An electronically controlled steering system, control method, and grader

Abstract

This invention discloses an electronic steering system, control method, and grader in the field of electronic steering control technology, aiming to solve the technical problems of poor redundancy and poor safety. It includes: a solenoid valve steering unit and an electronic steering unit (one hydraulic, one electric), which improves the control redundancy of the steering cylinder's steering stroke for the steering signal controller; a hydraulic steering pump and an electric steering pump (one hydraulic, one electric); and an intermediate valve connected to one of them to improve the power redundancy of the electronic steering system. The steering signal controller improves safety by judging the pressure of the intermediate valve and selecting the steering pump. When calculating the target steering angle, the interconnection, signal connection, and control relationship of the solenoid valve steering unit, electronic steering unit, steering signal controller, hydraulic steering pump, electric steering pump, and intermediate valve are interconnected, improving the safety and redundancy of controlling the steering stroke using the steering control device.

Description

Technical Field

[0001] This invention relates to an electronic steering system, control method, and grader, belonging to the field of electronic steering control technology. Background Technology

[0002] Graders are mainly used for leveling large areas of ground, such as highways, airports, and farmland, as well as for ditching, slope scraping, bulldozing, loosening soil, and snow removal. They are essential construction machinery for national defense projects, mining construction, urban road construction, water conservancy projects, and farmland improvement. With the intelligent development of graders, electric steering levers are gradually replacing mechanical steering wheels. Compared to a steering wheel, the electric steering lever integrates steering and working device operations, allowing for a more rational layout of the vehicle's space and providing the driver with a wider field of vision. However, because the electric steering system lacks reliable mechanical connections and has complex wiring, it can lose steering ability and pose a risk if an malfunction occurs. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an electronically controlled steering system, control method, and grader with high safety and redundancy.

[0004] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0005] In a first aspect, the present invention provides an electronically controlled steering system, comprising:

[0006] Steering cylinder, steering control device, steering pump, steering gear, intermediate valve and steering signal controller;

[0007] The steering pump includes an electric steering pump and a hydraulic steering pump respectively connected to the inlet of the intermediate valve. The steering signal controller controls the inlet of the intermediate valve to be connected to the electric steering pump or the hydraulic steering pump according to the pressure of the intermediate valve.

[0008] The steering system includes an electronic steering system and a solenoid valve steering system, which are respectively connected to the outlet of the intermediate valve. The steering signal controller controls the outlet of the intermediate valve to be connected to the electronic steering system or the solenoid valve steering system according to the current operating state of the electronic steering system.

[0009] The steering control device is used to issue steering commands; the steering signal controller calculates the target steering angle according to the steering commands, and controls the steering gear according to the target steering angle, so that the steering gear changes the steering stroke of the steering cylinder to achieve electronic steering.

[0010] In some embodiments of the first aspect,

[0011] The steering signal controller is connected to the electric steering pump and is used to control the start and stop of the electric steering pump;

[0012] The intermediate valve is a priority valve, and the priority of the priority valve's inlet being connected to the electric steering pump is greater than the priority of the priority valve's inlet being connected to the hydraulic steering pump.

[0013] In some embodiments of the first aspect,

[0014] The steering cylinder is equipped with a cylinder stroke sensor to detect the current steering stroke of the steering cylinder;

[0015] In response to the normal operating status of the hydraulic cylinder stroke sensor, the steering signal controller calculates the target steering angle based on the steering command and the current steering stroke of the steering cylinder, and controls the steering stroke of the steering cylinder using a closed-loop control method.

[0016] In response to an abnormal operating state of the hydraulic cylinder stroke sensor, the steering signal controller calculates the target steering angle based solely on the steering command and controls the steering stroke of the steering cylinder using an open-loop control method.

[0017] In some embodiments of the first aspect,

[0018] The steering control device and the steering signal controller are connected via independently arranged CAN signal lines and analog pin signal lines.

[0019] And / or,

[0020] The steering signal controller is connected to the electronic steering system via a CAN signal line;

[0021] The steering signal controller and the solenoid valve steering gear are connected via analog pin signal lines.

[0022] In some embodiments of the first aspect,

[0023] The intermediate valve is equipped with a pressure sensor that is connected to the steering signal controller, and the pressure sensor is used to detect the pressure of the intermediate valve.

