CN201882143U - Electronic control engineering vehicle power-assisted steering system with adjustable steering sensitivity - Google Patents
Electronic control engineering vehicle power-assisted steering system with adjustable steering sensitivity Download PDFInfo
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- CN201882143U CN201882143U CN2010206610639U CN201020661063U CN201882143U CN 201882143 U CN201882143 U CN 201882143U CN 2010206610639 U CN2010206610639 U CN 2010206610639U CN 201020661063 U CN201020661063 U CN 201020661063U CN 201882143 U CN201882143 U CN 201882143U
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Abstract
The utility model discloses an electronic control engineering vehicle power-assisted steering system with adjustable steering sensitivity, relating to the improvement on the vehicle steering mechanism. For the electronic control engineering vehicle power-assisted steering system with adjustable steering sensitivity, the steering sensitivity can be adjusted according to actual working conditions so as to thoroughly solve the contradiction between improving engineering vehicle working performance and improving driving stability, and proper road feel can be provided for a driver. The electronic control engineering vehicle power-assisted steering system consists of a steering wheel mechanism, an electronic control unit and a steering actuating mechanism, and can solve the contradiction between improving working performance and improving driving stability at high speed of the traditional engineering vehicle steering system, improve the working performance and reduce the labour intensity of operating staff. The system connects and controls all the elements of the steering system through a micro electronic technique instead of the traditional mechanical or hydraulic connection; and a sensor is used for recording the steering data of the driver, signals are transmitted to the electronic control unit on a vehicle through data lines, and then the electronic control unit synthesizes the signals and makes a judgment so as to control the steering angle of the vehicle.
Description
Technical field
The present invention relates to the improvement of vehicle steering mechanism.
Background technology
The steering swivel system of tradition engineering truck causes its cornering resistance also very big because quality of vehicle own and load are all very big, so the steering swivel system of engineering truck all is all hydraulic pressure steering-gear basically at present.Though this steering swivel system can guarantee vehicle and turn to according to the intention of chaufeur that its steering gear ratio is generally fixed, and does not all have road feel basically.And the operating feature of engineering truck (as loader) is or be in operating condition, perhaps is in the transition state of running at high speed.Moving velocity is slower in operation process, but needs turning to of frequent wide-angle, and need higher steering sensitivity (bearing circle only need rotate very little angle can realize entirely turn to) for raising labour productivity and reducing labor intensity of operating personnel this moment; In the process of moving, moving velocity is very fast, but steering angle and frequency are very little, and need lower steering sensitivity for improving riding stability this moment.This has just caused the contradiction that improves between operating efficiency and the raising riding stability, simultaneously owing to there not being road feel, so chaufeur can not perception ground-surface actual conditions.Along with the development of automotive electronic technology, research institution and each big car manufactures are applied to the automatically controlled technology that turns on the family car both at home and abroad at present.Use after this technology owing to cancelled mechanical connection between bearing circle and the wheel flutter, the various restrictions of conventional steering system have been completely free of, design, the assembling of vehicle are greatly simplified, but also the force transfering characteristic and the angle transmission characteristic that can free design vehicle turn to are the significant innovations of steering swivel system.At present also there is not this technology is applied to the precedent of engineering truck at home.
Summary of the invention
The purpose of this invention is to provide a kind of steering sensitivity can regulate according to actual condition, contradiction with between thorough solution raising engineering truck operating efficiency and the raising riding stability can be the adjustable automatically controlled engineering truck power steering system of steering sensitivity that chaufeur provides suitable road feel simultaneously.
The present invention by bearing circle mechanism, ECU (Electrical Control Unit), turn to actuating unit to form,
Bearing circle mechanism: rotary angle transmitter, force feedback motor are arranged, and bearing circle links to each other with rotary angle transmitter by gear, and the force feedback motor via reducer links to each other with bearing circle;
Turn to actuating unit: Hydraulic Pump, steering control valve, control pump, hydraulic ram, electro-hydraulic proportional valve, pressure sensor, displacement pickup, control pump links to each other with electro-hydraulic proportional valve by pipeline, electro-hydraulic proportional valve also has a pipeline to link to each other with hydraulic reservoir except that passing through two pilot piping and steering control valve links to each other; Hydraulic Pump links to each other with steering control valve by pipeline, and steering control valve also has a pipeline to link to each other with hydraulic reservoir except that passing through two pilot piping and hydraulic ram links to each other; Be separately installed with a pressure sensor in two chambeies of hydraulic ram, a displacement pickup is installed on hydraulic ram simultaneously; Hydraulic ram is connected with the steering mechanical structure;
ECU (Electrical Control Unit): connect with electro-hydraulic proportional valve, force feedback motor, rotary angle transmitter, displacement pickup, pressure sensor, car speed sensor by control path.
