Steering stability control method and device for electric control handle of loading machine

Abstract

The invention discloses a steering stability control method and device for an electric control handle of a loading machine, and belongs to the technical field of engineering machine.The control method comprises the steps that in response to an obtained steering signal of the electric control handle, the rotating speed of a steering gear pump and the rotating angle of a whole vehicle angle sensor are obtained; calculating a dynamic deceleration interval according to the rotating speed, and judging whether the rotating angle is in the dynamic deceleration interval or not; and if the rotating angle is within the dynamic deceleration interval, steering buffer control is carried out according to the rotating angle, and otherwise, conventional steering control is carried out according to the steering signal. Meanwhile, the signal end and the execution end of the control method are both subjected to two-way redundancy setting. The invention can effectively solve the problems of small steering interval of the handle, limit impact, signal failure in severe environment and the like, and improves the steering safety and comfort of the loader.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a method and device for smooth steering control of an electric control handle for a loader. Background Technology

[0002] With the development of intelligent and electronic control in the construction machinery industry, and the continuous improvement of market requirements for safety, comfort, and intelligence, the electronic control of loader components has become a trend. The electronic control of more components allows for better integration of vehicle information, execution of more precise control commands, greater adjustment space, and more convenient adjustment methods. Hand lever steering, as an alternative to steering wheel steering, has gained widespread acceptance in overseas markets and has become the preferred choice in large-scale mines and other locations abroad. Hand lever steering requires less effort than steering wheel steering; however, the handle travel is shorter, the control range is smaller, and it is prone to extreme position impacts. Furthermore, the harsh working environment of loaders can easily lead to safety issues such as signal failure. Therefore, higher requirements are placed on the electronic control of loader hand lever steering. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method and device for smooth steering control of the loader's electric control handle, thereby solving the problems of limit position impact and control safety in the steering control of the loader's electric control handle.

[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 a method for smooth steering control of an electric control handle of a loader, comprising:

[0006] In response to receiving the steering signal from the electronic control lever, the speed of the steering gear pump and the rotation angle of the vehicle angle sensor are obtained;

[0007] The dynamic deceleration range is calculated based on the rotational speed, and it is determined whether the turning angle is within the dynamic deceleration range.

[0008] If the turning angle is within the dynamic deceleration range, then steering buffer control is performed based on the turning angle; otherwise, regular steering control is performed based on the steering signal.

[0009] Optionally, the dynamic deceleration range includes:

[0010] Left turn dynamic deceleration range: ;

[0011] Right turn dynamic deceleration range: ;

[0012] In the formula, These are the vehicle's left-turn limit angle and right-turn limit angle, respectively. This serves as the reference angle for dynamic deceleration.

[0013]

[0014] In the formula, To fix the deceleration reference angle, This is the deceleration correction factor. These are the current speed and idle speed of the steering gear pump, respectively.

[0015] Optionally, the steering buffer control based on the steering angle includes calculating the control current of the electronic steering valve based on the steering angle;

[0016] The left-turn control current of the electronically controlled steering valve :

[0017]

[0018] The right-turn control current of the electronic steering valve :

[0019]

[0020] In the formula, The current rotation angle of the vehicle's angle sensor. These are the minimum and maximum control currents of the electronically controlled steering valve, respectively.

[0021] Optionally, the conventional steering control based on the steering signal includes calculating the control current of the electronic steering valve based on the steering signal;

[0022] The control current of the electronically controlled steering valve for:

[0023]

[0024] In the formula, These are the minimum and maximum control currents of the electronically controlled steering valve, respectively. The travel value of the turn signal, ranging from 0 to 100; This is the dead zone travel value of the electric control handle.

[0025] Optionally, it also includes acquiring the vehicle's speed and dynamically adjusting the maximum control current of the electronic steering valve based on the vehicle speed. ;

[0026] The maximum control current of the electronically controlled steering valve after dynamic adjustment for:

[0027]

[0028] In the formula, This refers to the vehicle's current speed and maximum speed. The fixed baseline driving speed.

