CN117922684A - Wheel corner control method and device for unmanned container transport vehicle - Google Patents

Wheel corner control method and device for unmanned container transport vehicle Download PDF

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Publication number
CN117922684A
CN117922684A CN202410176126.8A CN202410176126A CN117922684A CN 117922684 A CN117922684 A CN 117922684A CN 202410176126 A CN202410176126 A CN 202410176126A CN 117922684 A CN117922684 A CN 117922684A
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China
Prior art keywords
steering
angle
axle
wheel
shaft
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CN202410176126.8A
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Chinese (zh)
Inventor
彭光绪
毛向阳
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Shanghai Youdao Zhitu Technology Co Ltd
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Shanghai Youdao Zhitu Technology Co Ltd
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Priority to CN202410176126.8A priority Critical patent/CN117922684A/en
Publication of CN117922684A publication Critical patent/CN117922684A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
    • B62D7/144—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention relates to a wheel corner control method of an unmanned container transport vehicle, which comprises the following steps: the steering ECU receives IECU wheel steering modes and angle instructions, and decomposes the instructions into target angles of all axles of the container transport vehicle; according to the target angle of each axle of the container truck and the current axle angle of the container truck, the steering ECU controls the wheels of each axle to rotate to a required angle according to a certain angular speed through the hydraulic system of each axle and a corresponding mechanical system; the angle sensor installed on the steering shaft main pin feeds back the real-time angle and the angular speed acquired by the angle sensor to the steering ECU.

Description

Wheel corner control method and device for unmanned container transport vehicle
Technical Field
The invention belongs to the technical field of intelligent driving, and particularly relates to a wheel corner control method and device of an unmanned container transport vehicle.
Background
According to the knowledge, the existing wharf integrated card unmanned vehicle is basically modified on the traditional vehicle, and the traditional cab and the steering control system are reserved, so that the existing wharf integrated card unmanned vehicle can be consistent with the operation mode of the traditional vehicle in automatic driving, and the steering wheel is controlled to drive the steering wheel to control the steering of the vehicle, so that the steering angle of the wheels and the steering angular speed of the steering wheel are controlled at any time in the driving process, and the steering control of the wheels in automatic driving is met.
The unmanned automatic vehicle with the integrated card cancels a cab and can realize all-wheel steering, and the steering mode is divided into crab steering, four-wheel driving, front axle and rear axle steering modes; each wheel rotates different angles in combination with different steering modes to achieve the steering requirements of the required vehicle. However, the vehicle has no corresponding mechanical structure to synchronize the steering wheels, so that an electric control is needed to control the control mode and the control precision of the steering system so as to meet the requirements of the unmanned vehicle on the steering system.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a wheel corner control method and device of an unmanned container transport vehicle at a wharf.
In order to achieve the above object, the present invention provides a wheel angle control method for an unmanned container vehicle, comprising the steps of:
The steering ECU receives IECU wheel steering modes and angle instructions, and decomposes the instructions into target angles of all axles of the container transport vehicle;
according to the target angle of each shaft of the container truck and the current angle of each shaft of the container truck, the steering ECU controls the wheels of each shaft to rotate to a required angle according to a certain angular speed through the hydraulic system of each shaft and a corresponding mechanical system;
the angle sensor installed on the steering shaft main pin feeds back the real-time angle and angular velocity values acquired by the angle sensor to the steering ECU.
According to the steering ECU disclosed by the invention, the steering of the steering wheels is realized by receiving the wheel steering mode and angle magnitude instructions of IECU, decomposing and converting the angles to the axles of the vehicle according to the steering mode requirements through an algorithm, and combining a certain mechanical structure through the control logic of a hydraulic system, so that the real-time steering requirements in the running process of the vehicle are met.
