The invention discloses a crawler-type chassis walking steering control system and method, and relates to the technical field of agricultural machinery transmission control. The system comprises a motor-belt wheel transmission device, a sensing unit, a driving steering type hydraulic walking transmission device and a controller, the motor-belt wheel transmission device comprises a motor, a motor driver and a transmission mechanism; the sensing unit and the motor driver are electrically connected with the controller; the motor driver is electrically connected with the motor; the motor is mechanically connected with the transmission mechanism; the driving steering type hydraulic walking transmission device comprises a plunger variable pump and a plunger constant displacement motor; a variable disc of the plunger variable pump is mechanically connected with the transmission mechanism; the plunger variable pump is mechanically connected with the plunger constant displacement motor; the plunger constant displacement motor is mechanically connected with a gearbox of a vehicle to be controlled; and the controller adopts a variable universe PID control algorithm, generates a control signal based on the detection information, and realizes track rotating speed control of the to-be-controlled vehicle. Automation of vehicle speed changing and steering can be achieved, and operability of automatic driving of the agricultural vehicle is improved.
本申请公开了一种履带式底盘行走转向控制系统及方法,涉及农业机械传动控制技术领域。该系统包括:电机‑带轮传动装置、传感单元、驱动转向型液压行走传动装置和控制器;电机‑带轮传动装置包括电机、电机驱动器和传动机构;传感单元和电机驱动器均与控制器电连接;电机驱动器与电机电连接;电机与传动机构机械连接;驱动转向型液压行走传动装置包括柱塞变量泵和柱塞定量马达;柱塞变量泵的变量盘与传动机构机械连接;柱塞变量泵与柱塞定量马达机械连接;柱塞定量马达与待控制车辆的变速箱机械连接;控制器采用变论域PID控制算法,基于检测信息生成控制信号,实现待控制车辆的履带转速控制。本申请能够实现车辆变速和转向的自动化,增加农业车辆自动驾驶的可操作性。
Crawler-type chassis walking steering control system and method
一种履带式底盘行走转向控制系统及方法
2025-05-30
Patent
Electronic Resource
Chinese
Walking device for crawler chassis, control method and crawler chassis system
European Patent Office | 2025
|Steering control method and steering control system for single-HST crawler chassis
European Patent Office | 2024
|Self-adaptive steering control crawler-type chassis system and control method thereof
European Patent Office | 2024
|Speed sensorless electric crawler chassis steering control method
European Patent Office | 2021
|