Steering control method based on steering bridge sensor and industrial vehicle

Abstract

The application discloses a kind of based on steering bridge sensor's steering control method and industrial vehicle, method includes: whether the industrial vehicle has hydraulic action is detected, if there is hydraulic action, the rotational speed of hydraulic pump motor is set as first rotational speed;Based on steering bridge sensor obtains steering angular velocity, based on steering angular velocity obtains pump rotational speed required for steering, and the rotational speed of hydraulic pump motor is set as the sum of pump rotational speed required for steering alone hydraulic action;If there is no hydraulic action, based on steering bridge sensor obtains steering angular velocity, based on steering angular velocity obtains pump rotational speed required for steering, and the rotational speed of hydraulic pump motor is set as pump rotational speed required for steering.The rotational speed of hydraulic pump motor is automatically regulated based on steering bridge sensor obtained steering angular velocity to judge the occurrence of steering and steering speed, to maintain the speed of hydraulic action is not reduced, obtains and the same effect as steering column sensor vehicle model, reduce cost low, energy consumption and noise.

Description

Technical Field

[0001] This invention relates to the field of industrial vehicle technology, and in particular to a steering control method based on a steering axle sensor and an industrial vehicle. Background Technology

[0002] Industrial vehicles refer to power-driven motor vehicles used for transporting, pushing, towing, lifting, stacking, or loading various goods. Many industrial vehicles, such as forklifts, use the same hydraulic system to drive their working devices and steering systems. Currently, forklift steering control is mainly achieved through the following two methods:

[0003] 1. Install a steering sensor on the steering column. When steering, the speed of the hydraulic pump motor is proportional to the speed of the steering column, and the flow rate can be provided as needed.

[0004] 2. The hydraulic pump motor is set to a fixed speed (see...). Figure 1 (As shown).

[0005] Method 1 described above can achieve good steering performance if a steering sensor is added, but it is expensive, mainly due to the cost of custom steering column and sensor.

[0006] In method 2 above, the hydraulic pump motor speed is a fixed value during steering, which cannot dynamically match the steering wheel speed (ideally, the hydraulic pump motor speed should be high when the steering wheel turns quickly and low when the steering wheel turns slowly). During compound actions (steering + hydraulic), the steering operation cannot be recognized, reducing the speed of the hydraulic action. While a relatively large fixed speed could meet steering requirements, it would result in poor micro-motion and increased energy consumption and noise. Furthermore, the speed requirement gradually decreases as the forklift speed increases; a large rated speed could pose a potential rollover risk at high speeds. Summary of the Invention

[0007] The main objective of this invention is to overcome the aforementioned deficiencies in the prior art and propose a steering control method and industrial vehicle based on a steering axle sensor. The method determines the occurrence of steering and the steering speed based on the steering angular velocity obtained by the steering axle sensor, thereby automatically adjusting the speed of the hydraulic pump motor to maintain the speed of hydraulic action without slowing down. Since it is not necessary to install a steering sensor on the steering column or set a fixed speed, it reduces costs, energy consumption and noise, and does not affect micro-motion operation.

[0008] The present invention adopts the following technical solution:

[0009] On the one hand, a steering control method based on a steering axle sensor includes:

[0010] S101, check if the industrial vehicle has hydraulic action. If yes, proceed to S102; otherwise, proceed to S103.

[0011] S102, set the speed of the hydraulic pump motor to a first speed; obtain the steering angular velocity based on the steering axle sensor, obtain the pump speed required for steering based on the steering angular velocity, and set the speed of the hydraulic pump motor to a second speed; the first speed is the pump speed required for a single hydraulic action; the second speed is the sum of the first speed and the pump speed required for steering;

[0012] S103 obtains the steering angular velocity based on the steering axle sensor, obtains the required pump speed for steering based on the steering angular velocity, and sets the speed of the hydraulic pump motor to the required pump speed for steering.

[0013] Preferably, in steps S102 and S103, obtaining the steering angular velocity specifically includes:

[0014] Based on the steering axle sensor, the change in angle per unit time is obtained; the change in angle per unit time is equal to the difference between the current angle and the previous angle.

