CN110304138A - Vehicle hydraulic control steering system and control method - Google Patents
Vehicle hydraulic control steering system and control method Download PDFInfo
- Publication number
- CN110304138A CN110304138A CN201910633162.1A CN201910633162A CN110304138A CN 110304138 A CN110304138 A CN 110304138A CN 201910633162 A CN201910633162 A CN 201910633162A CN 110304138 A CN110304138 A CN 110304138A
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- steering
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- actuator port
- centering
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 208000002925 dental caries Diseases 0.000 claims abstract description 20
- 239000007788 liquid Substances 0.000 claims description 42
- 239000012530 fluid Substances 0.000 claims description 31
- 239000000446 fuel Substances 0.000 claims description 25
- 238000005429 filling process Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims 1
- 238000007689 inspection Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000005086 pumping Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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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
-
- 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
- B62D5/062—Details, component parts
-
- 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
- B62D5/07—Supply of pressurised fluid for steering also supplying other consumers ; control thereof
-
- 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
- B62D5/08—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 type of steering valve used
-
- 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
- B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
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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)
- Power Steering Mechanism (AREA)
Abstract
The present invention relates to a kind of vehicle hydraulic control steering system and control methods, wherein locking system includes: steering mechanism；Steering cylinder (7), for driving steering mechanism to deflect steering shaft；Centering oil cylinder (9), for driving steering mechanism to return steering shaft just；Ratio valve group (2), it is flexible for controlling steering cylinder (7)；With steering centering valve group (4), for in the power-off state, the actuator port of ratio valve group (2) is connected to oil return circuit, steering cylinder (7) is set to be in quick condition, two cavitys of centering oil cylinder (9) are connected to high-pressure oil passage, to drive steering shaft to return just；In the energized state, two cavitys of centering oil cylinder (9) are connected to oil return circuit, the actuator port of ratio valve group (2) is connected to high-pressure oil passage, to drive steering shaft deflection by steering cylinder (7).Such vehicle hydraulic control steering system can guarantee that automatically controlled steering shaft is actively returned just, improve vehicle safety.
Description
Technical field
The present invention relates to technical field of engineering machinery more particularly to a kind of vehicle hydraulic control steering systems and control method.
Background technique
In order to improve low-speed maneuver flexibility, the high-speed handing stability of vehicle, the number of axle for participating in electro-hydraulic steering increases, electricity
Driving safety of the liquid steering system to vehicle, it appears most important.Currently, there are three types of the power source of electric hydraulic steering system is common:
Normal streaming, constant pressure type, load-sensitive hydraulic system.Pressure needed for load-sensitive hydraulic system will can load automatically or flow become
The signal of change passes to sensitive control valve by load port or pumps the sensitive cavity of variable control mechanism, realizes the fortune of adjustment variable pump
Row state can be reduced power loss caused by pressure, changes in flow rate, reduce hydraulic system compared with constant pressure type hydraulic system
Calorific value.But load-sensitive hydraulic system cannot provide constant pressure oil-source to hydraulic centralizing cylinder.Current steering system
Vehicle power-off when, automatically controlled steering shaft can not return to turn to bit positions on, can not in automatically controlled steering shaft failure support vehicles
The safety of traveling.
Summary of the invention
The embodiment provides a kind of vehicle hydraulic control steering system and control methods, can be improved vehicle driving mistake
Safety in journey.
To achieve the above object, on the one hand the embodiment of the present invention provides a kind of vehicle hydraulic control steering system, comprising:
Steering mechanism, the steering axis connection with vehicle；
Steering cylinder, for driving steering mechanism to move so that steering shaft deflects；
Centering oil cylinder, for driving steering mechanism to move so that steering shaft is returned just；
Ratio valve group, it is flexible for controlling steering cylinder；With
Centering valve group is turned to, in the power-off state, the actuator port of ratio valve group to be connected to oil return circuit, so that
Steering cylinder is in quick condition, and two cavitys of centering oil cylinder are connected to high-pressure oil passage, to drive steering shaft to return just；And
In the energized state, two cavitys of centering oil cylinder are connected to oil return circuit, the actuator port and high-pressure oil passage of ratio valve group
Connection, to drive steering shaft deflection by steering cylinder.
In some embodiments, turning to centering valve group includes:
Two hydraulic control one-way valves, are arranged in parallel；With
Solenoid directional control valve, in the power-off state, two cavitys of centering oil cylinder to be connected to high-pressure oil passage, and utilizes
Two hydraulic control one-way valves are connected high-pressure oil passage, so as to turn to the work being connected in centering valve group with ratio valve group and steering cylinder
Hydraulic fluid port is connected to oil return circuit；In the energized state, two cavitys of centering oil cylinder are connected to oil return circuit, two hydraulic controls
Check valve cut-off, so that the actuator port for turning to the actuator port of centering valve group and the connection of ratio valve group and being connected to steering cylinder
Corresponding conducting.
In some embodiments, the oil outlet of solenoid directional control valve is directly connected to the control oil circuit of two hydraulic control one-way valves.
In some embodiments, centering valve group is turned to further include:
First valve body which is provided with oil inlet, oil return opening, the first actuator port, the second actuator port, third working oil
Mouthful, the 4th actuator port and the 5th actuator port, the first actuator port and the second actuator port two with ratio valve group respectively
Actuator port connection, third actuator port and the 4th actuator port are connected to two cavitys of steering cylinder respectively, the 5th work
Hydraulic fluid port is connected to the oil outlet of solenoid directional control valve；
Wherein, the oil inlet of solenoid directional control valve is connected to the oil inlet on the first valve body, on oil outlet and the first valve body
The connection of 5th actuator port；
The oil inlet of two hydraulic control one-way valves is connected to the oil return opening on the first valve body, and one of hydraulic control one-way valve goes out
Hydraulic fluid port on the first valve body the first actuator port and third actuator port be connected to, the oil outlet of another hydraulic control one-way valve with
The second actuator port and the 4th actuator port on first valve body are connected to.
