CN113415336B - Electric transmission steering control system and loader - Google Patents
Electric transmission steering control system and loader Download PDFInfo
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- CN113415336B CN113415336B CN202110697588.0A CN202110697588A CN113415336B CN 113415336 B CN113415336 B CN 113415336B CN 202110697588 A CN202110697588 A CN 202110697588A CN 113415336 B CN113415336 B CN 113415336B
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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
- B62D5/07—Supply of pressurised fluid for steering also supplying other consumers ; control thereof
- B62D5/075—Supply of pressurised fluid for steering also supplying other consumers ; control thereof using priority valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/12—Hand levers
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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
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
Abstract
The invention discloses an electric drive steering control system and a loader, which comprise an engine, a generator, a controller, a four-wheel independent driving system and a steering system, wherein the steering system comprises a handle, and the controller can control the generator to output power to the four-wheel independent driving system and control the steering system to steer according to an output signal of the handle. The invention can realize the accurate steering function when the electric transmission is driven so as to meet the steering requirement of a driver.
Description
Technical Field
The invention relates to an electric drive steering control system and a loader, and belongs to the technical field of loaders.
Background
The traditional loader steering system adopts a steering wheel to control a steering gear, the steering gear controls a multi-way valve, finally a steering cylinder pushes a frame to realize integral articulated steering, and differential steering is realized by a central differential of a drive axle by the difference of internal and external rotating speeds of front and rear wheels, left and right tires. The electric transmission is the development trend of unmanned automatic driving in the future, and a traditional drive axle is not available, so that accurate steering cannot be implemented through a differential of the drive axle.
In order to accurately control the steering requirement of the whole machine, the invention provides an electric drive steering control system which can solve the problems.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an electric transmission steering control system and a loader, which can realize an accurate steering function when an electric transmission is driven so as to meet the steering requirement of a driver.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
in one aspect, the invention provides an electric drive steering control system, which comprises an engine, a generator connected with the engine, a controller, a four-wheel independent driving system and a steering system;
the steering system comprises a handle, and the controller can control the generator to output power to the four-wheel independent driving system according to an output signal of the handle and control the steering system to steer.
Furthermore, the controller comprises a first controller for controlling the driving of the four-wheel independent driving system, a second controller for controlling the steering of the steering system and a CAN bus, and the first controller and the second controller realize signal transmission through the CAN bus.
Furthermore, the four-wheel independent driving system comprises a front axle drive and a rear axle drive which are respectively provided with two independent driving assemblies, and the first controller can control the generator to output different powers to the four independent driving assemblies according to steering signals output by the handle.
Furthermore, the independent driving assembly comprises a traction motor and a speed reducer, and the first controller can control the generator to output power to the traction motor so that the traction motor drives the speed reducer to walk.
Further, the independent drive assembly further comprises a sensor for outputting a signal to the first controller.
Furthermore, the steering system also comprises a steering pump, a priority valve, a steering valve, a one-way valve, an overflow valve and a steering cylinder, wherein the steering pump supplies oil to the steering cylinder through the priority valve, the steering valve, the one-way valve and the overflow valve, and the second controller can control the steering cylinder to steer according to the output signal of the handle.
Further, the transfer case is further included, and the transfer case is respectively connected with the generator and the steering pump.
Further, the four-wheel independent driving system further comprises an accelerator pedal, and the first controller can control the generator to deliver power to the four-wheel independent driving system according to an output signal of the accelerator pedal.
Furthermore, the steering pump is a variable electric control hydraulic pump, and the priority valve and the steering valve are electric control proportional valves.
In another aspect, the invention provides a loader comprising the electric drive steering control system.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides an electric drive steering control system which comprises an engine, a generator, a controller, a four-wheel independent driving system and a steering system, wherein the steering system comprises a handle, and the controller can control the generator to output power to the four-wheel independent driving system and control the steering system to steer according to an output signal of the handle. The invention can realize the accurate steering function when the electric transmission is driven so as to meet the steering requirement of a driver.
