CN115465359A - Modular electro-hydraulic steering system of ultra-heavy type electric-driven multi-axle vehicle and control method - Google Patents
Modular electro-hydraulic steering system of ultra-heavy type electric-driven multi-axle vehicle and control method Download PDFInfo
- Publication number
- CN115465359A CN115465359A CN202211121332.6A CN202211121332A CN115465359A CN 115465359 A CN115465359 A CN 115465359A CN 202211121332 A CN202211121332 A CN 202211121332A CN 115465359 A CN115465359 A CN 115465359A
- Authority
- CN
- China
- Prior art keywords
- steering
- hydraulic
- electro
- rear axle
- axle
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000009471 action Effects 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 230000008602 contraction Effects 0.000 claims 1
- 239000003921 oil Substances 0.000 description 44
- 239000010720 hydraulic oil Substances 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 239000007788 liquid Substances 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 101100023519 Candida albicans (strain SC5314 / ATCC MYA-2876) MLT1 gene Proteins 0.000 description 1
- 101100272701 Methylobacillus flagellatus (strain KT / ATCC 51484 / DSM 6875) bpt2 gene Proteins 0.000 description 1
- 101100437839 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) BPT1 gene Proteins 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
- B62D5/091—Hydraulic steer-by-wire systems, e.g. the valve being actuated by an electric motor
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention provides a modularized electro-hydraulic steering system of a super-heavy type electric-driven multi-axle vehicle and a control method, the modularized electro-hydraulic steering system can effectively reduce the number of hydraulic system pipelines, the hydraulic systems of all rear axles are arranged in a modularized and universal mode, and the complexity of the hydraulic systems and the space arrangement of the multi-axle rear axle steering vehicle is reduced.
Description
Technical Field
The invention belongs to the technical field related to hydraulic control, and particularly relates to a modular electro-hydraulic steering system and a control method for a super-heavy type electric-driven multi-axle vehicle.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
For electrically driven heavy-duty vehicles, the number of transaxles is no longer limited by mechanical transmission and can theoretically be increased without limit. The increase of the length of the vehicle body and the number of the axles directly brings the effects of improving the total bearing capacity of the vehicle, meeting the axle load of road transportation, meeting the requirements of national defense industry and special cross-country transportation, and simultaneously setting an electric control multi-axle steering and multi-mode steering hydraulic system of the vehicle in order to realize the operation flexibility, stability and trafficability of the special vehicle. The increase in the number of vehicle axles renders the vehicle rear axle steering hydraulic system more complex and more relevant. Inaccurate steering of a rear axle of a vehicle can cause abnormal wear of tires of the vehicle, and the arrangement complexity of parts of a hydraulic system of the vehicle brings serious disadvantages for design, maintenance and use stability.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the modularized electro-hydraulic steering system of the ultra-heavy type electric-driven multi-axle vehicle and the control method thereof, the provided modularized electro-hydraulic steering system can effectively reduce the number of hydraulic system pipelines, modularize and universalize the hydraulic systems of all rear axles and reduce the complexity of the hydraulic systems and the space arrangement of the multi-axle rear axle steering vehicle.
In order to achieve the above object, one or more embodiments of the present invention provide the following technical solutions: a modular electro-hydraulic steering system for a very heavy electric drive multi-axle vehicle, comprising: the device comprises a steering controller, an electric hydraulic pump set, an electro-hydraulic steering system control valve group, a steering power-assisted cylinder and a steering centering cylinder;
the electric hydraulic pump set provides a hydraulic power source for the steering system;
the electric hydraulic pump group is respectively connected with the electro-hydraulic steering system control valve group, the steering power-assisted cylinder and the steering centering cylinder, and the hydraulic steering system control valve group is respectively connected with the steering power-assisted cylinder and the steering centering cylinder;
the steering assisting oil cylinder and the steering centering oil cylinder transmit the wheel corner angle of the steering shaft of the rear axle where the steering assisting oil cylinder and the steering centering oil cylinder are located to the steering controller;
the steering controller is used for receiving a wheel corner of a rear axle steering shaft and comparing the wheel corner with a preset target corner to form a control deviation value as an input quantity;
the hydraulic steering system control valve group is used for receiving input quantity and controlling the actions of the steering power-assisted cylinder and the steering centering cylinder to realize the control of the steering angle of the rear axle of the vehicle and the centering and locking of the rear axle.
