CN106314529B - A kind of all-hydraulic rear-axle steering precise positioning control system and position control method - Google Patents
A kind of all-hydraulic rear-axle steering precise positioning control system and position control method Download PDFInfo
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Abstract
The present invention relates to a kind of all-hydraulic rear-axle steering precise positioning control system and position control methods, belong to vehicle hydraulic transmission control technology field.The system includes steering wheel through hydraulic steering gear and the wheel driven by hydraulic steering cylinder and intelligence are with oily compensation control circuit, steering wheel and wheel are respectively provided with steering wheel angle sensor and wheel steering angle sensor, the compensated solenoid valve in oil sources end of hydraulic steering gear connects the oil inlet of hydraulic steering gear, the signal output end of steering wheel angle sensor and wheel steering angle sensor connects correspondence signal input part of the intelligence with oily compensation control circuit, intelligence connects the controlled end of compensation electromagnetic valve with the control signal output of oily compensation control circuit, intelligence, which contains measurement with oily compensation control circuit, builds letter device, survey reception device, Turning Angle Analysis device, compensate control device.The corresponding relationship when present invention makes wheel steering angle and steering wheel angle still keep factory by compensation, and then guarantee to turn to positioning accuracy, it eliminates safe hidden trouble.
Description
Technical field
The present invention relates to a kind of hydraulic drive control device, especially a kind of all-hydraulic rear-axle steering is accurately positioned control system
System, also relates to corresponding position control method, belongs to vehicle hydraulic transmission control technology field.
Background technique
Engineering truck is frequently with rear-axle steering, since driver is difficult to the direction of direct feel wheel in manipulation, and only
The direction for working as front vehicle wheel, therefore the essence between steering wheel angle and wheel steering angle can be speculated by the location status of direction of observation disk
It is really particularly important to reply steering system.
According to the applicant understood, for a long time in the prior art, the realization of rear-axle steering function is substantially by steering wheel band
Dynamic diverter valve core rotation, and then corresponding oil circuit is opened, enter hydraulic oil by the channel that diverter is opened from oil sources and turns to
Hydraulic cylinder, then deflected by hydraulic cylinder extension with motor car wheel.
The hydraulic steering system of this opened loop control really cannot achieve due to compression, leakage of hydraulic oil etc.
Steering wheel angle is accurately corresponding with wheel steering angle.
In addition, in all hydraulic pressure steering-gear, when wheel deflects to its extreme position (being commonly called as killing), wheel steering angle no longer
When variation, such as continue to reverse, steering wheel still can be able to rotate, especially after longtime running.This excess rotation directly destroys
Set corresponding relationship between wheel steering angle and steering wheel angle, during wheel returns just, wheel direction and defined direction
Disk location status is possible to no longer corresponding, to interfere judgement of the driver to engineering truck direction of travel, there are certain peaces
Full hidden danger.
Summary of the invention
The primary purpose of the present invention is that: it is directed to above-mentioned disadvantage of the existing technology, proposes that one kind may insure vehicle
The accurate corresponding all-hydraulic rear-axle steering precise positioning control system of steering wheel angle and wheel steering angle, at the same provide it is corresponding fixed
Position control method.
Further aim of the present invention is: proposing that one kind can eliminate what steering wheel excess rotation influenced wheel manipulation
All-hydraulic rear-axle steering accurate positioning method.
In order to reach the above primary and foremost purpose, all-hydraulic rear-axle steering precise positioning control system of the invention includes steering wheel
Through hydraulic steering gear and the wheel driven by hydraulic steering cylinder and intelligence are with oily compensation control circuit, which is characterized in that institute
It states steering wheel and wheel is respectively provided with steering wheel angle sensor and wheel steering angle sensor, the oil sources end of the hydraulic steering gear
Compensated solenoid valve connects the oil inlet of hydraulic steering gear, and the signal of the steering wheel angle sensor and wheel steering angle sensor is defeated
The correspondence signal input part that the intelligence matches oily compensation control circuit is terminated out, and the intelligence matches the control of oily compensation control circuit
Signal output end connects the controlled end of the compensation electromagnetic valve, and the intelligence is matched oily compensation control circuit and contained
Letter device is built in measurement --- to the steering wheel angle and wheel steering angle according to factory operation actual measurement, establish its ratio
Functional relation；
Actual measurement reception device --- to receive operation rear direction disk rotary angle transmitter measure steering wheel manipulation corner with
The wheel actual rotational angle that wheel steering angle sensor measures；
Turning Angle Analysis device --- to according to the steering wheel manipulation corner received, function obtains wheel theory in proportion
Corner, and the wheel actual rotational angle for being subtracted while being measured with wheel theory corner start benefit if difference is greater than preset threshold value
Control device is repaid, starting actual measurement reception device is otherwise returned；
Compensation control device --- control signal is opened to export compensation electromagnetic valve, until the actual wheel corner measured
Reach theoretical wheel steering angle.
