Hydraulic steering arrangement

Abstract

A hydraulic steering arrangement (1) comprising a supply port arrangement having a pressure port and a tank port, a working port arrangement having two working ports (L, R), a mechanical steering unit (3) connected to a steering wheel (2) and being arranged between the supply port arrangement and the working port arrangement (L, R), supply valve means (12) having a connection to the pressure port and to the working port arrangement (L, R) and being controlled by a controller (10), and a steering wheel sensor (9) connected to the controller (10) is described. Such a steering arrangement could allow a comfortable feeling for the driver. To this end the steering wheel sensor (9) is mounted in a position of minimum play to steering wheel (2) and steering wheel sensor (9) and detects a beginning of a movement of the steering wheel (2), wherein the controller (10) actuates the supply valve means (12) upon beginning of the movement, and the supply valve means (12) supply hydraulic fluid to the working port arrangement (L, R).

Claims

1. A hydraulic steering arrangement comprising a supply port arrangement having a pressure port and a tank port, a working port arrangement having two working ports (L, R), a mechanical steering unit connected to a steering wheel and being arranged between the supply port arrangement and the working port arrangement (L, R), supply valve means having a connection to the pressure port and to the working port arrangement (L, R) and being controlled by a controller, and a steering wheel sensor connected to the controller, wherein the steering wheel sensor is mounted in a position of minimum play between steering wheel and steering wheel sensor and detects at least a beginning of a movement of the steering wheel, wherein the controller actuates the supply valve means upon beginning of the movement, and the supply valve means supply hydraulic fluid to the working port arrangement (L, R), wherein the supply valve means supply a predetermined volume of hydraulic fluid to one of the working ports (L, R) indicated by the direction of rotation of the steering wheel upon activation of the steering wheel, and wherein the supply valve means stop supplying hydraulic fluid to the working port arrangement (L, R) once the steering wheel reaches a deadband angle of the mechanical steering unit.

2. The hydraulic steering arrangement according to claim 1, wherein the supply valve means comprises a remotely controlled valve.

3. The hydraulic steering arrangement according to claim 2, wherein the supply valve means comprises at least a solenoid valve.

4. The hydraulic steering arrangement according to claim 3, wherein the supply valve means supply a predetermined volume of hydraulic fluid to one of the working ports (L, R) indicated by the direction of rotation of the steering wheel upon activation of the steering wheel.

5. The hydraulic steering arrangement according to claim 3, wherein the controller is connected to at least one additional sensor sensing a characteristic of the steering arrangement.

6. The hydraulic steering arrangement according to claim 3, wherein a wheel angle sensor is connected to the controller.

7. The hydraulic steering arrangement according to claim 2, wherein the supply valve means supply a predetermined volume of hydraulic fluid to one of the working ports (L, R) indicated by the direction of rotation of the steering wheel upon activation of the steering wheel.

8. The hydraulic steering arrangement according to claim 2, wherein the controller is connected to at least one additional sensor sensing a characteristic of the steering arrangement.

9. The hydraulic steering arrangement according to claim 2, wherein a wheel angle sensor is connected to the controller and wherein the mechanical steering unit and the supply valve means are arranged in parallel, such that each can activate a steering actuator.

10. The hydraulic steering arrangement according to claim 1, wherein the predetermined volume is adjustable as function of at least one predetermined parameter.

11. The hydraulic steering arrangement according to claim 10, wherein the controller is connected to at least one additional sensor sensing a characteristic of the steering arrangement.

12. The hydraulic steering arrangement according to claim 1, wherein the controller is connected to at least one additional sensor sensing a characteristic of the steering arrangement.

13. The hydraulic steering arrangement according to claim 1, wherein a wheel angle sensor is connected to the controller.

14. The hydraulic steering arrangement according to claim 13, wherein the controller is part of a closed loop system.

15. The hydraulic steering arrangement according to claim 1, wherein a steering unit input angle sensor is connected to the controller.

Description

BRIEF DESCRIPTION OF DRAWINGS

(1) Preferred embodiments of the invention will now be described in more detail with reference to the drawing, wherein:

(2) FIG. 1 is a schematic illustration of a steering arrangement,

(3) FIG. 2 is a block diagram of the steering arrangement according to FIG. 1,

(4) FIG. 3 shows a relationship between steering wheel position and steering cylinder position,

(5) FIG. 4 is a schematic illustration of the flow behaviour for steering wheel activation according to FIG. 3,

(6) FIG. 5 is a schematic visualization of open loop deadband compensation,

(7) FIG. 6 is a second embodiment of the invention,

(8) FIG. 7 is a steering arrangement equipped with two rotational sensors and

(9) FIG. 8 is a block diagram of the steering arrangement of FIG. 7.

