Dual-drive electric differential steering control system, control method and vehicle

Abstract

The application discloses a double-drive electric differential steering control system, a control method and a vehicle, which comprises a double-drive motor and a double-drive wheel edge unit assembly, the double-drive motor is directly connected with the double-drive wheel edge unit assembly for power transmission, further comprises a steering assembly, a steering bridge assembly, an electric control assembly and a rotation angle potentiometer; the rotation angle potentiometer is installed on the steering assembly and the steering bridge assembly respectively, and is used for monitoring a steering input signal A of the steering assembly and a steering output signal B of the steering bridge assembly; the electric control assembly collects the steering input signal A of the steering assembly and / or the steering output signal B of the steering bridge assembly, analyzes steering demand, outputs a differential demand or a reverse signal to the double-drive motor, and realizes active differential function and reverse driving function of the double-drive motor. The application can avoid or reduce errors of a single steering signal to a steering system, make the steering system more sensitive to steering action, remind a user in an abnormal situation, and improve vehicle maintenance efficiency.

Description

Technical Field

[0001] This invention relates to a dual-drive electric differential steering control system, control method, and vehicle, belonging to the field of vehicle steering systems. Background Technology

[0002] The differential system commonly used on forklifts is a mechanical differential structure. This structure relies entirely on the passive differential caused by the different forces on the left and right wheels. The differential action of this structure is unstable, and the vehicle will lose its driving ability when one of the two wheels slips.

[0003] The dual-drive electric differential steering control system utilizes dual motors directly connected to wheel-side reduction gearboxes. It actively utilizes the electronic control assembly to output differential demand, enabling stable differential action and ensuring the drive wheels do not lose traction due to differential speed even when the two wheels are on different ground conditions. This control system significantly improves drive capability and is compact, reliable, and safe, making it the preferred drive method for high-end forklifts.

[0004] However, the aforementioned dual-drive electric differential steering control system also has some limitations: First, due to the characteristics of the differential system, if dual-wheel drive can only achieve differential speed without opposing directions, the center of the turning radius can only fall on one side wheel at most, not between the two wheels, thus preventing the vehicle from turning on the spot. Second, current forklift steering systems can only passively detect the steering angle of the steering axle assembly to reduce speed during turns; they cannot identify errors in steering input and output, nor can they actively provide feedback on potential faults in the steering system. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a dual-drive electric differential steering control system, control method, and vehicle, which ensures that the center of the turning radius falls between the two wheels, enables the vehicle to turn on the spot when the turning angle is at its maximum, collects and analyzes steering requirements, and actively reminds the user to inspect the steering system when there is a malfunction.

[0006] To achieve the above objectives, the present invention employs a dual-drive electric differential steering control system, comprising dual drive motors and dual drive wheel-side unit assemblies, wherein the dual drive motors are directly connected to the dual drive wheel-side unit assemblies for power transmission, and further comprising a steering assembly, a steering axle assembly, an electronic control assembly, and a steering angle potentiometer.

[0007] An angle potentiometer is installed on the steering assembly and the steering axle assembly respectively. The angle potentiometer is used to monitor the steering input signal A of the steering assembly and the steering output signal B of the steering axle assembly.

[0008] The electronic control assembly collects the steering input signal A from the steering assembly and / or the steering output signal B from the steering axle assembly, analyzes the steering requirements, and outputs differential requirements or opposite-direction signals to the dual drive motors to realize the active differential function and opposite-direction drive function of the dual drive motors.

[0009] As an improvement, the steering assembly is connected to a steering valve, which controls the steering of the steering axle assembly by diverting pressurized hydraulic fluid through a priority valve.

[0010] As an improvement, the steering assembly is connected to the steering valve via the steering column. When the steering assembly is in motion, it controls the opening of the inner valve core of the steering valve. The steering valve is connected to the steering axle assembly via the steering connection oil pipe. The pressure oil diverted by the priority valve drives the steering cylinder to move, thereby realizing the left and right rotation of the steering axle assembly.

[0011] As an improvement, a steering potentiometer 2 is installed on the steering column of the steering assembly.