The invention provides a modularized electro-hydraulic steering method for a super-heavy type electric-driven multi-axle vehicle, which comprises the following steps:
converting an oil cylinder telescopic displacement detection value fed back by a rear axle steering oil cylinder into rear axle wheel steering angle data, and summing the rear axle wheel steering angle data serving as a feedback value and each group of rear axle preset steering angles to form a preset steering angle theoretical value;
carrying out sectional control on a preset corner theoretical value and vehicle speed information by using fuzzy PID control to determine a preset target corner;
and the steering controller outputs PWM enabling signals in real time according to the received steering condition current deviation data to control the proportional steering valve, and further controls the telescopic action of the steering oil cylinder.
The above one or more technical solutions have the following beneficial effects:
the modularized electro-hydraulic steering system provided by the invention can effectively reduce the number of pipelines of the hydraulic system, modularize and universally arrange the hydraulic systems of all rear axles, and reduce the complexity of the hydraulic system and the spatial arrangement of a multi-axle rear axle steering vehicle. The control method matched with the modularized hydraulic system can fully utilize the electronic sensing technology to replace the original hydraulic feedback system, improve the steering precision and reduce the tire wear; by utilizing the vehicle speed sectional control technology, the steering stability of the rear axle of the vehicle is improved, and the dangerous working condition of 'tail flick' is avoided.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic hydraulic schematic diagram of a modular electro-hydraulic steering system of a super-heavy electric-driven multi-axle vehicle according to a first embodiment of the invention;
FIG. 2 is a schematic diagram of a control method of a modular electro-hydraulic steering system of a super-heavy electric-driven multi-axle vehicle according to an embodiment of the invention;
FIG. 3 is a diagram illustrating a ratio of a target rotation angle to a theoretical rotation angle in a speed segment interval according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating feedback steering pressure gain control according to a first embodiment of the present invention;
fig. 5 is a list of installation locations of devices corresponding to respective serial numbers in fig. 1.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example one
As shown in fig. 1 to 5, the present embodiment discloses a modular electro-hydraulic steering system for a very heavy electric-driven multi-axle vehicle, comprising: the device comprises a steering controller, an electric hydraulic pump set, an electro-hydraulic steering system control valve group, a steering power-assisted cylinder and a steering centering cylinder;
the electric hydraulic pump set provides a hydraulic power source for the steering system;
the electric hydraulic pump group is respectively connected with the electro-hydraulic steering system control valve group, the steering power-assisted cylinder and the steering centering cylinder, and the hydraulic steering system control valve group is respectively connected with the steering power-assisted cylinder and the steering centering cylinder;
the steering power-assisted oil cylinder and the steering centering oil cylinder transmit the wheel corner angle of the steering shaft of the rear axle where the steering power-assisted oil cylinder and the steering centering oil cylinder are located to the steering controller;
the steering controller is used for receiving a wheel rotation angle of a rear axle steering shaft and comparing the wheel rotation angle with a preset target rotation angle to form a control deviation value as an input quantity;
the hydraulic steering system control valve group is used for receiving input quantity and controlling the actions of the steering power-assisted cylinder and the steering centering cylinder to realize the control of the steering angle of the rear axle of the vehicle and the centering and locking of the rear axle.
