Drive-by-wire hydraulic steering braking system and method

Abstract

The invention discloses a drive-by-wire hydraulic steering braking system and method, and relates to the field of vehicle chassis. The drive-by-wire hydraulic controller obtains a control instruction of the vehicle control unit and controls the steering valve group to adjust the angular velocity and deflect at a target steering angle according to the control instruction so as to perform movement in different steering modes; the kingpin angle sensor obtains the actual steering angle and the actual angular speed of the mechanical vehicle and feeds back the actual steering angle and the actual angular speed to the drive-by-wire hydraulic controller; the drive-by-wire hydraulic controller obtains a steering angle difference value according to the steering angle and a target steering angle, obtains an angular velocity difference value according to an actual angular velocity and a target angular velocity, and controls a steering valve group to adjust the steering angle and the angular velocity according to the steering angle difference value and the angular velocity difference value by adopting a PID control method; and the brake valve group brakes according to the brake instruction. The steering requirements of various types of vehicles can be met, and the safety redundancy is high.

Description

Technical Field

[0001] The present application relates to the field of vehicle chassis, and in particular to a wire-controlled hydraulic steering brake system and method. Background Art

[0002] With the development of science and technology, automobile technology is gradually developing towards intelligence, and automobiles are also developing in a diversified and multi-faceted manner according to application scenarios. Among them, special vehicles with multi-axis steering and heavy-load multi-steering modes have also emerged. Conventional commercial vehicle steering and braking systems cannot meet the needs of vehicle use.

[0003] Therefore, it is crucial to design a wire-controlled hydraulic steering brake system that has mechanical decoupling characteristics when applied in multi-axle vehicles. Summary of the invention

[0004] The purpose of this application is to provide a wire-controlled hydraulic steering brake system and method, which can meet the steering requirements of various types of vehicles and have high safety redundancy.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a wire-controlled hydraulic steering brake system, which is applied to a mechanical vehicle; the wire-controlled hydraulic steering brake system comprises: a wire-controlled hydraulic controller, a steering valve group, a kingpin angle sensor and a brake valve group;

[0007] The wire-controlled hydraulic controller is connected to a vehicle controller of the mechanical vehicle;

[0008] The steering valve group, the kingpin angle sensor and the brake valve group are all connected to the wire-controlled hydraulic controller; the kingpin angle sensor is arranged on the axle of the mechanical vehicle;

[0009] The wire-controlled hydraulic controller is used for:

[0010] Obtaining control instructions of the vehicle controller; the control instructions include: target steering angle, target angular velocity and braking percentage instructions;

[0011] Controlling the steering valve group to adjust the angular velocity and deflect the target steering angle according to the control instruction to perform steering movements in different steering modes;

[0012] The kingpin angle sensor is used to obtain the actual steering angle and actual angular velocity of the mechanical vehicle and feed back to the wire-controlled hydraulic controller;

[0013] The wire-controlled hydraulic controller is also used for:

[0014] Obtaining a steering angle difference according to the actual steering angle and the target steering angle;

[0015] Obtaining an angular velocity difference according to the actual angular velocity and the target angular velocity;

[0016] Using a PID control method, the steering valve group is controlled to adjust the steering angle and angular velocity according to the steering angle difference and the angular velocity difference;

[0017] The brake valve group is used for braking according to a brake command; the brake command is determined by the wire-controlled hydraulic controller according to a brake control command issued by the vehicle controller.

[0018] Optionally, the wire-controlled hydraulic steering brake system further comprises: a power source module;

[0019] The power source module is arranged on the mechanical vehicle; the power source module is used to provide power to drive the mechanical vehicle.

[0020] Optionally, the power source module includes: a hydraulic power source and a plurality of accumulators.

[0021] Optionally, the hydraulic power source includes: a motor pump, an emergency pump, a hand pump, an electromagnetic ball valve and a first overflow valve;

[0022] The motor pump, the emergency pump, the hand pump, the electromagnetic ball valve and the first relief valve are all arranged on the mechanical vehicle;

[0023] The motor pump is used to provide power;

[0024] The emergency pump is used to provide power when the motor pump fails to operate normally;

[0025] The hand pump is used to release the parking brake in combination with the manual operation valve when the mechanical vehicle is in low-load operation, so as to carry out trailer handling;

[0026] The electromagnetic ball valve is used to perform electrical unloading processing and to perform fluid replenishment processing on the accumulator;

[0027] The first relief valve is used to provide pressure.

