CN103723188B - The control method of differential screw and steering device, system and apply the construction machinery and equipment of this system - Google Patents
The control method of differential screw and steering device, system and apply the construction machinery and equipment of this system Download PDFInfo
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- CN103723188B CN103723188B CN201410028214.XA CN201410028214A CN103723188B CN 103723188 B CN103723188 B CN 103723188B CN 201410028214 A CN201410028214 A CN 201410028214A CN 103723188 B CN103723188 B CN 103723188B
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Abstract
The invention discloses a kind of control method of differential screw and steering device, comprise the steps: the present speed and the current steering angle that detect vehicle, judge described vehicle belongs to which kind of operating mode following according to described present speed and described current steering angle: if straight line moving, the drive motor horsepower input of described differential screw and steering device; If pivot stud, the HM Hydraulic Motor horsepower input of described differential screw and steering device; If turned in advancing, described drive motor and the common horsepower input of described HM Hydraulic Motor.First above-mentioned control method detects present speed and the current steering angle of vehicle, and judge currently be in which kind of operating mode according to these two parameters, and according to the corresponding drive element horsepower input of concrete operating conditions, the stability contorting to differential screw and steering device can be realized.The invention also discloses a kind of control system of differential screw and steering device, and apply the construction machinery and equipment of this control system.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of control method of differential screw and steering device, the control system of differential screw and steering device and apply the construction machinery and equipment of this system.
Background technology
The energy, environmental protection is one of theme becoming the world today, and bulldozer, as important a member of construction machinery and equipment, plays a part key to economic construction, is also the visual plant of energy resource consumption simultaneously.Therefore be also inexorable trend to the research and development of electric drive bulldozer, the new demand that so controlling functions of electric drive bulldozer is energy-conservation is also arisen spontaneously.
Please refer to the structural representation that Fig. 1, Fig. 1 are differential screw and steering device of the prior art, briefly introduce the principle of work of this steering hardware below.
As shown in Figure 1, this differential screw and steering device comprises hub 07, spline housing 08, output shaft 09, motor input gear 10, steering gear 11, idle pulley 12, gear wheel shaft 13, sun wheel 14 in small bevel gear wheel shaft 01, large bevel gear 02, central driving shaft 03, gear ring 04, satellite gear 05, pinion carrier 06, braking.Wherein gear ring 04, satellite gear 05, pinion carrier 06, sun wheel 14 form two groups of planet rows, and two groups of planet rows are arranged in the both sides of central driving shaft 03 respectively.
When bulldozer advances, the power transmission line inputted by drive motor is: inputted by small bevel gear wheel shaft 01, hub 07-spline housing 08-output shaft 09 in the 06-braking of large bevel gear 02-central driving shaft 03-gear ring 04-satellite gear 05-pinion carrier, the synchronized rotating in same direction of both sides output shaft.
When bulldozer turns to, the power inputted by differential motor is through two-way transmission:
Transmission line 1 the: input-interior hub 07-spline housing 08-output shaft 09 of steering gear 11-idle pulley 12-gear wheel shaft 13-opposite side idle pulley 12-sun wheel 14-satellite gear 05-pinion carrier 06-braking by motor input gear 10.
Transmission line 2 the: input-interior hub 07-spline housing 08-output shaft 09 of steering gear 11-sun wheel 14-satellite gear 05-pinion carrier 06-braking by motor input gear 10.
Above-mentioned drive path 1 is identical to the drive disk assembly of output shaft 09 from sun wheel 14 with 2, calculates low damage motor output shaft 10 as follows to the transmitting ratio of sun wheel 14:
The transmitting ratio of transmission line 1 is:
The transmitting ratio of transmission line 2 is:
wherein Z represents number of gears.
As seen from the above, the transmitting ratio equal and opposite in direction of drive path 1 and drive path 2, direction is contrary.That is after rotation motor starts, the sun wheel of both sides obtains the contrary torque in a pair speed and equal and opposite in direction, direction respectively, after the torque that this torque and change speed gear box transmit is synthesized, the more original rotating speed of the output shaft of side is reduced, both sides output shaft produces speed discrepancy, realizes speed change and turns to.
In view of this, urgently design a kind of control method and control system for differential screw and steering device of the prior art, to realize this differential screw and steering device stable turning, and ensure sensitieness and the fine motion of course changing control.