The present invention utilizes the described electro-hydraulic proportional valve output of the signal control of rotary angle transmitter control corresponding fluid, steering control valve commutates under this control fluid effect, thereby the pressure oil of Hydraulic Pump 3 is sent into hydraulic ram, finally make the hydraulic ram motion realize turning to.
Bearing circle of the present invention links to each other with rotary angle transmitter by gear, and steering wheel rotation can drive rotary angle transmitter and rotate, thereby the corresponding signal of outbound course is to ECU (Electrical Control Unit).The force feedback motor via reducer links to each other with bearing circle, and ECU (Electrical Control Unit) is according to the big or small control effort feedback motor of pressure sensor output signal, for chaufeur provides suitable road feel.
The present invention solves the contradiction between traditional engineering truck steering swivel system raising operating efficiency and the high speed walking stability, improves operating efficiency, reduces labor intensity of operating personnel.This system connects by microelectronic technique and each element of control steering swivel system replaces traditional machinery or hydraulic pressure to connect.With sensor record driver's the data that turn to, by data line signal is passed to ECU (Electrical Control Unit) on the car then, comprehensive these signals of ECU (Electrical Control Unit) are made the steering angle of judging the back control vehicle.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Among the figure: 1, bearing circle, 2, turn to oil cylinder, 3, Hydraulic Pump, 4, hydraulic reservoir, 5, control pump, 6, electro-hydraulic proportional valve, 7, ECU (Electrical Control Unit), 8, the force feedback motor, 9, car speed sensor, 10, steering control valve;
Fig. 2 is a closed loop control diagram of circuit of the present invention;
Fig. 3 is an open loop control flow chart of the present invention.
The specific embodiment
The present invention by bearing circle mechanism, ECU (Electrical Control Unit) 7, turn to actuating unit to form,
Bearing circle mechanism: rotary angle transmitter, force feedback motor 8 are arranged, and bearing circle 1 links to each other with rotary angle transmitter by gear, and force feedback motor 8 links to each other with bearing circle by reductor;
Turn to actuating unit: Hydraulic Pump 3, steering control valve 10, control pump 5, hydraulic ram 4, electro-hydraulic proportional valve 6, pressure sensor P, displacement pickup, control pump 5 links to each other with electro-hydraulic proportional valve 6 by pipeline, electro-hydraulic proportional valve 6 also has a pipeline to link to each other with hydraulic reservoir 4 except that passing through two pilot piping and steering control valve 10 links to each other; Hydraulic Pump 3 links to each other with steering control valve 10 by pipeline, and steering control valve 10 also has a pipeline to link to each other with hydraulic reservoir 4 except that passing through two pilot piping and hydraulic ram 2 links to each other; Be separately installed with a pressure sensor P in two chambeies of hydraulic ram 2, a displacement pickup is installed on hydraulic ram 2 simultaneously; Hydraulic ram 2 is connected with the steering mechanical structure;
ECU (Electrical Control Unit) 7: connect with electro-hydraulic proportional valve 6, force feedback motor 8, rotary angle transmitter, displacement pickup, pressure sensor, car speed sensor 9 by control path.
Control method of the present invention can adopt closed loop control, also can adopt open loop control, below in conjunction with further specifying particular content of the present invention and working process thereof shown in the accompanying drawing.
When adopting closed loop control, during bearing circle in the described bearing circle of the pilot control mechanism, bearing circle rotates by the gear driven rotary angle transmitter, the angular signal of rotary angle transmitter output enters described ECU (Electrical Control Unit), turn to the displacement of oil cylinder to feed back to ECU (Electrical Control Unit) simultaneously by displacement pickup, steering wheel angle sensor and turn to difference between the oil cylinder displacement pickup as the input of ECU (Electrical Control Unit), ECU (Electrical Control Unit) is controlled the delivery pressure of described electro-hydraulic proportional valve according to the size of this difference, commutate under the effect of this pressure pressure oil that makes steering pump of steering control valve enters and turns to oil cylinder, the described oil cylinder that turns to of final control moves, and forms position closed loop control; Steering sensitivity is selected by switch, low speed operation operating mode is selected high steering sensitivity, the operating mode of running at high speed is selected low steering sensitivity, the vehicle speed signal of while ECU (Electrical Control Unit) monitor vehicle, when the speed of a motor vehicle surpasses setting value, for improving handling safety, steering sensitivity automatically switches to insensitivity; Pressure sensor described in the steering procedure is exported the signal of different amplitudes to described ECU (Electrical Control Unit) along with the variation of cornering resistance, ECU (Electrical Control Unit) is according to the described force feedback motor of this signal control, the force feedback motor by the suitable moment of retarder output to bearing circle, thereby provide suitable road feel for chaufeur.
