CN214215918U - Closed-loop control system of hydraulic steering system - Google Patents
Closed-loop control system of hydraulic steering system Download PDFInfo
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- CN214215918U CN214215918U CN202120126826.8U CN202120126826U CN214215918U CN 214215918 U CN214215918 U CN 214215918U CN 202120126826 U CN202120126826 U CN 202120126826U CN 214215918 U CN214215918 U CN 214215918U
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Abstract
The utility model provides a hydraulic steering system closed-loop control system, hydraulic steering system includes steering wheel, hydraulic steering mechanism and wheel, and the steering wheel is connected with hydraulic steering mechanism through the knuckle, hydraulic steering mechanism is connected with the wheel through the steering wheel axle of wheel, hydraulic steering system closed-loop control system includes controlling means, ECU, encoder, turns to servo motor, ECU is connected with controlling means, encoder, the steering servo motor respectively, the encoder is installed on the steering wheel axle of former car wheel, turn to servo motor and install the pivot at former car steering wheel. The hydraulic steering system closed-loop control system enables the wheel steering angle of the hydraulic steering system to be accurate, response speed is high, a mode of directly controlling a hydraulic valve is bypassed, a steering motor is adopted to carry out corner control of precision, and the wheel achieves an ideal steering angle by carrying out real-time closed-loop control.
Description
Technical Field
The utility model relates to an automatic steering control system of driving vehicle and unmanned automatic handling car especially relates to a hydraulic steering system closed-loop control system.
Background
The field of automatic driving and AGV (automatic guided vehicle) requires high precision on a vehicle steering system, usually within 1 degree, while the precision of a hydraulic steering mechanism of a manned vehicle is usually not high, a steering wheel is driven to the same angle under different working conditions, the error of a wheel corner is usually large, the steering response speed is slow, and the maximum degree can reach about 5 degrees. For the vehicle, the traditional automatic driving reconstruction strategy is to add a corner absolute value encoder and directly control the steering hydraulic valve by using an ECU (electronic control Unit), but the control precision is low, the response is slow, and the use requirement cannot be met.
SUMMERY OF THE UTILITY MODEL
The utility model provides a hydraulic steering system closed-loop control system solves the automatic low, the slow problem of response of steering precision after reforming transform of hydraulic steering system, its technical scheme as follows:
a closed-loop control system of a hydraulic steering system comprises a steering wheel, a hydraulic steering mechanism and wheels, wherein the steering wheel is connected with the hydraulic steering mechanism through a steering knuckle, the hydraulic steering mechanism is connected with the wheels through steering wheel shafts of the wheels, the closed-loop control system of the hydraulic steering system comprises a control device, an ECU (electronic control unit), an encoder and a steering servo motor, the ECU is respectively connected with the control device, the encoder and the steering servo motor, the encoder is installed on the steering wheel shaft of the original vehicle wheels, and the steering servo motor is installed on a rotating shaft of the original vehicle steering wheel.
The control device adopts an automatic driving control system for automatically driving the vehicle or adopts a data processing chip controlled by the automatic driving control system.
And the ECU is connected with the steering servo motor and the encoder through a CAN bus by adopting a singlechip.
The encoder adopts a corner encoder, and the zero point of the steering encoder is fixed when the encoder is installed.
The encoder adopts a Boster absolute value encoder.
The ECU adopts a Cascade S12 series single-chip microcomputer.
The hydraulic steering system closed-loop control system enables the wheel steering angle of the hydraulic steering system to be accurate, response speed is high, a mode of directly controlling a hydraulic valve is bypassed, a steering motor is adopted to carry out corner control of precision, and the wheel achieves an ideal steering angle by carrying out real-time closed-loop control.
Drawings
FIG. 1 is a schematic circuit diagram of the closed loop control system of the hydraulic steering system;
fig. 2 is a schematic view of the installation structure of the closed-loop control system of the hydraulic steering system.
Detailed Description
As shown in fig. 1, the closed-loop control system of the hydraulic steering system comprises a control device, an ECU, an encoder and a steering servo motor, wherein the ECU is respectively connected with the control device, the encoder and the steering servo motor.
The control device can be realized by adopting an automatic driving control system of an automatic driving vehicle or a data processing chip controlled by the automatic driving control system, and has the main functions of receiving a corner data instruction of the automatic driving control system and sending the corner data instruction to the ECU.
The ECU is connected with the steering servo motor and the corner encoder through a CAN bus by adopting a single chip microcomputer, and sends a rotation adjusting signal to the steering servo motor by acquiring data of the encoder.
The encoder is a corner encoder, is arranged on a steering wheel shaft of the original vehicle wheel and is used for measuring the wheel corner in real time.
The steering servo motor is arranged on a rotating shaft of the original vehicle steering wheel and drives the original vehicle steering wheel to rotate clockwise or anticlockwise through rotation.
As shown in FIG. 2, the system can be additionally installed by adding an encoder 4, a steering servo motor 2 and an ECU on the basis of not changing the hydraulic steering system of the original vehicle. Specifically, the hydraulic steering system of the original vehicle comprises a steering wheel 1, a hydraulic steering mechanism and wheels 3, wherein the steering wheel 1 is connected with the hydraulic steering mechanism through a steering knuckle 10, the hydraulic steering mechanism comprises a reversing valve 6, a hydraulic pump 7, a liquid storage tank 8 and a steering cylinder 9, and the mechanism is in the prior art and is not described again. The steering cylinder 9 of the hydraulic steering mechanism is connected with the wheels 3 through the steering wheel shaft 5 of the wheels.
