CN113788068A - Multimode electro-hydraulic all-wheel steering system for special vehicle and control method - Google Patents
Multimode electro-hydraulic all-wheel steering system for special vehicle and control method Download PDFInfo
- Publication number
- CN113788068A CN113788068A CN202111042065.9A CN202111042065A CN113788068A CN 113788068 A CN113788068 A CN 113788068A CN 202111042065 A CN202111042065 A CN 202111042065A CN 113788068 A CN113788068 A CN 113788068A
- Authority
- CN
- China
- Prior art keywords
- steering
- axle
- steering axle
- power
- group
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 46
- 239000007788 liquid Substances 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims 1
- 239000003921 oil Substances 0.000 description 25
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- 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
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
-
- 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
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
- B62D5/091—Hydraulic steer-by-wire systems, e.g. the valve being actuated by an electric motor
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a multimode electro-hydraulic all-wheel steering system for a special vehicle, which comprises a front steering axle group, a rear steering axle group and a steering electric control system, wherein the front steering axle group comprises at least one front steering axle; the rear steering axle group comprises two groups of mutually independent rear steering axles, each rear steering axle is respectively provided with a rear steering power-assisted cylinder and a rear alignment power-assisted cylinder, and all the rear steering power-assisted cylinders and the rear alignment power-assisted cylinders are powered by a rear steering pump through a control valve block; the steering electric control system comprises a display control device and a steering controller, the display control device is connected with the steering controller and used for switching a steering mode, and the steering controller controls the rear steering axle set to steer along with the front steering axle set according to the steering mode selected by the display control device. Can be applicable to heavy multiaxis vehicle, satisfy the vehicle to the demand that turns to of different operating modes, promote trafficability characteristic and stability of vehicle when turning to.
Description
Technical Field
The invention relates to the technical field of heavy vehicle chassis, in particular to a multimode electro-hydraulic all-wheel steering system and a control method for a special vehicle.
Background
Due to the characteristics of large load and long wheel base of the heavy multi-axle vehicle, the steering performance of a chassis directly influences the steering trafficability, the operation stability and the driving safety of the vehicle, and a multi-axle steering system scheme is generally adopted for a steering system. With the development of multi-axle vehicles towards heaviness and electromotion in China, the size of the whole vehicle is larger and larger, the requirement on the steering trafficability is higher and higher, and a special vehicle chassis is required to have higher maneuverability and smoothness under the complex off-road running working condition, so that the heavy vehicle chassis generally adopts the multi-axle steering technology. However, the steering passing performance and the stability performance of the existing heavy multi-axle vehicle are poor under different working conditions, and the driving safety is seriously influenced.
In view of this, how to improve the passing ability and stability of the vehicle during steering under different working conditions becomes a key point of urgent solution and research for those skilled in the art.
Disclosure of Invention
In order to solve the problem that the existing multi-axle heavy vehicle is poor in steering trafficability and stability under different working conditions, the invention innovatively provides a multi-mode electro-hydraulic all-wheel steering system and a control method for a special vehicle, provides an effective solution for steering of the multi-axle heavy vehicle under different working conditions, can be suitable for the heavy vehicle, meets the steering requirements of the vehicle on different working conditions, and improves trafficability and stability of the vehicle during steering.
In order to achieve the technical purpose, the invention discloses a multi-mode electro-hydraulic all-wheel steering system for a special vehicle, which comprises a front steering axle group, a rear steering axle group and a steering electric control system, wherein the front steering axle group comprises at least one front steering axle, and the front steering axle provides power assistance through a front steering pump; the rear steering axle group comprises two groups of mutually independent rear steering axles, rear steering power-assisted cylinders and rear alignment power-assisted cylinders are respectively arranged on rear steering arms on the left side and the right side of each group of rear steering axles, and all the rear steering power-assisted cylinders and the rear alignment power-assisted cylinders are powered by a rear steering pump through a control valve block; the steering electric control system comprises a display control device and a steering controller, the display control device is connected with the steering controller and used for switching steering modes, and the steering controller controls the rear steering axle set to steer along with the front steering axle set through the control valve block according to the steering mode selected by the display control device.
In one embodiment of the invention, the front steering axle group comprises a front steering axle and a front auxiliary steering axle, a steering gear is mounted on the front steering axle, the steering gear is connected with a steering wheel, the front steering axle is mechanically connected with the front auxiliary steering axle through a longitudinal pull rod, the front auxiliary steering axle synchronously acts with the front steering axle through the longitudinal pull rod, a front steering power-assisted cylinder is arranged on a steering arm of the front auxiliary steering axle, and the front steering power-assisted cylinder and the steering gear generate high-pressure liquid oil through the cooperation of a front steering oil tank and the front steering pump to provide power.
