CN117818745B - Articulated vehicle power steering system of closed hydraulic direct drive loop - Google Patents
Articulated vehicle power steering system of closed hydraulic direct drive loop Download PDFInfo
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Abstract
The invention belongs to the technical field of steering-by-wire of articulated steering vehicles, and particularly relates to an articulated vehicle power steering system of a closed hydraulic direct-drive loop; the steering system comprises a control rod, a steering controller and a hydraulic steering executing mechanism; the steering controller comprises a signal analysis module, a steering demand calculation module, a reversing valve control module and a hydraulic steering control module; the signal input end of the driver is used for receiving steering information of the driver and outputting corresponding signals to the signal analysis module, and the signal analysis module is used for analyzing a target hinging angle and a target hinging angular speed of vehicle steering; the steering demand calculation module performs integral closed-loop control on the target articulation angle, the target articulation angular speed, the feedback articulation angle of the vehicle and the feedback articulation angular speed; the hydraulic steering control module is used for calculating the rotating speed of the oil pump motor according to the steering demand torque of the whole vehicle; the reversing valve control module forms a control signal unique to the three-position four-way electric control reversing valve according to the sign of the target hinging angular speed.
Description
Technical Field
The invention belongs to the technical field of steering-by-wire of articulated steering vehicles, and particularly relates to an articulated vehicle power steering system of a closed hydraulic direct-drive loop.
Background
As an important engineering machine, the articulated steering vehicle has good maneuverability and applicability compared with a wheeled steering vehicle, has simple structure, easy manufacture and high operation efficiency, and is widely applied to industries such as agriculture, building, forestry, mining and the like. The front and rear vehicle bodies of the articulated steering vehicle are connected in an articulated manner, and steering torque generated by the extension and contraction of steering oil cylinders symmetrically arranged at two sides of an articulated point enables the front and rear vehicle bodies to form a certain articulated angle, so that the steering of the whole vehicle is realized.
At present, along with the development of green mines and intelligent mines, low carbonization and intellectualization of articulated steering vehicles become important development directions. The steering system is used as an important actuating mechanism of the articulated steering vehicle, the performance of the steering system directly determines the steering precision and the operability of the whole vehicle, however, the traditional hydraulic steering system has three obvious defects: firstly, the oil pressure of the traditional open type hydraulic steering mechanism is higher, the energy utilization efficiency is lower, and the low carbonization development trend is not met; secondly, the traditional open type hydraulic steering system has obvious nonlinear characteristics, the response speed and the response precision cannot be effectively ensured, a driver needs to frequently adjust the operating lever according to working conditions, the workload of the driver is increased, and the active safety is poor; thirdly, because the traditional open type hydraulic steering mechanism has an inherent defect in response speed, in the steering closed-loop control process, the three-position four-way reversing valve needs to perform frequent action reversing according to the actual steering state of the vehicle, and the problems of larger system impact, quicker mechanical service life attenuation of the steering mechanism and the like are easily caused. The articulated steering vehicle adopting distributed driving can solve the problems through differential cooperative steering, but the cost is high, and the articulated steering vehicle is difficult to popularize and apply.
Therefore, the power steering system of the articulated vehicle with the closed hydraulic direct-drive loop is provided for solving the problems of low steering energy utilization rate, poor steering precision, poor following performance and the like of the articulated steering vehicle adopting the traditional open hydraulic steering mechanism.
Disclosure of Invention
The invention solves the problems of low steering energy utilization rate, large system impact and poor steering response speed, precision and following property of an articulated steering vehicle adopting a traditional open type hydraulic steering mechanism based on the characteristic that a closed type hydraulic direct-drive loop can bidirectionally transmit power and a drive-by-wire chassis technology.
The invention provides the following technical scheme: an articulated vehicle power steering system of a closed hydraulic direct drive loop is carried on an articulated steering vehicle and comprises an operating lever, a steering controller and a hydraulic steering executing mechanism;
The hydraulic steering actuating mechanism is a closed hydraulic direct-drive loop and comprises an oil pump motor, an oil supply pump, a left-right parallel oil cylinder, a three-position four-way electric control reversing valve, an oil supplementing pump, an oil tank, a first hydraulic control one-way valve and a second hydraulic control one-way valve; the left and right parallel oil cylinders comprise a left oil cylinder, a right oil cylinder and two parallel oil paths, wherein the left oil cylinder and the right oil cylinder are symmetrically arranged at two sides of a hinge shaft of the hinged steering vehicle, and the two parallel oil paths are respectively a first oil path for connecting a rod cavity of the left oil cylinder and a rodless cavity of the right oil cylinder and a second oil path for connecting the rodless cavity of the left oil cylinder and a rod cavity of the right oil cylinder; the oil supply pump is a fixed displacement oil pump; the oil pump motor is a variable frequency motor and is used for driving the oil supply pump and the oil supplementing pump; the oil suction port and the oil discharge port of the oil supply pump are respectively connected with an oil inlet and an oil return port of the three-position four-way electric control reversing valve, and the two working ports of the three-position four-way electric control reversing valve are respectively connected with two parallel oil paths of the left and right parallel oil cylinders; the oil supplementing pump is used for compensating oil loss of the closed hydraulic direct-drive loop; the oil suction port of the oil supplementing pump is connected with the oil tank, the oil discharge port is connected with the oil supplementing main path, the oil supplementing main path is divided into two branches, the first branch is connected with an oil discharge port side oil path of the oil supply pump through a first hydraulic control one-way valve, and the second branch is connected with an oil suction port side oil path of the oil supply pump through a second hydraulic control one-way valve;
the control lever is used for inputting steering information, and the steering controller controls the hydraulic steering executing mechanism to act according to the steering information to generate steering torque so as to steer the articulated steering vehicle.