In some embodiments, centering valve group is turned to further include:
First overflow valve is located on the oil circuit between the control oil circuit of two hydraulic control one-way valves and the 5th actuator port；With/
Or
Second overflow valve is located on the oil circuit between the first actuator port on the first valve body and third actuator port；With/
Or
Third overflow valve is located on the oil circuit between the second actuator port and the 4th actuator port on the first valve body.
It in some embodiments, further include the first oil sources, for being ratio valve group fuel feeding, the first oil sources is load-sensitive
Pump, ratio valve group have a load-sensitive hydraulic fluid port, and load-sensitive hydraulic fluid port is used to obtain the load pressure of steering cylinder work, and with it is negative
Carry the pilot pressure hydraulic fluid port connection of sensitive pump.
In some embodiments, ratio valve group includes:
Proportional reversing valve, it is flexible for controlling steering cylinder；With
Pressure-compensated valve is located on the oil circuit where the actuator port of proportional reversing valve, and the oil liquid of load-sensitive hydraulic fluid port is made
Control terminal for pressure-compensated valve.
In some embodiments, further includes:
First oil sources is used for while being ratio valve group and steering centering valve group fuel feeding；With
Flow divider, the oil liquid for providing the first oil sources distribute to ratio valve group according to preset ratio and turn to centering valve
Group.
In some embodiments, further includes: the second oil sources, for being to turn to centering valve group fuel feeding；
Wherein, the second oil sources includes pump, reversal valve, prefill valve, accumulator and pressure sensor, and pressure sensor is located at storage
The oil inlet of energy device, when the detected value of pressure sensor is lower than the first preset pressure, reversal valve switches to first state, and pump mentions
The oil liquid of confession passes sequentially through reversal valve and prefill valve enters accumulator.
In some embodiments, it in filling process, when the detected value of pressure sensor is higher than the second preset pressure, changes
To Vavle switching to the second state, the oil liquid for pumping offer is supplied to other hydraulic systems by reversal valve, wherein the second preset pressure
Greater than the first preset pressure.
In some embodiments, the wheel at left and right sides of the same row of vehicle is respectively equipped with a steering shaft, each steering shaft
It is correspondingly arranged a set of steering mechanism, the steering mechanism of two sides is connected with each other, and centering oil cylinder is connect with wherein a set of steering mechanism.
To achieve the above object, on the other hand the embodiment of the present invention provides a kind of based on above-mentioned vehicle hydraulic control steering system
The control method of system, comprising:
When needing deflects steering shaft, steering centering valve group is set to be in energized state, so that two chambers of centering oil cylinder
Body is connected to oil return circuit, and the actuator port of ratio valve group is connected to high-pressure oil passage, to drive steering shaft by steering cylinder
Deflection；
It is needing that steering shaft is made to return timing, so that steering centering valve group is in off-position, by the working oil of ratio valve group
Mouth is connected to oil return circuit, so that steering cylinder be made to be in quick condition, and makes two cavitys and high-pressure oil passage of centering oil cylinder
Connection, to drive steering shaft to return just by centering oil cylinder.
In some embodiments, vehicle hydraulic control steering system further include: the second oil sources, for being supplied to turn to centering valve group
Oil, the second oil sources include pump, reversal valve, prefill valve, accumulator and pressure sensor；Control method further include:
The exit pressure levels of accumulator are detected by pressure sensor；
Judge whether the detected value of pressure sensor is lower than the first preset pressure, if it is, reversal valve is switched to
One state, so that the oil liquid that pump provides passes sequentially through reversal valve and prefill valve enters accumulator.
In some embodiments, in filling process, control method further include:
When judging whether the detected value of pressure sensor is higher than the second preset pressure, reversal valve is if it is switched to
Two-state, so that the oil liquid that pump provides is supplied to other hydraulic systems by reversal valve.
Based on the above-mentioned technical proposal, the vehicle hydraulic control steering system of the embodiment of the present invention, when engine misses or vehicle are disconnected
Electricity, when so that ratio valve group and steering centering valve group must not be electric, centering oil cylinder is turning to the oil inlet high pressure oil to middle valve group
Under the action of liquid, automatically controlled steering shaft can be made to return to position in steering, can guarantee the active of automatically controlled steering shaft under any conditions
Hui Zheng improves vehicle safety, improves vehicle driving safety protection class, prevents vehicle from driving running deviation, failure bridge occur
The problems such as lug nut loosens or damage, the damage of failure bridge wheel side and abnormal tyre are worn.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the overall structure diagram of one embodiment of vehicle hydraulic control steering system of the present invention；
Fig. 2 is the structural schematic diagram of one embodiment of ratio valve group in vehicle hydraulic control steering system of the present invention；
Fig. 3 is the structural schematic diagram that one embodiment of centering valve group is turned in vehicle hydraulic control steering system of the present invention；
Fig. 4 is the structural schematic diagram of one embodiment of the second oil sources in vehicle hydraulic control steering system of the present invention；
Fig. 5 is the flow diagram of one embodiment of the control method of the second oil sources.
Specific embodiment
The present invention described further below.In the following paragraphs, the different aspect of embodiment is defined in more detail.So
The various aspects of restriction can be combined with any other one aspect or many aspects, can not be combined unless explicitly stated otherwise.Especially,
It is considered as preferred or advantageous any feature can be considered as preferred or advantageous feature group with other one or more
It closes.