[0015] Preferably, the method for obtaining the pump speed required for steering includes:

[0016] The required pump speed for steering, corresponding to the change in angle per unit time, is obtained through a linear function; the fitting method for the linear function includes interpolation.

[0017] Preferably, in step S102, after setting the speed of the hydraulic pump motor to the second speed, the step further includes starting or resetting a timer with a set timing duration.

[0018] In S103, after setting the speed of the hydraulic pump motor to the required pump speed for steering, it also includes starting or resetting a timer with a set timing time.

[0019] S103 further includes: if the required pump speed for steering is determined to be 0 based on the detection result of the steering axle sensor, determining whether the timer is started; if it is started, determining whether the timing time has been reached; if not, setting the speed of the hydraulic pump motor to the minimum idle speed value; if the timer is not started or the timing time has been reached, setting the speed of the hydraulic pump motor to 0.

[0020] Preferably, before setting the speed of the hydraulic pump motor to the first speed, the method further includes:

[0021] Check for hydraulic faults. If a fault is found, set the speed of the hydraulic pump motor to 0 and start or reset the timer with the set timing.

[0022] or,

[0023] After setting the hydraulic pump motor speed to the first speed, the following is also included:

[0024] Check for hydraulic faults. If a fault is found, set the speed of the hydraulic pump motor to 0 and start or reset the timer with the set timing.

[0025] Preferably, in step S102, the method for obtaining the pump speed required for steering includes:

[0026] Based on the obtained angle change per unit time, a first preset speed is set as the pump speed required for steering;

[0027] In step S103, the method for obtaining the pump speed required for steering includes:

[0028] Based on the obtained angle change per unit time, a third preset speed is set as the pump speed required for steering.

[0029] Preferably, in steps S102 and S103, if the angle change per unit time is greater than the first preset angle, the speed of the hydraulic pump motor is set to the second speed; if the angle change per unit time is greater than the second preset angle but less than the first preset angle, the speed of the hydraulic pump motor is kept constant; if the angle change per unit time is less than the second preset angle, in step S102, the speed of the hydraulic pump motor is set to the pump speed required for individual hydraulic action, and in step S103, the speed of the hydraulic pump motor is set to the minimum idle speed value.

[0030] Preferably, in S102, setting the speed of the hydraulic pump motor to the second speed includes: controlling the speed of the hydraulic pump motor to adjust to the second speed by gradually increasing the speed, specifically by increasing the first preset speed per unit time.

[0031] Setting the speed of the hydraulic pump motor to the pump speed required for a single hydraulic action includes: controlling the speed of the hydraulic pump motor to adjust to the pump speed required for a single hydraulic action by gradually decreasing the speed, specifically by decreasing the second preset speed in each unit of time.

[0032] Preferably, in S103, setting the speed of the hydraulic pump motor to the required pump speed for steering includes: controlling the speed of the hydraulic pump motor to adjust to the required pump speed for steering by gradually increasing the speed, specifically by increasing a third preset speed in each unit of time.

[0033] Setting the speed of the hydraulic pump motor to the minimum idle speed value includes: controlling the speed of the hydraulic pump motor to adjust to the minimum idle speed value by gradually decreasing the speed, specifically by decreasing the speed by the fourth preset speed in each unit of time.

[0034] On the other hand, an industrial vehicle includes a vehicle body, a controller, and a hydraulic pump motor, wherein the controller uses the steering control method based on the steering axle sensor to adjust the speed of the hydraulic pump motor.

[0035] As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following beneficial effects:

[0036] (1) The present invention provides a steering control method based on a steering axle sensor. The steering angle velocity obtained by the steering axle sensor is used to determine the steering and steering speed, thereby automatically adjusting the speed of the hydraulic pump motor to maintain the speed of the hydraulic action without being affected, and realizing reasonable control of the speed of the combined operation action (lifting / tilting + steering). Since it is not necessary to install a steering sensor on the steering column or set a fixed speed, the cost is reduced, energy consumption and noise are reduced, and micro-motion operation is not affected.

