Redundancy control method and equipment for waterway steering switching of amphibious vehicle

Abstract

The invention provides a redundancy control method and equipment for waterway steering switching of an amphibious vehicle, and the method comprises the steps: determining a driving mode according to a driving environment, in a land driving mode, mechanically locking a steering wheel and a steering shaft and keeping synchronous rotation, enabling the steering wheel to directly realize steering wheel deflection through a steering system, generating a land steering mode signal, implementing a land control mode by a steering controller, and keeping a steering wheel angle sensor at a zero position; in the water surface driving mode, separating the steering wheel from the steering shaft, locking the steering shaft in the middle position of the wheel, meanwhile, generating a water surface steering mode signal, if the steering wheel rotates and the steering wheel and the steering shaft rotate relatively, synchronously outputting a steering wheel angle signal by the steering wheel angle sensor, and performing steering control on the steering engine according to the steering wheel angle signal. Traveling switching of the vehicle between amphibious environments can be achieved only by operating the steering wheel, and the load of the vehicle is reduced.

Description

Technical field [0001] Embodiments of the present invention relate to the field of special vehicle technology, and more particularly to redundant control methods and apparatus for steering switching switching of aquatribial vehicle waterway. Background technique [0002] Currently, the demand for multi-functional carriers has increased. Water and land amphibious vehicles have both land vehicles, and can directly achieve water-surface driving, with very important tactical value. With respect to conventional vehicles, the water and land amphibians are capable of achieving normal driving and heading control, requiring a steering control device that is completely different from land driving. The current common way is that the steering wheel deflection is controlled by the traditional steering wheel and the steering system when there is a semaphore, and the steering wheel is switched to the steering command to control the change in the direction of the header. This approach is due to ...

AI Technical Summary

Problems solved by technology

Since this method uses two sets of independent devices, it is not conducive to system simplification and vehicle weight reduction requirements.

In addition, drivers need to get used to the steering wheel operation mode of land-wheeled vehicles and the handle operation mode when sailing on the water, which makes amphibious vehicles highly dependent on personnel experience during water or land driving, reducing the risk of amphibious vehicles. Handling stability during driving transitions between different environments

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