WO2021047650A1 - Véhicule à moteur, et système et procédé de commande de direction et de déplacement pour celui-ci - Google Patents

Véhicule à moteur, et système et procédé de commande de direction et de déplacement pour celui-ci Download PDF

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Publication number
WO2021047650A1
WO2021047650A1 PCT/CN2020/114835 CN2020114835W WO2021047650A1 WO 2021047650 A1 WO2021047650 A1 WO 2021047650A1 CN 2020114835 W CN2020114835 W CN 2020114835W WO 2021047650 A1 WO2021047650 A1 WO 2021047650A1
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WIPO (PCT)
Prior art keywords
steering
rotation angle
steering wheel
angle sensor
walking
Prior art date
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PCT/CN2020/114835
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English (en)
Chinese (zh)
Inventor
赵健雄
胡学军
胡啸
尹国庆
高一平
唐明
黄振宇
王景梅
Original Assignee
中联农业机械股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN201910864190.4A external-priority patent/CN110539796B/zh
Priority claimed from CN202010180090.2A external-priority patent/CN111267950A/zh
Application filed by 中联农业机械股份有限公司 filed Critical 中联农业机械股份有限公司
Publication of WO2021047650A1 publication Critical patent/WO2021047650A1/fr

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    • 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
    • B62D5/065—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
    • 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

Definitions

  • the invention relates to the technical field of motor vehicles, in particular to a motor vehicle and its steering and walking control system and method.
  • the present invention is made in view of the above shortcomings of the prior art, to solve or alleviate the above shortcomings of the prior art, and at least provide a beneficial option.
  • a steering and walking control system for a motor vehicle.
  • the steering and walking control system includes a control unit, a steering wheel, a steering wheel rotation angle sensor, a left bidirectional proportional valve and a right bidirectional proportional valve, and a left walking control system.
  • the electric control pump and the right travel electric control pump, the left travel motor and the right travel motor, the steering wheel rotation angle sensor is used to detect the rotation angle of the steering wheel, and the control unit is used to detect the steering wheel rotation angle sensor.
  • the rotation angle of the left bidirectional proportional valve and the right bidirectional proportional valve are controlled so as to control the left-travel electronically controlled pump and the right-travel electronically controlled pump, and then pass the left-travel motor and the right-travel electronically-controlled pump.
  • the right walking motor realizes the left or right turn of the motor vehicle.
  • the steering and walking control system further includes one or more of the following components electrically connected to the control unit: a walking handle for controlling whether the motor vehicle moves forward or backward; a key switch is used Used to control the power of the whole vehicle; wheel angle sensor, set on the wheel or steering bridge, used to detect the steering angle of the wheel; fast steering switch, used to activate manual fast steering mode; automatic driving switch, used to activate automatic steering mode; vehicle speed sensor , Used to detect the speed of the vehicle; automatic driving indicator, used to indicate that the vehicle is in automatic steering mode; fast turn indicator, used to indicate that the vehicle is in fast steering mode; system failure indicator, used to indicate system failure; left steering indicator A lamp is used to indicate that the vehicle is in a left turn state under the control of the control unit; and a right turn indicator is used to indicate that the vehicle is in a right turn state under the control of the control unit.
  • a walking handle for controlling whether the motor vehicle moves forward or backward
  • a key switch is used Used to control the power of the whole vehicle
  • wheel angle sensor set on the wheel
  • the steering wheel rotation angle sensor is fixed on the bottom of the steering column of the steering wheel, so as to detect the rotation angle of the steering wheel.
  • the steering wheel rotation angle sensor, the left bidirectional proportional valve and the right bidirectional proportional valve are connected to the control unit through a wire harness assembly.
  • the steering and walking control system further includes a monitoring unit, which is connected to the control unit via a CAN bus, and is used for displaying and setting steering related parameters.
  • the monitoring unit includes a rotation angle change rate monitoring module
  • the rotation angle change rate monitoring module includes a rotation angle change rate display unit and a rotation angle change rate maximum threshold setting unit.