The terms descriptions merely for convenience such as " first " that occurs in the present invention, " second " have same names to distinguish
Different building blocks, be not offered as successively or primary-slave relation.
In the description of the present invention, the instruction such as "upper", "lower", "top", "bottom", "front", "rear", "inner" and "outside" is used
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention, rather than
The device of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as
Limiting the scope of the invention.
As shown in Figure 1, the present invention provides a kind of vehicle hydraulic control steering systems, in some embodiments, comprising: turning machine
Structure 8, steering cylinder 7, centering oil cylinder 9, ratio valve group 2 and steering centering valve group 4.
Wherein, be equipped with multiple rows of axis in the longitudinal direction in vehicle, the axis at least partly arranged as steering shaft 6, for the ease of
It turns to, the same row's axis of vehicle adopts a split structure, and the wheel 5 of the left and right sides is respectively corresponded equipped with a steering shaft 6, Mei Gezhuan
A set of steering mechanism 8 is correspondingly arranged to axis 6.
Steering mechanism 8 connect with the steering shaft 6 of vehicle, and specifically, steering mechanism 8 can be located at the rear of 6 middle line of steering shaft,
Include: first connecting rod 81, second connecting rod 82, third connecting rod 83 and fourth link 84, returns timing, third connecting rod 83 in steering shaft 6
It is arranged in parallel with steering shaft 6, the first end of second connecting rod 82 and the first end of third connecting rod 83 are hinged, second end and first connecting rod
81 first end is hinged, and the first end of first connecting rod 81 is connect with the piston rod of steering cylinder 7, and the cylinder body of steering cylinder 7 is fixed
On vehicle frame, for driving the movement of steering mechanism 8 so that steering shaft 6 deflects in the horizontal plane；The first end of fourth link 84 with
The second end of third connecting rod 83 is hinged, and the second end and steering shaft 6 of fourth link 84 are hinged.
The piston rod and first connecting rod 81 of centering oil cylinder 9 are hinged, for driving the movement of steering mechanism 8 so that steering shaft 6 is returned
Just, it returns and is just referring to that steering shaft 6 is consistent with the width direction of car body.Specifically, centering oil cylinder 9 is installed along the interposition of bore axis
Have annular thrust cylinder table, wherein side is equipped with piston rod and forms rod chamber, and the other side is equipped with motion stops, motion stops and cylinder barrel it
Between form rodless cavity, the intermediate region of motion stops and piston rod and thrust cylinder table forms intermediate cavity.When rod chamber and rodless cavity
When being passed through high pressure oil simultaneously, piston rod and piston move towards the middle, and are being resisted against thrust cylinder table along axial both ends
When stop motion, intermediate cavity connect so that extra oil liquid to be discharged with oil return, and steering shaft 6 is limited to back just by centering oil cylinder 9 at this time
Position, left and right wheels 5 no longer deflect steering.When rod chamber and rodless cavity connect oil return simultaneously, piston rod and piston can be certainly
By moving, intermediate cavity carries out supplement oil liquid by oil return, and left and right wheels 5 can be inclined under the hydraulic action of steering cylinder 7 at this time
Walk around to.As shown in Figure 1, the steering mechanism 8 of two sides is connected with each other, centering oil cylinder 9 is connect with wherein a set of steering mechanism 8, just
The steering shaft 6 of two sides can be made to return just.
Ratio valve group 2 is flexible for controlling steering cylinder 7.Centering valve group 4 is turned to be used in the power-off state, by proportioning valve
The actuator port of group 2 is connected to oil return circuit so that steering cylinder 7 is in quick condition, and by the rod chamber of centering oil cylinder 9 with
Rodless cavity is connected to high-pressure oil passage, to drive steering shaft 6 to return just；And in the energized state, by two cavitys of centering oil cylinder 9
It is connected to oil return circuit, the actuator port of ratio valve group 2 is connected to high-pressure oil passage, to drive steering shaft 6 by steering cylinder 7
Deflection.
The vehicle hydraulic control steering system of the embodiment of the present invention, when engine misses or vehicle power off so that ratio valve group and
When steering centering valve group must not be electric, centering oil cylinder can make under the action of turning to the oil inlet high-voltage oil liquid to middle valve group
Steering shaft returns to position in steering, can guarantee that the active of steering shaft is returned just under any conditions, improve vehicle safety, mention
High vehicle driving safety protection class prevents vehicle from driving running deviation occur, failure bridge lug nut loosens or damage, failure bridge wheel
The problems such as side damage and abnormal tyre abrasion.
As shown in figure 3, turning to centering valve group 4 includes: solenoid directional control valve 41 and two hydraulic control one-way valves 42 being arranged in parallel.
For example, solenoid directional control valve 41 can be two-position three-way valve, solenoid directional control valve 41 is used under off-position (right position), by centering oil
Two cavitys of cylinder 9 are connected to high-pressure oil passage, and two hydraulic control one-way valves 42 are connected using high-pressure oil passage, so as to turn to centering
The actuator port being connected in valve group 4 with ratio valve group 2 and steering cylinder 7 is connected to oil return circuit；In energized state (left position)
Under, two cavitys of centering oil cylinder 9 are connected to oil return circuit, two hydraulic control one-way valves 42 end, so as to turn to centering valve group 4
Conducting corresponding with the actuator port that ratio valve group 2 is connected to and the actuator port being connected to steering cylinder 7.