The invention further adopts the following technical scheme:
Further, after receiving the steering angle and the steering mode sent by IECU, the steering ECU determines the target angle of each axle of the container truck, compares the target angle with the current actual angle of the axle, controls the opening of a steering electromagnetic valve in a hydraulic system, and controls the speed of the steering oil cylinder to push wheels to rotate so as to realize corresponding steering; the current axle angle refers to the equivalent rotation angle of the steering shaft, and the equivalent angle of the steering shaft refers to the average value of the sum of the actual angles of the wheels on the left side and the right side of the steering shaft, namely the equivalent angle of the steering shaft= (the actual angle of the wheels on the left side and the actual angle of the wheels on the right side)/2. And the IECU is in information interaction with the steering ECU, and the steering ECU is in information interaction with the shaft sensor through CAN signal connection.
Further, the container transport vehicle comprises a front shaft and a rear shaft, wherein the front shaft and the rear shaft are respectively recorded as a shaft 1, a shaft 2, a shaft 3 and a shaft 4; in the wheel steering mode and the angle instruction sent by IECU, the front axle angle is theta 1, the rear axle angle is theta 2, and the wheel steering mode is divided into four modes of front axle steering, rear axle steering, crab steering and four-wheel steering; the target angle values of the front axle and the rear axle after ECU decomposition are respectively δ1, δ2, δ3 and δ4, and the calculation modes of the target angle values of the front axle and the rear axle are as follows:
δ1=θ1 in front axle steering, crab steering, and four-wheel steering modes; in the rear axle steering mode δ1=0;
in crab mode, δ2=θ1; in the front axle steering, rear axle steering and four-wheel steering modes,
In crab mode, δ3=θ1; in the front axle steering, rear axle steering and four-wheel steering modes,
Wherein L1 is the distance between the axis 1 and the axis 2, L2 is the distance between the axis 2 and the axis 3, and L3 is the distance between the axis 3 and the axis 4; δ1, δ2, δ3, δ4 are steering angles of four steering shafts;
δ4=0 in the front axle steering mode, δ4=θ1 in the crab mode, and δ4=θ2 in the rear axle steering and four-wheel steering modes.
Further, in the crab mode, the target angles delta 1, delta 2, delta 3 and delta 4 of the front shaft and the rear shaft are consistent in size and direction, the wheels of the four shafts are in a parallel state, and the temporary vehicle does not run with a circle center; under the front axle steering, rear axle steering and four-wheel steering modes, the target angle values of the four axles ensure that the four axles meet the requirement that the wheels run at the same circle center O and meet the requirement of an Ackerman steering circle.
Further, the left and right sides of the axle 1, the axle 2, the axle 3 and the axle 4 are respectively provided with a wheel, the axle steering actual angle of the ith axle is delta i', the target angle is delta i, and the actual angle values corresponding to the wheels arranged on the left and right sides of the ith axle are delta i L and delta i R, then delta i′＝(δiL+δi R)/2;
The two sides of each shaft are respectively provided with a corner encoder at the main pin of the steering shaft, and the corner encoders are used for measuring actual angle values delta i L and delta i R of left and right wheels of the shafts;
And comparing the actual angle delta i 'of the ith shaft with the target angle delta i, and starting the steering electromagnetic valve to steer when the absolute value of the deviation between the actual angle delta i' of the ith shaft and the target angle delta i is larger than a preset value, otherwise, not starting the steering electromagnetic valve.
Further, in the steering process, the turning angle and the angular speed of the wheels are controlled through the opening degree of the steering electromagnetic valve, so that the wheels can be guaranteed to run at the same circle center O, and the angles of the four shafts can be guaranteed to meet the requirement of an Ackerman steering circle.
Further, when the four-axis angle of the vehicle is 0, the four-wheel steering is started, and when the angular velocity of the axis 1 is V1 and the angle of the axis 2 is V2, v2= (δ2/δ1) ×v1, the angular velocity of the axis 3 is the same as the angular velocity of the axis 2, and the angular velocity of the axis 4 is the same as the angular velocity of the axis 1. In the actual steering process, the ECU timely corrects the current of the steering electromagnetic valve through the feedback of the angular velocity, so as to realize the control of the angular velocity of the wheel corner.
