CN114771645B - Electrohydraulic combined automatic steering device and control method thereof - Google Patents
Electrohydraulic combined automatic steering device and control method thereof Download PDFInfo
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- CN114771645B CN114771645B CN202210518710.8A CN202210518710A CN114771645B CN 114771645 B CN114771645 B CN 114771645B CN 202210518710 A CN202210518710 A CN 202210518710A CN 114771645 B CN114771645 B CN 114771645B
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- 239000003638 chemical reducing agent Substances 0.000 description 3
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- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
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Classifications
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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
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- 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
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides an electrohydraulic combined automatic steering device and a control method thereof, and relates to the field of automatic control of vehicles. The automatic steering apparatus includes: the steering system comprises an angle detection module, a steering controller, a driving module and a steering system; the angle detection module is used for detecting the steering angle of the steering system at the current moment and obtaining the current actual deflection angle value; the steering controller is used for generating a current control signal according to the current actual deflection angle value and the deflection expected angle value at the current moment by adopting a PID control method; the current control signal is used as a deflection expected angle value at the next moment; the driving module is used for outputting current driving torque according to the current control signal; the steering system is used for steering according to the current driving torque; high-precision steering is realized at lower cost.
Description
Technical Field
The invention relates to the field of automatic control of vehicles, in particular to an electrohydraulic combined automatic steering device and a control method thereof.
Background
Along with the development of precise agriculture and intelligent agriculture, the modern agricultural technology system is mature gradually, and agricultural machinery is developed towards unmanned and intelligent directions. Meanwhile, the agricultural operation has higher and higher requirements on the intelligence and safety of the agricultural machinery, and the traditional agricultural machinery adopts a manual operation mode and cannot meet the operation requirement of precise agriculture.
The automatic steering is one of key technologies in the unmanned technology of the vehicle, and the existing automatic steering device mostly adopts a mode of damaging the original steering device of the agricultural vehicle and adding an additional system on the basis of the original steering device. However, the steering system of the agricultural vehicle is complex in structure, and can cause a certain degree of damage to the agricultural machine when being refitted, and the service life and the working performance of the steering system of the agricultural vehicle can be greatly reduced when the steering system is serious. The existing automatic steering control mode is mainly to control an electromagnetic proportional reversing valve in a hydraulic system of an agricultural vehicle by using a PID algorithm, and the steering system cannot be fed back, so that the steering precision is reduced; in addition, the existing automatic steering control mode can be fed back by adding additional circuits again, but the additional circuits can lead to complex composition of the steering device, and the cost is increased.
Disclosure of Invention
The invention aims to provide an electrohydraulic combined automatic steering device and a control method thereof, which realize high-precision steering with lower cost.
In order to achieve the above object, the present invention provides the following solutions:
an electrohydraulic combination automatic steering device comprising:
the angle detection module is used for detecting the steering angle of the steering system at the current moment and obtaining the current actual deflection angle value;
the steering controller is connected with the angle detection module and is used for generating a current control signal according to the current actual deflection angle value and the deflection expected angle value at the current moment by adopting a PID control method; the current control signal is used as a deflection expected angle value at the next moment;
the driving module is connected with the steering controller and used for outputting current driving torque according to the current control signal;
and the steering system is connected with the driving module and is used for steering according to the current driving torque.
Optionally, the steering controller includes:
the singlechip is connected with the angle detection module and is used for receiving the current actual deflection angle value and the deflection expected angle value at the current moment;
the fuzzy controller is connected with the singlechip and internally provided with a PID control model, and is used for calculating the difference value between the current actual deflection angle value and the deflection expected angle value at the current moment, obtaining a feedback signal according to the difference value and generating the current control signal according to the feedback signal;
and the motor driver is connected with the fuzzy controller and is used for receiving the current control signal and transmitting the current control signal to the driving module.
Optionally, the single-chip microcomputer is further configured to:
at the initial moment, determining a resistance interval of torque according to a steering angle change curve, and generating a control instruction according to the resistance interval; the steering angle change curve is drawn according to a plurality of steering angle change values obtained by carrying out a plurality of steering control experiments on the steering system;
the fuzzy controller is further configured to:
and determining PID parameters in the PID control model according to the control instruction.
Optionally, the automatic steering apparatus further includes:
and the torque limiter is coaxially connected with the driving module and is used for limiting the driving torque.
