Flexible Steering Control System for Roadway Trackless Wheeled Hydraulic Power Units

Abstract

The invention relates to a control system for compliance steer of a roadway trackless wheeled hydraulic power vehicle group, which comprises steering mechanisms mounted on a power source vehicle and a steering wheel group of each haulage vehicle, a proportional direction valve mounted on each steering wheel group, an angular displacement sensor mounted on the axial line of each steering wheel group, a power source vehicle steering sensor mounted in a driving cab at the front of the power source vehicle and connected with a steering wheel, a master controller arranged in an explosion-proof electric cabinet of the power source vehicle, a haulage vehicle steering sensor mounted on a connecting rod of each haulage vehicle, and a slave controller mounted in an explosion-proof box of each haulage vehicle, wherein control programs compiled according to a built steering kinematics model of the whole vehicle wheel train are mounted in the main controller; and the master controller, the slave controller, the power source vehicle steering sensor, the haulage vehicle steering sensor and the angular displacement sensor are connected by adopting a CAN (Controller Area Network) bus. The invention has the advantages that the control system is suitable for the control of a split type haulage vehicle, and realizes driving of a person in a relatively broad environment.

Description

technical field [0001] The invention belongs to the technical field of intelligent control of steering modes of special vehicles, and relates to a steering control system for a hydraulic heavy-duty transport power train set, in particular to a flexible steering control system for a roadway trackless wheel hydraulic power train set. Background technique [0002] Due to the complex terrain of the roadway, the narrow end face and the long and narrow space, the transport vehicles often need to perform complex steering operations. At present, the trackless underground roadway load transport vehicles at home and abroad generally adopt the front and rear vehicle articulated steering mode. With this mode, the power vehicle tows the transport vehicle, the probability of slipping and slipping between the walking tires and the ground is high, the tires are severely worn, the safety and reliability of the whole vehicle are poor, and the system consumes a lot of energy; at the same time,...

AI Technical Summary

Problems solved by technology

Using this mode, the power vehicle tows the transport vehicle, the probability of slipping and slipping between the walking tires and the ground is high, the tires are worn seriously, the safety and reliability of the whole vehicle are poor, and the system consumes a lot of energy; at the same time, the steering mechanism is bloated and the steering structure is limited. , the steering radius of the whole vehicle is large, the steering flexibility is poor, and there are safety hazards in sharp turns

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