CN-117569292-B - Steering control system and method suitable for backfill compactor

Abstract

The invention discloses a steering control system and a steering control method suitable for a backfill compactor, wherein the system comprises an oil tank, a hydraulic pump, an electric proportional load sensitive multi-way valve, a left steering cylinder, a right steering cylinder, a controller and a handle, wherein a port B of the hydraulic pump is connected with a port P of the electric proportional load sensitive multi-way valve, a port A1 of the electric proportional load sensitive multi-way valve is connected with a rodless cavity of the left steering cylinder and a rodless cavity of the right steering cylinder, a port B1 of the electric proportional load sensitive multi-way valve is connected with the rodless cavity of the left steering cylinder and the rodless cavity of the right steering cylinder, an input end of the controller is connected with the handle, an output end of the controller is connected with an electromagnetic coil Ya1 and an electromagnetic coil Yb1 of the electric proportional load sensitive multi-way valve, a first sensor is arranged between the left steering cylinder and an input end of the controller, and a second sensor is arranged between the right steering cylinder and the input end of the controller. The invention can realize the control of different steering speeds to slow down the speed in the process of steering action to the limit position, and avoid the impact caused by the rapid collision of the steering limiting device.

Inventors

• ZHANG JUNXIAN
• NIU CHUNLIANG
• ZHUANG KUN
• Hao Lukun
• WANG HOUDONG
• HUANG XI
• HE YUQI

Assignees

• 徐工集团工程机械股份有限公司道路机械分公司

Dates

Publication Date

20260505

Application Date

20231123

Claims (7)

1. 1. The steering control method suitable for the backfill compactor is characterized by being applied to a steering control system suitable for the backfill compactor, wherein the steering control system suitable for the backfill compactor comprises an oil tank (1), a hydraulic pump (3), an electric proportional load sensitive multi-way valve (4), a left steering oil cylinder (51), a right steering oil cylinder (52), a controller (7) and a handle (8), wherein the oil tank (1) is connected with the hydraulic pump (3), and a port B of the hydraulic pump (3) is connected with a port P of the electric proportional load sensitive multi-way valve (4); The port A1 of the electric proportional load sensitive multi-way valve (4) is connected with a rodless cavity of the left steering cylinder (51) and a rod-containing cavity of the right steering cylinder (52), and the port B1 of the electric proportional load sensitive multi-way valve is connected with the rod-containing cavity of the left steering cylinder (51) and the rodless cavity of the right steering cylinder (52); the input end of the controller (7) is connected with the handle (8), and the output end of the controller is connected with the electromagnetic coil Ya1 and the electromagnetic coil Yb1 of the electric proportional load sensitive multi-way valve (4); a first sensor (61) is arranged between the left steering cylinder (51) and the input end of the controller (7), and a second sensor (62) is arranged between the right steering cylinder (52) and the input end of the controller (7); the steering control method suitable for the backfill compactor comprises the following steps: the steering handle (8) is used for controlling steering actions, and the handle (8) sends steering signals and steering stroke values to the controller (7); The controller (7) determines to apply current to the electromagnetic coil Ya1 or the electromagnetic coil Yb1 of the electric proportional load sensitive multi-way valve (4) based on the steering signal, and the controller (7) calculates the applied current value based on the signal monitored by the first sensor (61) or the second sensor (62) and the steering stroke value of the handle (8); after the electromagnetic coil Ya1 or the electromagnetic coil Yb1 is electrified, the electric proportional load sensitive multi-way valve (4) is in a corresponding working position, hydraulic oil from the port B of the hydraulic pump (3) enters the port P of the electric proportional load sensitive multi-way valve (4), and enters the left steering cylinder (51) and the right steering cylinder (52) from the port B1 or the port A1 of the electric proportional load sensitive multi-way valve (4) to drive the steering mechanism to realize steering action; When the controller (7) reads a left steering signal, the current value I yb1 of the right steering control valve (9) is controlled to be 0, when the actual value of the first sensor (61) is larger than a set value, the controller (7) outputs the current value to the left steering control valve (10) to be reduced to a minimum value I min from the steering stroke value corresponding to the handle (8) according to the actual value of the first sensor (61), and when the actual value of the first sensor (61) is not larger than the set value, the controller (7) calculates the current value I ya1 according to the steering stroke value of the handle (8) and outputs the current value I ya1 to the left steering control valve (10); When the controller (7) reads the right steering signal, the current value I ya1 of the left steering control valve (10) is controlled to be 0, when the actual value of the second sensor (62) is larger than a set value, the controller (7) outputs the current value to the right steering control valve (9) to be reduced to a minimum value I min from the steering stroke value corresponding to the handle (8) according to the actual value of the second sensor (62), and when the actual value of the second sensor (62) is not larger than the set value, the controller (7) calculates the current value I yb1 according to the steering stroke value of the handle (8) and outputs the current value I yb1 to the right steering control valve (9).
2. 2. The steering control method for the backfill compactor according to claim 1, wherein the controller (7) is used for outputting current to the electromagnetic coil Ya1 or the electromagnetic coil Yb1 of the electric proportional load sensitive multi-way valve (4), and after the electromagnetic coil Ya1 or the electromagnetic coil Yb1 of the electric proportional load sensitive multi-way valve (4) is powered, hydraulic oil outputs oil to the left steering cylinder (51) and the right steering cylinder (52) from an A1 port or a B1 port of the electric proportional load sensitive multi-way valve (4) to realize steering action.
3. 3. The method of controlling steering for a backfill compactor according to claim 1, wherein the controller (7) adjusts the output current based on the signal detected by the first sensor (61) or the second sensor (62) to control different steering speeds.
4. 4. The method of controlling a turning for a backfill compactor according to claim 1, wherein the first sensor (61) is mounted inside the left steering cylinder (51) or on the turning device of the backfill compactor and the second sensor (62) is mounted inside the right steering cylinder (52) or on the turning device of the backfill compactor.
5. 5. The steering control method for the backfill compactor according to claim 1, wherein after the electromagnetic coil Ya1 is powered on, the electric proportional load sensitive multi-way valve (4) is positioned at the left position, hydraulic oil enters a rodless cavity of the left steering cylinder (51) and a rod cavity of the right steering cylinder (52) from an opening A1 of the electric proportional load sensitive multi-way valve (4) to drive the steering mechanism to realize the right steering action.
6. 6. The method for controlling the turning of the backfill compactor according to claim 1, wherein after the electromagnetic coil Yb1 is powered on, the electric proportional load sensitive multi-way valve (4) is positioned at the right position, hydraulic oil enters a rod cavity of the left turning cylinder (51) and a rodless cavity of the right turning cylinder (52) from a port B1 of the electric proportional load sensitive multi-way valve (4) to drive the turning mechanism to realize the left turning action.
7. 7. The method of claim 1, wherein the current value applied by the controller (7) is positively correlated with the steering travel value of the handle (8), and the steering speed of the steering mechanism is controlled by the current value output by the controller (7).