In one embodiment of the invention, the rear steering axle group is respectively a middle steering axle group and a rear auxiliary steering axle group, the middle steering axle group and the rear auxiliary steering axle group comprise at least one rear steering axle, the rear steering power-assisted cylinder and the rear alignment power-assisted cylinder are respectively arranged on a steering arm of the rear steering axle from left to right, the rear steering power-assisted cylinder and the rear alignment power-assisted cylinder are both connected with a control valve block, the control valve block arranged on the rear steering axle is both connected with a rear steering pump, and the rear steering power-assisted cylinder and the rear alignment power-assisted cylinder are matched with the rear steering oil tank and the rear steering pump to generate high-pressure liquid oil for providing power.
In one embodiment of the invention, the number of the front steering pumps is two, the two front steering pumps are arranged in parallel and share the front steering oil tank, the number of the rear steering pumps is two, the two rear steering pumps are arranged in parallel and share the rear steering oil tank, and the front steering pumps and the rear steering pumps are both electric steering pumps.
In one embodiment of the invention, the two rear steering pumps are connected with an energy accumulator together, and the energy accumulators are connected with the control valve block through oil passages respectively.
In an embodiment of the invention, the front steering axle, the front auxiliary steering axle and the rear steering axle all adopt disconnected steering trapezoid structures.
In one embodiment of the invention, a front steering linear displacement sensor or a front steering angular displacement sensor is installed on the front steering axle group, a rear steering angular displacement sensor or a rear steering linear displacement sensor is installed on the rear steering power-assisted cylinder, and the front steering linear displacement sensor or the front steering angular displacement sensor, the control valve block and the rear steering linear displacement sensor are respectively and electrically connected with the steering controller.
On the basis of the embodiment, the invention also discloses a multimode electro-hydraulic all-wheel steering control method for the special vehicle, which comprises the following steps:
step 1, a steering mode switching instruction is sent to a steering controller through a display control device;
step 2, judging whether the front steering bridge group is in the centering position: if yes, executing step 3; if not, executing the step 4;
step 3, judging whether the vehicle speed is zero or not; if yes, executing step 5; if not, executing the step 6;
step 4, controlling the front steering axle group to be in a centering position;
step 5, executing a steering mode switching instruction to complete mode switching, and controlling the rear steering axle set to follow the front steering axle set to steer through the control valve block;
and 6, controlling the vehicle speed to be reduced to zero, and returning to the step 5.
In an embodiment of the present invention, in the step 5, the steering controller controls each rear steering axle in the rear auxiliary steering axle group to synchronously operate and steer along with the front steering axle group through the control valve block according to the displacement signal of the front steering linear displacement sensor; the steering controller obtains the displacement signal of the front steering linear displacement sensor and controls each rear steering axle in the middle steering axle group to synchronously act and follow the front steering axle group to steer through the control valve block.
In an embodiment of the invention, the steering modes in the step 1 include a road steering mode, an all-wheel steering mode, a crab steering mode and a rear axle centering locking steering mode;
in the step 5, the steering controller controls the rear auxiliary steering axle set to follow the front steering axle set to steer in the road steering mode, and the steering controller controls the middle steering axle set to be in a centering locking state; under the all-wheel steering mode, the steering controller synchronously controls the middle steering axle set and the rear auxiliary steering axle set to follow the front steering axle set to steer; under the crab steering mode, the steering controller controls the rotation angles of the middle steering axle group and the rear auxiliary steering axle group to be consistent with the rotation angle of the front steering axle group; under the rear axle centering locking steering mode, the steering controller controls the middle steering axle group and the rear auxiliary steering axle group to respectively enable the middle steering axle group and the rear auxiliary steering axle group to be in a centering locking state, and the front steering axle group freely steers.
The invention has the beneficial effects that: the invention can be suitable for multi-axle heavy vehicles, and not only can enable the vehicles to have smaller turning radius, realize the switching of different steering modes, and meet the steering requirements under different driving road conditions. The system has the characteristics of compact structure, reasonable arrangement, light operation and the like, and has the advantages of high safety, high reliability, high steering precision and the like, so that the vehicle has low speed, high trafficability and high speed and stability; the method can flexibly switch the steering modes adapted to different driving conditions according to the different driving conditions, and realizes safe switching among the steering modes, thereby improving the steering passing performance of the vehicle on the premise of improving safe driving.
Drawings
FIG. 1 is a schematic structural diagram of a multimode electro-hydraulic all-wheel steering system of a special vehicle.
FIG. 2 is a schematic structural diagram of a steering axle in the multi-mode electro-hydraulic all-wheel steering system of the special vehicle.
FIG. 3 is a flow diagram for controlling a multimode electro-hydraulic all-wheel steering control method of a special vehicle.
