CN116443097A - Control method of hydraulic steering system, hydraulic steering system and readable storage medium - Google Patents
Control method of hydraulic steering system, hydraulic steering system and readable storage medium Download PDFInfo
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- CN116443097A CN116443097A CN202310445086.8A CN202310445086A CN116443097A CN 116443097 A CN116443097 A CN 116443097A CN 202310445086 A CN202310445086 A CN 202310445086A CN 116443097 A CN116443097 A CN 116443097A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000012544 monitoring process Methods 0.000 abstract description 8
- 239000003921 oil Substances 0.000 description 197
- 230000008569 process Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 6
- 230000004044 response Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000013507 mapping Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000010705 motor oil Substances 0.000 description 1
- 230000003287 optical effect Effects 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
- 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
- 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
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a control method of a hydraulic steering system, the hydraulic steering system and a readable storage medium, wherein the method comprises the following steps: acquiring a current oil pressure value and/or a current flow value in the high-pressure oil pipe; determining the torque of the motor when the current oil pressure value and/or the current flow value meet a preset fault condition; and controlling the motor to output steering assistance according to the torque. The fault condition of the hydraulic steering system is monitored in real time by actively monitoring the oil pressure value and the flow value in the high-pressure oil pipe. When the hydraulic steering system fails, corresponding torque is sent to the motor, so that failure control of the whole vehicle is realized, and driving safety is improved.
Description
Technical Field
The present invention relates to the field of hydraulic steering systems, and in particular, to a control method of a hydraulic steering system, and a readable storage medium.
Background
In the field of automotive control, hydraulic steering systems are commonly employed to change or maintain the direction of travel of the vehicle so that the vehicle can travel at the discretion of the driver. In order to ensure the reliability of the vehicle directional control, a motor may be added to the hydraulic steering gear, and thus, when the hydraulic pressure of the hydraulic steering system fails, steering assistance is provided by the motor.
In the related art, when a driver turns a steering wheel, the magnitude of the torsion bar deformation amount of the hydraulic steering is changed. The hydraulic steering gear judges whether the hydraulic steering system fails or not according to the deformation of the torsion bar. And controlling the motor to provide steering assistance to reduce the steering effort of the driver when it is determined that a hydraulic failure of the hydraulic steering system has occurred. However, determining whether the hydraulic steering system fails based on the torque deflection is not applicable to all conditions. For example, the torque deformation is small when the automobile moves straight, whether the hydraulic steering system fails or not cannot be accurately judged through the torque deformation, and if the hydraulic steering system of the automobile fails, the hydraulic steering system cannot be timely adjusted, so that safety risks can exist.
Disclosure of Invention
The embodiment of the application aims to realize fault monitoring and fault control of a hydraulic steering system by providing a control method of the hydraulic steering system, the hydraulic steering system and a readable storage medium.
The embodiment of the application provides a control method of a hydraulic steering system applied to a hydraulic steering device, comprising the following steps:
acquiring a current oil pressure value and/or a current flow value in the high-pressure oil pipe;
determining the torque of the motor when the current oil pressure value and/or the current flow value meet a preset fault condition;
and controlling the motor to output steering assistance according to the torque.
Optionally, the step of determining the torque of the motor when the current oil pressure value and/or the current flow value meet a preset fault condition comprises:
when the current oil pressure value and/or the current flow value meet a preset fault condition, determining the current capacity of the hydraulic steering system according to the current oil pressure value and/or the current flow value;
determining a target running state of the whole vehicle according to the current capacity and the preset capacity of the hydraulic steering system;
and determining the torque of the motor according to the current torque of the whole vehicle and the target running state.
Optionally, the preset capability includes a first preset capability and a second preset capability, and the first preset capability is greater than the second preset capability; the step of determining the target running state of the whole vehicle according to the current capacity and the preset capacity of the hydraulic steering system comprises the following steps:
when the current capacity is larger than the first preset capacity, determining that the target running state of the whole vehicle is a high-speed running state;
when the current capacity is between the first preset capacity and the second preset capacity, determining that the target running state of the whole vehicle is a deceleration state;
and when the current capacity is smaller than the second preset capacity, determining that the target running state of the whole vehicle is a parking state.
Optionally, the preset fault condition includes:
the current oil pressure value is smaller than a preset oil pressure value; and/or the number of the groups of groups,
the current flow value is less than a preset flow value.
Optionally, the method further comprises:
acquiring the deflection angle of the current steering wheel of the whole vehicle;
and determining the preset oil pressure value and the preset flow value according to the deflection angle.
