CN114919656A - Vehicle steering control system and method - Google Patents
Vehicle steering control system and method Download PDFInfo
- Publication number
- CN114919656A CN114919656A CN202210749436.5A CN202210749436A CN114919656A CN 114919656 A CN114919656 A CN 114919656A CN 202210749436 A CN202210749436 A CN 202210749436A CN 114919656 A CN114919656 A CN 114919656A
- Authority
- CN
- China
- Prior art keywords
- steering
- angle
- control
- vehicle steering
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 230000004044 response Effects 0.000 claims abstract description 24
- 238000012545 processing Methods 0.000 claims abstract description 15
- 238000004364 calculation method Methods 0.000 claims description 21
- 238000004590 computer program Methods 0.000 claims description 10
- 238000013473 artificial intelligence Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 17
- 239000003921 oil Substances 0.000 description 11
- 238000004891 communication Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 101150008604 CAN1 gene Proteins 0.000 description 1
- 101150063504 CAN2 gene Proteins 0.000 description 1
- 101100058989 Candida albicans (strain SC5314 / ATCC MYA-2876) CAN3 gene Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
- B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/1554—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles
- B62D7/1572—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels comprising a fluid interconnecting system between the steering control means of the different axles provided with electro-hydraulic control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a vehicle steering control system and a method in the technical field of port artificial intelligence transport vehicles, which comprises the following steps: receiving a control input signal; determining a given angle of a vehicle steering actuator based on the control input signal; after collecting the actual steering angle of the vehicle steering actuating mechanism, fault judgment and processing are carried out; performing closed-loop PID control based on a given angle and an actual steering angle to obtain a control value of a vehicle steering actuating mechanism; and outputting the control value to a CAN steering control valve to control a vehicle steering actuating mechanism. On the basis of the existing steering control system, the invention simplifies the number of controllers, perfects an angle control program, improves the steering response speed and perfects the safety and reliability of the steering system.
Description
Technical Field
The invention relates to a vehicle steering control system and a vehicle steering control method, and belongs to the technical field of port artificial intelligence transport vehicles.
Background
The automatic container guiding vehicle is one kind of automatic container terminal conveying equipment operating automatically in unmanned technology and capable of conveying containers from terminal to yard automatically. The construction of intelligent unmanned wharfs is gradually increased and becomes a trend, and the purely electric automatic guided vehicle with the property of a universal axle is applied. At present, the automatic container guiding vehicle mostly adopts multi-axle steering, the problems of unsmooth steering, tire shimmy, asynchronous multi-axle steering, low response speed and the like easily occur in the steering process, the accurate control of the steering of the automatic container guiding vehicle cannot be realized, and the stability of the whole vehicle is influenced.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a vehicle steering control system and a vehicle steering control method.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the present invention provides a vehicle steering control method comprising:
receiving a control input signal;
determining a given angle of a vehicle steering actuator based on the control input signal;
after collecting the actual steering angle of the vehicle steering actuating mechanism, fault judgment and processing are carried out;
performing closed-loop PID control based on a given angle and an actual angle to obtain a control value of a vehicle steering actuating mechanism;
and outputting the control value to a CAN steering control valve to control a vehicle steering actuating mechanism.
Further, determining the given angle of the vehicle steering actuator based on the control input signal includes:
deriving a steering mode of the vehicle based on the control input signal;
in response to a signal that the steering mode is splay steering, the given angle calculation expression of the vehicle steering actuator is:
θ1＝θ
θ2＝arctan[(L2/L1)*tanθ1]
θ3＝-θ2
θ4＝-θ1
in response to a signal that the steering mode is first-half dogbone steering, the given angle calculation expression for the vehicle steering actuator is:
θ1＝θ
θ3＝0
θ2＝arctan{[2L2/(L1+L2)]*tanθ1}
θ4＝-arctan{[(L1-L2)/(L1+L2)]*tanθ1}
in response to a signal that the steering mode is a second half eight-word steering, the given angle calculation expression of the vehicle steering actuator is:
θ4＝-θ
θ2＝0
θ3＝arctan{[2L2/(L1+L2)]*tanθ4)
θ1＝arctan{[(L1-L2)/(L1+L2)]*tanθ4}
in response to a signal that the steering mode is the crab mode, the given angle calculation expression of the vehicle steering actuator is:
θ1＝θ2＝θ3＝θ4＝θ
the vehicle steering actuating mechanism comprises four steering axles, theta n is a given angle of n axles in the vehicle steering actuating mechanism, theta is a given angle of a control input signal, and Ln is a distance from n axles to the center of the vehicle.