The invention adopts the control conversion logic of the ECU to the angles of the four wheels, calculates the deviation between the target angle and the actual angle in real time, corrects the opening control of the steering electromagnetic valve at any time through a fuzzy PID algorithm, and controls the hydraulic flow to control the rotation angle speed so as to achieve the aim angle at the same time.
The invention also provides a wheel corner control device of the unmanned container truck, which comprises a steering ECU, an IECU, a corner encoder, a steering hydraulic system and a steering mechanical system, wherein the steering ECU is in communication connection with IECU, the corner encoder is arranged on a steering shaft kingpin position of the container truck, the corner encoder is in communication connection with the steering ECU, the steering hydraulic system and the steering mechanical system are both arranged on a steering shaft of the container truck, and the steering ECU is connected with the steering mechanical system through the steering hydraulic system.
Further, the container transport vehicle is provided with four steering shafts, wheels are respectively arranged on the left side and the right side of each steering shaft, and a corner encoder used for collecting the angles of the wheels is arranged on the steering shaft at the position of the kingpin.
Further, the steering hydraulic system comprises a steering electromagnetic valve and a steering oil cylinder, wherein the input end of the steering electromagnetic valve is connected with the steering ECU, and the output end of the steering electromagnetic valve is connected with the steering oil cylinder; the steering mechanical system comprises a steering tie rod and a steering arm, the steering tie rod is arranged on a shaft of the container transport vehicle, the steering arm is respectively connected with the left side and the right side of the steering tie rod, the steering arm is connected with wheels, the telescopic end of a steering oil cylinder is connected with the wheels through a steering knuckle, the steering of the wheels is driven by the telescopic and stretching of the steering oil cylinder to drive the wheels to rotate, and the driving of the oil cylinder is driven by steering hydraulic oil. The steering tie rod is used for connecting two wheels on the same shaft of an automobile through connecting left and right steering arms, wherein the first wheel can be rotated synchronously, the second wheel can ensure the toe-in of the shaft, and the steering tie rod is also an important part for ensuring the safe running of the automobile. Each axle on the vehicle has a tie rod, and the structure is similar.
The invention has the advantages that the wheel rotation angle of each steering shaft can be accurately controlled, so that the wheel angles conform to the Ackerman principle of the rotation of the vehicle in the running process of the vehicle, and the tire abrasion is reduced. The control accuracy of the vehicle running direction is improved.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a functional block diagram of the present invention.
Fig. 2 is a schematic structural view of a steering shaft according to the present invention.
Fig. 3 is a schematic view of a vehicle running around a center O in the present invention.
Fig. 4 is a schematic diagram of calculation of target angles of respective axes in the present invention.
Fig. 5 is a schematic structural view of a steering shaft according to the present invention.
Fig. 6 is a schematic structural view of the steering device of the present invention.
Fig. 7 is a schematic diagram of calculation of the actual angle of the axis in the present invention.
Fig. 8 is a schematic diagram of the apparatus of the present invention.
Detailed Description
Example 1
As shown in fig. 1, a wheel angle control method of an unmanned container vehicle comprises the following steps: the steering ECU receives IECU wheel steering modes and angle instructions, and decomposes the instructions into target angles of all axles of the container transport vehicle;
According to the target angle of each shaft of the container truck and the current actual angle of each shaft of the container truck, namely comparing the target angle with the actual angle, controlling wheels of each shaft to rotate to a required angle according to a certain angular speed by a steering ECU (electronic control unit) through a hydraulic system and a corresponding mechanical system of each shaft according to requirements;
The angle sensor arranged on the steering shaft main pin feeds back the acquired real-time angle and angular speed to the steering ECU to realize closed-loop control of steering, and the angle sensor refers to a steering angle encoder.