Optionally, the step of determining the preset oil pressure value and the preset flow value according to the deflection angle includes:
acquiring the current speed and/or running condition of the whole vehicle;
and determining a preset oil pressure value and/or a preset flow value corresponding to the deflection angle of the current whole-vehicle steering wheel under the vehicle speed and/or the running working condition.
Optionally, the method further comprises:
and when the current oil pressure value and/or the current flow value do not meet the preset fault condition, sending alarm information of the hydraulic steering gear to an instrument and/or a cloud server.
In addition, to achieve the above object, the present invention also provides a hydraulic steering system including:
a steering oil pump;
the hydraulic steering device is used for providing steering resistance for the whole vehicle;
the high-pressure oil pipe is used for connecting the steering oil pump and the hydraulic steering gear;
and a pressure sensor and a flow sensor arranged in the high-pressure oil pipe.
Optionally, the hydraulic steering gear includes: the control program of the hydraulic steering system is executed by the processor to realize the steps of the control method of the hydraulic steering system.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium storing a control program of a hydraulic steering system, which when executed by a processor, implements the steps of the control method of a hydraulic steering system as described above.
According to the technical scheme of the control method of the hydraulic steering system, the hydraulic steering system and the readable storage medium, the pressure sensor and the flow sensor are arranged in the high-pressure oil pipe between the steering oil pump and the hydraulic steering device, and the oil pressure value and the flow value in the high-pressure oil pipe are actively monitored through the sensors, so that the fault condition of the hydraulic steering system is actively monitored in real time. When the hydraulic steering system fails, the control motor outputs steering power according to the determined torque of the motor, and the response speed of the failure control of the whole vehicle is improved through the steering power provided by the motor, so that the driving safety is improved.
Drawings
FIG. 1 is a flow chart of an embodiment of a control method of a hydraulic steering system according to the present invention;
FIG. 2 is a schematic view of a hydraulic steering system according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a hydraulic steering gear according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to embodiments, with reference to the accompanying drawings, which are only illustrations of one embodiment, but not all of the inventions.
Reference numerals illustrate:
| reference numerals | Name of the name | Reference numerals | Name of the name |
| 10 | Hydraulic steering gear | 20 | Steering wheel |
| 30 | Steering oilcan | 40 | Steering oil pump |
| 50 | Tire with a tire body | 60 | Low-pressure oil return pipe |
| 70 | Oil suction pipe | 80 | High-pressure oil pipe II |
| 90 | High-pressure oil pipe I |
Detailed Description
Currently, hydraulic steering systems are commonly used in the heavy commercial vehicle industry to change or maintain the direction of travel or reverse of the vehicle, thereby enabling the vehicle to control the direction of travel of the vehicle as desired by the driver. Therefore, it is necessary to perform fault detection on the hydraulic steering system to ensure safe running of the entire vehicle. The related art mainly judges whether the hydraulic steering system fails according to the torque deformation, and controls the motor to provide steering assistance when the hydraulic steering system fails. However, determining whether the hydraulic steering system fails based on the torque deflection is not applicable to all conditions. The torque deformation is small when the automobile moves straight, whether the hydraulic steering system fails or not cannot be accurately judged through the torque deformation, and if the hydraulic steering system of the automobile fails, the hydraulic steering system cannot be timely adjusted, so that safety risks can exist. For example, when the steering hydraulic system fails, the failure is often not noticeable when the vehicle is in straight motion. When a driver is in a turning working condition, serious faults are suddenly and passively handled, vehicle runaway and accidents are easy to occur, and safety risks exist.
In order to solve the problems, the fault detection and fault response of the hydraulic steering system are achieved, and the control method of the hydraulic steering system is provided. And when the hydraulic steering system fails, controlling the motor to output steering power according to the determined torque of the motor. The steering power provided by the motor improves the response speed of the whole vehicle fault control, and further improves the driving safety.
In order that the above-described aspects may be better understood, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In the embodiment shown in fig. 1, the control method of the hydraulic steering system of the present application is applied to a hydraulic steering gear that is connected to a steering oil pump through a high-pressure oil pipe. Specifically, the control method of the hydraulic steering system of the application comprises the following steps:
step S110, obtaining a current oil pressure value and/or a current flow value in the high-pressure oil pipe.
