Closed-loop control method of electro-hydraulic steering for special vehicles

Abstract

The invention discloses a special vehicle electro-hydraulic steering closed-loop control method. The closed-loop control method comprises the following steps that (1) the real-time vehicle speed and the actual rotating angle of a first steering axle are obtained; (2) through the real-time vehicle speed and the actual rotating angle of the first steering axle, the target rotating angle of a second steering axle is determined; (3) the actual rotating angle of the second steering axle is obtained; (4) the rotating angle deviation of the target rotating angle and the actual rotating angle of the second steering axle is calculated; (5) based on a ratio-integral-differential control mode, according to the rotating angle deviation, a pulse width modulation signal is generated; and (6) through the pulse width modulation signal, the rotating angle of the second steering axle is adjusted. According to the special vehicle electro-hydraulic steering closed-loop control method, the steering accuracy can be effectively improved, flexible steering is achieved, low-speed flexibility and high-speed stability of a multi-shaft special vehicle under the different road surfaces and loads can be met, and thus damage to a steering transverse pull rod and tires is reduced.

Description

technical field [0001] The invention relates to the technical field of special vehicles, and more specifically, the invention relates to a closed-loop control method for electro-hydraulic steering of special vehicles. Background technique [0002] Large-scale heavy-duty special vehicles have the characteristics of large mass, high center of mass, large number of axles, and large wheelbase. In order to ensure flexible steering in a small space at low speeds and better handling stability at high speeds to ensure vehicle safety, most large and heavy-duty special vehicles use multi-axis steering technology. [0003] However, the existing multi-axis steering technology is mechanical transmission hydraulic power steering technology. Although multi-axis steering can be realized, it is limited by the mechanical steering mechanism and steering control method. damaged badly by Rub. With the development of electronic technology and control technology, electro-hydraulic steering syste...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of low precision, poor flexibility, deformation of steering tie rods, serious tire wear and other problems existing in the mechanical steering control method in the prior art, the present invention innovatively proposes a closed-loop control method of electro-hydraulic steering for special vehicles, which can effectively Improve the steering accuracy, reduce the steering delay time and reduce the wear of the steering mechanism

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