Further, the fault includes response fault deviation is too large and single bridge left and right angle deviation is too large, wherein:
response fault deviation is too large: judging based on the given angle and the angle real-time data, when the angle deviation exceeds a certain value within the specified time, delaying steering, and outputting an alarm that the steering angle response deviation is too large;
the left and right angle deviation of the single bridge is too large: and (3) calculating the theoretical angle of steering at the other side according to a formula based on the real-time data of the angle at one side, comparing the theoretical angle of steering at the other side with the actual angle at the other side, and outputting an alarm that the deviation of the left wheel angle and the right wheel angle of the single axle is too large when the deviation exceeds a certain angle.
Further, the other-side steering theoretical angles are ψ 1, ψ 2, ψ 3, ψ 4, wherein:
ψ1＝arctan[L1/(L1/tanθ1’+D)]
ψ2＝arctan[L2/(L2/tanθ2’+D)]
ψ3＝arctan[L2/(L2/tanθ3’+D)]
ψ4＝arctan[L1/(L1/tanθ4’+D)]
the vehicle steering actuating mechanism comprises four steering axles, theta n' is angle real-time data of one side of the n axle in the vehicle steering actuating mechanism, and Ln is the distance from the n axle to the center of the vehicle.
Further, the control input signal includes a control command issued by a remote controller or an unmanned aerial vehicle, a steering mode, a given angle, and a driving direction.
Furthermore, the CAN steering control valve controls the vehicle steering actuating mechanism by adjusting the direction and the speed of a control oil cylinder for supplying energy to the vehicle steering actuating mechanism.
Further, the actual steering angle is acquired by an encoder mounted on a vehicle steering actuator.
In a second aspect, the present invention provides a vehicle steering control system comprising:
the signal receiving module: for receiving a control input signal;
a given angle calculation module: for determining a given angle of a vehicle steering actuator based on the control input signal;
an angle judgment module: the system is used for judging and processing faults after acquiring the actual steering angle of the vehicle steering actuating mechanism;
a control value calculation module: the control system is used for performing closed-loop PID control based on a given angle and an actual steering angle to obtain a control value of a vehicle steering actuating mechanism;
a steering control module: and the controller is used for outputting the control value to the CAN steering control valve to control the vehicle steering actuating mechanism.
In a third aspect, the present invention provides a vehicle steering control apparatus comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method according to any one of the above.
In a fourth aspect, the invention provides a computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of any of the methods described above.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a steering control system and a control method for an unmanned guided vehicle, the method selects encoders for detecting the tire rotation angles at two sides of an axle on the basis of an independent steering axle of the vehicle, selects a whole vehicle controller with a CAN network, judges the rotation angle difference in the process by adopting wheel angle calculation and control, and pre-judges the possible faults of the steering system, wherein the fault judgment considers the response deviation and the single axle fault, so that the fault is more perfect, the normal operation of the vehicle CAN be effectively ensured, accurate fault judgment information CAN be provided, the fault is convenient to process, and the loss expansion is effectively avoided; the control of the steering oil cylinder is realized through the steering valve with the CAN bus communication function, the configuration structure is simple, the data flow is reasonably controlled, the control and fault treatment are organically combined, the fault judgment is complete, the bus valve control integration level is high, the control wiring is simple, and the control precision is higher. On the basis of the existing steering control system, the invention simplifies the number of controllers, perfects an angle control program, improves the steering response speed and perfects the safety and reliability of the steering system.