Summary of the invention
Object of the present invention is for providing a kind of control method of differential screw and steering device, and the method can realize the stable turning of differential screw and steering device, and ensures the sensitieness of course changing control and fine motion, and driving engine occurs when preventing Vehicular turn the phenomenon such as to turn round.In addition, another object of the present invention is for providing a kind of control system of differential screw and steering device, applying the construction machinery and equipment of this control system.
For solving the problems of the technologies described above, the invention provides a kind of control method of differential screw and steering device, comprising the steps:
Detect present speed and the current steering angle of vehicle,
Judge described vehicle belongs to which kind of operating mode following according to described present speed and described current steering angle: if straight line moving, the drive motor horsepower input of described differential screw and steering device; If pivot stud, the HM Hydraulic Motor horsepower input of described differential screw and steering device; If turned in advancing, described drive motor and the common horsepower input of described HM Hydraulic Motor.
Preferably, when described vehicle advance transfer to time,
Detect the current rotating speed of described drive motor,
Judge whether the current rotating speed of described drive motor is less than default motor speed, the received current if so, controlling described HM Hydraulic Motor is
wherein S is current steering angle, I
maxfor the current maxima of HM Hydraulic Motor, I
minfor the current minimum of HM Hydraulic Motor, S
maxfor the maxim of steering angle, S
minfor the minimum value of steering angle; If not, the received current controlling described HM Hydraulic Motor is less than
Preferably, after judging that the current rotating speed of described drive motor is not less than default motor speed, the preset standard curve according to the received current of steering angle and HM Hydraulic Motor inquires about the received current obtaining described HM Hydraulic Motor.
Preferably, when described vehicle advance transfer to time,
Detect the current rotating speed of the driving engine of described vehicle;
Judge whether the difference of the standard revolving speed of driving engine and the current rotating speed of described driving engine under current throttle is less than preset value, and the received current if so, controlling described HM Hydraulic Motor is
if not, the received current controlling described HM Hydraulic Motor is less than
Preferably, after the difference of the current rotating speed of the standard revolving speed and described driving engine that judge driving engine under current throttle is not less than preset value,
Control the received current of described HM Hydraulic Motor
wherein, N
sfor the standard revolving speed of driving engine under current throttle, N
tfor the current rotating speed of driving engine, N
minfor the minimum speed of driving engine under current throttle, I
1for the received current of HM Hydraulic Motor being detected last time.
First above-mentioned control method detects present speed and the current steering angle of vehicle, and judge currently be in which kind of operating mode according to these two parameters, and according to the corresponding drive element horsepower input of concrete operating conditions, the stability contorting to differential screw and steering device can be realized.
The present invention also provides a kind of control system of differential screw and steering device, comprising:
Detecting device, for obtaining present speed and the current steering angle of vehicle;
Controller, is connected with detecting device, for judging described vehicle belongs to which kind of operating mode following according to described present speed and described current steering angle: if straight line moving, send the first control command of the drive motor horsepower input of described differential screw and steering device; If pivot stud, send the second control command of the HM Hydraulic Motor horsepower input of described differential screw and steering device; If turned in advancing, send the 3rd control command of described drive motor and the common horsepower input of described HM Hydraulic Motor.
Executive device, is connected with controller, for receiving and the control command of o controller.
Preferably, when described vehicle advance transfer to time,
Described detecting device is also for detecting the current rotating speed of described drive motor;
Described controller is also for judging whether the current rotating speed of described drive motor is less than default motor speed, and the received current if so, controlling described HM Hydraulic Motor is
wherein S is current steering angle, I
maxfor the current maxima of HM Hydraulic Motor, I
minfor the current minimum of HM Hydraulic Motor, S
maxfor the maxim of steering angle, S
minfor the minimum value of steering angle; If not, the received current controlling described HM Hydraulic Motor is less than
Preferably, described controller is also for after judging that the current rotating speed of described drive motor is not less than default motor speed, and the preset standard curve according to the received current of steering angle and HM Hydraulic Motor inquires about the received current obtaining described HM Hydraulic Motor.