Detailed Description
The multi-mode electro-hydraulic all-wheel steering system for the special vehicle is explained and explained in detail below with reference to the attached drawings of the specification.
As shown in fig. 1, the invention discloses a multi-mode electro-hydraulic all-wheel steering system for a special vehicle, which is described by a six-axle vehicle. The front steering axle group comprises at least one front steering axle which provides power assistance through a front steering pump 28; the rear steering axle group comprises two groups of mutually independent rear steering axles, rear steering power-assisted cylinders 311, 321, 331 and 341 and rear alignment power-assisted cylinders 312, 322, 332 and 342 are respectively arranged on the rear steering arms on the left side and the right side of each group of rear steering axles, and all the rear steering power-assisted cylinders 311, 321, 331 and 341 and the rear alignment power-assisted cylinders 312, 322, 332 and 342 are powered by a control valve block through a rear steering pump 36; the steering electric control system comprises a display control device 11 and steering controllers 12 and 13, the display control device 11 is connected with the steering controllers and used for switching steering modes, and the steering controllers 12 and 13 control the rear steering axle set to steer along with the front steering axle set through a control valve block according to the steering mode selected by the display control device 11.
The front steering axle set is provided with the power assisted by the front steering pump 28 to provide steering power for the front steering axle set, and the structure is simple; a plurality of mutually independent rear steering axles of the rear steering axle group all adopt a disconnected steering trapezoidal structure, so that the corner relation among the wheels is ensured; the rear steering power cylinders 311, 321, 331 and 341 and the rear alignment power cylinders 312, 322, 332 and 342 are arranged in bilateral symmetry, and the rear steering axles have the same structure and are convenient for modular design; the front steering axle group and the rear steering axle group are relatively independent, so that the reliability of the system is improved; the steering electronic control system sends a steering mode switching instruction through the display control device by a driver to realize switching among a highway steering mode, an all-wheel steering mode, a crab steering mode, a rear axle centering locking steering mode and the like so as to adapt to steering requirements of various environments and working conditions. The steering electric control system independently controls the strokes of the rear steering power-assisted cylinders 311, 321, 331 and 341 and the rear alignment power-assisted cylinders 312, 322, 332 and 342 of the rear steering axle group according to the collected displacement signal of the front steering power-assisted cylinder 25 and the corner relation of each axle in different modes, and ensures the corner precision of each rear steering axle wheel. Each rear steering axle is provided with an independent control valve block, and the steering controller 12 and 13 controls the opening degree of the control valve blocks 313, 323, 333 and 343 to control the wheel rotation angle, so that the wheel rotation angle can be controlled more accurately.
On the basis of the above example, as a further refinement, first, the front steering axle group is composed of two front steering axles, which are a front steering axle 23 and a front auxiliary steering axle 24, respectively, a steering gear 22 is mounted on the front steering axle 23, the steering gear 22 is connected to a steering wheel 21, the front steering axle 23 is mechanically connected to the front auxiliary steering axle 24 through a longitudinal tie rod 26, and the front auxiliary steering axle 24 follows the front steering axle 23 through the longitudinal tie rod 26 to synchronously operate. The steering arm of the front auxiliary steering axle 24 is provided with a front steering power cylinder 25, more specifically, the front steering power cylinder 25 is specifically arranged between the steering arm and the vehicle frame, and the front steering power cylinder 25 and the steering gear 22 are powered by high-pressure liquid oil generated by the cooperation of a front steering oil tank 27 and a front steering pump 28. In practical use, a driver can select a steering mode through the display control device 11 and input a driving intention through the steering wheel 21, the steering wheel 21 rotates to drive an input shaft of the steering gear 22 to rotate, steering hydraulic pressure of the front steering axle set generates high-pressure oil through the front steering oil tank 27 and the front steering pump 28 to the steering gear 22 and the front steering power-assisted oil cylinder 25 to provide power assistance, and an output shaft of the steering gear 22 rotates according to the input and the hydraulic power assistance. In addition, the steering swing arm on the other side drives the longitudinal pull rod 26 to move, the movement relation is transmitted to the front auxiliary steering axle 24, and high-pressure oil of the front steering power-assisted cylinder 25 passes through a control flow of a valve in the steering gear 22, so that the front steering power-assisted cylinder 25 follows the rotation of the steering gear 22, the following relation between the front steering axle 23 and the front auxiliary steering axle 24 is guaranteed, the driving habit is adapted, and the driving safety can be improved.