[0012] As an improvement, a steering angle potentiometer is installed at the steering kingpin of the steering axle assembly.

[0013] As an improvement, the electronic control assembly compares and analyzes the steering input signal A and the steering output signal B, specifically:

[0014] When the difference between the steering input angle and the steering output angle is within five percent of the total steering travel, a differential or reverse direction request is issued based on the steering output signal.

[0015] When the difference between the steering input angle and the steering output angle is within 5% to 10% of the total steering travel, a differential or opposite-direction demand is issued based on the steering input signal.

[0016] When the difference between the steering input angle and the steering output angle is greater than 10% of the total steering travel, the system determines that the difference between the steering input and output signals is too large and issues a steering system fault signal.

[0017] As an improvement, the electronic control assembly collects the steering input signal A from the steering assembly:

[0018] When the steering input angle of the steering assembly is less than 80% of the total steering travel, a differential signal is output, and the dual drive motors drive the dual drive wheel-side unit assembly to rotate differentially.

[0019] When the steering input angle of the steering assembly reaches more than 80% of the total steering stroke, it outputs an opposite signal, and the dual drive motors drive the dual drive wheel side unit assembly to rotate in opposite directions at different speeds, so that the turning center falls between the two wheels.

[0020] When the steering input angle of the steering assembly reaches its maximum, the dual drive motors drive the dual drive wheel-side unit assemblies to rotate in opposite directions at the same speed, so that the turning center falls on the midpoint of the two wheels, realizing the vehicle turning on the spot.

[0021] In addition, the present invention also provides a control method for the aforementioned dual-drive electric differential steering control system, comprising the following steps:

[0022] S1. Monitor the steering input signal A of the steering assembly and the steering output signal B of the steering axle assembly using a steering angle potentiometer;

[0023] S2. Collect the steering input signal A from the steering assembly and / or the steering output signal B from the steering axle assembly through the electronic control assembly;

[0024] S3. The electronic control assembly compares and analyzes the steering input signal A and the steering output signal B, automatically calibrates the steering error, analyzes the steering requirements, and outputs differential requirements or opposite signals to the dual drive motors.

[0025] Alternatively, the electronic control assembly collects the steering input signal A from the steering assembly or the steering output signal B from the steering axle assembly, analyzes the steering requirements, and outputs differential requirements or opposite signals to the dual drive motors.

[0026] S4. Based on the difference between the steering input angle and the steering output angle, issue a differential or reverse direction request with the steering output signal as the reference, or issue a differential or reverse direction request with the steering input signal as the reference, or issue a steering system fault signal.

[0027] S5. Based on the steering requirements of the final output of the electronic control assembly, the dual drive motors drive the dual drive wheel-side unit assembly to perform differential rotation, opposite-direction differential rotation, or opposite-direction same-speed rotation.

[0028] As an improvement, when the electronic control assembly simultaneously collects the steering input signal A from the steering assembly and the steering output signal B from the steering axle assembly, it has an automatic steering error calibration function.

[0029] Finally, the present invention also provides a vehicle equipped with the aforementioned dual-drive electric differential steering control system.

[0030] Compared with the prior art, the dual-drive electric differential steering control system of the present invention has the following advantages:

[0031] 1. This invention can simultaneously monitor the steering input signal of the steering assembly and / or the steering output signal of the steering axle assembly, analyze steering requirements, and output differential requirements or opposite-direction signals to the dual drive motors, thereby realizing the active differential function and opposite-direction drive function of the dual drive motors. It can avoid or reduce the error of a single steering signal to the steering system, making the steering system more sensitive to steering actions.

[0032] 2. When the difference between the steering input angle and the steering output angle is large, the system determines that the input and output signals are too far apart, the efficiency of the steering hydraulic actuator is too low, and there is internal leakage in the steering hydraulic system. The system outputs a steering system fault signal to remind maintenance. It can monitor the status of the steering system in real time and remind the user when there is an abnormality, thus improving the efficiency of vehicle maintenance.