[0024] Secondly, the present invention also provides a control method for an electronic steering system, executed by a steering signal controller, comprising:

[0025] Receive steering instructions and calculate the target steering angle based on the steering instructions;

[0026] The pressure of the intermediate valve is obtained, and in response to the pressure being below a warning value, the inlet of the intermediate valve is connected to the electric power steering pump; otherwise, the inlet of the intermediate valve is connected to the hydraulic power steering pump.

[0027] The system acquires the current operating status of the electronic steering system. If the current operating status of the electronic steering system is normal, it controls the electronic steering system to operate according to the target steering angle, and uses the electronic steering system to change the steering stroke of the steering cylinder to achieve electronic steering. If the current operating status of the electronic steering system is abnormal, it controls the solenoid valve steering mechanism to operate according to the target steering angle, and uses the solenoid valve steering mechanism to change the steering stroke of the steering cylinder to achieve electronic steering.

[0028] In some embodiments of the second aspect,

[0029] The current steering stroke of the steering cylinder is obtained through the cylinder stroke sensor;

[0030] In response to the normal operating status of the hydraulic cylinder stroke sensor, the target steering angle is calculated based on the steering command and the current steering stroke of the steering cylinder, and the steering stroke of the steering cylinder is controlled by a closed-loop control method.

[0031] In response to an abnormal operating state of the hydraulic cylinder stroke sensor, the target steering angle is calculated based solely on the steering command, and the steering stroke of the steering cylinder is controlled using an open-loop control method.

[0032] In some embodiments of the second aspect,

[0033] In response to the pressure being below a warning value, the inlet of the intermediate valve is connected to the electric power steering pump; otherwise, the inlet of the intermediate valve is connected to the hydraulic power steering pump, including:

[0034] The intermediate valve is a priority valve, and the priority of the priority valve's inlet being connected to the electric power steering pump is higher than the priority of the priority valve's inlet being connected to the hydraulic power steering pump.

[0035] The electric power steering pump is activated in response to the pressure being below a warning value; otherwise, the electric power steering pump is deactivated.

[0036] In some embodiments of the second aspect,

[0037] Steering commands are obtained from either the CAN signal or the analog pin signal; if either the CAN signal or the analog pin signal is abnormal, steering commands are obtained from the other.

[0038] Thirdly, the present invention also provides a grader, including the electronically controlled steering system described in any one of the first aspects.

[0039] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0040] The electronic steering system provided by this invention features a solenoid valve steering unit and an electronic steering unit, one hydraulic and one electric, which improves the control redundancy of the steering cylinder for the steering signal controller. The hydraulic steering pump and electric steering pump are also connected, one hydraulic and one electric, respectively. An intermediate valve connected to either of them further enhances the power redundancy of the electronic steering system. The steering signal controller improves safety by judging the pressure of the intermediate valve and selecting the steering pump. When calculating the target steering angle, the interconnections, signal connections, and control relationships between the solenoid valve steering unit, electronic steering unit, steering signal controller, hydraulic steering pump, electric steering pump, and intermediate valve are interconnected, improving the safety and redundancy of controlling the steering stroke using the steering control device.

[0041] The inlet of the priority valve is connected to the electric power steering pump by default. The opening and closing of the electric power steering pump can be directly controlled by the steering signal controller to switch the inlet of the priority valve to the electric power steering pump and the hydraulic power steering pump respectively, which reduces the technical complexity.

[0042] The operating status of the cylinder stroke sensor serves as the basis for determining whether the steering stroke is involved in the calculation of the target steering angle, thus improving computational redundancy.

[0043] CAN bus signal lines are mostly used in automotive communication, while analog pin signal lines are mostly used in industrial control. CAN bus signal lines and analog pin signal lines provide communication redundancy for the electric steering system.

[0044] The control method of the electronic steering system provided by the present invention selects the steering power source from the electric steering pump and the hydraulic steering pump by judging the pressure of the intermediate valve, and selects the steering gear from the steering gear according to whether the electronic steering gear is abnormal, thereby improving safety.

[0045] To improve safety, the operating status of the hydraulic cylinder stroke sensor is monitored. Open-loop control is implemented when the hydraulic cylinder stroke sensor malfunctions to prevent calculation errors.