[0028] Optionally, the steering valve group includes: a steering proportional valve, a second overflow valve and a one-way valve;

[0029] The steering proportional valve is connected to the wire-controlled hydraulic controller; the second relief valve and the one-way valve are both connected to the steering proportional valve;

[0030] The wire-controlled hydraulic controller controls the steering proportional valve to open the valve and supply oil according to the control instruction, and controls the steering proportional valve to adjust the angular velocity and deflect the target steering angle;

[0031] The second relief valve is used to protect the steering proportional valve to prevent the pressure at the steering proportional valve from exceeding a threshold and causing damage;

[0032] The one-way valve is used to maintain the pressure between the accumulator and the steering proportional valve within a set range.

[0033] Optionally, the brake valve group includes: a pressure reducing proportional valve, a solenoid switch valve, a solenoid switch valve with a manual operation knob and a first one-way valve;

[0034] The pressure reducing proportional valve, the electromagnetic switch valve, the electromagnetic switch valve with a manual operation knob and the first check valve are all connected to the wire-controlled hydraulic controller;

[0035] The pressure reducing proportional valve, the electromagnetic switch valve, the electromagnetic switch valve with a manual operation knob and the first one-way valve work together to perform braking according to the braking command.

[0036] Optionally, the wire-controlled hydraulic steering brake system further comprises: a pressure sensor;

[0037] The pressure sensor is arranged in the online hydraulic system;

[0038] The pressure sensor is used to monitor the pressure status of each component in the wire-controlled hydraulic system.

[0039] Optionally, the wire-controlled hydraulic controller adopts an EHPSBU controller; the wire-controlled hydraulic controller includes: 8 current analog quantities, two CAN buses, 4 proportional valve drives, 8 switch valve drives, 1 PT1000 signal sampling, 1 wake-up enable signal, 4 wheel speed PWM signal acquisitions and 4 IO alarm input signals.

[0040] Optionally, the steering modes include: single front axle steering, single rear axle steering, four-wheel steering and diagonal steering.

[0041] In a second aspect, the present application provides a wire-controlled hydraulic steering braking method, which is implemented by using the wire-controlled hydraulic steering braking system described above; the wire-controlled hydraulic steering braking method comprises:

[0042] Obtaining a control instruction of the vehicle controller; the control instruction includes: a target steering angle and a target angular velocity;

[0043] Controlling the steering valve group to adjust the angular velocity and deflect the target steering angle according to the control instruction to perform movements in different steering modes;

[0044] Obtaining a steering angle difference according to the actual steering angle and the target steering angle, and obtaining an angular velocity difference according to the actual angular velocity and the target angular velocity; the actual steering angle and the actual angular velocity are obtained based on a kingpin angle sensor;

[0045] Using a PID control method, the steering valve group is controlled to adjust the steering angle and angular velocity according to the steering angle difference and the angular velocity difference;

[0046] The brake valve group is controlled to brake based on a brake command; the brake command is determined by the wire-controlled hydraulic controller according to a brake control command issued by a vehicle controller.

[0047] According to the specific embodiments provided in this application, this application has the following technical effects:

[0048] The present application provides a wire-controlled hydraulic steering brake system and method, wherein the wire-controlled hydraulic controller obtains the control instruction of the vehicle controller, and controls the steering valve group to adjust the angular velocity and deflect the target steering angle according to the control instruction, so as to perform different steering modes; the kingpin angle sensor obtains the actual steering angle and actual angular velocity of the mechanical vehicle, and feeds back to the wire-controlled hydraulic controller; the wire-controlled hydraulic controller obtains the steering angle difference according to the steering angle and the target steering angle, obtains the angular velocity difference according to the actual angular velocity and the target angular velocity, and adopts the PID control method to control the steering valve group to adjust the steering angle and angular velocity according to the steering angle difference and the angular velocity difference; the brake valve group brakes according to the braking instruction. Due to the existence of the wire-controlled hydraulic controller and the kingpin angle sensor, the mechanical vehicle can realize multiple modes of steering movement, and the wire-controlled hydraulic controller controls the steering valve group by wire control, so that the integration is high and the layout is flexible. Therefore, the present application can meet the steering requirements of various types of vehicles, and has high safety redundancy. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 It is a structural diagram of the wire-controlled hydraulic steering brake system;