Drawings
FIG. 1 is a block diagram of a vehicle steering control architecture according to a first embodiment of the present invention;
fig. 2 is a topology diagram of a CAN communication network according to an embodiment of the present invention;
FIG. 3 is a block diagram of a control system according to an embodiment of the present invention;
FIG. 4 is a schematic view of a splayed steering angle relationship according to an embodiment of the present invention;
FIG. 5 is a schematic view of a first-half V-shaped steering angle relationship provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of a second half splay steering angle relationship according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a diagonal steering angle relationship according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
the embodiment discloses a vehicle steering control method, which is applied to an automatic guide transport vehicle with four shafts steering independently, and the structural block diagram of the transport vehicle is shown in figure 1.
The vehicle comprises a vehicle steering actuating mechanism consisting of four steering axles, tire mechanisms on two sides of the steering axles are connected through trapezoidal connecting rods, the tire mechanisms are designed according to a splayed mode according to the axle distance of the vehicle during design, tires on the left side and the right side accord with the corresponding corner relation of the splayed steering mode, and an oil cylinder is used as the actuating mechanism of each steering axle. The energy source of the steering system is hydraulic pressure and consists of a hydraulic pump station and a corresponding energy accumulator. In order to ensure that the steering has enough power and flow, the oil supply of the steering system is realized by the energy storage mode of the energy accumulator.
The hydraulic system adopts an intermittent working mechanism, the oil cylinder is directly provided with power for steering through the energy accumulator, when the pressure of the energy accumulator is lower than a certain pressure, the pump station system automatically works to supplement oil for the energy accumulator, and when the pressure is higher than a certain limit value, the pump station stops working. The working pressure of the hydraulic pump station and the pressure of the energy accumulator are detected by corresponding pressure sensors. The power of the hydraulic pump station drives a pump station motor to drive a hydraulic pump to work by a pump station motor controller.
The steering control system comprises a steering angle encoder arranged on the left side and the right side of each bridge, and a CAN steering control valve which is a bus control valve and comprises a main valve and a sub valve and is used for controlling hydraulic flow and further controlling steering speed. The whole vehicle controller collects encoder angle data through a CAN bus, performs internal program operation by combining a given steering angle, a steering mode and the like sent by a remote controller or an unmanned system to obtain different control flows of four oil cylinders, sends a control command to a CAN steering control valve, adjusts the flow through the CAN steering control valve and completes accurate control of a steering system.
The CAN communication network topology is as shown in fig. 2, and different information is distributed to different CAN networks by steering control of the related CAN networks, so that the load rate of a single network is reduced, and the stability and the speed of communication are improved, wherein:
the CAN1 collects remote control information and eight corner encoder information;
the CAN2 collects the unmanned steering control information, the unmanned command is given, in addition, all the state information and the fault information of the bus valve CAN be sent to the display through the bus for the state display of the display;
the CAN3 bus control steering valve controls the steering speed by controlling the flow of the oil cylinder, the bus valve is provided with a controller, CAN be set to be a valve core flow control mode, collects the pressure of the input and output ports of the steering valve and the displacement and actual flow of the valve core in real time, and gives corresponding position requirements according to the deviation between the valve flow given and flow feedback. If the flow has deviation, the valve core position can be correspondingly adjusted, and the requirement of unchanged flow is met. And the flow compensation can be carried out on the displacement of the valve core according to the conditions of temperature, oil supply pressure change and the like, so that the accuracy of flow control is ensured. In addition, the bus valve can be configured with parameters such as response speed of the valve, various mechanical parameters, and fault diagnosis and recording functions. In addition, the system applies emergency brake under the condition of bus communication interruption and stops the running and steering of the vehicle, thereby ensuring the operation safety;
CAN4 precharge and pump station motor controller. The pre-charging controller mainly assists in completing high voltage of a system, power supply of the motor controller is guaranteed, the pump station motor is controlled by the pump station motor control electric appliance, work of the pump station is automatically controlled through pressure judgment and control of the proportional adjustable overflow valve, and it is guaranteed that pressure of the energy accumulator meets work requirements.
The software control system block diagram of the system is shown in fig. 3, and the software control system block diagram comprises links of control quantity acquisition, actual steering angle acquisition, given angle calculation, closed-loop PID control, fault judgment and processing, control output and the like, and the specific content is shown in the block diagram.