Optionally, the steering system includes:
the steering shaft is connected with the driving module and is used for transmitting the driving torque; the torque limiter is sleeved on the steering shaft;
the steering machine is sleeved on the steering shaft and used for rotating under the drive of the driving torque;
and the steering wheel is connected with the steering machine and used for realizing steering under the drive of the steering machine.
Optionally, the steering shaft is sleeved with the driving module, the torque limiter and the steering gear from top to bottom in sequence.
Optionally, the driving module comprises a brushless dc motor; the output shaft of the direct current brushless motor is connected with the steering shaft, and the direct current brushless motor is used for driving the steering shaft to rotate.
Optionally, the method further comprises: chassis and mounting plate; the mounting plate is positioned above the chassis, and an accommodating space is formed between the mounting plate and the chassis; the steering shaft sequentially penetrates through the mounting plate and the chassis from top to bottom; the driving module is arranged on the mounting plate; the torque limiter is arranged in the accommodating space; the steering gear is arranged on the lower surface of the chassis.
Optionally, the device further comprises a connecting column and a connecting piece;
one end of the connecting column is fixed with the mounting plate through the connecting piece; the other end of the connecting column is fixed on the chassis through the connecting piece; the mounting plate is parallel to the chassis.
The invention also provides an electrohydraulic combination automatic steering control method, which is used for controlling the electrohydraulic combination automatic steering device, and comprises the following steps:
acquiring a steering angle of a steering system at the current moment to obtain a current actual deflection angle value;
generating a current control signal according to the current actual deflection angle value and the deflection expected angle value at the current moment by adopting a PID control method; the current control signal is used as a deflection expected angle value at the next moment; the current control signal is used for enabling the driving module to output current driving torque to the steering system so as to enable the steering system to steer.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the method comprises the steps that a current control signal of a steering controller is received through a driving module, current driving torque is output, the steering module steers according to the current driving torque, then a current actual deflection angle value is obtained through an angle detection module, and the steering controller generates a current control signal according to the current actual deflection angle and a current deflection expected angle; the current control signal is used as a deflection expected angle value at the next moment; the steering controller is directly connected with the driving module, and a control signal can be transmitted to the steering system to steer without installing an additional circuit, so that the structure of the steering device is simplified, and the cost is reduced; in addition, the current actual deflection angle value is transmitted to a steering controller through an angle detection module, and the steering controller generates a current control signal according to the current actual deflection angle and the current deflection expected angle; the current control signal is used as a deflection expected angle value at the next moment, so that feedback of a steering system can be realized, and the requirement of high-precision steering is met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of an electrohydraulic combined automatic steering device provided by an embodiment of the invention;
FIG. 2 is a schematic view of an electrohydraulic combined automatic steering device according to an embodiment of the present invention;
FIG. 3 is a flow chart of an electro-hydraulic combination automatic steering control method provided by an embodiment of the invention;
fig. 4 is a steering gear structure diagram of the electrohydraulic combined automatic steering device provided by the embodiment of the invention.
Symbol description:
the steering system comprises an angle detection module-1, a steering controller-2, a driving module-3, a steering system-4, a singlechip-5, a fuzzy controller-6, a motor driver-7, a torque limiter-8, a steering shaft-9, a steering machine-10, steering wheels-11, a chassis-12, a mounting plate-13, a DC brushless motor-14, a connecting column-15 and a connecting piece-16.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an electrohydraulic combined automatic steering device and a control method thereof, wherein a current control signal of a steering controller is received through a driving module, current driving torque is output, the steering module steers according to the current driving torque, then a current actual deflection angle value is obtained through an angle detection module, and the steering controller generates a current control signal according to the current actual deflection angle and a current deflection expected angle; the current control signal is used as a deflection expected angle value at the next moment; the steering controller is directly connected with the driving module, and a control signal can be transmitted to the steering system to steer without installing an additional circuit, so that the structure of the steering device is simplified, and the cost is reduced; in addition, the current actual deflection angle value is transmitted to a steering controller through an angle detection module, and the steering controller generates a current control signal according to the current actual deflection angle and the current deflection expected angle; the current control signal is used as a deflection expected angle value at the next moment, so that feedback of a steering system can be realized, and the requirement of high-precision steering is met.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
As shown in fig. 1, the automatic steering apparatus of the present embodiment includes: an angle detection module 1, a steering controller 2, a driving module 3 and a steering system 4; the steering controller 2 is connected with the angle detection module 1, the driving module 3 is connected with the steering controller 2, and the steering system 4 is connected with the driving module 3.