[0037] (2) In one implementation of the present invention, the required speed for steering is obtained through a linear function, and the instantaneous steering function can be realized without setting the minimum idle speed of the hydraulic pump motor. When a compound operation occurs, the speed of the hydraulic pump motor can be automatically set to the sum of the pump speed required for individual hydraulic action and the pump speed required for steering, so as to maintain the speed of hydraulic action without slowing down. When steering alone, the speed of the hydraulic pump motor is directly set to the required speed for steering obtained through a linear function, which reduces energy consumption and noise. In addition, when no hydraulic action or steering action is detected and the timer has not reached the time limit, the hydraulic pump motor is set to the minimum idle speed value. Only when the timer reaches the time limit will the hydraulic pump motor be set to 0, so as not to affect the micro-motion operation.

[0038] (3) In another implementation of the present invention, two (or more) gears (pump speed required for steering) are set for individual steering and compound operation respectively. When compound operation occurs, the speed of the hydraulic pump motor can be automatically set to the sum of the pump speed required for individual hydraulic action and the set pump speed required for steering, so as to maintain the speed of hydraulic action without slowing down. When individual steering operation, the speed of the hydraulic pump motor is directly set to the set steering speed, which reduces energy consumption and noise. The setting of multiple fast / slow speed gears makes the operation feel better, which can solve the problem of heavy steering at fast speed, while not increasing the energy consumption of the motor when slow. Attached Figure Description

[0039] Figure 1 A schematic diagram of hydraulic pump motor speed adjustment for existing books;

[0040] Figure 2 This is a simplified flowchart of the method according to an embodiment of the present invention;

[0041] Figure 3 This is a detailed flowchart of the method in Embodiment 1 of the present invention;

[0042] Figure 4 This is a schematic diagram illustrating the calculation of hydraulic pump motor speed using interpolation in Embodiment 1 of the present invention;

[0043] Figure 5 This is a schematic diagram of the adjustment based on interpolation method in Embodiment 1 of the present invention;

[0044] Figure 6 This is a detailed flowchart of the method in Embodiment 2 of the present invention;

[0045] Figure 7 This is an adjustment diagram of Embodiment 2 of the present invention; wherein, (a) is an adjustment diagram of steering operation based on gear position; and (b) is an adjustment diagram of compound operation based on gear position.

[0046] Figure 8 This is a structural block diagram of a steering control system based on a steering axle sensor according to an embodiment of the present invention. Detailed Implementation

[0047] The present invention will be further described below through specific embodiments.

[0048] See Figure 2 As shown, a steering control method based on a steering axle sensor includes:

[0049] S101, check if the industrial vehicle has hydraulic action. If yes, proceed to S102; otherwise, proceed to S103.

[0050] S102, set the speed of the hydraulic pump motor to a first speed; obtain the steering angular velocity based on the steering axle sensor, obtain the pump speed required for steering based on the steering angular velocity, and set the speed of the hydraulic pump motor to a second speed; the first speed is the pump speed required for a single hydraulic action; the second speed is the sum of the first speed and the pump speed required for steering;

[0051] S103 obtains the steering angular velocity based on the steering axle sensor, obtains the required pump speed for steering based on the steering angular velocity, and sets the speed of the hydraulic pump motor to the required pump speed for steering.

[0052] In this embodiment, the execution subject of the above method is the controller, which can be an independent controller or a controller that is shared with the existing controller of the industrial vehicle. This embodiment does not limit the specific type of controller used.

[0053] It should be noted that the "hydraulic action" mentioned in this invention refers to all actions that require pump oil supply, except for "steering", such as tilting and lifting.

[0054] The aforementioned steering axle sensor is a sensor installed on the vehicle's steering axle, used to detect the vehicle's steering angular velocity. Since it is an existing sensor on the vehicle, no additional hardware cost is required. The steering axle sensor can be of various types. Structurally, it can be a wire-wound angle sensor or a non-wire-wound angle sensor; in terms of signal type, it can be PWM, resistive, etc., but this embodiment does not impose specific limitations.

[0055] Specifically, information about hydraulic actions is obtained by detecting whether there is a signal from the operating handle or the potentiometer or microswitch of the controlled valve; how this is detected is existing technology. Furthermore, the method for obtaining the pump speed required for a single hydraulic action is also existing technology and will not be described in detail in this embodiment.

