CN113291377B - Trolley bus steering angle detection device and control system thereof - Google Patents
Trolley bus steering angle detection device and control system thereof Download PDFInfo
- Publication number
- CN113291377B CN113291377B CN202110740071.5A CN202110740071A CN113291377B CN 113291377 B CN113291377 B CN 113291377B CN 202110740071 A CN202110740071 A CN 202110740071A CN 113291377 B CN113291377 B CN 113291377B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- angle sensor
- sensor
- angle
- trolley bus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a trolley bus steering angle detection device, wherein a front frame is connected with a rear frame through a hinged disk, a connecting rod mounting beam is fixed on the front frame, an angle sensor mounting platform is fixed on the rear frame, an angle sensor is arranged on the angle sensor mounting platform, the angle sensor is connected with a first connecting rod, the first connecting rod is arranged on the connecting rod mounting beam in parallel, a second connecting rod is connected between the first connecting rod and the connecting rod mounting beam, the angle sensor, the first connecting rod and the second connecting rod are in two groups and are symmetrically arranged relative to the outer side of the center of the angle sensor mounting platform, the angle sensor, the first connecting rod, the second connecting rod and the connecting rod mounting beam form an upper parallelogram and a lower parallelogram, and the reliability is greatly improved by adopting a double-sensor redundancy design through an available space arranged in the hinged device or the hinged disk. The control system performs different controls according to the threshold value, so that the control is more scientific and the data is more reliable.
Description
Technical Field
The invention relates to the technical field of trolley buses, in particular to a trolley bus steering angle detection device and a control system thereof.
Background
A traditional 18m bus is a bus with a cab, wherein a front bus is connected with a rear bus through a hinge device, and only one-way driving is needed. When the vehicle is steered forwards, the rear vehicle follows the motor car to steer, the steering is not actively controlled, and the steering angle information among the vehicles is not needed. The three-pass or more-pass long-grouped trolley bus runs in two directions (both ends are provided with cabs), and each axle has the independent steering capacity. The larger vehicle length increases the requirement on vehicle control, and in order to enable the vehicle to move along a specified path, the attitude information of the vehicle needs to be acquired in real time and used as the calculation basis of the steering angle required by each steering shaft. Wherein the steering angle signal of the articulation device is the most dominant signal for determining the attitude of the vehicle. Therefore, it is necessary to collect the signal of the steering angle, which requires the device for detecting the steering angle of the trolley bus, and on the other hand, it is necessary to design the device for detecting the steering angle of the trolley bus redundantly, so as to improve the reliability.
Disclosure of Invention
The invention aims to provide a high-reliability trolley bus steering angle detection device which is suitable for the structural characteristics that a trolley bus is long and the internal space of a hinge device is small.
The invention provides a trolley bus steering angle detection device based on the above purpose, wherein a front frame is connected with a rear frame through a hinged disc, and a connecting rod mounting beam is fixed on the front frame; the rear frame is fixed with an angle sensor mounting platform, the angle sensor mounting platform is provided with an angle sensor, the angle sensor is connected with a first connecting rod, the first connecting rod is arranged in parallel to a connecting rod mounting beam, a second connecting rod is connected between the first connecting rod and the connecting rod mounting beam, and the angle sensor is arranged in a manner that the first connecting rod and the second connecting rod are two groups and are symmetrically arranged relative to the outer side of the center of the angle sensor mounting platform. Through setting up the available space in articulated dish inside, adopt the redundant design of dual sensor, greatly improved the reliability.
As an optional mode, the angle sensor forms a parallelogram with the connecting assembly, that is, the angle sensor, the first connecting rod, the second connecting rod and the connecting rod mounting beam form two upper and lower parallelograms, four points forming the parallelogram are respectively a fixed point of the angle sensor, a central point of the hinge plate, a connecting point of the first connecting rod and the second connecting rod, a connecting point of the second connecting rod and the connecting rod mounting beam, and the two upper and lower parallelograms are connected through the central point of the hinge plate. The linkage of two parallelograms about, make full use of the space, the double-parallelogram redundant design that the double sensor, the double first connecting rod, the second connecting rod and the connecting rod installation beam constitute, improved the reliability.
The angle sensors can be arranged into four, and respectively form four parallelograms with the first connecting rod, the second connecting rod and the connecting rod mounting beam, on the premise of not changing the structure of the hinge device, a sensor and connection combination is designed inside the hinge disc, and the vehicle steering angle is ingeniously transmitted to the sensors. Meanwhile, redundancy is realized due to the characteristic that the combination of the sensor and the connection can be arranged in multiple sets.
Further, the angle sensor is an electrodeless angle sensor. By adopting the electrodeless angle sensor and the connecting assembly, the real-time steering angle signal of the hinge device can be more accurately and stably acquired.
