CN114872787A - Steering control method and device and electric flat car - Google Patents
Steering control method and device and electric flat car Download PDFInfo
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- CN114872787A CN114872787A CN202210611239.7A CN202210611239A CN114872787A CN 114872787 A CN114872787 A CN 114872787A CN 202210611239 A CN202210611239 A CN 202210611239A CN 114872787 A CN114872787 A CN 114872787A
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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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- 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
- 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
- B62D5/08—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 type of steering valve used
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The application relates to a steering control method, a steering control device and an electric flat car, and relates to the technical field of logistics equipment, wherein the steering control method comprises the steps of receiving a control instruction to obtain target steering angles of wheels on different axles; acquiring current steering angles of wheels on different axles; obtaining target currents of a plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle; and controlling the steering proportional valves to work at the respective corresponding target currents so as to enable the wheels of the multiple groups of axles to be synchronously steered to the respective corresponding target steering angles. The application provides a steering control method, a steering control device and an electric flat car, which can reduce tire wear and improve steering accuracy of the electric flat car.
Description
Technical Field
The application relates to the technical field of logistics equipment, in particular to a steering control method and device and an electric flat car.
Background
The electric flat car uses a lithium iron phosphate battery as power, and the motor is a driven transportation tool for transporting goods. In the prior art, tires on axles of an electric flat car are controlled to steer through working current of a steering proportional valve, and during steering, because tires of each axle are in different states due to friction, tire air pressure, oil cylinder pressure and the like during steering, the steering speeds of the tires of each axle are inconsistent by using the same steering proportional valve current, so that tire abrasion is serious and the steering accuracy of the electric flat car is low.
Disclosure of Invention
In order to solve the technical problem, embodiments of the present application provide a steering control method and apparatus, and an electric flat car, which can reduce tire wear and improve steering accuracy of the electric flat car.
According to one aspect of the application, a steering control method is provided, and is applied to an electric flat car, wherein the electric flat car comprises a plurality of groups of axles, and each group of axles is provided with wheels, and the steering control method comprises the following steps:
receiving a control command to obtain target steering angles of wheels on different axles;
obtaining current steering angles of wheels on different axles;
obtaining target currents of a plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle; each group of axles corresponds to the steering proportional valve, and the steering proportional valve is configured to adjust the steering speed of wheels on the corresponding axle; and
and controlling the plurality of steering proportional valves to work at the target currents corresponding to the plurality of wheels, so that the wheels of the plurality of groups of axles are synchronously steered to the target steering angles corresponding to the wheels.
According to an aspect of the application, the obtaining target currents of a plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle comprises:
obtaining steering angle differences of wheels on different axles according to each current steering angle and the corresponding target steering angle; and
and obtaining target currents of the steering proportional valves according to the steering angle differences of wheels on different axles.
According to an aspect of the application, the obtaining the target currents of the plurality of steering proportional valves according to the steering angle differences of the wheels on different axles comprises:
and if the steering angle difference is larger than a preset angle, taking the maximum working current of the steering proportional valve as the target current.
According to an aspect of the application, the obtaining the target currents of the plurality of steering proportional valves according to the steering angle differences of the wheels on different axles further comprises:
obtaining steering coefficients corresponding to different axles according to the steering angle differences of wheels on the different axles; wherein the steering coefficient represents a multiple of an increase or a decrease of the working current of the steering proportional valve; and
and obtaining target currents of the steering proportional valves according to the steering coefficients corresponding to different axles and the current working currents of the steering proportional valves.
According to an aspect of the application, after the receiving the control instruction, the steering control method further includes:
acquiring the rotation direction of the electric flat car according to the control instruction; and
controlling a part of steering proportional valves to start according to the rotation direction of the electric flat car;
the controlling the plurality of steering proportional valves to operate at the respective target currents to synchronously steer the wheels of the plurality of sets of axles to the respective target steering angles comprises:
and controlling the steering proportional valves which are started to work at the target currents corresponding to the wheels so as to enable the wheels of the multiple groups of axles to be synchronously steered to the target steering angles corresponding to the wheels.
According to one aspect of the application, the control commands include a first steering mode command, wherein the first steering mode command represents a control command to control the electric flat car to turn at a minimum radius; the multiple groups of axles comprise a front axle and a rear axle;
the receiving control instructions to obtain the target steering angles of the wheels on the different axles comprises:
receiving the first steering mode command to obtain a target steering angle and a target turning direction of wheels on the front axle and a target steering angle and a target turning direction of wheels on the rear axle; wherein the direction of rotation on the front axle is opposite to the direction of rotation on the rear axle;
the obtaining of the current steering angles of the wheels on the different axles comprises:
and acquiring the current steering angles of wheels on the front axle and the rear axle.