In this embodiment, the fault monitoring of the high-pressure oil pipe or the steering oil pump may be performed by only acquiring the current oil pressure value in the high-pressure oil pipe, or by only acquiring the current flow value in the high-pressure oil pipe. In order to improve the fault detection precision, the current oil pressure value in the high-pressure oil pipe can be obtained first, and when the current oil pressure value does not meet the requirement, the current flow value in the high-pressure oil pipe is obtained to perform fault monitoring on the high-pressure oil pipe or the steering oil pump. Wherein, when the current oil pressure value is smaller than the preset oil pressure value, the current oil pressure value is judged to be not in accordance with the requirement; the oil pressure values of different time points in the preset time period can be obtained, and when the number of time points, in which the current oil pressure value is smaller than the preset oil pressure value, in the preset time period is larger than the number of preset time points, the current oil pressure value is judged to be inconsistent with the requirement; the oil pressure values of different test points can be obtained, and when the number of the test points of which the current oil pressure value is smaller than the preset oil pressure value is larger than the preset number, the current oil pressure value is judged to be inconsistent with the requirement; the change rate of the oil pressure value in the preset period can be obtained, and when the change rate reaches the set threshold value, the current oil pressure value is judged to be inconsistent with the requirement and the like. The fault monitoring of the high-pressure oil pipe or the steering oil pump can be carried out by simultaneously acquiring the current oil pressure value and the current flow value in the high-pressure management.
In one embodiment, a pressure sensor and a flow sensor are disposed within the high pressure tubing. The positions and the number of the pressure sensors and the flow sensors can be determined according to actual conditions. For example, a pressure sensor and a flow sensor can be arranged at the inlet of the high-pressure oil pipe, namely, at the inlet close to one side of the steering oil pump; a pressure sensor and a flow sensor can also be arranged at the outlet of the high-pressure oil pipe, namely, the outlet close to one side of the hydraulic steering gear; a pressure sensor and a flow sensor can be arranged in the middle of the high-pressure oil pipe; the pressure sensor and the flow sensor can be respectively arranged at the oil inlet, the oil outlet and the middle position of the high-pressure oil pipe.
Optionally, when the vehicle runs, engine oil can flow out from the steering oilcan and then be transported to the hydraulic steering gear through the high-pressure oil pipe, so that steering control of the vehicle is realized. At this time, all the pressure sensors and/or flow sensors can be started at the same time, the pressure sensors and/or flow sensors arranged at different positions are adopted to respectively collect the oil pressure values and the flow values at different positions in the high-pressure oil pipe in real time, the corresponding average oil pressure value and average pressure value are calculated through the oil pressure values and the flow values at different positions collected in real time, the average oil pressure value is used as the current oil pressure value in the high-pressure oil pipe, and the average pressure value is used as the current flow value in the high-pressure oil pipe.
Optionally, during the running process of the vehicle, selecting which pressure sensor and/or flow sensor to turn on according to different running conditions of the vehicle; for example, when the vehicle is running at a high speed, all pressure sensors and/or all flow sensors arranged at different positions can be opened to acquire the current oil pressure value and/or the current flow value in the high-pressure oil pipe. When the vehicle runs at a low speed, only the pressure sensor and/or the flow sensor arranged in the middle of the high-pressure oil pipe can be selected to obtain the current oil pressure value and/or the current flow value in the high-pressure oil pipe.
In the embodiment, when the vehicle is electrified and started, whether the hydraulic steering system works normally or not is directly monitored by acquiring the current oil pressure value and/or the current flow value in the high-pressure oil pipe, so that the problems of diversified sources of hydraulic power-assisted failure monitoring signals and complex judgment logic caused by different vehicle type power configurations are solved. Meanwhile, the vehicle is directly judged according to the current oil pressure value and the current flow value, so that the response speed is higher, and the running safety of the vehicle can be ensured.
Fault detection may be performed in the present application in the following manner:
optionally, it may be determined whether the current oil pressure value and/or the current flow value meets a preset fault condition, and when the preset fault condition is met, it indicates that the steering oil pump and/or the high-pressure oil pipe is/are faulty. The problems caused by leakage of the high-pressure oil pipe can be judged through the current oil pressure value and the current flow value, and meanwhile, the problems caused by faults of the steering oil pump can be judged.
In one embodiment, the preset fault conditions include: the current oil pressure value is smaller than a preset oil pressure value; and/or, the current flow value is smaller than a preset flow value. The preset oil pressure value and the preset flow value can be determined according to the deflection angle of the current steering wheel of the whole vehicle. The deflection angle of the current steering wheel of the whole car can be detected by an angle sensor arranged on the whole car. The deflection angle of the current whole steering wheel can be determined according to the deflection angle of the tire.