Secondly, the rear steering axle group is composed of four rear steering axles, which are respectively a first rear steering axle 31, a second rear steering axle 32, a third rear steering axle 33 and a fourth rear steering axle 34, which are sequentially arranged from front to back. The control valve blocks comprise a first control valve block 313, a second control valve block 223, a third control valve block 333 and a fourth control valve block 343, and the first control valve block 313, the second control valve block 223, the third control valve block 333 and the fourth control valve block 343 can control the valve opening according to the control information of the steering controller. The first rear steering axle 31 and the second rear steering axle 32 form an intermediate steering axle group, and the third rear steering axle 33 and the fourth rear steering axle 34 form a rear auxiliary steering axle group. As a specific arrangement, the above-mentioned rear steering cylinders 311, 321, 331, 341 and rear centering cylinders 312, 322, 332, 342 are respectively arranged on the left and right sides of the steering arms on the left and right sides of the first rear steering axle 31, the second rear steering axle 32, the third rear steering axle 33 and the fourth rear steering axle 35, and more specifically, the rear steering cylinders 311, 321, 331, 341 and rear centering cylinders 312, 322, 332, 342 are arranged between the steering arms and the vehicle frame. The rear steering power cylinder 311 and the rear alignment power cylinder 312 on the first rear steering axle 31 are connected to the first control valve block 313, the rear steering power cylinder 321 and the rear alignment power cylinder 322 on the second rear steering axle 32 are connected to the second control valve block 223, the rear steering power cylinder 331 and the rear alignment power cylinder 332 on the third rear steering axle 33 are connected to the third control valve block 333, the rear steering power cylinder 341 and the rear alignment power cylinder 342 on the fourth rear steering axle 34 are connected to the fourth control valve block 343, and the first control valve block 313, the second control valve block 323, the third control valve block 333 and the fourth control valve block 343 are connected to the rear steering pump 36. The rear steering cylinders 311, 321, 331, 341 and the rear alignment cylinders 312, 322, 332, 342 are powered by high-pressure hydraulic oil generated by the cooperation of the rear steering oil tank 35 and the rear steering pump 36. According to the arrangement, the first rear steering axle 31, the second rear steering axle 32, the third rear steering axle 33 and the fourth rear steering axle 34 are arranged independently, mutual noninterference exists between adjacent steering axles, the reliability is higher, the multi-axle heavy vehicle can be more suitable for, each steering axle is provided with an independent control valve block, the turning angles of the rear steering axle set and the axles of the control valve block can be controlled independently through a steering controller, and independent and accurate control of all-wheel steering can be achieved while different steering requirements are met.
The front steering pump 28 and the rear steering pump 36 all adopt a redundant design of a common oil source, so that the overall reliability and stability of the system are guaranteed. Specifically, two front steering pumps 28 are provided, and the two front steering pumps 28 are provided in parallel and share the front steering oil tank 27. The rear steering pumps 36 are also provided in two, the two rear steering pumps 36 are provided in parallel and share the rear steering oil tank 35, and the front steering pump 28 and the rear steering pump 36 are both electric steering pumps. When the electric steering pump is used specifically, the electric steering pump can adopt a double-source electric steering pump, the low-voltage side of the double-source electric steering pump is powered by using 24V working voltage, and the high-voltage side of the double-source electric steering pump is powered by using 600V working voltage.
As a further improvement, in order to realize the centering and locking function in an emergency situation, the two rear steering pumps 36 are commonly connected with the energy accumulators 4, the number of the energy accumulators 4 can be adjusted according to the displacement of the energy accumulators 4, and the energy accumulators 4 are respectively connected with the first control valve block 313, the second control valve block 323, the third control valve block 333 and the fourth control valve block 343 through oil passages, so that when an oil source of the rear steering axle set fails, enough high-pressure hydraulic oil can be still provided to enable the rear centering and locking of the rear centering cylinders 312, 322, 332 and 342 of the rear steering axle set to be realized, and the safe driving is guaranteed.
As a further improvement, in order to use the steering requirement under more complicated working conditions, the front steering axle 23, the front auxiliary steering axle 24, the first rear steering axle 31, the second rear steering axle 32, the third rear steering axle 33 and the fourth rear steering axle 35 in the invention all adopt a disconnected steering trapezoid structure. As shown in fig. 2, the front steering axle 23, the front auxiliary steering axle 24, the first rear steering axle 31, the second rear steering axle 32, the third rear steering axle 33, and the fourth rear steering axle 35 are identical in structure, and each includes a tie rod 01, a steering arm 02, an edge tie rod 03, and a steering trapezoid arm 04. During action, the tie rod 01 drives the steering arm 02 to rotate, and the steering arm 02 drives the steering trapezoid arm 04 to rotate through the side tie rod 03, so that the tire is driven to rotate.