According to one aspect of the present application, the plurality of sets of axles includes a front axle and a rear axle; the control instructions further comprise a second steering mode instruction, wherein the second steering mode instruction represents an instruction to control steering of the front axle;
the receiving control instructions to obtain the target steering angles of the wheels on the different axles comprises:
receiving the second steering mode command to obtain a target steering angle and a target rotating direction of wheels on the front axle;
the obtaining of the current steering angles of the wheels on the different axles comprises:
and acquiring the current steering angle of the wheels on the front axle.
According to one aspect of the application, the control instructions further comprise a third steering mode instruction, wherein the third steering mode instruction represents a control instruction for controlling the electric flat car to perform oblique translation;
the receiving control instructions to obtain the target steering angles of the wheels on the different axles comprises:
receiving the third steering mode command to obtain target steering angles and rotating directions of wheels on all the axles; the target steering angles of the wheels on each group of axles are the same, and the rotating directions of the wheels on each group of axles are the same;
the obtaining of the current steering angles of the wheels on the different axles comprises:
and acquiring the current steering angles of the wheels on all the axles.
According to another aspect of the application, still provide a steering control device, be applied to electronic flatbed, electronic flatbed includes the multiunit axle, every group all be equipped with the wheel on the axle, steering control device includes:
the first receiving module is configured to receive control instructions so as to obtain target steering angles of wheels on different axles;
the first acquisition module is configured to acquire current steering angles of wheels on different axles;
the first calculation module is configured to obtain target currents of a plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle; each group of axles corresponds to the steering proportional valve, and the steering proportional valve is configured to adjust the steering speed of wheels on the corresponding axle; and
the first control module is configured to control the plurality of steering proportional valves to work at the target currents corresponding to the plurality of steering proportional valves, so that the wheels of the plurality of sets of axles are synchronously steered to the target steering angles corresponding to the plurality of steering proportional valves.
According to another aspect of the present application, there is also provided an electric flat cart including:
the vehicle comprises a machine body, a control device and a control device, wherein a plurality of groups of axles are arranged on the machine body, and wheels are arranged on the plurality of groups of axles; and
and the electronic equipment is arranged on the machine body and is configured to execute the steering control method.
According to the steering control method and device and the electric flat car, the target steering angles of the wheels on different axles are obtained by receiving the control instruction, then the current steering angles of the wheels on different axles are obtained, then the target currents of the steering proportional valves are obtained according to each current steering angle and the corresponding target steering angle, and finally the steering proportional valves are controlled to work with the corresponding target currents. Because each group of axles is corresponding to a steering proportional valve, for different groups of axles, the target currents of the steering proportional valves corresponding to different groups of axles are different, in the steering process, because the current steering angles of the wheels of different axles are changed in real time, and the target currents of the steering proportional valves corresponding to different axles are also changed in real time, the steering speeds of the wheels of different axles can be adjusted in real time, the wheels on different groups of axles are controlled to work at respective corresponding target currents by taking factors such as friction, tire pressure, oil cylinder pressure and the like encountered during the steering of the tires of the axles into consideration, the synchronous steering of the wheels on different groups of axles can be better ensured, the abrasion of the tires can be effectively reduced, and meanwhile, the wheels of different groups of axles can be ensured to reach corresponding target positions at the same time, the integral steering precision of the electric flat car is effectively improved.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic flow chart of a steering control method according to an exemplary embodiment of the present application.
Fig. 2 is a schematic flow chart of a steering control method according to another exemplary embodiment of the present application.
Fig. 3 is a flowchart illustrating a steering control method according to another exemplary embodiment of the present application.
Fig. 4 is a flowchart illustrating a steering control method according to another exemplary embodiment of the present application.
Fig. 5 is a flowchart illustrating a steering control method according to another exemplary embodiment of the present application.
Fig. 6 is a flowchart illustrating a steering control method according to another exemplary embodiment of the present application.
Fig. 7 is a flowchart illustrating a steering control method according to another exemplary embodiment of the present application.
Fig. 8 is a flowchart illustrating a steering control method according to another exemplary embodiment of the present application.
