Synchronized steering control systems for forklifts
A steer-by-wire control system adapted for use with a material handling vehicle such as a forklift includes a controller programmed to receive input indicative of a desired direction of travel of the material handling vehicle and to control an actuator coupled with the steered wheels of the material handling vehicle to change the direction of travel of the vehicle and synchronize the direction of travel with a position of a steering wheel of the material handling vehicle.
1. A steer-by-wire control system for use with a material handling vehicle, the steer-by-wire control system comprising:
a steering assembly including:
steered wheels supported on ground underlying the steered wheels, the steered wheels adapted to turn relative to the ground to set a direction of travel of the material handling vehicle,
a steering wheel configured to rotate about a steering wheel axis, and
a linear actuator coupled with the steered wheels and configured to turn the steered wheels relative to the ground, the linear actuator including a ball screw nut, an actuator rod, and a rotation position sensor, the ball screw nut configured to rotate about an actuator axis to cause the actuator rod to translate axially relative to the actuator axis, the actuator rod configured to turn the steered wheels in response to the actuator rod translating axially, and the rotation position sensor configured to generate data indicative of an angular position of the ball screw nut relative to the actuator axis, and
a controller connected with the steering wheel and the linear actuator and configured to cause the actuator rod to translate in response to rotation of the steering wheel according to a lock-to-lock ratio between the linear actuator and the steering wheel to vary an angle of the steered wheels, the controller programmed to:
receive data indicative of the angular position of the ball screw nut from the rotation position sensor,
determine a linear position of the actuator rod relative to the actuator axis based on the data indicative of the angular position of the ball screw nut,
determine a target steering wheel position of the steering wheel relative to the steering wheel axis based on the linear position of the actuator rod,
receive data indicative of a measured steering wheel position of the steering wheel relative to the steering wheel axis,
compare the measured steering wheel position and the target steering wheel position, and
vary the lock-to-lock ratio based on the comparison between the measured steering wheel position and the target steering wheel position to cause a difference between the measured steering wheel position and the target steering wheel position to be reduced in response to the steering wheel being rotated about the steering wheel axis.
2. The steer-by-wire control system of claim 1 , further comprising a steered wheel angle sensor configured to measure an angle of the steered wheels and wherein the controller is programmed to determine the linear position of the actuator rod relative to the actuator axis based on the data indicative of the position of the ball screw nut and the angle of the steered wheels as measured upon startup of the controller.
3. The steer-by-wire control system of claim 1 , wherein the lock-to-lock ratio is defined by an amount of rotation of the steering wheel to an amount of axial translation of the actuator rod.
4. The steer-by-wire control system of claim 1 , wherein the controller is programmed to vary the lock-to-lock ratio in response to the difference between the measured steering wheel position and the target steering wheel position being greater than a preset value.
5. The steer-by-wire control system of claim 4 , wherein the preset value is zero.
6. The steer-by-wire control system of claim 1 , wherein the controller is programmed to vary the lock-to-lock ratio between a set minimum ratio and a set maximum ratio and wherein the set minimum ratio and the set maximum ratio are based on percentages of a default lock-to-lock ratio.
7. The steer-by-wire control system of claim 1 , wherein the controller is programmed to decrease the lock-to-lock ratio in response to the steering wheel being rotated about the steering wheel axis away from the target steering wheel position.
8. The steer-by-wire control system of claim 1 , wherein the controller is programmed to increase the lock-to-lock ratio in response to the steering wheel being rotated about the steering wheel axis toward the target steering wheel position.
9. The steer-by-wire control system of claim 1 , wherein the controller is programmed to continuously vary the lock-to-lock ratio based on comparisons between measured steering wheel positions and target steering wheel positions for all speeds of the steered wheels and for all turn positions of the steered wheels.
10. A steer-by-wire control system comprising:
a steering assembly including a steered wheel, a steering wheel configured to rotate about a steering wheel axis, and an actuator coupled with the steered wheel and configured to change a direction of the steered wheel in response to rotation of the steering wheel about the steering wheel axis, and
a controller connected with the actuator and configured to cause the actuator to move between a plurality of positions in response to rotation of the steering wheel according to a lock-to-lock ratio between the actuator and the steering wheel, the controller programmed to:
determine a target steering wheel position of the steering wheel relative to the steering wheel axis based on a measured position of the actuator,
receive data indicative of a measured steering wheel position of the steering wheel relative to the steering wheel axis, and
vary the lock-to-lock ratio based on a difference between the target steering wheel position and the measured steering wheel position.
11. The steer-by-wire control system of claim 10 , wherein the actuator includes a ball screw nut, an actuator rod, and a rotation position sensor, the ball screw nut configured to rotate about an actuator axis to cause the actuator rod to translate axially relative to the actuator axis, the actuator rod configured to turn the steered wheel in response to the actuator rod translating axially, and the rotation position sensor configured to generate data indicative of an angular position of the ball screw nut relative to the actuator axis.
12. The steer-by-wire control system of claim 11 , wherein the measured position of the actuator is based on the data indicative of the angular position of the ball screw nut.
13. The steer-by-wire control system of claim 12 , further comprising a steered wheel angle sensor configured to generate data indicative of a measured angle of the steered wheel and wherein the measured position of the actuator is based on the data indicative of the measured angle of the steered wheels and the data indicative of the angular position of the ball screw nut from the rotational position sensor.
14. The steer-by-wire control system of claim 10 , wherein varying the lock-to-lock ratio is performed in response to a difference between the measured steering wheel position and the target steering wheel position being greater than a preset value.
15. The steer-by-wire control system of claim 14 , wherein the preset value is zero.
16. The steer-by-wire control system of claim 10 , wherein the target steering wheel position of the steering wheel relative to the steering wheel axis and the measured position of the actuator have a linear relationship.
17. A method of operating a steer-by-wire control system, the method comprising:
moving an actuator between a plurality of positions in response to rotation of a steering wheel about a steering wheel axis according to a lock-to-lock ratio to cause the actuator to turn a steered wheel,
determining a position of the actuator,
determining a target steering wheel position of the steering wheel relative to the steering wheel axis based on the position of the actuator,
measuring a measured position of the steering wheel, and
varying the lock-to-lock ratio based on the target steering wheel position and the measured position of the steering wheel.
18. The method of claim 17 , wherein the actuator includes a ball screw nut, an actuator rod, and a rotation position sensor, the ball screw nut is configured to rotate about an actuator axis to cause the actuator rod to translate axially relative to the actuator axis, the actuator rod is configured to turn the steered wheel in response to the actuator rod translating axially, and the rotation position sensor is configured to generate data indicative of an angular position of the ball screw nut relative to the actuator axis.
19. The method of claim 18 , wherein determining the position of the actuator is based on the data indicative of the angular position of the ball screw nut relative to the actuator axis.
20. The method of claim 19 , wherein determining the position of the actuator is based on the data indicative of the angular position of the ball screw nut relative to the actuator axis and on data indicative of a measured angle of a steered wheel.