The angle detection module 1 is used for detecting the steering angle of the steering system 4 at the current moment and obtaining the current actual deflection angle value; the angle detection module 1 selects a non-contact angle measurement device, the range of output analog voltage signals is 0-5V, and the angle measurement range is 0-180 DEG
The steering controller 2 is used for generating a current control signal according to the current actual deflection angle value and the deflection expected angle value at the current moment by adopting a PID control method; the current control signal is used as a deflection expected angle value at the next moment; the driving module 3 is used for outputting current driving torque according to the current control signal; the steering system 4 is used for steering according to the current driving torque.
Specifically, the steering system 4 includes: a steering shaft 9, a steering gear 10, and steering wheels 11; the steering shaft 9 is connected with the driving module 3, the steering gear 10 is sleeved on the steering shaft 9, and the steering wheel 11 is connected with the steering gear 10.
The steering shaft 9 is used for transmitting driving torque, and the torque limiter 8 is sleeved on the steering shaft 9; the steering gear 10 is configured to be rotated by a driving torque; the steering wheel 11 is used for realizing steering under the driving of the steering gear 10. The steering shaft 9 is sleeved with the driving module 3, the torque limiter 8 and the steering gear 10 from top to bottom in sequence. The steering engine 10 is a four-hole full hydraulic steering engine.
Specifically, the drive module 3 includes a dc brushless motor 14; an output shaft of the brushless dc motor 14 is connected to the steering shaft 9, the brushless dc motor 14 is used for driving the steering shaft 9 to rotate, and the component of the driving module 3 further includes an L-shaped reducer. The motor driver 7 is composed of 24V, 200W dc brushless motor 14 and a speed reducer with a reduction ratio of 40, i.e., a speed reducer, and rated output torque and rotation speed are 18n·m and 100r/min, respectively.
In one embodiment, as shown in fig. 1, the steering controller 2 includes: the angle detection device comprises a singlechip 5, a fuzzy controller 6 and a motor driver 7, wherein the singlechip 5 is connected with the angle detection module 1, the fuzzy controller 6 is connected with the singlechip 5, and the motor driver 7 is connected with the fuzzy controller 6. In addition, the steering controller 2 is also provided with a CAN bus interface, and the CAN bus is used for transmitting the deflection expected angle value to the singlechip 5 by connecting the singlechip 5 and the motor driver 7, so that the singlechip 5 obtains the deflection expected angle value. The singlechip 5 can be a chip of PIC18F258 type.
The singlechip 5 is connected with the angle detection module 1, and the singlechip 5 is used for receiving the current actual deflection angle value and the deflection expected angle value at the current moment; the fuzzy controller 6 is connected with the singlechip 5, is internally provided with a PID control model, and is used for calculating the difference value between the current actual deflection angle value and the deflection expected angle value at the current moment, and obtaining a feedback signal according to the difference value; the specific process of obtaining the feedback signal according to the difference value is as follows:
when the difference is greater than 0, the driving module 3 rotates in a certain direction, so that the difference is reduced to 0; when the difference is smaller than 0, the driving module 3 rotates in the opposite direction, so that the difference is reduced to 0; when the difference is equal to 0, the driving module 3 stops.
The fuzzy controller 6 generates a current control signal according to the feedback signal to enable the current control signal to act on the motor driver 7; the control signal is sent to an enabling end, a forward and reverse rotation control end F/R and a rotation Speed control end Speed of the motor driver 7; the motor driver 7 further drives the brushless DC motor 14 to perform corresponding actions, the brushless DC motor 14 drives the steering machine 10 to work through the steering shaft 9, and the steering system 4 circularly performs the processes.
The fuzzy controller 6 adopts a PID control method to control the rotation direction and the rotation speed of the driving module 3.
The positive and negative rotation control mode of the driving module 3 is as follows: by the current actual deflection angleThe value is differenced with the deflection expected angle value at the current moment to obtain a difference value, and the difference value is controlled by judging the magnitude of the difference value; the difference is e i And (3) representing.
