A computing method for controlling synchronous steering of two driving wheels

Abstract

The application discloses a kind of computing methods for controlling the synchronous steering of two drive wheels, characterized in that the computing method includes three contents, one is to calculate the starting driving force to ensure the forward movement of the transport vehicle, two is to calculate the friction between the goods on the vehicle plate and the cushioning material to ensure that the goods on the transport vehicle do not slip, thereby calculating the optimal vehicle speed range based on the above two points, and three is to calculate the maximum angle of wheel steering to ensure that the wheels do not touch when the two drive wheels are steered synchronously, thereby determining the allowable angle of wheel steering. The accuracy and reliability of the driving force and turning angle parameters of the transport vehicle are ensured, thereby ensuring the safety of the transportation process.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle engineering and traffic safety technology, in particular to a calculation method for controlling synchronous steering of two driving wheels. BACKGROUND

[0002] For controlling synchronous steering of two driving wheels, the current method is to monitor the wheel shaft direction by on-site observers to avoid the situation that the wheel steering is not in place or the adjacent wheels are pressed against each other. However, a large transport vehicle has a large number of axles, and checking one by one consumes a lot of time and affects the construction progress. SUMMARY

[0003] In view of the deficiencies in the prior art, the present application provides a calculation method for controlling synchronous steering of two driving wheels, which models the two driving wheels and calculates the conditions required for starting driving force, smooth driving and simultaneous steering to ensure the accuracy and reliability of the driving force and steering angle parameters of the transport vehicle, thereby ensuring the safety of the transportation process.

[0004] The technical scheme adopted by the present application is

[0005] The calculation method comprises the following steps:

[0006] A. Calculate the starting driving force, and the calculation formula is as follows:

[0007] Ft>μFn

[0008] Ft is the driving force, μ is the frictional resistance, and Fn is the pressure of the wheel on the ground, i.e. the total weight of the transport vehicle and the goods;

[0009] B. Calculate the frictional force of the goods on the truck plate and the cushioning material to ensure that the goods on the transport vehicle do not slip, and the calculation formula is as follows:

[0010] f>ma

[0011] f is the frictional force of the goods on the truck plate and the cushioning material, m is the total weight of the goods, and a is the acceleration of the goods;

[0012] C. Calculate the allowable angle of wheel steering, which is divided into two cases: (1) the wheel is allowed to freely steer; and (2) the wheel has a maximum steering angle;

[0013] The calculation formula of the acceleration a of the goods is:

[0014] a=(Ft-μFn) / M

[0015] Fn=Mg

[0016] M is the total mass of the transport vehicle and the goods; and g is the acceleration of gravity.

[0017] The operation steps are:

[0018] Step one: two groups of vehicles are respectively debugged, and after confirmation, the wheel shaft direction is adjusted to one side at the same time, and the direction is confirmed to be consistent;

[0019] Step two: start increasing the driving force according to the driving force calculation table, and the signal is sent by the commander, and the driver needs to reach the initial driving force of the hydraulic value at the same time to complete the vehicle start;

[0020] Step three: the commander strictly controls the running speed according to the on-site situation, and the running speed is less than 5m / s; the driving force is loaded step by step according to the driving force calculation table.

[0021] The wheel steering allowable angle calculation is divided into two cases:

[0022] When the two transport vehicles are synchronously steered, the wheels of the two transport vehicles will not contact, and the following conditions should be met:

[0023]

[0024] When the two transport vehicles are synchronously steered, the wheels of the two transport vehicles will contact, in order to ensure that the wheels of the two transport vehicles do not contact, the wheels have a maximum steering angle θ, and the following conditions should be met:

[0025]

[0026] The wheel width of the transport vehicle 1 is W1, and the wheel diameter is D1; the wheel width of the transport vehicle 2 is W2, and the wheel diameter is D2; the center distance of the two transport vehicle wheels is L, the wheel steering angle is θ, and the minimum distance between adjacent wheels is d.

[0027] According to the wheel parameters of the transport vehicle in the field test: W1 is 960mm, W2 is 960mm, D1=D2=820mm, L=1210mm, d=10mm, the maximum steering angle θ of the wheel is calculated to be 36.72°, which meets the steering requirements of the field test.

[0028] The present application has the beneficial effects: the present application physically models the starting vehicle conditions and steering vehicle conditions of the two driving wheels, determines the conditions required for starting driving force, smooth driving and simultaneous steering, ensures the accuracy and reliability of the driving force and steering angle parameters of the transport vehicle, and thus ensures the safety of the transportation process. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is the flow chart of the calculation method of the present application

[0030] Figure 2 is a schematic diagram of synchronous steering of two driving wheels

[0031] Figure 3 is a schematic diagram of synchronous steering calculation of two driving wheels DETAILED DESCRIPTION

[0032] The application provides a calculation method for controlling synchronous steering of two driving wheels, models the two driving wheels, and calculates conditions required for starting driving force, smooth driving and simultaneous steering, so as to ensure the accuracy and reliability of driving force and steering angle parameters of the transport vehicle, and thus ensure the safety of the transport process.

[0033] The technical scheme adopted by the application is that the calculation method comprises the following steps:

[0034] A. Calculate the starting driving force, and the calculation formula is as follows:

[0035] Ft>μFn

[0036] Ft is the driving force, μ is the frictional resistance, and Fn is the pressure of the wheel on the ground, i.e. the total weight of the transport vehicle and the goods;

[0037] B. Calculate the frictional force of the goods and the cushioning material on the vehicle plate, so as to ensure that the goods on the transport vehicle do not slip, and the calculation formula is as follows:

[0038] f>ma

[0039] f is the frictional force of the goods and the cushioning material on the vehicle plate, m is the total weight of the goods, and a is the acceleration of the goods;

[0040] C. Calculate the steering allowable angle of the wheel, which is divided into two cases, (1) the wheel is allowed to freely steer, and (2) the wheel has a maximum steering angle;

[0041] The calculation formula of the acceleration a of the goods is as follows:

[0042] a=(Ft-μFn) / M

[0043] Fn=Mg

[0044] M is the total mass of the transport vehicle and the goods, and g is the acceleration of gravity.