[0051] Figure 2 It is a schematic diagram of the structure of the wire-controlled hydraulic steering brake system;

[0052] Figure 3 This is the hydraulic principle diagram corresponding to the AGV vehicle;

[0053] Figure 4 This is the electrical schematic diagram corresponding to the AGV vehicle;

[0054] Figure 5 It is a schematic diagram of various steering driving modes; among them, Figure 5 (a) is the dual front axle steering mode; Figure 5 (b) in the figure is the dual rear axle steering mode; Figure 5 (c) in the figure is the four-axle steering mode; Figure 5 (d) in the figure is the oblique mode;

[0055] Figure 6 This is a schematic diagram of the control framework corresponding to the AGV vehicle;

[0056] Figure 7 Schematic diagram of the control software strategy corresponding to the AGV vehicle.

[0057] Figure 8 It is a schematic diagram of the control process of the steering valve group;

[0058] Fig. 9 Flow chart for controlling the brake valve group.

[0059] Figure numerals: wire-controlled hydraulic controller-1, steering valve group-2, kingpin angle sensor-3, brake valve group-4, hydraulic power source-5, accumulator-6, check valve-7, high-pressure motor pump-8, low-pressure emergency motor pump-9, hand pump-10, solenoid ball valve-11, overflow valve-12, pressure sensor-13, steering cylinder-14, parking brake caliper cylinder-15, service brake caliper cylinder-16. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0061] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0062] The embodiment of the present application provides a wire-controlled hydraulic steering brake system, which is applied to a mechanical vehicle. Figure 1 As shown, the wire-controlled hydraulic steering brake system includes: a wire-controlled hydraulic controller 1, a steering valve group 2, a kingpin angle sensor 3 and a brake valve group 4.

[0063] The wire-controlled hydraulic controller 1 is connected to the vehicle controller of the mechanical vehicle; the steering valve group 2, the kingpin angle sensor 3 and the brake valve group 4 are all connected to the wire-controlled hydraulic controller 1; the kingpin angle sensor 3 is arranged on the axle of the mechanical vehicle.

[0064] The wire-controlled hydraulic controller 1 is used to obtain control instructions from the vehicle controller; the control instructions include: target steering angle, target angular velocity and braking percentage instructions.

[0065] The wire-controlled hydraulic controller 1 is used to control the steering valve group 2 to adjust the angular velocity and deflect the target steering angle according to the control command, so as to perform steering movements in different steering modes. The steering modes include: single front axle steering, single rear axle steering, four-wheel steering and diagonal driving.

[0066] The kingpin angle sensor 3 is used to obtain the actual steering angle and actual angular velocity of the mechanical vehicle, and feed back to the wire-controlled hydraulic controller 1 .

[0067] The wire-controlled hydraulic controller 1 is further used to obtain a steering angle difference according to an actual steering angle and a target steering angle, and to obtain an angular velocity difference according to an actual angular velocity and a target angular velocity.

[0068] The wire-controlled hydraulic controller 1 is also used to adopt a PID control method to control the steering valve group 2 to adjust the steering angle and angular velocity according to the steering angle difference and the angular velocity difference.

[0069] The brake valve group 4 is used for braking according to a brake command; the brake command is determined by the wire-controlled hydraulic controller 1 according to a brake control command issued by a vehicle controller.

[0070] In one embodiment, the wire-controlled hydraulic steering brake system further includes: a power source module.

[0071] The power source module is arranged on the mechanical vehicle; the power source module is used to provide power to drive the mechanical vehicle.

[0072] The power source module includes: a hydraulic power source and a plurality of accumulators.

[0073] The hydraulic power source includes: a motor pump, an emergency pump, a hand pump, an electromagnetic ball valve and a first overflow valve.

[0074] The motor pump, emergency pump, hand pump, electromagnetic ball valve and first overflow valve are all arranged on the mechanical vehicle; the motor pump is used to provide power; the emergency pump is used to provide power when the motor pump fails to operate normally; the hand pump is used to release the parking brake in combination with the manual operating valve when the mechanical vehicle is under low load operation, so as to carry out towing processing.

[0075] The electromagnetic ball valve is used for electrical unloading and for filling the accumulator with fluid; the first relief valve is used for providing pressure.