After receiving the steering angle and the steering mode sent by IECU, the steering ECU determines the target angle of each axle of the container transport vehicle through a wheel steering algorithm for controlling the whole vehicle in the steering ECU, compares the target angle of each axle with the actual angle of each current axle, and obtains the opening of a steering electromagnetic valve in each axle hydraulic system through logic, wherein the steering electromagnetic valve is an electrohydraulic proportional valve, and controls the speed of a steering oil cylinder to push wheels to rotate, so that corresponding steering is realized. The actual angle of each steering shaft is currently the equivalent rotation angle of each steering shaft, and the equivalent angle of the steering shaft is the average value of the sum of the actual angles of the wheels on the left and right sides of the steering shaft, namely the equivalent angle of the steering shaft= (the actual angle of the wheel on the left side+the actual angle of the wheel on the right side)/2. IECU and a steering ECU, and the steering ECU and the shaft sensor are connected through a CAN signal.
As can be seen from fig. 2, the container truck includes a front axle and a rear axle, which are respectively denoted as an axle 1, an axle 2, an axle 3, and an axle 4, wherein a wheel is respectively mounted on the left and right sides of the axle 1, the axle 2, the axle 3, and the axle 4, and a rotation angle encoder (see fig. 5) is respectively mounted on the left and right sides of each axle at a wheel kingpin for measuring actual angle values δ i L and δ i R of the left and right wheels of the axle.
The wheel corner control method of the unmanned container transport vehicle comprises the following specific operations:
in the wheel steering mode and the angle command sent by IECU, the corresponding front axle angle is theta 1, the corresponding rear axle angle is theta 2, and the front axle angle and the rear axle angle respectively represent the angle of the front axle and the angle of the rear axle of the vehicle; the wheel steering modes are divided into four modes of front axle steering, rear axle steering, crab steering and four-wheel steering. After receiving the corresponding data, the steering ECU calculates target angle values delta 1, delta 2, delta 3 and delta 4 of each shaft through internal logic, and the target angle values of the front shaft and the rear shaft are calculated as follows:
δ1=θ1 in front axle steering, crab steering, and four-wheel steering modes; in the rear axle steering mode δ1=0;
in crab mode, δ2=θ1; in the front axle steering, rear axle steering and four-wheel steering modes,
In crab mode, δ3=θ1; in the front axle steering, rear axle steering and four-wheel steering modes,
Wherein L1 refers to the distance between the shaft 1 and the shaft 2, L2 refers to the distance between the shaft 2 and the shaft 3, and L3 refers to the distance between the shaft 3 and the shaft 4 (see fig. 4); δ1, δ2, δ3, δ4 are steering angles of four steering shafts;
δ4=0 in the front axle steering mode, δ4=θ1 in the crab mode, and δ4=θ2 in the rear axle steering and four-wheel steering modes. The corresponding target wheel rotation angle values of the shafts are shown below, and the corresponding request angles of different modes are shown in table 1 through conversion.
TABLE 1
In the crab mode, the target angles delta 1, delta 2, delta 3 and delta 4 of the front shaft and the rear shaft are consistent in size and direction, the wheels of the four shafts are in a parallel state, and the temporary vehicle does not run at the center of a circle; in the front axle steering, rear axle steering and four-wheel steering modes, the target angle values of the four axles ensure that the four axles simultaneously meet the requirement that the wheels run at the same circle center O and meet the requirement of an Ackerman steering circle (see figure 3).
The actual axle steering angle of the i-th axle is δ i', the target angle is δ i, and i=1, 2, 3,4, and the actual angle values corresponding to the wheels mounted on the left and right sides of the i-th axle are δ i L and δ i R, then δ i′＝(δiL+δi R)/2 (see fig. 7). Taking the first axis as an example, δ 1 'is obtained by converting two angles δ1r and δ1l by a certain relationship, that is, δ1' = (δ1r+δ1l)/2.
