The invention discloses a wheel-side electric tractor steering control method which comprises the steps that an electric control hydraulic drive steering module and four wheel-side motor control modules work cooperatively, and electric control hydraulic drive rotation is conducted according to the difference value delta of the expected steering angle of steering of a remote controller and the feedback angle of a front wheel angle sensor and a rear wheel angle sensor; driving voltage values needing to be output by the proportional valve controllers in different modes are calculated according to delta 1, one proportional valve controller and a vehicle control unit conduct data transmission through CAN communication, four voltage values AO0, AO1, AO2 and AO3 are output to control a front proportional electromagnetic valve and a rear proportional electromagnetic valve, and then the four voltage values AO0, AO1, AO2 and AO3 are used for controlling front wheel left turning, front wheel right turning, rear wheel left turning and rear wheel right turning correspondingly; according to the steering control method for the wheel-side electric tractor, the rotating speed stability of the electric tractor in various terrain environments can be controlled, the flexibility of the electric tractor is improved, and the four wheels are independently controlled, so that the wheel-side electric tractor can adapt to more scenes.

    本发明公开了一种轮边电动拖拉机转向控制方法,包括电控液压驱动转向模块和四个轮边电机控制模块协同作业,所述电控液压驱动转动根据遥控器转向期望转向角度和前后轮角度传感器反馈角度的差值Δ,Δ1来计算不同模式下比例阀控制器需要输出的驱动电压值,一个比例阀控制器与整车控制器通过CAN通信进行数据传输,输出AO0,AO1,AO2,AO3四个电压值控制前后两个比例电磁阀,进而分别用来控制前轮左转,前轮右转,后轮左转,后轮右转,本轮边电动拖拉机转向控制方法可以控制电动拖拉机在各种地形环境下的转速稳定性,提高电动拖拉机的灵活性,四个轮子独立控制,使其能适应更多的场景。


    Access

    Download


    Export, share and cite



    Title :

    Wheel-side electric tractor steering control method


    Additional title:

    一种轮边电动拖拉机转向控制方法


    Contributors:
    CAI YUDAN (author) / ZHOU XIANG (author) / YANG DAFANG (author) / LIU CHAO (author) / LI XIAOMENG (author) / HAN YUXI (author) / DU PENGFEI (author) / MENG YUHENG (author) / QU HONGZHI (author)

    Publication date :

    2023-02-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Four-wheel steering control method of wheel-side electric bowing tractor

    XU LIYOU / FAN SHILONG / ZHANG JUNJIANG et al. | European Patent Office | 2024

    Free access

    Four-wheel steering tractor

    ZHU XIAOYAN / YU BO / MA ZHONGQIANG et al. | European Patent Office | 2024

    Free access

    Wheel side braking auxiliary steering system of wheeled tractor

    XU KAI / SUN YUNJING / YAN SHUAI et al. | European Patent Office | 2024

    Free access

    Tractor front wheel steering system and tractor

    GUO PENGPENG / TAN HONGYANG / SUN WENYONG et al. | European Patent Office | 2025

    Free access

    Intelligent electric hinged steering four-wheel-drive tractor

    YU HAIXIA / LI XINGYUE | European Patent Office | 2023

    Free access