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Steering control method and system of narrow space four-wheel independent steering rescue chassis

A technology of steering control and steering angle, applied to steering mechanism, vehicle parts, transportation and packaging, etc., can solve problems such as increased turning time and difficulty, personal and property losses, and failure to consider the surrounding steering space, so as to reduce personal injury and property loss, improve rescue speed and efficiency, and improve adaptability and flexibility

Inactive Publication Date: 2019-05-24
XCMG CONSTR MACHINERY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Disadvantages of the existing technology: the existing steering method is generally front-wheel steering. Although the existing control system can realize the four-wheel steering control of the vehicle, it needs to rely on the driver to perform manual switching or to control the vehicle itself. Turning to related information for mode switching, without considering the surrounding steering space
If the operation fails, the turning time and difficulty will be increased, which will bring additional time cost to the rescue operation, and may cause greater personal and property losses

Method used

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  • Steering control method and system of narrow space four-wheel independent steering rescue chassis
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  • Steering control method and system of narrow space four-wheel independent steering rescue chassis

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Experimental program
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Effect test

Embodiment 1

[0044] Such as figure 1 As shown, a steering control method quickly determines the spatial information around the vehicle through the perception of the surrounding space of the rescue vehicle, including information such as the surrounding turning space that can be turned and the outline size and location of ground obstacles. When the driver manipulates the steering wheel to turn, the chassis controller obtains the steering wheel angle according to the steering wheel encoder, calculates the driver's target steering angle, controls the steering cylinder through the steering servo valve to complete the action, and obtains the actual steering angle through the angle sensor on the steering cylinder , fed back to the chassis controller. After comparing the actual steering angle value with the target value steering angle value, the difference correction is completed. At the same time, the chassis controller monitors the surrounding space information in real time, displays the best s...

Embodiment 2

[0063] Such as figure 1 Shown, a kind of steering control system is characterized in that, comprises:

[0064] The chassis space perception module is used to sense the space information around the vehicle and upload it to the controller;

[0065] The target steering angle acquisition module is used to acquire the target steering angle and upload it to the controller;

[0066] Central control module: used to judge whether the space around the vehicle satisfies the target steering angle in the current steering mode based on the space information around the vehicle and the target steering angle;

[0067] If it is satisfied, plan the steering path under the current steering mode; give instructions to control the steering cylinder to continue the steering action according to the current steering mode and the planned steering path; and obtain the actual steering angle of the steering cylinder until the actual steering angle and the target The steering angle difference is within th...

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PUM

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Abstract

The invention discloses a steering control method and system of a narrow space four-wheel independent steering rescue chassis. The method comprises sensing the space around a vehicle to be rescued torapidly determine the space information around the vehicle such as surrounding space applicable to steering rotation and the overall sizes as well of ground positions of obstacles; when a driver operates a steering wheel for steering, through a chassis controller, acquiring the rotating angle of the steering angle according to a steering wheel encoder to calculate the target steering angle of thedriver, controlling a steering oil cylinder by a steering servo valve to complete operation, and then through an angle sensor on the steering oil cylinder, acquiring and feeding an actual steering angle to the chassis controller; comparing the actual steering angle with the target steering angle to complete different correction; meanwhile, by in real time the surrounding space information throughthe chassis controller, displaying an optimal steering mode and an optimal suspension mode on a display inside a driving cab to assist the driver to operate the vehicle.

Description

technical field [0001] The invention belongs to the technical field of engineering machinery, and in particular relates to a steering control method and system for a four-wheel independently steering rescue chassis in a narrow area. Background technique [0002] For areas with dense population, narrow roads, and lack of basic fire-fighting facilities, such as shantytowns and urban-rural fringe areas, the particularity of the operating area places extremely strict requirements on the operating steering space of rescue and fire-fighting vehicles. [0003] Disadvantages of the existing technology: the existing steering method is generally front-wheel steering. Although the existing control system can realize the four-wheel steering control of the vehicle, it needs to rely on the driver to perform manual switching or to control the vehicle itself. Steering related information is used to switch modes without considering the surrounding steering space. In narrow and special areas...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D15/02
Inventor 赵斌夏韬张勇
Owner XCMG CONSTR MACHINERY
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