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1、0浅析四轮转向系统在工程机械中的应用中英文浅析四轮转向系统在工程机械中的应用中英文Four wheel steering system is analysed in the application of engineering machinery工程机械广泛地被应用到设计生产建设的各个方面。工程机械通常机身较长，转向不灵活，转弯半径大，与之相矛盾的是，工程机械的作业场地通常都狭窄，工作条件差，障碍物多，行驶路面凹凸不平，而且工程机械要求频繁转向。这就提出一个迫切的任务，即如何减小工程机械的转弯半径，增加工程机械作业行走的稳定性和可靠性，即我们需要一种转向性能良好的工程机械转向系统。Engine
2、ering machinery is widely applied to design every aspect of production and construction. Engineering machinery is longer than the fuselage, usually not flexible steering, the turning radius is big, and paradoxically, engineering machinery operation site is usually small, poor working conditions, obs
3、tacles, more road uneven, but also frequently turned to mechanical engineering requirements. It puts forward an urgent task that how to reduce engineering machinery turning radius, increase walking engineering machinery operation stability and reliability, namely, we need a kind of engineering machi
4、nery to the good performance of steering system.四轮转向系统是这些年来得到发展和应用的一种转向系统，从目前现状看来，进口的工程机械采用四轮转向技术屡见不鲜，可是国内对这一技术的研究几乎还处于空白。 2 四轮转向系统的工作原理 四轮转向系统通常包括前轮转向、全轮转向、以及斜行转向三种模式。Four-wheel steering system in these years the development and application of a steering system, from the current situation, it seems
5、, imports of construction machinery with four-wheel steering technique, but domestic research on this technology is still in a blank almost. 2 four-wheel steering system working principle of four-wheel steering system usually includes the front wheel steering, all-wheel steering, and oblique lines t
6、o three modes.前轮转向就是只有前轮进行左转或者右转。这是一种常用的转向方式，此时，前外轮的弯道行驶半径大，驾驶员易于用前外轮是否避过障碍来估计整机的行驶路线。http:/ http:/ front wheel steering is only front wheel to turn left or turn right. This is a common way of steering, at this point, the ocean shipping before driving bend radius is large, the driver is easy to use
7、ocean shipping before ever avoid barriers to estimate the whole route.全轮转向就是前后轮同时偏转的转向方式，此时，前后轮的偏转方向相反，即前轮左转时后轮右转，前轮右转时后轮左转。这种转向方式往往用于对机动性有特殊要求或机架特别长的机械。All-wheel steering is the deflection of the front and at the same time, at this point, the deflection of the front and back in the opposite directi
8、on, namely the front wheels turn left turn right when the rear wheels and front wheels turn right when the left rear wheel. This way to often used for very long robotic mobility have special requirements or frame.斜行转向是前后轮偏转方向相同的一种转向方式。斜行时，能从斜向靠近或者离开作业面。而且在斜坡上斜行作业时，能提高其横向稳定性。为了防止各车轮在转向时作侧向滑动，增加转向阻力，加
9、速轮胎磨损。各车轮必须作纯滚动。只有当所有车轮的轴线在转向过程中都交于一点时，各车轮才能作纯滚动，此速度瞬时中心就称为转动中心。Front and rear wheels steering is oblique line direction deflection of the same a way of steering. From oblique oblique line, can close to or leave the operation. And on slope inclined line operations, can improve the lateral stability.
10、 In order to prevent the wheel in turn make the lateral sliding, increase the steering resistance, accelerate the tyre wear. Each wheel must be pure roll. Only when all of the axis of the wheel in turn pay little, in the process of the wheel to make pure roll, the instantaneous center of velocity is
11、 called the center of rotation.而转向控制驱动单元作为工程机械一个重要的控制单元经历了机械式、液压式、电动式向组合式发展的历程，技术上日趋成熟。图 2 所示为一种数字式电液转向控制系统的原理图。And steering control drive unit as an important engineering machinery control unit. Experienced mechanical, hydraulic, electric to modular development, mature technology. As shown in figur
12、e 2 is a kind of digital electro-hydraulic steering control http:/ http:/ diagram of the system.其工作原理为：当方向盘偏转后，转向信号经过控制器分析计算，判断给出的偏转方向以及偏转角度，然后输出所需要的占空比 PWM 信号到电磁阀，控制阀的开口大小。同时，由定量泵给系统供油，通过控制电磁阀的开口大小以控制转向液压缸的流量和压力，从而实现各个转向轮的偏转角度的控制。而且，该系统采用并联连接，四个车轮的转向可以独立控制。Its working principle is: when the steerin
13、g wheel deflection, steering signal after controller analysis and calculation, the judgment given by the direction of the deflection and deflection Angle, then the duty ratio of PWM signal output need to electromagnetic valve, control valve opening size. At the same time, by quantitative pump to the
14、 fuel supply system, by controlling the solenoid valve opening size to control the flow and pressure of the steering hydraulic cylinder, so as to realize the control of the steering wheel deflection Angle. Moreover, this system adopts parallel connection, four wheel steering can be independently con
15、trolled.转向控制单元以定频率重复这一过程，控制工程机械快速跟踪转向指令，实现精确转向。与工程机械传统液压转向系统相比，该系统取消了方向盘与转向器之间的机械连接，布置灵活，操作轻便，转向特性由软件决定，控制灵活，为闭环控制，转向精度高。3 转向控制系统的设计 3.1 系统硬件设计 控制系统主控制器的选择直接影响到转向控制系统的性能。考虑到大部分工程车辆自身结构复杂的情况，我们在系统设汁中采用高性能 DSP 处理器 TMS320LF2407A。这种芯片指令执行速度快( 30MIPS)，具有 32K 片内 Flash 程序存储器，可扩展的外部存储器有 192K，因此可以在片上实现较复杂的控制
16、算法。芯片拥有两个事件管理模块，8 个 PWM 通道，16 路 10 位 A/D 转换器，能够充分满足转向系统 PWM 控制信号发出、车轮偏向角度信号 A/D 等的要求。同时也具有串行通信接口( SCI)和串行外设接口(SPI)，方面的与上位机的的通信以及软件编程、故障诊断等等。为了方便系统的扩充以及实现工程车辆的群控制和远程控制，我们通过使用 TMS320LF2407A 芯片中的 CAN 控制模块，在系统设计用引入的CAN 现场总线控制技术，控制系统包括几个基本模块模拟量输入模块开关量输入输出模块、PWM 控制模块、显示模块设计、通信模块设计、电源模块设计http:/ http:/ control unit to repeat this process a fixed frequency, con