Preferably, when described vehicle advance transfer to time,
Described detecting device is also for detecting the current rotating speed of the driving engine of described vehicle;
Described controller is also for judging whether the difference of the standard revolving speed of driving engine and the current rotating speed of described driving engine under current throttle is less than preset value, and the received current if so, controlling described HM Hydraulic Motor is
if not, the received current controlling described HM Hydraulic Motor is less than
Preferably, above-mentioned controller after the difference of the current rotating speed of the standard revolving speed and described driving engine that judge driving engine under current throttle is not less than preset value,
Control the received current of described HM Hydraulic Motor
wherein, N
sfor the standard revolving speed of driving engine under current throttle, N
tfor the current rotating speed of driving engine, N
minfor the minimum speed of driving engine under current throttle, I
1for the received current of HM Hydraulic Motor being detected last time.
The present invention also provides a kind of construction machinery and equipment, the control system of differential screw and steering device comprise differential screw and steering device, being attached thereto; Described control system adopts control system as above.
Control method due to above-mentioned differential screw and steering device has as above technique effect, therefore, and the control system corresponding with this control method, and the construction machinery and equipment comprising this system also should have identical technique effect, does not repeat them here.
Accompanying drawing explanation
Fig. 1 is the structural representation of differential screw and steering device of the prior art;
Fig. 2 is the FB(flow block) of a kind of detailed description of the invention of the control method of differential screw and steering device provided by the present invention;
Fig. 3 is the FB(flow block) of the another kind of detailed description of the invention of the control method of differential screw and steering device provided by the present invention;
Fig. 4 is the preset standard diagram of curves of the steering angle of the bearing circle of differential screw and steering device and the received current of HM Hydraulic Motor;
Fig. 5 is the structural representation of a kind of detailed description of the invention of the control system of differential screw and steering device provided by the present invention.
Wherein, the Reference numeral in Fig. 1 and the corresponding relation between component names are:
Hub 07, spline housing 08, output shaft 09, motor input gear 10, steering gear 11, idle pulley 12, gear wheel shaft 13, sun wheel 14 in small bevel gear wheel shaft 01, large bevel gear 02, central driving shaft 03, gear ring 04, satellite gear 05, pinion carrier 06, braking;
Reference numeral in Fig. 5 and the corresponding relation between component names are:
Detecting device 51, controller 52, executive device 53.
Detailed description of the invention
Core of the present invention is for providing a kind of control method of differential screw and steering device, and the method can realize the stable turning of differential screw and steering device, the generation of the wild effect such as avoid driving engine in steering procedure to turn round, and ensures the sensitieness that turns to and fine motion.Another core of the present invention is for providing a kind of control system of differential screw and steering device, applying the construction machinery and equipment of this control system.
In order to make those skilled in the art understand technical scheme of the present invention better, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Please refer to Fig. 2, Fig. 2 is the FB(flow block) of a kind of detailed description of the invention of the control method of differential screw and steering device provided by the present invention.
In a kind of detailed description of the invention, as shown in Figure 2, the invention provides a kind of control method of differential screw and steering device, comprise the steps:
S11: the present speed and the current steering angle that detect vehicle;
S12: judge described vehicle belongs to which kind of operating mode following according to described present speed and described current steering angle, if straight line moving, performs step S13; If pivot stud, perform step S14; If turned in advancing, perform step S15;
S13: the drive motor horsepower input of described differential screw and steering device;
S14: the HM Hydraulic Motor horsepower input of described differential screw and steering device;
S15; Described drive motor and the common horsepower input of described HM Hydraulic Motor.
Differential screw and steering device shown in composition graphs 1 is known, rotating speed (the i.e. speed n of small bevel gear wheel shaft 01 of drive motor
01) controlling the speed of travel of vehicle, the rotating speed of HM Hydraulic Motor controls (the speed n of motor input gear 10
10) control the steering angle of vehicle, therefore:
When bulldozer straight line moving, the rotating speed of HM Hydraulic Motor is zero, i.e. n
10=0, now both sides output speed is equal;
When turning in bulldozer advance process, if n
01﹥ 0, if n
10﹤ 0, then left side n
07n on the right side of ﹤
07, bulldozer turns left; If n
10﹥ 0, then left side n
07n on the right side of ﹥
07, bulldozer is turned right; Can in like manner analyze during retrogressing.Can find out, the speed that side increases equals the speed that opposite side reduces, and that is, the speed at car body center remains unchanged simultaneously.