Correspondingly, it is including steering wheel through hydraulic steering gear that all-hydraulic rear-axle steering of the invention, which is accurately positioned control method,
And the wheel and intelligence driven by hydraulic steering cylinder is matched in the system of oily compensation control circuit, the steering wheel and wheel point
Not Zhuan You steering wheel angle sensor and wheel steering angle sensor, the compensated solenoid valve in oil sources end of the hydraulic steering gear connects liquid
The signal output end of pressure diverter, the steering wheel angle sensor and wheel steering angle sensor connects the intelligence with oil compensation control
The correspondence signal input part of circuit processed, the control signal output that the intelligence matches oily compensation control circuit connect the compensation electromagnetic
The controlled end of valve, the intelligence are matched oily compensation control circuit and are run according to the following steps
Letter step is built in measurement --- according to the steering wheel angle of factory operation actual measurement and corresponding wheel steering angle relationship, establishes
Proportion function；
Actual measurement receiving step --- receive the steering wheel manipulation corner and wheel that operation rear direction disk rotary angle transmitter measures
The wheel actual rotational angle that rotary angle transmitter measures；
Turning Angle Analysis step --- according to the steering wheel manipulation corner received, function obtains wheel theory corner in proportion,
And the wheel actual rotational angle for subtracting while measuring with wheel theory corner, benefit below is carried out if difference is greater than preset threshold value
Rate-determining steps are repaid, otherwise returns and surveys receiving step above；
Compensating rate-determining steps --- output compensation electromagnetic valve opens control signal, until the actual wheel corner measured reaches
Theoretical wheel steering angle.
In this way, the internal leakage caused by being worn due to diverter longtime running makes wheel steering angle and steering wheel angle no longer
When substantially conforming to proportion function relationship when as dispatched from the factory, the present invention will by the compensation electromagnetic valve of closed-loop control compensate automatically with
The comparable oil mass of internal leakage, thus corresponding relationship when making wheel steering angle and steering wheel angle still keep factory by compensation,
And then guarantee to turn to positioning accuracy, it eliminates safe hidden trouble.
In order to reach further purpose, in method of the invention, the steering wheel angle of factory operation actual measurement includes maximum
Corner, after surveying receiving step immediately (before Turning Angle Analysis step)
Excessive judgment step --- the steering wheel received manipulation corner is subtracted into hard-over, if difference is less than zero, then
Turning Angle Analysis step is carried out, corner is otherwise manipulated with difference amendment steering wheel, then carry out Turning Angle Analysis step.
The influence that steering wheel excess rotation manipulates wheel can be eliminated in this way, it is ensured that the steering essence of wheel steering system
Degree.
Detailed description of the invention
Fig. 1 is that the system of one embodiment of the invention constitutes schematic diagram.
Fig. 2 is that the intelligence of Fig. 1 embodiment matches oily compensation control circuit operational flow diagram.
Fig. 3-Fig. 9 is that the intelligence of Fig. 1 embodiment matches oily compensation control circuit schematic diagram.
Specific embodiment
Embodiment one
The present embodiment is a kind of all-hydraulic rear-axle steering precise positioning control system of fork lift back wheel, is constituted substantially as schemed
Shown in 1, steering wheel 1 drives wheel 6,6 side of being respectively provided with of steering wheel 1 and wheel through hydraulic steering gear 4 and by hydraulic steering cylinder 5
To disk rotary angle transmitter 8 and wheel steering angle sensor 7.The oil sources end 2 of hydraulic steering gear 4 is by the compensated solenoid valve 3 of oil inlet P
(normality closing) is accessed again in hydraulic steering gear 4.