Preferably, the oil outlet of solenoid directional control valve 41 is directly connected to the control oil circuit of two hydraulic control one-way valves 42.When turn
When accessing high pressure oil to the oil inlet P of centering valve group 4, high pressure oil is passed directly into fluid-control one-way while being passed through to middle oil cylinder 9
The control oil circuit of valve 42, the control oil circuit for making high pressure oil be connected to hydraulic control one-way valve 42 without additionally increasing other valves, can be reduced
4 composed structure of centering valve group is turned to, each valve arrangement is simple, finished product can be used without customization, while can also simplify internal oil passages
Connection relationship, sensitive, improving makes steering shaft return positive reliability when power-off.
In a specific embodiment, turning to centering valve group 4 is integrated valve group, further includes: the first valve body which is provided with
Oil inlet P, oil return inlet T, the first actuator port A1, the second actuator port A2, third actuator port B1, the 4th actuator port B2 and
5th actuator port N, the first actuator port A1 and the second actuator port A2 respectively with two actuator ports A and B of ratio valve group 2
Connection, third actuator port B1 and the 4th actuator port B2 are connected to two cavitys of steering cylinder 7 respectively, the 5th actuator port
N is connected to the oil outlet of solenoid directional control valve 41.
Wherein, the oil inlet of solenoid directional control valve 41 is connected to the oil inlet P on the first valve body, on oil outlet and the first valve body
The 5th actuator port N be directly connected to.The control port of two hydraulic control one-way valves 42 and the oil outlet of solenoid directional control valve 41 are direct
Connection, oil inlet P are connected to the oil return inlet T on the first valve body.First actuator port A1 is directly connected to third actuator port B1,
Second actuator port A2 and the 4th actuator port B2, first on the oil outlet and the first valve body of one of hydraulic control one-way valve 42
Actuator port A1 is connected to third actuator port B1, second on the oil outlet of another hydraulic control one-way valve 42 and the first valve body
Actuator port A2 and the 4th actuator port B2 are connected to.
Further, turning to centering valve group 4 may also include that the first overflow valve 43, be located at the control of two hydraulic control one-way valves 42
It, can be when being passed through to the oil liquid pressure of middle oil cylinder 9 more than preset pressure on oil circuit between five actuator port N of liquefaction Lu Yu
Overflow improves the reliability that centering oil cylinder 9 works, and prevents steering shaft 6 from returning timing and generates biggish impact force.
Turning to centering valve group 4 may also include the second overflow valve 44, the first actuator port A1 for being located on the first valve body and the
On oil circuit between three actuator port B1；And/or third overflow valve 45, the second actuator port A2 being located on the first valve body and
On oil circuit between four actuator port B2.The two overflow valves can be when the oil liquid pressure of steering cylinder 7 be more than preset pressure
Overflow improves the reliability that steering cylinder 7 works, prevents steering shaft 6 from generating biggish impact force when deflecting.
As shown in Figure 1, vehicle hydraulic control steering system of the invention further includes the first oil sources 1, for supplying for ratio valve group 2
Oil, the first oil sources 1 are load sensitive pump, and ratio valve group 2 has load-sensitive hydraulic fluid port Ls, for acquiring the work of steering cylinder 7
Load pressure, load-sensitive hydraulic fluid port Ls are connected to the pilot pressure hydraulic fluid port X of load sensitive pump.The pressure of load-sensitive hydraulic fluid port Ls is come
The load pressure of low damage wheel, the maximum working pressure of two working chamber of the pressure from steering cylinder 7, with negative according to turning to
Carry discharge capacity and charge oil pressure that pressure adjusts load sensitive pump in real time.
As shown in Fig. 2, ratio valve group 2 includes: proportional reversing valve 21, for flexible by commutation control steering cylinder 7；With
Pressure-compensated valve 22 is located on the oil circuit where the actuator port of proportional reversing valve 21, and load-sensitive hydraulic fluid port Ls is mentioned by shuttle valve
The maximum load pressure of the first actuator port A and the second actuator port B in ratio valve group 2 are taken, and oil liquid is acted on into pressure and is mended
Repay the spring control terminal of valve 22, the actuator port connection corresponding with proportional reversing valve 21 of the non-spring cavity of pressure-compensated valve 22, root
According to the static balance relationship of pressure-compensated valve 22, the compensation device of Ls pressure feedback to load sensitive pump, to adjust load-sensitive
The outlet pressure of pump.The ratio valve group 2 can adjust in real time the aperture of pressure-compensated valve 22 according to steering load pressure, for example, root
According to the differential seat angle between current steering angle and target diversion angle, controller issues automatically controlled signal to proportional reversing valve 21, with
The aperture of proportional reversing valve 21 is adjusted, the aperture and differential seat angle of proportional reversing valve 21 are positively correlated, meanwhile, according to proportional reversing valve 21
Actuator port pressure and Ls pressure, actuator port and the load of proportional reversing valve 21 can be adjusted by pressure-compensated valve 22
Between keep suitable pressure difference, changed with the aperture of mixing ratio reversal valve 21.
Preferably, ratio valve group 2 is equipped with oil inlet P, oil return using integrated valve group, including the second valve body, the second valve body
Mouth T, load-sensitive hydraulic fluid port Ls, the first actuator port A and the second actuator port B, load-sensitive hydraulic fluid port Ls and pressure-compensated valve 22
Control terminal connection, the first actuator port A and the second actuator port B connect with the actuator port of two pressure-compensated valves 22 respectively
It is logical, and the first actuator port A and the second actuator port B of ratio valve group 2 respectively with the first working oil for turning to centering valve group 4
Mouth A1 is connected to third actuator port A2.