[0056] Specifically, in S102 and S103, obtaining the steering angular velocity includes:

[0057] Based on the steering axle sensor, the change in angle per unit time is obtained; the change in angle per unit time is equal to the difference between the current angle and the previous angle.

[0058] In this embodiment, the unit time can be 100ms. The current angle refers to the steering angular velocity detected at the current moment, and the previous angle refers to the steering angular velocity detected one unit time ago, such as 100ms ago. The change in angle is obtained by subtracting the two values.

[0059] In summary, the present invention provides a steering control method based on a steering axle sensor. The steering angle velocity obtained by the steering axle sensor is used to determine the steering direction, thereby automatically adjusting the speed of the hydraulic pump motor to maintain the speed of hydraulic action without being affected. This achieves reasonable control of the speed of combined operation actions (lifting / tilting + steering). Since it is not necessary to install a steering sensor on the steering column or set a fixed speed, it reduces costs, energy consumption and noise, and does not affect micro-motion operation.

[0060] The following will provide a detailed description of two embodiments.

[0061] Example 1

[0062] See Figure 3 As shown in the figure, this embodiment of a steering control method based on a steering axle sensor includes:

[0063] S201, check if the industrial vehicle has hydraulic operation. If yes, proceed to S202; otherwise, proceed to S203.

[0064] S202, set the speed of the hydraulic pump motor to a first speed; obtain the steering angular velocity based on the steering axle sensor, obtain the pump speed required for steering based on the steering angular velocity, and set the speed of the hydraulic pump motor to a second speed; the first speed is the pump speed required for a single hydraulic action; the second speed is the sum of the first speed and the pump speed required for steering;

[0065] S103 obtains the steering angular velocity based on the steering axle sensor, obtains the required pump speed for steering based on the steering angular velocity, and sets the speed of the hydraulic pump motor to the required pump speed for steering.

[0066] See Figure 3 As shown, S202 specifically includes:

[0067] S2021, Set the speed of the hydraulic pump motor to the pump speed required for individual hydraulic action;

[0068] S2022, Check for hydraulic faults. If a fault is found, proceed to S2023; if not, proceed to S2024.

[0069] S2023, set the speed of the hydraulic pump motor to 0, and start or reset the timer with the set timing time;

[0070] S2024, determine whether the unit time of 100ms has been reached; if so, execute S2025.

[0071] S2025, based on the steering axle sensor, acquire the change in angle per unit time; the change in angle per unit time is equal to the difference between the current angle and the previous angle;

[0072] S2026, the required pump speed for steering corresponding to the change in angle per unit time is obtained through a linear function; the fitting method of the linear function includes interpolation (see...). Figure 4 As shown, the linear function fitted by interpolation may include multiple lines. Furthermore, from... Figure 4 It can be seen that the linear function is activated to obtain the pump speed required for steering only when the change in angle per unit time reaches a certain value.

[0073] S2027 sets the hydraulic pump motor speed to the sum of the pump speed required for individual hydraulic action and the pump speed required for steering; starts or resets a timer with a set timing duration.

[0074] See Figure 3 As shown, S203 specifically includes:

[0075] S2031, determine whether the unit time of 100ms has been reached; if so, execute S2032.

[0076] S2032, based on the steering axle sensor, acquire the change in angle per unit time; the change in angle per unit time is equal to the difference between the current angle and the previous angle;

[0077] S2033, the required pump speed for steering corresponding to the change in angle per unit time is obtained through a linear function; the fitting method of the linear function includes interpolation (see...). Figure 4 As shown, the linear function fitted based on interpolation may include multiple functions. Furthermore, from... Figure 4 It can be seen that the linear function is activated to obtain the pump speed required for steering only when the change in angle per unit time reaches a certain value.

[0078] S2034, determine if the required number of turns for steering is 0. If it is not 0, turn to S2035. If it is 0, turn to S2036.

[0079] S2035, set the speed of the hydraulic pump motor to the pump speed required for steering;

[0080] S2036, determine whether the timer is started. If it is started, determine whether the timing time has been reached. If it has not been reached, set the speed of the hydraulic pump motor to the minimum idle speed value (400 r / min as shown in the figure). If the timer is not started or the timing time has been reached, set the speed of the hydraulic pump motor to 0.