Further, the hydraulic steering actuator further comprises a first overflow valve, a second overflow valve and a third overflow valve; the first overflow valve is connected into the oil supplementing main path; the second overflow valve is connected to the oil drain side oil path of the oil feed pump, and the third overflow valve is connected to the oil drain side oil path of the oil feed pump.
Further, the steering controller comprises a signal analysis module, a steering demand calculation module, a reversing valve control module and a hydraulic steering control module;
The signal analysis module is used for analyzing the steering information input by the control lever and outputting a target hinge angle and a target hinge angular speed;
the steering demand calculation module is used for carrying out integral closed-loop control on the target articulation angle, the target articulation angular speed, the feedback articulation angle of the articulated steering vehicle and the feedback articulation angular speed, and calculating the whole vehicle steering demand moment of the articulated steering vehicle in real time;
The hydraulic steering control module calculates the required rotating speed of the oil pump motor according to the steering required torque of the whole vehicle;
The reversing valve control module forms a unique control signal for the three-position four-way electric control reversing valve according to the sign of the target hinging angular speed, and decoupling of the action direction control of the hydraulic steering executing mechanism and the actual steering state of the hinging steering vehicle is realized.
Further, the hydraulic steering executing mechanism is provided with a first working mode and a second working mode, and the steering controller realizes the switching of the working modes of the hydraulic steering executing mechanism by controlling the oil pump motor and combining the action of the three-position four-way electric control reversing valve; the torque direction is changed according to working conditions under the condition that the rotating speed direction of the oil pump motor is unchanged, so that the high-low pressure and master-slave relation at two sides of the closed hydraulic direct-drive loop is changed in real time under the condition that the overall flow direction of the closed hydraulic direct-drive loop is unchanged;
The hydraulic steering executing mechanism is in a first working mode, the rotating speed and the torque of the oil pump motor are in the same direction, the oil supply pump is a driving part, the left and right parallel oil cylinders are driven parts, and the oil supply pump pushes the left and right parallel oil cylinders to act;
the hydraulic steering executing mechanism is in a second working mode, the rotating speed and the torque of the oil pump motor are reverse, the high-low pressure and the master-slave relation on the two sides of the closed hydraulic direct-drive loop are changed, the left and right parallel oil cylinders are driving parts, the oil supply pump is driven parts, the left and right parallel oil cylinders push the oil supply pump to act, and the oil pump motor is in a power generation state.
Further, the steering demand calculation module comprises a servo controller based on a sliding mode control algorithm; the input parameters of the steering demand calculation module include: target articulation angleTarget articulation angular velocity/>Feedback hinge Angle/>Feedback hinge angular velocity/>；
The steering demand calculation module adopts a sliding mode control algorithm based on an exponential approach law to define a system errorAnd slip form face/>The method comprises the following steps:
Slip form surface First derivative/>：
Wherein,And/>Steering angular velocities of front and rear bodies of an articulated steering vehicle, respectively,/>And/>Steering angular accelerations of a front body and a rear body of the articulated steering vehicle, respectively; /(I)For feedback hinge angle/>Is a second derivative of (2); /(I)For the target hinge angle/>Is a second derivative of (2); /(I)And/>Systematic error/>, respectivelyFirst and second derivatives of (a);
To make things like An exponential approach law is adopted, and the following steps are adopted:
wherein the approach rate of the sliding mode movement > 0, Exponential approach term coefficient/>＞0；
According to a horizontal direction dynamics model of a front vehicle body and a rear vehicle body of the articulated steering vehicle:
The method can obtain:
Wherein, And/>Moment of inertia about respective centroids of front and rear bodies,/>, respectivelyAnd/>The total moment of the tire force acting on the front vehicle body and the total moment of the tire force acting on the rear vehicle body are respectively/>And/>Moment acting on front car body and moment acting on rear car body respectively for articulated steering car's articulated axle,/>And/>The total moment of the left and right parallel cylinders to the center of mass of the front car body and the total moment of the left and right parallel cylinders to the center of mass of the rear car body are respectivelyThe above substitution/>The calculation formula can obtain the steering demand torque/>, of the whole vehicle：
。