[0046] By directly controlling the opening and closing of the electric steering pump through the steering signal controller, the inlet of the priority valve can be switched between the electric steering pump and the hydraulic steering pump, reducing technical complexity.

[0047] The CAN bus signals and analog pin signals are redundant.

[0048] The grader provided by this invention has the same technical effects as the electronically controlled steering system provided by this invention. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the electronic steering system provided by the present invention;

[0050] Figure 2 This is a flowchart of the control method for the electronic steering system provided by the present invention;

[0051] In the diagram: 1-Steering control device; 2-Steering signal controller; 3-Pressure sensor; 4-Electric steering pump; 5-Intermediate valve; 6-Hydraulic steering pump; 7-Electric steering gear; 8-Solenoid valve steering gear; 9-Left cylinder stroke sensor; 10-Left merging valve block; 11-Right merging valve block; 12-Left steering cylinder; 13-Right steering cylinder; 14-Right cylinder stroke sensor; 15-Steering cylinder; 16-Cylinder stroke sensor. Detailed Implementation

[0052] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.

[0053] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship. Example 1

[0054] This embodiment provides an electronically controlled steering system.

[0055] refer to Figure 1 In the electronic steering system provided in this embodiment, there are steering control device 1 and steering signal controller 2 connected to steering control device 1 by signal. Steering control device 1 is used to issue steering commands and also includes steering cylinder 15 and steering gears connected to steering signal controller 2 by signal. Steering signal controller 2 includes solenoid valve steering gear 8 and electronic steering gear 7. Electronic steering gear 7 and solenoid valve steering gear 8 are used to control the steering stroke of steering cylinder 15. The control of steering cylinder 15 by electronic steering gear 7 and solenoid valve steering gear 8 is independent. Controlling the steering stroke means controlling the steering angle of electronic steering system. At the same time, steering signal controller 2 is used to select whether to activate solenoid valve steering gear 8 or electronic steering gear 7 to control steering cylinder 15.

[0056] In this embodiment, the steering control device 1 is a steering handle, but it can also be a steering wheel, an autonomous driving system, or an assisted driving system. The steering control device 1 and the steering signal controller 2 are generally connected through PCB lines or a bus. The "steering command" refers to the original steering command signal that has not been processed, such as the deflection angle generated by moving the steering handle by hand. The steering signal controller 2 processes the steering command and issues control signals to the components that serve the steering.

[0057] It also includes a cylinder stroke sensor 16 for measuring the stroke of the steering cylinder 15. The cylinder stroke sensor 16 is connected to the steering signal controller 2. The steering signal controller 2 acquires the steering command and the steering cylinder stroke to realize closed-loop control of steering. When the cylinder stroke sensor 16 fails and cannot acquire the steering cylinder stroke, open-loop control is performed.

[0058] The steering signal controller 2 can calculate the target steering angle by combining the steering command from the steering control device 1 with the steering cylinder stroke data from the cylinder stroke sensor 16, or it can calculate the target steering angle solely by the steering command. It also possesses the capability to switch between open-loop and closed-loop control. The steering signal controller 2 can be a vehicle controller.

[0059] It also includes a hydraulic pump, which includes a hydraulic steering pump 6 and an electric steering pump 4. It also includes an intermediate valve 5 for selecting the connection between the hydraulic steering pump 6 and the electric steering pump 4. The electric steering pump 4 and the hydraulic steering pump 6 are connected to the inlet of the intermediate valve 5. The outlet of the intermediate valve 5 is connected to the electronic steering unit 7 and the solenoid valve steering unit 8. The electronic steering unit 7 and the solenoid valve steering unit 8 are steering control components. The intermediate valve 5 controls and switches the hydraulic steering pump 6 or the electric steering pump 4 to supply hydraulic oil to the electronic steering unit 7 and the solenoid valve steering unit 8.

[0060] It also includes a pressure sensor 3 for measuring the pressure of the intermediate valve 5. The pressure sensor 3 is connected to the steering signal controller 2. The steering signal controller 2 determines whether the hydraulic steering pump 6 or the electric steering pump 4 is connected to the inlet of the intermediate valve 5 based on the pressure of the intermediate valve 5. The steering signal controller 2 is also used to control the inlet connection selection of the intermediate valve 5.