When e i >0, the driving module 3 rotates in a certain direction to make the error e i Reducing to 0; when e i <At 0, the driving module 3 rotates in the opposite direction to make the error e i Reducing to 0; when e i When=0, the driving module 3 stops. Where i is the number of samples.
The fuzzy controller 6 adopts a PID control method to control the operation of the driving module 3, and an incremental PID control algorithm is adopted in the algorithm:
u i ＝k p e i +k i (e i -2e i-1 +e i-2 )+k d (e i -e (i-1) )；
where e is the input signal to the steering controller 2, i.e. the deflection desired angle valueAngle of deflection from the actual value +.>Is a difference in (c). i is the sampling number, u i The output signal of the steering controller 2 at the time of i samples. That is, e is the angle error value, k p 、k i 、k d The parameters of proportional operation, integral operation and differential operation are respectively provided with k p 、k i 、k d The three terms of (a) are respectively proportional, integral and differential control terms in PID control. k (k) p 、k i 、k d Initial value k of p0 、k i0 、k d0 100, 16, 5, respectively.
The motor driver 7 is connected with the fuzzy controller 6, and the motor driver 7 is used for receiving the current control signal and transmitting the current control signal to the driving module 3. At this time, the angle detection module 1 detects the steering angle at the next time, and performs the next steering control. The drive for the brushless dc motor 14 is BLD5-a-S.
Specifically, the existing automatic steering system mostly adopts the traditional PID control method, PID parameters in the steering system are fixed, and the automatic steering system is only suitable for a small number of agricultural vehicles and has larger limitation. Therefore, before steering control, the embodiment firstly determines the PID parameters in the PID control model applicable to the steering system through the singlechip, namely, the PID parameters can be flexibly set for different steering systems, so that the PID control model is matched with the transformation system. The automatic steering device provided by the embodiment can be suitable for various different vehicles, and well solves the problem of limitation in the prior art.
Setting PID parameters: the singlechip 5 is also used for determining a resistance interval of the torque according to the steering angle change curve at the initial moment and generating a control instruction according to the resistance interval; the steering angle change curve is drawn according to a plurality of steering angle change values obtained by carrying out a plurality of steering control experiments on the steering system 4; the torque resistance section of the steering machine 10 to which the steering device is connected is further calculated from the steering angle change curve.
The torque is a couple or moment which causes a mechanical component to generate a rotation effect and is accompanied by torsional deformation, the torque is the moment output by the driving module 3, and under the condition of fixed power, the torque is inversely related to the rotating speed of the driving module 3, and the faster the rotating speed is, the smaller the torque is, and the larger the reverse is. The fuzzy controller 6 is also used to determine PID parameters in the PID control model based on the control instructions. That is, the PID parameter is set by a fuzzy control method, and the rotation direction and the rotation speed of the DC brushless motor 14 are further controlled by a PID control method.
In one embodiment, as shown in fig. 2, the automatic steering device further comprises a torque limiter 8, the torque limiter 8 being coaxially connected with the drive module 3; the torque limiter 8 is used to limit the driving torque. When the torque exceeds the set value, the torque transmitted by the steering shaft 9, that is, the torque of the driving torque output by the driving module 3 is limited. The torque limiter 8 is a dynamic torque limiter RTL65-2-20, and limits the torque range to 13.7-53.9Nm.
In addition, the automatic steering device adopts an original hydraulic pressure generation system of the vehicle.
In one embodiment, as shown in FIG. 2, the automatic steering apparatus further includes a chassis 12 and a mounting plate 13; the mounting plate 13 is positioned above the chassis 12, and an accommodating space is formed between the mounting plate 13 and the chassis 12; the steering shaft 9 is sequentially provided with a mounting plate 13 and a chassis 12 from top to bottom in a penetrating way; the driving module 3 is arranged on the mounting plate 13; the torque limiter 8 is disposed in the accommodation space; the steering gear 10 is provided on the lower surface of the chassis 12.
Specifically, the automatic steering apparatus further includes a connecting column 15 and a connecting member 16; one end of the connecting column 15 is fixed with the mounting plate 13 through a connecting piece 16; the other end of the connecting column 15 is fixed on the chassis 12 through a connecting piece 16; the mounting plate 13 is parallel to the chassis 12. The driving module 3 is connected with the mounting plate 13 by a bolt connection mode and is further fixed on the vehicle chassis 12, so that the steering system 4 is driven to work.