  • the monitoring unit feeds back the finally confirmed rate of change of the rotation angle to the control unit, and the control unit controls the currents of the left bidirectional proportional valve and the right bidirectional proportional valve, thereby controlling the steering speed.
  • control unit calculates the rate of change of the rotation angle of the steering wheel according to the rotation angle of the steering wheel detected by the steering wheel rotation angle sensor, and determines the steering speed according to the rate of change of the rotation angle.
  • control unit calculates the rate of change of the rotation angle of the steering wheel based on the rotation angle of the steering wheel detected by the steering wheel rotation angle sensor, and calculates the rate of change of the rotation angle of the steering wheel and the rate of change of the motor vehicle.
  • the position of the center of gravity determines the steering arc.
  • a steering and walking control method which is applied to the above-mentioned steering and walking control system and executed by the control unit, and the steering and walking control method includes: according to the steering wheel rotation angle sensor Calculate the target steering angle of the wheels based on the measured rotation angle; and according to the difference between the target steering angle of the wheels and the actual steering angle of the wheels, output the corresponding proportional valve control current to the left bidirectional proportional valve and/or the right bidirectional Proportional valve.
  • calculating the target steering angle of the wheels according to the steering wheel rotation angle sensor signal is achieved by the following formula:
  • y represents the target steering angle of the wheel
  • k 1 represents the steering speed factor in the normal manual steering mode, which can be adjusted according to the current vehicle speed
  • x represents the ideal output voltage of the steering wheel rotation angle sensor
  • x 0 represents the initial steering wheel rotation angle sensor Voltage
  • y 0 represents the initial angle of the wheel
  • b represents the actual output voltage of the steering wheel rotation angle sensor after turning the steering wheel
  • a represents the sudden change parameter of the output voltage of the steering wheel rotation angle sensor.
  • the output voltage of the steering wheel rotation angle sensor undergoes a positive mutation, and the value of a is increased by 1,
  • the output voltage of the steering wheel rotation angle sensor has a negative mutation, the value of a is reduced by 1, the initial value of a is 0, and
  • A represents the coefficient set according to the maximum output voltage of the steering wheel rotation angle sensor.
  • the steering walking control system is further provided with a quick steering switch, the quick steering switch is used to activate the manual quick steering mode, and the manual quick steering mode has priority over the normal manual steering mode; in the manual quick steering mode, according to the steering wheel rotation
  • the angle sensor signal calculates the target steering angle of the wheels through the following formula:
  • the steering and walking control system is further provided with an automatic driving switch, and the automatic driving switch is used to activate the automatic steering mode, and the automatic steering mode has priority over the manual fast steering mode and the normal manual steering mode;
  • the target wheel steering angle is the wheel steering angle requested by the automatic driving system.
  • the automatic steering mode when the output voltage of the steering wheel rotation angle sensor changes greater than the set voltage U within the set time T, the automatic steering mode is switched to the normal manual steering mode.
  • the target steering angle of the wheels when the target steering angle of the wheels exceeds the steering range ⁇ E°, the target steering angle of the wheels is set to +E° or -E°, +E° is the maximum right steering angle of the vehicle in a safe driving state, -E ° is the maximum left steering angle of the wheels when the vehicle is driving safely.
  • the outputting the corresponding proportional valve control current includes: using a PID control strategy to control the output proportional valve control current based on the difference between the target steering angle of the wheels and the actual steering angle of the wheels.
  • a motor vehicle which uses the above-mentioned steering and walking control system.
  • the present invention uses the steering wheel to control the steering, the operation mode is easier, conforms to ergonomics, does not operate incorrectly, and the control is more precise and safer; the degree of automation is high, the maintenance is convenient, and especially the field U-turn Very easy and effortless.
  • Fig. 1 shows a schematic diagram of a steering and walking control system according to an embodiment of the present invention.
  • Fig. 2 is a schematic diagram showing a control part of a steering walk control system according to another embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of switching between different steering modes in the steering and walking control method of the embodiment of the present invention.