[0081] It should be noted that "start or reset" in this embodiment means: if the timer (including the hydraulic motor low idle timer / hydraulic motor high idle timer) has been started before, it will be reset; if the timer has not been started before, it will be started. In this embodiment, the timer with the set timing can be set and started before steering control is executed (or after the key is turned on and someone is in the seat), or the timer with the set timing can be started during the execution of steering control.

[0082] In addition, the timer can be an ascending timer (e.g., a timer of 2 seconds starts counting down from 0, and when it reaches 2 seconds, it can be understood that the timer has reached its end) or a countdown timer (e.g., a timer of 2 seconds starts counting down from 2 seconds, and when it reaches 0, it can be understood that the timer has reached its end).

[0083] See Figure 5 The diagram shown is a schematic representation of the adjustment based on interpolation in an embodiment of the present invention. Figure 5As can be seen, this embodiment achieves instant steering without setting a minimum idle speed for the hydraulic pump motor. During compound operations, the hydraulic pump motor speed is automatically set to the sum of the pump speed required for individual hydraulic action and the pump speed required for steering, maintaining the speed of the hydraulic action without slowing down. During individual steering operations, the hydraulic pump motor speed is directly set to the steering speed required by a linear function, reducing energy consumption and noise. Furthermore, when no hydraulic or steering action is detected, and the timer has not yet expired, the hydraulic pump motor is set to the minimum idle speed. Only after the timer expires is the hydraulic pump motor set to 0, thus not affecting micro-motion control. It is evident that the steering control method based on the steering axle sensor in this embodiment is significantly superior to the existing method of adjusting the hydraulic pump motor speed by adding a fixed value.

[0084] Example 2

[0085] See Figure 6 As shown in the figure, this embodiment of a steering control method based on a steering axle sensor includes:

[0086] S501, check if the industrial vehicle has hydraulic operation. If yes, proceed to S502; otherwise, proceed to S503.

[0087] S502, set the speed of the hydraulic pump motor to the first speed; obtain the steering angular velocity based on the steering axle sensor, obtain the pump speed required for steering based on the steering angular velocity, and set the speed of the hydraulic pump motor to the second speed, i.e., the high-speed gear for combined action; the first speed is the pump speed required for individual hydraulic action; the second speed is the sum of the first speed and the pump speed required for steering;

[0088] S503 obtains the steering angular velocity based on the steering axle sensor, obtains the required pump speed for steering based on the steering angular velocity, and sets the speed of the hydraulic pump motor to the required pump speed for steering, i.e., the high-speed gear for steering action.

[0089] See Figure 6 As shown, S502 specifically includes:

[0090] S5021, determine whether the unit time of 100ms has been reached; if so, execute S5022.

[0091] S5022, based on the steering axle sensor, acquires the change in angle per unit time; the change in angle per unit time is equal to the difference between the current angle and the previous angle;

[0092] S5023, if the change in angle per unit time is greater than the first preset angle β, the speed of the hydraulic pump motor is increased from the pump speed N2 required for individual hydraulic action to the high-speed gear N1 for combined action to ensure the speed during combined action; if the change in angle per unit time is greater than the second preset angle γ and less than the first preset angle β, the speed of the hydraulic pump motor is kept constant to prevent fluctuations in steering wheel speed, which would cause fluctuations in the speed of the hydraulic pump motor; if the change in angle per unit time is less than the second preset angle γ, the speed of the hydraulic pump motor is restored from the acceleration state N1 to the pump speed N2 required for individual hydraulic action, because the speed is very slow at this time and there is no need to increase the motor speed.

[0093] Specifically, in order to ensure smooth acceleration, the speed of the hydraulic pump motor is controlled to be adjusted to N1 in a gradually increasing manner. Specifically, the speed is increased by the first preset speed n1 every unit time until it reaches N1.

[0094] Similarly, in order to ensure a smooth deceleration, the speed of the hydraulic pump motor is controlled by gradually decreasing the speed to the pump speed N2 required for a single hydraulic action. Specifically, the second preset speed n2 is decreased every unit of time until it reaches N2.