Finally, when the current steering axle group only has a front steering axle 23, the running state of the front steering axle group is obtained through a front steering angular displacement sensor; when the front steering axle group has a plurality of front auxiliary steering axles 24, a front steering linear displacement sensor is mounted on the front steering power cylinder 25 to acquire the running state of the front steering axle group, a first rear steering linear displacement sensor is mounted on the rear steering power cylinder 311 of the first rear steering axle 31, a second rear steering linear displacement sensor is mounted on the rear steering power cylinder 321 of the second rear steering axle 32, a third rear steering linear displacement sensor is mounted on the rear steering power cylinder 331 of the third rear steering axle 33, a fourth rear steering linear displacement sensor is mounted on the rear steering power cylinder 341 of the fourth rear steering axle 34, and of course, the rear steering linear displacement sensor on the rear steering axle can be replaced by the rear steering angular displacement sensor. The number of the steering controllers can be automatically adapted according to the size of the data resources, for example, when the number of the rear steering axles in the middle steering axle group and the rear auxiliary steering axle group is one, the data resources required to be allocated are less, and the rear steering axles in the middle steering axle group and the rear auxiliary steering axle group can be independently controlled through one steering controller so as to adapt to different steering modes. In the present embodiment, two steering controllers are provided, and the two steering controllers are the first steering controller 12 and the second steering controller 13, respectively. The first steering controller 12 is electrically connected to the second steering controller 13, the front steering line displacement sensor, the third control valve block 333, the fourth control valve block 343, the third rear steering line displacement sensor, and the fourth rear steering line displacement sensor, respectively. The second steering controller 13 is electrically connected to the first control valve block 313, the second control valve block 323, the first rear steering line displacement sensor, and the second rear steering line displacement sensor, respectively.
Through the arrangement, the first steering controller 12 and the second steering controller 13 are associated and share the displacement signal and the vehicle speed signal of the front steering axle group, the first steering controller 12 controls the third rear steering axle and the fourth rear steering axle to act, and the second steering controller 13 controls the first rear steering axle and the second rear steering axle to act, so that the flexible switching under various steering modes can be adapted, and the convenience and the quickness of driving operation are improved.
On the basis of the embodiment, the invention also discloses a multimode electro-hydraulic all-wheel steering control method for the special vehicle, which comprises the following steps:
s1, sending a steering mode switching instruction to the steering controller through the display control device 11;
s2, judging whether the front steering axle group is in the centering position: if so, go to S3; if not, executing S4;
s3, judging whether the vehicle speed is zero or not; if so, go to S5; if not, executing S6;
s4, controlling the front steering bridge group to be in the centering position;
and S5, executing a steering mode switching instruction to complete mode switching, and controlling the rear steering axle set to follow the front steering axle set to steer through the control valve block. Specifically, the first steering controller 12 controls the third rear steering axle 33 and the fourth rear steering axle 34 in the rear steering axle group to steer along with the front steering axle group through the third control valve block 333 and the fourth control valve block 343 according to the displacement signal of the front steering line displacement sensor; the second steering controller 13 controls the first rear steering axle 31 and the second rear steering axle 32 in the rear steering axle group to steer along with the front steering axle group through the first control valve block 313 and the second control valve block 323 according to the displacement signal of the front steering linear displacement sensor acquired by the first steering controller 12.
And S6, controlling the vehicle speed to be reduced to zero, and returning to S5.
Specifically, the steering modes in S1 include a highway steering mode, an all-wheel steering mode, a crab steering mode, and a rear axle centering lock-up steering mode;
in S5, in the highway steering mode, the first steering controller 12 controls the third rear steering axle 33 and the fourth steering axle 34 to follow the front steering axle group to steer, and the second steering controller 13 controls the first rear steering axle 31 and the second rear steering axle 32 to make the first rear steering axle 31 and the second rear steering axle 32 in the centering locking state (the steering axle in the centering locking state does not participate in steering); under the all-wheel steering mode, the first steering controller 12 and the second steering controller 13 synchronously control the first rear steering axle 31, the second rear steering axle 32, the third rear steering axle 33 and the fourth steering axle 34 to follow the front steering axle group to steer, so that smaller turning radius can be realized; in the crab steering mode, the first steering controller 12 and the second steering controller 13 control the rotation angles of the first rear steering axle 31, the second rear steering axle 32, the third rear steering axle 33 and the fourth steering axle 34 to be consistent with the rotation angle of the front steering axle group, so that the vehicle can run obliquely; under the rear axle centering locking steering mode, the first steering controller 12 and the second steering controller 13 control the first rear steering axle, the first rear steering axle 31, the second rear steering axle 32, the third rear steering axle 33 and the fourth steering axle 34 to be in a centering locking state respectively, the front steering axle group freely steers, the vehicle is in a safe state, and operations such as backing-up and parking-in, backing-up and alignment are convenient to perform.