The specific contents are as follows:
and (3) collecting control quantity: control commands sent by a remote controller or unmanned driving, control input of a steering mode, a given angle, a driving direction and the like;
and (3) acquiring an actual steering angle: and angle real-time data of eight encoders on the left side and the right side of the four steering axles are obtained through the CAN network. According to the feedback of the angle, whether the actual angle reaches the given angle can be judged. Whether the angles of the two sides of the axle meet the angle relation limited by the structure of the axle or not is judged, so that whether the installation of the axle or the steering angle is in a problem or not is judged;
given the angle calculation: according to the control input including a steering mode, steering angle giving and a vehicle running direction, the steering mode of the system comprises splay, first half splay, second half splay, oblique running and other steering modes, and for an unmanned system, the steering mode can be given by giving equivalent angles of a first shaft and a fourth shaft to realize various steering modes, and the module can calculate the actual given angle of each axle according to different steering modes and steering angles through an Ackerman principle, and the control input comprises the following concrete steps:
the precondition is as follows:
1) the steering mode, the forward direction, and the angle of the inner side wheel of the forward direction of the known vehicle are given (the given angle is the maximum turning angle of eight wheels);
2) wheelbase between the four axles of the vehicle. Suppose that the distance from 1 bridge to the center of the vehicle is L1, the distance from 2 bridge to the center of the vehicle is L2, the 1 bridge and the 4 bridge are symmetrical, and the 2 bridge and the 3 bridge are symmetrical.
3) The wheel track of the left and right wheels is D.
4) According to the Ackerman steering principle, the centers of the steering circles of the tires on the same side are intersected at a point.
5) And calculating a given angle and feeding back the angle according to the inner wheel in the advancing direction.
The given angle calculation for a particular steering mode is as follows:
1) the eight-character steering mode is adopted, the forward gear takes the direction of the vehicle head as the positive direction, and the given angle is the inner side corner of the axle 1; the left is changed to be 1 bridge left, the angle is positive, and the other three bridges are also set according to the left tire rotation angle; the right-turning given angle is 1 axle right, the angle is negative, and the given angles of the rest axles are also right sides; in the steering control, it is necessary to determine which side of the rotation angle the given angle corresponds to, and the encoder feedback angle is to be coincident with the given angle. The given angle is set to be theta, and the given angles which are required to be calculated are respectively theta 1, theta 2, theta 3 and theta 4 through 1 bridge, 2 bridge, 3 bridge and 4 bridge. θ 1 ═ θ; according to the geometrical relationship of the figure 4 eight-character pattern, there is the following correspondence: l1/tan θ 1 is L2/tan θ 2, so as to obtain θ 2 is arctan [ (L2/L1) × tan θ 1 ]; according to the symmetrical relation, theta 3 is equal to-theta 2, and theta 4 is equal to-theta 1.
2) Turning to the first half, please refer to fig. 5, the turning center is on the extension line of the 3-axle. In the forward direction, the given angle is 1 bridge corner, and during left turn, the calculation is performed according to the left tire angle, and during right turn, the calculation is performed according to the right tire as a reference. The following relationships exist: θ 1 ═ θ; θ 3 is 0; (L1+ L2)/tan θ 1 ═ 2L2/tan θ 2, (L1+ L2)/tan θ 1 ═ L1-L2)/tan θ 4, yielding θ 2 ═ arctan { [2L2/(L1+ L2) ] -tan θ 1 }; θ 4 { [ (L1-L2)/(L1+ L2) ] -tan θ 1 }.
3) Turning to the latter half of the figure, please refer to fig. 6, with the 2-axle extension line as the turning center, the 4-axle as the given angle, and calculating the turning angles of the 2-axle and the 3-axle according to the 4-axle angle. The direction of advance, the vehicle turns left, corresponds to 4 bridge right turn angle for negative value (theta 4<0), the vehicle turns right, corresponds to four axis left turn, the given angle is positive value (theta 4> 0). Given an angle θ (left turn θ >0), θ 4 — θ, θ 2 — 0; the corresponding relationship of the rotation angle is as follows: (L1+ L2)/tan θ 4 ═ 2L2/tan θ 3, (L1+ L2)/tan θ 4 ═ L1-L2)/tan θ 1, given the angles given by 1 bridge and 3 bridge: θ 3 { [2L2/(L1+ L2) ] × tan θ 4); θ 1 { [ (L1-L2)/(L1+ L2) ] -tan θ 4 }.
