CN114954653B - Steering control device and return control method for rear wheel steering electric sweeper - Google Patents
Steering control device and return control method for rear wheel steering electric sweeper Download PDFInfo
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- CN114954653B CN114954653B CN202210715141.6A CN202210715141A CN114954653B CN 114954653 B CN114954653 B CN 114954653B CN 202210715141 A CN202210715141 A CN 202210715141A CN 114954653 B CN114954653 B CN 114954653B
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- 241001417527 Pempheridae Species 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000002457 bidirectional effect Effects 0.000 claims description 25
- 230000009471 action Effects 0.000 claims description 5
- 230000003247 decreasing effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
-
- 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
- B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
-
- 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
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention relates to a steering control device and a return control method of a rear wheel steering electric sweeper, and belongs to the technical field of electric sweeper. The steering control device comprises a rear steering axle, two ends of the rear steering axle are hinged with hubs through rear axle rotating shafts respectively, hall magnetic-sensing angle sensors are connected to the rear axle rotating shafts through D-shaped shafts and are connected with a vehicle controller through signals, the rear steering axle is provided with two-way telescopic hydraulic cylinders, the two ends of the two-way telescopic hydraulic cylinders are connected with hubs on two sides respectively, two-way telescopic hydraulic cylinder pipelines are connected with hydraulic work stations, electromagnetic valves are arranged on connecting pipelines of the two hydraulic work stations, and the hydraulic work stations and the electromagnetic valves are connected with the vehicle controller through equal signals. The invention realizes the automatic return of the rear wheel steering of the electric sweeper after steering under the automatic driving state, and has accurate control.
Description
Technical Field
The invention relates to the technical field of electric sweeper, in particular to a steering control device and a return control method of a rear wheel steering electric sweeper.
Background
In order to obtain a smaller turning radius, the electric sweeper adopts a rear wheel steering design mode, so that the flexibility of the sweeper and the trafficability of a complex field are improved; because of the working characteristics of the electric sweeper, the whole vehicle needs stable and reliable performance, and therefore mechanical hydraulic assistance is adopted for steering assistance. The electric sweeper with the rear wheel steering can obtain smaller turning radius, meanwhile, the steering wheel is not aligned when the steering wheel is aligned, and the steering wheel are not in a fixed angle association relationship like a vehicle with the front wheel steering, so that the vehicle can run in a straight line only by continuously correcting the direction when the vehicle is driven in a straight line. When the vehicle is automatically driven, the vehicle cannot be returned to the vehicle through controlling the steering wheel, so that the vehicle cannot run in a straight line; meanwhile, the steering angle of the vehicle cannot be judged and the vehicle cannot be controlled to realize curve driving because of the reference of zero direction return to 0 degree.
Disclosure of Invention
In order to solve the problems in the prior art, the invention designs a steering control device of a rear wheel steering electric sweeper, so as to solve the problem that the existing automatic steering electric sweeper lacks a centering control device.
The technical scheme adopted by the invention is as follows: the steering control device comprises a rear steering axle, two ends of the rear steering axle are hinged with hubs through rear axle rotating shafts respectively, a Hall magnetic sensitive angle sensor is connected to the rear axle rotating shafts through D-shaped shafts, the Hall magnetic sensitive angle sensor rotates synchronously with the rear axle rotating shafts, the steering angle of rear wheels is detected, the Hall magnetic sensitive angle sensor is in signal connection with a whole vehicle controller of a vehicle, the rear steering axle is provided with a bidirectional telescopic hydraulic cylinder, two ends of the bidirectional telescopic hydraulic cylinder are connected with hubs on two sides respectively to control steering of the rear wheels, the bidirectional telescopic hydraulic cylinder is connected with a hydraulic work station through an oil way, an electromagnetic valve is arranged on an oil way for connecting the hydraulic work station and the electromagnetic valve, the whole vehicle controller is in signal connection with the hydraulic work station through the electromagnetic valve, and the whole vehicle controller controls the telescopic quantity of the bidirectional hydraulic cylinder through the electromagnetic valve according to the steering angle of the rear wheels detected by the Hall magnetic sensitive angle sensor, and the steering angle of the whole vehicle controller is switched through the electromagnetic valve to control the oil way, and steering return of the rear wheels is completed.