2. Because the electric transmission is a complete machine with super-large tonnage (more than 12 tons of rated load), the drive axle cost of the traditional complete machine with super-large tonnage is overhigh, and compared with the prior art, the electric transmission steering control system provided by the invention has low cost. The invention adopts the scheme of realizing steering by four-wheel independent drive, only needs to be matched with corresponding driving motors, speed reducers and controllers, cancels a central differential, a main bevel reducer, a half shaft, a large-size axle housing and the like, and has obvious cost advantage.
3. The invention also provides a loader which adopts the electric drive steering control system. When the complete machine needs to turn, a driver rotates the handle, the complete machine CAN execute steering action, and meanwhile, after the first controller detects a steering signal of the corresponding handle through the CAN bus, different power is output to the four independent driving assemblies to ensure that the dynamic differential steering of the outer side driving assembly and the inner side independent driving assembly is close to a pure rolling state, so that the steering angle state of the complete machine and the angle of the handle are positively correlated, and the dynamic steering requirement of the driver is met.
4. The loader provided by the invention has the advantages of higher energy efficiency and remarkable energy saving. The transmission parts such as a gearbox, a drive axle and the like are reduced, so that the weight of the whole machine is reduced, the running resistance of the whole machine during steering is reduced, and correspondingly, the power consumed by a steering system can be reduced. By adopting the technical scheme of the invention, the steering control of the loader can be more accurate, and the controller can output different powers to the inner side and the outer side independent driving assemblies according to the angle and the direction of the handle after detecting the rotating output signal of the handle, so that the tires of the whole machine approach a pure rolling mode to realize steering, thereby realizing more accurate steering control.
Drawings
FIG. 1 is a schematic diagram illustrating an electric drive steering control system according to an embodiment of the present invention;
in the figure: 1. an accelerator pedal; 2. an engine; 3. a first controller; 4. a generator; 5. a CAN bus; 6. a transfer case; 7. a second controller; 8. a steering pump; 9. a priority valve; 10. a handle; 11. a steering valve; 12. a one-way valve; 121. a one-way valve A; 122. a check valve B; 13. an overflow valve; 131. an overflow valve A; 132. an overflow valve B; 14. a steering cylinder; 15. a sensor; 16. front axle driving; 161. a front axle drive R; 162. a front axle drive L; 17. driving a rear axle; 171. a rear axle drive R; 172. the rear axle drives L.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings, which are based on the orientations and positional relationships indicated in the drawings, and are used for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The first embodiment is as follows:
the invention provides an electric drive steering control system, the working principle diagram of which refers to fig. 1, comprising an engine 2, a generator 4, a transfer case 6, a controller, a four-wheel independent drive system and a steering system, wherein in the diagram, the dotted line is an electric connection circuit, the double solid lines are mechanical connection circuits, the solid lines are steering system connection circuits, and the dotted line in an overflow valve 13 is a control oil circuit.
Specifically, the engine 2, the generator 4 and the transfer case 6 are connected through a coupling, and as a preferred embodiment, the axial lines of the flywheel of the engine 2, the generator 4 and the input shaft of the transfer case 6 are coincident. In the present embodiment, the generator 4 according to the present invention is an ac generator 4, and includes, but is not limited to, an existing asynchronous generator 4, a conventional synchronous generator 4, and the like.
The steering system comprises a handle 10, and the controller can control the generator 4 to output power to the four-wheel independent driving system according to an output signal of the handle 10 and control the steering system to steer. The steering system also comprises a steering pump 8, a priority valve 9, a steering valve 11 and a steering cylinder 14, wherein an oil source flows to the priority valve 9 through the steering pump 8, then flows to the steering valve 11 from the priority valve 9, and finally enters the steering cylinder 14, namely the oil flows to the steering cylinder 14 after flowing to an oil inlet Q of the steering valve 11 from an oil outlet L of the priority valve 9. It should be noted that the steering valve 11 is further provided with an oil return port N, an oil inlet R, and an oil inlet S, and the priority valve 9 is further provided with an M port. In this embodiment, the oil inlet R is a right steering loop, the oil inlet S is a left steering loop, the oil return port N is used for connecting an oil tank, and the oil inlet R and the oil inlet S of the steering valve 11 are respectively connected to two steering cylinders 14. The priority valve 9 is used for ensuring the priority steering action of the whole machine, and when the whole machine does not need to steer, the displacement of the steering pump 8 is 0, and the flow can be output to other systems through the M port of the priority valve 9.
