Electro-hydraulic steer-by-wire redundant system

Abstract

The utility model discloses an electro-hydraulic steer-by-wire redundant system which comprises a one-way valve, a hydraulic control reversing valve, a pressure reducing valve, a proportional reversing valve, a steering gear, shuttle valves, a hydraulic control one-way valve and a steering oil cylinder, the shuttle valves comprise a first shuttle valve and a second shuttle valve, and the proportional reversing valve is electrically connected with a control center unit. The input ends of the one-way valve and the pilot operated directional valve are connected with a high-pressure oil port P of the oil tank through pipelines respectively, the output end of the one-way valve is connected with the proportional directional valve and the steering gear respectively, the steering gear is connected with the steering oil cylinder, the proportional directional valve is connected with the pilot operated directional valve and the first shuttle valve respectively, and the pilot operated directional valve is connected with the steering oil cylinder. The second shuttle valve is connected with the steering gear and the pressure reducing valve, the pressure reducing valve is connected with the hydraulic control reversing valve to control steering of the hydraulic control reversing valve, and the proportional reversing valve and the steering gear are connected with an oil tank T port.

Description

Technical Field

[0001] The utility model belongs to the technical field of electro-hydraulic control, and in particular relates to an electro-hydraulic wire-controlled steering redundant system. Background Art

[0002] The electro-hydraulic steer-by-wire technology is based on the traditional steering foundation, eliminates the mechanical intermediate shaft, transmits the driver's steering intention through electrical signals, and provides steering information feedback. This technology is a key technology for the development of new hot fields such as off-road vehicle intelligence and unmanned driving systems.

[0003] Redundant design is a standard configuration for wire-controlled steering, which is very necessary for driving safety. When the driver needs to take over the steering wheel under certain conditions, especially in an emergency or when the control fails, he must be able to take over unconditionally. Conventional redundant design is generally software redundancy, relying on complex algorithms to achieve redundant control; there are also hardware redundant designs, which are actually communication redundancy, power redundancy, motor redundancy, etc. These are hardware redundant designs for electrical control, and they cannot completely avoid the dangers caused by extreme abnormal conditions such as signal interference and communication interruption. Therefore, it is necessary to develop a new type of electro-hydraulic wire-controlled steering redundant system. Utility Model Content

[0004] The utility model aims to overcome the above-mentioned deficiencies of the prior art and provides an electro-hydraulic wire-controlled steering redundant system.

[0005] In order to solve the technical problem, the technical method of the utility model is: an electro-hydraulic wire-controlled steering redundant system, including a one-way valve, a hydraulically controlled reversing valve, a pressure reducing valve, a proportional reversing valve, a steering gear, a shuttle valve, a hydraulically controlled one-way valve and a steering cylinder, the shuttle valve including a first shuttle valve and a second shuttle valve, the proportional reversing valve is electrically connected to a control center unit, the input ends of the one-way valve and the hydraulically controlled reversing valve are respectively connected to the high-pressure oil P port of the oil tank through pipelines, the output ends of the one-way valve are respectively connected to the proportional reversing valve and the steering gear, the steering gear is connected to the steering cylinder, the proportional reversing valve is respectively connected to the hydraulically controlled one-way valve and the first shuttle valve, the hydraulically controlled one-way valve is connected to the steering cylinder, the first shuttle valve is connected to the second shuttle valve, the second shuttle valve is respectively connected to the steering gear and the pressure reducing valve, the pressure reducing valve is connected to the hydraulically controlled reversing valve to control the steering of the hydraulically controlled reversing valve, and the proportional reversing valve and the steering gear are respectively connected to the T port of the oil tank.

[0006] Preferably, when the electro-hydraulic wire-controlled steering redundant system is not started and the driver does not operate the steering wheel, the proportional reversing valve and the steering gear are not connected, and the high-pressure oil returns to the oil tank directly from the normally open channel of the hydraulically controlled reversing valve; when the electro-hydraulic wire-controlled steering redundant system is operating normally, the proportional reversing valve is reversed, the hydraulically controlled reversing valve is closed, and the high-pressure oil returns to the oil tank after passing through the steering cylinder; when the driver operates the steering wheel, the hydraulically controlled reversing valve is closed, the steering gear operates, and the high-pressure oil returns to the oil tank after passing through the steering cylinder.