And comparing the actual angle delta i 'of the ith shaft with the target angle delta i, and when the absolute value of the deviation between the actual angle delta i' of the ith shaft and the target angle delta i is larger than a preset value, starting the steering electromagnetic valve corresponding to the ith shaft to steer, otherwise, not starting the steering electromagnetic valve.
In different steering modes or in the mode switching process, the angles of the four steering shafts are required to be met, meanwhile, the relationship of the Ackerman circle is met, and in the actual steering process, the difference values between the actual angles of the four shafts and the target angle are different, so that the steering is required to be met according to different angular speeds in the rotating process, and the real-time Ackerman relationship of the four shafts is ensured. In the steering process, the opening degree of the steering electromagnetic valve is used for controlling the angular velocity of the wheel corner so as to ensure that the wheel runs at the circle center O, and further ensure that the angles of the four shafts meet the requirement of an Ackerman steering circle.
In actual steering, the wheel angle is steered from the actual angle to the target angle, and the steering ECU can calculate the target angle, then calculate the target angular velocity of each axis in correspondence with the corresponding time, set the time for the four axes to rotate to the target angle as t, and set the angular velocity of the axis i as vi= (δ1' - δ1)/t. The corresponding angular velocity requirements of each shaft are shown in table 2, namely, the current of the steering electromagnetic valve is controlled by the ECU to control the flow of the hydraulic cylinder, so that the angular velocity of the wheel corner is controlled, and the angles of the four shafts are ensured to meet the Ackerman requirement at any time.
TABLE 2
In the straight running state of the vehicle, the wheels of the four axles are parallel to the vehicle, and the axle angle is 0; at this time, four-wheel steering is started, and assuming that the angular velocity of the shaft 1 is V1 and the angle of the shaft 2 is V2, v2= (δ2/δ1) ×v1, the angular velocity of the shaft 3 is the same as the angular velocity of the shaft 2, and the angular velocity of the shaft 4 is the same as the angular velocity of the shaft 1. The steering ECU may calculate the target angle and then convert the target angular velocity of each shaft corresponding to the corresponding time. The corresponding angular velocity requirements of each shaft are shown in table 3, namely, the current of the steering electromagnetic valve is controlled by the ECU to control the flow of the hydraulic cylinder, so that the angular velocity of the wheel corner is controlled, and the angles of the four shafts are ensured to meet the Ackerman circle requirements at any time.
TABLE 3 Table 3
Actual rotation angle Target rotation angle Corresponding angular velocity Remarks
Shaft 1 0 δ1 V1 Let the angular velocity of the shaft 1 be V1
Shaft 2 0 δ2 V2＝(δ2/δ1)*V1
Shaft 3 0 δ2 V2＝(δ2/δ1)*V1
Shaft 4 0 δ1 V1 In four driving, the angles of the 1 axis and the 4 axis are the same
In actual control, control deviation can appear in V1 and V2, and the ECU can correct the current of the steering solenoid valve in time through a feedback PI control algorithm of the corner speed so as to realize the control of the corner angular speed of the wheels, and realize the steering of the related wheels of four axles according to the established target.