Fig. 9 is a block diagram of a steering control device according to an exemplary embodiment of the present application.
Fig. 10 is a block diagram of a steering control device according to another exemplary embodiment of the present application.
Fig. 11 is a block diagram illustrating an electric flat car according to an exemplary embodiment of the present application.
Fig. 12 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Fig. 1 is a schematic flow chart of a steering control method according to an exemplary embodiment of the present application. The steering control method can be applied to the electric flat car which comprises a plurality of groups of axles, wherein each group of axles is provided with wheels, and the steering control method can be used for controlling the wheels of the plurality of groups of axles to steer synchronously. Specifically, as shown in fig. 1, the steering control method may include:
s310: and receiving control commands to obtain target steering angles of wheels on different axles.
Specifically, in the case where the remote controller controls the electric flat car, the remote controller may issue the aforementioned control instruction; when the electric flatbed is equipped with the unmanned system, the unmanned system can send out the control command according to the current external environment and the state of the electric flatbed. Therefore, after the steering control device in the electric flat car receives the control command, the target steering angles of the wheels on different axle cars can be obtained through the control command.
It should be noted that the target steering angle of the wheel may be understood as an angle of rotation required for the wheel to reach the final target position from the initial position. The initial position of the wheel can be understood as the position when the side surface of the wheel is perpendicular to the length direction of the connecting shaft of the axle in the straight running state of the electric flat car.
It should be understood that, during the steering process of the electric flat car, the turning direction and the turning angle of the electric flat car are different, and the target steering angle of the wheels on different axles is also different. Therefore, after receiving the control command, the steering control device can calculate the target steering angles corresponding to the wheels on different axles according to the rotating direction and the rotating angle of the electric flat car represented by the control command.
S320: and acquiring the current steering angles of wheels on different axles.
In particular, the current steering angle of the wheel may be understood as the angle of rotation of the wheel from the initial position to the current position.
In one embodiment, an angle encoder may be provided on the axle, by means of which the current steering angle of the wheels is measured.
It should be understood that the current steering angles of the wheels on different axles may be the same or different under different conditions of the electric flat car, and therefore, in order to ensure the accuracy of the obtained data of the current steering angles, it is necessary to provide an angle encoder on each axle, and then the angle encoder on each axle can be used for respectively measuring the current steering angles of the wheels on the corresponding axle.
S330: and obtaining target currents of the plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle.
S340: and controlling the steering proportional valves to work at the respective corresponding target currents so as to synchronously steer the wheels of the multiple groups of axles to the respective corresponding target steering angles.
Specifically, each set of axle is corresponding to a steering proportional valve, and the steering proportional valve can be used for adjusting the steering speed of the wheels on the corresponding axle, and generally, the larger the target current of the steering proportional valve is, the larger the steering speed of the wheels on the corresponding axle is.
It should be noted that, for the same set of axles, after obtaining the current steering angle and the corresponding target steering angle of the wheels of the set of axles, the target current of the steering proportional valve corresponding to the set of axles may be obtained. For different groups of axles, the target currents of the steering proportional valves corresponding to the different groups of axles are different, and the wheels on the different groups of axles are controlled to work at the respective corresponding target currents by considering factors such as friction, tire air pressure, oil cylinder pressure and the like encountered during axle tire steering, so that the synchronous steering of the wheels on the different groups of axles can be better ensured.
It should be noted that, as the wheels are continuously steered, the current steering angles of the wheels of different axles are continuously changed, so that the target currents of the steering proportional valves corresponding to different axles are also changed in the steering process, and thus, the steering proportional valves can conveniently adjust the steering speeds of the wheels in real time in the steering process of the wheels, thereby ensuring that the wheels on different groups of axles are synchronously steered, effectively reducing tire wear, simultaneously ensuring that the wheels of different groups of axles reach corresponding target positions at the same time, and effectively improving the overall steering accuracy of the electric flat car.
In one embodiment, the number of the steering proportional valves corresponding to each set of axles can be one, two, three, and the like.