Further, load-sensitive hydraulic fluid port Ls is connect by throttle valve 23 with the oil return inlet T in ratio valve group 2, to increase
The stationarity of oil return.
Further, the 4th overflow valve 24 is equipped between the oil return inlet T on load-sensitive hydraulic fluid port Ls and ratio valve group 2, with
It prevents pressure on load-sensitive oil circuit excessive, improves job security.
Specifically, as shown in Fig. 2, proportional reversing valve 21 is using three eight ways valves of electric ratio, the hydraulic fluid port 1~8 of middle position is located
In off state, hydraulic fluid port 1 and 4 is connect with the oil inlet P on the second valve body, and the oil return inlet T on hydraulic fluid port 2 and 3 and the second valve body connects
It connects, hydraulic fluid port 5 is connected to the oil inlet of one of pressure-compensated valve 22, oil outlet of the hydraulic fluid port 6 directly with the pressure-compensated valve 22
Connection, hydraulic fluid port 7 are directly connected to the oil inlet of another pressure-compensated valve 22, the oil outlet of hydraulic fluid port 8 and the pressure-compensated valve 22
Connection.When proportional reversing valve 21 is in left and right position, steering shaft 6 deflects direction difference, and the oil liquid that the first oil sources 1 provides is by second
Oil inlet P on valve body needs just reach the first actuator port A by pressure-compensated valve 22 later by proportional reversing valve 21
With the second actuator port B.Optionally, three-position four-way valve can also be used in proportional reversing valve 21.
In some embodiments, vehicle hydraulic control steering system of the invention further include: the first oil sources 1, for simultaneously be than
Example valve group 2 and steering 4 fuel feeding of centering valve group；And flow divider, the oil liquid for providing the first oil sources 1 are distributed according to preset ratio
To ratio valve group 2 and turn to centering valve group 4.
Such fuel system can reduce oil sources quantity, to ratio valve group 2 and turn to centering valve simultaneously by fuel feeding demand
4 fuel feeding of group, can satisfy while the demand of fuel feeding, and reduce the power that hydraulic system pumps under operating condition other than maximum load and disappear
Consumption.
In further embodiments, vehicle hydraulic control steering system further include: the first oil sources 1 is ratio valve group 2 for timesharing
With steering 4 fuel feeding of centering valve group；And reversal valve, for when being switched to different conditions, the oil liquid of the first oil sources 1 to be provided to ratio
Example valve group 2 turns to centering valve group 4.
Such fuel system can supply oil liquid by work requirements, reduce oil sources quantity, it is ensured that load in larger situation
Fuel delivery.
In still other embodiments, ratio valve group 2 and steering centering valve group 4 use independent oil sources.As shown in figure 4, this hair
Bright vehicle hydraulic control steering system further include: the second oil sources 3, for being to turn to 4 fuel feeding of centering valve group.Wherein, the second oil sources 3 wraps
Pump 31, reversal valve 32, prefill valve 33, accumulator 34 and pressure sensor 35 are included, the M interface of accumulator 34 is used to turn to centering
The oil inlet P fuel feeding of valve group 4.For example, two four-way electromagnetic reversing valves, one of work of reversal valve 32 can be used in reversal valve 32
Make hydraulic fluid port to connect by prefill valve 33 with accumulator 34, another actuator port is connect with other hydraulic systems.Pressure sensor
35 are located at the oil inlet of accumulator 34, and when the detected value of pressure sensor 35 is lower than the first preset pressure P1, control unit can
Switch to reversal valve 32 first state (left position), the oil liquid that pump 31 provides passes sequentially through reversal valve 32 and prefill valve 33 enters storage
Otherwise energy device 34 pumps the oil liquid that 31 provide and is supplied to other hydraulic systems by reversal valve 32.The oil inlet P of prefill valve 33 with change
It is connected to one of actuator port of valve 32, it is most of to be supplied by hydraulic fluid port A after oil liquid enters prefill valve 33 from oil inlet P
To accumulator, another fraction can also be connected to by hydraulic fluid port O supplied to other hydraulic systems or hydraulic fluid port O with oil return inlet T.
The embodiment can be met simultaneously by the second oil sources of setting 3 turns to centering valve group 4 and other confessions for also pressing system
Oily demand is to turn to 4 fuel feeding of centering valve group, and preset lower than first in the pressure of accumulator 34 by setting 34 filling liquid of accumulator
Timely filling liquid when pressure P1 is needing that steering shaft 6 is made to return timing to middle oil cylinder 9 is provided sufficient high pressure oil, to guarantee to turn to
Axis 6 can be close to just, improve vehicle safety.
Further, in filling process, when the detected value of pressure sensor 35 is higher than the second preset pressure P2, second
Preset pressure P2 is greater than the first preset pressure P1.Control unit can make reversal valve 32 switch to the second state (right position), stop filling
Liquid, the oil liquid that pump 31 provides are supplied to other hydraulic systems by reversal valve 32.
The embodiment can make accumulator 34 after oil-filled, and the fuel feeding for pumping 31 is switched to other hydraulic pressure systems in time
System, to guarantee the safety in utilization of accumulator 34, and makes other hydraulic system work wells.
When reversal valve 32 must not be electric, the height that the oil liquid of the oil inlet P of centering valve group 4 stores in accumulator 34 is turned to
Pressure oil liquid, the second oil sources 3 make full use of the energy of the second oil sources 3 simultaneously to other hydraulic system fuel feeding.Moreover, working as vehicle
In the state of power-off, accumulator 34 still can be steadily to the offer high pressure oil of centering valve group 4 be turned to, so that the driving of centering oil cylinder 9 turns
It is returned just to axis 6, can guarantee that steering shaft 6 is actively returned just to make vehicle under any conditions, improve vehicle safety.