The encoder 4 is a Boster absolute value encoder, is arranged at a steering wheel shaft 5 of the wheel and is used for acquiring the current angle of the steering wheel in real time; the steering servo motor 2 is arranged on a rotating shaft of the original vehicle steering wheel 1 and is responsible for driving an original vehicle hydraulic steering mechanism to rotate so as to enable wheels to rotate; the ECU can adopt a Cascade S12 series single chip microcomputer, is connected with the encoder 4 and the steering servo motor 2 through signal lines and is responsible for carrying out real-time closed-loop control on steering, so that the steering wheel achieves an ideal steering angle.
After installation, the zero point of the steering encoder 4 needs to be calibrated, and the angle relation between the encoder data and the wheels 3 is calculated; and calibrating the relation between the rotating speed of the steering servo motor 2 and the angular speed of the wheels 3, wherein the relation is linear, and corresponding data are stored in the ECU. When the steering wheel angle adjusting device is used, the control device sends an expected wheel angle data instruction, the ECU firstly collects the current wheel angle fed back by the angle encoder according to the instruction, then sends a rotation signal to the steering servo motor to drive the steering wheel to rotate, the steering wheel rotates to drive wheels to steer through the hydraulic steering mechanism, and the angle encoder further feeds back the current wheel angle to the ECU to realize closed-loop control of the wheel angle until the wheel angle is adjusted in place.
The hydraulic steering system closed-loop control system can realize accurate wheel turning according to the turning angle instruction of the automatic driving control system, so that the wheel turning angle of the hydraulic steering system is accurate, the response speed is high, the mode of directly controlling a hydraulic valve is bypassed, a steering motor is adopted to carry out turning angle control of precision, and the wheels can reach an ideal turning angle by carrying out real-time closed-loop control.
Claims (6)
1. The utility model provides a hydraulic steering system closed loop control system, hydraulic steering system includes steering wheel, hydraulic steering mechanism and wheel, and the steering wheel is connected with hydraulic steering mechanism through the knuckle, hydraulic steering mechanism is connected with the wheel through the steering wheel axle of wheel, its characterized in that: the device comprises a control device, an ECU (electronic control unit), an encoder and a steering servo motor, wherein the ECU is respectively connected with the control device, the encoder and the steering servo motor, the encoder is arranged on a steering wheel shaft of the original vehicle wheels, and the steering servo motor is arranged on a rotating shaft of a steering wheel of the original vehicle.
2. The closed-loop control system of a hydraulic steering system of claim 1, wherein: the control device adopts an automatic driving control system for automatically driving the vehicle or adopts a data processing chip controlled by the automatic driving control system.
3. The closed-loop control system of a hydraulic steering system of claim 1, wherein: and the ECU is connected with the steering servo motor and the encoder through a CAN bus by adopting a singlechip.
4. The closed-loop control system of a hydraulic steering system of claim 1, wherein: the encoder adopts a corner encoder, and the zero point of the steering encoder is fixed when the encoder is installed.
5. The closed-loop control system of a hydraulic steering system of claim 1, wherein: the encoder adopts a Boster absolute value encoder.
6. The closed-loop control system of a hydraulic steering system of claim 3, wherein: the ECU adopts a Cascade S12 series single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120126826.8U CN214215918U (en) | 2021-01-18 | 2021-01-18 | Closed-loop control system of hydraulic steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120126826.8U CN214215918U (en) | 2021-01-18 | 2021-01-18 | Closed-loop control system of hydraulic steering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214215918U true CN214215918U (en) | 2021-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120126826.8U Active CN214215918U (en) | 2021-01-18 | 2021-01-18 | Closed-loop control system of hydraulic steering system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112722063A (en) * | 2021-01-18 | 2021-04-30 | 北京九曜智能科技有限公司 | Closed-loop control system and control method for hydraulic steering system |
| CN114954652A (en) * | 2022-06-10 | 2022-08-30 | 上海友道智途科技有限公司 | Wheel corner measuring component and wheel steering control system |
-
2021
- 2021-01-18 CN CN202120126826.8U patent/CN214215918U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112722063A (en) * | 2021-01-18 | 2021-04-30 | 北京九曜智能科技有限公司 | Closed-loop control system and control method for hydraulic steering system |
| CN112722063B (en) * | 2021-01-18 | 2024-04-30 | 北京九曜智能科技有限公司 | Closed-loop control system and control method for hydraulic steering system |
| CN114954652A (en) * | 2022-06-10 | 2022-08-30 | 上海友道智途科技有限公司 | Wheel corner measuring component and wheel steering control system |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230224 Address after: No. 1-1, Aofeng Road, Wozhou Town, Xinchang County, Shaoxing City, Zhejiang Province 312500 Patentee after: Jiuyao Intelligent Technology (Zhejiang) Co.,Ltd. Address before: 101300 9th floor, building 26, courtyard 9, Linhe Avenue, Renhe Town, Shunyi District, Beijing Patentee before: Beijing Jiuquan Intelligent Technology Co.,Ltd. |
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| TR01 | Transfer of patent right |