According to the steering control method, the target steering angles of the wheels on different axles are obtained by receiving the control command, then the current steering angles of the wheels on different axles are obtained, then the target currents of the multiple steering proportional valves are obtained according to each current steering angle and the corresponding target steering angle, and finally the multiple steering proportional valves are controlled to work at the corresponding target currents. Because each group of axles is corresponding to a steering proportional valve, for different groups of axles, the target currents of the steering proportional valves corresponding to different groups of axles are different, in the steering process, because the current steering angles of the wheels of different axles are changed in real time, and the target currents of the steering proportional valves corresponding to different axles are also changed in real time, the steering speeds of the wheels of different axles can be adjusted in real time, the wheels on different groups of axles are controlled to work at respective corresponding target currents by taking factors such as friction, tire pressure, oil cylinder pressure and the like encountered during the steering of the tires of the axles into consideration, the synchronous steering of the wheels on different groups of axles can be better ensured, the abrasion of the tires can be effectively reduced, and meanwhile, the wheels of different groups of axles can be ensured to reach corresponding target positions at the same time, the integral steering precision of the electric flat car is effectively improved.
Fig. 2 is a schematic flow chart of a steering control method according to another exemplary embodiment of the present application. As shown in fig. 2, step S330 may include:
s331: and obtaining the steering angle difference of wheels on different axles according to each current steering angle and the corresponding target steering angle.
Specifically, the steering angle difference is a positive number, and therefore, in the case where the current steering angle is larger than the corresponding target steering angle, the corresponding target steering angle may be subtracted from the current steering angle, thereby obtaining the steering angle difference. When the current steering angle is smaller than the corresponding target steering angle, the corresponding current steering angle can be subtracted from the target steering angle, so as to obtain a steering angle difference
S332: and obtaining target currents of the steering proportional valves according to the steering angle differences of wheels on different axles.
Specifically, the steering angle difference of the wheels on different axles is different, and the target current of the corresponding steering proportional valve is also different. For example, during steering, if the steering speed of the upper wheels of a part of axles is too high, which causes the steering angle difference to be reduced too fast, the target current of the corresponding steering proportional valve can be reduced, so that the steering speed of the wheels is reduced, and the wheels with the too high steering speed are steered synchronously with the wheels on the other groups of axles.
Fig. 3 is a flowchart illustrating a steering control method according to another exemplary embodiment of the present application. As shown in fig. 3, step S332 may include:
s3321: and if the steering angle difference is larger than the preset angle, taking the maximum working current of the steering proportional valve as the target current.
Specifically, if the steering angle difference is greater than the preset angle, the difference between the current steering angle and the target steering angle can be considered to be too large, and therefore the maximum working current of the steering proportional valve can be used as the target current, and therefore when the steering proportional valve works with the maximum working current, the wheels on the corresponding axle can be controlled to rotate quickly, the efficiency of the wheels reaching the target position can be improved, the whole steering operation of the electric flat car can be completed quickly, and the working efficiency is improved.
It should be noted that, as the wheels rotate continuously, the steering angle difference becomes smaller gradually, and when the steering angle difference is smaller than the preset angle, the target current of the steering proportional valve also changes correspondingly, and the specific target current is determined according to the actual steering angle difference, so that the steering speed of the wheels of the axle can be controlled to be reduced in the process that the current steering angle gradually approaches the target steering angle, so that the wheels can reach the final target position more accurately, and the steering accuracy of the electric flat car is improved effectively.
It should be understood that the preset angle can be set according to actual conditions, and the preset angle is not particularly limited in the present application.
Fig. 4 is a flowchart illustrating a steering control method according to another exemplary embodiment of the present application. As shown in fig. 4, step S332 may further include:
s3322: and obtaining the steering coefficients corresponding to different axles according to the steering angle differences of the wheels on the different axles.
In particular, the steering factor can be understood as a factor by which the operating current of the steering proportional valve increases or decreases. And the steering speed of the wheels on different axles can be correspondingly changed when the working current is increased or reduced by different times.
Taking the example of steering the wheels on two sets of axles, in the process of steering the wheels on two sets of axles simultaneously, if the wheels on one set of axles are too fast in steering in the earlier stage, resulting in a fast reduction of the steering angle difference, and the steering angle of the wheels on the other set of axles is slower, resulting in the unsynchronized steering of the wheels on two sets of axles, thereby resulting in severe tire wear. Therefore, in the process of steering the wheels of the two sets of axles, it is necessary to determine the steering coefficients corresponding to the two sets of axles according to the speed at which the difference between the steering angles of the wheels on the two sets of axles decreases, set the wheel with the higher steering speed in the previous period as the smaller steering coefficient, and set the wheel with the lower steering speed in the previous period as the larger steering coefficient, so as to ensure that the wheels on the two sets of axles can perform synchronous steering in the subsequent period.
S3323: and obtaining target currents of the steering proportional valves according to the steering coefficients corresponding to different axles and the current working currents of the steering proportional valves.