The electric hydraulic pump group comprises a constant-pressure variable plunger pump 19 and a double-source motor 20, the electric hydraulic pump group is respectively connected with a high-pressure fine filter 18 and a hydraulic oil tank 21, the high-pressure fine filter 18 is connected with a P port of an electro-hydraulic steering system control valve group through a pipeline, A1 and B1 ports of the electro-hydraulic steering system control valve group are respectively connected with an A port and a B port of a steering boosting oil cylinder through rubber pipes, a D1 port of the electro-hydraulic steering system control valve group is connected with D2 and D3 ports of a steering centering oil cylinder through rubber pipes, and return oil from a T port of the electro-hydraulic steering system control valve group and return oil from a T port of the steering centering oil cylinder to the hydraulic oil tank 21 together after being connected through pipelines; the energy accumulator 15 is connected with an X port of the control valve group of the electro-hydraulic steering system through a pipeline.
The dual source motor 20 includes AC353V and DC24V dual source motors, among others.
A single electric hydraulic pump set can supply oil for the steering power-assisted cylinders of the two groups of rear axle steering shafts by matching with a high-pressure fine filter.
In this embodiment, the electro-hydraulic pump set and the high-pressure fine filter can be sequentially matched or can be adaptively arranged through a pipeline.
A single electro-hydraulic steering system control valve group is matched with a rear axle steering shaft, and the electro-hydraulic steering system control valve group is arranged on the outer side of the frame between the two groups of rear axle steering shafts.
The single energy accumulator can realize oil supply of the steering centering oil cylinders of the two rear axle steering shafts, and the energy accumulator in the embodiment adopts a 3.5L diaphragm type energy accumulator and is arranged on the outer side of the frame between the two groups of rear axle steering shafts.
The steering power-assisted cylinders and the steering centering cylinders are arranged on two sides of each rear axle steering shaft frame, and the adjacent axle steering power-assisted cylinders and the steering centering cylinders are arranged in a left-right crossing manner.
In the embodiment, the hydraulic steering system control valve group comprises an electromagnetic proportional steering valve 10, a proportional overflow valve 7, an accumulator charging valve 3, a centering locking valve 5, a rear axle system pressure sensor BPTn, a centering pressure sensor BPXn and a rear axle steering pressure sensor BPZn.
An A port of the electromagnetic proportional steering valve is connected with an A port of the steering power-assisted cylinder, a B port of the electromagnetic proportional steering valve is connected with a B port of the steering power-assisted cylinder, a P port of the electromagnetic proportional steering valve is connected to a first pipeline connected with the electric hydraulic pump set and the electro-hydraulic steering system control valve set, and a T port of the electromagnetic proportional steering valve is connected with a T port of the valve block through an internal oil duct of the valve block to realize oil return of the proportional steering valve.
The hydraulic oil enters a P port of a hydraulic steering system control valve group through a first pipeline, and an oil duct is arranged in the valve block and is obtained through machining. High-pressure oil enters the plug-in filter element 1 or the safety overflow valve 2 through the three-way oil duct on the first pipeline through the port P, the high-pressure oil passing through the filter element enters the proportional overflow valve 7 through the first oil duct of the cross-shaped oil duct on the first pipeline, and the second oil duct of the cross-shaped oil duct enters the accumulator charging valve 3 or the third oil duct of the cross-shaped oil duct enters the constant-differential-pressure reducing valve 8.
The constant-pressure-difference pressure-reducing valve 8 is connected with a port P of the electromagnetic proportional steering valve 10 through a pipeline. The hydraulic oil passing through the safety overflow valve 2 returns to the hydraulic oil tank after safety overflow, the hydraulic oil passing through the proportional overflow valve 7 returns to the hydraulic oil tank after proportional overflow, and the hydraulic oil passing through the accumulator charging valve 3 enters the accumulator 15 after passing through the one-way valves 4.1 and 4.2.
When hydraulic oil enters the fixed-difference pressure reducing valve 8, the hydraulic oil starts to perform steering transmission work, the hydraulic oil enters through the port P of the electromagnetic proportional directional valve, enters the port A of the steering cylinder 17 through the port A of the electromagnetic proportional directional valve and the port A1 of the valve block, or enters the port B of the steering cylinder 17 through the port B of the electromagnetic proportional directional valve and the port B1 of the valve block.
