Steering control system and method for hinged steering distributed electric drive loader

Abstract

The invention discloses a steering control method for a hinged steering distributed electrically-driven loader, and the method comprises a steady state mode and a transient state mode; the steady state mode comprises the steps: calculating steady state target wheel speeds of four wheels according to the current vehicle speed and a vehicle frame rotation angle, and calculating to obtain output torques of all driving wheels through closed-loop control of the steady state target wheel speeds and feedback wheel speeds; the transient mode comprises the steps: calculating the expected steering angular velocity increment of a front frame and a rear frame according to the change rate of the opening degree of a steering handle, and obtaining the output torque of each driving wheel through closed-loop control over the transient target wheel speed and the feedback wheel speed. The invention further relates to a hinged steering distributed electric drive loader steering control system. The hinged steering distributed electric drive loader steering control system comprises an electric drive wheel set, a hydraulic hinged steering system, a front frame, a steering angle sensor, a hinged pin shaft, a rear frame, a speed pedal, a steering handle and a whole vehicle controller. The problems that in the steering process in the prior art, maneuverability and stability are poor, steering energy consumption is high, and tire abrasion is serious are solved.

Description

technical field [0001] The invention relates to a steering control system and method for an articulated steering distributed electric drive loader, belonging to the technical field of engineering machinery. Background technique [0002] With the increasing shortage of petroleum resources and the deterioration of environmental pollution, in order to realize the sustainable development of human beings, the requirements for energy saving and environmental protection of construction machinery are getting higher and higher. Electrification can not only solve the problem of energy saving and emission reduction, but also drive a leap in technological development, which is an inevitable trend of social development. As far as the loader is concerned, the application of electric transmission technology can cancel the traditional hydraulic torque converter and improve the transmission efficiency of the whole machine; The application of bus technology provides the basis for the develop...

AI Technical Summary

Problems solved by technology

[0007] In order to solve the deficiencies of the prior art, the object of the present invention is to provide a steering control system and method for an articulated steering distributed electric drive loader, which solves the problem of poor maneuverability and stability and high energy consumption of the steering in the steering process of the prior art. , the problem of serious tire wear

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