4) Referring to fig. 7, in order to ensure that the vehicle does not deviate during the oblique driving, the angle given by the link mechanism designed according to the splay mode is as follows: and in the advancing direction, when the vehicle turns left, the given angles of the 1 bridge and the 2 bridge are the left tire corners, and the given angle of the 3 bridge and the 4 bridge is the right tire corner. In a right turn, 1 and 2 bridge angles are given in terms of right side tire angles, and 3 and 4 bridge angles are given in terms of left side tire angles. θ 1 ═ θ 2 ═ θ 3 ═ θ 4 ═ θ.
PID control: and carrying out closed-loop PID control on the given angle and the feedback angle to obtain the flow of the CAN steering valve corresponding to each bridge, and completing the given following of the steering angle.
The given angle obtained in the step 3 is firstly processed by a slope, and when the given angle is used as the given input of the PID algorithm, the tire corresponding to the feedback input of the PID is consistent with the tire corresponding to the given angle;
and (3) fault judgment and processing: the method is divided into the steps of overlarge response fault deviation and overlarge single-bridge left and right angle deviation.
Response fault deviation is too large: and judging the given angle calculated in real time and the angle acquired in real time, and outputting an alarm that the steering angle response deviation is too large if the steering angle response deviation is delayed if the angle deviation exceeds a certain value within the specified time. The concrete reasons include the loosening of the coupler, the communication failure of the encoder, the damage of the encoder, the leakage of hydraulic oil, the insufficient pressure of the energy accumulator and the like.
The left and right angle deviation of the single bridge is too large: the left and right steering angles of the single axle are compared, the axles are connected through a mechanical link mechanism, the left and right angles meet a related calculation formula, the right steering angle is calculated according to the formula through the left actual angle, and the steering center can be confirmed according to the known left wheel actual angle due to the fact that the T-shaped tie rod of each axle is designed according to the splay steering, and then the right wheel angle is calculated according to the theoretical turning angle of the steering center and is compared with the actual right wheel angle. If the difference exceeds a certain angle, the wheel angle deviation is considered to be too large.
Referring to fig. 4, when a left turn is assumed, the left actual angles are θ 1 ', θ 2', θ 3 ', and θ 4', respectively; and (4) calculating a theoretical angle of the right side according to the angle of the left side: respectively ψ 1, ψ 2, ψ 3, ψ 4.
L1/tanψ1-D＝L1/tanθ1’
L2/tanψ2-D＝L2/tanθ2’
L2/tanψ3-D＝L2/tanθ3’
L1/tanψ4-D＝L1/tanθ4’
According to the formula, the right theoretical angle value corresponding to the left angle can be respectively obtained.
ψ1＝arctan[L1/(L1/tanθ1’+D)]
ψ2＝arctan[L2/(L2/tanθ2’+D)]
ψ3＝arctan[L2/(L2/tanθ3’+D)]
ψ4＝arctan[L1/(L1/tanθ4’+D)]
And (3) controlling and outputting: and the control value is output to a CAN bus valve through a CAN bus to control the direction and the speed of the oil cylinder.
In the embodiment, the power source of the steering system is a mode of adding an energy accumulator to a hydraulic pump, and the normal oil supply problem of the steering power system is automatically ensured through a pressure sensor; the whole vehicle controller is adopted to reasonably distribute 4 CAN network devices, so that each network has enough load rate, and the communication speed and response time of the system CAN be improved; a reasonable fault judgment processing mechanism is added under the condition of meeting the normal steering control, relevant fault reasons are given, the reason locking is facilitated, the problem occurrence of equipment can be timely stopped, and the loss increase is prevented.