Specifically, for the same set of axles, step S3322 is executed to obtain the corresponding steering coefficients, and then the product of the current working current and the steering coefficients of the steering proportional valves corresponding to the set of axles is calculated, so as to obtain the target current of the steering proportional valves corresponding to the set of axles.
Fig. 5 is a flowchart illustrating a steering control method according to another exemplary embodiment of the present application. As shown in fig. 5, after step S310, the steering control method further includes:
s350: and acquiring the rotation direction of the electric flat car according to the control instruction.
Specifically, the control instruction includes an instruction for controlling the electric flat car to rotate in the target direction, and the subsequent rotation direction of the electric flat car can be obtained according to the control instruction.
S360: and controlling a part of steering proportional valves to start according to the rotation direction of the electric flat car.
Specifically, in the same set of axles, steering proportional valves are arranged at two ends of the axle, and if the rotation direction of the electric flat car is rightward rotation, the steering proportional valves arranged on the right side of the axle can be controlled to start, so that the corresponding wheels can be controlled to steer rightward subsequently; if the rotation direction of the electric flat car is to rotate to the left, the rotation proportional valve arranged on the left side of the axle can be controlled to be started, and the corresponding wheels can be controlled to turn to the left subsequently. The started rotating proportional valve is in a standby working state, so that the rotating proportional valve can be conveniently and subsequently controlled to rapidly enter a working state at a target current, and the steering efficiency is improved.
Correspondingly, as shown in fig. 5, step S340 may include:
s341: and controlling the started steering proportional valves to work at the respective corresponding target currents so as to synchronously steer the wheels of the multiple groups of axles to the respective corresponding target steering angles.
Specifically, after step S360 is executed, in which a part of the steering proportional valves are already activated and are in a state to be operated, then after steps S320 and S330 are executed, target currents corresponding to the activated steering proportional valves are obtained, and therefore, the activated steering proportional valves are controlled to operate according to the obtained target currents.
Fig. 6 is a flowchart illustrating a steering control method according to another exemplary embodiment of the present application. As shown in fig. 6, the control command includes a first steering mode command, the plurality of sets of axles include a front axle and a rear axle, and step S310 may include:
s311: a first steering mode command is received to obtain a target steering angle and turning direction of the wheels on the front axle and a target steering angle and turning direction of the wheels on the rear axle.
Specifically, the first steering mode command represents a control command for controlling the electric flat car to turn at a minimum radius, according to which a target steering angle and turning direction of the wheels on the front axle and a target steering angle and turning direction of the wheels on the rear axle can be obtained, and since it is necessary to turn at a minimum radius, the turning direction on the front axle is opposite to the turning direction on the rear axle during this steering.
Correspondingly, step S320 may include:
s321: and acquiring the current steering angles of wheels on the front axle and the rear axle.
Specifically, since the wheels on the front axle and the rear axle are required to be steered in the first steering mode, it is necessary to obtain the current steering angles of the wheels on the front axle and the rear axle, and then execute step S330 and step S340 to control the steering proportional valves of the front axle and the rear axle to operate at the respective target currents, so that the steering operation with the minimum radius is completed in the first steering mode.
Fig. 7 is a flowchart illustrating a steering control method according to another exemplary embodiment of the present application. As shown in fig. 7, the control instruction may further include a second steering mode, and step S310 may further include:
s312: and receiving a second steering mode command to acquire a target steering angle and a rotating direction of wheels on the front axle.
Specifically, the second steering mode command represents a command for controlling the steering of the front axle, that is, in the second steering mode, the wheels on the front axle need to be controlled to steer, and the wheels on the rear axle keep moving straight, so that only the target steering angle and the target turning direction of the wheels on the front axle need to be obtained according to the second steering mode command.
Correspondingly, step S320 may include:
s322: the current steering angle of the wheels on the front axle is obtained.
Specifically, in the second steering mode, only the wheels on the front axle and the rear axle need to be steered, so that only the current steering angle of the wheels on the front axle is obtained, and then step S330 and step S340 are executed to control the steering proportional valve corresponding to the front axle to operate at the target current, so that in the second steering mode, the steering operation is completed.
Fig. 8 is a flowchart illustrating a steering control method according to another exemplary embodiment of the present application. As shown in fig. 8, the control command further includes a third steering mode command, and step S310 may further include:
s313: and receiving a third steering mode command to obtain target steering angles and turning directions of wheels on all axles.