Further, the steering demand torque of the whole vehicleFinally distributed to an oil pump motor of the hydraulic steering actuating mechanism, and the hydraulic steering control module controls the required rotating speed/>, of the oil pump motorAnd then flow and oil pressure of a closed hydraulic direct-drive loop are controlled, and a hydraulic steering control module calculates the required rotating speed/>, of an oil pump motor by adopting a sliding mode control algorithm based on a constant-speed approach law；
Defining a slip-form surface：/>Wherein/>Is the actual oil pressure of the high pressure side of the closed hydraulic direct drive loop,Target oil pressure at a high-pressure side of a closed hydraulic direct-drive loop;
target oil pressure at high pressure side of closed hydraulic direct-drive loop The method meets the following conditions:
Target oil pressure at high pressure side of closed hydraulic direct drive loop ：
Wherein,Is back pressure of low pressure side of closed hydraulic direct drive loop,/>Is the effective sectional area of a rodless oil inlet cavity of a single oil cylinder in the left and right parallel oil cylinders, and is/(Effective sectional area of rod oil inlet cavity of single oil cylinder in left and right parallel oil cylinders,/>、/>The force arm of the left side oil cylinder relative to the hinge shaft of the hinged steering vehicle and the force arm of the right side oil cylinder relative to the hinge shaft of the hinged steering vehicle in the left and right parallel oil cylinders are respectively;
The hydraulic steering actuating mechanism is in a first working mode, the rotating speed and the torque of the oil pump motor are in the same direction, at the moment, the oil inlet side of the closed hydraulic direct-drive loop is a high-pressure side, and the oil supply flow of the oil inlet cavity of a single oil cylinder in the left-right parallel oil cylinder is in the first working mode Represented by the formula:
Wherein, Is the effective sectional area of an oil inlet cavity of the oil cylinder,/>And/>Respectively the stroke and the speed of the oil cylinder,/>Is the elastic modulus of oil liquid,/>Is the first derivative of the actual oil pressure at the high pressure side of the closed hydraulic direct drive loop,/>Oil pump motor rotating speed required for oil supply of oil inlet cavity of oil cylinder,/>For oil supply pump discharge, the sliding mode surface/>Is the first derivative of (a):
To make things like Adopting a constant velocity approach law, and enabling:
wherein the approach rate of the sliding mode movement > 0; The rotation speed/>, required by oil supply of the oil inlet cavity of the oil cylinder, of the oil pump motorThe method comprises the following steps:
The required rotation speed of the oil pump motor The rotational speed/>, of the oil pump motor required by oil supply of an oil inlet cavity of a left oil cylinder in the left and right parallel oil cylinders, is equal toThe rotation speed/>, required by oil supply of an oil inlet cavity of the right-side oil cylinder, of an oil pump motorAnd (2) a sum of (2);
The hydraulic steering actuating mechanism is in a second working mode, the rotating speed and torque of the oil pump motor are reversed, at the moment, the low-pressure side of the closed hydraulic direct-drive loop is changed into a high-pressure side, and the oil discharge flow of the oil outlet cavity of a single oil cylinder in the left-right parallel oil cylinder is in the second working mode Represented by the formula:
Wherein, Effective sectional area of oil inlet cavity of oil cylinder,/>And/>Respectively the stroke and the speed of the oil cylinder,/>Is the elastic modulus of oil liquid,/>Is the first derivative of the actual oil pressure at the high pressure side of the closed hydraulic direct drive loop,/>Oil pump motor rotation speed required for oil pumping of oil outlet cavity of oil cylinder,/>For oil supply pump discharge, the sliding mode surface/>Is the first derivative of (a):
To make things like Using constant velocity approach law, let:
wherein the approach rate of the sliding mode movement > 0; The rotation speed/>, of the oil pump motor required by oil pumping of the oil outlet cavity of the oil cylinderThe method comprises the following steps:
The required rotation speed of the oil pump motor The rotation speed/>, of the oil pump motor required by oil pumping of an oil outlet cavity of a left oil cylinder in the left and right parallel oil cylinders is equal toOil pump motor rotation speed/>, which is required by oil pumping with oil outlet cavity of right-side oil cylinderA kind of electronic device.
Further, the reversing valve control module is used for acquiring the target hinging angular velocityForm a control signal unique to the three-position four-way electric control reversing valve/>Expressed as:
0.1 and 2 respectively correspond to the left, middle and right action states of the three-position four-way electric control reversing valve.
Compared with the prior art, the invention has the advantages that:
the invention realizes the recovery of the residual kinetic energy in the steering hinge angle closed-loop control process of the hinge steering vehicle by controlling the variable frequency motor driving the fixed displacement oil pump by utilizing the characteristic that the closed hydraulic direct drive loop can bidirectionally transfer power, improves the energy utilization efficiency of the steering system, is beneficial to reducing emission and realizes the environmental protection aim of a green mine.