[0061] Steering control device 1 is used to issue steering commands. Steering control device 1 can read the operating status and the current steering stroke of steering cylinder 15 from cylinder stroke sensor 16. Steering control device 1 determines whether the operating status of cylinder stroke sensor 16 is normal or abnormal. Steering signal controller 2 is used to calculate the target steering angle based on steering commands, the operating status of cylinder stroke sensor 16 and the current steering stroke.

[0062] The steering control device 1 can read the operating status from the electronic steering unit 7 and determine whether the operating status of the electronic steering unit 7 is normal or abnormal. The steering signal controller 2 selects to activate the solenoid valve steering unit 8 or the electronic steering unit 7 according to the operating status of the electronic steering unit 7. The electronic steering unit 7 or the solenoid valve steering unit 8 is used by the steering signal controller 2 to control the steering stroke of the steering cylinder 15 according to the target steering angle.

[0063] refer to Figure 2 This embodiment provides a control method for an electronic steering system, taking the electronic steering system provided in this embodiment as an example (the control method for the electronic steering system provided in this embodiment can also be used for other electronic steering systems).

[0064] Receive steering commands and calculate the target steering angle based on the steering commands;

[0065] The pressure of the intermediate valve 5 is obtained. In response to the pressure being below the warning value, the inlet of the intermediate valve 5 is connected to the electric steering pump 4; otherwise, the inlet of the intermediate valve 5 is connected to the hydraulic steering pump 6.

[0066] The current operating status of the electronic steering system 7 is obtained. If the current operating status of the electronic steering system 7 is normal, the electronic steering system 7 is controlled to move according to the target steering angle, and the steering stroke of the steering cylinder 15 is changed by the electronic steering system 7 to achieve electronic steering. If the current operating status of the electronic steering system 7 is abnormal, the solenoid valve steering system 8 is controlled to move according to the target steering angle, and the steering stroke of the steering cylinder 15 is changed by the solenoid valve steering system 8 to achieve electronic steering.

[0067] The control methods for electronic steering systems can be further expanded:

[0068] The steering signal controller 2 acquires the operating status and current steering stroke of the cylinder stroke sensor 16, and obtains steering commands from the steering control device 1.

[0069] In response to the normal operating state of the cylinder stroke sensor 16, the target steering angle is calculated based on the current steering stroke of the cylinder stroke sensor 16 and the steering command (i.e., closed-loop control); or, in response to the abnormal operating state of the cylinder stroke sensor 16, the target steering angle is calculated based on the steering command (i.e., open-loop control). The closed-loop control has high steering accuracy, while the open-loop control, as a backup control, has low anti-interference, reducing the risk of steering loss of control caused by the abnormal operating state of the cylinder stroke sensor 16.

[0070] In this embodiment, the steering signal controller 2 can detect whether the cylinder stroke sensor 16 is abnormal by receiving work logs or operating data from the cylinder stroke sensor 16. The steering signal controller 2 calculates the target steering angle based on the current steering stroke and steering command. However, when the cylinder stroke sensor 16 is abnormal, the steering signal controller 2 directly calculates the target steering angle using the steering command (including the case where the steering command is directly used as the target steering angle). This solves the problem of low redundancy in steering angle calculation in the prior art and provides two sets of control logic: closed-loop (the current steering stroke participates in the calculation of the target steering angle, including real-time feedback of the current steering stroke and real-time calculation of the target steering angle) and open-loop (the current steering stroke does not participate in the calculation of the target steering angle). This eliminates the downtime caused by the abnormality of the cylinder stroke sensor 16. The target steering angle can be used to control the various components required for steering actions or directly send signals to the various components required for steering actions.

[0071] Steering signal controller 2 obtains the pressure of intermediate valve 5 by reading pressure sensor 3, and determines the magnitude of the pressure relative to the warning value.

[0072] In response to pressure below the warning value, the inlet of the control intermediary valve 5 is connected to the electric steering pump 4; or, in response to pressure above the warning value, the inlet of the control intermediary valve 5 is connected to the hydraulic steering pump 6. The electric steering pump 4 can more accurately adjust the pumping volume of hydraulic oil according to the target steering angle, while the hydraulic steering pump 6, as a backup, is technologically mature and, although its control accuracy and response speed are inferior to those of the electric steering pump 4, it has high reliability. The warning value can be set to the upper limit of the rated pressure of the electric steering pump 4. Optionally, in some embodiments, the warning value is preset and stored in the steering signal controller 2.

