A Discrete Following Steering Control Method for Hydrostatic-Mechanical Driven Tracked Chassis

A crawler chassis and mechanical drive technology, applied in steering mechanism, non-deflectable wheel steering, transportation and packaging, etc., can solve the problems of low maneuverability and safety, improve steering performance and safety performance, and reduce operation The effect of labor intensity and low cost

Inactive Publication Date: 2017-03-01
CHINA AGRI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

When changing the turning radius, manual "point braking" can only be used based on the operator's experience, which has low maneuverability and safety

Method used

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  • A Discrete Following Steering Control Method for Hydrostatic-Mechanical Driven Tracked Chassis
  • A Discrete Following Steering Control Method for Hydrostatic-Mechanical Driven Tracked Chassis
  • A Discrete Following Steering Control Method for Hydrostatic-Mechanical Driven Tracked Chassis

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Embodiment Construction

[0023] The specific implementation manners of the present invention will be further described below in conjunction with the drawings and examples, but not limited thereto.

[0024] figure 1 It is a schematic diagram of the discrete following steering trajectory of the present invention; figure 2 It is a flow chart of the discrete following steering control method of the hydrostatic-mechanical driven crawler chassis of the present invention.

[0025] The discrete following steering control method of the hydrostatic-mechanical driven crawler chassis of the present invention is to determine the discrete small time period Δt according to the fork response and the reset time, and according to Δt the theoretical steering calculated from the initial straight-line driving speed v and the steering wheel angle α The discretization of the period T means that the steering control problem is transformed into how to determine the function of the shift fork in each discrete small time peri...

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Abstract

The invention relates to the field of steering control of a caterpillar chassis, and especially relates to a hydrostatic-mechanical driven caterpillar chassis discrete following steering control method. The method comprises a preprocessing phase, a discretization phase, and a steering following phase. The method is beneficial for realizing a steering wheel type steering electronic control system of a hydrostatic-mechanical driven caterpillar chassis, and steering control performance and safety performance of the hydrostatic-mechanical driven caterpillar chassis can be improved, so steering track is closer to intention of a driver, operation labor intensity of the driver is reduced, cost is relatively low, and wearing influence on a drive axle is not large.

Description

technical field [0001] The invention relates to the field of steering control of crawler chassis, in particular to a method for discrete following steering control of a hydrostatic-mechanical driven crawler chassis. Background technique [0002] The steering of the crawler chassis is realized through the differential speed between the driving wheels on both sides. The accuracy of controlling the differential speed is the guarantee that the whole machine can steer according to the driver's intention. According to the different driving forms of the crawler chassis, there are various ways to realize the differential speed and control of the driving wheels on both sides. Hydrostatic-mechanical drive is a crawler power chassis drive method that combines hydrostatic technology with a mechanical drive axle. Due to its simple structure, low cost and reliable performance, it has been widely used in crawler agricultural machinery. This method realizes the stepless speed change of the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D11/00B62D11/02
Inventor 赵建柱王枫辰朱永奇张筱青
Owner CHINA AGRI UNIV
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