CN204688203U - Loader steering-by-wire road feel simulation device - Google Patents
Loader steering-by-wire road feel simulation device Download PDFInfo
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- CN204688203U CN204688203U CN201520389258.5U CN201520389258U CN204688203U CN 204688203 U CN204688203 U CN 204688203U CN 201520389258 U CN201520389258 U CN 201520389258U CN 204688203 U CN204688203 U CN 204688203U
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- 230000015572 biosynthetic process Effects 0.000 claims description 6
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- 238000013461 design Methods 0.000 description 5
- 238000013016 damping Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
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Abstract
The utility model discloses a kind of loader steering-by-wire road feel simulation device, be intended to the anglec of rotation accurately detecting bearing circle, adjustable, suitable road feel can be provided for chaufeur.Left, the two ends of right steering oil cylinder are arranged in front vehicle frame and Rear frame by hinge pin, left, right hydraulic control one-way valve is with left, right check valve and unidirectional differential pressure transducer and a left side, between right steering oil cylinder, pipeline connects, controlled vehicle-mounted electrical unit (ECU) is connected with unidirectional differential pressure transducer wire, shaft-position encoder is connected with controlled vehicle-mounted electrical unit (ECU) wire, left, right electromagnet is connected with controlled vehicle-mounted electrical unit (ECU) wire, left, right electromagnet is fixedly mounted in Rear frame, shaft-position encoder to be sleeved on steering wheel shaft and to be fixedly connected with steering wheel shaft, dampened disk is fixed on steering wheel shaft by thread connection and key connecting.The utility model is applicable to as vehicle steering-by-wire produces road feel.
Description
Technical field
The utility model relates to a kind of vehicle steering device, specifically a kind of loader steering-by-wire road feel simulation device.
Background technology
Along with the development of vehicle electronics and control technology, steering-by-wire has become the developing direction of following automatically controlled steering swivel system, which eliminate the mechanical connection between bearing circle and steered wheel in conventional steering system, steering angle ratio can freely design, and makes the road-holding property of automobile and traveling comfort obtain larger raising.But this result also in road feel information cannot be directly passed to chaufeur.
The feedback moment experienced when road feel is chaufeur steering wheel rotation, this moment contains motion state of automobile and track information, and road feel controls automobile for driver assistance important effect.Wire-controlled steering system, owing to eliminating mechanical connection, needs to carry out board design to road feel.Therefore, how to simulate road feel accurately and become domestic and international study hotspot.At present, road feel simulator study is mainly divided into three kinds: the first is sensor measurement method, the aligning torque produced by sensor measurement motor turning or steering gear rack stressed, it can be used as simulation road feel resisting moment feed back to chaufeur.This method advantage is simple and accurate, but owing to employing sensor, there is sensor and install difficulty and increase the problems such as system cost, therefore the method is less in actual applications.The second is method of calculation, adopts vehicle dynamic model method of calculating to replace sensor installation, by parameters such as car load, tire force and drags, calculates road feel feedback moment.Because method of calculating is difficult to ensure road feel simulation precision, the document therefore had sets up observer on the basis of kinetic model, thus simulates road feel.Method of calculation only increases software cost just can realize road feel feedback, but there is Research Challenges in road feel simulation precision.The third method is function method, utilizes road feel to be the feature that simulation generates, road feel is designed to the function comprising the information such as the speed of a motor vehicle, motion state of automobile or coefficient of road adhesion.The road feel of this method design can fully reflect motion state of automobile and information of road surface, gives full play of the preceence of wire-controlled steering system.But there is larger difference in road feel and the conventional steering automobile road feel of the method design, increases the adaptation burden of chaufeur.
Therefore design a kind of new vehicle steering-by-wire road feel simulation device to become and be necessary very much, be conducive to the exploitation, the Developing Application that promote wire-controlled steering system.
