Articulated Vehicle Steering Flow Estimation From Yaw Rate
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Solution Overview
Problem
Current methods fail to accurately estimate hydraulic flow in the steering systems of articulated vehicles, particularly under varying conditions, which can lead to inefficiencies and potential operational hazards.
Innovation Solution
A method involving a controller that senses yaw rate and velocity to estimate the steering angle rate, using geometrical parameters to determine hydraulic flow in the steering system, potentially incorporating error correction for low velocities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If hydraulic flow estimation is not implemented, then the steering system operates without optimization, but accurate hydraulic flow estimation is needed to optimize operation and prevent hazards
Solution Approach 1:
The patent replaces direct mechanical measurement of hydraulic flow with a computational estimation system. The controller estimates hydraulic flow by processing signals from existing sensors (yaw rate sensor, velocity sensor, steering angle sensor) through mathematical calculations based on the relationship between steering dynamics and hydraulic flow characteristics. This substitution avoids the complexity of direct flow measurement while achieving the optimization and safety objectives.
2Measurement precision
If direct hydraulic flow measurement is used, then accurate flow data is obtained, but system complexity and cost increase significantly
Solution Approach 1:
The patent introduces intermediate parameters (steering angle rate, yaw rate, vehicle velocity) as mediators to indirectly determine hydraulic flow. Instead of directly measuring hydraulic flow, the system measures these intermediate parameters and uses their known relationships to the steering system to calculate the hydraulic flow. This intermediary approach maintains measurement precision while avoiding the complexity of direct flow measurement devices.
Solution Approach 2:
The patent replaces direct mechanical flow measurement with a computational estimation system. The controller estimates hydraulic flow by processing signals from existing sensors (yaw rate sensor, velocity sensor, steering angle sensor) through mathematical calculations based on the relationship between steering dynamics and hydraulic flow characteristics. This substitution avoids the complexity of direct flow measurement while achieving the optimization and safety objectives.
3Use of energy by moving object
If hydraulic flow is not optimized, then system operation is simpler, but energy efficiency and performance are reduced
Solution Approach 1:
The patent implements a feedback control mechanism where the estimated hydraulic flow information is fed back to the controller, which then optimizes the operation of hydraulic components. The controller uses the estimated flow data to adjust hydraulic valve positioning and flow distribution, creating a closed-loop system that continuously optimizes energy efficiency and performance based on actual operating conditions.
Data Source
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AI summary
A method of estimating hydraulic flow in a steering system of an articulated vehicle (1), a controller (6) configured for the method and an articulated vehicle (1) are provided. The method comprises: a) sensing a yaw rate (θ̇) of the articulated vehicle (1); b) sensing a velocity (v) of the articulated vehicle (1); c) determining an estimate of a steering angle rate (δ̇) of the front part (2) of the articulated vehicle (1) using the sensed yaw rate (9) and the sensed velocity (v); d) determining an estimate of the hydraulic flow in the steering system of the articulated vehicle (1) using the estimate of the steering angle rate (δ̇) and one or more geometrical parameters of the steering system.