When bulldozer pivot stud, the rotating speed of drive motor is zero, hydraulic motor rotary speed is non-vanishing, i.e. n
01=0, n
10≠ 0, according to the result of above-mentioned equation, left side n
07=-right side n
07, namely achieve bulldozer original place and rotate.
As can be seen here, first above-mentioned control method detects present speed and the current steering angle of vehicle, judge currently be in which kind of operating mode according to these two parameters, then according to the corresponding drive element horsepower input of concrete operating conditions, the stability contorting to differential screw and steering device can be realized.
It should be noted that, above-mentioned control method is not limited in this kind of differential screw and steering device shown in Fig. 1, and it goes for multiple principle differential screw and steering device identical with it.
Can also arrange further in above-mentioned control method for the detailed process turned in advance.
In another kind of detailed description of the invention, as shown in Figure 3, Fig. 3 is the FB(flow block) of the another kind of detailed description of the invention of the control method of differential screw and steering device provided by the present invention, and this control method comprises the steps:
S21: the present speed and the current steering angle that detect vehicle;
S22: judge described vehicle belongs to which kind of operating mode following according to described present speed and described current steering angle, if straight line moving, performs step S23; If pivot stud, perform step S24; If turned in advancing, perform step S251;
S23: the drive motor horsepower input of described differential screw and steering device;
S24: the HM Hydraulic Motor horsepower input of described differential screw and steering device;
S251; Detect the current rotating speed of described drive motor;
S252; Judge whether the current rotating speed of described drive motor is less than default motor speed, if so, perform step S253; If not, step S254 is performed;
S253: the received current controlling described HM Hydraulic Motor is
wherein S is current steering angle, I
maxfor the current maxima of HM Hydraulic Motor, I
minfor the current minimum of HM Hydraulic Motor, S
maxfor the maxim of steering angle, S
minfor the minimum value of steering angle;
S254: the received current controlling described HM Hydraulic Motor is less than
Due to the rotating speed n of HM Hydraulic Motor
10control the steering angle of steering hardware, according to formula
(Q: discharge capacity, V: flow, n: rotating speed, η
vol: efficiency), known discharge capacity Q and n is proportional, and discharge capacity Q and motor control electric current are linear relationship, and therefore the groundwork of the control method of differential screw and steering device is the relation of process handle and motor current.
Adopt said method, when step S251 ~ S254 turns in vehicle is advanced, first the current rotating speed of drive motor is detected, when current rotating speed is less than default motor speed (speed of a motor vehicle is slower), hydraulic control motor is according to proportional relation received current, namely chaufeur is in driving procedure, and the steering wheel rotation of smaller angle can realize turning to of respective angles, namely ensure that the sensitieness of steering hardware.When current rotating speed is greater than default motor speed (speed of a motor vehicle is very fast), the received current of hydraulic control motor is less than the electric current of proportional relation current value, namely, during larger angle ground steering wheel rotation, the steering angle of vehicle is slightly less than corresponding corner, ensure that the fine motion of steering hardware.Like this, the corner excessive safety misadventure caused when vehicle high-speed can be avoided to run, ensures the stability of Vehicular turn further.
More specifically in scheme, as shown in Figure 4, this figure is the preset standard diagram of curves of the steering angle of the bearing circle of differential screw and steering device and the received current of HM Hydraulic Motor, in above-mentioned steps S254, can inquire about according to the preset standard curve of received current of the steering angle preset and HM Hydraulic Motor the received current obtaining HM Hydraulic Motor.
Above-mentioned preset standard curve specifically can set according to the previous experiences value of the engine test bench characteristic curve of vehicle, drive motor full-throttle characteristics, HM Hydraulic Motor parametric curves and those skilled in the art.In this calibrated curve, X-axis is wheel steering value, and Y-axis is the input current value of HM Hydraulic Motor, adopts the step of this inquiry curve acquisition HM Hydraulic Motor received current, ensure that the fine motion of course changing control process.