When reversal valve 32 must be electric, pump 31 can supplement oil liquid into accumulator 34, make up because of the deflection of steering shaft 6, turn
Oil liquid needed for centering oil cylinder 9 during to axis 6 to middle position.
Illustrate the working principle of vehicle hydraulic control steering system of the present invention below with reference to Fig. 1 to Fig. 3.
When needing deflects steering shaft 6, solenoid directional control valve 41 is made to obtain the electric accumulator 34 in left position, the second oil sources 3
Ended to the fuel feeding for turning to centering valve group 4, the 5th actuator port N for turning to centering valve group 4 is connected to oil return inlet T, centering oil
The piston rod and motion stops of cylinder 9 are in quick condition, and two hydraulic control one-way valves 42 are in off state, the fuel feeding of the first oil sources 1
It after proportional reversing valve 21 and pressure-compensated valve 22, enters in the working chamber of steering cylinder 7, to pass through steering cylinder 7
Piston rod movement drives steering mechanism 8 to move, to realize the deflection of steering shaft 6.
It is needing that steering shaft 6 is made to return timing, 41 power loss of solenoid directional control valve is made to be in right position, accumulator 34 in the second oil sources 3
After the high pressure oil of offer passes through solenoid directional control valve 41, keep two hydraulic control one-way valves 42 in the conductive state, two hydraulic control one-way valves
42 oil inlet and oil return opening is connected to oil return, makes the first actuator port A1, the second actuator port that turn to centering valve group 4
A2, third actuator port B1 and the 4th actuator port B2 are connected to oil return, and steering cylinder 7 is made to be in quick condition.Meanwhile it storing
Can the high pressure oil that provides of device 34 by after solenoid directional control valve 41, through steering the 5th actuator port N of centering valve group 4 supplied to pair
Middle oil cylinder 9, the piston rod and motion stops of centering oil cylinder 9 carry out position holding, return steering shaft 6 just.
Secondly, the present invention also provides a kind of control methods of vehicle hydraulic control steering system based on the above embodiment, one
In a little embodiments, comprising:
Step 101, when needing to make steering shaft 6 to deflect, make to turn to centering valve group 4 and be in energized state, so that centering is oily
Two cavitys of cylinder 9 are connected to oil return circuit, and the actuator port of ratio valve group 2 is connected to high-pressure oil passage, to pass through steering oil
Cylinder 7 drives steering shaft 6 to deflect；
Step 102 is needing that steering shaft 6 is made to return timing, so that steering centering valve group 4 is in off-position, by proportioning valve
The actuator port of group 2 is connected to oil return circuit, so that steering cylinder 7 be made to be in quick condition, and makes two chambers of centering oil cylinder 9
Body is connected to high-pressure oil passage, to drive steering shaft 6 to return just by centering oil cylinder 9.
In some embodiments, vehicle hydraulic control steering system further include: the second oil sources 3, for being supplied to turn to centering valve group 4
Oil, the second oil sources 3 include pump 31, reversal valve 32, prefill valve 33, accumulator 34 and pressure sensor 35；Process as shown in Figure 5
Schematic diagram, such control method further include:
Step 201, the exit pressure levels that accumulator 34 is detected by pressure sensor 35；
Step 202 judges whether the detected value of pressure sensor 35 is lower than the first preset pressure P1, if it is, executing
Step 203, no to then follow the steps 204；
Reversal valve 32 is switched to first state (left position) by step 203, so that the oil liquid that pump 31 provides passes sequentially through commutation
Valve 32 and prefill valve 33 enter accumulator 34；
Step 204, the oil liquid for providing pump 31 are supplied to other hydraulic systems by reversal valve 32.
The embodiment can be met simultaneously by the second oil sources of setting 3 turns to centering valve group 4 and other confessions for also pressing system
Oily demand is to turn to 4 fuel feeding of centering valve group, and preset lower than first in the pressure of accumulator 34 by setting 34 filling liquid of accumulator
Timely filling liquid when pressure P1 is needing that steering shaft 6 is made to return timing to middle oil cylinder 9 is provided sufficient high pressure oil, to guarantee to turn to
Axis 6 can be close to just, improve vehicle safety.
Further, in executing step 203 filling process, control method further include:
Step 205 when judging whether the detected value of pressure sensor 35 is higher than the second preset pressure P2, if it is executes
Step 206, step 203 filling liquid is otherwise continued through；
Reversal valve 32 is switched to the second state (right position) by step 206, so that the oil liquid that pump 31 provides passes through reversal valve 32
Supplied to other hydraulic systems.
The embodiment can make accumulator 34 after oil-filled, and the fuel feeding for pumping 31 is switched to other hydraulic pressure systems in time
System, to guarantee the safety in utilization of accumulator 34, and makes other hydraulic system work wells.
Embodiment provided by the present invention is described in detail above.Specific embodiment used herein is to this
The principle and embodiment of invention is expounded, method of the invention that the above embodiments are only used to help understand and
Its core concept.It should be pointed out that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the protection of the claims in the present invention
In range.