Summary of the invention
A kind of steering-by-wire road feel simulation device that the utility model provides, deficiency of the prior art can be overcome, simplify mechanical device structure, reduce installation difficulty and cost, accurately can detect the anglec of rotation of bearing circle simultaneously, adjustable, suitable road feel can be provided for chaufeur.
In order to solve above-mentioned technical matters, the utility model adopts following technical proposals: the rodless cavity of left steering oil cylinder and the rod chamber of right steering oil cylinder connect formation P1 oil circuit by oil circuit, the rod chamber of left steering oil cylinder and the rodless cavity of right steering oil cylinder connect formation P2 oil circuit by oil circuit, the two ends of left steering oil cylinder and right steering oil cylinder are arranged in front vehicle frame and Rear frame respectively by hinge pin, by center hinge pin shaft joint between front vehicle frame and Rear frame, bearing circle is fixedly connected in the upper end of steering wheel shaft, device is primarily of left hydraulic control one-way valve, unidirectional differential pressure transducer, left check valve, right check valve, controlled vehicle-mounted electrical unit (ECU), bearing, shaft-position encoder, right electromagnet, dampened disk, left electromagnet and right hydraulic control one-way valve composition, the unidirectional go side of described left check valve is connected with P1 oil circuit by oil circuit, the unidirectional cutoff end of described left check valve is connected to the high-pressure side on the upside of unidirectional differential pressure transducer by oil circuit, the unidirectional go side of described right check valve is connected with P2 oil circuit by oil circuit, the unidirectional cutoff end of described right check valve is connected to the high-pressure side on the upside of unidirectional differential pressure transducer by oil circuit, the unidirectional cutoff end of described left hydraulic control one-way valve is connected with P1 oil circuit by oil circuit, the unidirectional go side of described left hydraulic control one-way valve is connected to the low tension terminal on the downside of unidirectional differential pressure transducer by oil circuit, the unidirectional cutoff end of described right hydraulic control one-way valve is connected with P2 oil circuit by oil circuit, the unidirectional go side of described right hydraulic control one-way valve is connected to the low tension terminal on the downside of unidirectional differential pressure transducer by oil circuit, the hydraulic control oil circuit of described left hydraulic control one-way valve connects with P2 oil circuit, the hydraulic control oil circuit of described right hydraulic control one-way valve connects with P1 oil circuit, described vehicle-mounted ECU is connected by wire with unidirectional differential pressure transducer, described shaft-position encoder is connected by wire with vehicle-mounted ECU, described left electromagnet is connected by wire with vehicle-mounted ECU with right electromagnet, described left electromagnet and right electromagnet are fixedly mounted in Rear frame, described shaft-position encoder to be sleeved on steering wheel shaft and to be fixedly connected with steering wheel shaft, described dampened disk is fixed on steering wheel shaft by thread connection and key connecting.
When vehicle carries out Turning travel, the maximum range of described unidirectional differential pressure transducer should be greater than the maximum pressure differential of left and right oil cylinder, the current signal that described vehicle-mounted ECU exports should be able to make left electromagnet and right electromagnet produce enough attractive forces, and the assemblage gap between described dampened disk and left and right electromagnet should be able to ensure to produce enough attractive forces.
Employing the beneficial effects of the utility model are, can accurately detect the anglec of rotation of bearing circle, can provide adjustable, suitable road feel, have good application value to chaufeur.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of loader steering-by-wire road feel simulation device described in the utility model.