  • Figure 4 is a schematic diagram of the structure of a conventional hydraulic steering system.
  • Fig. 5 is a schematic diagram of the corresponding control part of a conventional hydraulic steering system.
  • Fig. 1 shows a schematic diagram of a steering and walking control system according to an embodiment of the present invention.
  • a steering and walking control system applicable to a motor vehicle includes a control unit 1, a steering wheel 2, a steering wheel rotation angle sensor 3, a two-way proportional valve (left two-way proportional valve 41 and right two-way Proportional valve 42), travel electric control pump (left travel electric control pump 51 and right travel electric control pump 52), travel motor (left travel motor 61 and right travel motor 62).
  • the motor vehicle here may be, for example, harvesting machinery such as a tractor and a sugarcane harvester.
  • the steering wheel rotation angle sensor 3 is used to detect the rotation angle of the steering wheel.
  • the control unit 1 controls the current of the left two-way proportional valve 41 and the right two-way proportional valve 42 according to the rotation angle measured by the steering wheel rotation angle sensor 3, thereby controlling the left walking motor.
  • the flow rate of the control pump 51 and the right-travel electronically-controlled pump 52 is then passed through the left-travel motor 61 and the right-travel motor 62 to realize the left or right turn of the vehicle.
  • connection relationship and control of the left travel motor 61 and the right travel motor 62 with the left and right wheels can be implemented using various technologies known now and in the future, and they are all within the protection scope of the present invention.
  • the steering wheel rotation angle sensor 3 is fixed on the bottom of the steering column of the steering wheel 2 to detect the rotation angle of the steering wheel 2.
  • the steering wheel rotation angle sensor 3 and the two-way proportional valve are connected to the control unit 1 through a wiring harness assembly.
  • the mechanical steering walking control system further includes a walking handle 7, which is used to control whether the vehicle moves forward or backward.
  • a walking handle 7 which is used to control whether the vehicle moves forward or backward.
  • the steering wheel when the vehicle is expected to go straight, the steering wheel is in the initial position, and the angle detected by the steering wheel rotation angle sensor is zero.
  • the control unit 1 makes the currents of the left bidirectional proportional valve 41 and the right bidirectional proportional valve 42 the same, so that the flow rates of the left-travel electronic control pump 51 and the right-travel electronic control pump 52 are the same.
  • the vehicle goes straight.
  • the steering wheel rotation angle sensor detects the rotation angle (number of turns).
  • the control unit 1 makes the currents of the left bidirectional proportional valve 41 and the right bidirectional proportional valve 42 different, so that the flow rates of the left-travel electronically controlled pump 51 and the right-travel electronically controlled pump 52 are different.
  • the steering is controlled by the steering wheel, and the operation mode is easier, conforms to ergonomics, will not be mis-operated, and the control is more precise and safer; the degree of automation is high, the maintenance is convenient, and especially the field U-turn Very easy and effortless.
  • the mechanical steering and walking control system further includes a monitoring unit 8.
  • the main function of the monitoring unit 8 is to monitor and display the operating status of the vehicle data, which may include one or more of the following parameters: such as engine speed, oil pressure, generator charging status, vehicle working pressure and other key parameters.
  • the monitoring unit 8 can also be used to edit related parameters, self-diagnosis of each input and output signal failure, etc.
  • the monitoring unit 8 is connected to the control unit 1 through the CAN bus.
  • buttons of the monitoring unit 8 When you need to check the operating status of the machine, press the button of the monitoring unit 8 to edit the relevant parameters: if you want to modify the alarm point of the engine cooling water temperature from the original 103°C to 105°C, you can press the PgUp or PgDn buttons, and then enter Corresponding data, press the confirmation key of the monitoring unit, and transmit the data to the control unit 1 through CAN bus communication so that the water temperature alarm point becomes 105°C.