The constant-differential pressure reducing valve 8, the shuttle valve 9 and the small damping holes in the electromagnetic proportional reversing valve form a steering pressure compensator together. A balance valve 11.1 is arranged on a connecting pipeline of the pressure oil passing through an opening A of the electromagnetic proportional directional valve and an opening A of the steering power cylinder 17, a balance valve 11.2 is arranged on a connecting pipeline of an opening B of the electromagnetic proportional directional valve and an opening B of the steering power cylinder 17, and the balance valve 11.1 and the balance valve 11.2 form a bidirectional balance valve.
The vehicle rear axle centering control oil way is as follows: high-pressure oil enters a control valve group X port of the hydraulic steering system from the energy accumulator 15 through pipeline communication, enters the centering locking valve 5 from the valve block X port through an internal oil duct of the valve block, enters the pressure retaining valve 6 from a port A of the centering locking valve through the internal oil duct of the valve block, and is communicated with ports D2 and D3 of the rear axle centering oil cylinder through a port D1 of the valve block after passing through the pressure retaining valve 6.
Specifically, the port X is on the connection line between the check valves 4.1, 4.2 and the accumulator 15.
Rear axle system pressure sensor BPTn: the rear axle system pressure sensor BPTn is arranged on a connecting pipeline of the electro-hydraulic pump set and the electro-hydraulic steering system control valve set and used for detecting the system pressure in front of the electro-hydraulic steering system control valve set behind the electro-hydraulic pump set.
The pressure sensor of the rear axle system sends the detected pressure data to the steering controller in the form of a 0-10V voltage signal, and the pressure signal value of the rear axle system is displayed and output to provide the operator to detect the running condition of the hydraulic system of the vehicle and participate in steering control.
Specifically, the rear axle system pressure sensor may set the BPT1, the BPT2, the BPT3, and the BPT4.
As shown in fig. 4, the rear axle steering pressure sensor BPZn: the steering pressure detection device is used for detecting the steering pressure of the rear axle steering shaft and transmitting the detected steering pressure of the steering shaft to the steering controller, and the steering controller controls the action of the electromagnetic proportional overflow valve according to the steering pressure of the rear axle steering shaft.
Specifically, the steering controller receives the steering pressure of each rear axle steering shaft, and the maximum value of the steering pressure is taken and then added with 2MPa to form a control PWM signal so as to control the electromagnetic proportional overflow valve.
The rear axle steering pressure sensors can be set to be BPZ1, BPZ2, BPZ3 and BPZ4 according to the number of the rear axle steering axles, and the steering pressure of each steering axle is detected in real time through the sensors.
Centering pressure sensor BPXn: the pressure sensor is used for detecting the internal pressure of the energy accumulators, and the BPX1, the BPX2, the BPX3 and the BPX4 can be set according to the number of the energy accumulators.
And the centering pressure sensor sends detected pressure data to the steering controller in the form of a 0-10V voltage signal, when the detected pressure of the accumulator is lower than 80bar, the accumulator charging valve 3 on the hydraulic steering system control valve bank is electrified to charge the accumulator, and when the detected pressure of the accumulator reaches 120bar, the accumulator charging valve 3 on the hydraulic steering system control valve bank is deenergized. The control method can realize flexible and accurate control of the liquid filling of the energy accumulator, and the system can carry out high-pressure unloading after the liquid filling valve 3 loses power after the liquid filling is finished, thereby having the effect of energy conservation.
A magneto-induced displacement sensor is arranged in the steering oil cylinder, the magneto-induced displacement sensor detects the telescopic data of the steering oil cylinder in real time, and the steering angle of the tire of the rear axle steering shaft where the steering oil cylinder is located is determined through conversion of the proportional relation of steering rod mechanical mechanism parts.
As shown in fig. 2, in the present embodiment, an axle cylinder internal displacement sensor sends an analog signal to a steering controller according to an axle wheel steering angle by detecting an extension/retraction amount of an axle cylinder and converting the same into an axle wheel steering angle through a mechanical transmission ratio.