In figure: the right hydraulic control one-way valve 15 of left steering oil 1 left hydraulic control one-way valve 2 unidirectional differential pressure transducer 3 left check valve 4 right check valve 5 controlled vehicle-mounted electrical unit (ECU) 6 bearing circle 7 bearing 8 shaft-position encoder 9 right electromagnet 11 dampened disk 12 of steering wheel shaft 10 left electromagnet 13 right steering oil cylinder 14
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
In FIG, the rodless cavity of left steering oil cylinder 1 and the rod chamber of right steering oil cylinder 14 connect formation P1 oil circuit by oil circuit, the rod chamber of left steering oil cylinder 1 and the rodless cavity of right steering oil cylinder 14 connect formation P2 oil circuit by oil circuit, the two ends of left steering oil cylinder 1 and right steering oil cylinder 14 are arranged in front vehicle frame and Rear frame respectively by chain bearing pin, by center hinge pin shaft joint between front vehicle frame and Rear frame, bearing circle 7 is fixedly connected in the upper end of steering wheel shaft 10, this device is primarily of left hydraulic control one-way valve 2, unidirectional differential pressure transducer 3, left check valve 4, right check valve 5, controlled vehicle-mounted electrical unit (ECU) 6, bearing 8, shaft-position encoder 9, right electromagnet 11, dampened disk 12, left electromagnet 13 and right hydraulic control one-way valve 15 form, the unidirectional go side of described left check valve 4 is connected with P1 oil circuit by oil circuit, the unidirectional cutoff end of described left check valve 4 is connected to the high-pressure side on the upside of unidirectional differential pressure transducer 3 by oil circuit, the unidirectional go side of described right check valve 5 is connected with P2 oil circuit by oil circuit, the unidirectional cutoff end of described right check valve 5 is connected to the high-pressure side on the upside of unidirectional differential pressure transducer 3 by oil circuit, the unidirectional cutoff end of described left hydraulic control one-way valve 2 is connected with P1 oil circuit by oil circuit, the unidirectional go side of described left hydraulic control one-way valve 2 is connected to the low tension terminal on the downside of unidirectional differential pressure transducer 3 by oil circuit, the unidirectional cutoff end of described right hydraulic control one-way valve 15 is connected with P2 oil circuit by oil circuit, the unidirectional go side of described right hydraulic control one-way valve 15 is connected to the low tension terminal on the downside of unidirectional differential pressure transducer 3 by oil circuit, the hydraulic control oil circuit of described left hydraulic control one-way valve 2 connects with P2 oil circuit, the hydraulic control oil circuit of described right hydraulic control one-way valve 15 connects with P1 oil circuit, described vehicle-mounted ECU is connected by wire with unidirectional differential pressure transducer 3, described shaft-position encoder 9 is connected by wire with vehicle-mounted ECU, described left electromagnet 13 is connected by wire with vehicle-mounted ECU with right electromagnet 11, described left electromagnet 13 and right electromagnet 11 are fixedly mounted in Rear frame, described shaft-position encoder 9 to be sleeved on steering wheel shaft 10 and to be fixedly connected with steering wheel shaft, described dampened disk 12 is fixed on steering wheel shaft 10 by thread connection and key connecting.
When vehicle carries out left-hand turning driving, bearing circle 7 turns over certain angle, shaft-position encoder 9 detects the angle that turns over and changes into corresponding electric signal exports to controlled vehicle-mounted electrical unit (ECU) 6, controlled vehicle-mounted electrical unit (ECU) 6 judges according to the electric signal of input and sends corresponding electric signal, left steering oil cylinder 1 and right steering oil cylinder 14 action is controlled: make P2 oil circuit connect high pressure fuel source by corresponding circuit and hydraulic valve, it is low pressure oil way that the oil circuit of P1 oil circuit and oil sump tank is connected, the piston rod of left steering oil cylinder 1 is regained in cylinder, the piston rod of right steering oil cylinder 14 stretches out outside cylinder, drive vehicle left-handed turning to, P2 oil circuit and P1 oil circuit pressure extent, reflect the size of surface resistance and the speed of turning velocity, the size of surface resistance and the speed of turning velocity are that road feel simulates the principal element that will consider, therefore, with P2 oil circuit and P1 oil circuit pressure difference for parameter produces the damping moment acted on direction, the situation of simulated roadway.The high pressure oil of P2 oil circuit is delivered to the high-pressure side on the upside of unidirectional differential pressure transducer 3 by right check valve 5, simultaneously, the high pressure oil of P2 oil circuit opens left hydraulic control one-way valve 2, and now, the low pressure oil of P1 oil circuit is delivered to the low tension terminal on the downside of unidirectional differential pressure transducer 3 by left hydraulic control one-way valve 2.Unidirectional differential pressure transducer 3 detects the difference of pressure at upper and lower two ends, difference of pressure is converted to corresponding electric signal and exports to ECU (Electrical Control Unit) (ECU) 6, ECU (Electrical Control Unit) (ECU) 6 controls the size by left electromagnet 13 and right electromagnet 11 electric current according to the electric signal that the transmission of unidirectional differential pressure transducer 3 is come, electromagnet just can produce corresponding suction and attract dampened disk 12, the dampened disk 12 be attracted produces corresponding damping moment of reversing and passes to chaufeur by steering wheel shaft 10 and bearing circle 7, to produce corresponding road feel.