[0007] Preferably, it also includes a relief valve, which is connected in parallel with the hydraulically controlled reversing valve, the input end of the relief valve is connected to the high-pressure oil port P of the oil tank, and the output end of the relief valve is connected to the T port of the oil tank.

[0008] Preferably, the steering cylinder comprises a first steering cylinder and a second steering cylinder, and the first steering cylinder and the second steering cylinder are respectively connected to a proportional reversing valve and a steering gear.

[0009] Preferably, the one-way valve, relief valve, hydraulically controlled reversing valve, pressure reducing valve, proportional reversing valve and shuttle valve are installed on the same valve block, and the valve block is provided with P port, P1 port, LS port, TI port, A1 port and B1 port, the input end of the P port is connected to the high-pressure oil P port of the box, the output end of the P port is respectively connected to the one-way valve, the relief valve and the hydraulically controlled reversing valve, one end of the P1 port is connected to the output end of the one-way valve, the other end of the P1 port is connected to the P1 port of the steering gear, one end of the LS port is connected to the second shuttle valve, the other end of the LS port is connected to the LS port of the steering gear, one end of the TI port is connected to the T port of the oil tank, the other end of the TI port is connected to the relief valve, the hydraulically controlled reversing valve and the proportional reversing valve, one end of the A1 port is respectively connected to the proportional reversing valve and the first shuttle valve, the other end of the A1 port is connected to the hydraulically controlled one-way valve, one end of the B1 port is respectively connected to the proportional reversing valve and the first shuttle valve, and the other end of the B1 port is connected to the hydraulically controlled one-way valve.

[0010] Preferably, the steering gear is further provided with a T2 port, an A2 port and a B2 port, the T2 port is connected to the T port of the oil tank, and the A2 port and the B2 port are respectively connected to the steering cylinder.

[0011] Preferably, the proportional reversing valve is controlled by a control center unit, which sends a control signal to the proportional reversing valve, the proportional reversing valve changes direction, and the pressure signal at port A1 or port B1 is transmitted to the pressure reducing valve through the first shuttle valve and the second shuttle valve, and the pressure reducing valve controls the hydraulically controlled reversing valve to change from a normally open state to a closed position.

[0012] Preferably, the T port of the pressure reducing valve is connected to the oil drain port L.

[0013] Compared with the prior art, the advantages of the utility model are:

[0014] (1) The utility model provides an electro-hydraulic wire-controlled steering redundant system, which enables the driver to directly and unconditionally take over the steering wheel. After taking over, the driver controls the steering gear by operating the steering wheel, thereby controlling the action of the steering cylinder to achieve steering. The system can respond quickly and continuously. Compared with the electrical control redundant design of the conventional wire-controlled system, this system adds a hydraulic safety redundant control method and has higher reliability.

[0015] (2) The proportional reversing valve of the utility model is controlled by the control center unit, and the steering gear is controlled by the driver by operating the steering wheel. The proportional reversing valve and the steering gear can independently control the reversing of the hydraulic control reversing valve, so that the proportional reversing valve and the steering gear can independently control the action of the steering cylinder without interfering with each other, thus avoiding the danger caused by extreme abnormal conditions such as signal interference and communication interruption;

[0016] (3) The redundant system of the electric-hydraulic wire-controlled steering of the utility model is reasonably designed, the valve blocks are reasonably arranged, the response speed is fast and they do not affect each other, thereby improving reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 , a schematic diagram of a state of an electro-hydraulic wire-controlled steering redundant system of the utility model, in which the electro-hydraulic wire-controlled steering redundant system is not started and the driver does not operate the steering wheel;

[0018] Figure 2 , a schematic diagram of the state of an electro-hydraulic wire-controlled steering redundant system of the utility model, which state is the normal operation of the electro-hydraulic wire-controlled steering redundant system;

[0019] Figure 3 , a schematic diagram of the state of an electro-hydraulic wire-controlled steering redundant system of the utility model, the state is the situation where the driver operates the steering wheel.

[0020] Description of reference numerals:

[0021] 1. Check valve, 2. Relief valve, 3. Hydraulic control reversing valve, 4. Pressure reducing valve, 5. Proportional reversing valve, 6. Steering gear, 7. Shuttle valve, 8. Hydraulic control check valve, 9. Steering cylinder;

[0022] 7.1, first shuttle valve, 7.2, second shuttle valve;

[0023] 9.1, first steering cylinder, 9.2, second steering cylinder. DETAILED DESCRIPTION

[0024] The following describes the specific implementation of the utility model in conjunction with embodiments:

[0025] It should be noted that the contents shown in the drawings of this specification are only used to cooperate with the principles, features and content descriptions disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the utility model. Without affecting the effects and purposes that can be achieved by the utility model, they should still fall within the scope of the technical contents disclosed in the utility model.