[0029] Optionally, both the electric control handle and the vehicle angle sensor use dual-channel signal transmission. The receiving end uses differential signal verification to verify the dual-channel signals of the electric control handle and the vehicle angle sensor respectively. If the verification fails, only the steering signal is used for conventional steering control.

[0030] Optionally, obtaining the vehicle's speed includes installing speed sensors on both the drive axle output end and the transmission output shaft, and calculating the vehicle's speed using data from the two speed sensors. If the vehicle speed If the deviation is greater than the deviation threshold, then the maximum control current of the electronic steering valve that is dynamically adjusted according to the vehicle speed will be cancelled.

[0031] Optionally, the electronic steering valve for steering smoothness control is provided in two parts, and is configured as a main electronic steering valve and a backup electronic steering valve;

[0032] When the communication between the main electronically controlled steering valve and the main steering valve is disconnected or the communication quality is low, the control command is switched to the backup electronically controlled steering valve.

[0033] When the main electronically controlled steering valve is detected to have an opening degree exceeding a preset percentage or to have not operated within a preset time while executing a control command, the control command is switched to the backup electronically controlled steering valve.

[0034] In a second aspect, the present invention provides a loader electronic control handle steering smoothing control device, comprising:

[0035] The data acquisition module is configured to acquire the speed of the steering gear pump and the rotation angle of the vehicle angle sensor in response to the acquisition of the steering signal from the electric control handle.

[0036] The interval determination module is configured to calculate the dynamic deceleration interval based on the rotational speed and determine whether the turning angle is within the dynamic deceleration interval;

[0037] The steering control module is configured to perform steering buffer control based on the steering angle if the steering angle is within the dynamic deceleration range, and otherwise perform normal steering control based on the steering signal.

[0038] Thirdly, the present invention provides an electronic device, including a processor and a storage medium;

[0039] The storage medium is used to store instructions;

[0040] The processor is configured to operate according to the instructions to perform the steps according to the method described above.

[0041] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0042] Fifthly, the present invention provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the above-described method.

[0043] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0044] This invention provides a method and device for smooth steering control of a loader's electronic control handle. The gear pump speed signal is used to dynamically calculate the deceleration zone, effectively controlling the impact of steering to the limit position under various operating conditions and ensuring the buffering effect at the limit position under different system pressures. Simultaneously, different maximum steering speed limits are always associated with the vehicle speed signal, ensuring that the safe steering speed is not exceeded at different vehicle speeds. Furthermore, dual-path redundancy is implemented at both the signal and execution ends to ensure stability in harsh environments. In summary, this invention improves the steering safety and comfort of loaders. Attached Figure Description

[0045] Figure 1 This is a flowchart illustrating the loader electric control handle steering smooth control method provided in an embodiment of the present invention;

[0046] Figure 2 This is a system block diagram provided by an embodiment of the present invention, which features redundancy design at both the signal end and the execution end. Detailed Implementation

[0047] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0048] Example 1:

[0049] like Figure 1 As shown, this embodiment of the invention provides a method for smooth steering control of a loader's electronic control handle, including the following steps:

[0050] Step S1: In response to receiving the steering signal from the electric control handle, obtain the rotational speed of the steering gear pump and the rotation angle of the vehicle angle sensor.

[0051] Step S2: Calculate the dynamic deceleration range based on the rotational speed, and determine whether the steering angle is within the dynamic deceleration range.

[0052] Considering the impact between the front and rear frames when the vehicle reaches its steering limit, rigid impact needs to be avoided. Limit point buffering is performed before the steering reaches its limit. Under normal circumstances, the deceleration start point is set according to the vehicle's weight and dynamic characteristics. The deceleration process begins at this starting point to buffer the impact between the front and rear frames. However, this fixed deceleration point, if set too early, affects the overall steering efficiency; if set too late, it fails to reduce rigid impact. Therefore, in this embodiment, based on the characteristics of the gear pump—higher speeds correspond to faster steering speeds, requiring longer deceleration time and a preset distance—a gear pump speed correction coefficient is introduced to adjust the deceleration range, resulting in a dynamic deceleration range.

