Steering control system and control method for multi-shaft steering vehicle

Abstract

The invention relates to a steering control system and a control method used for a multi-axle steering vehicle, in particular to a novel steering control system and a control method used for the multi-axle vehicle. The front wheels of the vehicle are controlled by a steering wheel by a mechanical device; a main controller only controls the rotation angle of the wheel of another axle. An auxiliary controller controls the rotation angle of the wheels of other axles. Besides the wheels of the front axle, other wheels of the axle are provided with rotation angle sensors which can realize the feedback control. The controller realizes the steering by controlling an electromagnetic proportion valve, so as to control a steering cylinder. The control method is characterized in that the conversion disposal to the multi-axle steering vehicle operation model is carried out; the control to the whole vehicle can be realized only by controlling the rotation angle of any two wheels of the axle after the model is disposed. The system and the method of the invention unify the multi-axle and two-axle steering vehicle control operation models, lead the steering control arithmetic of the multi-axle steering vehicle to be easily realized, solve the abrasion problem which is caused by the side sliding in the steering process of the tyres, and reduce the usage cost of the vehicle.

Description

technical field [0001] The invention belongs to a steering control system and a control method of a multi-axle steering vehicle. Background technique [0002] With the emergence of multi-axle steering vehicles, the research on the control system and control method of multi-axle steering vehicles is not perfect enough. Domestic research on multi-axis steering has just started. Some multi-axis steering vehicles use hydraulic power steering, and the rotation angle of each wheel is coordinated through the steering linkage. In this way, some steering linkages are often subjected to excessive force, and it is difficult to ensure that the wheels are under steering and complex working conditions. All the wheels are in a pure rolling state, the wheels turn sideways, and the tires are severely worn, resulting in high vehicle use costs. For electronically controlled steering, since the control system needs to control more wheels, the control algorithm is difficult to implement. Elec...

AI Technical Summary

Problems solved by technology

Some multi-axis steering vehicles use hydraulic power steering, and the rotation angle of each wheel is coordinated through the steering linkage. In this way, some steering linkages are often subjected to excessive force, and it is difficult to ensure that the wheels are under steering and complex working conditions. All the wheels are in a pure rolling state, the wheels turn sideways, and the tires are severely worn, resulting in high vehicle use costs

For electronically controlled steering, since the control system needs to control more wheels, the control algorithm is difficult to implement

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