Example two:
a vehicle steering control system that can implement a vehicle steering control method according to the first embodiment, comprising:
a signal receiving module: for receiving a control input signal;
a given angle calculation module: for determining a given angle of a vehicle steering actuator based on the control input signal;
an angle judgment module: the system is used for judging and processing faults after acquiring the actual steering angle of the vehicle steering actuating mechanism;
a control value calculation module: the system is used for performing closed-loop PID control on the basis of the given angle and the processed angle real-time data to obtain a control value of a vehicle steering actuating mechanism;
a steering control module: and the controller is used for outputting the control value to the CAN steering control valve to control the vehicle steering actuating mechanism.
Example three:
the embodiment of the invention also provides a vehicle steering control device, which can realize the vehicle steering control method of the first embodiment and comprises a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method of:
receiving a control input signal;
determining a given angle of a vehicle steering actuator based on the control input signal;
after collecting the actual steering angle of the vehicle steering actuating mechanism, fault judgment and processing are carried out;
performing closed-loop PID control based on the given angle and the processed angle real-time data to obtain a control value of a vehicle steering actuating mechanism;
and outputting the control value to a CAN steering control valve to control a vehicle steering actuating mechanism.
Example four:
an embodiment of the present invention further provides a computer-readable storage medium, which can implement a vehicle steering control method according to the first embodiment, and the computer program is stored on the computer-readable storage medium, and when executed by a processor, the computer-readable storage medium implements the following steps of the method:
receiving a control input signal;
determining a given angle of a vehicle steering actuator based on the control input signal;
after collecting the actual steering angle of the vehicle steering actuating mechanism, carrying out fault judgment and processing;
performing closed-loop PID control based on the given angle and the processed angle real-time data to obtain a control value of a vehicle steering actuating mechanism;
and outputting the control value to a CAN steering control valve to control a vehicle steering actuating mechanism.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications without departing from the technical principle of the present invention, and those improvements and modifications should be considered as the protection scope of the present invention.
Claims (10)
1. A vehicle steering control method characterized by comprising:
receiving a control input signal;
determining a given angle of a vehicle steering actuator based on the control input signal;
after collecting the actual steering angle of the vehicle steering actuating mechanism, fault judgment and processing are carried out;
performing closed-loop PID control based on a given angle and an actual steering angle to obtain a control value of a vehicle steering actuating mechanism;
and outputting the control value to a CAN steering control valve to control a vehicle steering actuating mechanism.
2. The vehicle steering control method according to claim 1, wherein determining the given angle of the vehicle steering actuator based on the control input signal comprises:
deriving a steering mode of the vehicle based on the control input signal;
in response to the signal that the steering mode is splay steering, the given angle calculation expression of the vehicle steering actuator is:
θ1＝θ
θ2＝arctan[(L2/L1)*tanθ1]
θ3＝-θ2
θ4＝-θ1
in response to a signal that the steering mode is first-half dogbone steering, the given angle calculation expression for the vehicle steering actuator is:
θ1＝θ
θ3＝0
θ2＝arctan{[2L2/(L1+L2)]*tanθ1}
θ4＝-arctan{[(L1-L2)/(L1+L2)]*tanθ1}
in response to a signal that the steering mode is the second half V-steering, the given angle calculation expression of the vehicle steering actuator is:
θ4＝-θ
θ2＝0
θ3＝arctan{[2L2/(L1+L2)]*tanθ4)
θ1＝arctan{[(L1-L2)/(L1+L2)]*tanθ4}
in response to a signal that the steering mode is the crab mode, the given angle calculation expression of the vehicle steering actuator is:
θ1＝θ2＝θ3＝θ4＝θ
the vehicle steering executing mechanism comprises four steering axles, theta n is a given angle of n axles in the vehicle steering executing mechanism, theta is a given angle of a control input signal, and Ln is a distance from n axles to the center of the vehicle.