According to the invention, the closed loop sliding mode control is carried out on the position and the speed of the steering hinge angle through the steering demand calculation module, the inherent advantages of the closed hydraulic direct drive loop in the response speed are combined, the steering hinge angle can be rapidly and accurately controlled, a follow-up effect of the actual hinge angle of the articulated steering vehicle on the target hinge angle is formed, the steering operability of the whole vehicle is improved, the work load of a driver is reduced, and the active safety is improved.
According to the invention, decoupling of the action direction control of the hydraulic steering mechanism and the actual steering state of the vehicle is realized through the reversing valve control module, frequent action reversing of the three-position four-way electric control reversing valve in the closed loop control process can be avoided, so that the impact of the hydraulic steering executing mechanism is reduced, and the mechanical life of the hydraulic steering executing mechanism is prolonged.
Drawings
FIG. 1 is a control flow diagram of an articulated vehicle power steering system with a closed hydraulic direct drive circuit;
Fig. 2 is a schematic view of a hydraulic steering actuator.
In the figure: 1-an oil pump motor; 2-an oil feed pump; 3-a make-up pump; 4-a first overflow valve; 5-an oil tank; 6-a first pilot operated check valve; 7-a second pilot operated check valve; 8-a second overflow valve; 9-a third overflow valve; 10-three-position four-way electric control reversing valve; 11-left and right parallel cylinders.
Detailed Description
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
As shown in fig. 2: an articulated vehicle power steering system of a closed hydraulic direct drive loop is carried on an articulated steering vehicle and comprises an operating lever, a steering controller and a hydraulic steering executing mechanism.
The hydraulic steering actuating mechanism is a closed hydraulic direct-drive loop, has higher response speed and higher power density and energy utilization efficiency compared with an open hydraulic loop, and comprises an oil pump motor 1, an oil supply pump 2, left and right parallel oil cylinders 11, a three-position four-way electric control reversing valve 10, an oil supplementing pump 3, an oil tank 5, a first hydraulic control one-way valve 6 and a second hydraulic control one-way valve 7; the left and right parallel cylinders 11 comprise a left cylinder, a right cylinder and two parallel oil paths, wherein the left cylinder and the right cylinder are symmetrically arranged at two sides of a hinge shaft of the hinged steering vehicle, and the two parallel oil paths are respectively a first oil path for connecting a rod cavity of the left cylinder and a rodless cavity of the right cylinder and a second oil path for connecting the rodless cavity of the left cylinder and a rod cavity of the right cylinder; the oil supply pump 2 is a fixed displacement oil pump; the oil pump motor 1 is a variable frequency motor, can control the rotating speed and the torque and is used for driving the oil supply pump 2 and the oil supplementing pump 3; the oil suction port and the oil discharge port of the oil supply pump 2 are respectively connected with the oil inlet and the oil return port of the three-position four-way electric control reversing valve 10, and the two working oil ports of the three-position four-way electric control reversing valve 10 are respectively connected with two parallel oil paths of the left and right parallel oil cylinders 11; the oil supplementing pump 3 is used for compensating oil loss of the closed hydraulic direct-drive loop; the oil suction port of the oil supplementing pump 3 is connected with the oil tank 5, the oil discharge port is connected with an oil supplementing main path, the oil supplementing main path is divided into two branches, the first branch is connected with an oil discharge port side oil path of the oil supply pump 2 through a first hydraulic control one-way valve 6, and the second branch is connected with an oil suction port side oil path of the oil supply pump 2 through a second hydraulic control one-way valve 7; the first hydraulic control one-way valve 6 and the second hydraulic control one-way valve 7 are used for adjusting the on-off of the oil supplementing branch.
The control lever is used for inputting steering information, a driver inputs the steering information through the control lever according to road conditions, and the steering controller controls the hydraulic steering executing mechanism to act according to the steering information to generate steering torque so as to steer the articulated steering vehicle.
The hydraulic steering actuator further comprises a first overflow valve 4, a second overflow valve 8 and a third overflow valve 9; the first overflow valve 4 is connected into the oil supplementing main path; the second relief valve 8 opens into the oil drain-side oil passage of the oil feed pump 2, and the third relief valve 9 opens into the oil suction-side oil passage of the oil feed pump 2.
As shown in fig. 1: the steering controller comprises a signal analysis module, a steering demand calculation module, a reversing valve control module and a hydraulic steering control module;
The signal analysis module is used for analyzing the steering information input by the control lever and outputting a target hinge angle and a target hinge angular speed;
the steering demand calculation module is used for carrying out integral closed-loop control on the target articulation angle, the target articulation angular speed, the feedback articulation angle of the articulated steering vehicle and the feedback articulation angular speed, and calculating the whole vehicle steering demand moment of the articulated steering vehicle in real time;
the hydraulic steering control module calculates the required rotating speed of the oil pump motor 1 according to the steering required torque of the whole vehicle;
The reversing valve control module forms a unique control signal for the three-position four-way electric control reversing valve 10 according to the sign of the target hinging angular velocity, and the decoupling of the action direction control of the hydraulic steering executing mechanism and the actual steering state of the hinging steering vehicle is realized.