  • the control unit 1 controls the current supplied to the left bidirectional proportional valve and the right bidirectional proportional valve according to the water temperature alarm point and the current water temperature set by the driver through the monitoring unit 8, thereby controlling the steering speed. That is, the absolute value of the current passing through the left bidirectional proportional valve 41 and the current of the right bidirectional proportional valve 42 and the difference between these two absolute values can be controlled, thereby controlling the steering speed. Control the steering speed so that the steering does not cause the difference between the water temperature and the water temperature alarm point to fall below a predetermined value.
  • the following settings can also be made: whether the CAN bus communication network between the engine and the control unit is normal and self-diagnosing; whether the vehicle maintenance information is automatically reminded; whether the fault diagnosis of each input and output signal is intelligent, etc.
  • the monitoring unit 8 includes a rotation angle change rate monitoring module, and the rotation angle change rate monitoring module includes a rotation angle change rate display unit and a rotation angle change rate maximum threshold setting unit.
  • the monitoring unit 8 feeds back the actual rotation angle change rate to the control unit; when the actual input rotation angle change rate is greater than the set maximum threshold, the monitoring unit 8 will The threshold value is fed back to the control unit, and an alarm signal is sent out in the monitoring unit.
  • the control unit controls the magnitude of the current passing through the left bidirectional proportional valve and the right bidirectional proportional valve according to the steering angle information fed back by the monitoring unit, thereby controlling the steering speed.
  • the monitoring unit further includes a steering speed display unit and a steering speed maximum threshold setting unit. While displaying the actual steering speed, it reduces the overturning accidents caused by the excessive steering speed.
  • the steering wheel rotation angle sensor detects the rotation angle of the steering wheel and feeds it back to the control unit.
  • the control unit calculates the rotation angle change rate of the steering wheel and feeds it back to the monitoring unit.
  • the monitoring unit compares with the set maximum threshold and feeds back the final confirmed angle change rate.
  • the control unit controls the currents of the left bidirectional proportional valve 41 and the right bidirectional proportional valve 42 to be different, so that the flow rates of the left-travel electronically controlled pump 51 and the right-travel electronically controlled pump 52 are different.
  • the difference is to realize the left or right turn of the vehicle and determine the steering speed. This method can well implement the steering urgency conveyed by the driver.
  • the control unit 1 calculates the rate of change of the rotation angle of the steering wheel 2 based on the rotation angle of the steering wheel 2 detected by the steering wheel rotation angle sensor 3, and determines the steering arc based on the rate of change of the rotation angle and the position of the center of gravity of the motor vehicle.
  • the steering arc reflects the size of the steering camber and is affected by the steering speed. Too fast steering may cause the vehicle's center of gravity to be unbalanced.
  • the steering arc is adjusted according to the position of the center of gravity, and the steering arc can be changed multiple times as the center of gravity of the vehicle changes during a turn, which can improve the safety of steering.
  • control unit 1 calculates the rate of change of the rotation angle of the steering wheel 2 based on the rotation angle of the steering wheel 2 detected by the steering wheel rotation angle sensor 3, and calculates the rate of change of the rotation angle, the position of the center of gravity of the motor vehicle, and the steering obstacle Under the circumstances, determine the steering arc.
  • the steering arc reflects the size of the steering camber. Too sharp steering may cause the vehicle's center of gravity to be unbalanced, and obstacles may cause accidents. According to the embodiment of the present invention, the steering arc can be adjusted according to the position of the center of gravity and obstacles. During a turn, the steering arc can be changed multiple times as the center of gravity of the vehicle changes and obstacles that can be detected. The intent of the personnel can also improve the safety of steering.
  • the mechanical steering and walking control system further includes a key switch 9.
  • the function of the key switch 9 is to control the power supply of the entire vehicle. When the key switch 9 is turned to the ON position, the power of the entire vehicle is turned on. The key switch 9 is connected to the control unit 1. When the key switch 9 is turned to the ON position, the control unit 1 is powered on.
  • the steering wheel rotation angle sensor is a high-precision feedback element with a linearity of ⁇ 1.0%.