The wheel corner control device of the unmanned container truck comprises a steering ECU (electronic control unit), an IECU (electronic control unit), a corner encoder, a steering hydraulic system and a steering mechanical system, wherein the steering ECU is in communication connection with IECU, the corner encoder is arranged on a steering shaft main pin of the container truck, the corner encoder is in communication connection with the steering ECU, the steering hydraulic system and the steering mechanical system are both arranged on a steering shaft of the container truck, and the steering ECU is connected with the steering mechanical system through the steering hydraulic system. The container transport vehicle is provided with four steering shafts, the left side and the right side of each steering shaft are respectively provided with a wheel, and a corner encoder for acquiring the angles of the wheels is arranged on the steering shaft and positioned at a wheel kingpin. The steering hydraulic system comprises a steering electromagnetic valve and a steering oil cylinder, wherein the input end of the steering electromagnetic valve is connected with the steering ECU, and the output end of the steering electromagnetic valve is connected with the steering oil cylinder; the steering mechanical system comprises a steering tie rod and a steering arm, wherein the steering tie rod is arranged on a shaft of the container transport vehicle, the steering arm is respectively connected with the left side and the right side of the steering tie rod, the steering arm is connected with wheels, and the telescopic end of a steering oil cylinder is connected with the wheels through a steering knuckle (see figure 6). The steering of the wheels is driven to rotate by stretching and retracting the steering oil cylinder, and the driving of the oil cylinder is driven by steering hydraulic oil. The steering tie rod is used for connecting two wheels on the same shaft of an automobile through connecting left and right steering arms, wherein the first wheel can be synchronous, the second wheel can ensure the toe-in of the shaft, and the steering tie rod is also an important part for ensuring the safe running of the automobile. Each axle on the vehicle has a tie rod, and the structure is similar.
It should be noted that the order of execution of the above steps is determined by its inherent logic and functions, and should not impose any limitation or restriction on the implementation of the present invention and embodiments, as long as the order of execution can accomplish the result that the technical solution of the present patent disclosure is expected to accomplish. In addition to the embodiments described above, other embodiments of the invention are possible. All technical schemes formed by equivalent substitution or equivalent transformation fall within the protection scope of the invention.

Claims (10)

1. The wheel corner control method of the unmanned container transport vehicle is characterized by comprising the following steps of:
The steering ECU receives IECU wheel steering modes and angle instructions, and decomposes the instructions into target angles of all axles of the container transport vehicle;
according to the target angle of each axle of the container truck and the current angle of each axle of the container truck, the steering ECU controls the wheels of each axle to rotate to a required angle according to a certain angular speed through the hydraulic system of each axle and a corresponding mechanical system;
the angle sensor installed on the steering shaft main pin feeds back the real-time angle and the angular speed acquired by the angle sensor to the steering ECU.
2. The method for controlling the wheel rotation angle of the unmanned container truck according to claim 1, wherein after receiving the steering angle and the steering mode sent by IECU, the steering ECU determines the target angle of each axle of the container truck, compares the target angle with the current axle angle, controls the opening of a steering electromagnetic valve in a hydraulic system, and controls the speed at which the steering oil cylinder pushes the wheels to rotate so as to realize corresponding steering; and the IECU is in information interaction with the steering ECU, and the steering ECU is in information interaction with the shaft sensor through CAN signal connection.
3. The method for controlling the wheel angle of an unmanned container vehicle according to claim 2, wherein the container vehicle comprises a front axle and a rear axle, which are respectively denoted as an axle 1, an axle 2, an axle 3 and an axle 4; in the wheel steering mode and the angle instruction sent by IECU, the front axle angle is theta 1, the rear axle angle is theta 2, and the wheel steering mode is divided into four modes of front axle steering, rear axle steering, crab steering and four-wheel steering; the target angle values of the front axle and the rear axle after ECU decomposition are respectively δ1, δ2, δ3 and δ4, and the calculation modes of the target angle values of the front axle and the rear axle are as follows:
δ1=θ1 in front axle steering, crab steering, and four-wheel steering modes; in the rear axle steering mode δ1=0;
in crab mode, δ2=θ1; in the front axle steering, rear axle steering and four-wheel steering modes,
In crab mode, δ3=θ1; in the front axle steering, rear axle steering and four-wheel steering modes,
Wherein L1 is the distance between the axis 1 and the axis 2, L2 is the distance between the axis 2 and the axis 3, and L3 is the distance between the axis 3 and the axis 4;
δ4=0 in the front axle steering mode, δ4=θ1 in the crab mode, and δ4=θ2 in the rear axle steering and four-wheel steering modes.