[0076] In one embodiment, the steering valve group 2 includes: a steering proportional valve, a second overflow valve and a one-way valve.

[0077] The steering proportional valve is connected to the wire-controlled hydraulic controller 1; the second relief valve and the one-way valve are both connected to the steering proportional valve.

[0078] The wire-controlled hydraulic controller 1 controls the steering proportional valve to open the valve and supply oil according to the control instruction, and controls the steering proportional valve to adjust the angular velocity and deflect the target steering angle.

[0079] The second relief valve is used to protect the steering proportional valve to avoid damage caused by the pressure at the steering proportional valve exceeding the threshold.

[0080] The check valve is used to maintain the pressure between the accumulator and the steering proportional valve within the set range.

[0081] The brake valve group 4 includes: a pressure reducing proportional valve, an electromagnetic switch valve, an electromagnetic switch valve with a manual operation knob and a first one-way valve.

[0082] The pressure reducing proportional valve, the solenoid switch valve, the solenoid switch valve with a manual operation knob and the first one-way valve are all connected to the wire-controlled hydraulic controller 1; the pressure reducing proportional valve, the solenoid switch valve, the solenoid switch valve with a manual operation knob and the first one-way valve work together to brake according to the braking command.

[0083] As an optional implementation, the wire-controlled hydraulic steering brake system further includes: a pressure sensor; the pressure sensor is arranged on the wire-controlled hydraulic system; the pressure sensor is used to monitor the pressure status corresponding to each component in the wire-controlled hydraulic system.

[0084] The wire-controlled hydraulic controller 1 adopts an EHPSBU controller; the wire-controlled hydraulic controller 1 includes: 8 current analog quantities, two CAN buses, 4 proportional valve drives, 8 switch valve drives, 1 PT1000 signal sampling, 1 wake-up enable signal, 4 wheel speed PWM signal acquisitions and 4 IO alarm input signals.

[0085] In another embodiment, the present application further provides a wire-controlled hydraulic steering braking method, which is implemented by a wire-controlled hydraulic steering braking system. The wire-controlled hydraulic steering braking method includes:

[0086] Obtain control instructions from the vehicle controller; control instructions include: target steering angle, target angular velocity and braking percentage instructions.

[0087] The steering valve group is controlled according to the control instruction to adjust the angular velocity and deflect the target steering angle to perform steering movements in different steering modes.

[0088] A steering angle difference is obtained according to the actual steering angle and the target steering angle, and an angular velocity difference is obtained according to the actual angular velocity and the target angular velocity; the actual steering angle and the actual angular velocity are obtained based on a kingpin angle sensor.

[0089] The PID control method is adopted to control the steering valve group to adjust the steering angle and angular velocity according to the steering angle difference and angular velocity difference.

[0090] The control brake valve group brakes based on the brake command; the brake command is determined by the wire-controlled hydraulic controller according to the brake control command issued by the vehicle controller.

[0091] like Figure 2 As shown, the wire-controlled hydraulic steering brake system mentioned in this application is controlled by wire control; the wire control means that the whole vehicle and the system, the controller and the actuator, that is, the wire-controlled hydraulic controller and other components are all controlled by wire. For example, the wire-controlled hydraulic controller 1 and the steering valve group 2, the kingpin angle sensor 3, the brake valve group 4, the hydraulic power source 5, the accumulator 6 and the one-way valve 7 are all controlled by wire.

[0092] Hydraulic controller is used for steering and braking; the system integrates steering and braking functions, and there is independent isolation between steering and braking.

[0093] The system hydraulic source, i.e. the power source module, has a redundant backup function; the hydraulic source has three modes of high and low pressure and manual to generate different hydraulic sources.

[0094] like Figure 3 As shown, taking the four-axis port AGV model as an example, a hydraulic station, that is, a hydraulic power source, is used with multiple accumulators as auxiliary hydraulic sources to supply four axles with steering, service braking, and parking braking. Figure 3 The brake hydraulics include a high-pressure motor pump 8, a low-pressure emergency motor pump 9, a hand pump 10, an electromagnetic ball valve 11, a relief valve 12, a pressure sensor 13, a steering cylinder 14, a parking brake caliper cylinder 15 and a service brake caliper cylinder 16.

[0095] For the control block diagram of the four-axis port AGV model, see Figure 6 Its design concept includes EHPS top-level control strategy, EHPS basic application layer, EHPS bottom-level driver and EHPS bottom-level hardware.