  • the steering wheel inputs a certain angle signal to the control unit 1, setting the angle signal and the actual turning angle signal.
  • the arithmetic control of the control unit 1 always keeps the vehicle running smoothly.
  • this system does not have a hydraulic steering gear and a hydraulic cylinder, and the flow difference between the left and right pumps is controlled by the control unit 1, so as to realize the differential control of the left and right walking motors, which is more energy-saving and stable).
  • FIG. 2 is a schematic diagram showing the control part of the steering and walking control system according to another embodiment of the present invention.
  • the steering and walking control system is consistent with Figure 1, but is equipped with more peripheral devices for the control unit to make the control part of the The function is more complete.
  • the steering and walking control system further includes one or more of the following components electrically connected to the control unit: the above-mentioned walking handle; the above-mentioned key switch; the wheel angle sensor, which is arranged on the wheel or the steering On the bridge, it is used to detect the steering angle of the wheels; the quick steering switch is used to activate the manual quick steering mode; the automatic driving switch is used to activate the automatic steering mode; the vehicle speed sensor is used to detect the speed of the vehicle; the automatic driving indicator light is used to Indicate that the vehicle is in automatic steering mode; fast turn indicator, used to indicate that the vehicle is in fast steering mode; system failure indicator, used to indicate system failure; left turn indicator, used to indicate that the vehicle is in the control unit under the control of A left turn state; and a
  • the steering walking control method may include: calculating a target steering angle of a wheel according to the rotation angle measured by the steering wheel rotation angle sensor; and outputting a corresponding proportional valve according to the difference between the target steering angle of the wheel and the actual steering angle of the wheel Control current to the left bidirectional proportional valve and/or the right bidirectional proportional valve.
  • an angle sensor is provided on the steering wheel.
  • the angle sensor is used to detect the rotation angle of the steering wheel.
  • the control unit calculates the target steering angle of the wheel according to the angle sensor signal; the control unit outputs the output according to the difference between the target steering angle of the wheel and the actual steering angle of the wheel.
  • the corresponding proportional valve controls the current, and the proportional valve (such as the left two-way proportional valve and the right two-way proportional valve) controls the steering of the vehicle through the walking electronic control valve, the walking motor, and the like.
  • FIG. 3 is a schematic flowchart of switching between different steering modes in the steering walking control method of the embodiment of the present invention.
  • the steering mode can be switched between a normal manual steering mode, a manual quick steering mode, and an automatic steering mode.
  • Normal manual steering mode means that the driver uses the steering wheel to control the steering of the vehicle, and the steering speed is moderate.
  • the angle sensor on the steering wheel reacts to the rotation of the steering wheel through the change of the electrical signal.
  • the output signal of the steering wheel rotation angle sensor is a voltage signal.
  • the measuring angle range is 360°
  • the normal output voltage range is 0.5 ⁇ 4.5V
  • the target steering angle of the wheels is calculated according to the steering wheel rotation angle sensor signal through the following formula:
  • y represents the target steering angle of the wheels
  • k 1 represents the steering speed factor in the normal manual steering mode, which can be adjusted according to the current vehicle speed
  • x represents the ideal output voltage of the steering wheel rotation angle sensor
  • x 0 represents the initial voltage of the steering wheel rotation angle sensor
  • y 0 represents the initial angle of the wheel
  • b represents the actual output voltage of the steering wheel rotation angle sensor after turning the steering wheel
  • a represents the sudden change parameter of the output voltage of the steering wheel rotation angle sensor.
  • the output voltage of the steering wheel rotation angle sensor undergoes a positive mutation, and the value of a is increased by 1,
  • the output voltage of the steering wheel rotation angle sensor has a negative mutation, the value of a is reduced by 1, and the initial value of a is 0.
  • A represents a coefficient set according to the maximum output voltage of the angle sensor. In this embodiment, the value of A is 4. which is,
  • a steering wheel rotation angle sensor with a measurement range of 360° has a sudden change in output voltage when the steering wheel is turned.