The typical machine structure of hydraulic steering gear may refer to CN201110195256.9, CN201320401810.9
Chinese patent application document, shell have oil inlet P and be connected to respectively with 5 both ends of hydraulic steering cylinder left and right oil transportation mouth L,
R, shell one end are formed in the inner hole of runner equipped with valve pocket, and valve pocket is provided with the spool for extending and turning to input shaft, turns to input
The end of axis is connect by spline with steering wheel 1, is switched inside diverter 4 under 1 manipulation of steering wheel effect to constitute in Fig. 1
The flow valve module 4-1 of runner.Install the universal driving shaft for being formed with valve pocket and circumferentially being constrained in the inner hole of spool, the other end of shell with
The stator of cycloidal pin wheel set 4-2 is connected, and the other end of universal driving shaft is passed by the internal spline of external splines and the rotor of cycloidal pin wheel set
Dynamic engagement, cycloidal pin wheel set 4-2 are also known as measure motor, can be by controlling the oil mass of hydraulic steering cylinder 5 for the manipulation of steering wheel
Active force amplification.
The signal output end of steering wheel angle sensor 8 and wheel steering angle sensor 7 connects intelligence with oily compensation control circuit
The correspondence signal input part of (i.e. controller) 9, and intelligence connects compensation electromagnetic with the control signal output of oily compensation control circuit 9
The controlled end of valve 3.Compensation electromagnetic valve 3, which has, opens and closes position, when in open position, former except hydraulic steering gear is kept
Outside some hydraulic circuits, yet forms the oil of matching directly being connected to 5 both ends of hydraulic steering cylinder respectively after flow valve module 4-1 and mend
Repay runner.
Intelligence matches oily compensation control circuit 9 as shown in Fig. 3-Fig. 9, mainly by the FB9432S signal as signal input part
Acquisition module (Fig. 8), STC11F60XE single-chip microcontroller main control chip (Fig. 4) and the solenoid-driven mould as control output end
Block (Fig. 7) is constituted.
5,7,8,9 foot of digital signal output end of signal acquisition module connects the correspondence signal input pin of main control chip respectively
Rotary angle transmitter can be exported to the sinusoidal voltage angular signal of terminal block J6 and is decoded by 21-24, by alternating voltage signal
Standardized digital signal is converted to, STC11F60XE is then forwarded to.STC11F60XE is to contain microprocessor CPU, data storage
RAM, program memory ROM, 4 I/O mouthfuls of 8 parallel-by-bits, serial port UART, timer/counter and the monolithic for interrupting system
Machine exports the control signal of appropriate duration after can handling preset data, input measured data.Solenoid valve driving module
It is connected triode power amplifying device by control that output pin P3.2 is of coupled connections by photoelectric isolating device and main control chip two
Constitute, the output of the power amplifying device by 2 connecting terminals of terminal block J7 respectively with two power supplys of compensation electromagnetic valve
Line connection.Since electromagnetic valve coil belongs to inductive load, induced voltage will form, to avoid forming reversed punching to other components
It hits, which is also provided with two freewheeling diodes in parallel.
In addition, also contain with oily compensation control circuit be provided with required voltage power supply module (Fig. 3), can be with external computer
The MAX232 data communication module (Fig. 5) of communication and the human-computer interaction module (figure for exchanging information interface with machine as people
6).
When work, logic step operation of the intelligence with oily compensation control circuit 9 according to Fig.2:
Letter step is built in measurement --- according to the steering wheel angle of factory operation actual measurement and corresponding wheel steering angle relationship, establishes
Proportion function；
Actual measurement receiving step --- receive the steering wheel manipulation corner and wheel that operation rear direction disk rotary angle transmitter measures
The wheel actual rotational angle that rotary angle transmitter measures；
Excessive judgment step --- the steering wheel received manipulation corner is subtracted into hard-over, if difference is less than zero, then
Following Turning Angle Analysis step is carried out, corner is otherwise manipulated with difference amendment steering wheel, then carry out following Turning Angle Analysis step；
Turning Angle Analysis step --- according to the steering wheel manipulation corner received, function obtains wheel theory corner in proportion,
And the wheel actual rotational angle for subtracting while measuring with wheel theory corner, benefit below is carried out if difference is greater than preset threshold value
Rate-determining steps are repaid, otherwise compensation electromagnetic valve remains turned-off return and surveys receiving step above；
Compensating rate-determining steps --- output compensation electromagnetic valve opens control signal, until the actual wheel corner measured reaches
Theoretical wheel steering angle.