The first adder receives the wheel rotation angle data of one axle and the wheel rotation angle data of each group of rear axles to form deviation as input quantity after calculation;
the steering controller determines a preset theoretical value of a steering angle of the rear axle according to the input quantity, and then performs segmented control according to the preset theoretical value of the steering angle of the rear axle and the vehicle speed information by utilizing fuzzy PID control to determine a preset target corner;
the method comprises the steps that preset current is determined according to a preset target corner output by fuzzy PID control, the preset current and steering feedback current of a proportional steering valve are summed to form steering condition current deviation data, the steering condition current deviation data are input to a steering controller, the steering controller outputs PWM enabling signals in real time according to the received steering condition current deviation data to control the proportional steering valve, and then telescopic action of a steering oil cylinder is controlled.
The double-redundancy vehicle speed sensor detects a vehicle speed signal and inputs the vehicle speed signal to the steering controller, and the steering controller decomposes a rear axle allowable steering speed interval of 0.1km/h to 35km/h into 0.1km/h to 10km/h,10km/h to 25km/h and 25km/h to 35km/h. Specifically, when the vehicle speed is more than or equal to 0.1km/h and less than 10km/h, the preset target corner is 100% of a preset theoretical value of a rear axle steering angle determined by a steering controller; when the vehicle speed is more than or equal to 10km/h and less than 25km/h, presetting a target corner as 75% of a preset theoretical value of a rear axle steering angle determined by a steering controller; when the vehicle speed is more than 25km/h and less than 35km/h, presetting a target corner as 50% of a preset theoretical value of a rear axle steering angle determined by a steering controller; when the vehicle speed is 35km/h, the preset target corner is 0% of a preset theoretical value of the steering angle of the rear axle determined by the steering controller.
Under different vehicle running speeds, the steering controller controls and outputs a PWM signal to enable the electromagnetic proportional steering valve according to the vehicle speed, and then controls the opening size of the proportional valve, so that the wheel turning angle of the rear axle is controlled.
And the proportional steering valve state sensor detects the steering feedback current of the proportional steering valve in real time and transmits the steering feedback current to the steering controller.
Example two
The object of the embodiment is to provide a modularized electro-hydraulic steering method for a super-heavy electric-driven multi-axle vehicle, which comprises the following steps:
converting an oil cylinder telescopic displacement detection value fed back by a rear axle steering oil cylinder into rear axle wheel steering angle data, and summing the rear axle wheel steering angle data serving as a feedback value and each group of rear axle preset steering angles to form a preset steering angle theoretical value;
carrying out sectional control on a preset corner theoretical value and vehicle speed information by using fuzzy PID control to determine a preset target corner;
and the steering controller outputs a PWM enabling signal in real time according to the received steering condition current deviation data to control the proportional steering valve so as to control the telescopic action of the steering oil cylinder.
Further comprising: receiving steering pressure of each steering shaft; and taking the maximum pressure value of the steering pressure of each steering shaft, and adding 2MPa to the maximum pressure value to form a control PWM signal to control the action of the proportional relief valve.
It will be understood by those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computer device, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by the computing device, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps thereof may be fabricated into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. A modular electro-hydraulic steering system for a very heavy electric-driven multi-axle vehicle, comprising: the device comprises a steering controller, an electric hydraulic pump set, an electro-hydraulic steering system control valve group, a steering power-assisted cylinder and a steering centering cylinder;
the electric hydraulic pump set provides a hydraulic power source for the steering system;
the electric hydraulic pump group is respectively connected with the electro-hydraulic steering system control valve group, the steering power-assisted cylinder and the steering centering cylinder, and the hydraulic steering system control valve group is respectively connected with the steering power-assisted cylinder and the steering centering cylinder;
the steering power-assisted oil cylinder and the steering centering oil cylinder transmit the wheel corner angle of the steering shaft of the rear axle where the steering power-assisted oil cylinder and the steering centering oil cylinder are located to the steering controller;
the steering controller is used for receiving a wheel rotation angle of a rear axle steering shaft and comparing the wheel rotation angle with a preset target rotation angle to form a control deviation value as an input quantity;
the hydraulic steering system control valve group is used for receiving input quantity and controlling the actions of the steering power-assisted cylinder and the steering centering cylinder to realize the control of the steering angle of the rear axle of the vehicle and the centering and locking of the rear axle.