  • the steering wheel is turned clockwise, there may be a sudden change of approximately 4.5V to 0.5V, which is recorded as a positive sudden change;
  • the steering wheel is turned counterclockwise, there may be a negative sudden change of approximately 0.5V to 4.5V.
  • the target steering angle of the wheel exceeds the steering range ⁇ E°, set the target steering angle of the wheel to +E° or -E°, +E° is the maximum right steering angle of the vehicle in a safe driving state, and -E° is the vehicle safety The maximum left steering angle of the wheels in the driving state.
  • the system will issue a prompt "Wheel steering angle has reached the limit".
  • the steering wheel can be rotated N turns to make the wheels turn from the left limit to the right limit.
  • the steering speed factor k 1 2E/4 ⁇ . If it is necessary to realize the number of turning circles of the vehicle at low speeds, the steering efficiency will be improved; the number of turning circles of the vehicle will be more at high speeds to increase the steering stability of the vehicle.
  • the steering speed factor k 1 can be associated with the current vehicle speed, and when the speed increases, k 1 decreases.
  • the quick steering switch is used to activate the manual quick steering mode, and the manual quick steering mode has priority over the normal manual steering mode.
  • the speed of agricultural machinery is low when turning on the ground. If the turning speed can be increased, the work efficiency can be improved.
  • the following conditions must be met when activating the manual fast steering mode: (1) The hydraulic steering walking control system pressure is normal, and the sensor electrical signal is normal; (2) The fast steering switch is turned on; (3) The automatic driving switch is turned off; (4) The speed is lower than safe Vehicle speed setting value; after activation, during driving, if any conditions are not met, the manual quick steering function will be locked.
  • y represents the target steering angle of the wheels
  • k 2 represents the steering speed factor in manual fast mode
  • k 2 m*k 1 , m is greater than 1, set according to the required fast steering speed
  • k 1 represents normal manual steering
  • x represents the ideal output voltage of the steering wheel rotation angle sensor
  • x 0 represents the initial voltage of the steering wheel rotation angle sensor
  • y 0 represents the initial angle of the wheel
  • the method of calculating the target steering angle of the wheels in the manual fast steering mode is different from the method of calculating the target steering angle of the wheels in the normal manual steering mode only in the selection of the steering speed factor, and the rest are exactly the same.
  • the target steering angle of the wheels exceeds the steering range ⁇ E°
  • the target steering angle of the wheels is set to +E° or -E°
  • +E° is the maximum right steering angle of the vehicle in a safe driving state
  • -E° is The maximum left steering angle of the wheels when the vehicle is driving safely.
  • the system will issue a prompt "Wheel steering angle has reached the limit".
  • the automatic driving switch is used to activate the automatic steering mode.
  • the automatic steering mode has priority over the manual fast steering mode and the normal manual steering mode. The following conditions must be met when activating the automatic steering mode: (1) The steering and walking control system pressure is normal, and the sensor electrical signal is normal; (2) The automatic driving switch is turned on; during the activated driving process, if any conditions are not met, the automatic steering driving is locked Features.
  • the target steering angle of the wheels is the steering angle of the wheels requested by the automatic driving system.
  • the automatic steering mode when the angle sensor output voltage changes greater than the set voltage U within the set time T, the automatic steering mode is switched to the normal manual steering mode.
  • control unit performs PID control on the output proportional valve control current based on the difference between the target steering angle of the wheels and the steering angle of the wheels.
  • a hydraulic steering system according to another embodiment of the present invention includes a steering cylinder 401, a cylinder protection relief valve 402, a steering proportional directional valve 403, a gear pump 404, and a system
  • the hydraulic steering system also includes a control unit, and the peripheral components of the control unit are shown in FIG. 5. Compared with FIG. 2, a pressure sensor for detecting oil pressure can be added.
  • the steering proportional directional valve 403 is used to control the steering of the vehicle through the steering cylinder 4011, and the steering proportional directional valve 403 is connected to the steering cylinder 401.
