Autonomous-driving hydraulic steering modification control system and control method
View Patent ↗An autonomous-driving hydraulic steering modification control system disclosed by this application includes a steering wheel, a hydraulic steering mechanism and a turning wheel, the hydraulic steering mechanism is connected with the steering wheel and the turning wheel respectively, the steering wheel is connected with the hydraulic steering mechanism through a first rotating shaft and a second rotating shaft, one end of the first rotating shaft is connected with the steering wheel, the other end of the first rotating shaft is connected with one end of the second rotating shaft through a steering connector, the other end of the second rotating shaft is connected with the hydraulic steering mechanism, and a steering motor is arranged on the second rotating shaft and is configured to drive the hydraulic steering mechanism to rotate so as to make the turning wheel rotate.
1 . An autonomous-driving hydraulic steering modification control method, performed by an autonomous-driving hydraulic steering modification control system, the control method comprising the following steps:
obtaining current turning angle data of a turning wheel of the autonomous-driving hydraulic steering modification control system;
comparing the current turning angle data of the turning wheel with expected turning angle data of the turning wheel, and calculating a difference value between the current turning angle data and the expected turning angle data;
judging whether the difference value is within a preset precision range;
providing a first-stage precision control using a steering motor of the autonomous-driving hydraulic steering modification control system;
adjusting a transmission ratio of a transmission mechanism of the autonomous-driving hydraulic steering modification control system to provide a second-stage precision control in response to the difference value being not within the preset precision range, wherein the transmission mechanism comprises a pinion and a larger gear engaged with the pinion, and the adjusting step comprises substituting the pinion with a different pinion having a different number of teeth and/or substituting the larger gear with a different larger gear having a different number of teeth;
obtaining an expected rotating speed and expected turning angle data of the steering motor by introducing the difference value into a PID controller;
controlling the steering motor to act according to the expected rotating speed and expected turning angle data of the steering motor; and
returning feedback turning angle data collected by an encoder of the autonomous-driving hydraulic steering modification control system to a controller of the autonomous-driving hydraulic steering modification control system.
2 . The autonomous-driving hydraulic steering modification control method according to claim 1 , wherein
turning angle data of the turning wheel equals feedback turning angle data of the encoder *a, a being a corresponding relationship between data of the encoder and an angle of the turning wheel.
3 . The autonomous-driving hydraulic steering modification control method according to claim 2 , wherein
the expected rotating speed of the steering motor equals an expected rotating speed of the turning wheel *b; and
an expected turning angle of the steering motor equals an expected turning angle of the turning wheel *b, b being a relationship between an angle change of the steering motor and an angle change of the turning wheel.
4 . The autonomous-driving hydraulic steering modification control method according to claim 3 , wherein the step of controlling the steering motor to act according to the expected rotating speed and expected turning angle data of the steering motor comprises:
controlling a double output shaft motor to act according to the expected rotating speed and expected turning angle data of the double output shaft motor.
5 . The autonomous-driving hydraulic steering modification control method according to claim 4 , wherein
a preset included angle is formed between a first rotating shaft and a second rotating shaft of the autonomous-driving hydraulic steering modification control system.