A method of estimating hydraulic flow in a steering system of an articulated vehicle (1), a controller (6) configured for the method, and an articulated vehicle (1) are provided. The method comprises: a) sensing a yaw rate of the articulated vehicle (1) b) sensing a speed (v) of the articulated vehicle (1); c) determining an estimate of a steering angle rate of the front portion (2) of the articulated vehicle (1) using the sensed yaw rate and the sensed speed (v); d) determining an estimate of the hydraulic flow in the steering system of the articulated vehicle (1) using the estimate of the steering angle rate and one or more geometric parameters of the steering system.
提供了一种估计铰接车辆(1)的转向系统中的液压流量的方法、为所述方法配置的控制器(6)以及铰接车辆(1)。所述方法包括:a)感测所述铰接车辆(1)的偏航率b)感测所述铰接车辆(1)的速度(v);c)使用所感测的偏航率和所感测的速度(v)来确定所述铰接车辆(1)的所述前部部分(2)的转向角率的估计值;d)使用所述转向角率的所述估计值和所述转向系统的一个或多个几何参数来确定所述铰接车辆(1)的所述转向系统中的所述液压流量的估计值。
Estimating hydraulic flow in steering system of articulated vehicle
估计铰接车辆的转向系统中的液压流量
2023-05-19
Patent
Electronic Resource
Chinese
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