[0026] Example 1

[0027] like Figures 1 to 3As shown, the utility model discloses an electro-hydraulic wire-controlled steering redundant system, comprising a one-way valve 1, a hydraulically controlled reversing valve 3, a pressure reducing valve 4, a proportional reversing valve 5, a steering gear 6, a shuttle valve 7, a hydraulically controlled one-way valve 8 and a steering cylinder 9, wherein the shuttle valve 7 comprises a first shuttle valve 7.1 and a second shuttle valve 7.2, the proportional reversing valve 5 is electrically connected to a control center unit, the input ends of the one-way valve 1 and the hydraulically controlled reversing valve 3 are respectively connected to a high-pressure oil P port of a fuel tank through pipelines, the output end of the one-way valve 1 is respectively connected to the proportional reversing valve 5 and the steering gear 6, the steering gear 6 is connected to the steering cylinder 9, the proportional reversing valve 5 is respectively connected to the hydraulically controlled one-way valve 8 and the first shuttle valve 7.1, the hydraulically controlled one-way valve 8 is connected to the steering cylinder 9, the first shuttle valve 7.1 is connected to the second shuttle valve 7.2, the second shuttle valve 7.2 is respectively connected to the steering gear 6 and the pressure reducing valve 4, the pressure reducing valve 4 is connected to the hydraulically controlled reversing valve 3 to control the steering of the hydraulically controlled reversing valve 3, and the proportional reversing valve 5 and the steering gear 6 are respectively connected to the T port of the fuel tank.

[0028] like Figures 1 to 3 As shown, when the electro-hydraulic wire-controlled steering redundant system is not started and the driver does not operate the steering wheel, the proportional reversing valve 5 and the steering gear 6 are not conducting, and the high-pressure oil returns to the oil tank directly from the normally open channel of the hydraulically controlled reversing valve 3; when the electro-hydraulic wire-controlled steering redundant system is operating normally, the proportional reversing valve 5 is reversed, the hydraulically controlled reversing valve 3 is closed, and the high-pressure oil returns to the oil tank after passing through the steering cylinder 9; when the driver operates the steering wheel, the hydraulically controlled reversing valve 3 is closed, the steering gear 6 operates, and the high-pressure oil returns to the oil tank after passing through the steering cylinder 9.

[0029] Example 2

[0030] like Figures 1 to 3 As shown, preferably, it also includes a relief valve 2, which is connected in parallel with the hydraulically controlled reversing valve 3, the input end of the relief valve 2 is connected to the high-pressure oil port P of the oil tank, and the output end of the relief valve 2 is connected to the T port of the oil tank.

[0031] The relief valve 2 is a safety relief valve. When the system pressure reaches its set value, the pressure overflows from the relief valve 2 to ensure that the system will not be over-pressurized.

[0032] like Figures 1 to 3 As shown, preferably, the steering cylinder 9 includes a first steering cylinder 9.1 and a second steering cylinder 9.2, and the first steering cylinder 9.1 and the second steering cylinder 9.2 are respectively connected to the proportional reversing valve 5 and the steering gear 6.

[0033] Example 3

[0034] like Figures 1 to 3As shown, preferably, the one-way valve 1, the relief valve 2, the hydraulically controlled reversing valve 3, the pressure reducing valve 4, the proportional reversing valve 5 and the shuttle valve 7 are installed on the same valve block, and the valve block is provided with a P port, a P1 port, a LS port, a TI port, an A1 port and a B1 port, the P port input end is connected to the box high-pressure oil P port, the P port output end is respectively connected to the one-way valve 1, the relief valve 2 and the hydraulically controlled reversing valve 3, one end of the P1 port is connected to the output end of the one-way valve 1, and the other end of the P1 port is connected to the P1 of the steering gear 6 Port, one end of the LS port is connected to the second shuttle valve 7.2, the other end of the LS port is connected to the LS port of the steering gear 6, one end of the TI port is connected to the T port of the oil tank, the other end of the TI port is connected to the overflow valve 2, the hydraulically controlled reversing valve 3 and the proportional reversing valve 5, one end of the A1 port is respectively connected to the proportional reversing valve 5 and the first shuttle valve 7.1, the other end of the A1 port is connected to the hydraulically controlled check valve 8, one end of the B1 port is respectively connected to the proportional reversing valve 5 and the first shuttle valve 7.1, the other end of the B1 port is connected to the hydraulically controlled check valve 8.