In another kind of detailed description of the invention, judge in the step S22 of above-mentioned control method that vehicle is advancing transfer backward, can also step be performed
S255: the current rotating speed detecting the driving engine of described vehicle;
S256: judge whether the difference of the standard revolving speed of driving engine and the current rotating speed of described driving engine under current throttle is less than preset value, if so, perform step S257; If not, step S258 is performed;
S257: the received current controlling described HM Hydraulic Motor is
S258: the received current controlling described HM Hydraulic Motor is less than
Because majority adopts the equal load of construction machinery and equipment of differential screw and steering device larger, therefore in steering procedure, the load of side drive motor can increase suddenly a lot, now the output torque of driving engine increases, to carry the load increased suddenly, correspondingly, the rotating speed of driving engine can decline (phenomenon of namely " turning round ") suddenly, if do not regulated system, be now easy to the phenomenon of engine off.
Adopt said method, first step S255 ~ S258 judges the current rotating speed of driving engine, if the standard revolving speed of the current rotating speed of driving engine and current throttle is only poor be less than preset value, namely driving engine is not turned round, then HM Hydraulic Motor inputs corresponding electric current according to proportional relation; When the difference of the standard revolving speed of current rotating speed and current throttle is greater than preset value, namely the rotating speed of driving engine is dropped suddenly, is now reduced by above-mentioned rate-determining steps the input circuit of HM Hydraulic Motor, thus reduce the load of driving engine, avoid driving engine in steering procedure " to turn round " generation of phenomenon, thus avoid engine off, ensure the stability of differential screw and steering device.
In concrete scheme, above-mentioned S258 specifically can control the received current of described HM Hydraulic Motor
wherein, N
sfor the standard revolving speed of driving engine under current throttle, N
tfor the current rotating speed of driving engine, N
minfor the minimum speed of driving engine under current throttle, I
1for the received current of HM Hydraulic Motor being detected last time.Like this, the accuracy of above-mentioned control method can further be ensured.
In addition, please refer to Fig. 5, Fig. 5 is the structural representation of a kind of detailed description of the invention of the control system of differential screw and steering device provided by the present invention.
In a kind of detailed description of the invention, as shown in Figure 5, the present invention also provides a kind of control system of differential screw and steering device, comprising:
Detecting device 51, for obtaining present speed and the current steering angle of vehicle;
Controller 52, be connected with detecting device 51, for judging described vehicle belongs to which kind of operating mode following according to described present speed and described current steering angle: if straight line moving, send the first control command of the drive motor horsepower input of described differential screw and steering device; If pivot stud, send the second control command of the HM Hydraulic Motor horsepower input of described differential screw and steering device; If turned in advancing, send the 3rd control command of described drive motor and the common horsepower input of described HM Hydraulic Motor.
Executive device 53, is connected with controller 52, for receiving and the control command of o controller 52.
In concrete scheme, when described vehicle advance transfer to time, above-mentioned detection device 51 is also for detecting the current rotating speed of described drive motor; Described controller 52 is also for judging whether the current rotating speed of described drive motor is less than default motor speed, and the received current if so, controlling described HM Hydraulic Motor is
wherein S is current steering angle, I
maxfor the current maxima of HM Hydraulic Motor, I
minfor the current minimum of HM Hydraulic Motor, S
maxfor the maxim of steering angle, S
minfor the minimum value of steering angle; If not, the received current controlling described HM Hydraulic Motor is less than
Further, above-mentioned controller 52 is also for after judging that the current rotating speed of described drive motor is not less than default motor speed, and the preset standard curve according to the received current of steering angle and HM Hydraulic Motor inquires about the received current obtaining HM Hydraulic Motor.
In another kind of concrete scheme, when described vehicle advance transfer to time, the detecting device 51 of the control system of upper differential screw and steering device is also for detecting the current rotating speed of the driving engine of described vehicle; Described controller 52 is also for judging whether the difference of the standard revolving speed of driving engine and the current rotating speed of described driving engine under current throttle is less than preset value, and the received current if so, controlling described HM Hydraulic Motor is
if not, the received current controlling described HM Hydraulic Motor is less than
Further in scheme, above-mentioned controller after the difference of the current rotating speed of the standard revolving speed and described driving engine that judge driving engine under current throttle is not less than preset value,
Control the received current of described HM Hydraulic Motor
wherein, N
sfor the standard revolving speed of driving engine under current throttle, N
tfor the current rotating speed of driving engine, N
minfor the minimum speed of driving engine under current throttle, I
1for the received current of HM Hydraulic Motor being detected last time.