The method can flexibly switch the steering modes adapted to different driving conditions, and the switching of the steering modes can be realized only when the front steering axle is in the centering position and the vehicle speed is zero, so that the safe and stable switching among the steering modes is ensured, and the steering passing performance of the vehicle is improved on the premise of improving safe driving.
The first steering controller 12 and the second steering controller 13 control the rear steering cylinders 311, 321, 331, and 341 and the rear centering cylinders 312, 322, 332, and 342 in the following specific manner: the first steering controller 12 collects the displacement signal of the front steering line displacement sensor integrated in the front steering oil cylinder 25 in real time, and according to the mode information in the display and control device 11, the first steering controller 12 and the second steering controller 13 calculate the lengths of the rear steering oil cylinders 311, 321, 331 and 341 in each bridge of the rear steering axle group, and control is performed through PID. When a system fault is diagnosed or the system is in a rear axle centering locking steering mode, the first steering controller 12 and the second steering controller 13 control whether the rear alignment servo cylinders 312, 322, 332 and 342 are aligned or not by controlling the control valve blocks 313, 323, 333 and 343 of the axles of the rear steering axle set. The judging method comprises the following steps: when the control valve blocks 313, 323, 333 and 343 lose power, the rear steering axle set is locked in pairs; when the control valve blocks 313, 323, 333 and 343 are electrified, the axles of the rear steering axle set are not centered and locked. The first steering controller 12 and the second steering controller 13 control the extension and retraction of the rear steering oil cylinders 311, 321, 331 and 341 by sending PWM signals to the control valve blocks 313, 323, 333 and 343 of each axle of the rear steering axle set (in a state where the electromagnetic valves are energized), and collect the displacement of the rear steering oil cylinders 311, 321, 331 and 341, thereby realizing feedback closed-loop control and ensuring steering accuracy.
The first steering controller 12 and the second steering controller 13 may also acquire, in real time, each steering mode signal, a vehicle speed signal, displacement signals of each axle steering power cylinder (i.e., the front steering power cylinder 25 and the rear steering power cylinders 311, 321, 331, 341) in the front steering axle group and the rear steering axle group, oil pressure signals of front and rear oil sources (i.e., the front steering pump and the rear steering pump), and the like, and diagnose whether the system is faulty or not on line. When a failure occurs, the first steering controller 12 and the second steering controller 13 may implement different levels of safety measures such as failure display, failure recording, failure alarm, forced alignment, and the like, according to the current state of the vehicle.
In the description of the present invention, it is to be understood that the terms "front", "rear", "left", "right", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Furthermore, the terms "first", "second" and "first" 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" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, and simple improvements made in the spirit of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a special type vehicle multimode electricity liquid all-wheel steering system which characterized in that: the steering system comprises a front steering axle set, a rear steering axle set and a steering electric control system, wherein the front steering axle set comprises at least one front steering axle, and the front steering axle provides power assistance through a front steering pump; the rear steering axle group comprises two groups of mutually independent rear steering axles, rear steering power-assisted cylinders and rear alignment power-assisted cylinders are respectively arranged on rear steering arms on the left side and the right side of each group of rear steering axles, and all the rear steering power-assisted cylinders and the rear alignment power-assisted cylinders are powered by a rear steering pump through a control valve block; the steering electric control system comprises a display control device and a steering controller, the display control device is connected with the steering controller and used for switching steering modes, and the steering controller controls the rear steering axle set to steer along with the front steering axle set through the control valve block according to the steering mode selected by the display control device.
2. The multimode electro-hydraulic all-wheel steering system of a special vehicle as claimed in claim 1, characterized in that: the front steering axle set comprises a front steering axle and a front auxiliary steering axle, a steering gear is mounted on the front steering axle and connected with a steering wheel, the front steering axle is mechanically connected with the front auxiliary steering axle through a longitudinal pull rod, the front auxiliary steering axle synchronously acts along with the front steering axle through the longitudinal pull rod, a front steering power-assisted oil cylinder is arranged on a steering arm of the front auxiliary steering axle, and the front steering power-assisted oil cylinder and the steering gear generate high-pressure liquid oil through the cooperation of a front steering oil tank and the front steering pump to provide power.
3. The multimode electro-hydraulic all-wheel steering system of a special vehicle as claimed in claim 2, characterized in that: the rear steering axle set is respectively a middle steering axle set and a rear auxiliary steering axle set, the middle steering axle set and the rear auxiliary steering axle set comprise at least one rear steering axle, a rear steering power-assisted cylinder and a rear alignment power-assisted cylinder are respectively arranged on a steering arm of the rear steering axle in a left-right mode, the rear steering power-assisted cylinder and the rear alignment power-assisted cylinder are both connected with a control valve block, the control valve block arranged on the rear steering axle is both connected with a rear steering pump, and the rear steering power-assisted cylinder and the rear alignment power-assisted cylinder are matched with the rear steering pump through a rear steering oil tank to generate high-pressure liquid oil to provide power.