The hydraulic steering executing mechanism is provided with a first working mode and a second working mode, and the steering controller realizes the switching of the working modes of the hydraulic steering executing mechanism by controlling the oil pump motor 1 and combining the action of the three-position four-way electric control reversing valve 10; the torque direction is changed according to working conditions under the condition that the rotating speed direction of the oil pump motor 1 is unchanged, so that the high-low pressure and master-slave relation on two sides of the closed hydraulic direct-drive loop are changed in real time under the condition that the overall flow direction of the closed hydraulic direct-drive loop is unchanged.
The hydraulic steering executing mechanism is in a first working mode, the rotation speed and the torque of the oil pump motor 1 are in the same direction, the oil supply pump 2 is a driving part, the left and right parallel oil cylinders 11 are driven parts, and the oil supply pump 2 pushes the left and right parallel oil cylinders 11 to act.
The hydraulic steering executing mechanism is in a second working mode, the rotating speed and the torque of the oil pump motor 1 are reverse, the high-low pressure and the master-slave relation on the two sides of the closed hydraulic direct-drive loop are changed, the left and right parallel oil cylinders 11 are driving parts, the oil supply pump 2 is driven parts, the left and right parallel oil cylinders 11 push the oil supply pump 2 to act, and the oil pump motor 1 is in a power generation state.
The steering demand calculation module comprises a servo controller based on a sliding mode control algorithm; the method is used for carrying out integral closed-loop control on the target articulation angle and the target articulation angular speed, feeding back the articulation angle and feeding back the articulation angular speed, so that the response of the actual articulation angle (feeding back the articulation angle) of the articulated steering vehicle has the over-damping characteristic, and meanwhile, a follow-up effect of the feeding back articulation angle on the target articulation angle is formed, thereby realizing the accurate control on the actual articulation angle, reducing the work burden of a driver and improving the initiative safety.
The input parameters of the steering demand calculation module include: target articulation angleTarget articulation angular velocity/>Feedback hinge Angle/>Feedback hinge angular velocity/>；
The steering demand calculation module adopts a sliding mode control algorithm based on an exponential approach law to define a system errorAnd slip form face/>The method comprises the following steps:
Slip form surface First derivative/>：
Wherein,And/>Steering angular velocities of front and rear bodies of an articulated steering vehicle, respectively,/>And/>Steering angular accelerations of a front body and a rear body of the articulated steering vehicle, respectively; /(I)For feedback hinge angle/>Is a second derivative of (2); /(I)For the target hinge angle/>Is a second derivative of (2); /(I)And/>Systematic error/>, respectivelyFirst and second derivatives of (a);
To make things like An exponential approach law is adopted, and the following steps are adopted:
wherein the approach rate of the sliding mode movement > 0, Exponential approach term coefficient/>＞0；
According to a horizontal direction dynamics model of a front vehicle body and a rear vehicle body of the articulated steering vehicle:
The method can obtain:
Wherein, And/>Moment of inertia about respective centroids of front and rear bodies,/>, respectivelyAnd/>The total moment of the tire force acting on the front vehicle body and the total moment of the tire force acting on the rear vehicle body are respectively/>And/>Moment acting on front car body and moment acting on rear car body respectively for articulated steering car's articulated axle,/>And/>The total moment of the left and right parallel cylinders to the center of mass of the front car body and the total moment of the left and right parallel cylinders to the center of mass of the rear car body are respectivelyThe above substitution/>The calculation formula can obtain the steering demand torque/>, of the whole vehicle：
。
Steering demand moment of whole vehicleThe oil pump motor 1, which is finally distributed to the hydraulic steering actuator, is controlled by the hydraulic steering control module by controlling the required rotational speed/>, of the oil pump motorAnd then flow and oil pressure of a closed hydraulic direct-drive loop are controlled, and a hydraulic steering control module calculates the required rotating speed/>, of an oil pump motor by adopting a sliding mode control algorithm based on a constant-speed approach law；
Defining a slip-form surface：/>Wherein/>Is the actual oil pressure of the high pressure side of the closed hydraulic direct drive loop,Target oil pressure at a high-pressure side of a closed hydraulic direct-drive loop;
target oil pressure at high pressure side of closed hydraulic direct-drive loop The method meets the following conditions:
Target oil pressure at high pressure side of closed hydraulic direct drive loop ：
Wherein,Is back pressure of low pressure side of closed hydraulic direct drive loop,/>Is the effective sectional area of a rodless oil inlet cavity of a single oil cylinder in the left and right parallel oil cylinders, and is/(Effective sectional area of rod oil inlet cavity of single oil cylinder in left and right parallel oil cylinders,/>、/>The force arm of the left side oil cylinder relative to the hinge shaft of the hinged steering vehicle and the force arm of the right side oil cylinder relative to the hinge shaft of the hinged steering vehicle are respectively arranged in the left side oil cylinder and the right side oil cylinder.
