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Differential cooperative steering system and control method for articulated steering vehicle with single-axis independent drive

An independent drive and steering system technology, applied to vehicle components, steering mechanisms, fluid steering mechanisms, etc., can solve the problems of increasing vehicle reactive power loss, increasing vehicle drive power consumption, reducing vehicle speed, etc., to reduce energy consumption, reduce Effects of energy consumption and reduced turning time

Active Publication Date: 2019-07-30
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although differential braking can improve the turning maneuverability of the vehicle to a certain extent, reduce the turning radius or maintain straight driving when subjected to lateral interference, the application of braking will reduce the speed of the vehicle and increase the reactive power loss of the vehicle. Although the power of the steering hydraulic system No need to increase, but the driving power consumption of the whole vehicle will increase accordingly, and the gain outweighs the loss, so the above research is only applied to maintaining the stability of the engineering vehicle when driving straight at a relatively high speed

Method used

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  • Differential cooperative steering system and control method for articulated steering vehicle with single-axis independent drive
  • Differential cooperative steering system and control method for articulated steering vehicle with single-axis independent drive
  • Differential cooperative steering system and control method for articulated steering vehicle with single-axis independent drive

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Effect test

Embodiment 1

[0064] like Image 6 As shown, when the control method of the differential cooperative steering system of a single-axle independent drive articulated steering vehicle according to the present invention is applied to an articulated steer vehicle with an independent rear axle drive, the control process is specifically as follows:

[0065] Step 1. After power on, initialize the differential cooperative steering controller, complete the self-inspection process, and read the control parameters stored in the single-chip microcomputer of model MC9S12x, mainly including:

[0066] 1. Control threshold: vehicle speed threshold V 0 (km / h); left and right hydraulic cylinder displacement threshold X l0 、X r0 (mm); Steering wheel angle threshold ε 1 (°); Steering wheel angular velocity threshold ε 2 (° / s); inner drive wheel slip rate threshold s i0 ;

[0067] 2. The enabling state parameter ipb of the differential cooperative steering system: after the vehicle is re-ignited and the di...

Embodiment 2

[0090] like Figure 7 As shown, when the control method of the differential cooperative steering system of a single-axle independently driven articulated steering vehicle according to the present invention is applied to an articulated steered vehicle with an independently driven front axle, the control process is specifically as follows:

[0091] Step 1. After power on, initialize the differential cooperative steering controller, complete the self-inspection process, and read the control parameters stored in the single-chip microcomputer of model MC9S12x, mainly including:

[0092] 1. Control threshold: vehicle speed threshold V 0 (km / h); left and right hydraulic cylinder displacement threshold X l0 、X r0 (mm); Steering wheel angle threshold ε 1 (°); Steering wheel angular velocity threshold ε 2 (° / s); outer drive wheel slip rate threshold s o0 ;

[0093] 2. The enabling state parameter ipb of the differential cooperative steering system: after the vehicle is re-ignited ...

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Abstract

The invention discloses a differential coordinated steering system of a hinged steering vehicle independently driven by a single axle. The differential coordinated steering system is matched with an original hydraulic steering system of the hinged steering vehicle to effectively improve steering flexibility of the hinged steering vehicle and lower steering energy consumption. The invention furtherdiscloses a control method of the differential coordinated steering system of the hinged steering vehicle independently driven by the single axle. A proportional controller is used for calculating proper differential torque according to the angular speed of a steering wheel, and the differential torque is applied to driving wheels on the left and right sides of a driving axle, so that the torqueof the driving wheel on one side is increased while the torque of the driving wheel on the other side is reduced, and a direct yawing moment is formed and coordinately acts with the hydraulic steeringsystem to achieve vehicle steering; and the purposes of shortening steering time and lowering energy consumption of the hydraulic steering system are achieved.

Description

technical field [0001] The invention relates to the technical field of vehicle steering, in particular to a single-axis independently driven articulated steering vehicle differential cooperative steering system and a control method thereof. Background technique [0002] Construction vehicles have been hydraulically powered for decades. Compared with the traditional mechanical drive method, the hydraulic drive system is easy to realize stepless speed regulation and overload protection; it can simplify the transmission system and save layout space; it is easy to operate, and it is convenient to form an electro-hydraulic composite system with the electrical control system to realize automation. Especially with the development of hydraulic technology and the improvement of hydraulic component materials, hydraulic drive systems are more and more widely used in engineering vehicles. [0003] At the same time, with the increasingly severe global environmental problems and the depl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D5/06B62D12/00
CPCB62D5/06B62D12/00
Inventor 王军年郭德东刘培祥魏武罗正杨斌
Owner JILIN UNIV
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