2. The modular electro-hydraulic steering system of the ultra-heavy electric-driven multi-axle vehicle as claimed in claim 1, wherein the control valve set of the electro-hydraulic steering system comprises an electromagnetic proportional steering valve, a first port of the electromagnetic proportional steering valve is connected with a port A of a steering power cylinder, a second port of the electromagnetic proportional steering valve is connected with a port B of the steering power cylinder, the steering controller compares the current magnitude of the steering proportional steering valve with the preset current magnitude of the proportional valve to control the opening magnitude of the electromagnetic proportional steering valve, and the opening magnitude of the electromagnetic proportional steering valve further controls the expansion and contraction of the steering centering cylinder;
the steering controller determines the preset current of the proportional valve according to the wheel rotation angle of the rear axle steering shaft and a preset target rotation angle.
3. The modular electro-hydraulic steering system for a very heavy electric-driven multi-axle vehicle according to claim 1, wherein the preset target steering angle is determined by a vehicle speed signal received by a steering controller, in particular: when the vehicle speed is more than or equal to 0.1km/h and less than 10km/h, presetting the target corner as 100% of a preset theoretical value of the steering controller;
when the vehicle speed is more than or equal to 10km/h and less than 25km/h, presetting the target corner as 75% of a preset theoretical value of the steering controller;
when the vehicle speed is more than 25km/h and less than 35km/h, presetting the target corner as 50% of a preset theoretical value of the steering controller;
when the vehicle speed is 35km/h, the preset target turning angle is 0% of the preset theoretical value of the steering controller.
4. The modular electro-hydraulic steering system for the ultra-heavy electric-driven multi-axle vehicle as claimed in claim 1, wherein the control valve set of the electro-hydraulic steering system further comprises a rear axle system pressure sensor, the rear axle system pressure sensor is arranged on a connecting pipeline of the electro-hydraulic pump set and the control valve set of the electro-hydraulic steering system, and the rear axle system pressure sensor is used for detecting system pressure in front of the control valve set of the electro-hydraulic steering system behind the electro-hydraulic pump set.
5. The modular electro-hydraulic steering system for the ultra-heavy electric-driven multi-axle vehicle as claimed in claim 1, wherein the control valve set of the electro-hydraulic steering system further comprises a rear axle steering pressure sensor, the rear axle steering pressure sensor is used for detecting the steering pressure of the steering shaft and transmitting the detected steering pressure of the rear axle steering shaft to the steering controller, and the steering controller controls the action of the electromagnetic proportional relief valve according to the steering pressure of the rear axle steering shaft.
6. The modular electro-hydraulic steering system for a very heavy electric-driven multi-axle vehicle according to claim 1, further comprising an accumulator connected to the steering centering cylinder for supplying oil to the steering centering cylinder.
7. The modular electro-hydraulic steering system for the ultra-heavy electric-driven multi-axle vehicle as claimed in claim 1, wherein the steering cylinders and the steering centering cylinders are arranged on both sides of each steering axle frame, and the adjacent axle steering centering cylinders and the steering cylinders are arranged in a left-right crossing manner.
8. The modular electro-hydraulic steering system for a very heavy electric-driven multi-axle vehicle according to claim 1, wherein a single electro-hydraulic steering system control valve set controls one rear axle steering axle.
