The invention discloses an electro-hydraulic
hybrid power steering system of four-wheel walking machinery and a control method of the electro-hydraulic
hybrid power steering system, and relates to thefield of walking machinery. The
steering system comprises a
steering wheel, a
steering wheel deflection sensor, a steering gear, steering knuckles,
steering wheel rotation angle sensors, a steering
knuckle arm, a steering power-assisted oil cylinder, a front beam, a trapezoidal arm, an oil conveying
pipe, an electric cylinder, a left and right transverse pulling rod, a solenoid
reversing valve, asteering
hydraulic pump, an
oil storage tank, an overflow valve and a steering controller. The prototype of a steering mechanism of the
steering system is an isosceles trapezoidal connecting rod steering mechanism, and the
tail end of each steering
knuckle is provided with the corresponding rotation angle sensor; a transverse pulling rod with the
fixed length in a traditional steering mechanism is replaced with the electric cylinder; and the steering power-assisted oil cylinder is connected with a steering axle and a left steering arm. By means of the method, through a
steering control unit,
signal input from the steering wheel deflection sensor, the steering wheel rotation angle sensors and the electric cylinder is received, and the current state of the
steering system is analyzed; and stretching and contracting of an electric push rod and a
hydraulic cylinder are controlled synchronously, and rotation of a left steering wheel and a right steering wheel conforms to the angle of Ackermann steering geometry constraint.