Further, the electromagnetic valve is a 3-bit 4-energization electromagnetic reversing valve.
Further, the Hall magnetic-sensing angle sensor is installed through the installing support, one end of the installing support is installed on the rear steering axle and is connected through bolt fastening, and the other end of the installing support is provided with the base of the Hall magnetic-sensing angle sensor.
Further, the 0 degree position of the Hall magnetic-sensing angle sensor is the positive angle of the back wheel, the output angle of the Hall magnetic-sensing angle sensor is 0-360 degrees gradually increasing when the wheel rotates anticlockwise, and the output angle of the Hall magnetic-sensing angle sensor is 360-0 degrees gradually decreasing when the wheel rotates clockwise.
The invention also discloses a return control method of the steering control device of the rear wheel steering electric sweeper, which comprises the steps that (1) a whole vehicle controller sends out a straight line running instruction, the controller detects the return state of the rear wheel through a Hall magnetic-sensitive angle sensor, and the whole vehicle controller analyzes the steering angle according to a voltage-angle linear comparison relation;
(2) If the rear wheels are not aligned, the whole vehicle controller judges whether the steering state of the wheels is left turning or right turning;
(3) After the judgment is finished, starting the hydraulic working station, and switching an oil way of the bidirectional telescopic hydraulic cylinder through an electromagnetic valve to perform corresponding steering alignment;
(4) In the return process, the whole vehicle controller judges whether the return action is finished according to the angle signal detected by the Hall magnetic-sensitive angle sensor, continuously corrects the control signal of the electromagnetic valve, and stops steering when the detection signal of the Hall magnetic-sensitive angle sensor is 0.
Further, the method for determining whether the steering state of the wheel is left or right in the step (2) includes: the 0 degree position of the Hall magnetic-sensitive angle sensor is a positive angle of back wheel turning, the output angle of the Hall magnetic-sensitive angle sensor is 0-360 degrees gradually increasing angle when the wheel rotates anticlockwise, the output angle of the Hall magnetic-sensitive angle sensor is 360-0 degrees gradually decreasing angle when the wheel rotates clockwise, and when the detected rotation angle is less than 180 degrees, the steering wheel is in a left turning state, and the angle is an actual steering angle; when the detected rotation angle is more than 180 degrees, the steering wheel is in a right-turning state, and the actual angle is 360 degrees minus the angle detected by the sensor.
Further, in the step (3), after the judgment is completed, when the steering angle is smaller than 180 degrees, the electromagnetic valve is controlled to start the bidirectional telescopic hydraulic cylinder to rotate right; when the steering angle is more than 180 degrees, the electromagnetic valve is controlled to start the bidirectional telescopic hydraulic cylinder to perform left turning.
Compared with the prior art, the steering control device and the return control method of the rear wheel steering electric sweeper designed by the invention have the advantages that: the steering control device is provided with a Hall magnetosensitive angle sensor connected with a rear axle rotating shaft, the angle sensor is connected with the rear axle rotating shaft through a D-shaped shaft, the angle sensor can integrally and synchronously rotate with the rear axle rotating shaft, the accurate actual angle of rear wheel steering is obtained in real time, the whole vehicle controller obtains an angle signal detected by the angle sensor, the action of the bidirectional telescopic hydraulic cylinder is controlled through an electromagnetic valve after the analysis and conversion of a voltage signal, and the whole vehicle controller continuously corrects the signal according to the detection data of the angle sensor in the rotating process until the detection angle is 0, so that the correction is completed; the steering control device judges whether the steering is left or right through the rotation angle of the angle sensor, and executes different steering actions according to the judging result, so that the automatic return of the rear-wheel steering electric sweeper in an automatic driving state after steering is realized, the control is accurate, and the technical blank that the rear-wheel steering of the automatic driving electric sweeper lacks a reliable return control mechanism and a control method in the prior art is filled.