The hydraulic steering actuating mechanism is in a first working mode, the rotating speed and the torque of the oil pump motor 1 are in the same direction, at the moment, the oil inlet side of the closed hydraulic direct-drive loop is a high-pressure side, and the oil supply flow of the oil inlet cavity of a single oil cylinder in the left-right parallel oil cylinder is in the first working modeRepresented by the formula:
Wherein, Is the effective sectional area of an oil inlet cavity of the oil cylinder,/>And/>Respectively the stroke and the speed of the oil cylinder,/>Is the elastic modulus of oil liquid,/>Is the first derivative of the actual oil pressure at the high pressure side of the closed hydraulic direct drive loop,/>Oil pump motor rotating speed required for oil supply of oil inlet cavity of oil cylinder,/>For oil supply pump discharge, the sliding mode surface/>Is the first derivative of (a):
To make things like Adopting a constant velocity approach law, and enabling:
wherein the approach rate of the sliding mode movement > 0; The rotation speed/>, required by oil supply of the oil inlet cavity of the oil cylinder, of the oil pump motorThe method comprises the following steps:
The required rotation speed of the oil pump motor The rotational speed/>, of the oil pump motor required by oil supply of an oil inlet cavity of a left oil cylinder in the left and right parallel oil cylinders, is equal toThe rotation speed/>, required by oil supply of an oil inlet cavity of the right-side oil cylinder, of an oil pump motorA kind of electronic device.
The hydraulic steering actuating mechanism is in a second working mode, the rotating speed and torque of the oil pump motor 1 are reversed, at the moment, the low-pressure side of the closed hydraulic direct-drive loop is changed into a high-pressure side, and the oil discharge flow of the oil outlet cavity of a single oil cylinder in the left-right parallel oil cylinder is in the second working modeRepresented by the formula:
Wherein, Effective sectional area of oil inlet cavity of oil cylinder,/>And/>Respectively the stroke and the speed of the oil cylinder,/>Is the elastic modulus of oil liquid,/>Is the first derivative of the actual oil pressure at the high pressure side of the closed hydraulic direct drive loop,/>Oil pump motor rotation speed required for oil pumping of oil outlet cavity of oil cylinder,/>For oil supply pump discharge, the sliding mode surface/>Is the first derivative of (a):
To make things like Using constant velocity approach law, let:
wherein the approach rate of the sliding mode movement > 0; The rotation speed/>, of the oil pump motor required by oil pumping of the oil outlet cavity of the oil cylinderThe method comprises the following steps:
The required rotation speed of the oil pump motor The rotation speed/>, of the oil pump motor required by oil pumping of an oil outlet cavity of a left oil cylinder in the left and right parallel oil cylinders is equal toOil pump motor rotation speed/>, which is required by oil pumping with oil outlet cavity of right-side oil cylinderA kind of electronic device.
The reversing valve control module is used for controlling the action of the three-position four-way electric control reversing valve 10 in the hydraulic steering executing mechanism, and a unique control signal for the three-position four-way electric control reversing valve 10 is formed by collecting a sign of a target hinging angular velocity, and the three-position four-way electric control reversing valve 10 only needs to execute single action in the whole vehicle steering closed-loop control process in combination with the over-damping response characteristic of the actual hinging angle of the hinging steering vehicle, so that decoupling of the action direction control of the hydraulic steering executing mechanism and the actual steering state of the vehicle is realized, and compared with a traditional steering control system by wire, frequent action reversing of the three-position four-way electric control reversing valve 10 in the closed-loop control process is avoided, so that the impact of the hydraulic steering executing mechanism is reduced, and the mechanical life of the hydraulic steering executing mechanism is prolonged.
The reversing valve control module is used for acquiring the target hinging angular velocityForm a control signal unique to the three-position four-way electric control reversing valve 10Expressed as:
0.1 and 2 respectively correspond to the left, middle and right action states of the three-position four-way electric control reversing valve 10.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. An articulated vehicle power steering system of a closed hydraulic direct drive circuit, characterized in that: the hydraulic steering system is mounted on an articulated steering vehicle and comprises a control rod, a steering controller and a hydraulic steering executing mechanism;
The hydraulic steering actuating mechanism is a closed hydraulic direct-drive loop and comprises an oil pump motor (1), an oil supply pump (2), left and right parallel oil cylinders (11), a three-position four-way electric control reversing valve (10), an oil supplementing pump (3), an oil tank (5), a first hydraulic control one-way valve (6) and a second hydraulic control one-way valve (7); the left and right parallel oil cylinders (11) comprise a left oil cylinder, a right oil cylinder and two parallel oil paths, wherein the left oil cylinder and the right oil cylinder are symmetrically arranged at two sides of a hinge shaft of the hinged steering vehicle, and the two parallel oil paths are a first oil path for connecting a rod cavity of the left oil cylinder with a rodless cavity of the right oil cylinder and a second oil path for connecting the rodless cavity of the left oil cylinder with a rod cavity of the right oil cylinder respectively; the oil supply pump (2) is a fixed displacement oil pump; the oil pump motor (1) is a variable frequency motor and is used for driving the oil supply pump (2) and the oil supplementing pump (3); the oil suction port and the oil discharge port of the oil supply pump (2) are respectively connected with the oil inlet and the oil return port of the three-position four-way electric control reversing valve (10), and the two working oil ports of the three-position four-way electric control reversing valve (10) are respectively connected with the two parallel oil paths of the left and right parallel oil cylinders (11); the oil supplementing pump (3) is used for compensating oil loss of the closed hydraulic direct-drive loop; the oil suction port of the oil supplementing pump (3) is connected with the oil tank (5), the oil discharge port is connected with the oil supplementing main path, the oil supplementing main path is divided into two branches, the first branch is connected with an oil discharge port side oil path of the oil supplying pump (2) through a first hydraulic control one-way valve (6), and the second branch is connected with an oil suction port side oil path of the oil supplying pump (2) through a second hydraulic control one-way valve (7);