Further, the maximum angle of rotation between the front frame and the rear frame through the hinge device or the hinge plate is 54 °.
The angle of 54 degrees is the maximum value of the trolley bus in the hinge device industry, which means that the trolley bus reaches the worst condition under the condition, and meanwhile, the through passage at the upper part of the hinge disc approaches to the stretching/compressing limit along with the movement of the through passage, so that the angle of 54 degrees is generally not allowed to be exceeded when the hinge disc is actually applied, but the maximum angle of rotation between the front frame and the rear frame through the hinge disc in the invention patent is still normal when the angle is 54 degrees, which can meet the actual application.
Corresponding to the above-mentioned trolley bus turns to the angle detection device and is a trolley bus turns to the angle detection device control system, the above-mentioned trolley bus that turns to the angle detection device control system turns to the angle detection device of trolley bus still includes the step:
s1, judging a limit threshold, presetting a minimum threshold and a maximum threshold according to the rotation limit of the hinged disk, if the signal of the sensor exceeds the threshold, the sensor is invalid, and cutting off the signal;
s2, if the two angle sensors pass the first step, consistency judgment is carried out, the difference value of the two sensor signals is compared with a consistency threshold value, and if the difference value does not exceed the threshold value, the average value of the two sensor signals is output; and if the difference exceeds the consistency threshold, reporting a sensor fault.
The minimum threshold is set to zero, and if the sensor signal remains at the minimum threshold for a time t when the vehicle speed is not zero, it is determined that the vehicle is disabled. The maximum threshold value should be set to be larger than the articulated steering angle theoretically analyzed under the actual worst line conditions (normal control of the vehicle), and the margin is comprehensively determined according to the requirements of the control system, the steering system, and the like, but smaller than the designed maximum steering angle of the articulated apparatus.
The invention has the following beneficial effects:
1. the space of the hinge device is fully utilized, and the double-parallelogram redundancy design consisting of the double sensors, the double first connecting rods, the double second connecting rods and the connecting rod mounting beams improves the reliability;
2. by adopting the electrodeless angle sensor and the connecting assembly, the real-time steering angle signal of the hinge device can be more accurately and stably acquired;
3. the arrangement mode of the angle sensor and the connecting assembly is still normal when the hinge device turns at 54 degrees, and the practical application can be met;
4. the control system of the trolley bus turning angle detection device ensures that the trolley bus turning angle detection device is more effectively and reliably controlled;
5. the invention has the advantages that the structure only continuously acts in a plane, the initial height does not exceed 10mm, and the height is not changed in the whole process of signal acquisition, thereby avoiding the interference with other equipment.
Drawings
FIG. 1 is a schematic view of a steering angle detecting device according to the present invention;
FIG. 2 is a front frame steering schematic of the present invention;
FIG. 3 is a schematic view of the front frame of the present invention turning in another direction;
FIG. 4 is a schematic view of the front frame of the present invention achieving a 54 ° turn;
FIG. 5 is a schematic view of a parallelogram formed by the sensor, the first link, the second link and the link mounting beam of the present invention;
fig. 6 is a step diagram of a control system of the steering angle detecting device according to the present invention.
Wherein: 10. the front frame, 20, the rear frame, 30, the articulated dish, 1, connecting rod installation roof beam, 2, angle sensor mounting platform, 3, angle sensor, 4, first connecting rod, 5, second connecting rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
Referring to fig. 1 to 5, the invention provides a trolley bus steering angle detection device, a front frame 10 is connected with a rear frame 20 through an articulated disc 30, a connecting rod mounting beam 1 is fixed on the front frame 10, an angle sensor mounting platform 2 is fixed on the rear frame 20, an angle sensor 3 is arranged on the angle sensor mounting platform 2, the angle sensor 3 is connected with a first connecting rod 4, the first connecting rod 4 is arranged on the connecting rod mounting beam 1 in parallel, a second connecting rod 5 is connected between the first connecting rod 4 and the connecting rod mounting beam 1, and the angle sensor 3, the first connecting rod 4 and the second connecting rod 5 are in two groups and are symmetrically arranged relative to the outer side of the center of the angle sensor mounting platform 2. Through setting up the available space in articulated mounting or articulated dish, adopt the redundant design of dual sensor, greatly improved the reliability.
As an alternative embodiment, the angle sensor 3 and the connecting assembly form a parallelogram, that is, the angle sensor 3, the first link 4, the second link 5 and the link mounting beam 1 form two upper and lower parallelograms, which are connected by a center point of the hinge plate 30. The linkage of two parallelograms about, make full use of the space, the double-parallelogram redundant design that the double sensor, the double first connecting rod, the second connecting rod and the connecting rod installation beam constitute, improved the reliability.
