Steering speed consistency control method of full-hydraulic steering mechanical system
A mechanical system, steering speed technology, applied in steering mechanism, fluid steering mechanism, power steering mechanism, etc., can solve the problem of increasing steering speed, and achieve the effect of improving real-time performance, improving operation safety, and ensuring consistency
Active Publication Date: 2021-09-24
HEFEI UNIV OF TECH
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[0004] Aiming at the problem that the steering speed increases with the increase of the engine speed in the full hydraulic steering vehicle, the present invention proposes a steering speed consistency control method of the full hydraulic steering mechanical system, in order to ensure that the input of the steering wheel angle remains unchanged during the steering process. Under certain circumstances, as the engine speed changes, the steering speed of the vehicle is controlled consistently, thereby improving driving safety and reducing the driver's manipulation intensity
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[0028] In this embodiment, a steering speed consistency control method of a fully hydraulic steering mechanical system, wherein, such as figure 1 As shown, the full hydraulic steering mechanical system is composed of engine, electronic control unit ECU, hydrostatic transmission system, static pressure system displacement adjustment actuator, corner acquisition module, steering integrated controller, active differential mechanism and crawlers on both sides;
[0029] The hydrostatic transmission system consists of a variable displacement pump and a fixed displacement motor. The power input shaft of the variable displacement pump is connected to the engine through a spline, and the power output shaft of the fixed displacement motor is connected to the driving shaft of the active differential mechanism through a spline;
[0030] Steering integrated controller is composed of PWM drive module and CAN bus module;
[0031] The displacement adjustment actuator of the static pressure sy...
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The invention discloses a steering speed consistency control method for a full-hydraulic steering mechanical system, which comprises the following steps of: acquiring the rotating speed of an engine, calculating a flow correction coefficient of a variable pump, and then calculating the duty ratio of PWM (Pulse Width Modulation) for controlling the displacement of the variable pump, so as to ensure that the output flow of the variable pump is kept consistent for given rotating angle input under different rotating speeds of the engine; and therefore, the steering angle of the full-hydraulic vehicle is kept consistent, the safety of the full-hydraulic steering vehicle during high-speed steering is improved, and the control intensity of a driver is reduced.
Description
technical field [0001] The invention relates to the field of hydraulic steering control, in particular to a method for controlling the consistency of the steering angle of a fully hydraulic vehicle. Background technique [0002] With the progress of the times and the development of technology, the application fields of construction machinery and special vehicles are becoming more and more extensive, and their application environments are becoming more and more complex. People's requirements for the performance of such machinery and vehicles are gradually increasing, especially driving safety. Comfort and operating efficiency, while the requirements for hydraulic steering capability and accuracy have increased. [0003] For medium and large-scale engineering vehicles or special vehicles, most of them adopt hydraulic steering arrangement scheme, and the power source of most vehicle steering pumps comes from the engine, which inevitably brings some problems, such as when the en...
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IPC IPC(8): B62D11/18B62D5/065B60R16/023
CPCB62D11/183B62D5/065B60R16/0231
Inventor 夏光纵华宇夏岩张华磊陈建杉刘贤阳魏志祥施展汪韶杰孙保群
Owner HEFEI UNIV OF TECH