System and method for improving safety of wheels of heavy multi-axle vehicle during steering jamming

Abstract

The invention relates to a system and method for improving safety of wheels of a heavy multi-axle vehicle during steering jamming, the system comprises a data acquisition module, an ideal model calculation module, a steering wheel jamming judgment module and a vehicle motion control module, the data acquisition module is used for acquiring parameters of the whole vehicle, and then according to steering requirements and the parameters of the whole vehicle, the ideal model calculation module is used for calculating the steering wheel jamming; calculating an ideal wheel rotation angle, a lateral force, a longitudinal force and a yawing moment of each wheel during pure rolling through an ideal model calculation module; detecting an actual turning angle signal of a wheel through a steering wheel jamming judgment module, and comparing the actual turning angle signal with an ideal turning angle to judge whether the steering wheel is jammed or not; when the vehicle motion control module judges that the steering wheels are stuck, by controlling tire force and controlling lateral force, longitudinal force and yawing moment needed by steering of the whole vehicle, the path tracking capacity of the whole vehicle is improved, and the instability phenomenon caused when a steering shaft is stuck during steering of the whole vehicle is avoided. The system and the method are beneficial to improving the driving safety of the heavy multi-axle vehicle when the wheels are blocked during steering.

Description

technical field [0001] The invention belongs to the technical field of multi-axle vehicle control, and in particular relates to a system and method for improving the safety when wheels of heavy multi-axle vehicles are stuck when steering. Background technique [0002] Heavy-duty multi-axle vehicles are indispensable core engineering equipment in my country's national economic construction and military heavy industry. They are widely used in many fields such as large bridge construction, wind power equipment installation, missile transportation and combat off-road. In order to ensure its off-road flexibility, multi-axle steering technology is adopted for heavy-duty multi-axle vehicles. However, the driving conditions are complex and changeable, and the wheel steering mechanism is prone to failure during the steering process, which may cause the wheel steering to be stuck, resulting in deviation of the vehicle's driving trajectory, or even failure. cause serious safety problem...

AI Technical Summary

Problems solved by technology

[0004]1. The traditional multi-axle vehicle dynamics control method does not take into account the fault of the wheel steering mechanism in the steering process of the all-wheel steering vehicle, which leads to the stuck steering of one side of the wheel Condition

Due to the long body and heavy load of heavy-duty multi-axle vehicles, in order to ensure the flexibility of driving, the steering system mostly adopts mechanical linkage and electronically controlled hydraulic double steering system. The driving conditions are complex and changeable, and the wheel steering mechanism may fail during the steering process. , such as the breakage of the steering rod system, etc., causing the wheels to turn stuck, which in turn leads to vehicle instability and serious safety problems

Traditional multi-axle vehicle stability control methods do not consider these issues, resulting in limited application of control methods

[0005]2. When the steering wheel is stuck, the traditional control method does not consider the vehicle trajectory deviation caused by the wheel angle error of the multi-axle vehicle

The actual driving conditions of multi-axle vehicles are complex and changeable. When the wheel steering is stuck, the driver will choose to manually adjust the steering wheel to the neutral position and continue driving. However, manual adjustment cannot ensure that the wheels are accurately in the neutral position, and there will be a certain angle error, causing the vehicle trajectory to deviate

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