The invention relates to a hydraulic steering-by-wire system and a redundancy control method thereof. The hydraulic steering-by-wire system comprises a double-controller terminal, a hydraulic steering system and a redundancy control system, the steering wheel subsystem comprises a steering wheel, a road sensing torque motor, a motor encoder, a torque motor driver and a steering encoder; the hydraulic steering wheel system comprises an oil supply hydraulic element, an electro-hydraulic proportional reversing valve, a safety pressure stabilizing valve block, a double-steering oil cylinder and a double-stroke sensor. The subsystems have redundancy for resisting single-point failure, fault detection is achieved through mutual verification of data of multiple sensors, a finite-state machine and a state switching mechanism of the finite-state machine are designed, redundancy control of the steering system under various abnormal working conditions is achieved, and stable operation of the steering system and safety of engineering tasks are guaranteed. Compared with the prior art, the method is more suitable for hinged type hydraulic steering equipment, the reliability and safety of the steering system are guaranteed through redundancy design, meanwhile, the steering precision is improved by fully utilizing redundancy equipment, and the cost is reduced.

    本发明涉及一种线控液压转向系统及其冗余控制方法,该液压转向系统包括:双控制器终端;方向盘子系统,包括方向盘、路感扭矩电机、电机编码器、扭矩电机驱动器和转向编码器;液压转向轮子系统,包括供油液压元件、电液比例换向阀、安全稳压阀块、双转向油缸和双行程传感器。所述各子系统具备抵抗单点失效的冗余,由多传感器数据相互校验实现故障检验,设计有限状态机及其状态切换机制,实现转向系统在多种异常工况下的冗余控制,保障转向系统稳定运行和工程任务的安全。与现有技术相比,本发明更适应铰接式的液压转向装备,采用冗余设计保障转向系统的可靠性和安全性的同时,充分利用冗余设备提升转向精度,降低成本。


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    Title :

    Drive-by-wire hydraulic steering system and redundancy control method thereof


    Additional title:

    一种线控液压转向系统及其冗余控制方法


    Contributors:
    ZHANG LUNHUI (author) / LIU GUANGJUN (author) / SUN BO (author)

    Publication date :

    2025-03-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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