[0033] 3. When the vehicle is turning at a large angle, the present invention can output an opposite signal to the dual drive motors, so that the center of the turning radius falls between the two wheels. When the turning angle is at its maximum, the vehicle can turn on the spot, enabling the vehicle to drive and operate in narrower spaces, expanding the vehicle's application scenarios and improving the vehicle's adaptability. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the present invention;

[0035] Figure 2 This is a schematic diagram of the control principle of the present invention;

[0036] Figure 3 This is a schematic diagram of the electronic control logic of the present invention. Figure 1 ;

[0037] Figure 4 This is a schematic diagram of the electronic control logic of the present invention. Figure 2 ;

[0038] In the diagram: 1. Dual drive motors, 2. Dual drive wheel-side unit assembly, 3. Steering assembly, 4. Priority valve, 5. Steering valve, 6. Steering axle assembly, 7. Electronic control assembly, 8. Steering connection oil pipe, 9. Angle potentiometer one, 10. Angle potentiometer two. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below. However, it should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of the invention.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0041] like Figures 1-4 As shown, a dual-drive electric differential steering control system includes a dual-drive motor 1 and a dual-drive wheel-side unit assembly 2. The dual-drive motor 1 and the dual-drive wheel-side unit assembly 2 are directly connected for power transmission. The system also includes a steering assembly 3, a steering axle assembly 6, an electronic control assembly 7, and a steering angle potentiometer.

[0042] An angle potentiometer 10 is installed on the steering column of the steering assembly 3, and an angle potentiometer 9 is installed at the steering kingpin of the steering axle assembly 6. The angle potentiometers are used to monitor the steering input signal A of the steering assembly 3 and the steering output signal B of the steering axle assembly 6.

[0043] The electronic control assembly 7 simultaneously collects the steering input signal A from the steering assembly 3 and the steering output signal B from the steering axle assembly 6. The electronic control assembly 7 compares and analyzes the steering input signal A and the steering output signal B, automatically calibrates the steering error, analyzes the steering requirements, and outputs differential requirements or opposite-direction signals to the dual drive motor 1 to realize the active differential function and opposite-direction drive function of the dual drive motor 1.

[0044] Alternatively, when the electronic control assembly 7 collects the steering input signal A from the steering assembly 3 or the steering output signal B from the steering axle assembly 6, the electronic control assembly 7 analyzes the steering requirements, cancels the automatic steering error calibration function, directly outputs the differential requirements to the dual drive motors 1, and outputs an opposite signal to the dual drive motors 1 when turning at a large angle, so that the turning center falls between the two wheels, and the vehicle can turn on the spot when the turning angle is the largest.

[0045] As an improvement to the embodiment, such as Figure 1 As shown, the steering assembly 3 is connected to the steering valve 5. The steering valve 5 controls the steering axle assembly 6 by diverting pressurized hydraulic fluid through the priority valve 4. Furthermore, the steering assembly 3 is connected to the steering valve 5 via the steering column. When the steering assembly 3 operates, it controls the opening of the inner valve core of the steering valve 5. The steering valve 5 is connected to the steering axle assembly 6 via the steering connecting oil pipe 8. The pressurized hydraulic fluid diverted by the priority valve 4 drives the steering cylinder to actuate, thereby achieving the left and right rotation of the steering axle assembly 6. The priority valve 4 can be supplied with pressurized hydraulic fluid using any type of pump or valve to drive the steering cylinder and achieve the left and right rotation of the steering axle assembly 6.

[0046] like Figure 2 , Figure 3 and Figure 4 As shown, a control method for a dual-drive electric differential steering control system includes the following steps:

[0047] 1) The electronic control assembly 7 collects the steering input signal A from the steering assembly 3 and the steering output signal B from the steering axle assembly 6. The electronic control assembly 7 compares and analyzes the steering input signal A and the steering output signal B:

[0048] 2) When the difference between the steering input angle and the steering output angle is within five percent of the total steering travel, differential or opposite-direction demands are issued based on the steering output signal, which can reduce or even eliminate the steering angle difference between the front and rear wheels and reduce the wear of the wheels by the steering action.