4. The multimode electro-hydraulic all-wheel steering system of a special vehicle as claimed in claim 3, characterized in that: the front steering pumps are arranged in two, the two front steering pumps are arranged in parallel and share the front steering oil tank, the two rear steering pumps are arranged in parallel and share the rear steering oil tank, and the front steering pumps and the rear steering pumps are both electric steering pumps.
5. The multimode electro-hydraulic all-wheel steering system of the special vehicle as claimed in claim 4, characterized in that: and the two rear steering pumps are connected with an energy accumulator together, and the energy accumulators are connected with the control valve block through oil passages respectively.
6. The multimode electro-hydraulic all-wheel steering system of a special vehicle as claimed in claim 5, characterized in that: the front steering axle, the front auxiliary steering axle and the rear steering axle all adopt disconnected steering trapezoidal structures.
7. The multimode electro-hydraulic all-wheel steering system of a special vehicle as claimed in claim 6, characterized in that: the front steering axle set is provided with a front steering linear displacement sensor or a front steering angular displacement sensor, the rear steering power-assisted cylinder is provided with a rear steering angular displacement sensor or a rear steering linear displacement sensor, and the front steering linear displacement sensor or the front steering angular displacement sensor, the control valve block and the rear steering linear displacement sensor are respectively and electrically connected with the steering controller.
8. The multimode electro-hydraulic all-wheel steering control method for the special vehicle according to claim 7, characterized in that: the control method comprises the following steps:
step 1, a steering mode switching instruction is sent to a steering controller through a display control device;
step 2, judging whether the front steering bridge group is in the centering position: if yes, executing step 3; if not, executing the step 4;
step 3, judging whether the vehicle speed is zero or not; if yes, executing step 5; if not, executing the step 6;
step 4, controlling the front steering axle group to be in a centering position;
step 5, executing a steering mode switching instruction to complete mode switching, and controlling the rear steering axle set to follow the front steering axle set to steer through the control valve block;
and 6, controlling the vehicle speed to be reduced to zero, and returning to the step 5.
9. The multimode electro-hydraulic all-wheel steering control method for the special vehicle according to claim 8, characterized in that: in the step 5, the steering controller controls each rear steering axle in the rear auxiliary steering axle group to synchronously act and follow the front steering axle group to steer through the control valve block according to the displacement signal of the front steering linear displacement sensor; the steering controller obtains the displacement signal of the front steering linear displacement sensor and controls each rear steering axle in the middle steering axle group to synchronously act and follow the front steering axle group to steer through the control valve block.
10. The multimode electro-hydraulic all-wheel steering control method for the special vehicle according to claim 9, characterized in that: the steering mode in the step 1 comprises a highway steering mode, an all-wheel steering mode, a crab steering mode and a rear axle centering locking steering mode;
in the step 5, the steering controller controls the rear auxiliary steering axle set to follow the front steering axle set to steer in the road steering mode, and the steering controller controls the middle steering axle set to be in a centering locking state; under the all-wheel steering mode, the steering controller synchronously controls the middle steering axle set and the rear auxiliary steering axle set to follow the front steering axle set to steer; under the crab steering mode, the steering controller controls the rotation angles of the middle steering axle group and the rear auxiliary steering axle group to be consistent with the rotation angle of the front steering axle group; under the rear axle centering locking steering mode, the steering controller controls the middle steering axle group and the rear auxiliary steering axle group to respectively enable the middle steering axle group and the rear auxiliary steering axle group to be in a centering locking state, and the front steering axle group freely steers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111042065.9A CN113788068A (en) | 2021-09-07 | 2021-09-07 | Multimode electro-hydraulic all-wheel steering system for special vehicle and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111042065.9A CN113788068A (en) | 2021-09-07 | 2021-09-07 | Multimode electro-hydraulic all-wheel steering system for special vehicle and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113788068A true CN113788068A (en) | 2021-12-14 |
Family