9. A modularized electro-hydraulic steering method for a super-heavy electric-driven multi-axle vehicle is characterized by comprising the following steps:
converting an oil cylinder telescopic displacement detection value fed back by a rear axle steering oil cylinder into rear axle wheel steering angle data, and summing the rear axle wheel steering angle data serving as a feedback value and the preset steering angles of the rear axles of each group to form a preset steering angle theoretical value;
carrying out sectional control on a preset corner theoretical value and vehicle speed information by using fuzzy PID control to determine a preset target corner;
and the steering controller outputs PWM enabling signals in real time according to the received steering condition current deviation data to control the proportional steering valve, and further controls the telescopic action of the steering oil cylinder.
10. The modular electro-hydraulic steering method for the ultra-heavy electric-driven multi-axle vehicle according to claim 9, wherein each steering shaft steering pressure is received; and taking the maximum pressure value of the steering pressure of each steering shaft, and adding 2MPa to the maximum pressure value to form a control PWM signal to control the action of the proportional relief valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211121332.6A CN115465359B (en) | 2022-09-15 | Modularized electrohydraulic steering system of extra-heavy electric drive multi-axle vehicle and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211121332.6A CN115465359B (en) | 2022-09-15 | Modularized electrohydraulic steering system of extra-heavy electric drive multi-axle vehicle and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115465359A true CN115465359A (en) | 2022-12-13 |
| CN115465359B CN115465359B (en) | 2024-11-05 |
Family
ID=
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100228439A1 (en) * | 2006-12-26 | 2010-09-09 | Kazunori Nakamura | Steering system for engineering vehicle |
| CN102923188A (en) * | 2012-11-27 | 2013-02-13 | 徐州重型机械有限公司 | Electrically controlled multi-mode steering valve, steering hydraulic control system and wheeled crane |
| CN205168627U (en) * | 2015-11-02 | 2016-04-20 | 泰安航天特种车有限公司 | Full ground hoist chassis multi -mode a steering system |
| CN105752152A (en) * | 2016-05-17 | 2016-07-13 | 山东汇川汽车部件有限公司 | Electric hydraulic power steering system for automobile |
| CN107856732A (en) * | 2017-11-02 | 2018-03-30 | 北京航天发射技术研究所 | Electro-hydraulic steering hydraulic system for multi-mode control |
| CN111017012A (en) * | 2019-12-31 | 2020-04-17 | 泰安航天特种车有限公司 | Electric control hydraulic vehicle steering system and debugging method |
| CN112172918A (en) * | 2020-09-29 | 2021-01-05 | 北京航天发射技术研究所 | Double-closed-loop control system and method for multi-axis electro-hydraulic steering system |
| CN112918552A (en) * | 2021-03-25 | 2021-06-08 | 福州大学 | Heavy multi-axle vehicle steering system based on hydraulic transformer and control method thereof |
| CN113086003A (en) * | 2021-04-14 | 2021-07-09 | 西安主函数智能科技有限公司 | Full-hydraulic steering system of engineering truck and wire control method thereof |
| CN113788068A (en) * | 2021-09-07 | 2021-12-14 | 北京航天发射技术研究所 | Multimode electro-hydraulic all-wheel steering system for special vehicle and control method |
| CN217170785U (en) * | 2021-12-14 | 2022-08-12 | 泰安航天特种车有限公司 | Multi-mode steering system of hybrid special automobile chassis |
| CN115009356A (en) * | 2022-05-26 | 2022-09-06 | 泰安航天特种车有限公司 | Multi-shaft electric control steering hydraulic system and flow matching control method |
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100228439A1 (en) * | 2006-12-26 | 2010-09-09 | Kazunori Nakamura | Steering system for engineering vehicle |
| CN102923188A (en) * | 2012-11-27 | 2013-02-13 | 徐州重型机械有限公司 | Electrically controlled multi-mode steering valve, steering hydraulic control system and wheeled crane |
| US20150307124A1 (en) * | 2012-11-27 | 2015-10-29 | Xuzhou Heavy Machinery Co., Ltd. | Electric-control multimode steering valve, steering hydraulic control system, and wheel type crane |