[0035] like Figures 1 to 3 As shown, preferably, the steering gear 6 is also provided with a T2 port, an A2 port and a B2 port, the T2 port is connected to the T port of the oil tank, and the A2 port and the B2 port are connected to the steering cylinder 9 respectively.

[0036] Example 4

[0037] like Figures 1 to 3 As shown, preferably, the proportional reversing valve 5 is controlled by a control center unit, which sends a control signal to the proportional reversing valve 5, the proportional reversing valve 5 is switched, and the pressure signal of the A1 port or the B1 port is transmitted to the pressure reducing valve 4 through the first shuttle valve 7.1 and the second shuttle valve 7.2, and the pressure reducing valve 4 controls the hydraulically controlled reversing valve 3 to switch from a normally open state to a closed position.

[0038] like Figures 1 to 3 As shown, preferably, the T port of the pressure reducing valve 4 is connected to the oil drain port L.

[0039] The principle of the utility model is as follows:

[0040] like Figures 1 to 3As shown, the utility model discloses an electro-hydraulic wire-controlled steering redundant system, including a one-way valve 1, a hydraulically controlled reversing valve 3, a pressure reducing valve 4, a proportional reversing valve 5, a steering gear 6, a shuttle valve 7, a hydraulically controlled one-way valve 8 and a steering cylinder 9. The input ends of the one-way valve 1 and the hydraulically controlled reversing valve 3 are respectively connected to the high-pressure oil P port of the oil tank through pipelines, the output end of the one-way valve 1 is respectively connected to the proportional reversing valve 5 and the steering gear 6, the steering gear 6 is connected to the steering cylinder 9, the proportional reversing valve 5 is respectively connected to the hydraulically controlled one-way valve 8 and the first shuttle valve 7.1, the hydraulically controlled one-way valve 8 is connected to the steering cylinder 9, the first shuttle valve 7.1 is connected to the second shuttle valve 7.2, the second shuttle valve 7.2 is respectively connected to the steering gear 6 and the pressure reducing valve 4, and the pressure reducing valve 4 is connected to the hydraulically controlled reversing valve 3 to control The hydraulically controlled reversing valve 3 steers; when the redundant electro-hydraulic wire-controlled steering system is not started and the driver does not operate the steering wheel, the proportional reversing valve 5 and the steering gear 6 are not conducting, and the high-pressure oil returns to the oil tank directly from the normally open channel of the hydraulically controlled reversing valve 3; when the redundant electro-hydraulic wire-controlled steering system is operating normally, the proportional reversing valve 5 reverses, the hydraulically controlled reversing valve 3 is closed, and the high-pressure oil returns to the oil tank after passing through the steering cylinder 9; when the driver operates the steering wheel, the hydraulically controlled reversing valve 3 is closed, the steering gear 6 operates, and the high-pressure oil returns to the oil tank after passing through the steering cylinder 9; the utility model combines electronically controlled steering and manual hydraulic steering, and the proportional reversing valve 5 and the steering gear 6 control the reversing action of the hydraulically controlled reversing valve 3 independently and do not interfere with each other, thereby improving reliability.

[0041] The workflow of this utility model is as follows:

[0042] like Figure 1 As shown, the high-pressure oil enters the system from the P port, and is divided into two paths after passing through the one-way valve 1. One path passes through the electric proportional reversing valve 5 (when open) and the hydraulically controlled one-way valve 8 and then enters the steering cylinder 9, and the other path passes through the steering gear 6 (after the steering wheel is actuated) and then enters the steering cylinder 9.

[0043] like Figure 1 As shown, when the electro-hydraulic wire-controlled steering redundant system is not started and the driver does not operate the steering wheel, there is no pressure at ports A1 and B1 because the proportional reversing valve 5 is not opened (in this state, the high-pressure oil cannot pass through the proportional reversing valve 5), and there is no pressure at ports A2 and B2 because the steering gear 6 is not operated (in this state, the high-pressure oil cannot pass through the steering gear 6), and the hydraulically controlled reversing valve 3 whose direction is controlled by ports A1, B1, A2, and B2 cannot be reversed, and the spring force makes it work in the normally open state. At this time, the high-pressure oil enters the system from port P and will directly return to the oil tank from the normally open channel of the hydraulically controlled reversing valve 3, thereby realizing system unloading.