Description

Steering control system and method suitable for backfill compactor Technical Field The invention belongs to the field of engineering machinery, and particularly relates to a steering control system and method suitable for a backfill compactor. Background The existing hydraulic steering system for the backfill compactor in the industry mainly comprises a gear pump, a steering gear and a steering oil cylinder, and comprises a load-sensitive pump, a multi-way valve and the steering oil cylinder. The first system has the advantages of simple composition and low cost, the system always outputs flow at the full displacement of the gear pump, the second system has the advantages of energy conservation, little oil output when no load exists, little pump output power and more adoption of the second system in the current energy conservation age. However, in the use process, the tonnage of the backfill compactor is generally larger and is generally more than 28 tons, the design size and the weight of the corresponding steering mechanism are larger, when the steering operation is extremely limited, uncomfortable experience is brought to a driver due to collision between the limiting devices, and meanwhile, the service life of the limiting devices can be reduced in quick collision for a long time. Disclosure of Invention The invention aims to provide a steering control system and a steering control method suitable for a backfill compactor, wherein in the scheme, a controller adjusts output current according to signals monitored by a sensor, so that the control of different steering speeds is realized, the speed in the process of steering action to a limit position is slowed down, and the impact caused by the rapid collision of a steering limiting device is avoided. The steering control system suitable for the backfill compactor comprises an oil tank, a hydraulic pump, an electric proportional load sensitive multi-way valve, a left steering oil cylinder, a right steering oil cylinder, a controller and a handle, wherein the oil tank is connected with the hydraulic pump, and a port B of the hydraulic pump is connected with a port P of the electric proportional load sensitive multi-way valve; The port A1 of the electric proportional load sensitive multiway valve is connected with the rodless cavity of the left steering cylinder and the rod-containing cavity of the right steering cylinder, and the port B1 of the electric proportional load sensitive multiway valve is connected with the rod-containing cavity of the left steering cylinder and the rod-free cavity of the right steering cylinder; the input end of the controller is connected with the handle, and the output end of the controller is connected with the electromagnetic coil Ya1 and the electromagnetic coil Yb1 of the electric proportional load sensitive multi-way valve; A first sensor is arranged between the left steering cylinder and the input end of the controller, and a second sensor is arranged between the right steering cylinder and the input end of the controller. Further, the controller is used for outputting current to the electromagnetic coil Ya1 or the electromagnetic coil Yb1 of the electric proportional load sensitive multi-way valve, and after the electromagnetic coil Ya1 or the electromagnetic coil Yb1 of the electric proportional load sensitive multi-way valve is powered, hydraulic oil outputs oil to the left steering cylinder and the right steering cylinder from the port A1 or the port B1 of the electric proportional load sensitive multi-way valve to realize steering action. Further, the controller adjusts the output current according to the signal monitored by the first sensor or the second sensor, so as to control different steering speeds. Further, the first sensor is arranged in the left steering cylinder or on the steering device of the backfill compactor, and the second sensor is arranged in the right steering cylinder or on the steering device of the backfill compactor. Based on the same inventive concept, the steering control method suitable for the backfill compactor is applied to the steering control system suitable for the backfill compactor, and comprises the following steps: the steering handle is operated to control steering actions, and the steering signals and steering stroke values of the steering handle are sent to the controller by the handle; the controller determines to apply current to the electromagnetic coil Ya1 or the electromagnetic coil Yb1 of the electric proportional load sensitive multi-way valve based on the steering signal, and the controller calculates the applied current value based on the signal monitored by the first sensor or the second sensor and the steering stroke value of the handle; After the electromagnetic coil Ya1 or the electromagnetic coil Yb1 is electrified, the electric proportional load sensitive multi-way valve is in a corresponding working position, hydraulic oil from the port B of the hydraulic pump e