In the embodiment, taking the principle diagram of the invention as an example, when the handle 10 is operated to the right, the whole machine performs a right-turning action; when the handle 10 is operated leftward, the whole machine performs a leftward turning motion. It should be noted that the angle signal of the handle 10 is positively correlated with the strength of the signal sent by the second controller 7 to the steering pump 8, the priority valve 9 and the steering valve 11, that is, the opening degree of the valve core of the steering pump 8, the priority valve 9 and the steering valve 11 is positively correlated with the steering angle of the whole machine, that is, when the rotation angle of the handle 10 is larger, the output angle signal is larger, in this case, the stronger the signal sent by the second controller 7 to the steering pump 8, the priority valve 9 and the steering valve 11 is, accordingly, the larger the flow rate of the oil conveyed by the steering pump 8 is, the larger the opening degree of the valve core of the priority valve 9 and the steering valve 11 is, and the steering angle of the whole machine is larger.
Preferably, the steering system further comprises a check valve 12 and an overflow valve 13, the steering pump 8 supplies oil to the steering cylinder 14 through the priority valve 9, the steering valve 11, the check valve 12 and the overflow valve 13, when the steering action occurs due to the impact of external force on the whole machine, and if the steering is performed in a right direction, the handle 10 and the steering pump 8 do not output signals, the oil inlet cavity of the steering cylinder 14 is replenished with oil from the oil tank through the check valve a 121, and the pressure cavity of the steering cylinder 14 overflows through the overflow valve B132 and returns to the oil tank to realize the action of the steering cylinder 14. Similarly, when the steering action to the right is caused by the impact of the external force, the oil inlet chamber of the steering cylinder 14 will be replenished with oil from the oil tank through the check valve B122, and the pressure chamber of the steering cylinder 14 will overflow through the overflow valve a 131 and return to the oil tank to realize the action of the steering cylinder 14.
It should be noted that the transfer case 6 is connected with the steering pump 8 through a spline, that is, the generator 4, the transfer case 6 and the steering pump 8 are connected in series in sequence after the engine 2. The steering pump 8 is a variable electrically controlled hydraulic pump and is used for adjusting the displacement of the pump according to an electric signal input by the second controller 7. The priority valve 9 and the steering valve 11 are both electric control proportional valves and are used for adjusting the opening degree of the valve core according to an electric signal input by the second controller 7.
The controller comprises a first controller 3, a CAN bus 5 and a second controller 7, specifically, the first controller 3 is used for controlling the driving of a four-wheel independent driving system, the second controller 7 is used for controlling the steering of a steering system, and the first controller 3 and the second controller 7 realize signal transmission through the CAN bus 5. More specifically, the second controller 7 controls the steering cylinder 14 to steer according to the output signal of the handle 10.
In this embodiment, the four-wheel independent drive system includes a front axle drive 16 and a rear axle drive 17, two independent drive assemblies are respectively arranged on the front axle drive 16 and the rear axle drive 17, that is, four independent drive assemblies are arranged on the four-wheel independent drive system, and in detail, the first controller 3 can control the generator 4 to output different powers to the four independent drive assemblies according to a steering signal output by the handle 10. In more detail, the independent driving assembly comprises a traction motor and a speed reducer, and the first controller 3 can control the generator 4 to generate power so as to output power to the traction motor, so that the traction motor drives the speed reducer to walk.
In order to enable the first controller 3 to know the operation state of the independent driving assembly, a sensor 15 is further arranged on the independent driving assembly, and the sensor 15 is used for outputting signals of the rotating speed, the torque, the power, the current, the voltage and the like of the independent driving assembly to the first controller 3. The independent driving assembly comprises a traction motor and a speed reducer, and the first controller 3 can control the power generator 4 to output power to the traction motor so that the traction motor drives the speed reducer to walk.
When the first controller 3 detects a slip in one drive, assuming a slip in front axle drive R161, the tire can be brought to a pure rolling mode by increasing or decreasing the output power of the independent drive assembly to reduce or eliminate the slip condition. It will be appreciated by those skilled in the art that when the first controller 3 detects that the front axle drive L162 is slipping, the slipping condition may also be reduced or eliminated by increasing or decreasing the output power of the respective independent drive assembly to bring the tire closer to a pure rolling mode. In this case, when the first controller 3 detects that the rear axle R171 or the rear axle L172 is slipping, the tire can be brought close to the pure rolling mode by reducing or eliminating the slipping state by increasing or decreasing the output power of the respective independent drive assembly as well.