Specifically, the third steering mode command represents a control command for controlling the electric flat car to obliquely translate. In the third steering mode, each set of axles on the electric flat car needs to perform steering operation, and therefore, according to the third steering mode instruction, the target steering angles and the target turning directions of the wheels on all the axles need to be acquired. In order to ensure that the electric flat car obliquely translates, the target steering angles of the wheels on each group of axles are the same, and the rotating directions of the wheels on each group of axles are the same.
Correspondingly, step S320 may include:
s323: and acquiring the current steering angles of the wheels on all the axles.
Specifically, since the wheels on all the axles need to be steered in the third steering mode, the current steering angles of the wheels on all the axles need to be obtained, and then step S330 and step S340 are executed to control the steering proportional valves corresponding to all the axles to operate at the respective target currents, so that the oblique translation operation is completed in the third steering mode.
Fig. 9 is a block diagram of a steering control device according to an exemplary embodiment of the present application. As shown in fig. 9, the steering control device 500 provided by the present application is applied to an electric flat car, the electric flat car includes a plurality of sets of axles, each set of axles is provided with wheels, and the steering control device 500 includes: a first receiving module 510 configured to receive a control command to obtain target steering angles of wheels on different axles; a first obtaining module 520 configured to obtain current steering angles of wheels on different axles; a first calculating module 530, configured to obtain target currents of the multiple steering proportional valves according to each current steering angle and the corresponding target steering angle; each group of axles is corresponding to a steering proportional valve, and the steering proportional valves are configured to adjust the steering speed of wheels on the corresponding axles; and a first control module 540 configured to control the plurality of steering proportional valves to operate at respective target currents so as to steer the wheels of the plurality of sets of axles synchronously to respective target steering angles.
The steering control device provided by the application acquires target steering angles of wheels on different axles by receiving a control command, then acquires current steering angles of the wheels on the different axles, then acquires target currents of a plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle, and finally controls the plurality of steering proportional valves to work at the respective corresponding target currents. Because each group of axles is corresponding to a steering proportional valve, for different groups of axles, the target currents of the steering proportional valves corresponding to different groups of axles are different, in the steering process, because the current steering angles of the wheels of different axles are changed in real time, and the target currents of the steering proportional valves corresponding to different axles are also changed in real time, the steering speeds of the wheels of different axles can be adjusted in real time, the wheels on different groups of axles are controlled to work at respective corresponding target currents by taking factors such as friction, tire pressure, oil cylinder pressure and the like encountered during the steering of the tires of the axles into consideration, the synchronous steering of the wheels on different groups of axles can be better ensured, the abrasion of the tires can be effectively reduced, and meanwhile, the wheels of different groups of axles can be ensured to reach corresponding target positions at the same time, the integral steering precision of the electric flat car is effectively improved.
Fig. 10 is a block diagram of a steering control device according to another exemplary embodiment of the present application. As shown in fig. 10, in an embodiment, the first calculating module 530 may include a second calculating module 531 configured to obtain steering angle differences of wheels on different axles according to each current steering angle and the corresponding target steering angle; the third calculation module 532 is configured to obtain target currents of a plurality of steering proportional valves according to the steering angle differences of the wheels on different axles.
As shown in fig. 10, in an embodiment, the third calculation module 532 includes a replacement module 5321 configured to take the maximum operating current of the steering proportional valve as the target current if the steering angle difference is greater than the preset angle.
As shown in fig. 10, in an embodiment, the third calculating module 532 includes a fourth calculating module 5322 configured to obtain steering coefficients corresponding to different axles according to steering angle differences of wheels on different axles; the steering coefficient represents the times of increasing or decreasing the working current of the steering proportional valve; and a fifth calculating module 5323 configured to obtain target currents of the steering proportional valves according to the steering coefficients corresponding to different axles and the current working currents of the steering proportional valves.
As shown in fig. 10, in an embodiment, the steering control device 500 may further include a second obtaining module 550 configured to obtain a rotation direction of the electric flat car according to the control command; a second control module 560 configured to control the activation of a partial steering proportional valve therein according to the rotation direction of the electric flat car; correspondingly, the first control module 540 may be further configured to control the activated steering proportional valves to operate at the respective target currents so as to synchronously steer the wheels of the multiple sets of axles to the respective target steering angles.