[0049] When the difference between the steering input angle and the steering output angle is within 5% to 10% of the total steering travel, differential or opposite-direction requests are issued based on the steering input signal. When the steering signal difference is large, the steering is severely sluggish and the rear wheels cannot reach the maximum turning angle when the steering wheel is turned to its full lock, increasing the turning radius and preventing the vehicle from reaching the designed turning radius. Based on the steering input signal, the front wheels can compensate for the turning angle error of the rear wheels through active differential, thereby minimizing the impact of steering sluggishness.

[0050] When the difference between the steering input angle and the steering output angle is greater than 10% of the total steering travel, the system determines that the difference between the steering input and output signals is too large and issues a steering system fault signal.

[0051] 3) Based on the steering requirements of the final output of the electronic control assembly 7, the dual drive motor 1 drives the dual drive wheel-side unit assembly 2 to perform differential rotation, opposite-direction differential rotation, or opposite-direction same-speed rotation.

[0052] In addition, such as Figure 4 As shown, the electronic control assembly 7 collects the steering input signal A from the steering assembly 3:

[0053] When the steering input angle of the steering assembly 3 is less than 80% of the total steering stroke, a differential signal is output, and the dual drive motor 1 drives the dual drive wheel side unit assembly 2 to rotate differentially.

[0054] When the steering input angle of the steering assembly 3 reaches more than 80% of the total steering stroke, it outputs an opposite signal, and the dual drive motor 1 drives the dual drive wheel side unit assembly 2 to rotate in opposite directions at a differential speed, so that the turning center falls between the two wheels.

[0055] When the steering input angle of the steering assembly 3 reaches its maximum, the dual drive motor 1 drives the dual drive wheel-side unit assembly 2 to rotate in opposite directions at the same speed, so that the turning center falls on the midpoint of the two wheels, realizing the vehicle turning on the spot.

[0056] Finally, the present invention also provides a vehicle equipped with the aforementioned dual-drive electric differential steering control system.

[0057] This invention can simultaneously monitor the steering input signal of the steering assembly and / or the steering output signal of the steering axle assembly, analyze steering requirements, and output differential requirements or opposite-direction signals to the dual drive motors, thereby realizing the active differential function and opposite-direction drive function of the dual drive motors. It can avoid or reduce the error of a single steering signal to the steering system, making the steering system more sensitive to steering actions.

[0058] When the difference between the steering input angle and the steering output angle is large, the system determines that the input and output signals are too far apart, the efficiency of the steering hydraulic actuator is too low, and there is internal leakage in the steering hydraulic system. The system then outputs a steering system fault signal to remind the user to inspect and repair the system. This invention can monitor the status of the steering system in real time and alert the user when there is an abnormality, thereby improving vehicle maintenance efficiency.

[0059] This invention can output an opposite signal to the dual drive motors when the vehicle is turning at a large angle, so that the center of the turning radius falls between the two wheels. At the maximum turning angle, the vehicle can turn on the spot, enabling the vehicle to drive and operate in narrower spaces, expanding the vehicle's application scenarios and improving its adaptability.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dual-drive electric differential steering control system, comprising dual drive motors (1) and dual drive wheel-side unit assemblies (2), wherein the dual drive motors (1) and dual drive wheel-side unit assemblies (2) are directly connected for power transmission, characterized in that, It also includes a steering assembly (3), a steering axle assembly (6), an electronic control assembly (7), and a steering angle potentiometer; Angle potentiometers are installed on the steering assembly (3) and the steering axle assembly (6), respectively. The angle potentiometers are used to monitor the steering input signal A of the steering assembly (3) and the steering output signal B of the steering axle assembly (6). The electronic control assembly (7) collects the steering input signal A from the steering assembly (3) and / or the steering output signal B from the steering axle assembly (6), analyzes the steering requirements, and outputs differential requirements or opposite signals to the dual drive motors (1) to realize the active differential function and opposite drive function of the dual drive motors (1). The electronic control assembly (7) compares and analyzes the steering input signal A and the steering output signal B, specifically as follows: When the difference between the steering input angle and the steering output angle is within five percent of the total steering travel, a differential or reverse direction request is issued based on the steering output signal. When the difference between the steering input angle and the steering output angle is within 5% to 10% of the total steering travel, a differential or opposite-direction demand is issued based on the steering input signal. When the difference between the steering input angle and the steering output angle is greater than 10% of the total steering travel, the system determines that the difference between the steering input and output signals is too large and issues a steering system fault signal.

