The invention provides a wheel angle fault detection device and method applied to an unmanned container truck steering system, and the device comprises a hydraulic controller which is used for obtaining a theoretical rotation angle of each wheel according to the rotation angle instructions of a front axle and a rear axle of a vehicle, and calculating an equivalent steering angle # imgabs0 # according to an inner wheel angle a and an outer wheel angle b; the steering angle sensor is arranged on a bogie of a vehicle axle and used for detecting the steering angle of a vehicle in real time and sending out a detection signal; the displacement sensors are arranged on the steering oil cylinders on the two sides of the vehicle and used for judging whether the telescopic error s of the steering oil cylinders on the normal side exceeds the standard or not, and when the telescopic error s of the steering oil cylinders on the normal side does not exceed the standard, the wheel angle fault is judged to be the second-level fault. According to the technical scheme, multiple fault modes can be covered, the fault severity degree can be accurately judged, and corresponding control strategies are implemented according to different faults.
本发明提供一种应用于无人集卡转向系统的轮角故障检测装置及方法,所述装置包括:液压控制器,用于根据车辆前、后桥转角指令,获取每个车轮的理论转角,并根据内轮轮角a和外轮轮角b,计算等效转向角#imgabs0#;转角传感器,设置于车辆车桥的转向架上,用于实时检测车轮转角,发出检测信号;位移传感器,设置于车辆两侧的转向油缸上,用于判断正常侧转向油缸伸缩误差s是否超标,当正常侧转向油缸伸缩误差s未超标时,则判断轮角故障为二级故障。该技术方案更够覆盖多种故障方式,准确判断故障严重程度,根据不同故障实施相对应的控制策略。
Wheel corner fault detection device and method applied to unmanned container truck steering system
一种应用于无人集卡转向系统的轮角故障检测装置及方法
09.07.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Container loading and unloading alignment method and device applied to unmanned container truck
Europäisches Patentamt | 2024
|Kraftfahrwesen | 1989
|Unmanned mine truck steering system fault diagnosis method based on data driving
Europäisches Patentamt | 2023
|Torque distribution method and system applied to unmanned container truck and medium
Europäisches Patentamt | 2024
|