Drawings
Fig. 1 is a schematic configuration diagram of a steering control device of a rear-wheel steering electric motor sweeper.
Fig. 2 is a schematic view of a hydraulic system of a steering control device of the rear-wheel steering electric motor sweeper.
Fig. 3 is a flowchart of a return control method of the steering control device of the rear-wheel steering electric motor sweeper.
FIG. 4 is a graph of voltage versus angle
In the figure, a rear steering axle 1, a two-way telescopic hydraulic cylinder 2, a rear axle rotating shaft 3, a hub 4, a Hall magnetic sensitive angle sensor 5, a mounting bracket 6, a hydraulic workstation 8, an electromagnetic valve 9 and a hydraulic motor 10.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific examples. The technical solutions in the embodiments of the present invention are clearly and completely described, and the described embodiments are only some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention disclosed herein without departing from the scope of the invention.
As shown in fig. 1 and 2, the invention designs an embodiment of a steering control device of a rear-wheel steering electric sweeper, and the steering control device of the rear-wheel steering electric sweeper in the embodiment is applied to an electric sweeper of an automatic driving technology and comprises a rear steering axle 1, wherein two ends of the rear steering axle 1 are respectively hinged with a hub 4 through a rear axle rotating shaft 3, a hall magnetic-sensitive angle sensor 5 is connected on the rear axle rotating shaft 3 through a D-shaped shaft, and the hall magnetic-sensitive angle sensor 5 is installed through a mounting bracket 6. One end of the mounting bracket 6 is arranged on the steering axle and is connected through bolt fastening, and the other end of the mounting bracket is provided with a base of the Hall magnetic-sensitive angle sensor 5. The Hall magnetosensitive angle sensor 5 rotates synchronously with the rear axle rotating shaft 3, and detects the steering angle of the rear wheel accurately in real time. The Hall magnetosensitive angle sensor 5 is in signal connection with a whole vehicle controller of the electric sweeper, and the whole vehicle controller is responsible for converting signals. The 0 degree position sent to the whole vehicle controller by the Hall magnetic-sensing angle sensor 5 is the positive angle of the back wheel, the output angle of the Hall magnetic-sensing angle sensor is 0-360 degrees gradually increasing when the wheel rotates anticlockwise, and the output angle of the Hall magnetic-sensing angle sensor is 360-0 degrees gradually decreasing when the wheel rotates clockwise.
The rear steering axle 3 is internally provided with a bidirectional telescopic hydraulic cylinder 2 along the axle body, and two ends of the bidirectional telescopic hydraulic cylinder 2 are respectively connected with hubs 4 on two sides to control steering of rear wheels. The bidirectional telescopic hydraulic cylinder 2 is connected with a hydraulic working station 8 of the electric sweeper through an oil way, an electromagnetic valve 9 is arranged on a connecting oil way of the bidirectional telescopic hydraulic cylinder 2 and the hydraulic working station, the electromagnetic valve 9 is a 3-position 4-way electromagnetic reversing valve, a hydraulic motor 10 of the hydraulic working station 8 and the electromagnetic valve 9 are connected with a whole vehicle controller through signals, and the whole vehicle controller controls the telescopic quantity of the bidirectional telescopic hydraulic cylinder 2 through an oil way switching electromagnetic valve 9 according to the rear wheel steering angle detected by a Hall magnetic-sensitive angle sensor 5 to finish steering and centering of rear wheels.