[0045] The operation steps are as follows:

[0046] Step 1: Debug the respective systems of the two groups of vehicles, and then simultaneously adjust the wheel shaft direction to the same side, and confirm the consistency of the direction;

[0047] Step 2: Start to increase the driving force according to the driving force calculation table, and the signal is sent by the overall commander, and the driving personnel need to reach the hydraulic value of the initial driving force at the end of the signal to complete the start of the vehicle;

[0048] Step 3: The overall commander strictly controls the driving speed according to the on-site situation, and the driving speed is less than 5 m / s; the driving force is loaded step by step according to the driving force calculation table.

[0049] The calculation of the steering allowable angle of the wheel is divided into two cases:

[0050] When two transport vehicles are steering synchronously, the wheels of the two transport vehicles should not contact each other, and the following condition should be met:

[0051]

[0052] When two transport vehicles are steering synchronously, the wheels of the two transport vehicles will contact each other, and the maximum steering angle of the wheels should be met to ensure that the wheels of the two transport vehicles do not contact each other:

[0053]

[0054] The wheel width of the transport vehicle 1 is W1, and the wheel diameter is D1; the wheel width of the transport vehicle 2 is W2, and the wheel diameter is D2; the center distance of the wheel shafts of the two transport vehicles is L, and the wheel steering angle is θ, and the minimum distance between adjacent wheels is d.

[0055] According to the wheel parameters of the transport vehicle in the field test: W1 is 960 mm, W2 is 960 mm, D1=D2=820 mm, L=1210 mm, and d=10 mm, the maximum steering angle of the wheels is calculated to be 36.72°, which meets the steering requirement of 36° in the field test.

[0056] The present application has the beneficial effects: the present application models the starting vehicle condition and the steering vehicle condition of the two driving wheels, determines the conditions required for starting driving force, smooth driving and simultaneous steering, and ensures the accuracy and reliability of the driving force and steering angle parameters of the transport vehicle, thereby ensuring the safety of the transport process.

[0057] The above shows and describes the basic principles and main features of the present application and the advantages of the present application, it should be noted that the above examples demonstrate the present application but do not limit the present application, and the skilled person in the art can design alternative embodiments without departing from the scope of the appended claims. In addition, all changes falling within the meaning and scope of the equivalent elements of the claims should be included in the present application. Any reference signs in the claims should not be considered as limiting the claims.

[0058] In addition, it should be understood that although the present specification is described in terms of embodiments, each embodiment does not contain only one independent technical solution, and the description of the specification is only for clarity, and the skilled person in the art should consider the specification as a whole, and the technical solutions in each embodiment can be combined to form other embodiments that can be understood by the skilled person.

Claims

1. A computational method of controlling the synchronized steering of two drive wheels, characterized in that, The calculation method comprises the following steps: A. Calculate the starting driving force, and the calculation formula is as follows: Ft>μFn Ft is the driving force, μ is the frictional resistance, Fn is the pressure of the wheel on the ground, that is, the total weight of the transport vehicle and the goods; B. Calculate the frictional force of the goods and the cushioning material on the car plate, ensure that the goods on the transport vehicle do not slip with the transport vehicle, and the calculation formula is as follows: f>ma f is the frictional force of the goods and the cushioning material on the car plate, m is the total weight of the goods, and a is the acceleration of the goods; C. Calculate the allowable angle of the wheel steering, which is divided into two cases, (1) the wheel is allowed to freely steer; and (2) the wheel has a maximum steering angle; Among them, the calculation of the allowable angle of the wheel steering is divided into two cases: When synchronous steering, the wheels of the two transport vehicles do not contact at all, and the following condition should be met: ； When synchronous steering, the wheels of the two transport vehicles will contact, in order to ensure that the wheels of the two transport vehicles do not contact, the wheel has a maximum steering angle θ, and the following condition should be met: ； The wheel width of the transport vehicle 1 is W1, and the wheel diameter is D1; the wheel width of the transport vehicle 2 is W2, and the wheel diameter is D2; the center distance of the wheel shaft of the two transport vehicles is L, the wheel steering angle is θ, and the minimum distance d between adjacent wheels.

2. The method of claim 1, wherein, The calculation formula of the acceleration a of the goods is: a=(Ft-μFn) / M Fn=Mg M is the total mass of the transport vehicle and the goods; and g is the acceleration of gravity.

3. The method of claim 1, wherein, The operation steps are: Step one: debug the two groups of vehicles respectively, confirm that the direction of the wheel shaft is adjusted to one side at the same time, and confirm that the direction is consistent; Step two: start to increase the driving force according to the driving force calculation table, and the signal is sent by the commander, and the driving personnel need to reach the initial driving force of the hydraulic value at the same time to complete the vehicle starting at the end of the signal; Step three: the commander strictly controls the running speed according to the on-site situation, and the running speed is less than 5m / s; the driving force is loaded step by step according to the driving force calculation table.

4. The method of claim 1, wherein, According to the wheel parameters of the transport vehicle in the field test: W1 is 960mm, W2 is 960mm, D1=D2=820mm, L=1210mm, d=10mm, the maximum steering angle θ of the wheel is calculated to be 36.72°, which meets the steering requirements of the field test.

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