| CN205168627U (en) * | 2015-11-02 | 2016-04-20 | 泰安航天特种车有限公司 | Full ground hoist chassis multi -mode a steering system |
| CN105752152A (en) * | 2016-05-17 | 2016-07-13 | 山东汇川汽车部件有限公司 | Electric hydraulic power steering system for automobile |
| CN107856732A (en) * | 2017-11-02 | 2018-03-30 | 北京航天发射技术研究所 | Electro-hydraulic steering hydraulic system for multi-mode control |
| CN111017012A (en) * | 2019-12-31 | 2020-04-17 | 泰安航天特种车有限公司 | Electric control hydraulic vehicle steering system and debugging method |
| CN112172918A (en) * | 2020-09-29 | 2021-01-05 | 北京航天发射技术研究所 | Double-closed-loop control system and method for multi-axis electro-hydraulic steering system |
| CN112918552A (en) * | 2021-03-25 | 2021-06-08 | 福州大学 | Heavy multi-axle vehicle steering system based on hydraulic transformer and control method thereof |
| CN113086003A (en) * | 2021-04-14 | 2021-07-09 | 西安主函数智能科技有限公司 | Full-hydraulic steering system of engineering truck and wire control method thereof |
| CN113788068A (en) * | 2021-09-07 | 2021-12-14 | 北京航天发射技术研究所 | Multimode electro-hydraulic all-wheel steering system for special vehicle and control method |
| CN217170785U (en) * | 2021-12-14 | 2022-08-12 | 泰安航天特种车有限公司 | Multi-mode steering system of hybrid special automobile chassis |
| CN115009356A (en) * | 2022-05-26 | 2022-09-06 | 泰安航天特种车有限公司 | Multi-shaft electric control steering hydraulic system and flow matching control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102935861B (en) | Multi-axle vehicle and steering control system and steering control method thereof | |
| CN102490781B (en) | Steering system and steering method for engineering vehicle | |
| CN110435757B (en) | Electric control steering system of steering axle | |
| CN104443025A (en) | Electro-hydraulic servo pure rolling steering system for multi-axis vehicle and control method | |
| EP3469236B1 (en) | Series hydraulic hybrid system for a vehicle and method of operating a series hydraulic hybrid system for a vehicle | |
| CN107856732B (en) | Electro-hydraulic steering hydraulic system for multi-mode control | |
| CN104608819A (en) | Multi-axle steering system for multi-axle vehicle and multi-axle vehicle | |
| CN112141207A (en) | Electro-hydraulic power-assisted steering system and crane | |
| GB2516536A (en) | Hydrostatic drive system | |
| CN105438256A (en) | Steering controlling method and device and crane | |
| CN109955895B (en) | Multi-mode steering control hydraulic system for special vehicle | |
| CN108556910B (en) | All-wheel steering system | |
| CN112550445B (en) | Hydraulic power-assisted steering system | |
| US3915253A (en) | Load sensing steering system | |
| CN110497962B (en) | Volume servo integrated electro-hydraulic steering system of straddle carrier and control method thereof | |
| CN220487970U (en) | Hydraulic control floating load sensitive hydraulic system and electric arm vehicle | |
| CN116771740B (en) | High-position forklift truck, hydraulic control system and method based on single-pump oil supply | |
| CN109591886B (en) | Vehicle auxiliary steering system and automatic driving vehicle | |
| CN115465359B (en) | Modularized electrohydraulic steering system of extra-heavy electric drive multi-axle vehicle and control method | |
| CN115465359A (en) | Modular electro-hydraulic steering system of ultra-heavy type electric-driven multi-axle vehicle and control method | |
| CN113635966B (en) | Four-wheel drive slip steering chassis hydraulic control system | |
| CN214565620U (en) | Hydraulic steering system of heavy multi-axle truck | |
| CN112983903B (en) | Full hydraulic steering system of high-ground-clearance spraying machine with automatic steering function | |
| CN112918552B (en) | Heavy multi-axle vehicle steering system based on hydraulic transformer and control method thereof | |
| CN210454946U (en) | Electric control steering system of steering axle |
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 | ||
| GR01 | Patent grant |