the control lever is used for inputting steering information, and the steering controller controls the hydraulic steering executing mechanism to act according to the steering information to generate steering torque so as to steer the articulated steering vehicle;
the steering controller comprises a signal analysis module, a steering demand calculation module, a reversing valve control module and a hydraulic steering control module;
The signal analysis module is used for analyzing the steering information input by the control lever and outputting a target hinge angle and a target hinge angular speed;
the steering demand calculation module is used for carrying out integral closed-loop control on the target articulation angle, the target articulation angular speed, the feedback articulation angle of the articulated steering vehicle and the feedback articulation angular speed, and calculating the whole vehicle steering demand moment of the articulated steering vehicle in real time;
The hydraulic steering control module calculates the required rotating speed of the oil pump motor (1) according to the steering required torque of the whole vehicle;
the reversing valve control module forms a control signal unique to the three-position four-way electric control reversing valve (10) according to the sign of the target hinging angular speed, and the decoupling of the action direction control of the hydraulic steering executing mechanism and the actual steering state of the hinging steering vehicle is realized;
The hydraulic steering executing mechanism is provided with a first working mode and a second working mode, and the steering controller realizes the switching of the working modes of the hydraulic steering executing mechanism by controlling the oil pump motor (1) and combining the action of the three-position four-way electric control reversing valve (10); the torque direction is changed according to working conditions under the condition that the rotating speed direction of the oil pump motor (1) is unchanged, so that the high-low pressure and master-slave relation at two sides of the closed hydraulic direct-drive loop is changed in real time under the condition that the overall flow direction of the closed hydraulic direct-drive loop is unchanged;
The hydraulic steering executing mechanism is in a first working mode, the rotating speed and the torque of the oil pump motor (1) are in the same direction, the oil supply pump (2) is a driving part, the left and right parallel oil cylinders (11) are driven parts, and the oil supply pump (2) pushes the left and right parallel oil cylinders (11) to act;
The hydraulic steering executing mechanism is in a second working mode, the rotating speed and the torque of the oil pump motor (1) are reverse, the high-low pressure and the master-slave relation at the two sides of the closed hydraulic direct-drive loop are changed, the left and right parallel oil cylinders (11) are driving parts, the oil supply pump (2) is driven parts, the left and right parallel oil cylinders (11) push the oil supply pump (2) to act, and the oil pump motor (1) is in a power generation state;
the steering demand calculation module comprises a servo controller based on a sliding mode control algorithm; the input parameters of the steering demand calculation module include: target articulation angle Target articulation angular velocity/>Feedback hinge Angle/>Feedback hinge angular velocity/>；
The steering demand calculation module adopts a sliding mode control algorithm based on an exponential approach law to define a system errorAnd slip form face/>The method comprises the following steps:
Slip form surface First derivative/>：
Wherein,And/>Steering angular velocities of front and rear bodies of an articulated steering vehicle, respectively,/>And/>Steering angular accelerations of a front body and a rear body of the articulated steering vehicle, respectively; /(I)For feedback hinge angle/>Is a second derivative of (2); /(I)For the target hinge angle/>Is a second derivative of (2); /(I)And/>Systematic error/>, respectivelyFirst and second derivatives of (a);
To make things like An exponential approach law is adopted, and the following steps are adopted:
wherein the approach rate of the sliding mode movement > 0, Exponential approach term coefficient/>＞0；
According to a horizontal direction dynamics model of a front vehicle body and a rear vehicle body of the articulated steering vehicle:
The method can obtain:
Wherein, And/>Moment of inertia about respective centroids of front and rear bodies,/>, respectivelyAnd/>The total moment of the tire force acting on the front vehicle body and the total moment of the tire force acting on the rear vehicle body are respectively/>And/>Moment acting on front car body and moment acting on rear car body respectively for articulated steering car's articulated axle,/>And/>The total moment of the left and right parallel cylinders to the center of mass of the front car body and the total moment of the left and right parallel cylinders to the center of mass of the rear car body are respectivelyThe above substitution/>The calculation formula can obtain the steering demand torque/>, of the whole vehicle：
。
2. An articulating vehicle power steering system of a closed hydraulic direct drive circuit according to claim 1, wherein: the hydraulic steering actuating mechanism further comprises a first overflow valve (4), a second overflow valve (8) and a third overflow valve (9); the first overflow valve (4) is connected into the oil supplementing main path; the second overflow valve (8) is connected into an oil drain side oil path of the oil feed pump (2), and the third overflow valve (9) is connected into an oil suction side oil path of the oil feed pump (2).