3. The vehicle steering control method according to claim 1, wherein the fault includes an excessive deviation in response to the fault and an excessive deviation in left and right angles of the single axle, wherein:
response fault deviation is too large: judging based on the given angle and the angle real-time data, when the angle deviation exceeds a certain value within the specified time, delaying steering, and outputting an alarm that the steering angle response deviation is too large;
the left and right angle deviation of the single bridge is too large: and calculating the theoretical angle of the steering of the other side according to a formula based on the real-time data of the angle of one side, comparing the theoretical angle of the steering of the other side with the actual angle of the other side, and outputting an alarm that the deviation of the left wheel and the right wheel of the single axle is too large when the deviation exceeds a certain angle.
4. The vehicle steering control method according to claim 3, wherein the other-side steering theoretical angles are ψ 1, ψ 2, ψ 3, ψ 4, wherein:
ψ1＝arctan[L1/(L1/tanθ1’+D)]
ψ2＝arctan[L2/(L2/tanθ2’+D)]
ψ3＝arctan[L2/(L2/tanθ3’+D)]
ψ4＝arctan[L1/(L1/tanθ4’+D)]
the vehicle steering actuating mechanism comprises four steering axles, theta n' is angle real-time data of one side of the n axle in the vehicle steering actuating mechanism, and Ln is the distance from the n axle to the center of the vehicle.
5. The vehicle steering control method according to claim 1, wherein the control input signal includes a control command issued by a remote controller or a drone, a steering mode, a given angle, and a driving direction.
6. The vehicle steering control method according to claim 1, wherein the CAN steering control valve controls the vehicle steering actuator by adjusting a direction and a speed of a control cylinder that supplies power to the vehicle steering actuator.
7. The vehicle steering control method according to claim 1, wherein the actual steering angle is acquired by an encoder mounted on a vehicle steering actuator.
8. A vehicle steering control system, comprising:
a signal receiving module: for receiving a control input signal;
a given angle calculation module: for determining a given angle of a vehicle steering actuator based on the control input signal;
an angle judgment module: the system is used for judging and processing faults after acquiring the actual steering angle of the vehicle steering actuating mechanism;
a control value calculation module: the control system is used for performing closed-loop PID control based on a given angle and an actual steering angle to obtain a control value of a vehicle steering actuating mechanism;
a steering control module: and the controller is used for outputting the control value to the CAN steering control valve to control the vehicle steering actuating mechanism.
9. A vehicle steering control device is characterized by comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is configured to operate in accordance with the instructions to perform the steps of the method according to any one of claims 1 to 7.
10. Computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210749436.5A CN114919656A (en) | 2022-06-29 | 2022-06-29 | Vehicle steering control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210749436.5A CN114919656A (en) | 2022-06-29 | 2022-06-29 | Vehicle steering control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114919656A true CN114919656A (en) | 2022-08-19 |
Family
ID=82813995
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210749436.5A Pending CN114919656A (en) | 2022-06-29 | 2022-06-29 | Vehicle steering control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114919656A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10287267A (en) * | 1997-04-15 | 1998-10-27 | Hironori Watanabe | Vehicle steering device by front axle and rear axle |
| EP2141062A2 (en) * | 2008-07-03 | 2010-01-06 | Rheinmetall Landsysteme GmbH | Steering arm for a wheeled vehicle with kingpin-steering and use of the steering arm in a vehicle |
| CN103287491A (en) * | 2013-04-27 | 2013-09-11 | 燕山大学 | Control system for compliance steer of roadway trackless wheeled hydraulic power vehicle group |
| CN106627841A (en) * | 2017-02-15 | 2017-05-10 | 上海振华重工(集团)股份有限公司 | Steering control system and method of container automatic guiding trolley |
| US20190329819A1 (en) * | 2016-12-27 | 2019-10-31 | Xuzhou Heavy Machinery Co., Ltd. | Steering control system and method as well as crane |