[0044] like Figure 2As shown, in the normal operating state of the electro-hydraulic wire-controlled steering redundant system, the control center unit sends a control signal to the proportional reversing valve 5, and the proportional reversing valve 5 changes direction (in this state, the high-pressure oil can pass through the proportional reversing valve 5). At this time, the pressure signal of the A1 port or the B1 port passes through the first shuttle valve 7.1 and the second shuttle valve 7.2, and then is reduced in pressure by the pressure reducing valve 4 to control the reversing of the hydraulic control reversing valve 3. The hydraulic control reversing valve 3 works in the closed position, and the high-pressure oil will not flow back to the oil tank through the hydraulic control reversing valve 3, but enter the steering cylinder 9 through the proportional reversing valve 5, thereby controlling the steering of the steering cylinder 9.

[0045] like Figure 3 As shown, in case of emergency, such as signal loss, communication interruption, or even damage to the control elements of the control center unit, manual intervention in steering is required, or in some cases when the driver wants to experience driving pleasure, the driver can directly take over the steering wheel and control the steering gear 6 to operate. After the steering gear 6 is operated (in this state, high-pressure oil can pass through the steering gear 6), its pressure control signal is transmitted to the second shuttle valve 7.2 through the pipeline of the Ls port, and then the hydraulic control reversing valve 3 is controlled to change direction after the pressure is reduced by the pressure reducing valve 4. The hydraulic control reversing valve 3 works in the closed position, and the high-pressure oil will not flow back to the oil tank through the hydraulic control reversing valve 3, but enter the steering cylinder 9 through the steering gear 6. The utility model uses manual hydraulic steering to achieve reliable steering and has high reliability.

[0046] The utility model provides an electro-hydraulic wire-controlled steering redundant system, which enables the driver to directly and unconditionally take over the steering wheel. After taking over, the driver controls the operation of the steering gear by operating the steering wheel, thereby controlling the action of the steering cylinder to achieve steering. The system can respond quickly and continuously. Compared with the electrical control redundant design of the conventional wire-controlled system, this system provides a hydraulic safety redundant control method (steering gear 6, the steering gear 6 is connected to the second shuttle valve 7.2), which has higher reliability.

[0047] The utility model discloses a proportional reversing valve which is controlled by a control center unit, and a steering gear which is controlled by a driver by operating a steering wheel. Both the proportional reversing valve and the steering gear can independently control the reversing of the hydraulically controlled reversing valve, so that both the proportional reversing valve and the steering gear can independently control the action of the steering cylinder without interfering with each other, thereby avoiding dangers caused by extreme abnormal situations such as signal interference and communication interruption.

[0048] The utility model has a reasonable design of the electric-hydraulic wire-controlled steering redundant system, a reasonable arrangement between valve blocks, a fast response speed and no mutual influence, thereby improving reliability.

[0049] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of ordinary geologists in the field without departing from the purpose of the present invention.

[0050] Many other changes and modifications can be made without departing from the concept and scope of the utility model. It should be understood that the utility model is not limited to a specific embodiment, and the scope of the utility model is defined by the appended claims.

Claims

1. An electro-hydraulic wire-controlled steering redundant system, characterized in that: The invention comprises a one-way valve (1), a hydraulically controlled reversing valve (3), a pressure reducing valve (4), a proportional reversing valve (5), a steering gear (6), a shuttle valve (7), a hydraulically controlled one-way valve (8) and a steering oil cylinder (9), wherein the shuttle valve (7) comprises a first shuttle valve (7.1) and a second shuttle valve (7.2), and the proportional reversing valve (5) is electrically connected to a control center unit, and the input ends of the one-way valve (1) and the hydraulically controlled reversing valve (3) are respectively connected to a high-pressure oil port P of an oil tank through pipelines, and the output ends of the one-way valve (1) are respectively connected to the proportional reversing valve (5) and the steering oil cylinder (9). The steering gear (6) is connected to the steering cylinder (9), the proportional reversing valve (5) is respectively connected to the hydraulically controlled check valve (8) and the first shuttle valve (7.1), the hydraulically controlled check valve (8) is connected to the steering cylinder (9), the first shuttle valve (7.1) is connected to the second shuttle valve (7.2), the second shuttle valve (7.2) is respectively connected to the steering gear (6) and the pressure reducing valve (4), the pressure reducing valve (4) is connected to the hydraulically controlled reversing valve (3) to control the steering of the hydraulically controlled reversing valve (3), and the proportional reversing valve (5) and the steering gear (6) are respectively connected to the T port of the oil tank.