[0053] The dynamic deceleration range includes:

[0054] Left turn dynamic deceleration range: ;

[0055] Right turn dynamic deceleration range: ;

[0056] In the formula, These are the vehicle's left-turn limit angle and right-turn limit angle, respectively. This serves as the reference angle for dynamic deceleration.

[0057]

[0058] In the formula, To fix the deceleration reference angle, This is the deceleration correction factor. These are the current speed and idle speed of the steering gear pump, respectively.

[0059] Step S3: If the steering angle is within the dynamic deceleration range, then perform steering buffer control based on the steering angle; otherwise, perform regular steering control based on the steering signal.

[0060] Step S3.1: Within the dynamic deceleration range, the distance between the steering angle and the limit angle is crucial for deceleration buffering. The closer the angle is to the limit angle, the more the steering speed needs to be reduced. Compared with using a fixed steering speed within the dynamic deceleration range, the steering efficiency is higher and the steering is smoother.

[0061] Steering buffer control based on steering angle includes calculating the control current of the electronic steering valve based on the steering angle;

[0062] Left turn control current of the electronic steering valve :

[0063]

[0064] Right turn control current of the electronic steering valve :

[0065]

[0066] In the formula, The current rotation angle of the vehicle's angle sensor. These are the minimum and maximum control currents of the electronically controlled steering valve, respectively.

[0067] Step S3.2: Since it is outside the dynamic deceleration range, there is no need to consider deceleration buffer. Just adjust the steering speed according to the operation range of the electric control handle.

[0068] Steering control based on steering signals includes calculating the control current of the electronic steering valve based on the steering signals.

[0069] Control current of electronic steering valve for:

[0070]

[0071] In the formula, These are the minimum and maximum control currents of the electronically controlled steering valve, respectively. The travel value of the turn signal, ranging from 0 to 100; This is the dead zone travel value of the electric control handle.

[0072] It should be noted that in this embodiment, the minimum control current of the electronic steering valve is assumed to be in the left and right turn states. and maximum control current It is consistent, but in other implementation scenarios, it can be set to different values ​​as needed.

[0073] Meanwhile, in this embodiment, considering that excessive steering during high-speed loader operation could lead to vehicle rollover risk, the maximum steering speed is limited, including:

[0074] Obtain the vehicle's speed and dynamically adjust the maximum control current of the electronic steering valve based on the vehicle speed. ;

[0075] Maximum control current of the electronic steering valve after dynamic adjustment for:

[0076]

[0077] In the formula, This refers to the vehicle's current speed and maximum speed. The fixed baseline driving speed.

[0078] During the implementation of this method, the gear pump speed signal is used to dynamically calculate different buffer deceleration ranges to ensure the buffering effect at the limit position under different system pressures. At the same time, different maximum steering speed limits are always associated with the vehicle speed signal to ensure that the safe steering speed is not exceeded at different vehicle speeds.

[0079] Example 2:

[0080] This invention provides a method for smooth steering control of a loader's electronic control handle, considering safety redundancy. Based on Embodiment 1, redundancy is incorporated at both the signal and execution ends. Figure 2 The diagram shown provides a system block diagram with redundant design.

[0081] First, redundancy is implemented for components within the system based on the degree of impact. Vehicle speed detection and actuators are key safety features; failure of the vehicle speed sensor will cause the corresponding maximum steering current limit to fail, posing a rollover risk. Failure of the electronic steering valve will result in the inability to control the steering direction or automatic steering during driving. Therefore, the vehicle speed sensor and the electronic steering valve employ a dual-component redundancy configuration.