| CN110497962A (en) * | 2019-07-18 | 2019-11-26 | 上海振华重工(集团)股份有限公司 | A kind of servo integrated electric hydraulic steering system of straddle carrier volume and its control method |
| CN211281184U (en) * | 2019-11-29 | 2020-08-18 | 江越（武汉）控制技术有限公司 | Multi-mode steering control system of highway and railway dual-purpose material distribution vehicle |
| CN114537516A (en) * | 2022-02-25 | 2022-05-27 | 北京宸控科技有限公司 | Mining truck intelligent steering implementation method based on man-machine fusion perception |
-
2022
- 2022-06-29 CN CN202210749436.5A patent/CN114919656A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10287267A (en) * | 1997-04-15 | 1998-10-27 | Hironori Watanabe | Vehicle steering device by front axle and rear axle |
| EP2141062A2 (en) * | 2008-07-03 | 2010-01-06 | Rheinmetall Landsysteme GmbH | Steering arm for a wheeled vehicle with kingpin-steering and use of the steering arm in a vehicle |
| CN103287491A (en) * | 2013-04-27 | 2013-09-11 | 燕山大学 | Control system for compliance steer of roadway trackless wheeled hydraulic power vehicle group |
| US20190329819A1 (en) * | 2016-12-27 | 2019-10-31 | Xuzhou Heavy Machinery Co., Ltd. | Steering control system and method as well as crane |
| CN106627841A (en) * | 2017-02-15 | 2017-05-10 | 上海振华重工(集团)股份有限公司 | Steering control system and method of container automatic guiding trolley |
| CN110497962A (en) * | 2019-07-18 | 2019-11-26 | 上海振华重工(集团)股份有限公司 | A kind of servo integrated electric hydraulic steering system of straddle carrier volume and its control method |
| CN211281184U (en) * | 2019-11-29 | 2020-08-18 | 江越（武汉）控制技术有限公司 | Multi-mode steering control system of highway and railway dual-purpose material distribution vehicle |
| CN114537516A (en) * | 2022-02-25 | 2022-05-27 | 北京宸控科技有限公司 | Mining truck intelligent steering implementation method based on man-machine fusion perception |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105539574B (en) | Automobile back wheel turns to electronically controlled hydraulic system and its control method | |
| CN108958258A (en) | A kind of track follow-up control method, control system and the relevant apparatus of unmanned vehicle | |
| CN104443025A (en) | Electro-hydraulic servo pure rolling steering system for multi-axis vehicle and control method | |
| CN102490781B (en) | Steering system and steering method for engineering vehicle | |
| CN112172918B (en) | Double-closed-loop control system and method for multi-axis electro-hydraulic steering system | |
| CN112141207A (en) | Electro-hydraulic power-assisted steering system and crane | |
| CN102267488B (en) | Multi-steering bridge control system and method as well as engineering device | |
| CN109367620B (en) | Induction control method for linear backing of semi-trailer train | |
| CN110497962B (en) | Volume servo integrated electro-hydraulic steering system of straddle carrier and control method thereof | |
| CN113638923B (en) | Vehicle end corner hydraulic device and control method thereof | |
| CN106828588A (en) | Electric boosting steering system unmanned steering control method | |
| CN105711644B (en) | A kind of analytic method for the multi-axial cord vehicle all-wheel steering that front/rear frame is hinged | |
| CN114035488A (en) | Fortune frame all-in-one electrical control system based on thing networking cloud monitoring technology | |
| CN114919656A (en) | Vehicle steering control system and method | |
| CN102004510A (en) | Positioning and tracking control system for rail type eight wheel-dragged electric car | |
| CN109552406A (en) | A kind of universal electric steering controller applied to automatic driving vehicle | |
| CN111098919B (en) | High-precision quick-response intelligent rail electric car steering system | |
| CN117574597A (en) | All-wheel multi-axis steering system model and building method | |
| CN114655306B (en) | Heavy vehicle electrohydraulic servo steering system and control method capable of inhibiting overshoot | |
| CN202686461U (en) | Chassis steering control system and crane provided with same | |
| Wei et al. | Steer-by-wire control system based on Carsim and Simulink | |
| CN208393512U (en) | A kind of automatic guiding vehicle of container steering system | |
| CN204555948U (en) | Wheel steering angle measurement mechanism and multi-shaft steering vehicle | |
| CN117922684A (en) | Wheel corner control method and device for unmanned container transport vehicle | |
| CN111674256B (en) | Port transfer vehicle and running control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220819 |