As shown in fig. 10, in an embodiment, the first receiving module 510 may include a second receiving module 511 configured to receive a first steering mode command to obtain a target steering angle and turning direction of wheels on a front axle and a target steering angle and turning direction of wheels on a rear axle; wherein, the rotating direction on the front axle is opposite to the rotating direction on the rear axle; correspondingly, the first obtaining module 520 may include a third obtaining module 521 configured to obtain current steering angles of wheels on the front axle and the rear axle.
As shown in fig. 10, in an embodiment, the first receiving module 510 may include a third receiving module 512 configured to receive a second steering mode command to obtain a target steering angle and a turning direction of wheels on a front axle; correspondingly, the first obtaining module 520 may include a fourth obtaining module 522 configured to obtain a current steering angle of the wheels on the front axle.
As shown in fig. 10, in an embodiment, the first receiving module 510 may include a fourth receiving module 513 configured to receive a third steering mode command to obtain target steering angles and turning directions of wheels on all axles; the target steering angles of the wheels on each group of axles are the same, and the rotating directions of the wheels on each group of axles are the same; the first obtaining module 520 may include a fifth obtaining module 523 configured to obtain the current steering angles of the wheels on all axles.
Fig. 11 is a block diagram illustrating an electric flat car according to an exemplary embodiment of the present application. As shown in fig. 11, the present application provides an electric flat car 600 including: a machine body 610 provided with a plurality of sets of axles, each set of axle being provided with a wheel; and an electronic device 620 provided on the body, the electronic device 620 being configured to perform the steering control method as recited in the preceding claims.
The application provides an electric flat car, it is through receiving control command, obtains the target angle of turning to of the wheel on the different axles, then obtains the current angle of turning to of the wheel on the different axles, then according to every current angle of turning to and the corresponding target angle of turning to, obtains the target current of a plurality of steering proportional valves, controls a plurality of steering proportional valves at last and works with respective corresponding target current. Because each set of axle is corresponding to a steering proportional valve, for different sets of axles, the target currents of the steering proportional valves corresponding to different sets of axles are different, in the steering process, because the current steering angles of the wheels of different axles are changed in real time, and the target currents of the steering proportional valves corresponding to different axles are also changed in real time, the steering speeds of the wheels of different axles can be adjusted in real time, the wheels on different sets of axles are controlled to work with the respective corresponding target currents by considering factors such as friction, tire pressure, oil cylinder pressure and the like encountered during the steering of the tires of the axles, so that the synchronous steering of the wheels on different sets of axles can be better ensured, the abrasion of the tires can be effectively reduced, and meanwhile, the wheels of different sets of axles can be ensured to reach the corresponding target positions at the same moment, the integral steering precision of the electric flat car is effectively improved.
Fig. 12 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application. An electronic device 620 according to an embodiment of the application is described with reference to fig. 12. The electronic device 620 may be either or both of the first device and the second device, or a stand-alone device separate from them that may communicate with the first device and the second device to receive the collected input signals therefrom.
As shown in fig. 12, the electronic device 620 includes one or more processors 621 and memory 622.
The processor 621 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 620 to perform desired functions.
Memory 622 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by the processor 621 to implement the control methods of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the electronic device 620 may further include: an input device 623 and an output device 624, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
When the controller is a stand-alone device, the input means 623 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
The input device 623 may also include, for example, a keyboard, a mouse, and the like.
The output device 624 may output various information to the outside, including the determined distance information, direction information, and the like. The output devices 624 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, among others.
Of course, for simplicity, only some of the components of the electronic device 620 relevant to the present application are shown in fig. 12, and components such as buses, input/output interfaces, and the like are omitted. In addition, electronic device 620 may include any other suitable components, depending on the particular application.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A steering control method is applied to an electric flat car, the electric flat car comprises a plurality of groups of axles, and each group of axles is provided with wheels, and the steering control method is characterized by comprising the following steps:
receiving a control command to obtain target steering angles of wheels on different axles;
obtaining current steering angles of wheels on different axles;
obtaining target currents of a plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle; each group of axles corresponds to the steering proportional valve, and the steering proportional valve is configured to adjust the steering speed of wheels on the corresponding axle; and
and controlling the plurality of steering proportional valves to work at the target currents corresponding to the plurality of wheels, so that the wheels of the plurality of groups of axles are synchronously steered to the target steering angles corresponding to the wheels.
2. The steering control method according to claim 1, wherein the obtaining target currents of a plurality of steering proportional valves according to each of the current steering angles and the corresponding target steering angle comprises:
obtaining steering angle differences of wheels on different axles according to each current steering angle and the corresponding target steering angle; and
and obtaining target currents of the steering proportional valves according to the steering angle differences of wheels on different axles.