Optionally, whether a preset fault condition is met or not can be determined according to the deflection angle and the current oil pressure value, and if the preset fault condition is met, whether the steering oil pump is faulty or not is indicated; or determining whether a preset fault condition is met according to the deflection angle and the current flow value, and indicating whether the high-pressure oil pipe is faulty or not when the preset fault condition is met; or when the steering oil pump is determined to be faulty according to the deflection angle and the current oil pressure value, determining whether the high-pressure oil pipe is faulty according to the deflection angle and the current flow value.
Alternatively, the oil pressure and flow rate values through the high pressure oil line are different at different steering wheel deflection angles. Corresponding preset oil pressure values and preset flow values can be preset for deflection angles of different steering wheels, wherein the preset oil pressure values and the preset flow values are corresponding oil pressure values and flow values when the high-pressure oil pipe is not leaked and the steering oil pump normally operates; the preset oil pressure value and the preset flow value can be fixed values and can also be changed under the influence of factors such as the speed of the current whole vehicle, the running condition of the current whole vehicle, the steering wheel deflection angle, the current external environment temperature and the like.
Optionally, after the deflection angle of the current steering wheel of the whole vehicle is obtained, a preset oil pressure value corresponding to the deflection angle is obtained, and whether a preset fault condition is met or not, namely whether the high-pressure oil pipe or the steering oil pump is faulty or not is further determined according to the preset oil pressure value and the current oil pressure value. Further, it may be determined that the high pressure oil pipe or the steering oil pump is malfunctioning when the current oil pressure value is less than the preset oil pressure value.
Optionally, after the deflection angle of the current steering wheel of the whole vehicle is obtained, a preset flow value corresponding to the deflection angle is obtained, and whether a preset fault condition is met or not, namely whether the high-pressure oil pipe or the steering oil pump is faulty or not is further determined according to the preset flow value and the current flow value. Further, it may be determined that the high pressure oil pipe or the steering oil pump is malfunctioning when the current flow value is less than the preset flow value.
Optionally, after the deflection angle of the current steering wheel of the whole vehicle is obtained, a preset oil pressure value and a preset flow value corresponding to the deflection angle are obtained, and whether the high-pressure oil pipe or the steering oil pump fails or not is further determined according to the preset flow value, the preset oil pressure value, the current flow value and the current oil pressure value. Further, when the current oil pressure value is smaller than the preset oil pressure value, determining that the steering oil pump fails; and when the current flow value is smaller than the preset flow value, determining that the high-pressure oil pipe fails.
According to the technical scheme, the problem caused by leakage of the high-pressure oil pipe can be actively judged through the current oil pressure value and the current flow value, meanwhile, the problem caused by failure of the steering oil pump can be actively judged, the failure can be timely and early caused, and the driving safety is improved.
In an embodiment, the current vehicle speed and/or the running condition of the whole vehicle can be obtained, and the preset oil pressure value and/or the preset flow value corresponding to the deflection angle under the vehicle speed and/or the running condition can be determined. Optionally, the speed of the current whole vehicle can be obtained, and a preset oil pressure value and/or a preset flow value corresponding to the deflection angle under the speed can be determined; or under the current running condition of the whole vehicle, determining a preset oil pressure value and/or a preset flow value corresponding to the deflection angle under the running condition. Or acquiring the current speed and the running condition of the whole vehicle, and determining a preset oil pressure value and/or a preset flow value corresponding to the deflection angle under the speed and the running condition. The running conditions of the whole vehicle can comprise: start, accelerate, constant speed, slow down, turn, go up and down a hill, stop, etc. Under different speeds and different running conditions, the corresponding preset oil pressure value and preset flow value of the steering wheel of the whole vehicle under different deflection angles are different, so that the mapping relation between the preset oil pressure value and the preset flow value of the steering wheel of the whole vehicle under different deflection angles under different speeds and different running conditions can be preset, and the preset oil pressure value and the preset flow value corresponding to the deflection angle of the current whole vehicle direction can be rapidly positioned through the mapping relation in the subsequent use process. And the response speed of the whole vehicle is improved.
In an embodiment, the external environment temperature of the hydraulic steering system can be obtained, and the preset oil pressure value and/or the preset flow value corresponding to the deflection angle under the vehicle speed, the operation condition and the external environment temperature are determined, so that the preset oil pressure value and/or the preset flow value can be adaptively adjusted according to different environment temperatures, and the follow-up fault monitoring is more accurate.