2. The dual-drive electric differential steering control system according to claim 1, characterized in that, The steering assembly (3) is connected to the steering valve (5), and the steering valve (5) controls the steering of the steering axle assembly (6) by diverting the pressure oil through the priority valve (4).

3. A dual-drive electric differential steering control system according to claim 2, characterized in that, The steering assembly (3) is connected to the steering valve (5) via the steering column. When the steering assembly (3) is in motion, it controls the opening of the inner valve core of the steering valve (5). The steering valve (5) is connected to the steering axle assembly (6) via the steering connection oil pipe (8). The pressure oil diverted by the priority valve (4) drives the steering cylinder to move, thereby realizing the left and right rotation of the steering axle assembly (6).

4. The dual-drive electric differential steering control system according to claim 1, characterized in that, An angle potentiometer 2 (10) is installed on the steering column of the steering assembly (3).

5. A dual-drive electric differential steering control system according to claim 4, characterized in that, An angle potentiometer (9) is installed at the steering kingpin of the steering axle assembly (6).

6. A dual-drive electric differential steering control system according to claim 1, characterized in that, The electronic control assembly (7) collects the steering input signal A from the steering assembly (3): When the steering input angle of the steering assembly (3) is less than 80% of the total steering stroke, a differential signal is output, and the dual drive motor (1) drives the dual drive wheel-side unit assembly (2) to rotate differentially. When the steering input angle of the steering assembly (3) reaches more than 80% of the total steering stroke, it outputs an opposite signal, and the dual drive motors (1) drive the dual drive wheel side unit assembly (2) to rotate in opposite directions at different speeds, so that the turning center falls between the two wheels. When the steering input angle of the steering assembly (3) reaches its maximum, the dual drive motors (1) drive the dual drive wheel-side unit assembly (2) to rotate in opposite directions at the same speed, so that the turning center falls on the midpoint of the two wheels, and the vehicle turns in place.

7. A control method for a dual-drive electric differential steering control system according to any one of claims 1-6, characterized in that, Includes the following steps: S1. Monitor the steering input signal A of the steering assembly (3) and the steering output signal B of the steering axle assembly (6) by using the steering angle potentiometer; S2. The steering input signal A of the steering assembly (3) and / or the steering output signal B of the steering axle assembly (6) are collected by the electronic control assembly (7); S3. The electronic control assembly (7) compares and analyzes the steering input signal A and the steering output signal B, automatically calibrates the steering error, analyzes the steering requirements, and outputs differential requirements or opposite signals to the dual drive motors (1). Alternatively, the electronic control assembly (7) collects the steering input signal A from the steering assembly (3) or the steering output signal B from the steering axle assembly (6), and the electronic control assembly (7) analyzes the steering requirements and outputs differential requirements or opposite signals to the dual drive motors (1). S4. Based on the difference between the steering input angle and the steering output angle, issue a differential or reverse direction request with the steering output signal as the reference, or issue a differential or reverse direction request with the steering input signal as the reference, or issue a steering system fault signal. S5. According to the steering requirements of the final output of the electronic control assembly (7), the dual drive motor (1) drives the dual drive wheel side unit assembly (2) to perform differential rotation, opposite differential rotation, or opposite same speed rotation.

8. The control method for a dual-drive electric differential steering control system according to claim 7, characterized in that, When the electronic control assembly (7) simultaneously collects the steering input signal A from the steering assembly (3) and the steering output signal B from the steering axle assembly (6), it has an automatic steering error calibration function.

9. A vehicle, characterized in that, The vehicle is equipped with a dual-drive electric differential steering control system as described in any one of claims 1-6.

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