In order to further enable the first controller 3 to control the generator 4 to deliver power to the four-wheel independent drive system, the electric drive steering control system further comprises an accelerator pedal 1, an input port of the first controller 3 is connected with the accelerator pedal 1, and the first controller 3 can control the generator 4 to deliver power to the four-wheel independent drive system according to an output signal of the accelerator pedal 1. When a driver steps on the accelerator pedal 1, the first controller 3 outputs a power increasing or decreasing signal to the engine 2 according to the angle of the accelerator pedal 1, the engine 2 drives the generator 4 to generate power, and the power is output to a traction motor of the independent driving assembly through the first controller 3 so as to drive the whole vehicle to walk.
Those skilled in the art will understand that the angle of the accelerator pedal 1 is positively correlated with the strength of the signal output from the first controller 3 to the engine 2 and the rotating speed of the engine 2, with the rotating speed of the engine 2 and the power generation of the generator 4, with the power generation and the power of the traction motor, and with the output torque and/or the rotating speed of the traction motor and the walking speed of the whole machine. That is, when the angle of the accelerator pedal 1 is larger, the signal output to the first controller 3 is stronger, and accordingly, the signal output to the engine 2 by the first controller 3 is larger, the rotation speed of the engine 2 is increased, and when the rotation speed of the engine 2 is increased, the power generation amount of the generator 4 is increased accordingly, so that the output power to the traction motor is increased, and finally, the output torque and/or the rotation speed of the traction motor is increased, so that the walking speed of the whole machine is increased.
The second controller 7 sends signals to the CAN bus 5, the first controller 3 reads the signals through the CAN bus 5 and then controls the generator 4 to generate electricity so as to output electric energy to the first controller 3, and the first controller 3 outputs the electric energy to the four independent driving assemblies at the same time. After the first controller 3 detects the steering signal of the second controller 7 through the CAN bus 5, taking steering to the left as an example, different powers are output to the four independent driving assemblies, that is, the power of the two independent driving assemblies on the inner side on the left side is smaller, and the power of the two independent driving assemblies on the outer side on the right side is larger, so as to ensure that the dynamic differential steering of the outer independent driving assembly and the inner independent driving assembly is close to a pure rolling state, and reduce the slip power consumption of the driving assemblies.
When the driver performs the steering operation of the whole machine through the handle 10, the second controller 7 detects a steering signal and simultaneously outputs signals to the steering pump 8, the priority valve 9 and the steering valve 11, the output of the displacement of the steering pump 8, the opening degree of the valve core of the priority valve 9 and the opening degree of the valve core of the steering valve 11 are positively correlated with the angle of the handle 10, and the steering pump 8 supplies oil to the steering cylinder 14 through the priority valve 9 and the steering valve 11 to perform the steering operation of the whole machine. When the driver stops steering, the handle 10 is reset, the front frame and the rear frame of the whole machine still have certain angular displacement at the moment, namely the whole machine is not in a centering/aligning state, at the moment, the second controller 7 cuts off signals of the priority valve 9 and the steering valve 11, but still has signals to the steering pump 8, namely the steering cylinder 14 stops steering, the priority valve 9 is reset, and the steering pump 8 supplies oil to other systems through the priority valve 9.
In this embodiment, the input ports of the first controller 3 are respectively connected to the engine 2, the generator 4, the CAN bus 5, the four-wheel independent drive system, and the like, and the output ports of the first controller 3 are respectively connected to the engine 2, the generator 4, the drive assembly, the CAN bus 5, and the like; an input port of the second controller 7 is connected with a handle 10, and an output port of the second controller 7 is connected with the CAN bus 5, the steering pump 8, the priority valve 9 and the steering valve 11. The state parameters of the engine 2, the generator 4, the traction motor of the drive assembly, the running of the whole machine and the like are output to the CAN bus 5 through the first controller 3 and CAN be displayed on the CAN bus 5, the state information of the handle 10, the steering pump 8, the priority valve 9, the steering valve 11 and the like is output to the CAN bus 5 through the second controller 7 and is displayed on the CAN bus 5, and a driver CAN read related signals through the CAN bus 5 and know the running state of the whole machine.
