Electro-hydraulic hybrid power steering system of four-wheel walking machinery and a control method of electro-hydraulic hybrid power steering system

Abstract

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.

Description

technical field [0001] The invention relates to the field of walking machinery, in particular to an electro-hydraulic hybrid power steering system of a four-wheel walking machinery and a control method thereof. Background technique [0002] Four-wheel walking machinery is widely used in various fields, such as transport vehicles (cars, trucks) and agricultural machinery power vehicles (tractors and harvesters). The integral steering system has developed from pure mechanical steering to hydraulic power steering. The steering axle and drive axle are arranged in There are many combinations of the front axle or the rear axle, but no matter what kind of steering layout, it is difficult to precisely control the steering wheel to meet the pure rolling steering requirements due to hydraulic transmission, and the wheels will slip sideways (slip while rolling) when turning, resulting in road wheel wear Aggravate, increase driving resistance and noise, reduce driving safety and tire se...

AI Technical Summary

Problems solved by technology

[0003] The present invention aims at the problem that the integral hydraulic power steering system makes the four-wheel vehicle turn with large sideslip, and provides an electro-hydraulic hybrid power steering system and its control method for the four-wheel walking machine, so that the rotation angle of the two steering wheels conforms to the Ackermann steering geometry Constraint, reduce wheel running resistance and tire wear, improve chassis driving safety and tire service life

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