4. A method of controlling the wheel angle of an unmanned container vehicle according to claim 3, wherein in crab mode, the target angles δ1, δ2, δ3, δ4 of the front and rear axles are identical in size and direction, and the wheels of the four axles are in a parallel state; under the front axle steering, rear axle steering and four-wheel steering modes, the target angle values of the four axles ensure that the four axles meet the requirement that the wheels run at the same circle center O and meet the requirement of an Ackerman steering circle.
5. The method for controlling the wheel angle of the unmanned container vehicle according to claim 4, wherein the left and right sides of the axle 1, the axle 2, the axle 3 and the axle 4 are respectively provided with a wheel, the actual axle steering angle of the ith axle is delta i', the target angle is delta i, and the actual angle values corresponding to the wheels arranged on the left and right sides of the ith axle are delta i L and delta i R, then delta i′＝(δiL+δi R)/2;
The two sides of each shaft are respectively provided with a corner encoder at the main pin of the steering shaft, and the corner encoders are used for measuring actual angle values delta i L and delta i R of left and right wheels of the shafts;
And comparing the actual angle delta i 'of the ith shaft with the target angle delta i, and starting the steering electromagnetic valve to steer when the absolute value of the deviation between the actual angle delta i' of the ith shaft and the target angle delta i is larger than a preset value, otherwise, not starting the steering electromagnetic valve.
6. The method for controlling the steering angle of wheels of an unmanned container vehicle according to claim 5, wherein the steering solenoid valve is opened to control the steering angle and the steering speed of the wheels during steering, so as to ensure that the wheels travel at a circle center O, and further ensure that the angles of four axles meet the requirement of an Ackerman steering circle.
7. The method of claim 6, wherein the four-wheel steering is started when the four-wheel angle of the vehicle is 0, and V2 is set to be V1 and V2 is set to be V2, and V2= (δ2/δ1) ×v1, the angular velocity of the shaft 3 is the same as the angular velocity of the shaft 2, and the angular velocity of the shaft 4 is the same as the angular velocity of the shaft 1.
8. The utility model provides a wheel corner controlling means of unmanned container transport vechicle which characterized in that: the steering system comprises a steering ECU, an IECU, a corner encoder, a steering hydraulic system and a steering mechanical system, wherein the steering ECU is in communication connection with IECU, the corner encoder is installed on a steering shaft kingpin position of a container transport vehicle, the corner encoder is in communication connection with the steering ECU, the steering hydraulic system and the steering mechanical system are both installed on a steering shaft of the container transport vehicle, and the steering ECU is connected with the steering mechanical system through the steering hydraulic system.
9. The wheel corner control device of an unmanned container vehicle of claim 8, wherein: the container transport vehicle is provided with four steering shafts, wheels are respectively arranged on the left side and the right side of each steering shaft, and a corner encoder used for collecting the angles of the wheels is arranged on the steering shaft and positioned at the kingpin.
10. The wheel corner control device of an unmanned container vehicle of claim 8, wherein: the steering hydraulic system comprises a steering electromagnetic valve and a steering oil cylinder, wherein the input end of the steering electromagnetic valve is connected with the steering ECU, and the output end of the steering electromagnetic valve is connected with the steering oil cylinder; the steering mechanical system comprises a steering tie rod and steering arms, the steering tie rod is arranged on a shaft of the container transport vehicle, the steering arms are respectively connected with the left side and the right side of the steering tie rod, the steering arms are connected with wheels, and the telescopic ends of the steering cylinders are connected with the wheels through steering knuckles.
CN202410176126.8A 2024-02-08 2024-02-08 Wheel corner control method and device for unmanned container transport vehicle Pending CN117922684A (en)

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CN202410176126.8A CN117922684A (en) 2024-02-08 2024-02-08 Wheel corner control method and device for unmanned container transport vehicle

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Application Number Priority Date Filing Date Title
CN202410176126.8A CN117922684A (en) 2024-02-08 2024-02-08 Wheel corner control method and device for unmanned container transport vehicle

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