When the fault of the steering oil pump and/or the high-pressure oil pipe is judged, the required motor torque is determined, and the corresponding steering assistance is provided by the motor for control. The specific control process is as follows:
and step S120, determining the torque of the motor when the current oil pressure value and/or the current flow value meet a preset fault condition.
Step S121, determining a current capacity of the hydraulic steering system according to the current oil pressure value and/or the current flow value when the current oil pressure value and/or the current flow value meet a preset fault condition.
In this embodiment, the capability refers to the capability of the hydraulic steering system to maintain the stability of normal operation of the entire vehicle without manual intervention. The calculation method is not described in detail herein.
Step S122, determining a target running state of the whole vehicle according to the current capability and the preset capability of the hydraulic steering system.
In this embodiment, the preset capacity of the hydraulic steering system may be divided and determined according to the actual situation. The preset capability comprises a first preset capability and a second preset capability, and the first preset capability is larger than the second preset capability. The first preset capacity is the lowest capacity of the hydraulic steering system when the whole vehicle can be maintained to run at a high speed, and the second preset capacity is the lowest capacity of the hydraulic steering system when the whole vehicle can be maintained to continue to run.
Alternatively, the target running state includes a high-speed running state, a deceleration state, a parking state, or the like. The target running states corresponding to different vehicle models are different, and the running speeds in different running states are also different.
Optionally, when the current capability is greater than the first preset capability, determining that the target running state of the whole vehicle is a high-speed running state; when the current capacity is between the first preset capacity and the second preset capacity, determining that the target running state of the whole vehicle is a deceleration state; and when the current capacity is smaller than the second preset capacity, determining that the target running state of the whole vehicle is a parking state. By dividing a plurality of capacity intervals, the capacity interval corresponding to the current capacity of the hydraulic steering system can be accurately determined, and then the target running state of the whole vehicle can be accurately determined.
And step 123, determining the torque of the motor according to the current torque of the whole vehicle and the target running state.
In this embodiment, after determining the target running state of the whole vehicle, a torque signal, that is, a request torque, required for the whole vehicle to change from the current running state to the target running state may be determined. By adjusting the torque signal sent to the whole vehicle controller in real time, when the vehicle fails, the vehicle is maintained to continue running or run down to a maintenance point as much as possible, and the parking caused by the problem of a lighter hydraulic steering system is reduced.
It can be understood that when the hydraulic steering gear determines that the capability of the hydraulic steering system cannot maintain the high-speed running of the vehicle, the target running state of the whole vehicle is determined to be a speed-down state according to the current capability and the preset capability of the hydraulic steering system, and the first torque required by the motor for changing the whole vehicle from the high-speed running state to the speed-down state is determined, then a speed-down request is sent to the motor, namely the first torque is sent, so that the whole vehicle is in the speed-down state. When the hydraulic steering gear judges that the capability of the hydraulic steering system can not maintain the continuous running of the vehicle, the target running state of the whole vehicle is determined to be a parking state according to the current capability and the preset capability of the hydraulic steering system, and a second torque required by a motor for changing the whole vehicle from a high-speed running state or a deceleration state to the parking state is determined, and then a parking request is sent to the motor, namely the second torque is sent, so that the whole vehicle is in the parking state.
And step S130, controlling the motor to output steering assistance according to the torque.
In the present embodiment, when the high-pressure oil pipe or the steering oil pump fails, appropriate motor assist force is provided so that the steering force is maintained within an appropriate range. Therefore, when the high-pressure oil pipe or the steering oil pump fails, the torque of the motor can be determined according to the current capacity of the hydraulic steering system, and the motor torque is sent to the motor, so that the motor can output steering power according to the torque, the vehicle can be kept running continuously or at a reduced speed to a maintenance point as much as possible during the failure, and the parking caused by the problem of a lighter hydraulic steering system is reduced.
In an embodiment, when the high-pressure oil pipe or the steering oil pump is determined to be faulty according to the current oil pressure value and/or the current flow value, an alarm signal corresponding to the high-pressure oil pipe or the steering oil pump is sent to an instrument or a cloud server on the whole automobile, so that the instrument or the cloud server gives an early warning to a driver or a safety officer according to the signal, and the fault control efficiency is improved. Optionally, fault information of the high-pressure oil pipe or the steering oil pump CAN be sent to the instrument and/or the cloud server through the CAN bus. The alarm signal can not only comprise which part in the hydraulic steering system has faults, but also comprise the oil pressure value and/or the flow value in the high-pressure oil pipe when the fault occurs, so that the driver can check conveniently.
In an embodiment, when the high-pressure oil pipe or the steering oil pump is determined to be normal according to the current oil pressure value and/or the current flow value, a torque signal corresponding to the high-speed running state is sent to the whole vehicle controller, so that the whole vehicle can run at a high speed.
According to the technical scheme, the hydraulic steering system fault condition is monitored in real time by arranging the pressure sensor and the flow sensor in the high-pressure oil pipe between the steering oil pump and the hydraulic steering device and actively monitoring the oil pressure value and the flow value in the high-pressure oil pipe through the sensors. And when the hydraulic steering system fails, the corresponding motor torque is sent to the whole vehicle controller, so that the failure control of the hydraulic steering system is realized, and the driving safety is improved. In addition, when the high-pressure oil pipe or the steering oil pump fails, a corresponding torque control signal can be sent to the whole vehicle control according to the current capability of the hydraulic steering system, so that the vehicle can be maintained to continue running or run down to a maintenance point as much as possible during failure, and the parking caused by the problem of the lighter hydraulic steering system is reduced. Sending the judging result to an instrument and/or a cloud server through a CAN bus; the instrument and/or the cloud server can give an early warning to a driver or a safety officer according to the signal, and driving safety is improved.
Embodiments of the present invention provide embodiments of a method of controlling a hydraulic steering system, it being noted that although a logic sequence is shown in the flow chart, in some cases the steps shown or described may be performed in a different order than that shown or described herein.
As shown in fig. 2, fig. 1 is a schematic structural view of a hydraulic steering system according to an embodiment of the present invention. The hydraulic steering system of the present application includes:
a steering oil pump 40; the steering oil pump 40 is a power source of a hydraulic steering system of the automobile. The steering oil pump takes the engine as a transmission medium to convert mechanical energy into hydraulic energy, and the hydraulic steering device converts the hydraulic energy into mechanical energy through hydraulic oil output by the steering oil pump.
A hydraulic steering gear 10; wherein the hydraulic steering gear 10 is a hydraulic power steering gear. A steering gear, also called a steering gear, is a set of gear mechanisms that perform a rotation to a linear or near linear motion, and is also a reduction gear in the steering system. It is the most important component in steering systems. The hydraulic steering gear is a cycloid rotary valve type full hydraulic steering gear which consists of a follow-up rotary valve and a cycloid rotary stator pair. The full-hydraulic steering system consists of an oil supply pump, an overflow valve (or a flow dividing valve), a steering cylinder and other connecting accessories.
A high-pressure oil pipe for connecting the steering oil pump 40 and the hydraulic steering gear 10; wherein, this high-pressure oil pipe includes: high-pressure oil pipe one 90 and high-pressure oil pipe two 80.
And the pressure sensor and the flow sensor are arranged in the high-pressure oil pipe. The pressure sensor and the flow sensor are arranged between the first high-pressure oil pipe 90 and the second high-pressure oil pipe 80. The pressure sensor is used for detecting the pressure of the oil flowing through the high-pressure oil pipe, and the flow sensor is used for detecting the flow of the oil in the high-pressure oil pipe.
Optionally, the hydraulic steering system further comprises a steering wheel 20, the angle of the vehicle tyre 50 being changed by moving the steering wheel 20. The hydraulic steering system further includes a steering oilcan 30, a low pressure return line 60, and an oil suction line 70.
Alternatively, the hydraulic steering system of the present application may be an electro-hydraulic steering system, and an electronic control unit of the electro-hydraulic steering system may change the magnitude of the force of the steering assist by changing the flow rate of the electronic pump by using information processing on sensors such as a vehicle speed sensor, a steering angle sensor, and the like. The working principle is as follows: the steering oil pump provides oil pressure to push the piston, so that auxiliary force is generated to push the steering pull rod, and the steering of wheels is assisted; when the steering wheel is not rotated, the mechanical valve body on the hydraulic steering gear is kept in the original position, the oil pressure on the two sides of the piston is the same, and the mechanical valve body is in a balanced state. When the steering wheel rotates, the steering control valve is correspondingly opened or closed, oil on one side directly flows back to the steering oilcan without passing through the hydraulic cylinder, and oil on the other side is continuously injected into the hydraulic cylinder, so that pressure difference is generated on two sides of the piston to be pushed, and further auxiliary force is generated to push the steering pull rod, so that steering is easier. For example, in a hydraulic steering system, when the tire turns involuntarily due to the severe runout of the wheels and the occurrence of a hollow road, the vibration can be well buffered and absorbed through the action of the hydraulic pressure on the piston, so that the vibration transmitted to the steering wheel is greatly reduced.
The specific implementation manner of the hydraulic steering system is basically the same as that of each embodiment of the control method of the hydraulic steering system, and is not repeated here.
As shown in fig. 3, fig. 3 is a schematic structural diagram of a hardware operating environment of a hydraulic steering gear according to an embodiment of the present invention.
As shown in fig. 3, the hydraulic steering gear includes: a processor 1001, such as a CPU, memory 1005, user interface 1003, network interface 1004, communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the hydraulic diverter structure shown in fig. 3 is not limiting of the hydraulic diverter and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
As shown in fig. 3, an operating system, a network communication module, a user interface module, and a control program of the hydraulic steering system may be included in the memory 1005 as one type of storage medium. The operating system is a program that manages and controls the hydraulic steering hardware and software resources, a control program for the hydraulic steering system, and the execution of other software or programs.
In the hydraulic steering gear shown in fig. 3, the user interface 1003 is mainly used for connecting a terminal, and is in data communication with the terminal; the network interface 1004 is mainly used for a background server and is in data communication with the background server; the processor 1001 may be used to invoke a control program of the hydraulic steering system stored in the memory 1005.
In this embodiment, the hydraulic steering gear includes: a memory 1005, a processor 1001, and a control program for a hydraulic steering system stored on the memory and operable on the processor, wherein:
when the processor 1001 calls a control program of the hydraulic steering system stored in the memory 1005, the following operations are performed:
acquiring a current oil pressure value and/or a current flow value in the high-pressure oil pipe;
determining the torque of the motor when the current oil pressure value and/or the current flow value meet a preset fault condition;
and controlling the motor to output steering assistance according to the torque.
When the processor 1001 calls a control program of the hydraulic steering system stored in the memory 1005, the following operations are performed:
when the current oil pressure value and/or the current flow value meet a preset fault condition, determining the current capacity of the hydraulic steering system according to the current oil pressure value and/or the current flow value;
determining a target running state of the whole vehicle according to the current capacity and the preset capacity of the hydraulic steering system;
and determining the torque of the motor according to the current torque of the whole vehicle and the target running state.
When the processor 1001 calls a control program of the hydraulic steering system stored in the memory 1005, the following operations are performed:
when the current capacity is larger than the first preset capacity, determining that the target running state of the whole vehicle is a high-speed running state;
when the current capacity is between the first preset capacity and the second preset capacity, determining that the target running state of the whole vehicle is a deceleration state;
and when the current capacity is smaller than the second preset capacity, determining that the target running state of the whole vehicle is a parking state.
When the processor 1001 calls a control program of the hydraulic steering system stored in the memory 1005, the following operations are performed:
the current oil pressure value is smaller than a preset oil pressure value; and/or the number of the groups of groups,
the current flow value is less than a preset flow value.
When the processor 1001 calls a control program of the hydraulic steering system stored in the memory 1005, the following operations are performed:
acquiring the deflection angle of the current steering wheel of the whole vehicle;
and determining the preset oil pressure value and the preset flow value according to the deflection angle.
When the processor 1001 calls a control program of the hydraulic steering system stored in the memory 1005, the following operations are performed:
acquiring the current speed and/or running condition of the whole vehicle;
and determining a preset oil pressure value and/or a preset flow value corresponding to the deflection angle of the current whole-vehicle steering wheel under the vehicle speed and/or the running working condition.
When the processor 1001 calls a control program of the hydraulic steering system stored in the memory 1005, the following operations are performed:
and when the current oil pressure value and/or the current flow value do not meet the preset fault condition, sending alarm information of the hydraulic steering gear to an instrument and/or a cloud server.
Based on the same inventive concept, the embodiments of the present application further provide a computer readable storage medium, where the computer readable storage medium stores a control program of the hydraulic steering system, where each step of the control method of the hydraulic steering system as described above is implemented when the control program of the hydraulic steering system is executed by the processor, and the same technical effects can be achieved, so that repetition is avoided and redundant description is omitted.
Because the storage medium provided in the embodiments of the present application is a storage medium used for implementing the method in the embodiments of the present application, based on the method described in the embodiments of the present application, a person skilled in the art can understand the specific structure and the modification of the storage medium, and therefore, the description thereof is omitted herein. All storage media used in the methods of the embodiments of the present application are within the scope of protection intended in the present application.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, a television, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A control method of a hydraulic steering system, characterized by being applied to a hydraulic steering gear, the method comprising:
acquiring a current oil pressure value and/or a current flow value in the high-pressure oil pipe;
determining the torque of the motor when the current oil pressure value and/or the current flow value meet a preset fault condition;
and controlling the motor to output steering assistance according to the torque.
2. The control method of a hydraulic steering system according to claim 1, wherein the step of determining the torque of the motor when the current oil pressure value and/or the current flow value satisfies a preset fault condition includes:
when the current oil pressure value and/or the current flow value meet a preset fault condition, determining the current capacity of the hydraulic steering system according to the current oil pressure value and/or the current flow value;
determining a target running state of the whole vehicle according to the current capacity and the preset capacity of the hydraulic steering system;
and determining the torque of the motor according to the current torque of the whole vehicle and the target running state.
3. The control method of a hydraulic steering system according to claim 2, characterized in that the preset capacity includes a first preset capacity and a second preset capacity, and the first preset capacity is greater than the second preset capacity; the step of determining the target running state of the whole vehicle according to the current capacity and the preset capacity of the hydraulic steering system comprises the following steps:
when the current capacity is larger than the first preset capacity, determining that the target running state of the whole vehicle is a high-speed running state;
when the current capacity is between the first preset capacity and the second preset capacity, determining that the target running state of the whole vehicle is a deceleration state;
and when the current capacity is smaller than the second preset capacity, determining that the target running state of the whole vehicle is a parking state.
4. The control method of a hydraulic steering system according to claim 1, wherein the preset fault condition includes:
the current oil pressure value is smaller than a preset oil pressure value; and/or the number of the groups of groups,
the current flow value is less than a preset flow value.
5. The control method of a hydraulic steering system according to claim 4, characterized in that the control method of a hydraulic steering system further comprises:
acquiring the deflection angle of the current steering wheel of the whole vehicle;
and determining the preset oil pressure value and the preset flow value according to the deflection angle.
6. The control method of a hydraulic steering system according to claim 5, wherein the step of determining the preset oil pressure value and the preset flow rate value according to the yaw angle includes:
acquiring the current speed and/or running condition of the whole vehicle;
and determining a preset oil pressure value and/or a preset flow value corresponding to the deflection angle of the current whole-vehicle steering wheel under the vehicle speed and/or the running working condition.
7. The control method of a hydraulic steering system according to claim 1, characterized in that the control method of a hydraulic steering system further comprises:
and when the current oil pressure value and/or the current flow value do not meet the preset fault condition, sending alarm information of the hydraulic steering gear to an instrument and/or a cloud server.
8. A hydraulic steering system, the hydraulic steering system comprising at least:
a steering oil pump;
the hydraulic steering device is used for providing steering assistance for the whole vehicle;
the high-pressure oil pipe is used for connecting the steering oil pump and the hydraulic steering gear;
and a pressure sensor and a flow sensor arranged in the high-pressure oil pipe.
9. The hydraulic steering system of claim 8, wherein the hydraulic steering gear comprises: a memory, a processor, the memory storing a control program of a hydraulic steering system operable on the processor, which when executed by the processor, implements the steps of the method of controlling a hydraulic steering system as claimed in any one of claims 1-7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a control program of a hydraulic steering system, which when executed by a processor, implements the steps of the control method of a hydraulic steering system according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310445086.8A CN116443097A (en) | 2023-04-20 | 2023-04-20 | Control method of hydraulic steering system, hydraulic steering system and readable storage medium |
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| CN202310445086.8A CN116443097A (en) | 2023-04-20 | 2023-04-20 | Control method of hydraulic steering system, hydraulic steering system and readable storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117885804A (en) * | 2024-03-14 | 2024-04-16 | 博世汽车转向系统（济南）有限公司 | Electrohydraulic power steering device, risk assessment method, medium and apparatus |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117885804A (en) * | 2024-03-14 | 2024-04-16 | 博世汽车转向系统（济南）有限公司 | Electrohydraulic power steering device, risk assessment method, medium and apparatus |
| CN117885804B (en) * | 2024-03-14 | 2024-06-18 | 博世汽车转向系统（济南）有限公司 | Electrohydraulic power steering device, risk assessment method, medium and apparatus |
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