When vehicle carries out dextrad turning driving, bearing circle 7 turns over certain angle, shaft-position encoder 9 detects the angle that turns over and changes into corresponding electric signal exports to controlled vehicle-mounted electrical unit (ECU) 6, controlled vehicle-mounted electrical unit (ECU) 6 judges according to the electric signal of input and sends corresponding electric signal, left steering oil cylinder 1 and right steering oil cylinder 14 action is controlled: make P1 oil circuit connect high pressure fuel source by corresponding circuit and hydraulic valve, it is low pressure oil way that the oil circuit of P2 oil circuit and oil sump tank is connected, make the piston of left steering oil cylinder 1 protruding, the piston rod of right steering oil cylinder 14 is regained in cylinder.P1 oil path high-pressure oil is delivered to the high-pressure side on the upside of unidirectional differential pressure transducer 3 by left check valve 4, simultaneously, right hydraulic control one-way valve 15 opened by P1 oil path high-pressure oil, and now, the low pressure oil of P2 oil circuit is delivered to the low tension terminal on the downside of unidirectional differential pressure transducer 3 by right hydraulic control one-way valve 15.Unidirectional differential pressure transducer 3 detects the difference of pressure at upper and lower two ends, difference of pressure is converted to corresponding electric signal and exports to car ECU (Electrical Control Unit) (ECU) 6, controlled vehicle-mounted electrical unit (ECU) 6 controls the size of current by left electromagnet 13 and right electromagnet 11 according to the electric signal that the transmission of unidirectional differential pressure transducer 3 is come, electromagnet just can produce corresponding suction and attract dampened disk 12, the dampened disk 12 be attracted produces corresponding damping moment of reversing and passes to chaufeur through steering wheel shaft 10 and bearing circle 7, to produce corresponding road feel.