[0073] In this embodiment, the steering signal controller 2 obtains the pressure of the intermediate valve 5 from the pressure sensor 3 and compares it with a warning value. When the pressure is below the warning value, the steering signal controller 2 controls the inlet of the intermediate valve 5 to connect with the electric steering pump 4. This can be achieved by controlling the electric steering pump 4 to close and the hydraulic steering pump 6 to open via a signal connection, or by controlling the inlet of the intermediate valve 5 to switch to the electric steering pump 4, or by controlling the intermediate valve 5 to open with the inlet of the electric steering pump 4 and close with the inlet of the hydraulic steering pump 6. Similarly, when the pressure is above the warning value, the steering signal controller 2 controls the inlet of the intermediate valve 5 to connect with the hydraulic steering pump 6. After the electric steering pump 4 or the hydraulic steering pump 6 connects with the inlet of the intermediate valve 5, the hydraulic oil used to control steering is delivered to the solenoid valve steering gear 8 or the electronic steering gear 7 through the outlet of the intermediate valve 5, thus solving the problem of low redundancy of the steering power source in the prior art.

[0074] The steering signal controller 2 acquires the operating status of the electronic steering system 7.

[0075] In response to the normal operating state of the electronic steering gear 7, the steering signal controller 2 controls the electronic steering gear 7 according to the target steering angle; or, in response to the abnormal operating state of the electronic steering gear 7, the steering signal controller 2 controls the solenoid valve steering gear 8 according to the target steering angle. Through the electronic steering gear 7, the steering signal controller 2 can more precisely control the stroke of the steering cylinder 15, while the solenoid valve steering gear 8 is a mature and reliable technology. The solenoid valve steering gear 8 can be an auxiliary multi-way solenoid valve. The steering signal controller 2 can control the electronic steering gear 7 or the solenoid valve steering gear 8 by directly sending the target steering angle to the electronic steering gear 7 or the solenoid valve steering gear 8, and the electronic steering gear 7 or the solenoid valve steering gear 8 interprets the target steering angle and executes it, or the steering signal controller 2 can locally interpret the target steering angle and send an immediately executable action to the electronic steering gear 7 or the solenoid valve steering gear 8.

[0076] In this embodiment, the steering signal controller 2 determines whether the electronic steering gear 7 is abnormal. The electronic steering gear 7 and the solenoid valve steering gear 8 use different steering control principles. Therefore, the electronic steering gear 7 and the solenoid valve steering gear 8 improve the steering control redundancy. The steering cylinder 15 can be a single cylinder, a double cylinder, or other cylinder forms. The control relationship between the steering cylinder 15 and the electronic steering gear 7 or the solenoid valve steering gear 8 can be referred to the prior art, and will not be described in detail here.

[0077] The electronic steering system and its control method provided in this embodiment solve the problems of easy error, low redundancy, and poor safety in existing electronic steering systems.

[0078] Traditional hydraulic components such as intermediate valve 5, hydraulic steering pump 6, solenoid valve steering gear 8, and cylinder stroke sensor 16 have low procurement costs. Integrating a part of the hydraulic system into the electronic control system as a backup technology has low technical costs. However, some reliable solutions for existing electronic steering systems often start from the electronic control itself, which leads to a surge in costs while improving reliability and safety. Example 2

[0079] This embodiment provides an electronic steering system and its control method, which improves upon the electronic steering system and control method provided in Embodiment 1. For details not covered herein, please refer to Embodiment 1.

[0080] In this embodiment, the control method of the electronic steering system is executed by the steering signal controller 2.