[0095] See Figure 6 As shown, S503 specifically includes:

[0096] S5031, determine whether the unit time of 100ms has been reached; if so, execute S5032.

[0097] S5032, based on the steering axle sensor, acquires the change in angle per unit time; the change in angle per unit time is equal to the difference between the current angle and the previous angle;

[0098] S5033, if the change in angle per unit time is greater than the first preset angle β, the speed of the hydraulic pump motor is increased to the high-speed gear N3 for combined steering to ensure the speed during steering; if the change in angle per unit time is greater than the second preset angle γ but less than the first preset angle β, the speed of the hydraulic pump motor is kept constant to prevent fluctuations in steering wheel speed, which would cause fluctuations in the speed of the hydraulic pump motor; if the change in angle per unit time is less than the second preset angle γ, the speed of the hydraulic pump motor is set from the acceleration state N3 to the minimum idle speed value N4, because the speed is very slow at this time and there is no need to increase the motor speed.

[0099] Specifically, in order to ensure smooth acceleration, the speed of the hydraulic pump motor is controlled to be adjusted to N3 in a gradually increasing manner. Specifically, the speed is increased by a third preset speed n3 every unit time, until it reaches N3.

[0100] Similarly, in order to ensure a smooth deceleration, the speed of the hydraulic pump motor is controlled by gradually decreasing the speed until it reaches the lowest idle speed value N4. Specifically, the speed is decreased by the fourth preset speed n4 every unit of time until it reaches N4.

[0101] Specifically, in this embodiment, Figure 6 The symbols, their corresponding meanings, and recommended values ​​are shown in Table 1 below. It can be understood that the recommended values ​​can vary depending on the vehicle model.

[0102] Table 1;

[0103]

[0104] See Figure 7 As shown, this is an adjustment diagram of Embodiment 2 of the present invention, wherein (a) is an adjustment diagram of steering operation based on gear position; and (b) is an adjustment diagram of compound operation based on gear position.

[0105] The existing technology cannot recognize the steering operation and the hydraulic pump motor speed distribution example values ​​for the combined action (steering + hydraulic) using the method of this embodiment, as shown in Table 2 below. When the existing technology combines "steering" and "lifting / tilting" operations, a large proportion of the hydraulic fluid is diverted to the steering, which affects the speed of "lifting / tilting", especially when the value of "motor speed N2 when acting alone" is relatively small.

[0106] Table 2;

[0107]

[0108] The following table 3 shows examples of speed distribution values ​​for the fixed hydraulic pump motor speed in existing technologies. To ensure smooth steering, existing technologies typically set an idle speed for the hydraulic pump motor, generally higher than the motor speed required for other slow hydraulic actions. For example, during slow lifting, the system requires and the actual speed is 500 r / min and 700 r / min respectively. The hydraulic oil exceeding the required speed by 200 r / min must be bypassed and lost, resulting in increased temperature rise and energy waste.

[0109] Table 3;

[0110]

[0111] from Figure 7As can be seen from Tables 2 and 3, this embodiment sets two (or more) speed settings (pump speed required for steering) for both individual steering and combined operations. When a combined operation occurs, the speed of the hydraulic pump motor can be automatically set to the sum of the pump speed required for individual hydraulic action and the set pump speed required for steering, maintaining the speed of hydraulic action without slowing down. When steering alone, the speed of the hydraulic pump motor is directly set to the set steering speed, reducing energy consumption and noise. The setting of multiple fast / slow speed settings improves the operating experience, solves the problem of heavy steering at high speeds, and does not increase motor energy consumption at low speeds.

[0112] On the other hand, see Figure 8 As shown, an industrial vehicle includes a vehicle body 80, a controller 81, and a hydraulic pump motor 82. The controller 81 uses the steering control method based on the steering axle sensor to adjust the speed of the hydraulic pump motor 82.

[0113] The above are merely specific embodiments of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantial modifications made to the present invention using this concept shall be considered as infringing upon the protection scope of the present invention.