Claims (14)
1. a kind of vehicle hydraulic control steering system characterized by comprising
Steering mechanism (8) connect with the steering shaft (6) of vehicle；
Steering cylinder (7), for driving the steering mechanism (8) to move so that the steering shaft (6) deflects；
Centering oil cylinder (9), for driving the steering mechanism (8) to move so that the steering shaft (6) is returned just；
Ratio valve group (2), it is flexible for controlling the steering cylinder (7)；With
It turns to centering valve group (4), in the power-off state, the actuator port of the ratio valve group (2) and oil return circuit to be connected
It is logical, so that the steering cylinder (7) is in quick condition, and two cavitys of the centering oil cylinder (9) and high-pressure oil passage are connected
It is logical, to drive the steering shaft (6) to return just；And in the energized state, by two cavitys of the centering oil cylinder (9) and oil return oil
Road connection, the actuator port of the ratio valve group (2) are connected to high-pressure oil passage, by described in the steering cylinder (7) driving
Steering shaft (6) deflection.
2. vehicle hydraulic control steering system according to claim 1, which is characterized in that the steering centering valve group (4) includes:
Two hydraulic control one-way valves (42), are arranged in parallel；With
Solenoid directional control valve (41), in the power-off state, two cavitys of the centering oil cylinder (9) and high-pressure oil passage to be connected
It is logical, and described two hydraulic control one-way valves (42) are connected using high-pressure oil passage so that on the steering centering valve group (4) with it is described
Ratio valve group (2) and the actuator port of steering cylinder (7) connection are connected to oil return circuit；It in the energized state, will be described right
Two cavitys of middle oil cylinder (9) are connected to oil return circuit, described two hydraulic control one-way valve (42) cut-offs, so that the steering centering
Valve group (4) and the actuator port that the ratio valve group (2) is connected to and the actuator port being connected to the steering cylinder (7) is corresponding leads
It is logical.
3. vehicle hydraulic control steering system according to claim 2, which is characterized in that the solenoid directional control valve (41) it is fuel-displaced
Mouth is directly connected to the control oil circuit of described two hydraulic control one-way valves (42).
4. vehicle hydraulic control steering system according to claim 3, which is characterized in that the steering centering valve group (4) is also wrapped
It includes:
First valve body which is provided with oil inlet (P), oil return opening (T), the first actuator port (A1), the second actuator port (A2),
Three actuator ports (B1), the 4th actuator port (B2) and the 5th actuator port (N), first actuator port (A1) and the second work
Make hydraulic fluid port (A2) to be connected to two actuator ports of the ratio valve group (2) respectively, the third actuator port (B1) and the 4th
Actuator port (B2) is connected to two cavitys of the steering cylinder (7) respectively, the 5th actuator port (N) and the electromagnetism
The oil outlet of reversal valve (41) is connected to；
Wherein, the oil inlet (P) on the oil inlet with first valve body of the solenoid directional control valve (41) is connected to, oil outlet and institute
State the 5th actuator port (N) connection on the first valve body；
The oil inlet (P) of described two hydraulic control one-way valves (42) is connected to the oil return opening (T) on first valve body, one of them
The oil outlet and the first actuator port (A1) and third actuator port on first valve body of the hydraulic control one-way valve (42)
(B1) it is connected to, the oil outlet and the second actuator port (A2) on first valve body of another hydraulic control one-way valve (42)
It is connected to the 4th actuator port (B2).
5. vehicle hydraulic control steering system according to claim 4, which is characterized in that the steering centering valve group (4) is also wrapped
It includes:
First overflow valve (43), be located at described two hydraulic control one-way valves (42) control oil circuit and the 5th actuator port (N)
Between oil circuit on；And/or
Second overflow valve (44) is located between the first actuator port (A1) on first valve body and third actuator port (B1)
Oil circuit on；And/or
Third overflow valve (45) is located between the second actuator port (A2) and the 4th actuator port (B2) on first valve body
Oil circuit on.
6. vehicle hydraulic control steering system according to claim 1, which is characterized in that further include the first oil sources (1), for for
Ratio valve group (2) fuel feeding, first oil sources (1) are load sensitive pump, and the ratio valve group (2) has load-sensitive oil
Mouthful (Ls), the load-sensitive hydraulic fluid port (Ls) are used to obtain the load pressure of the steering cylinder (7) work, and with the load
The pilot pressure hydraulic fluid port (X) of sensitive pump is connected to.
7. vehicle hydraulic control steering system according to claim 6, which is characterized in that the ratio valve group (2) includes:
Proportional reversing valve (21), it is flexible for controlling the steering cylinder (7)；With
Pressure-compensated valve (22) is located on the oil circuit where the actuator port of the proportional reversing valve (21), the load-sensitive
The oil liquid of hydraulic fluid port (Ls) acts on the control terminal of the pressure-compensated valve (22).
8. vehicle hydraulic control steering system according to claim 1, which is characterized in that
The vehicle hydraulic control steering system further include: the first oil sources (1) is used for while being the ratio valve group (2) and described turn
To centering valve group (4) fuel feeding；And flow divider, for by oil liquid that first oil sources (1) provides according to preset ratio distribute to
The ratio valve group (2) and the steering centering valve group (4)；Or
The vehicle hydraulic control steering system further include: the first oil sources (1) is the ratio valve group (2) and described turn for timesharing
To centering valve group (4) fuel feeding；And reversal valve, for when being switched to different conditions, the oil liquid of first oil sources (1) to be provided
To the ratio valve group (2) or the steering centering valve group (4).
9. vehicle hydraulic control steering system according to claim 1, which is characterized in that further include: the second oil sources (3) is used for
For steering centering valve group (4) fuel feeding；
Wherein, second oil sources (3) includes pump (31), reversal valve (32), prefill valve (33), accumulator (34) and pressure sensing
Device (35), the pressure sensor (35) are located at the oil inlet of the accumulator (34), the inspection in the pressure sensor (35)
When measured value is lower than the first preset pressure, the reversal valve (32) switches to first state, and the oil liquid that the pump (31) provides is successively
Enter the accumulator (34) by the reversal valve (32) and prefill valve (33).