As shown in fig. 3, the method for controlling the steering control device of the rear-wheel steering electric sweeper disclosed by the patent comprises the following steps:
(1) The vehicle controller sends out a command of straight line driving, the controller detects the alignment state of the rear wheels through the Hall magnetic sensitive angle sensor, and the vehicle controller analyzes the steering angle according to the voltage-angle linear comparison relation, as shown in fig. 4;
(2) If the rear wheels are not aligned, the whole vehicle controller judges whether the steering state of the wheels is left turning or right turning; in the judging process, the 0 degree position of the Hall magnetosensitive angle sensor is the positive angle of the back wheel, the angle sensor rotates anticlockwise along with the wheel for 0-360 degrees of increasing angles, and the angle sensor rotates clockwise along with the wheel for 360-0 degrees of decreasing angles; when the detected rotation angle is smaller than 180 degrees, the steering wheel is in a left-turning state, and the angle is the actual steering angle; when the detected rotation angle is more than 180 degrees, the steering wheel is in a right-turning state, and the actual angle is 360 degrees minus the angle detected by the sensor.
(3) After the judgment is finished, starting the hydraulic working station, and switching an oil way of the bidirectional telescopic hydraulic cylinder through an electromagnetic valve to perform corresponding steering alignment; the steering angle is smaller than 180 degrees, and the electromagnetic valve is controlled to start the bidirectional telescopic hydraulic cylinder to perform right turning; the steering angle is more than 180 degrees, and the electromagnetic valve is controlled to start the bidirectional telescopic hydraulic cylinder to perform left turning.
(4) In the return process, the whole vehicle controller judges whether the return action is finished according to the real-time angle signal detected by the Hall magnetic-sensitive angle sensor, continuously corrects the control signal of the electromagnetic valve, and stops steering when the detection signal of the Hall magnetic-sensitive angle sensor is 0.
The foregoing is merely illustrative of the present invention and is not intended to limit the scope of the invention, i.e., all such modifications and variations are within the scope of the invention as defined in the appended claims and their equivalents.
Claims (3)
1. The steering control device comprises a rear steering axle, wherein two ends of the rear steering axle are respectively hinged with a hub through a rear axle rotating shaft, a Hall magnetic-sensing angle sensor is connected to the rear axle rotating shaft through a D-shaped shaft, the Hall magnetic-sensing angle sensor synchronously rotates with the rear axle rotating shaft to detect the steering angle of a rear wheel, the 0-degree position of the Hall magnetic-sensing angle sensor is the angle for the alignment of the rear wheel, the output angle of the Hall magnetic-sensing angle sensor is 0-360 degrees when the rear wheel rotates anticlockwise, and the output angle of the Hall magnetic-sensing angle sensor is 360-0 degrees when the rear wheel rotates clockwise;
the Hall magnetic-sensing angle sensor is in signal connection with a whole vehicle controller of the vehicle, the rear steering axle is provided with a bidirectional telescopic hydraulic cylinder, two ends of the bidirectional telescopic hydraulic cylinder are respectively connected with hubs on two sides to control steering of the rear wheels, the bidirectional telescopic hydraulic cylinder is connected with a hydraulic working station through an oil way, electromagnetic valves are arranged on connecting oil ways of the bidirectional telescopic hydraulic cylinder and the bidirectional telescopic hydraulic cylinder, the hydraulic working station and the electromagnetic valves are in signal connection with the whole vehicle controller, and the whole vehicle controller controls the telescopic quantity of the bidirectional hydraulic cylinder through an electromagnetic valve switching oil way according to the rear wheel steering angle detected by the Hall magnetic-sensing angle sensor to finish steering and aligning of the rear wheels;
the method comprises the steps that (1) a whole vehicle controller sends out a straight line running instruction, the controller detects the return state of a rear wheel through a Hall magnetic-sensitive angle sensor, and the whole vehicle controller analyzes a steering angle according to a voltage-angle linear comparison relation;
(2) If the rear wheels are not aligned, the whole vehicle controller judges whether the steering state of the wheels is left turning or right turning;
(3) After the judgment is finished, starting the hydraulic working station, and switching an oil way of the bidirectional telescopic hydraulic cylinder through an electromagnetic valve to perform corresponding steering alignment;
(4) In the return process, the whole vehicle controller judges whether the return action is finished according to the angle signal detected by the Hall magnetic-sensing angle sensor, continuously corrects the control signal of the electromagnetic valve, and stops steering when the detection signal of the Hall magnetic-sensing angle sensor is 0;
the method for judging whether the steering state of the wheel is left or right in the step (2) comprises the following steps: the 0 degree position of the Hall magnetic-sensitive angle sensor is a positive angle of back wheel turning, the output angle of the Hall magnetic-sensitive angle sensor is 0-360 degrees gradually increasing angle when the wheel rotates anticlockwise, the output angle of the Hall magnetic-sensitive angle sensor is 360-0 degrees gradually decreasing angle when the wheel rotates clockwise, and when the detected rotation angle is less than 180 degrees, the steering wheel is in a left turning state, and the angle is an actual steering angle; when the detected rotation angle is more than 180 degrees, the steering wheel is in a right-turning state, and the actual angle is 360 degrees minus the angle detected by the sensor;
after the judgment in the step (3) is finished, when the steering angle is smaller than 180 degrees, the electromagnetic valve is controlled to start the bidirectional telescopic hydraulic cylinder to perform right turning; when the steering angle is more than 180 degrees, the electromagnetic valve is controlled to start the bidirectional telescopic hydraulic cylinder to perform left turning.