Claims

1. A steering control method based on a steering axle sensor, characterized in that, The steering axle sensor is mounted on the vehicle's steering axle, and the steering control method includes: S101, check if the industrial vehicle has hydraulic action. If yes, proceed to S102; otherwise, proceed to S103. S102, set the speed of the hydraulic pump motor to a first speed; obtain the steering angular velocity based on the steering axle sensor, obtain the pump speed required for steering based on the steering angular velocity, and set the speed of the hydraulic pump motor to a second speed; the first speed is the pump speed required for a single hydraulic action; the second speed is the sum of the first speed and the pump speed required for steering; S103: Obtain the steering angular velocity based on the steering axle sensor, obtain the required pump speed for steering based on the steering angular velocity, and set the speed of the hydraulic pump motor to the required pump speed for steering. Specifically, obtaining the steering angular velocity includes: obtaining the change in angle per unit time based on the steering axle sensor; In S102 and S103, if the angle change per unit time is greater than the first preset angle, the speed of the hydraulic pump motor is set to the second speed; if the angle change per unit time is greater than the second preset angle but less than the first preset angle, the speed of the hydraulic pump motor is kept constant; if the angle change per unit time is less than the second preset angle, in S102, the speed of the hydraulic pump motor is set to the pump speed required for individual hydraulic action, and in S103, the speed of the hydraulic pump motor is set to the minimum idle speed value. In S102, setting the speed of the hydraulic pump motor to the second speed includes: controlling the speed of the hydraulic pump motor to adjust to the second speed by gradually increasing the speed, specifically by increasing the first preset speed per unit time. Setting the speed of the hydraulic pump motor to the pump speed required for a single hydraulic action includes: controlling the speed of the hydraulic pump motor to adjust to the pump speed required for a single hydraulic action by gradually decreasing the speed, specifically by decreasing the second preset speed in each unit of time. In S103, the speed of the hydraulic pump motor is set to the pump speed required for steering, including: controlling the speed of the hydraulic pump motor to be adjusted to the pump speed required for steering by gradually increasing the speed, specifically by increasing the third preset speed in each unit of time. Setting the speed of the hydraulic pump motor to the minimum idle speed value includes: controlling the speed of the hydraulic pump motor to adjust to the minimum idle speed value by gradually decreasing the speed, specifically by decreasing the speed by the fourth preset speed in each unit of time.

2. The steering control method based on a steering axle sensor according to claim 1, characterized in that, The change in angle per unit time is equal to the difference between the current angle and the previous angle.

3. The steering control method based on a steering axle sensor according to claim 2, characterized in that, Methods for obtaining the pump speed required for steering include: The required pump speed for steering, corresponding to the change in angle per unit time, is obtained through a linear function; the fitting method for the linear function includes interpolation.

4. The steering control method based on a steering axle sensor according to claim 3, characterized in that: In step S102, after setting the speed of the hydraulic pump motor to the second speed, the step also includes starting or resetting a timer with a set timing time. In S103, after setting the speed of the hydraulic pump motor to the required pump speed for steering, it also includes starting or resetting a timer with a set timing time. S103 further includes: if the required pump speed for steering is determined to be 0 based on the detection result of the steering axle sensor, determining whether the timer is started; if it is started, determining whether the timing time has been reached; if not, setting the speed of the hydraulic pump motor to the minimum idle speed value; if the timer is not started or the timing time has been reached, setting the speed of the hydraulic pump motor to 0.

5. The steering control method based on a steering axle sensor according to claim 3, characterized in that, Before setting the hydraulic pump motor speed to the first speed, the following steps are also included: Check for hydraulic faults. If a fault is found, set the speed of the hydraulic pump motor to 0 and start or reset the timer with the set timing. or, After setting the hydraulic pump motor speed to the first speed, the following is also included: Check for hydraulic faults. If a fault is found, set the speed of the hydraulic pump motor to 0 and start or reset the timer with the set timing.

6. An industrial vehicle, comprising a vehicle body, a controller, and a hydraulic pump motor, characterized in that, The controller uses the steering control method based on the steering axle sensor as described in any one of claims 1 to 5 to adjust the speed of the hydraulic pump motor.

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