When adopting open loop control, do not need to feed back the actual rotational angle signal (promptly not needing to turn to the displacement pickup of oil cylinder) of vehicle.During bearing circle in the described bearing circle of the pilot control mechanism, bearing circle rotates by the gear driven rotary angle transmitter, the tach signal of rotary angle transmitter output enters described ECU (Electrical Control Unit), ECU (Electrical Control Unit) is controlled the delivery pressure of described electro-hydraulic proportional valve according to the incoming signal of rotary angle transmitter, commutate under the effect of this pressure pressure oil that makes steering pump of steering control valve enters and turns to oil cylinder, the described oil cylinder that turns to of final control moves, and the speed of Vehicular turn speed is directly proportional with the rotating speed of bearing circle; Steering sensitivity is selected by switch, low speed operation operating mode is selected high steering sensitivity, the operating mode of running at high speed is selected low steering sensitivity, the vehicle speed signal of while ECU (Electrical Control Unit) monitor vehicle, when the speed of a motor vehicle surpasses setting value, for improving handling safety, steering sensitivity automatically switches to insensitivity; Pressure sensor described in the steering procedure is exported the signal of different amplitudes to described ECU (Electrical Control Unit) along with the variation of cornering resistance, ECU (Electrical Control Unit) is according to the described force feedback motor of this signal control, the force feedback motor by the suitable moment of retarder output to bearing circle, thereby provide suitable road feel for chaufeur.
Claims (1)
1. automatically controlled engineering truck power steering system that steering sensitivity is adjustable is characterized in that: by bearing circle mechanism, ECU (Electrical Control Unit), turn to actuating unit to form,
Bearing circle mechanism: rotary angle transmitter, force feedback motor are arranged, and bearing circle links to each other with rotary angle transmitter by gear, and the force feedback motor via reducer links to each other with bearing circle;
Turn to actuating unit: Hydraulic Pump, steering control valve, control pump, hydraulic ram, electro-hydraulic proportional valve, pressure sensor, displacement pickup, control pump links to each other with electro-hydraulic proportional valve by pipeline, electro-hydraulic proportional valve also has a pipeline to link to each other with hydraulic reservoir except that passing through two pilot piping and steering control valve links to each other; Hydraulic Pump links to each other with steering control valve by pipeline, and steering control valve also has a pipeline to link to each other with hydraulic reservoir except that passing through two pilot piping and hydraulic ram links to each other; Be separately installed with a pressure sensor in two chambeies of hydraulic ram, a displacement pickup is installed on hydraulic ram simultaneously; Hydraulic ram is connected with the steering mechanical structure;
ECU (Electrical Control Unit): connect with electro-hydraulic proportional valve, force feedback motor, rotary angle transmitter, displacement pickup, pressure sensor, car speed sensor by control path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206610639U CN201882143U (en) | 2010-12-15 | 2010-12-15 | Electronic control engineering vehicle power-assisted steering system with adjustable steering sensitivity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206610639U CN201882143U (en) | 2010-12-15 | 2010-12-15 | Electronic control engineering vehicle power-assisted steering system with adjustable steering sensitivity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201882143U true CN201882143U (en) | 2011-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206610639U Expired - Fee Related CN201882143U (en) | 2010-12-15 | 2010-12-15 | Electronic control engineering vehicle power-assisted steering system with adjustable steering sensitivity |
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| Country | Link |
|---|---|
| CN (1) | CN201882143U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104973122A (en) * | 2015-05-18 | 2015-10-14 | 徐工集团工程机械股份有限公司科技分公司 | Loader electronic-control-handle steering and intelligent-braking control system |
| CN108698635A (en) * | 2016-08-26 | 2018-10-23 | 株式会社小松制作所 | The control method of working truck and working truck |
-
2010
- 2010-12-15 CN CN2010206610639U patent/CN201882143U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104973122A (en) * | 2015-05-18 | 2015-10-14 | 徐工集团工程机械股份有限公司科技分公司 | Loader electronic-control-handle steering and intelligent-braking control system |
| CN108698635A (en) * | 2016-08-26 | 2018-10-23 | 株式会社小松制作所 | The control method of working truck and working truck |
| US10794043B2 (en) | 2016-08-26 | 2020-10-06 | Komatsu Ltd. | Work vehicle and control method for work vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110629 Termination date: 20111215 |