ID=78879616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111042065.9A Pending CN113788068A (en) | 2021-09-07 | 2021-09-07 | Multimode electro-hydraulic all-wheel steering system for special vehicle and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113788068A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115257918A (en) * | 2022-09-06 | 2022-11-01 | 一汽解放汽车有限公司 | Electronic hydraulic power steering system, vehicle and control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0711483U (en) * | 1993-07-30 | 1995-02-21 | 小松メック株式会社 | Steering mode switching device for mobile cranes |
| CN104477232A (en) * | 2014-12-11 | 2015-04-01 | 上海理工大学 | Method for controlling steering modes switching of four-wheel independent steering vehicle |
| CN107826164A (en) * | 2017-11-01 | 2018-03-23 | 中国北方车辆研究所 | A kind of multi-wheel steering system and control method based on electric power-assisted |
| CN108216360A (en) * | 2018-01-17 | 2018-06-29 | 中国石油大学(华东) | Multiaxis hybrid vehicle mechanical-hydraulic mixes steering with the grouping of active differential |
| CN110816650A (en) * | 2019-05-22 | 2020-02-21 | 北京航天发射技术研究所 | Six-axis vehicle electro-hydraulic steering control method and system based on control strategy reconstruction |
| CN111017012A (en) * | 2019-12-31 | 2020-04-17 | 泰安航天特种车有限公司 | Electric control hydraulic vehicle steering system and debugging method |
-
2021
- 2021-09-07 CN CN202111042065.9A patent/CN113788068A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0711483U (en) * | 1993-07-30 | 1995-02-21 | 小松メック株式会社 | Steering mode switching device for mobile cranes |
| CN104477232A (en) * | 2014-12-11 | 2015-04-01 | 上海理工大学 | Method for controlling steering modes switching of four-wheel independent steering vehicle |
| CN107826164A (en) * | 2017-11-01 | 2018-03-23 | 中国北方车辆研究所 | A kind of multi-wheel steering system and control method based on electric power-assisted |
| CN108216360A (en) * | 2018-01-17 | 2018-06-29 | 中国石油大学(华东) | Multiaxis hybrid vehicle mechanical-hydraulic mixes steering with the grouping of active differential |
| CN110816650A (en) * | 2019-05-22 | 2020-02-21 | 北京航天发射技术研究所 | Six-axis vehicle electro-hydraulic steering control method and system based on control strategy reconstruction |
| CN111017012A (en) * | 2019-12-31 | 2020-04-17 | 泰安航天特种车有限公司 | Electric control hydraulic vehicle steering system and debugging method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115257918A (en) * | 2022-09-06 | 2022-11-01 | 一汽解放汽车有限公司 | Electronic hydraulic power steering system, vehicle and control method |
| CN115257918B (en) * | 2022-09-06 | 2024-05-03 | 一汽解放汽车有限公司 | Electronic hydraulic power-assisted steering system, vehicle and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111152835B (en) | Drive-by-wire electro-hydraulic steering system based on double-winding motor and hybrid control method | |
| CN105667580B (en) | A kind of wire-controlled steering system and its control method based on fuzzy control | |
| CN1702007A (en) | Separated steering device for vehicular four wheels and its control method | |
| CN202098458U (en) | Electrically-controlled electric four-wheel steering system | |
| CN102372022A (en) | Multi-axle vehicle as well as electro-hydraulic servo steering system and steering control method thereof | |
| CN113928412B (en) | Electro-hydraulic composite steering system and electro-hydraulic decoupling control method | |
| CN201580431U (en) | Electric control and electric four-wheeled steering (4WS) device of electric vehicle | |
| CN105416392A (en) | Push rod type composite steering system and mode switching control method thereof | |
| CN104608819A (en) | Multi-axle steering system for multi-axle vehicle and multi-axle vehicle | |
| CN114524019A (en) | Double-winding double-motor steer-by-wire system of commercial vehicle and control method thereof | |
| CN103569197B (en) | four-wheel steering system and control method thereof | |
| CN113788068A (en) | Multimode electro-hydraulic all-wheel steering system for special vehicle and control method | |
| CN104309684A (en) | Circulating ball type magnetofluid electric control hydraulic power steering device and control method | |
| CN107010106B (en) | A kind of double steering power cylinder hydraulic pressure wire-controlled steering system and method with road feel simulation | |
| CN215284966U (en) | Multi-axle vehicle steering system capable of realizing manual steering and steer-by-wire switching | |
| CN104401391A (en) | Rack and pinion type magnetofluid electric control hydraulic power steering device and control method | |
| CN211869504U (en) | Electro-hydraulic hybrid drive type four-wheel steering system | |
| CN112550445B (en) | Hydraulic power-assisted steering system | |
| CN206704293U (en) | A kind of double steering power cylinder hydraulic pressure wire-controlled steering system with road feel simulation | |
| CN203854717U (en) | Electric power steering system | |
| CN209126798U (en) | The steering control system and vehicle of intelligent driving vehicle | |
| CN112977600B (en) | Steering system and vehicle | |
| CN204161448U (en) | A kind of circulating ball type magnetic fluid electric-controlled hydraulic servo steering device | |
| CN211001542U (en) | Auxiliary steering device of multifunctional vehicle | |
| CN107176204B (en) | Hydraulic hub motor aids in differential servo steering system |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211214 |