The specific working process of the automatic steering device provided by the invention is as follows:
the singlechip 5 receives an expected deflection angle value on the CAN bus and an actual deflection angle value of the steering wheel 11 measured by the angle detection module 1; the steering controller 2 firstly controls the steering system 4 to execute work according to the initial PID parameters, and then the torque resistance section of the steering machine 10 connected with the steering system 4, namely the torque resistance section of the driving torque output by the driving module 3 is calculated. The fuzzy controller 6 adjusts PID parameters by adopting a fuzzy control-based method according to a torque resistance interval, and sends a control signal to the motor driver 7, the motor driver 7 drives the DC brushless motor 14 to perform corresponding actions, the driving module 3, namely the DC brushless motor 14, provides driving torque, the steering engine 10 is driven to work through the steering shaft 9, the steering engine 10 further drives the steering wheel 11 to deflect according to a deflection expected angle through the original hydraulic system of the vehicle, and the angle detection module 1 detects the actual deflection angle value of the steering wheel 11 and feeds back the detected result to the steering controller 2. The steering system 4 circularly carries out the process, and carries out PID parameter adjustment and timing by adopting a fuzzy control-based method, so as to reduce the overshoot of the steering angle as much as possible while ensuring the system reaction time, continuously reduce the range of the output PID interval until the steering process reaches the optimal effect, and obtain a specific set of PID parameters.
As shown in fig. 4, a port P of the steering gear 10 is connected with an oil pump, a port T is connected with a hydraulic oil tank, a port a and a port B are respectively connected with a left cavity and a right cavity of a hydraulic oil cylinder, a piston rod of the hydraulic oil cylinder is connected with a steering wheel through a claw shaft, and the steering wheel 11 is driven to deflect by the corresponding angle through the reciprocating motion of the piston rod. The angle detection module 1 is connected with the steering wheel 11 through a U-shaped bolt, a mounting plate 13, a swing arm and a ball head connecting rod to measure the actual deflection angle value of the steering wheel 11, and feeds back the angle value to the steering controller 2 in the form of analog voltage. The automatic steering system repeats the above-described process until the actual deflection angle value of the steering wheel 11 measured by the angle detection module 1 is identical to the desired angle value on the CAN bus, and the system completes steering.
Example 2
As shown in fig. 3, the electrohydraulic combination automatic steering control method of the present embodiment is used for controlling the electrohydraulic combination automatic steering device in embodiment 1, and the control method includes:
and acquiring the steering angle of the steering system at the current moment to obtain the current actual deflection angle value.
Generating a current control signal according to the current actual deflection angle value and the deflection expected angle value at the current moment by adopting a PID control method; the current control signal is used as a deflection expected angle value at the next moment; the current control signal is used to cause the drive module 3 to output a current drive torque to the steering system 4 to cause the steering system 4 to steer.
At the initial moment, determining a resistance interval of the torque according to the steering angle change curve, and generating a control instruction according to the resistance interval; the steering angle change curve is drawn according to a plurality of steering angle change values obtained by carrying out a plurality of steering control experiments on the steering system; then calculating a resistance interval of torque according to the steering angle change curve, and determining PID parameters, namely k, in the PID control model based on a fuzzy control method p 、k i 、k d . By accepting desired deflection angle values, i.e. desired angle values phi, on the CAN bus a The actual deflection angle value measured by the angle detection module 1, i.e. the feedback angle value phi shown in the figure d Then calculate phi a And phi d Is the difference of (2)When the difference is greater than 0, the driving module 3 rotates in a certain direction, so that the difference is reduced to 0; when the difference is smaller than 0, the driving module 3 rotates in the opposite direction, so that the difference is reduced to 0; when the difference is equal to 0, the driving module 3 stops. The actual deflection angle value detected by the angle detection module 1 is recorded by the real-time monitoring and recording device and then is transmitted.