Control method due to above-mentioned differential screw and steering device has as above technique effect, and therefore, the control system of the differential screw and steering device corresponding with this control method also should have identical technique effect, does not repeat them here.
In addition, the present invention also provides a kind of construction machinery and equipment, comprises the control system of differential screw and steering device and differential screw and steering device; Described control system adopts structure as above.
In concrete scheme, above-mentioned construction machinery and equipment can be specially bulldozer.Certainly, above-mentioned construction machinery and equipment is not limited in bulldozer, can also be the construction machinery and equipment of other types.
Control system due to above-mentioned differential screw and steering device has as above technique effect, and therefore, the construction machinery and equipment applying this control system also should have identical technique effect, does not repeat them here.
Above the control method of a kind of differential screw and steering device provided by the present invention, system and the construction machinery and equipment of applying this system are described in detail.Apply specific case herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improve and modify and also fall in the protection domain of the claims in the present invention.
Claims (9)
1. a control method for differential screw and steering device, is characterized in that, comprises the steps:
Detect present speed and the current steering angle of vehicle,
Judge described vehicle belongs to which kind of operating mode following according to described present speed and described current steering angle: if straight line moving, the drive motor horsepower input of described differential screw and steering device; If pivot stud, the HM Hydraulic Motor horsepower input of described differential screw and steering device; If turned in advancing, described drive motor and the common horsepower input of described HM Hydraulic Motor;
When described vehicle advance transfer to time,
Detect the current rotating speed of described drive motor,
Judge whether the current rotating speed of described drive motor is less than default motor speed, the received current if so, controlling described HM Hydraulic Motor is
wherein S is current steering angle, I
maxfor the current maxima of HM Hydraulic Motor, I
minfor the current minimum of HM Hydraulic Motor, S
maxfor the maxim of steering angle, S
minfor the minimum value of steering angle; If not, the received current controlling described HM Hydraulic Motor is less than
2. the control method of differential screw and steering device according to claim 1, it is characterized in that, after judging that the current rotating speed of described drive motor is not less than default motor speed, the preset standard curve according to the received current of steering angle and HM Hydraulic Motor inquires about the received current obtaining described HM Hydraulic Motor.
3. a control method for differential screw and steering device, is characterized in that, comprises the steps:
Detect present speed and the current steering angle of vehicle,
Judge described vehicle belongs to which kind of operating mode following according to described present speed and described current steering angle: if straight line moving, the drive motor horsepower input of described differential screw and steering device; If pivot stud, the HM Hydraulic Motor horsepower input of described differential screw and steering device; If turned in advancing, described drive motor and the common horsepower input of described HM Hydraulic Motor;
When described vehicle advance transfer to time,
Detect the current rotating speed of the driving engine of described vehicle;
Judge whether the difference of the standard revolving speed of driving engine and the current rotating speed of described driving engine under current throttle is less than preset value, and the received current if so, controlling described HM Hydraulic Motor is
if not, the received current controlling described HM Hydraulic Motor is less than
4. the control method of differential screw and steering device according to claim 3, is characterized in that, after the difference of the current rotating speed of the standard revolving speed and described driving engine that judge driving engine under current throttle is not less than preset value,
Control the received current of described HM Hydraulic Motor
wherein, N
sfor the standard revolving speed of driving engine under current throttle, N
tfor the current rotating speed of driving engine, N
minfor the minimum speed of driving engine under current throttle, I
1for the received current of HM Hydraulic Motor being detected last time.
5. a control system for differential screw and steering device, is characterized in that, comprising:
Detecting device (51), for obtaining present speed and the current steering angle of vehicle;
Controller (52), be connected with detecting device (51), for judging described vehicle belongs to which kind of operating mode following according to described present speed and described current steering angle: if straight line moving, send the first control command of the drive motor horsepower input of described differential screw and steering device; If pivot stud, send the second control command of the HM Hydraulic Motor horsepower input of described differential screw and steering device; If turned in advancing, send the 3rd control command of described drive motor and the common horsepower input of described HM Hydraulic Motor;
Executive device (53), is connected with controller (52), for receiving and the control command of o controller (52);
When described vehicle advance transfer to time,
Described detecting device (51) is also for detecting the current rotating speed of described drive motor;
Described controller (52) is also for judging whether the current rotating speed of described drive motor is less than default motor speed, and the received current if so, controlling described HM Hydraulic Motor is
wherein S is current steering angle, I
maxfor the current maxima of HM Hydraulic Motor, I
minfor the current minimum of HM Hydraulic Motor, S
maxfor the maxim of steering angle, S
minfor the minimum value of steering angle; If not, the received current controlling described HM Hydraulic Motor is less than
6. the control system of differential screw and steering device according to claim 5, it is characterized in that, described controller (52) is also for after judging that the current rotating speed of described drive motor is not less than default motor speed, and the preset standard curve according to the received current of steering angle and HM Hydraulic Motor inquires about the received current obtaining described HM Hydraulic Motor.