[0096] The EHPS top-level control strategy includes four parts: proportional valve, that is, steering proportional valve execution angle closed loop, high-pressure oil pump control strategy, fault tolerance mechanism processing algorithm, and CAN communication processing and human-computer interaction.

[0097] The EHPS basic application layer includes four parts: proportional valve signal processing and status monitoring, angle signal processing and status monitoring, CAN communication monitoring and information interaction, and sensor fault status monitoring and monitoring.

[0098] The underlying driver of EHPS includes digital-to-analog conversion data interaction, kingpin angle information adoption, load information collection, software communication interaction, IO port monitoring of proportional valve fault and ignition signals, oil pressure information sampling, and oil temperature information adoption.

[0099] The underlying hardware of EHPS includes the digital-to-analog conversion chip driving the proportional valve, the angle analog signal, the CAN physical bus, the IO port level, the oil pressure sensor, and the oil temperature sensor.

[0100] The hydraulic power source consists of a high-pressure motor pump, a low-pressure emergency pump, a hand pump, an electromagnetic ball valve, and the first relief valve. The high-pressure motor pump works during normal operation. When the circuit of the high-pressure motor pump fails, the low-pressure emergency pump can work in a short time to meet the needs of the vehicle's pull-over parking. When both the high-pressure motor pump and the low-pressure emergency pump fail, the vehicle can use the hand pump in combination with the manual operating valve in the system to release the vehicle's parking brake for towing. The electromagnetic ball valve of the hydraulic power source is mainly used for unloading the hydraulic system. When the accumulator reaches the target requirements, the electromagnetic ball valve is powered off to unload, and the motor pump is in a low-load operating state; when the pressure of the accumulator is lower than the set pressure, the electromagnetic ball valve is powered on to build pressure to replenish the accumulator. The first relief valve of the hydraulic power source is used to design the maximum pressure of the system.

[0101] In practical applications, the system mentioned in this application may have four steering valve groups, two brake valve groups, six accumulators, and six pressure sensors, which respectively perform execution control on eight steering cylinders, two parking brake caliper cylinders, and eight service brake caliper cylinders on the vehicle.

[0102] The steering valve group consists of a steering proportional valve, a second relief valve, and a one-way valve. During the steering process, the wire-controlled hydraulic controller controls the steering proportional valve to open the valve and supply oil for steering according to the vehicle's steering command, that is, the target angle and angular velocity in the control command of the vehicle controller, and at the same time forms a closed loop with the angle of the kingpin angle sensor on the axle. Among them, the second relief valve is used to protect the steering proportional valve from damage due to excessive system pressure. Among them, the one-way valve is mainly used to maintain the high pressure state from the accumulator to the steering proportional valve end. The accumulator is mainly used as an auxiliary hydraulic source.

[0103] The pressure sensor in the wire-controlled hydraulic steering brake system is used to monitor the pressure status of the corresponding circuit. Since the four axles of the vehicle are mechanically and hydraulically decoupled, the system can achieve the following Figure 5 There are many steering modes such as double front axle, double rear axle, four axles, and diagonal driving. Figure 5(a) is the dual front axle steering mode; Figure 5 (b) in the figure is the dual rear axle steering mode; Figure 5 (c) in the figure is the four-axle steering mode; Figure 5 (d) in the figure is the oblique mode.

[0104] like Figure 7 As shown, the wire-controlled hydraulic controller performs redundant verification on the angle signals collected by the left and right kingpin angle sensors. If the left signal is open, short-circuited or exceeds the limit, the right angle signal is enabled and a secondary fault alarm is issued; if the right angle signal also fails, a primary fault alarm is issued. When the angle signal is normal, the proportional valve is opened according to the upper angle and angular velocity. The opening of the steering proportional valve is related to the actual steering angular velocity, and PID angle closed-loop control is implemented. The control process is as follows: Figure 8 shown.

[0105] The wire-controlled hydraulic controller controls the speed of the oil pump motor according to the target angular velocity of the upper layer, that is, the vehicle controller: if the angular velocity is greater than 5 degrees per second and the flow demand is large, the speed of the oil pump motor is increased to 1500rpm; if it is less than 5 degrees per second, it runs at 900rpm.

