The invention discloses an electric control full-hydraulic steering system considering steering clearance and hydraulic nonlinearity, which comprises a full-hydraulic steering module, and the full-hydraulic steering module comprises a steering oil cylinder, a full-hydraulic steering valve, a steering oil pump, a direct current motor, an oil tank, an intelligent control system and a stator-rotor pair. The intelligent control system comprises an MPC trajectory tracking module considering a steering gap and a full-hydraulic steering sliding mode control module considering hydraulic nonlinearity. According to the method, the target front wheel steering angle considering the steering clearance is obtained through prediction, optimization and quadratic programming solving, then a full-hydraulic steering model based on hydraulic nonlinearity is built, a piston displacement tracking state-space equation is derived, and then the voltage of a direct-current motor is solved through a sliding mode controller according to the piston displacement tracking state-space equation. And finally, the rotating speed of a motor output shaft is controlled by controlling the voltage of the direct-current motor to realize vehicle steering, so that the reference trajectory tracking precision of the vehicle can be effectively improved.
本发明公开了一种考虑转向间隙及液压非线性的电控全液压转向系统,包含全液压转向模块,全液压转向模块包含转向油缸、全液压转向阀、转向油泵、直流电机、油箱、智能控制系统和定转子副。智能控制系统包括考虑转向间隙的MPC轨迹跟踪模块和考虑液压非线性的全液压转向滑模控制模块。本发明通过预测、优化、二次规划求解得出考虑转向间隙的目标前轮转角,然后搭建基于液压非线性的全液压转向模型并推导活塞位移跟踪状态空间方程,之后根据活塞位移跟踪状态空间方程运用滑模控制器求解出直流电机电压,最后通过控制直流电机电压以此控制电机输出轴转速实现车辆转向,可以有效提高车辆跟踪参考轨迹的精度。
Electric control full-hydraulic steering system considering steering clearance and hydraulic nonlinearity and control method
一种考虑转向间隙及液压非线性的电控全液压转向系统及控制方法
16.05.2025
Patent
Elektronische Ressource
Chinesisch
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