3. An articulating vehicle power steering system of a closed hydraulic direct drive circuit according to claim 1, wherein: steering demand moment of whole vehicleAnd finally, the hydraulic steering control module controls the required rotation speed/>, of the oil pump motor (1) of the hydraulic steering actuating mechanismAnd then flow and oil pressure of a closed hydraulic direct-drive loop are controlled, and a hydraulic steering control module calculates the required rotating speed/>, of an oil pump motor by adopting a sliding mode control algorithm based on a constant-speed approach law；
Defining a slip-form surface：/>Wherein/>Is the actual oil pressure of the high pressure side of the closed hydraulic direct drive loop,/>Target oil pressure at a high-pressure side of a closed hydraulic direct-drive loop;
target oil pressure at high pressure side of closed hydraulic direct-drive loop The method meets the following conditions:
Target oil pressure at high pressure side of closed hydraulic direct drive loop ：
Wherein,Is back pressure of low pressure side of closed hydraulic direct drive loop,/>Is the effective sectional area of a rodless oil inlet cavity of a single oil cylinder in the left and right parallel oil cylinders, and is/(Effective sectional area of rod oil inlet cavity of single oil cylinder in left and right parallel oil cylinders,/>、/>The force arm of the left side oil cylinder relative to the hinge shaft of the hinged steering vehicle and the force arm of the right side oil cylinder relative to the hinge shaft of the hinged steering vehicle in the left and right parallel oil cylinders are respectively;
The hydraulic steering actuating mechanism is in a first working mode, the rotating speed and the torque of the oil pump motor (1) are in the same direction, at the moment, the oil inlet side of the closed hydraulic direct-drive loop is a high-pressure side, and the oil supply flow of the oil inlet cavity of a single oil cylinder in the left-right parallel oil cylinder is in the first working mode Represented by the formula:
Wherein, Is the effective sectional area of an oil inlet cavity of the oil cylinder,/>And/>Respectively the stroke and the speed of the oil cylinder,/>Is the elastic modulus of oil liquid,/>Is the first derivative of the actual oil pressure at the high pressure side of the closed hydraulic direct drive loop,/>Oil pump motor rotating speed required for oil supply of oil inlet cavity of oil cylinder,/>For oil supply pump discharge, the sliding mode surface/>Is the first derivative of (a):
To make things like Adopting a constant velocity approach law, and enabling:
wherein the approach rate of the sliding mode movement > 0; The rotation speed/>, required by oil supply of the oil inlet cavity of the oil cylinder, of the oil pump motorThe method comprises the following steps:
The required rotation speed of the oil pump motor The rotational speed/>, of the oil pump motor required by oil supply of an oil inlet cavity of a left oil cylinder in the left and right parallel oil cylinders, is equal toThe rotation speed/>, required by oil supply of an oil inlet cavity of the right-side oil cylinder, of an oil pump motorAnd (2) a sum of (2);
The hydraulic steering actuating mechanism is in a second working mode, the rotating speed and torque of the oil pump motor (1) are reversed, at the moment, the low-pressure side of the closed hydraulic direct-drive loop is changed into a high-pressure side, and the oil discharge flow of the oil outlet cavity of a single oil cylinder in the left-right parallel oil cylinder is in the second working mode Represented by the formula:
Wherein, Effective sectional area of oil inlet cavity of oil cylinder,/>And/>Respectively the stroke and the speed of the oil cylinder,/>Is the elastic modulus of oil liquid,/>Is the first derivative of the actual oil pressure at the high pressure side of the closed hydraulic direct drive loop,/>Oil pump motor rotation speed required for oil pumping of oil outlet cavity of oil cylinder,/>For oil supply pump discharge, the sliding mode surface/>Is the first derivative of (a):
To make things like Using constant velocity approach law, let:
wherein the approach rate of the sliding mode movement > 0; The rotation speed/>, of the oil pump motor required by oil pumping of the oil outlet cavity of the oil cylinderThe method comprises the following steps:
The required rotation speed of the oil pump motor The rotation speed/>, of the oil pump motor required by oil pumping of an oil outlet cavity of a left oil cylinder in the left and right parallel oil cylinders is equal toOil pump motor rotation speed/>, which is required by oil pumping with oil outlet cavity of right-side oil cylinderA kind of electronic device.
4. An articulating vehicle power steering system of the closed hydraulic direct drive circuit of claim 3, wherein: the reversing valve control module is used for acquiring the target hinging angular velocityForm a control signal/>, which is unique to the three-position four-way electric control reversing valve (10)Expressed as:
0.1 and 2 respectively correspond to the left position, the middle position and the right position of the three-position four-way electric control reversing valve (10).
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