[0106] The brake valve group consists of two pressure reducing proportional valves, two solenoid switch valves, a solenoid switch valve with a manual operation knob, and a first one-way valve. When the system receives a command to release the parking brake of the vehicle, the wire-controlled hydraulic controller energizes the solenoid switch valve of the parking brake valve, the parking brake valve opens, and the parking brake caliper releases; when the system receives a braking percentage command for the vehicle's service brake, the wire-controlled hydraulic controller controls the pressure reducing proportional valve to open the corresponding opening according to the percentage, and realizes a pressure closed loop with the pressure sensor, and at the same time opens the brake switch valve for service braking, where the first one-way valve is mainly used to maintain the high-pressure state from the accumulator to the steering proportional valve end. The accumulator is mainly used as an auxiliary hydraulic source. The pressure sensor is used to monitor the pressure state of the corresponding circuit. The braking control process is as follows Fig. 9 shown.

[0107] According to the above hydraulic hardware, the system can also use three controllers in parallel to sample and control the system. The EHPSBU controller in the system is a special controller designed for the wire-controlled hydraulic steering and braking system. The controller contains rich peripherals, mainly including: 8 current analog quantities, two CAN buses, 4 proportional valve drives, 8 switch valve drives, 1 PT1000 signal sampling, 1 wake-up enable signal, 4 wheel speed PWM signal acquisition, and 4 IO alarm input signals.

[0108] The controller mainly includes steering and braking control functions. The controller on the vehicle is mainly divided into three modules, such as Figure 4As shown, EHPSBU01 is the brake and oil pump motor interactive controller, and its main tasks include: service brake, parking brake, forwarding the oil pump working instructions of the pump control system (EHPSBU02) through the internal CAN, and forwarding the working status of the high-pressure oil pump controller to the external CAN bus. EHPSBU02 is the steering and pump station control monitoring controller, and its main tasks include: steering execution of axes 1 and 2 and reporting of steering system status information, start and stop of the pump station, and monitoring and protection of temperature, pressure and other signals. EHPSBU03 is a steering controller, and its main tasks include: steering execution of axes 3 and 4 and reporting of steering system status information.

[0109] Benefits of this application:

[0110] 1. The steering valve group is controlled by wire control of a multi-channel controller, which has the advantages of high integration and flexible layout.

[0111] 2. After being applied to the adapted vehicle model, the steering gear controller can realize the following modes according to the vehicle instructions: single front axle steering, single rear axle steering, four-wheel steering, diagonal driving, etc.

[0112] 3. The accumulator is used as the auxiliary hydraulic power source, and the whole vehicle is driven by one hydraulic power source. It has the advantages of low cost and low energy consumption.

[0113] 4. The hydraulic power source has three modes of pressure building: high pressure, low pressure and manual, with high safety redundancy.

[0114] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0115] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the system, method and core ideas of this application; at the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A wire-controlled hydraulic steering brake system, characterized in that: The wire-controlled hydraulic steering brake system is applied to mechanical vehicles; the wire-controlled hydraulic steering brake system comprises: a wire-controlled hydraulic controller, a steering valve group, a kingpin angle sensor and a brake valve group; The wire-controlled hydraulic controller is connected to a vehicle controller of the mechanical vehicle; The steering valve group, the kingpin angle sensor and the brake valve group are all connected to the wire-controlled hydraulic controller; the kingpin angle sensor is arranged on the axle of the mechanical vehicle; The wire-controlled hydraulic controller is used for: Obtaining control instructions of the vehicle controller; the control instructions include: target steering angle, target angular velocity and braking percentage instructions; Controlling the steering valve group to adjust the angular velocity and deflect the target steering angle according to the control instruction to perform steering movements in different steering modes; The kingpin angle sensor is used to obtain the actual steering angle and actual angular velocity of the mechanical vehicle and feed back to the wire-controlled hydraulic controller; The wire-controlled hydraulic controller is also used for: Obtaining a steering angle difference according to the actual steering angle and the target steering angle; Obtaining an angular velocity difference according to the actual angular velocity and the target angular velocity; Using a PID control method, the steering valve group is controlled to adjust the steering angle and angular velocity according to the steering angle difference and the angular velocity difference; The brake valve group is used for braking according to a brake command; the brake command is determined by the wire-controlled hydraulic controller according to a brake control command issued by the vehicle controller.

