The invention relates to a redundant steering system and an unmanned mine truck, belongs to the field of steering systems, and solves the problem that the redundant steering system does not realize complete redundancy. Comprising an upper computer, a chassis domain controller, a redundant electric steering engine, a redundant full-hydraulic steering engine, a steering front axle, a pressure sensor, a left steering angle sensor and a right steering angle sensor. The upper computer sends a steering control instruction to the chassis domain controller, the chassis domain controller sends the steering control instruction to the redundant electric steering machine according to the current actual state of the whole vehicle and controls the redundant full-hydraulic steering machine to work at the same time, and the redundant electric steering machine drives the full-hydraulic steering machine to drive the wheels to rotate. The pressure sensor, the left steering angle sensor and the right steering angle sensor feed the current steering pressure and the actual wheel steering angle back to the chassis domain controller at the same time. Through the redundancy design of the whole system, the steering system can meet the requirement of automatic driving under any condition, and the stability and reliability of automatic driving of the mine truck are improved.
本发明涉及一种冗余转向系统及无人驾驶矿卡,属于转向系统领域,解决了冗余转向系统并没有实现完全冗余的问题。包括上位机、底盘域控制器、冗余电动转向机、冗余全液压转向机、转向前桥、压力传感器、左转角传感器以及右转角传感器组成;上位机将转向控制指令发送给底盘域控制器,底盘域控制器根据当前整车实际状态将转向控制指令发给冗余电动转向机并同时控制冗余全液压转向机工作,冗余电动转向机驱动全液压转向机带动车轮转动,压力传感器、左转角传感器以及右转角传感器同时将当前转向压力和实际车轮转角反馈给底盘域控制器。通过全系统的冗余设计,转向系统在任何情况下都可以满足自动驾驶要求,提高了矿卡自动驾驶的稳定性和可靠性。
Redundant steering system and unmanned mine truck
一种冗余转向系统及无人驾驶矿卡
2024-07-16
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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