2. The return control method of a steering control device for a rear-wheel steering electric sweeper according to claim 1, wherein the electromagnetic valve is a 3-position 4-way electromagnetic directional valve.
3. The return control method of the steering control device of the rear-wheel steering electric sweeper according to claim 2, wherein the hall magnetic-sensing angle sensor is installed through a mounting bracket, one end of the mounting bracket is installed on a rear steering axle and is connected through bolt fastening, and the other end of the mounting bracket is provided with a base of the hall magnetic-sensing angle sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210715141.6A CN114954653B (en) | 2022-06-23 | 2022-06-23 | Steering control device and return control method for rear wheel steering electric sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210715141.6A CN114954653B (en) | 2022-06-23 | 2022-06-23 | Steering control device and return control method for rear wheel steering electric sweeper |
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| Publication Number | Publication Date |
|---|---|
| CN114954653A CN114954653A (en) | 2022-08-30 |
| CN114954653B true CN114954653B (en) | 2024-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210715141.6A Active CN114954653B (en) | 2022-06-23 | 2022-06-23 | Steering control device and return control method for rear wheel steering electric sweeper |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006038268A1 (en) * | 2006-08-09 | 2008-02-14 | Takata-Petri Ag | Device for contactless detection of rotation angle changes, multiple revolutions, especially for steering angle sensors, has two coils spatially offset on stator for definite separation and evaluation of antenna signals for rapid rotation |
| CN105620550A (en) * | 2016-01-22 | 2016-06-01 | 安徽江淮银联重型工程机械有限公司 | Forklift steering monitoring display system |
| CN111301518A (en) * | 2019-12-10 | 2020-06-19 | 东风越野车有限公司 | Rear axle electro-hydraulic power steering system and control method thereof |
| CN114084224A (en) * | 2021-12-21 | 2022-02-25 | 杭叉集团股份有限公司 | Linear displacement type turning deceleration system for industrial vehicle |
-
2022
- 2022-06-23 CN CN202210715141.6A patent/CN114954653B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006038268A1 (en) * | 2006-08-09 | 2008-02-14 | Takata-Petri Ag | Device for contactless detection of rotation angle changes, multiple revolutions, especially for steering angle sensors, has two coils spatially offset on stator for definite separation and evaluation of antenna signals for rapid rotation |
| CN105620550A (en) * | 2016-01-22 | 2016-06-01 | 安徽江淮银联重型工程机械有限公司 | Forklift steering monitoring display system |
| CN111301518A (en) * | 2019-12-10 | 2020-06-19 | 东风越野车有限公司 | Rear axle electro-hydraulic power steering system and control method thereof |
| CN114084224A (en) * | 2021-12-21 | 2022-02-25 | 杭叉集团股份有限公司 | Linear displacement type turning deceleration system for industrial vehicle |
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| CN114954653A (en) | 2022-08-30 |
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