The invention has the advantages that the structure only continuously acts in a plane, the initial height does not exceed 10mm, and the height is not changed in the whole process of signal acquisition, thereby avoiding the interference with other equipment. In addition, the number of the angle sensors 3 can be set to be 4, the angle sensors respectively form four parallelograms with the corresponding first connecting rod 4, the corresponding second connecting rod 5 and the corresponding connecting rod mounting beam 1, a sensor + connection combination is designed in the hinged disc on the premise of not changing the structure of the hinged device, and the vehicle steering angle is ingeniously transmitted to the sensors. Meanwhile, redundancy is realized due to the characteristic that the combination of the sensor and the connection can be arranged in multiple sets.
As an alternative embodiment, the angle sensor 3 is an electrodeless angle sensor. By adopting the electrodeless angle sensor and the connecting assembly, the real-time steering angle signal of the hinge device can be more accurately and stably acquired.
As an alternative embodiment, the maximum angle of rotation between the front frame 10 and the rear frame 20 by means of the articulation or articulation disc 30 is 54 °.
54 degrees is the maximum value of the trolley bus in the hinge device industry, which means that the trolley bus reaches the worst condition under the condition, and simultaneously, the through passage at the upper part of the hinge disc approaches to the stretching/compressing limit along with the movement of the through passage, so the hinge disc is generally not allowed to exceed 54 degrees in practical application, but the maximum angle of rotation between the front frame and the rear frame through the hinge disc in the invention patent is still normal when being 54 degrees, and the invention can meet the practical application.
Referring to fig. 6, the trolley bus steering angle detecting device corresponds to a trolley bus steering angle detecting device control system, which includes the trolley bus steering angle detecting device, and further includes the steps of:
s1, judging a limit threshold, presetting a minimum threshold and a maximum threshold according to the rotation limit of the hinged disk, if the signal of the sensor exceeds the threshold, the sensor is invalid, and cutting off the signal;
s2, if the two angle sensors pass the first step, consistency judgment is carried out, the difference value of the two sensor signals is compared with a consistency threshold value, and if the difference value does not exceed the threshold value, the average value of the two sensor signals is output; and if the difference exceeds the consistency threshold, reporting a sensor fault.
The minimum threshold is set to zero, and if the sensor signal remains at the minimum threshold for a time t when the vehicle speed is not zero, it is determined that the vehicle is disabled. The maximum threshold value should be set to be larger than the articulated steering angle theoretically analyzed under the actual worst line conditions (normal control of the vehicle), and the margin is comprehensively determined according to the requirements of the control system, the steering system, and the like, but smaller than the designed maximum steering angle of the articulated apparatus.
Finally, it should be noted that the above-mentioned embodiments illustrate rather than limit the scope of the invention, and that those skilled in the art will be able to modify the invention in its various equivalent forms without departing from the scope of the invention as defined in the appended claims.
Claims (4)
1. A trolley bus steering angle detection device is characterized in that a front frame and a rear frame are connected through a hinged disk,
a connecting rod mounting beam is fixed on the front frame;
an angle sensor mounting platform is fixed on the rear frame, an angle sensor is arranged on the angle sensor mounting platform, the angle sensor is connected with a first connecting rod, the first connecting rod is arranged on the connecting rod mounting beam in parallel, a second connecting rod is connected between the first connecting rod and the connecting rod mounting beam, and the angle sensor, the first connecting rod and the second connecting rod are in two groups and are symmetrically arranged relative to the outer side of the center of the angle sensor mounting platform;
the angle sensor, the first connecting rod, the second connecting rod and the connecting rod mounting beam form an upper parallelogram and a lower parallelogram, four points forming the parallelograms are respectively a fixed point of the angle sensor, a central point of the hinged disk, a connecting point of the first connecting rod and the second connecting rod, a connecting point of the second connecting rod and the connecting rod mounting beam, and the upper parallelogram and the lower parallelogram are connected through the central point of the hinged disk.
2. The trolley bus turning angle detecting apparatus according to claim 1, wherein the angle sensor is an electrodeless angle sensor.
3. A trolley bus steering angle detecting apparatus according to claim 1, wherein a maximum angle of rotation between the front frame and the rear frame by the hinge plate is 54 °.