[0081] refer to Figure 1In the electronic steering system provided in this embodiment, the electric steering pump 4 is signal-connected to the steering signal controller 2; the intermediate valve 5 is a priority valve, and the priority of the priority valve's inlet connection to the electric steering pump 4 is greater than the priority of the priority valve's inlet connection to the hydraulic steering pump 6. The steering signal controller 2 is also used to control whether the electric steering pump 4 is activated. Therefore, under normal conditions, that is, when the pressure of the intermediate valve 5 obtained by the steering signal controller 2 is less than the warning value, the priority valve is in the default state, that is, the priority valve inlet is connected to the electric steering pump 4. When the pressure of the intermediate valve 5 obtained by the steering signal controller 2 is greater than the warning value, the steering signal controller 2 only needs to send a deactivation command to the electric steering pump 4, and the priority valve automatically switches to the inlet connection to the electric steering pump 4 based on mechanical principles, using the minimum electrical signal control to activate either the electric steering pump 4 or the hydraulic steering pump 6. Mechanical control is more reliable and technically mature and stable than electrical signal control.

[0082] This embodiment provides a dual-cylinder steering cylinder 15, which includes a left steering cylinder 12 and a right steering cylinder 13. The cylinder stroke sensor 16 includes a left cylinder stroke sensor 9 for measuring the steering stroke of the left steering cylinder 12 and a right cylinder stroke sensor 14 for measuring the steering stroke of the right steering cylinder 13. The right cylinder stroke sensor 14 and the left cylinder stroke sensor 9 are electrically connected to the steering signal controller 2 and send the operating status and steering stroke to the steering signal controller 2.

[0083] Therefore, in the control method of the electronic steering system provided in this embodiment, the steering stroke is obtained from either the left cylinder stroke sensor 9 or the right cylinder stroke sensor 14, or simultaneously from both. Alternatively, the steering signal controller 2 may obtain the steering stroke from either the left cylinder stroke sensor 9 or the right cylinder stroke sensor 14, or it may acquire the steering stroke from either the left cylinder stroke sensor 9 or the right cylinder stroke sensor 14, or it may calculate the steering stroke from the left cylinder stroke sensor 9 and the right cylinder stroke sensor 14 using an algorithm (e.g., calculating an average value). In response to an abnormal operating state of one of the left cylinder stroke sensors 9 and the right cylinder stroke sensor 14 while the other is operating normally, the steering stroke is obtained from the other, thus improving computational redundancy.

[0084] The steering cylinder 15 is a single cylinder solution or other cylinder forms, and will not be elaborated here due to similar technical principles.

[0085] In addition, refer to Figure 1The steering cylinder 15 also includes a left merging valve block 10 connected to the left steering cylinder 12 and a right merging valve block 11 connected to the right steering cylinder 13. The right merging valve block 11 and the left merging valve block 10 are respectively connected to the electronic steering gear 7 and the solenoid valve steering gear 8. The right merging valve block 11 or the left merging valve block 10 connects the electronic steering gear 7 and the solenoid valve steering gear 8 to the right merging valve block 11 or the left steering cylinder 12 to adapt to the change of hydraulic oil source after the electronic steering gear 7 and the solenoid valve steering gear 8 are switched.

[0086] The steering signal controller 2 has both analog pin signal processing and CAN signal transmission / reception functions.

[0087] The communication line between the steering control device 1 and the steering signal controller 2 includes independently arranged CAN signal lines and analog pin signal lines.

[0088] It can also be set to, or set to another,

[0089] The steering control device 1 has the function of transmitting both analog pin signals and CAN signals. The communication line between the steering signal controller 2 and the electronic steering gear 7 includes a CAN signal line, and the communication line between the steering signal controller 2 and the solenoid valve steering gear 8 includes an analog pin signal line.

[0090] CAN signal lines have strong anti-interference capabilities and large bandwidth, making them suitable for precise steering control. Analog pin signal lines are intuitive and easy to implement, and also have strong anti-interference capabilities. The signal terminal of the electronic steering gear 7 generally receives commands from the CAN signal, while the solenoid valve steering gear 8 generally uses current to control the movement of the valve block, making it suitable for control using analog pin signals. Therefore, in the control method of the electronic steering system provided in this embodiment, the steering signal controller 2 selects one of the CAN signal line and the analog pin signal line to obtain steering commands. When one of the CAN signal line and the analog pin signal line is abnormal, the steering command is obtained from the other. Generally, the CAN signal line is preferred, and the CAN signal line is used to control the electronic steering gear 7. When the CAN signal line is abnormal, the analog pin signal line is used to obtain steering commands and control the solenoid valve steering gear 8, or when the electronic steering gear 7 is abnormal, the analog pin signal line is used to control the solenoid valve steering gear 8, until the steering signal controller 2 successfully resets the electronic steering gear 7 and then re-enables the CAN signal line to control the electronic steering gear 7.