10. vehicle hydraulic control steering system according to claim 9, which is characterized in that in filling process, in the pressure
When the detected value of sensor (35) is higher than the second preset pressure, the reversal valve (32) switches to the second state, the pump (31)
The oil liquid of offer is supplied to other hydraulic systems by the reversal valve (32), wherein it is default that the second preset pressure is greater than first
Pressure.
11. vehicle hydraulic control steering system according to claim 1, which is characterized in that the vehicle at left and right sides of the same row of vehicle
Wheel (5) is respectively equipped with the steering shaft (6), and each steering shaft (6) is correspondingly arranged a set of steering mechanism (8),
The steering mechanism (8) of two sides is connected with each other, and the centering oil cylinder (9) connect with wherein a set of steering mechanism (8).
12. a kind of control method based on any vehicle hydraulic control steering system of claim 1~11, which is characterized in that packet
It includes:
When needing deflects the steering shaft (6), the steering centering valve group (4) is set to be in energized state, so that described right
Two cavitys of middle oil cylinder (9) are connected to oil return circuit, and the actuator port of the ratio valve group (2) is connected to high-pressure oil passage, from
And the steering shaft (6) is driven to deflect by the steering cylinder (7)；
It is needing that the steering shaft (6) is made to return timing, so that the steering centering valve group (4) is in off-position, by the ratio
The actuator port of example valve group (2) is connected to oil return circuit, so that the steering cylinder (7) be made to be in quick condition, and is made described
Two cavitys of centering oil cylinder (9) are connected to high-pressure oil passage, to drive the steering shaft (6) to return by the centering oil cylinder (9)
Just.
13. control method according to claim 12, which is characterized in that the vehicle hydraulic control steering system further include: the
Two oil sources (3), for be steerings centering valve group (4) fuel feeding, second oil sources (3) include pump (31), reversal valve (32),
Prefill valve (33), accumulator (34) and pressure sensor (35)；The control method further include:
Pass through the exit pressure levels of the pressure sensor (35) detection accumulator (34)；
Judge whether the detected value of the pressure sensor (35) is lower than the first preset pressure, if it is, by the reversal valve
(32) first state is switched to, so that the oil liquid that the pump (31) provides passes sequentially through the reversal valve (32) and prefill valve (33)
Into the accumulator (34).
14. control method according to claim 13, which is characterized in that in filling process, the control method is also wrapped
It includes:
When judging whether the detected value of the pressure sensor (35) is higher than the second preset pressure, if it is by the reversal valve
(32) the second state is switched to, so that the oil liquid that the pump (31) provides is supplied to other hydraulic pressure systems by the reversal valve (32)
System.
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| CN201910633162.1A CN110304138B (en) | 2019-07-15 | 2019-07-15 | Vehicle hydraulic control steering system and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020206939A1 (en) * | 2019-04-09 | 2020-10-15 | 丰疆智能科技股份有限公司 | Automatic steering system and method for automatic harvester |
| CN112249154A (en) * | 2020-09-29 | 2021-01-22 | 中冶宝钢技术服务有限公司 | Hydraulic steering system and pilot oil source loading valve group thereof |
| CN112283207A (en) * | 2020-11-05 | 2021-01-29 | 上海航天控制技术研究所 | Energy dual-redundancy system and control method thereof |
| CN113911208A (en) * | 2021-09-30 | 2022-01-11 | 中国北方车辆研究所 | A Steering System Control Strategy |
| CN113942574A (en) * | 2021-11-04 | 2022-01-18 | 湖北三江航天万山特种车辆有限公司 | Centering system and vehicle |
| CN114852166A (en) * | 2022-05-30 | 2022-08-05 | 三一汽车起重机械有限公司 | Steering system and engineering vehicle |
| CN115214770A (en) * | 2022-06-08 | 2022-10-21 | 内蒙古山河巨鼎矿用机械制造有限责任公司 | An unmanned pure electric off-highway wide-body dump truck full hydraulic steering system |
| CN116118857A (en) * | 2022-12-30 | 2023-05-16 | 湖北三江航天万山特种车辆有限公司 | Hydraulic control centering device |
| CN116215651A (en) * | 2022-12-30 | 2023-06-06 | 徐州重型机械有限公司 | Rear axle steering system with pressure impact prevention function and control method thereof |
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| CN112283207B (en) * | 2020-11-05 | 2022-08-16 | 上海航天控制技术研究所 | Energy dual-redundancy system and control method thereof |
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| CN115214770A (en) * | 2022-06-08 | 2022-10-21 | 内蒙古山河巨鼎矿用机械制造有限责任公司 | An unmanned pure electric off-highway wide-body dump truck full hydraulic steering system |
| CN116118857A (en) * | 2022-12-30 | 2023-05-16 | 湖北三江航天万山特种车辆有限公司 | Hydraulic control centering device |
| CN116215651A (en) * | 2022-12-30 | 2023-06-06 | 徐州重型机械有限公司 | Rear axle steering system with pressure impact prevention function and control method thereof |
| CN116118857B (en) * | 2022-12-30 | 2024-10-29 | 湖北三江航天万山特种车辆有限公司 | Hydraulic control centering device |
| CN118560570A (en) * | 2024-08-02 | 2024-08-30 | 中联重科股份有限公司 | Electric control bridge steering unit, electric control bridge steering centering hydraulic control system and vehicle |
| CN118560570B (en) * | 2024-08-02 | 2024-10-18 | 中联重科股份有限公司 | Electric control bridge steering unit, electric control bridge steering centering hydraulic control system and vehicle |
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