2. The electro-hydraulic wire-controlled steer redundant system according to claim 1, characterized in that: When the redundant electro-hydraulic wire-controlled steering system is not started and the driver does not operate the steering wheel, the proportional reversing valve (5) and the steering gear (6) are not conducting, and the high-pressure oil directly returns to the oil tank from the normally open channel of the hydraulic control reversing valve (3); when the redundant electro-hydraulic wire-controlled steering system is operating normally, the proportional reversing valve (5) is switched, the hydraulic control reversing valve (3) is closed, and the high-pressure oil returns to the oil tank after passing through the steering cylinder (9); when the driver operates the steering wheel, the hydraulic control reversing valve (3) is closed, the steering gear (6) operates, and the high-pressure oil returns to the oil tank after passing through the steering cylinder (9).

3. The electro-hydraulic wire-controlled steer redundant system according to claim 2, characterized in that: It also includes a relief valve (2), which is connected in parallel with the hydraulically controlled reversing valve (3), the input end of the relief valve (2) is connected to the high-pressure oil port P of the oil tank, and the output end of the relief valve (2) is connected to the port T of the oil tank.

4. The electro-hydraulic wire-controlled steer redundant system according to claim 2, characterized in that: The steering cylinder (9) comprises a first steering cylinder (9.1) and a second steering cylinder (9.2), and the first steering cylinder (9.1) and the second steering cylinder (9.2) are respectively connected to a proportional reversing valve (5) and a steering gear (6).

5. The electro-hydraulic wire-controlled steer redundant system according to claim 3, characterized in that: The one-way valve (1), the relief valve (2), the hydraulically controlled reversing valve (3), the pressure reducing valve (4), the proportional reversing valve (5) and the shuttle valve (7) are installed on the same valve block. The valve block is provided with a P port, a P1 port, a LS port, a TI port, an A1 port and a B1 port. The input end of the P port is connected to the high-pressure oil P port of the box. The output end of the P port is respectively connected to the one-way valve (1), the relief valve (2) and the hydraulically controlled reversing valve (3). One end of the P1 port is connected to the output end of the one-way valve (1), and the other end of the P1 port is connected to the P1 port of the steering gear (6). The LS port is connected to the output end of the P1 port. One end of the LS port is connected to the second shuttle valve (7.2), the other end of the LS port is connected to the LS port of the steering gear (6), one end of the TI port is connected to the T port of the oil tank, the other end of the TI port is connected to the relief valve (2), the hydraulically controlled reversing valve (3) and the proportional reversing valve (5), one end of the A1 port is connected to the proportional reversing valve (5) and the first shuttle valve (7.1), the other end of the A1 port is connected to the hydraulically controlled check valve (8), one end of the B1 port is connected to the proportional reversing valve (5) and the first shuttle valve (7.1), the other end of the B1 port is connected to the hydraulically controlled check valve (8).

6. The electro-hydraulic wire-controlled steer redundant system according to claim 5, characterized in that: The steering gear (6) is further provided with a T2 port, an A2 port and a B2 port, the T2 port being connected to the T port of the oil tank, and the A2 port and the B2 port being connected to the steering oil cylinder (9) respectively.

7. The electro-hydraulic wire-controlled steer redundant system according to claim 5, characterized in that: The proportional reversing valve (5) is controlled by a control center unit. The control center unit sends a control signal to the proportional reversing valve (5). The proportional reversing valve (5) changes direction. The pressure signal of the A1 port or the B1 port is transmitted to the pressure reducing valve (4) through the first shuttle valve (7.1) and the second shuttle valve (7.2). The pressure reducing valve (4) controls the hydraulically controlled reversing valve (3) to change from a normally open state to a closed position.

8. The electro-hydraulic wire-controlled steer redundant system according to claim 7, characterized in that: The T port of the pressure reducing valve (4) is connected to the oil drain port L.

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