2. The wire-controlled hydraulic steering brake system according to claim 1, characterized in that: The wire-controlled hydraulic steering brake system further includes: a power source module; The power source module is arranged on the mechanical vehicle; the power source module is used to provide power to drive the mechanical vehicle.

3. The wire-controlled hydraulic steering brake system according to claim 2, characterized in that: The power source module includes: a hydraulic power source and a plurality of accumulators.

4. The wire-controlled hydraulic steering brake system according to claim 3, characterized in that: The hydraulic power source includes: a motor pump, an emergency pump, a hand pump, an electromagnetic ball valve and a first overflow valve; The motor pump, the emergency pump, the hand pump, the electromagnetic ball valve and the first relief valve are all arranged on the mechanical vehicle; The motor pump is used to provide power; The emergency pump is used to provide power when the motor pump fails to operate normally; The hand pump is used to release the parking brake in combination with the manual operation valve when the mechanical vehicle is in low-load operation, so as to carry out trailer handling; The electromagnetic ball valve is used to perform electrical unloading processing and to perform fluid replenishment processing on the accumulator; The first relief valve is used to provide pressure.

5. The wire-controlled hydraulic steering brake system according to claim 3, characterized in that: The steering valve group includes: a steering proportional valve, a second overflow valve and a one-way valve; The steering proportional valve is connected to the wire-controlled hydraulic controller; the second relief valve and the one-way valve are both connected to the steering proportional valve; The wire-controlled hydraulic controller controls the steering proportional valve to open the valve and supply oil according to the control instruction, and controls the steering proportional valve to adjust the angular velocity and deflect the target steering angle; The second relief valve is used to protect the steering proportional valve to prevent the pressure at the steering proportional valve from exceeding a threshold and causing damage; The one-way valve is used to maintain the pressure between the accumulator and the steering proportional valve within a set range.

6. The wire-controlled hydraulic steering brake system according to claim 1, characterized in that: The brake valve group includes: a pressure reducing proportional valve, an electromagnetic switch valve, an electromagnetic switch valve with a manual operation knob and a first check valve; The pressure reducing proportional valve, the electromagnetic switch valve, the electromagnetic switch valve with a manual operation knob and the first check valve are all connected to the wire-controlled hydraulic controller; The pressure reducing proportional valve, the electromagnetic switch valve, the electromagnetic switch valve with a manual operation knob and the first one-way valve work together to perform braking according to the braking command.

7. The wire-controlled hydraulic steering brake system according to claim 1, characterized in that: The wire-controlled hydraulic steering brake system further includes: a pressure sensor; The pressure sensor is arranged on the online hydraulic system; The pressure sensor is used to monitor the pressure status of each component in the wire-controlled hydraulic system.

8. The wire-controlled hydraulic steering brake system according to claim 1, characterized in that: The wire-controlled hydraulic controller adopts the EHPSBU controller; the wire-controlled hydraulic controller includes: 8 current analog quantities, two CAN buses, 4 proportional valve drives, 8 switch valve drives, 1 PT1000 signal sampling, 1 wake-up enable signal, 4 wheel speed PWM signal acquisitions and 4 IO alarm input signals.

9. The wire-controlled hydraulic steering brake system according to claim 1, characterized in that: The steering modes include: single front axle steering, single rear axle steering, four-wheel steering and diagonal driving.

10. A wire-controlled hydraulic steering braking method, characterized in that: The wire-controlled hydraulic steering braking method is implemented by using the wire-controlled hydraulic steering braking system according to any one of claims 1 to 9; The wire-controlled hydraulic steering braking method comprises: Obtaining control instructions of the vehicle controller; the control instructions include: target steering angle, target angular velocity and braking percentage instructions; Controlling the steering valve group to adjust the angular velocity and deflect the target steering angle according to the control instruction, so as to perform steering movements in different steering modes; Obtaining a steering angle difference according to the actual steering angle and the target steering angle, and obtaining an angular velocity difference according to the actual angular velocity and the target angular velocity; the actual steering angle and the actual angular velocity are obtained based on a kingpin angle sensor; Using a PID control method, the steering valve group is controlled to adjust the steering angle and angular velocity according to the steering angle difference and the angular velocity difference; The brake valve group is controlled to brake based on a brake command; the brake command is determined by the wire-controlled hydraulic controller according to a brake control command issued by a vehicle controller.

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