[0091] The signals transmitted by the analog pin signal lines are analog signals or PWM pin signals. Analog signals are read directly from the electrical pins. Analog signals and PWM pin signals can be transmitted independently from the CAN bus signals and have different reading principles, serving as backups for each other. Figure 1 In the diagram, the double lines represent CAN signal lines. The thin lines with arrows indicate analog pin signal lines, while the thick lines with arrows indicate hydraulic lines.

[0092] Optionally, such as Figure 1 As shown, the steering control device 1 (steering handle) and the steering signal controller 2 (vehicle controller) are connected via CAN bus signal and analog signal respectively. The direction of steering command transmission is steering control device 1 (steering handle) → steering signal controller 2 (vehicle controller).

[0093] The steering signal controller 2 (vehicle controller) is connected to the electronic steering gear 7 via a CAN bus signal, and the steering signal controller 2 (vehicle controller) is connected to the solenoid valve steering gear 8 (auxiliary multi-way solenoid valve) via an analog signal. The target steering angle or the direction of the action to be sent is steering signal controller 2 (vehicle controller) → electronic steering gear 7 or solenoid valve steering gear 8 (auxiliary multi-way solenoid valve).

[0094] The steering signal controller 2 (vehicle controller) and the electric steering pump 4 are connected via analog signals. The direction of sending the deactivation / reset signal and other signals is steering signal controller 2 (vehicle controller) → electric steering pump 4.

[0095] Pressure sensor 3 is connected to steering signal controller 2 (vehicle controller) via analog signal, and the pressure is transmitted from pressure sensor 3 to steering signal controller 2 (vehicle controller).

[0096] The cylinder stroke sensor 16 (right cylinder stroke sensor 14 and left cylinder stroke sensor 9) is connected to the steering signal controller 2 (vehicle controller) via analog signals. The direction of sending the steering stroke and the operating status of the cylinder stroke sensor 16 (right cylinder stroke sensor 14 and left cylinder stroke sensor 9) is: cylinder stroke sensor 16 (right cylinder stroke sensor 14 and / or left cylinder stroke sensor 9) → steering signal controller 2 (vehicle controller).

[0097] The cylinder stroke sensor 16 (right cylinder stroke sensor 14 and left cylinder stroke sensor 9) is connected to the steering cylinder 15 (right steering cylinder 13 and left steering cylinder 12) via analog signals.

[0098] Electric steering pump 4 and hydraulic steering pump 6 are connected to the inlet of intermediate valve 5 (priority valve) via hydraulic lines. The outlet of intermediate valve 5 (priority valve) is connected to electronic steering gear 7 and solenoid steering gear 8 via hydraulic lines. Electronic steering gear 7 and solenoid steering gear 8 are both connected to right merging valve block 11 and left merging valve block 10 via hydraulic lines. Right merging valve block 11 and left merging valve block 10 are correspondingly connected to right steering cylinder 13 and left steering cylinder 12 via hydraulic lines. The flow direction of hydraulic oil / pressure transmission direction is as follows: Figure 1 As indicated by the thick black arrow.

[0099] The electronic steering system and its control method provided in this embodiment solve the problems of easy error, low redundancy, and poor safety in existing electronic steering systems. Example 3

[0100] This embodiment provides a grader, which includes the electronically controlled steering system provided in either embodiment one or two, and therefore has the same technical effect. For details not covered, please refer to embodiment one or two.

[0101] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0102] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0103] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0104] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

[0105] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention through the specific circumstances.