  • the left solenoid valve of the steering proportional directional valve 403 is energized and the right solenoid valve is de-energized, the pressure oil flows from the pipeline 409 through the proportional valve directional valve 403 and pipeline 407 to the left cavity of the steering cylinder 401, and the vehicle turns right; otherwise, the vehicle turns left .
  • the control unit responds to the rotation speed of the steering wheel by changing the energized current of the proportional directional valve 403 to change the steering speed.
  • the pressure oil output port of the gear pump 404 and the pressure oil inlet of the steering proportional directional valve 403 are connected through a pipeline 409, and the oil return port of the steering proportional directional valve 403 is connected with the oil tank through a pipeline 410.
  • the oil inlet of the system pressure setting valve 405 is connected to the pressure oil pipeline 409, and the oil outlet is connected between the oil return pipeline 410.
  • the two working oil ports of the steering proportional directional valve 403 are respectively connected to the left cavity and the right cavity of the steering cylinder 401 through a pipeline 407 and a pipeline 408.
  • the oil inlets of the two system protection relief valves 402 are respectively connected to the working oil circuits 407 and 408, and the oil return ports are connected to the oil tank 413.
  • the method of this embodiment can be applied to the control unit in the form of a program.
  • the control unit checks the input signals in each program running cycle, such as the electrical signal of the wheel steering angle sensor, the electrical signal of the steering wheel rotation angle sensor, the electrical signal of the pressure sensor of the steering walk control system, and the steering angle request value of the automatic driving system. .
  • control unit After the control unit analyzes the input value, it can determine the following fault information:
  • the system will prompt the steering and walking control system to respond to a timeout fault.
  • control unit can output the following status information:
  • the steering travel control method of the embodiment of the present invention is not only suitable for the system shown in FIG. 1 that does not need to be provided with a hydraulic steering gear and a hydraulic cylinder, but also is suitable for a traditional hydraulic steering system.
  • the program is stored in a storage medium and includes several instructions to enable the single-chip microcomputer, chip, or processor. (processor) Execute all or part of the steps of the method described in each embodiment of the present application.
  • the aforementioned storage media include: U disk, sports hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes. .

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

Abstract

L'invention concerne un véhicule à moteur, et un système de commande de direction et de déplacement pour celui-ci. Le système de commande de direction et de déplacement comporte: une unité (1) de commande, un volant (2) de direction, un capteur (3) d'angle, une vanne proportionnelle bidirectionnelle gauche (41), une vanne proportionnelle bidirectionnelle droite (42), une pompe gauche (51) de déplacement à commande électrique, une pompe droite (52) de déplacement à commande électrique, un moteur gauche (61) de déplacement, et un moteur droit (62) de déplacement. Le capteur (3) d'angle est utilisé pour mesurer un angle de rotation du volant (2) de direction. L'unité (1) de commande effectue la commande du courant de la vanne proportionnelle bidirectionnelle gauche (41) et de la vanne proportionnelle bidirectionnelle droite (42) en fonction de l'angle de rotation mesuré par le capteur (3) d'angle, de façon à commander la pompe gauche (51) de déplacement à commande électrique et la pompe droite (52) de déplacement à commande électrique, réalisant ainsi un virage à gauche ou un virage à droite du véhicule à moteur au moyen du moteur gauche (61) de déplacement et du moteur droit (62) de déplacement.
PCT/CN2020/114835 2019-09-12 2020-09-11 Véhicule à moteur, et système et procédé de commande de direction et de déplacement pour celui-ci WO2021047650A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201910864190.4 2019-09-12
CN201910864190.4A CN110539796B (zh) 2019-09-12 2019-09-12 车辆转向控制方法及系统
CN202010180090.2A CN111267950A (zh) 2020-03-16 2020-03-16 机动车辆及其转向行走控制系统
CN202010180090.2 2020-03-16

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WO2021047650A1 true WO2021047650A1 (fr) 2021-03-18

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