7. a control system for differential screw and steering device, is characterized in that, comprising:
Detecting device (51), for obtaining present speed and the current steering angle of vehicle;
Controller (52), be connected with detecting device (51), for judging described vehicle belongs to which kind of operating mode following according to described present speed and described current steering angle: if straight line moving, send the first control command of the drive motor horsepower input of described differential screw and steering device; If pivot stud, send the second control command of the HM Hydraulic Motor horsepower input of described differential screw and steering device; If turned in advancing, send the 3rd control command of described drive motor and the common horsepower input of described HM Hydraulic Motor;
Executive device (53), is connected with controller (52), for receiving and the control command of o controller (52);
When described vehicle advance transfer to time,
Described detecting device (51) is also for detecting the current rotating speed of the driving engine of described vehicle;
Described controller (52) is also for judging whether the difference of the standard revolving speed of driving engine and the current rotating speed of described driving engine under current throttle is less than preset value, and the received current if so, controlling described HM Hydraulic Motor is
if not, the received current controlling described HM Hydraulic Motor is less than
8. the control system of differential screw and steering device according to claim 7, is characterized in that, above-mentioned controller after the difference of the current rotating speed of the standard revolving speed and described driving engine that judge driving engine under current throttle is not less than preset value,
Control the received current of described HM Hydraulic Motor
wherein, N
sfor the standard revolving speed of driving engine under current throttle, N
tfor the current rotating speed of driving engine, N
minfor the minimum speed of driving engine under current throttle, I
1for the received current of HM Hydraulic Motor being detected last time.
9. a construction machinery and equipment, the control system of differential screw and steering device comprise differential screw and steering device, being attached thereto; It is characterized in that, described control system adopts the control system of the differential screw and steering device as described in any one of claim 5-8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410028214.XA CN103723188B (en) | 2014-01-21 | 2014-01-21 | The control method of differential screw and steering device, system and apply the construction machinery and equipment of this system |
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| CN201410028214.XA CN103723188B (en) | 2014-01-21 | 2014-01-21 | The control method of differential screw and steering device, system and apply the construction machinery and equipment of this system |
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| CN103723188B true CN103723188B (en) | 2016-04-06 |
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| CN110509991B (en) * | 2019-08-13 | 2020-10-16 | 深兰科技（上海）有限公司 | Method and device for adjusting rotating speed |
| CN112208630B (en) * | 2020-10-19 | 2021-11-09 | 江苏徐工工程机械研究院有限公司 | Differential hydraulic combined steering control method and system and engineering vehicle |
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| CN202152066U (en) * | 2011-07-19 | 2012-02-29 | 山推工程机械股份有限公司 | Differential steering structure |
| CN202574365U (en) * | 2012-05-25 | 2012-12-05 | 山推工程机械股份有限公司 | Combined unit of electric drive and hydraulic differential steering and bulldozer |
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| GB2480852A (en) * | 2010-06-03 | 2011-12-07 | Mira Ltd | Yaw motion control of a vehicle |
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| JP2005178527A (en) * | 2003-12-18 | 2005-07-07 | Nissan Motor Co Ltd | Electric-driven vehicle |
| CN101767535A (en) * | 2008-12-30 | 2010-07-07 | 比亚迪股份有限公司 | Driving/braking system and method of independent four-wheel electric automobile |
| CN202152066U (en) * | 2011-07-19 | 2012-02-29 | 山推工程机械股份有限公司 | Differential steering structure |
| CN202574365U (en) * | 2012-05-25 | 2012-12-05 | 山推工程机械股份有限公司 | Combined unit of electric drive and hydraulic differential steering and bulldozer |
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