4. A trolley bus steering angle detection device control system, characterized in that, comprising the trolley bus steering angle detection device of any claim 1-3, further comprising the steps of:
s1, judging a limit threshold, presetting a minimum threshold and a maximum threshold according to the rotation limit of the hinged disk, if the signal of the sensor exceeds the threshold, the sensor is invalid, and cutting off the signal;
s2, if the two angle sensors pass the first step, consistency judgment is carried out, the difference value of the two sensor signals is compared with a consistency threshold value, and if the difference value does not exceed the threshold value, the average value of the two sensor signals is output; and if the difference exceeds the consistency threshold, reporting a sensor fault.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110740071.5A CN113291377B (en) | 2021-06-30 | 2021-06-30 | Trolley bus steering angle detection device and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110740071.5A CN113291377B (en) | 2021-06-30 | 2021-06-30 | Trolley bus steering angle detection device and control system thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113291377A CN113291377A (en) | 2021-08-24 |
| CN113291377B true CN113291377B (en) | 2022-09-13 |
Family
ID=77330112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110740071.5A Active CN113291377B (en) | 2021-06-30 | 2021-06-30 | Trolley bus steering angle detection device and control system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113291377B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102161348A (en) * | 2010-06-17 | 2011-08-24 | 伊卡路斯(苏州)车辆系统有限公司 | Steering angle sensing device in chassis articulated system of articulator |
| CN105620549A (en) * | 2014-10-31 | 2016-06-01 | 南车株洲电力机车研究所有限公司 | Rubber wheel hinging type bogie for guiding trolleybus and guiding trolleybus |
| CN207809514U (en) * | 2018-01-09 | 2018-09-04 | 国机重工集团常林有限公司 | A kind of articulated frame rudder angle measurement device |
| CN109664940A (en) * | 2018-12-03 | 2019-04-23 | 零八电子集团四川红轮机械有限公司 | A kind of trailer and its steering-alarming device |
| CN112519884A (en) * | 2020-10-29 | 2021-03-19 | 武汉光庭科技有限公司 | Engineering machine tool turns to angle feedback repacking device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR112012030617B8 (en) * | 2010-06-02 | 2022-04-19 | Jointech Suzhou Vehicle System | Large articulated vehicle articulated chassis system |
-
2021
- 2021-06-30 CN CN202110740071.5A patent/CN113291377B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102161348A (en) * | 2010-06-17 | 2011-08-24 | 伊卡路斯(苏州)车辆系统有限公司 | Steering angle sensing device in chassis articulated system of articulator |
| CN105620549A (en) * | 2014-10-31 | 2016-06-01 | 南车株洲电力机车研究所有限公司 | Rubber wheel hinging type bogie for guiding trolleybus and guiding trolleybus |
| CN207809514U (en) * | 2018-01-09 | 2018-09-04 | 国机重工集团常林有限公司 | A kind of articulated frame rudder angle measurement device |
| CN109664940A (en) * | 2018-12-03 | 2019-04-23 | 零八电子集团四川红轮机械有限公司 | A kind of trailer and its steering-alarming device |
| CN112519884A (en) * | 2020-10-29 | 2021-03-19 | 武汉光庭科技有限公司 | Engineering machine tool turns to angle feedback repacking device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113291377A (en) | 2021-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6510917B2 (en) | Rear wheel steering apparatus | |
| EP0246116B1 (en) | Camber control system for a motor vehicle | |
| US8205892B2 (en) | Method of automatically changing wheel toe angle | |
| US4271922A (en) | Wheel suspension system | |
| RU2446959C2 (en) | Method of articulation control | |
| US20030111812A1 (en) | Adjustable suspension assembly control arms | |
| US4566709A (en) | Steering system for vehicles | |
| CN111845931B (en) | Multi-mode composite steering chassis and engineering machinery vehicle | |
| US20030019670A1 (en) | Hybrid steer-by-wire with mechanical link | |
| CN111422249B (en) | Rear wheel steering control method, rear wheel steering control device and computer storage medium | |
| CN113291377B (en) | Trolley bus steering angle detection device and control system thereof | |
| US6561307B1 (en) | Independent suspension steering system | |
| EP0454993B1 (en) | Suspension system of a vehicle | |
| JPS643711B2 (en) | ||
| CN108995706A (en) | A kind of extra heavy off road vehicle electrically powered steering apparatus using same and control method | |
| CN102259662A (en) | Method for vehicle steering using a vehicle steering device | |
| CN114194294B (en) | Trailer steering control device and control method | |
| GB2128950A (en) | An air deflector assembly for a motor vehicle | |
| CN113147892B (en) | Steering transmission mechanism safety early warning method and system and vehicle | |
| JPH01204813A (en) | Suspension system | |
| EP2716523B1 (en) | Regulating system, and a method in a regulating system | |
| CN219406580U (en) | Steering system and vehicle | |
| KR100224409B1 (en) | Steering linkage for vehicles | |
| CN217649519U (en) | Obstacle-crossing bridge type inspection robot line control chassis and robot | |
| US20220135126A1 (en) | Trailer tracking control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |