CN117382721A - Wire control steering system and control method of wide mining dump truck - Google Patents
Wire control steering system and control method of wide mining dump truck Download PDFInfo
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- CN117382721A CN117382721A CN202311590306.2A CN202311590306A CN117382721A CN 117382721 A CN117382721 A CN 117382721A CN 202311590306 A CN202311590306 A CN 202311590306A CN 117382721 A CN117382721 A CN 117382721A
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- 238000005065 mining Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 6
- 239000003921 oil Substances 0.000 claims description 21
- 238000012545 processing Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 2
- 238000007781 pre-processing Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000011217 control strategy Methods 0.000 description 7
- 238000003745 diagnosis Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000556 factor analysis Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
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
- B62D5/065—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 specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a drive-by-wire steering system of a wide mining dump truck, which comprises a whole vehicle controller, a steering wheel angle sensor, a front axle wheel angle sensor, a rear axle wheel angle sensor, a hydraulic system and a steering control valve, wherein the whole vehicle controller receives driving intention transmitted by a driver through the steering wheel angle sensor, simultaneously receives analog signals of the angle sensors arranged on front and rear wheels, converts the signals into electric signals internally, calculates corresponding actual steering angles, adjusts the opening of the steering control valve through PID, controls a steering cylinder through a hydraulic oil way, enables the front wheel and the rear wheel to rotate according to the corresponding angles, achieves the cooperation of the front wheel and the rear wheel, achieves corresponding steering functions, combines a corresponding control method, effectively solves the problem of large vehicle flexibility, provides a key technology for unmanned driving in the intelligent mine field, and achieves one difficult problem of intelligent driving and unmanned driving in mining areas.
Description
Technical Field
The invention relates to the technical field of mining truck control, in particular to a wire steering system and a control method of a wide mining dump truck.
Background
The off-highway wide dump truck is one kind of heavy dump truck for use in surface mine to complete the rock and earth stripping and ore conveying, and features short conveying distance, heavy load, loading with large electric shovel or hydraulic shovel, and returning to and from mining point and ore unloading point. The industry of the Chinese mining dumper originates from the beginning of the 70 th century, and after 2000 years, dumper engineering machinery manufacturers are put into the mining dumper market in a dispute along with the rapid demand and the increase of the demand of the heavy dumper of the Chinese mining dumper. The main current domestic production of main vehicle types mainly focuses on payload below hundred tons. Along with the requirements of large-scale surface mines above tens of millions of tons in China on extension and environmental protection, the demand of large-tonnage and ultra-large-tonnage mining dump trucks above hundred tons is continuously increasing.
On the other hand, the mining area roads are mostly temporary pavements, the areas of loading and unloading sites are narrow, frequent turning and reversing are performed, mountainous areas are more in ascending and descending slopes and more in sharp turning, in order to keep mobility and flexibility, the requirements of reducing turning radius and reversing times are met for large-tonnage and ultra-large-tonnage mining dump trucks, so that the use requirements of complex pavements are well met, and the transportation efficiency is improved. Meanwhile, the intelligent steer-by-wire system is a subject which is most important and difficult to solve in mine intelligent driving and unmanned driving at present, and the intelligent steer-by-wire system is developed rapidly.
The invention is developed under the environment background, and the control strategy of the invention is to apply the front and rear axle double steering system to 100-200 ton and 200-300 ton wide body ores in a linear control mode: the flexibility of the large-tonnage vehicle is effectively solved, and a key technology is provided for unmanned landing in the intelligent mine field.
Disclosure of Invention
The invention aims to provide a steer-by-wire system and a control method of a wide mining dump truck, which are used for solving the problem that the existing wide large-tonnage vehicle provided in the background art is lack of flexibility, providing a key technology for unmanned landing in the intelligent mine field, and realizing a difficult problem of intelligent driving and unmanned overcoming in mining areas.
In order to achieve the above purpose, the present invention provides the following technical solutions: a steer-by-wire system of a wide body mining dump truck, comprising: the steering system comprises a whole vehicle controller, a steering wheel angle sensor, a front axle wheel angle sensor, a rear axle wheel angle sensor, a hydraulic system and a steering control valve, wherein the whole vehicle controller receives driving intention transmitted by a driver through the steering wheel angle sensor, simultaneously receives analog signals of the angle sensors arranged on front wheels and rear wheels, converts the analog signals into electric signals, calculates corresponding actual steering angles, adjusts the opening of the steering control valve through PID, and controls a steering oil cylinder through a hydraulic oil circuit so that the front wheels and the rear wheels rotate according to the corresponding angles to achieve the cooperation of the front wheels and the rear wheels, and achieves corresponding steering functions.
As an optimized technical scheme, the rear axle of the wide mining dump truck is provided with a two-position three-way hydraulic valve, the hydraulic valve is connected with two oil cylinders, the rear axle is connected with the frame by a rotary support structure, the two oil cylinders are respectively arranged on two sides of the rotary support structure, and the oil cylinders can rotate by abutting against bearings, so that independent steering of rear wheels is realized.
As a preferable technical scheme, the front axle wheel angle sensor and the rear axle wheel angle sensor are non-contact angle sensors, and the non-contact angle sensors comprise magnetic block ends arranged on a vehicle body and sensor bodies arranged on a steering axle, and the axle of the non-contact angle sensors recognizes the rotation angle during rotation through mechanical coupling and sends the rotation angle to a vehicle controller through an electric signal.
A wire control steering control method of a wide mining dump truck comprises the following steps:
step S1: the method comprises the steps that a whole vehicle controller receives an electric signal sent by a sensor and carries out a series of pretreatment on the electric signal internally to obtain an actual angle value of the sensor;
step S2: calculating a front and rear axle target value angle by combining the vehicle state, the steering wheel angle and the corresponding angle of the vehicle body;
step S3: PID control operation is carried out according to the target value angle and the actual angle feedback value;
step S4: and the whole vehicle controller calculates PWM values according to PID output values and the input characteristics of the steering solenoid valves, outputs and controls the PWM values to the front and rear axle steering solenoid valves, and controls left and right steering.
As a preferred solution, the preprocessing in step S1 includes filtering, data type conversion, AD conversion.
As a preferable technical solution, in step S3, PID control operation is performed according to the following rule:
1) Calculating a query angle corresponding table according to the steering wheel angle to obtain a steering angle required by a bridge, obtaining an actual steering angle of the bridge after data processing according to the value of the front axle wheel angle sensor, calculating a difference value of the two, wherein the difference value is a regular left-turning electromagnetic valve, and the difference value is a negative right-turning electromagnetic valve;
2) And calculating a query angle corresponding table according to the steering wheel angle to obtain a steering angle required by the four axles, obtaining the actual steering angle of the four axles after data processing according to the value of the rear axle wheel angle sensor, calculating a difference value of the two, wherein the difference value is a regular left-turning electromagnetic valve, and the difference value is a negative right-turning electromagnetic valve.
As a preferred embodiment, the angle mapping table is determined by a calibration in advance.
As a preferable technical scheme, a fault-tolerant algorithm is preset in the whole vehicle controller to improve the redundancy of the whole system, when part of devices are in fault, the fault type and the position are positioned through real-time data sampling, and the rest devices which work normally are integrated to work cooperatively, so that the normal working state is achieved. .
Compared with the prior art, the invention has the beneficial effects that:
1) The drive-by-wire steering system effectively realizes the synchronization between the steering system and the steering wheel, so that a driver is more sensitive to the control of the automobile; the steering-by-wire system cancels the mechanical structure between the steering wheel and the steering wheel, so that the weight of the steering system is lightened, and the weight reduction of the whole vehicle is facilitated; the drive-by-wire steering system only needs to work when steering, not only effectively increases transmission efficiency, but also ensures that the fuel is more economical and environment-friendly, and the drive-by-wire steering system adopts front and rear axles to steer, thereby greatly reducing turning radius.
2) The sensor is used for collecting the relation between the target rotation angle and the actual rotation angle, processing the signals and controlling the executing element according to the corresponding relation, the conventional sensor can be used for realizing a product which is mature in the existing market and is convenient for later maintenance, but the control strategy of the invention has the following advantages compared with the conventional steering system: the signal of the sensor is filtered to achieve the effect of improving the precision; sensor fault diagnosis and fault processing; according to the degree of turning left and right of the real car and the number of turns of the turning angle of the steering wheel of the wide body ore card, calibration can be carried out; when the vehicle is electrified, the current position of the steering wheel can be calibrated according to the real-time position of the wheel; and redundant processing is performed after the rotation angle exceeds the maximum angle of the vehicle body.
Drawings
FIG. 1 is a control flow diagram of a steering system of the present invention;
FIG. 2 is a schematic diagram of an internal control strategy of the controller according to the present invention;
FIG. 3 is a graph of the curve radius effect factor analysis of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a technical scheme that: a steer-by-wire system of a wide body mining dump truck, comprising: the steering system comprises a whole vehicle controller, a steering wheel angle sensor, a front axle wheel angle sensor, a rear axle wheel angle sensor, a hydraulic system and a steering control valve, wherein the whole vehicle controller receives driving intention transmitted by a driver through the steering wheel angle sensor, simultaneously receives analog signals of the angle sensors arranged on front wheels and rear wheels, converts the analog signals into electric signals, calculates corresponding actual steering angles, adjusts the opening of the steering control valve through PID, and controls a steering oil cylinder through a hydraulic oil circuit so that the front wheels and the rear wheels rotate according to the corresponding angles to achieve the cooperation of the front wheels and the rear wheels, and achieves corresponding steering functions.
As an optimized technical scheme, the rear axle of the wide mining dump truck is provided with a two-position three-way hydraulic valve, the hydraulic valve is connected with two oil cylinders, the rear axle is connected with the frame by a rotary support structure, the two oil cylinders are respectively arranged on two sides of the rotary support structure, and the oil cylinders can rotate by abutting against bearings, so that independent steering of rear wheels is realized. The front axle wheel angle sensor and the rear axle wheel angle sensor are non-contact angle sensors, the non-contact angle sensors comprise magnetic block ends arranged on a vehicle body and sensor bodies arranged on a steering axle, and through mechanical coupling, the axle of the vehicle recognizes a rotation angle when rotating and sends the rotation angle to a vehicle controller through an electric signal.
The drive-by-wire system is aimed at a hydraulic steering vehicle, the front axle and the rear axle can realize steering through the hydraulic system, and the hardware system comprises a whole vehicle controller, a steering wheel angle sensor, a front axle wheel angle sensor, a rear axle wheel angle sensor, a hydraulic system and a steering control valve.
When a driver conveys driving intention through a steering wheel angle sensor, the sensor transmits signals to a controller through a CAN bus, simultaneously receives analog signals of front and rear wheel angle sensors, converts the signals into electric signals, calculates an actual angle, adjusts the opening of a steering control valve through a PID, and controls a steering oil cylinder through a hydraulic oil way, so that front wheels and rear wheels rotate according to corresponding angles, the cooperation of the front wheels and the rear wheels is achieved, the steering radius is reduced as much as possible, and the steering function which the driver wants to reach is realized. The flow chart is shown in fig. 1.
In the steering system, not only the traditional front wheel steering is used, but also the rear wheel active steering is used; the steering-by-wire system can realize active steering of the rear wheels, and the mode of the steering-by-wire system is reverse steering, namely the rotation direction of the rear wheels is opposite to that of the front wheels, so that the turning radius of the vehicle can be reduced, and the steering-by-wire system can better adapt to complex temporary pavements in mining areas.
The turning radius of the automobile, theoretically, four wheels can all turn around the same point. This point is the center of the wheel turn, and the turn radius is the length of the rotation point to the outside wheel.
If we want to reduce the turning radius of the car, the main methods are: increasing the steering angle of the front wheels, and reducing the wheel distance between the front wheel and the rear wheel, or reducing the wheel distance between the left wheel and the right wheel. In the whole vehicle design process, the parameters are all of great importance and are influenced by the whole vehicle space and the arrangement space. The range of adjustment is small. Therefore, if the steering angle of the rear wheels can be changed at this time, even if the angle is changed slightly, the steering radius of the whole vehicle is improved greatly. In the prior art, on some luxury cars with longer wheelbase, rear wheel steering is generally used, and the flexibility of the car is improved by reducing the turning radius. But is not suitable for high-speed running, and the general running speed of the mining dump truck for the ore body is not high, and the requirements of the road surface of the mining area on the turning radius are high.
The whole vehicle controller is a currently mainstream VCU controller, and can receive signals of the sensor to realize analog-to-digital conversion; the control algorithm model can be built according to the requirements, the software codes can be automatically generated, and the control can be realized more accurately. The whole steering system control strategy is built and developed on the whole vehicle controller.
The controller internal control strategy model is shown in fig. 2. The control strategy model has two main characteristics:
1. the relation between the target rotation angle and the actual rotation angle is acquired through a sensor, and signals are processed:
the steering system of the present invention uses a commercially available conventional angle sensor: the steering wheel angle sensor can measure the angle change of plus or minus 1560 degrees after zero calibration: the steering column passes through the sensor, and when a driver rotates the steering wheel, the angle sensor recognizes the angle change and sends the angle information and the rotation speed to the whole vehicle controller through the CAN. The front axle wheel sensor and the rear axle wheel sensor can both use the non-contact angle sensor shown in the figure II: the sensor consists of two parts, the magnet end and the sensor body are respectively arranged on a vehicle body and a steering axle, the axle recognizes the rotation angle during rotation through mechanical coupling, and the rotation angle is sent to a vehicle controller through an electric signal.
The conventional sensor can be used as a product which is mature in the existing market and is convenient for later maintenance, but different from the conventional steering system, the control strategy of the invention can be used as follows:
1) The signal of the sensor is filtered to achieve the effect of improving the precision;
2) Sensor fault diagnosis and fault processing;
3) According to the degree of turning left and right of the real car and the number of turns of the turning angle of the steering wheel of the wide body ore card, calibration can be carried out;
4) When the vehicle is electrified, the current position of the steering wheel can be calibrated according to the real-time position of the wheel;
5) And redundant processing is performed after the rotation angle exceeds the maximum angle of the vehicle body.
2. Controlling the execution element according to the corresponding relation
Principle of realizing vehicle steering by a hydraulic system of a whole vehicle controller and a steering control valve is as follows: the whole vehicle controller controls the magnet coil to be electrified so as to control the movement of the valve body; the hydraulic electromagnetic valve structure is seen in a third drawing, a closed cavity is arranged in the hydraulic electromagnetic valve, through holes are formed in different positions, each hole is connected with different oil pipes, a piston is arranged in the middle of the cavity, two electromagnets are arranged on two sides, a magnet coil on which side is electrified can attract a valve body to the side, different oil drain holes are opened or closed through movement of the control valve body, the oil inlet holes are normally open, hydraulic oil can enter different oil drain pipes, then the piston of an oil cylinder is pushed through oil pressure, the piston drives a piston rod, the piston rod drives a mechanical device, and thus the mechanical movement of the oil cylinder is controlled through controlling current on-off of the electromagnets, and an axle is pushed to realize steering.
In the invention, the whole vehicle controller controls the mechanical movement of the oil cylinder by controlling the switch of the electromagnetic valve, and the control mode of the invention can be as follows: 1. according to the angle feedback value and the calculation requirement value, combining with the opening of the PID control valve, accurately and quickly controlling the steering angle, 2, combining with the characteristics of the electromagnetic valve, accurately controlling the minimum value capable of driving the electromagnetic valve to act.
Steering system diagnostic system: the safety and reliability of the current steer-by-wire system are to be improved, so that fault diagnosis and treatment are to be performed. Types of faults that may occur in steer-by-wire systems: 1. short circuit, open circuit, mechanical fault and the like in the sensor have great influence on the system, but the occurrence frequency is not high; 2. faults with larger influence on the system are respectively joint contact failure, open circuit, bus initialization fault, bus sending overtime fault, bus receiving overtime fault and the like, and faults with higher occurrence frequency are mainly joint contact failure, and the influence degree on the system is lower although the signal mixing frequency is higher.
The current fault tolerance method for faults is: the redundancy of the whole system is improved by means of the fault-tolerant algorithm of the controller, so that the fault-tolerant performance of the system is improved; when part of the devices fail, the type and the position of the failure are positioned through real-time data sampling, and the rest devices which work normally are integrated to work cooperatively, so that the normal working state is achieved:
although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A steer-by-wire system of a wide mining dump truck, comprising: the steering system comprises a whole vehicle controller, a steering wheel angle sensor, a front axle wheel angle sensor, a rear axle wheel angle sensor, a hydraulic system and a steering control valve, wherein the whole vehicle controller receives driving intention transmitted by a driver through the steering wheel angle sensor, simultaneously receives analog signals of the angle sensors arranged on front wheels and rear wheels, converts the analog signals into electric signals, calculates corresponding actual steering angles, adjusts the opening of the steering control valve through PID, and controls a steering oil cylinder through a hydraulic oil circuit so that the front wheels and the rear wheels rotate according to the corresponding angles to achieve the cooperation of the front wheels and the rear wheels, and achieves corresponding steering functions.
2. The steering-by-wire system of the wide mining dump truck according to claim 1, wherein the rear axle of the wide mining dump truck is provided with a two-position three-way hydraulic valve, the hydraulic valve is connected with two oil cylinders, the rear axle is connected with the frame by a rotary support structure, the two oil cylinders are respectively arranged on two sides of the rotary support structure, and the oil cylinders can rotate by abutting against bearings, so that independent steering of rear wheels is realized.
3. The steering-by-wire system of a wide mining dump truck according to claim 1, wherein the front axle wheel angle sensor and the rear axle wheel angle sensor are both non-contact angle sensors, the non-contact angle sensors comprise magnetic block ends mounted on a truck body and a sensor body mounted on a steering axle, and the axle thereof recognizes a rotation angle when rotating through mechanical coupling and transmits the rotation angle to a whole truck controller through an electric signal.
4. The wire control steering control method of the wide mining dump truck is characterized by comprising the following steps of:
step S1: the method comprises the steps that a whole vehicle controller receives an electric signal sent by a sensor and carries out a series of pretreatment on the electric signal internally to obtain an actual angle value of the sensor;
step S2: calculating a front and rear axle target value angle by combining the vehicle state, the steering wheel angle and the corresponding angle of the vehicle body;
step S3: PID control operation is carried out according to the target value angle and the actual angle feedback value;
step S4: and the whole vehicle controller calculates PWM values according to PID output values and the input characteristics of the steering solenoid valves, outputs and controls the PWM values to the front and rear axle steering solenoid valves, and controls left and right steering.
5. The steering-by-wire control method of a wide mining dump truck according to claim 4, wherein the preprocessing in the step S1 includes filtering, data type conversion, AD conversion.
6. The steer-by-wire control method of the wide mining dump truck according to claim 4, wherein in the step S3, PID control operation is performed according to the following rule:
1) Calculating a query angle corresponding table according to the steering wheel angle to obtain a steering angle required by a bridge, obtaining an actual steering angle of the bridge after data processing according to the value of the front axle wheel angle sensor, calculating a difference value of the two, wherein the difference value is a regular left-turning electromagnetic valve, and the difference value is a negative right-turning electromagnetic valve;
2) And calculating a query angle corresponding table according to the steering wheel angle to obtain a steering angle required by the four axles, obtaining the actual steering angle of the four axles after data processing according to the value of the rear axle wheel angle sensor, calculating a difference value of the two, wherein the difference value is a regular left-turning electromagnetic valve, and the difference value is a negative right-turning electromagnetic valve.
7. The steering-by-wire control method of the wide-body mining dump truck according to claim 4, wherein the angle correspondence table is determined by calibration in advance.
8. The steering-by-wire control method of the wide-body mining dump truck according to claim 4, wherein the following steps are performed: the fault-tolerant algorithm is preset in the whole vehicle controller to improve the redundancy of the whole system, when part of devices are in fault, the fault type and the fault position are positioned through real-time data sampling, and the rest devices which work normally are integrated to work cooperatively, so that the normal working state is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311590306.2A CN117382721A (en) | 2023-11-24 | 2023-11-24 | Wire control steering system and control method of wide mining dump truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311590306.2A CN117382721A (en) | 2023-11-24 | 2023-11-24 | Wire control steering system and control method of wide mining dump truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117382721A true CN117382721A (en) | 2024-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311590306.2A Withdrawn CN117382721A (en) | 2023-11-24 | 2023-11-24 | Wire control steering system and control method of wide mining dump truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117382721A (en) |
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2023
- 2023-11-24 CN CN202311590306.2A patent/CN117382721A/en not_active Withdrawn
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Application publication date: 20240112 |
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| WW01 | Invention patent application withdrawn after publication |