[0082] (1) Both the electric control handle and the vehicle angle sensor use dual-channel signal transmission. The receiving end uses differential signal verification to verify the dual-channel signals of the electric control handle and the vehicle angle sensor respectively. If the verification fails, the steering will be controlled normally only according to the steering signal.

[0083] (2) Obtaining the vehicle speed involves installing speed sensors on the output end of the drive axle and the output shaft of the transmission, respectively, and calculating the vehicle speed using data from the two speed sensors. If the vehicle speed If the deviation is greater than the deviation threshold (e.g., 5%), then the maximum control current of the electronic steering valve that dynamically adjusts according to the vehicle speed will be cancelled.

[0084] (3) There are two electronic steering valves for smooth steering control, which are set as main electronic steering valve A and backup electronic steering valve B;

[0085] When the communication between the main electronically controlled steering valve and the main steering valve is disconnected or the communication quality is low, the control command is switched to the backup electronically controlled steering valve.

[0086] When the main electronically controlled steering valve is detected to have an opening degree exceeding a preset percentage or to have not operated within a preset time while executing a control command, the control command is switched to the backup electronically controlled steering valve.

[0087] Building upon the redundancy design, further fault handling methods can be implemented to classify and address faults:

[0088] Level 1 Fault Handling: Single Signal Failure (Over-limit or 0): Automatically switch to another valid signal, maintaining the original control logic unchanged. For example, if the electronic control lever θ1 exceeds the limit or is 0, θ2 is directly used as the input signal; if the communication of the electronic steering valve A is interrupted or the signal fails, it automatically switches to the backup valve B. At this time, core control functions such as limit position buffer and vehicle speed limit are executed normally, only a fault is indicated until the fault is resolved.

[0089] Level 2 fault handling: If the dual-channel angle sensor of the vehicle fails, the steering controller immediately shuts down the limit position buffer function and controls the steering according to the logic of "base current + vehicle speed limit". That is, the current of the electronic steering valve is determined only by the handle travel signal and the vehicle speed signal, so as to avoid the buffer false triggering caused by the lack of angle reference.

[0090] Level 3 Fault Handling: If both driveshaft speed sensors fail, the steering controller calculates the maximum steering current limit based on the preset maximum safe vehicle speed. This means that regardless of the actual vehicle speed, the steering current limit is applied at the maximum speed to avoid the risk of rollover during high-speed steering. If both electronic steering valves A and B fail, the onboard instrument panel will display a fault warning. The loader will decelerate to a stop, and operation can only resume after the fault has been identified and resolved.

[0091] Example 3:

[0092] This invention provides a loader electronic control handle steering smoothing control device, comprising:

[0093] The data acquisition module is configured to acquire the speed of the steering gear pump and the rotation angle of the vehicle angle sensor in response to the acquisition of the steering signal from the electric control handle.

[0094] The interval judgment module is configured to calculate the dynamic deceleration interval based on the rotational speed and determine whether the turning angle is within the dynamic deceleration interval.

[0095] The steering control module is configured to perform steering buffer control based on the steering angle if the steering angle is within the dynamic deceleration range; otherwise, it performs normal steering control based on the steering signal.

[0096] Example 4:

[0097] Based on the loader electric control handle steering smooth control method provided in Embodiment 1, this embodiment of the invention provides an electronic device, including a processor and a storage medium;

[0098] Storage media are used to store instructions;

[0099] The processor is used to perform operations according to instructions to execute the steps according to the method described above.

[0100] Example 5:

[0101] Based on the loader electric control handle steering smooth control method provided in Embodiment 1, this embodiment of the invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above method.

[0102] Example 6:

[0103] Based on the loader electric control handle steering smooth control method provided in Embodiment 1, this embodiment of the invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the above method.

[0104] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0105] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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 illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0106] 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.

[0107] 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 1One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0108] 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. A method for smooth steering control of an electric control handle on a loader, characterized in that, include: In response to receiving the steering signal from the electronic control lever, the speed of the steering gear pump and the rotation angle of the vehicle angle sensor are obtained; The dynamic deceleration range is calculated based on the rotational speed, and it is determined whether the turning angle is within the dynamic deceleration range. If the turning angle is within the dynamic deceleration range, then steering buffer control is performed based on the turning angle; otherwise, regular steering control is performed based on the steering signal.