[0106] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An electronically controlled steering system, characterized in that, include, Steering cylinder (15), steering control device (1), steering pump, steering gear, intermediate valve (5) and steering signal controller (2); The steering pump includes an electric steering pump (4) and a hydraulic steering pump (6) respectively connected to the inlet of the intermediate valve (5). The steering signal controller (2) controls the inlet of the intermediate valve (5) to be connected to the electric steering pump (4) or the hydraulic steering pump (6) according to the pressure of the intermediate valve (5). The steering system includes an electronic steering system (7) and a solenoid valve steering system (8) respectively connected to the outlet of the intermediate valve (5). The steering signal controller (2) controls the outlet of the intermediate valve (5) to be connected to the electronic steering system (7) or the solenoid valve steering system (8) according to the current operating state of the electronic steering system (7). The steering control device (1) is used to issue steering commands; the steering signal controller (2) calculates the target steering angle according to the steering command, and controls the steering gear according to the target steering angle so that the steering gear changes the steering stroke of the steering cylinder (15) to achieve electronic steering; The steering cylinder is equipped with a cylinder stroke sensor (16) for detecting the current steering stroke of the steering cylinder; In response to the normal operating state of the cylinder stroke sensor (16), the steering signal controller calculates the target steering angle according to the steering command and the current steering stroke of the steering cylinder, and controls the steering stroke of the steering cylinder (15) using a closed-loop control method. In response to the abnormal operating state of the cylinder stroke sensor (16), the steering signal controller calculates the target steering angle only according to the steering command and controls the steering stroke of the steering cylinder (15) in an open-loop control manner.

2. The electronic steering system according to claim 1, characterized in that, The steering signal controller (2) is connected to the electric steering pump (4) and is used to control the start and stop of the electric steering pump (4); The intermediate valve (5) is a priority valve, and the priority of the inlet of the priority valve being connected to the electric steering pump (4) is greater than the priority of the inlet of the priority valve being connected to the hydraulic steering pump (6).

3. The electronic steering system according to claim 1, characterized in that, The steering control device (1) and the steering signal controller (2) are connected by communication via independently arranged CAN signal lines and analog pin signal lines; And / or, The steering signal controller (2) and the electronic steering gear (7) are connected via a CAN signal line; The steering signal controller (2) and the solenoid valve steering gear (8) are connected via analog pin signal lines.

4. The electronic steering system according to claim 1, characterized in that, The intermediate valve (5) is equipped with a pressure sensor (3) that is connected to the steering signal controller (2) for detecting the pressure of the intermediate valve (5).

5. A control method for an electronically controlled steering system, executed by a steering signal controller (2), characterized in that, include: Receive steering instructions and calculate the target steering angle based on the steering instructions; The pressure of the intermediate valve (5) is obtained. In response to the pressure being below the warning value, the inlet of the intermediate valve (5) is connected to the electric steering pump (4). Otherwise, the inlet of the intermediate valve (5) is connected to the hydraulic steering pump (6). The current operating state of the electronic steering gear (7) is obtained. In response to the current operating state of the electronic steering gear (7) being normal, the electronic steering gear (7) is controlled to move according to the target steering angle. The steering stroke of the steering cylinder (15) is changed by the electronic steering gear (7) to realize electronic steering. In response to the current operating state of the electronic steering gear (7) being abnormal, the solenoid valve steering gear (8) is controlled to move according to the target steering angle. The steering stroke of the steering cylinder (15) is changed by the solenoid valve steering gear (8) to realize electronic steering. The current steering stroke of the steering cylinder is obtained by the cylinder stroke sensor (16). In response to the normal operating state of the cylinder stroke sensor (16), the target steering angle is calculated according to the steering command and the current steering stroke of the steering cylinder, and the steering stroke of the steering cylinder (15) is controlled by a closed-loop control method. In response to the abnormal operating state of the oil cylinder stroke sensor (16), the target steering angle is calculated only according to the steering command, and the steering stroke of the steering cylinder (15) is controlled by an open-loop control method.

6. The control method for the electronic steering system according to claim 5, characterized in that, In response to the pressure being below a warning value, the inlet of the intermediate valve (5) is connected to the electric steering pump (4); otherwise, the inlet of the intermediate valve (5) is connected to the hydraulic steering pump (6), including: The intermediate valve (5) is a priority valve, and the priority of the inlet of the priority valve being connected to the electric steering pump (4) is greater than the priority of the inlet of the priority valve being connected to the hydraulic steering pump (6). In response to the pressure being below the warning value, the electric power steering pump (4) is activated; otherwise, the electric power steering pump (4) is deactivated.

7. The control method for the electronic steering system according to claim 5, characterized in that, Steering commands are obtained from either the CAN signal or the analog pin signal; if either the CAN signal or the analog pin signal is abnormal, steering commands are obtained from the other.

8. A grader, characterized in that, Includes the electronic steering system as described in any one of claims 1 to 4.

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