The invention has the advantages and beneficial effects as follows:
the invention fully utilizes the original hydraulic pressure generation system of the vehicle, has lower manufacturing cost and reduces the overall cost of the automatic control system of the vehicle; the fuzzy control is adopted, so that the method is suitable for most agricultural vehicles adopting hydraulic steering; the torque limiter 8 is added into the steering system 4, so that the system risk is reduced; the steering controller 2 is provided with a CAN bus communication interface, so that the unmanned control system is easy to access. The single chip microcomputer 5 is connected with the motor driver 7 to control the rotation direction and rotation speed of the DC brushless motor 14, and the deflection angle range of the steering wheel 11 can be adjusted.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (8)
1. An electrohydraulic combination automatic steering device, comprising:
the angle detection module is used for detecting the steering angle of the steering system at the current moment and obtaining the current actual deflection angle value;
the steering controller is connected with the angle detection module and is used for generating a current control signal according to the current actual deflection angle value and the deflection expected angle value at the current moment by adopting a PID control method; the current control signal is used as a deflection expected angle value at the next moment;
the driving module is connected with the steering controller and used for outputting current driving torque according to the current control signal;
the steering system is connected with the driving module and used for steering according to the current driving torque;
the steering controller includes:
the singlechip is connected with the angle detection module and is used for receiving the current actual deflection angle value and the deflection expected angle value at the current moment;
the fuzzy controller is connected with the singlechip and internally provided with a PID control model, and is used for calculating the difference value between the current actual deflection angle value and the deflection expected angle value at the current moment, obtaining a feedback signal according to the difference value and generating the current control signal according to the feedback signal;
the motor driver is connected with the fuzzy controller and is used for receiving the current control signal and transmitting the current control signal to the driving module;
the singlechip is also used for:
at the initial moment, determining a resistance interval of torque according to a steering angle change curve, and generating a control instruction according to the resistance interval; the steering angle change curve is drawn according to a plurality of steering angle change values obtained by carrying out a plurality of steering control experiments on the steering system;
the fuzzy controller is further configured to:
and determining PID parameters in the PID control model according to the control instruction.
2. The electrohydraulic combination automatic steering device of claim 1, further comprising:
and the torque limiter is coaxially connected with the driving module and is used for limiting the driving torque.
3. An electrohydraulic combination automatic steering device according to claim 2, wherein said steering system comprises:
the steering shaft is connected with the driving module and is used for transmitting the driving torque; the torque limiter is sleeved on the steering shaft;
the steering machine is sleeved on the steering shaft and used for rotating under the drive of the driving torque;
and the steering wheel is connected with the steering machine and used for realizing steering under the drive of the steering machine.
4. The electrohydraulic combination automatic steering device of claim 3 wherein said steering shaft is sleeved with said drive module, said torque limiter, and said steering engine in sequence from top to bottom.
5. An electro-hydraulic integrated automatic steering apparatus according to claim 3, wherein the drive module comprises a dc brushless motor; the output shaft of the direct current brushless motor is connected with the steering shaft, and the direct current brushless motor is used for driving the steering shaft to rotate.
6. An electrohydraulic combination automatic steering device according to claim 3, further comprising: chassis and mounting plate; the mounting plate is positioned above the chassis, and an accommodating space is formed between the mounting plate and the chassis; the steering shaft sequentially penetrates through the mounting plate and the chassis from top to bottom; the driving module is arranged on the mounting plate; the torque limiter is arranged in the accommodating space; the steering gear is arranged on the lower surface of the chassis.
7. The electro-hydraulic integrated automatic steering apparatus of claim 6, further comprising a connecting post and a connecting member;
one end of the connecting column is fixed with the mounting plate through the connecting piece; the other end of the connecting column is fixed on the chassis through the connecting piece; the mounting plate is parallel to the chassis.
8. An electrohydraulic combination automatic steering control method for controlling an electrohydraulic combination automatic steering device according to any one of claims 1 to 7, comprising:
acquiring a steering angle of a steering system at the current moment to obtain a current actual deflection angle value;
generating a current control signal according to the current actual deflection angle value and the deflection expected angle value at the current moment by adopting a PID control method; the current control signal is used as a deflection expected angle value at the next moment; the current control signal is used for enabling the driving module to output current driving torque to the steering system so as to enable the steering system to steer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210518710.8A CN114771645B (en) | 2022-05-12 | 2022-05-12 | Electrohydraulic combined automatic steering device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210518710.8A CN114771645B (en) | 2022-05-12 | 2022-05-12 | Electrohydraulic combined automatic steering device and control method thereof |
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