Experiments have shown that after using the diverter of the present embodiment, by between setting steering wheel for vehicle corner and wheel steering angle
Functional relation, real-time monitoring angle information, the wheel steering angle caused by internal leakage be more than allowable error after, intelligence with oil mend
Repaying control circuit and opening compensation electromagnetic valve is that steering system oil circuit quantitatively supplements hydraulic oil, and the original oil circuit of diverter provides steering
Required main output flow, therefore can eliminate diverter caused by due to internal leakage by closed-loop control and match shortage of oil, together
When eliminate the influence that manipulate to wheel of steering wheel excess rotation, ensure that diverter matches accuracy, so as to keep for a long time
The steering precision of wheel steering system.
Claims (4)
1. a kind of all-hydraulic rear-axle steering precise positioning control system, including steering wheel through hydraulic steering gear and pass through steering hydraulic
The wheel and intelligence of cylinder driving are with oily compensation control circuit, it is characterised in that: the steering wheel and wheel are respectively provided with direction
The compensated solenoid valve in oil sources end of disk rotary angle transmitter and wheel steering angle sensor, the hydraulic steering gear connects hydraulic steering gear
The signal output end of oil inlet, the steering wheel angle sensor and wheel steering angle sensor connects the intelligence with oil compensation control
The correspondence signal input part of circuit, the intelligence match oily compensation control circuit by as signal input part signal acquisition module,
Single-chip microcontroller main control chip and as control output end solenoid valve driving module constitute, the intelligence with oil compensation control electricity
The control signal output on road connects the controlled end of the compensation electromagnetic valve；
The solenoid valve driving module is connected by control that output pin is of coupled connections by photoelectric isolating device and main control chip two
Triode power amplifying device is constituted, and the solenoid valve driving module, which is equipped with, to be avoided forming the two of reverse impact to other components
Freewheeling diode in parallel；
The intelligence is matched oily compensation control circuit and is contained
Letter device is built in measurement --- to the steering wheel angle and wheel steering angle according to factory operation actual measurement, establish its proportion function
Relationship；
Actual measurement reception device --- to receive the steering wheel manipulation corner and wheel that operation rear direction disk rotary angle transmitter measures
The wheel actual rotational angle that rotary angle transmitter measures；
Turning Angle Analysis device --- to manipulate corner according to the steering wheel received, function obtains wheel theory corner in proportion,
And the wheel actual rotational angle for subtracting while measuring with wheel theory corner, start compensation control if difference is greater than preset threshold value
Otherwise device returns to starting actual measurement reception device；
Compensation control device --- control signal is opened to export compensation electromagnetic valve, until the actual wheel corner measured reaches
Theoretical wheel steering angle.
2. all-hydraulic rear-axle steering precise positioning control system according to claim 1, it is characterised in that: the hydraulic rotation
The left and right oil transportation mouth for having oil inlet to device shell and being connected to respectively with hydraulic steering cylinder both ends, described shell one end is formed with stream
Valve pocket is housed, the valve pocket is provided with the spool for extending and turning to input shaft, the end for turning to input shaft in the inner hole in road
It is connect by spline with steering wheel；The universal driving shaft for being formed with valve pocket and circumferentially being constrained, the shell are installed in the inner hole of the spool
The other end and the stator of cycloidal pin wheel set be connected, the other end of the universal driving shaft passes through the rotor of external splines and cycloidal pin wheel set
Internal spline be driven engagement.