The invention provides an electric drive steering control system, which comprises an engine 2, a generator 4, a controller, a four-wheel independent driving system and a steering system, wherein the steering system comprises a handle 10, and the controller can control the generator 4 to output power to the four-wheel independent driving system and control the steering of the steering system simultaneously according to an output signal of the handle 10. The invention can realize the accurate steering function when the electric transmission is driven so as to meet the steering requirement of a driver.
Example two:
the invention also provides a loader, and particularly, the electric drive steering control system in the first embodiment is adopted.
When the whole machine performs steering action, the working state is as follows:
when the whole machine normally runs, the engine 2 drives the generator 4, the transfer case 6 and the steering pump 8 to run, and the generator 4 transmits electric energy to the four-wheel independent driving system through the first controller 3 to drive the whole machine to run. The driver can control the whole machine walking state by stepping on the accelerator pedal 1, when the driver steps on the accelerator pedal 1, the accelerator pedal 1 outputs an angle signal, the first controller 3 receives the angle signal and controls the engine 2 to drive the generator 4 to operate, so that the generator 4 transmits electric energy to the first controller 3 after generating electricity, and the first controller 3 transmits the electric energy output by the generator 4 to the four-wheel independent driving system to drive the whole machine to move forward or backward.
When the whole machine needs to turn, a driver rotates the handle 10, the handle 10 outputs signals after rotating, and the second controller 7 outputs signals to the steering pump 8, the priority valve 9 and the steering valve 11 after receiving the signals, so that the oil flow of the steering pump 8 is increased, the priority valve 9 and the steering valve 11 are simultaneously opened, and oil is supplied to the steering cylinder 14.
Meanwhile, after the first controller 3 detects the steering signal of the corresponding handle 10 through the CAN bus 5, different powers are output to the four independent driving assemblies, if the handle 10 turns left, the whole vehicle needs to perform a left-turning action, at the moment, after the first controller 3 detects the left steering signal of the handle 10 through the CAN bus 5, the powers of the two inner independent driving assemblies are smaller, the powers of the two outer independent driving assemblies are larger, so that the dynamic differential steering of the outer independent driving assemblies and the dynamic differential steering of the inner independent driving assemblies are close to a pure rolling state, the steering angle state of the whole vehicle is positively correlated with the angle of the handle 10, and the dynamic steering willingness requirement of a driver is met.
The loader provided by the invention adopts the electric drive steering control system. When the complete machine needs to turn, a driver rotates the handle 10, the complete machine CAN execute steering action, and meanwhile, after the first controller 3 CAN detect a steering signal of the corresponding handle 10 through the CAN bus 5, different power is output to the four independent driving assemblies to ensure that the dynamic differential steering of the outer side driving assembly and the inner side independent driving assembly is close to a pure rolling state, so that the steering angle state of the complete machine and the angle of the handle 10 are positively correlated, and the dynamic steering requirement of the driver is met.
Because the electric transmission is a complete machine with super-large tonnage (more than 12 tons of rated load), the drive axle cost of the traditional complete machine with super-large tonnage is overhigh, and compared with the prior art, the electric transmission steering control system provided by the invention has low cost. The invention adopts the scheme of realizing steering by four-wheel independent drive, only needs to be matched with corresponding driving motors, speed reducers and controllers, cancels a central differential, a main bevel reducer, a half shaft, a large-size axle housing and the like, and has obvious cost advantage.