2. The loader electric control handle steering smooth control method according to claim 1, characterized in that, The dynamic deceleration range includes: Left turn dynamic deceleration range: ; Right turn dynamic deceleration range: ; In the formula, These are the vehicle's left-turn limit angle and right-turn limit angle, respectively. This serves as the reference angle for dynamic deceleration. In the formula, To fix the deceleration reference angle, This is the deceleration correction factor. These are the current speed and idle speed of the steering gear pump, respectively.

3. The loader electric control handle steering smooth control method according to claim 2, characterized in that, The steering buffer control based on the steering angle includes calculating the control current of the electronic steering valve based on the steering angle; The left-turn control current of the electronically controlled steering valve : The right-turn control current of the electronic steering valve : In the formula, The current rotation angle of the vehicle's angle sensor. These are the minimum and maximum control currents of the electronically controlled steering valve, respectively.

4. The loader electronic control handle steering smooth control method according to claim 1, characterized in that, The step of performing conventional steering control based on the steering signal includes calculating the control current of the electronic steering valve based on the steering signal. The control current of the electronically controlled steering valve for: In the formula, These are the minimum and maximum control currents of the electronically controlled steering valve, respectively. The travel value of the turn signal, ranging from 0 to 100; This is the dead zone travel value of the electric control handle.

5. The loader electric control handle steering smooth control method according to claim 1, characterized in that, It also includes acquiring the vehicle's speed and dynamically adjusting the maximum control current of the electronic steering valve based on the vehicle speed. ; The maximum control current of the electronically controlled steering valve after dynamic adjustment for: In the formula, This refers to the vehicle's current speed and maximum speed. The fixed baseline driving speed.

6. The loader electronic control handle steering smooth control method according to claim 1, characterized in that, Both the electric control handle and the vehicle angle sensor use dual-channel signal transmission. The receiving end uses differential signal verification to verify the dual-channel signals of the electric control handle and the vehicle angle sensor respectively. If the verification fails, the steering is controlled normally only according to the steering signal.

7. The loader electric control handle steering smooth control method according to claim 5, characterized in that, The process of obtaining the vehicle's speed involves installing speed sensors on both the drive axle output end and the transmission output shaft, and the receiving end calculates the vehicle's speed using data from the two speed sensors. If the vehicle speed If the deviation is greater than the deviation threshold, then the maximum control current of the electronic steering valve that is dynamically adjusted according to the vehicle speed will be cancelled.

8. The loader electric control handle steering smooth control method according to claim 1, characterized in that, The electronically controlled steering valve for smooth steering control is provided in two parts, which are designated as a main electronically controlled steering valve and a backup electronically controlled steering valve. When the communication between the main electronically controlled steering valve and the main steering valve is disconnected or the communication quality is low, the control command is switched to the backup electronically controlled steering valve. When the main electronically controlled steering valve is detected to have an opening degree exceeding a preset percentage or to have not operated within a preset time while executing a control command, the control command is switched to the backup electronically controlled steering valve.

9. A loader electric control handle steering smoothing control device, characterized in that, include: The data acquisition module is configured to acquire the speed of the steering gear pump and the rotation angle of the vehicle angle sensor in response to the acquisition of the steering signal from the electric control handle. The interval determination module is configured to calculate the dynamic deceleration interval based on the rotational speed and determine whether the turning angle is within the dynamic deceleration interval; The steering control module is configured to perform steering buffer control based on the steering angle if the steering angle is within the dynamic deceleration range, and otherwise perform normal steering control based on the steering signal.

10. An electronic device, characterized in that, Including processor and storage media; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the steps of the method according to any one of claims 1-8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1-8.

12. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method described in any one of claims 1-8.

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