It is including steering wheel through hydraulic steering gear and by steering liquid 3. a kind of all-hydraulic rear-axle steering is accurately positioned control method
In the system of wheel and intelligence with oily compensation control circuit of cylinder pressure driving, it is characterised in that: the steering wheel and wheel point
Not Zhuan You steering wheel angle sensor and wheel steering angle sensor, the compensated solenoid valve in oil sources end of the hydraulic steering gear connects liquid
The signal output end of pressure diverter, the steering wheel angle sensor and wheel steering angle sensor connects the intelligence with oil compensation control
The correspondence signal input part of circuit processed, the intelligence match oily compensation control circuit by the signal acquisition mould as signal input part
Block, single-chip microcontroller main control chip and the solenoid valve driving module as control output end are constituted, and the intelligence is with oil compensation control
The control signal output of circuit connects the controlled end of the compensation electromagnetic valve；
The solenoid valve driving module is connected by control that output pin is of coupled connections by photoelectric isolating device and main control chip two
Triode power amplifying device is constituted, and the solenoid valve driving module, which is equipped with, to be avoided forming the two of reverse impact to other components
Freewheeling diode in parallel；
The intelligence is matched oily compensation control circuit and is run according to the following steps
Letter step is built in measurement --- according to the steering wheel angle of factory operation actual measurement and corresponding wheel steering angle relationship, establish ratio
Function；
Actual measurement receiving step --- receive the steering wheel manipulation corner and wheel steering angle that operation rear direction disk rotary angle transmitter measures
The wheel actual rotational angle that sensor measures；
Turning Angle Analysis step --- according to the steering wheel manipulation corner received, function obtains wheel theory corner in proportion, and with
The wheel actual rotational angle that wheel theory corner is subtracted while being measured carries out compensation control below if difference is greater than preset threshold value
Otherwise step processed returns and surveys receiving step above；
Compensating rate-determining steps --- output compensation electromagnetic valve opens control signal, until the actual wheel corner measured reaches theoretical
Wheel steering angle.
4. all-hydraulic rear-axle steering according to claim 3 is accurately positioned control method, it is characterised in that: the factory fortune
The steering wheel angle of row actual measurement includes hard-over, after surveying receiving step immediately
Excessive judgment step --- the steering wheel received manipulation corner is subtracted into hard-over, if difference is less than zero, is then carried out
Otherwise Turning Angle Analysis step manipulates corner with difference amendment steering wheel, then carries out Turning Angle Analysis step.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108146497B (en) * | 2017-11-29 | 2024-01-05 | 安徽合力股份有限公司 | Full-hydraulic steering synchronous control system for forklift |
| CN108248680A (en) * | 2017-12-27 | 2018-07-06 | 镇江液压股份有限公司 | A kind of hydraulic steering gear integral control circuit and control method |
| CN110294015B (en) * | 2019-07-19 | 2021-03-23 | 山东浩睿智能科技有限公司 | Vehicle steering control system |
| CN112373560B (en) * | 2020-11-24 | 2023-01-24 | 合肥工业大学 | Method for determining expected steering curve of vehicle synchronous steering, control method and system |
| CN116834829B (en) * | 2023-05-31 | 2024-11-08 | 安徽合力股份有限公司 | Vehicle fuzzy feedforward path tracking control method based on hydraulic steering leakage compensation |
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|---|---|---|---|---|
| CN1139063A (en) * | 1995-06-21 | 1997-01-01 | 大众汽车有限公司 | Hydraulic control device of power-assisted steering and clutch and its operating mode |
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| CN2910722Y (en) * | 2006-07-03 | 2007-06-13 | 镇江液压件厂有限责任公司 | High terminal sensing, torque cycloid rotating valve type full hydraulic steering gear |
| CN102806941A (en) * | 2012-08-02 | 2012-12-05 | 宁波海迈克动力科技有限公司 | High-precision forklift hydraulic steering system and control method thereof |
| CN103661582A (en) * | 2012-09-01 | 2014-03-26 | 姜堰市恒久转向器厂 | Combined-type vehicle full-hydraulic steering gear |
-
2015
- 2015-06-25 CN CN201510354047.2A patent/CN106314529B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1139063A (en) * | 1995-06-21 | 1997-01-01 | 大众汽车有限公司 | Hydraulic control device of power-assisted steering and clutch and its operating mode |
| CN2455575Y (en) * | 2000-09-15 | 2001-10-24 | 洪进廉 | Energy-saving power steering |
| CN2910722Y (en) * | 2006-07-03 | 2007-06-13 | 镇江液压件厂有限责任公司 | High terminal sensing, torque cycloid rotating valve type full hydraulic steering gear |
| CN102806941A (en) * | 2012-08-02 | 2012-12-05 | 宁波海迈克动力科技有限公司 | High-precision forklift hydraulic steering system and control method thereof |
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