3. The steering control method according to claim 2, wherein the obtaining target currents of the plurality of steering proportional valves according to the steering angle differences of wheels on different axles comprises:
and if the steering angle difference is larger than a preset angle, taking the maximum working current of the steering proportional valve as the target current.
4. The steering control method according to claim 2, wherein the obtaining target currents of the plurality of steering proportional valves according to the steering angle differences of wheels on different axles further comprises:
obtaining steering coefficients corresponding to different axles according to the steering angle differences of wheels on the different axles; wherein the steering coefficient represents a multiple of an increase or a decrease of the working current of the steering proportional valve; and
and obtaining target currents of the steering proportional valves according to the steering coefficients corresponding to different axles and the current working currents of the steering proportional valves.
5. The steering control method according to claim 1, characterized in that after the receiving of the control instruction, the steering control method further comprises:
acquiring the rotation direction of the electric flat car according to the control instruction; and
controlling a part of steering proportional valves to start according to the rotation direction of the electric flat car;
the controlling the plurality of steering proportional valves to operate at the respective target currents to synchronously steer the wheels of the plurality of sets of axles to the respective target steering angles comprises:
and controlling the steering proportional valves which are started to work at the target currents corresponding to the wheels so as to enable the wheels of the multiple groups of axles to be synchronously steered to the target steering angles corresponding to the wheels.
6. The steering control method according to claim 1, wherein the control command comprises a first steering mode command, wherein the first steering mode command represents a control command to control the electric flat bed to turn at a minimum radius; the multiple groups of axles comprise a front axle and a rear axle;
the receiving control instructions to obtain the target steering angles of the wheels on the different axles comprises:
receiving the first steering mode command to obtain a target steering angle and a target turning direction of wheels on the front axle and a target steering angle and a target turning direction of wheels on the rear axle; wherein the direction of rotation on the front axle is opposite to the direction of rotation on the rear axle;
the obtaining of the current steering angles of the wheels on the different axles comprises:
and acquiring the current steering angles of wheels on the front axle and the rear axle.
7. The steering control method according to claim 1, wherein the plurality of sets of axles include a front axle and a rear axle; the control instructions further comprise a second steering mode instruction, wherein the second steering mode instruction represents an instruction to control steering of the front axle;
the receiving of the control command to obtain the target steering angles of the wheels on the different axles comprises:
receiving the second steering mode command to obtain a target steering angle and a target rotating direction of wheels on the front axle;
the obtaining of the current steering angles of the wheels on the different axles comprises:
and acquiring the current steering angle of the wheels on the front axle.
8. The steering control method according to claim 1, wherein the control commands further include a third steering mode command, wherein the third steering mode command represents a control command for controlling the electric flat car to perform a diagonal translation;
the receiving control instructions to obtain the target steering angles of the wheels on the different axles comprises:
receiving the third steering mode command to obtain target steering angles and rotating directions of wheels on all the axles; the target steering angles of the wheels on each group of axles are the same, and the rotating directions of the wheels on each group of axles are the same;
the obtaining of the current steering angles of the wheels on the different axles comprises:
and acquiring the current steering angles of the wheels on all the axles.
9. The utility model provides a steering control device, is applied to electronic flatbed, electronic flatbed includes the multiunit axle, every group all be equipped with the wheel on the axle, its characterized in that, steering control device includes:
the first receiving module is configured to receive control instructions so as to obtain target steering angles of wheels on different axles;
the first acquisition module is configured to acquire current steering angles of wheels on different axles;
the first calculation module is configured to obtain target currents of a plurality of steering proportional valves according to each current steering angle and the corresponding target steering angle; each group of axles corresponds to the steering proportional valve, and the steering proportional valve is configured to adjust the steering speed of wheels on the corresponding axle; and
the first control module is configured to control the plurality of steering proportional valves to work at the target currents corresponding to the plurality of wheels, so that the wheels of the plurality of groups of axles are synchronously steered to the target steering angles corresponding to the wheels.
10. An electric flat car, comprising:
the vehicle comprises a machine body, a control device and a control device, wherein a plurality of groups of axles are arranged on the machine body, and wheels are arranged on the plurality of groups of axles; and
an electronic device provided on the body, the electronic device being configured to execute the steering control method according to any one of claims 1 to 8.
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