according to the actual water pushing angle converted by the collected water pushing position sensor signal and a water pushing angle demand signal sent by the vehicle control unit, outputs different voltage signals, controls the driving motor to operate, drives the diversion water spraying nozzle to act, achieves the required water pushing angle, and feeds back the actual water pushing angle and the water pushing control information to the vehicle control unit.
The water-push steering and the normal steering of the vehicle share the same steering input device. When the vehicle is driven by water to turn, the vehicle controller is converted into a corresponding water-driven turning angle demand according to a signal of a steering wheel sensor. The corresponding relation between the steering wheel sensor signal and the water push turning angle requirement is as follows:
| steering wheel sensor value (V) | 0.6 | 2.4-2.6 | 4.4 |
| Corresponding corner requirement | -1 | 0 | 1 |
| Corresponding water push turning angle requirement (degree) | 35 | 0 | -35 |
The position of the actual water pushing corner is fed back through a water pushing position sensor; and a certain idle stroke is reserved for the signal of the water pushing position sensor. The corresponding relation between the water push position sensor signal and the actual water push rotating angle is as follows:
| value of water push position sensor (V) | 0.5 | 2.4-2.6 | 4.5 |
| Actual water push corner requirement (degree) | -45 | 0 | 45 |
When the water pushing control signal received by the servo controller is enabled, the driving motor has no fault, the water pushing sensor has no fault, the water pushing motor does not overflow, and the water pushing control is not overtime, the control signal output of the driving motor is effective when the signals are simultaneously met, otherwise, the control signal output of the driving motor is set to be 0.
When the control signal output of the driving motor is effective, and the difference value between the water push rotating angle requirement and the position of the actual water push rotating angle is larger than a set dead zone, rotating angle closed-loop control is started, the control signal of the driving motor is output, and the driving motor starts to work.
When the water push control signal received by the servo controller is enabled, the driving motor is free of faults, the water push sensor is free of faults, the water push motor is not in overflow, and the required water push turning angle is not changed, when the signals are simultaneously met, timing of water push turning control is started, the water push control overtime fault is output after the timing time exceeds the set time, the control signal of the driving motor is set to be 0, and the driving motor stops working.
Finally, it is noted that the above-mentioned preferred embodiments illustrate rather than limit the invention, and that, although the invention has been described in detail with reference to the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides an amphibious all terrain vehicle water pushes away steering gear which characterized in that: the water-driven steering system comprises a vehicle control unit, a steering wheel sensor, a water-driven switch, a servo controller, a water-driven position sensor, a steering mechanism, a driving motor, a water-driven steering box, a transmission shaft and a diversion water spray nozzle, wherein the driving motor, the water-driven steering box, the transmission shaft and the diversion water spray nozzle are sequentially in power connection; the water push position sensor is arranged on the water push steering box and is used for collecting the water push steering angle information, the steering wheel sensor and the water push switch are connected with the vehicle control unit through a low-voltage wire harness, the water push switch is used for outputting a starting signal, the vehicle control unit is used for collecting signals of the steering wheel sensor and the water push switch, and controlling the output water push enable control and water push turning angle demand signals, the vehicle control unit is communicated with the servo controller through a CAN bus, the water push position sensor and the driving motor are connected with a servo controller through a low-voltage wire harness, the servo controller is used for collecting signals of the water push position sensor, receiving water push enabling signals and water push turning angle demand signals sent by the vehicle control unit, and controlling to output a driving motor voltage control signal, and reporting the current water push corner and water push control information to the vehicle control unit.
2. The amphibious all-terrain vehicle water-powered steering device of claim 1, wherein: the water push switch is installed on the instrument panel.
3. The amphibious all-terrain vehicle water-powered steering device of claim 1, wherein: the water push steering and the vehicle steering share a steering mechanism.
4. A method of controlling a water-powered steering arrangement of an amphibious all-terrain vehicle as claimed in any one of claims 1 to 3, characterized in that:
after the water push switch is pressed down, the vehicle control unit acquires a starting signal of the water push switch and controls to output a water push enabling signal, the vehicle control unit is converted into a water push steering mode, and when the vehicle control unit is in water push steering, the vehicle control unit converts the signal of the steering wheel sensor into a corresponding water push steering angle demand and controls to output a water push steering angle demand signal;
after receiving a corner demand signal output by the vehicle control unit, the servo controller performs closed-loop control according to an actual water pushing corner converted by a collected water pushing position sensor signal and a water pushing corner demand signal issued by the vehicle control unit, outputs different driving motor voltage control signals, controls the driving motor to operate, further drives the diversion water nozzle to act, achieves the required water pushing corner, and feeds back the actual water pushing corner and water pushing control information to the vehicle control unit.
5. The control method of the amphibious all-terrain vehicle water-powered steering device of claim 4, characterized in that: when the water push control signal received by the servo controller is an enable signal, the driving motor has no fault, the water push sensor has no fault, the driving motor does not overflow, and the water push control is not overtime, the control signal output of the driving motor is effective, otherwise, the control signal of the driving motor is set to be 0.
6. The control method of the amphibious all-terrain vehicle water-powered steering device of claim 5, characterized in that: when the control signal output of the driving motor is effective, and the difference value between the water push rotating angle requirement and the position of the actual water push rotating angle is larger than a set dead zone, rotating angle closed-loop control is started, the control signal of the driving motor is output, and the driving motor starts to work.
7. The control method of the amphibious all-terrain vehicle water-powered steering device of claim 4, characterized in that: when the water push control signal received by the servo controller is enabled, the driving motor has no fault, the water push sensor has no fault, the water push motor does not overflow, and the required water push turning angle does not change, the water push turning control is started to be timed, after the timing time exceeds the set time, the water push control overtime fault is output, the control signal of the driving motor is set to be 0, and the driving motor stops working.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110601476.0A CN113183698A (en) | 2021-05-31 | 2021-05-31 | Amphibious all-terrain vehicle water-thrust steering device and control method |
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| CN202110601476.0A CN113183698A (en) | 2021-05-31 | 2021-05-31 | Amphibious all-terrain vehicle water-thrust steering device and control method |
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Application publication date: 20210730 |