Claims (4)
1. a loader steering-by-wire road feel simulation device, the rodless cavity of left steering oil cylinder (1) and the rod chamber of right steering oil cylinder (14) connect formation P1 oil circuit by oil circuit, the rod chamber of left steering oil cylinder (1) and the rodless cavity of right steering oil cylinder (14) connect formation P2 oil circuit by oil circuit, the two ends of left steering oil cylinder (1) and right steering oil cylinder (14) are arranged in front vehicle frame and Rear frame respectively by hinge pin, by center hinge pin shaft joint between front vehicle frame and Rear frame, bearing circle (7) is fixedly connected in the upper end of steering wheel shaft (10), it is characterized in that: primarily of left hydraulic control one-way valve (2), unidirectional differential pressure transducer (3), left check valve (4), right check valve (5), controlled vehicle-mounted electrical unit (ECU) (6), bearing (8), shaft-position encoder (9), right electromagnet (11), dampened disk (12), left electromagnet (13) and right hydraulic control one-way valve (15) composition, the unidirectional go side of described left check valve (4) is connected with P1 oil circuit by oil circuit, the unidirectional cutoff end of described left check valve (4) is connected to the high-pressure side of unidirectional differential pressure transducer (3) upside by oil circuit, the unidirectional go side of described right check valve (5) is connected with P2 oil circuit by oil circuit, the unidirectional cutoff end of described right check valve (5) is connected to the high-pressure side of unidirectional differential pressure transducer (3) upside by oil circuit, the unidirectional cutoff end of described left hydraulic control one-way valve (2) is connected with P1 oil circuit by oil circuit, the unidirectional go side of described left hydraulic control one-way valve (2) is connected to the low tension terminal of unidirectional differential pressure transducer (3) downside by oil circuit, the unidirectional cutoff end of described right hydraulic control one-way valve (15) is connected with P2 oil circuit by oil circuit, the unidirectional go side of described right hydraulic control one-way valve (15) is connected to the low tension terminal of unidirectional differential pressure transducer (3) downside by oil circuit, the hydraulic control oil circuit of described left hydraulic control one-way valve (2) connects with P2 oil circuit, the hydraulic control oil circuit of described right hydraulic control one-way valve (15) connects with P1 oil circuit, described vehicle-mounted ECU (6) is connected by wire with unidirectional differential pressure transducer (3), described shaft-position encoder (9) is connected by wire with vehicle-mounted ECU (6), described left electromagnet (13) is connected by wire with vehicle-mounted ECU with right electromagnet (11), described left electromagnet (13) and right electromagnet (11) are fixedly mounted in Rear frame, described shaft-position encoder (9) is sleeved on steering wheel shaft (10) and steering wheel shaft is fixedly connected, described dampened disk (12) is fixed on steering wheel shaft (10) by thread connection and key connecting.
2. loader steering-by-wire road feel simulation device according to claim 1, is characterized in that: the range of described unidirectional differential pressure transducer (3) should be greater than the maximum pressure differential of left and right oil cylinder.
3. loader steering-by-wire road feel simulation device according to claim 1, is characterized in that: the current signal that described vehicle-mounted ECU (6) exports should be able to make right electromagnet (11), left electromagnet (13) produces enough attractive forces.
4. loader steering-by-wire road feel simulation device according to claim 1, is characterized in that: the assemblage gap between described dampened disk (12) and right electromagnet (11), left electromagnet (13) should be able to ensure to produce enough attractive forces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520389258.5U CN204688203U (en) | 2015-06-06 | 2015-06-06 | Loader steering-by-wire road feel simulation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520389258.5U CN204688203U (en) | 2015-06-06 | 2015-06-06 | Loader steering-by-wire road feel simulation device |
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| Publication Number | Publication Date |
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| CN204688203U true CN204688203U (en) | 2015-10-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520389258.5U Withdrawn - After Issue CN204688203U (en) | 2015-06-06 | 2015-06-06 | Loader steering-by-wire road feel simulation device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104859710A (en) * | 2015-06-06 | 2015-08-26 | 青岛科技大学 | Steering-by-wire road feel simulator of loader |
| CN108928329A (en) * | 2018-08-20 | 2018-12-04 | 钱星旭 | A kind of automobile point brake system |
-
2015
- 2015-06-06 CN CN201520389258.5U patent/CN204688203U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104859710A (en) * | 2015-06-06 | 2015-08-26 | 青岛科技大学 | Steering-by-wire road feel simulator of loader |
| CN104859710B (en) * | 2015-06-06 | 2017-03-08 | 青岛科技大学 | Loading machine steering-by-wire road feel simulation device |
| CN108928329A (en) * | 2018-08-20 | 2018-12-04 | 钱星旭 | A kind of automobile point brake system |
| CN108928329B (en) * | 2018-08-20 | 2020-06-02 | 钱星旭 | Automobile snub system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151007 Effective date of abandoning: 20171114 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20151007 Effective date of abandoning: 20171114 |