In addition, the loader provided by the invention has the advantages of higher energy efficiency and remarkable energy saving. The transmission parts such as a gearbox, a drive axle and the like are reduced, so that the weight of the whole machine is reduced, the running resistance of the whole machine during steering is reduced, and correspondingly, the power consumed by a steering system can be reduced. By adopting the technical scheme of the invention, the steering control of the loader can be more accurate, and the controller can output different powers to the inner side and the outer side independent driving assemblies according to the angle and the direction of the handle 10 after detecting the rotating output signal of the handle 10, so that the tires of the whole machine approach a pure rolling mode to realize steering, thereby realizing more accurate steering control.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (2)
1. An electric drive steering control system is characterized by comprising an engine, a generator connected with the engine, a controller, a four-wheel independent driving system and a steering system; the steering system comprises a handle, and the controller can control the generator to output power to the four-wheel independent driving system and control the steering system to steer according to an output signal of the handle;
the controller comprises a first controller for controlling the driving of the four-wheel independent driving system, a second controller for controlling the steering of the steering system and a CAN bus, and the first controller and the second controller realize signal transmission through the CAN bus;
the four-wheel independent driving system comprises a front axle drive and a rear axle drive which are respectively provided with two independent driving assemblies, and the first controller can control the generator to output different powers to the four independent driving assemblies according to steering signals output by the handle; the independent driving assembly comprises a traction motor and a speed reducer, and the first controller can control the generator to output power to the traction motor so as to enable the traction motor to drive the speed reducer to walk; the independent drive assembly further comprises a sensor for outputting a signal to a first controller;
the steering system also comprises a steering pump, a priority valve, a steering valve, a one-way valve, an overflow valve and a steering cylinder, the steering pump supplies oil to the steering cylinder through the priority valve, the steering valve, the one-way valve and the overflow valve, and the second controller can control the steering cylinder to steer according to an output signal of the handle;
the electric transmission steering control system also comprises a transfer case and an accelerator pedal, wherein the transfer case is respectively connected with the generator and the steering pump; the first controller can control the generator to transmit power to the four-wheel independent driving system according to an output signal of the accelerator pedal; the steering pump is a variable electric control hydraulic pump, and the priority valve and the steering valve are electric control proportional valves; the transfer case is connected with the steering pump through a spline;
the engine, the generator and the transfer case are connected through a coupler, and the axial leads of a flywheel of the engine, the generator and an input shaft of the transfer case are superposed; the steering valve is also provided with an oil return port N, an oil inlet R and an oil inlet S, and the priority valve is also provided with an M port; the oil inlet R is a right steering loop, the oil inlet S is a left steering loop, the oil return port N is used for connecting an oil tank, and the oil inlet R and the oil inlet S of the steering valve are respectively connected with two steering cylinders; the angle signal of the handle is positively correlated with the strength of the signal sent to the steering pump, the priority valve and the steering valve by the second controller, and is positively correlated with the steering angle of the whole machine; the angle of the accelerator pedal is positively correlated with the strength of a signal output to the engine by the first controller and the rotating speed of the engine, the rotating speed of the engine is positively correlated with the generating capacity of the generator, the generating capacity is positively correlated with the power of the traction motor, and the output torque and/or the rotating speed of the traction motor is positively correlated with the walking speed of the whole machine.
2. A loader comprising the electric drive steering control system of claim 1.
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| CN202110697588.0A CN113415336B (en) | 2021-06-23 | 2021-06-23 | Electric transmission steering control system and loader |
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| CN202110697588.0A CN113415336B (en) | 2021-06-23 | 2021-06-23 | Electric transmission steering control system and loader |
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| CN113605486B (en) * | 2021-10-11 | 2022-01-18 | 徐工集团工程机械股份有限公司科技分公司 | Loader traveling control system and control method thereof, loader and vehicle control unit |
| CN115476918B (en) * | 2022-08-30 | 2023-07-07 | 徐工集团工程机械股份有限公司科技分公司 | Steering control method and system for large-tonnage loader |
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| CN104527457B (en) * | 2014-12-10 | 2017-09-08 | 北京航天发射技术研究所 | Many wheel independent drive electric vehicle slippage rate control methods |
| CN110509778B (en) * | 2018-05-22 | 2022-12-13 | 上海汽车集团股份有限公司 | Vehicle, electric drive axle and control method thereof |
| CN111497934A (en) * | 2020-04-24 | 2020-08-07 | 山推工程机械股份有限公司 | Steering brake system and steering brake control method |
| CN212313673U (en) * | 2020-06-27 | 2021-01-08 | 广东富华重工制造有限公司 | Engineering machinery steering control device and engineering machinery |
| CN112455447B (en) * | 2021-01-28 | 2021-05-14 | 天津所托瑞安汽车科技有限公司 | Vehicle antiskid control method and device, electronic equipment and medium |
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