A kind of articulated steering distributed electric drive steering control method, system and loader

Abstract

The invention discloses an articulated steering distributed electric drive steering control method, system and loader. The control method includes a steady state mode and a transient mode: in the steady state mode, the steady state of four wheels is calculated according to the current vehicle speed and the frame rotation angle The output torque of each driving wheel is calculated through the closed-loop control of the steady-state target wheel speed and the feedback wheel speed; in the transient mode, the expected steering angular velocity increment of the front and rear frames is calculated according to the change rate of the steering handle opening, Through closed-loop control of transient target wheel speed and feedback wheel speed, the output torque of each driving wheel is obtained. Control system, including electric drive wheel set, hydraulic articulated steering system, front frame, angle sensor, hinge pin, rear frame, speed pedal, steering handle, vehicle controller. The invention solves the problems of poor maneuverability and stability, high energy consumption of steering and serious tire wear during the steering process in the prior art.

Description

technical field [0001] The invention relates to an articulated steering distributed electric drive steering control method, a system and a loader, and belongs to the technical field of construction machinery. Background technique [0002] With the increasing shortage of petroleum resources and the deterioration of environmental pollution, in order to achieve sustainable development of human beings, construction machinery has higher and higher requirements for energy conservation and environmental protection. 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 loaders are concerned, the application of electric drive technology can cancel the traditional hydraulic torque converter and improve the transmission efficiency of the whole machine; the motor as an executive component can realize stepless speed change, improve the respon...

AI Technical Summary

Problems solved by technology

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

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