DETAILED DESCRIPTION

(10) FIG. 1 shows schematically a hydraulic steering arrangement 1 comprising a steering wheel 2, a mechanical steering unit 3 and a steering actuator 4. The steering actuator 4 is connected to working ports L, R of the steering unit 3. The steering unit 3 is furthermore connected to a supply port arrangement having a pressure port and a tank port, which are not shown in the drawing in order to keep the drawing simple.

(11) The steering wheel is connected to a steering column 5 which by means of universal joins 6, 7, 8 is connected to the steering unit. Each of the universal joins 6-8 has a play which is unavoidable.

(12) A steering wheel sensor 9 is located as close as possible to the steering wheel 2, preferably directly adjacent to the steering column 5 or to another part which is connected free of play to the steering wheel 2. Accordingly, the steering wheel sensor 9 is able to detect a beginning of a movement of the steering wheel without delay.

(13) The steering wheel sensor 9 is connected to a controller 10 which is part of an electro-hydraulic steering unit 11. The electro-hydraulic steering unit 11 furthermore comprises supply valve means 12 that are connected to and controlled by the controller 10. The supply valve means 12 are connected to the working port arrangement L, R and are furthermore connected to the pressure port of the supply port arrangement. Thus, when the supply valve means 12 are opened, they can supply hydraulic fluid from the pressure port to one of the working ports L, R.

(14) When the steering wheel 2 is actuated, there is, as a rule, a backlash in the mechanical connection from the steering wheel 2 to the hydraulic steering unit 3. Furthermore, there is usually a hydraulic deadband in the hydraulic steering unit 3. This means that when the steering wheel 2 is rotated, nothing happens in a first instance. Accordingly, this results in a delayed response of the steering actuator and the steered wheels actuated by the steering actuator.

(15) The steering wheel sensor 9 does not have such a delay in detecting the movement of the steering wheel. Accordingly, it is possible to transmit an information about the actuation of the steering wheel 2 immediately to the controller 10 and from there to the supply valve means 12 which then are able to steer out hydraulic flow to the steering actuator 4 before flow is steered out by the steering unit 3. In this way the driver or operator will not feel the deadband of the steering unit and not feel the backlash caused by the mechanical play.

(16) The supply valve means 12 can comprise a pilot pressure control spool, a constellation of solenoid valves or another device which can be applied remotely to control the flow supplied to the working port arrangement upon activation of the steering wheel 2 and which can be operated remotely by the controller 10.

(17) FIG. 2 shows a block diagram of the steering arrangement 1 shown in FIG. 1. Same elements are denoted with the same reference numerals.

(18) A box 13 schematically shows the delay which is caused by deadband of the hydraulic steering unit 3 and the play of the universal joints 6-8 between the steering wheel 2 and the steering unit 3.

(19) The steering unit 3 outputs a flow Q.sub.1 to which adds a flow Q.sub.2 delivered by the electro-hydraulic unit 11.

(20) The function of this arrangement is schematically shown in FIG. 3. A graph 14 shows the relation between the steering actuator movement and the steering wheel position using the steering unit 3 only. It can clearly be seen that there is a certain delay between the steering wheel position and the steering actuator movement, i.e. the steering wheel has to be rotated by a certain angle before the steering actuator reacts.

(21) However, when the electro-hydraulic unit 11 supplies additional hydraulic fluid, there is another relation shown by graph 15 which starts from a zero point 16.

(22) FIG. 4 shows the flow behaviour for the steering wheel activation shown in FIG. 3. A graph 17 shows the steering flow outputted by the steering unit 3 and a graph 18 shows the flow outputted by the electro-hydraulic steering unit 11. It can be seen that the output of the electro-hydraulic unit 11 is stopped once the steering wheel has reached a position (i.e. a steering wheel angle), which corresponds to the deadband angle of the mechanical steering unit 3.

(23) As shown in FIG. 5, it is not necessary that the flow outputted by the electro-hydraulic unit 11 is the same as that of the steering unit. FIG. 5 shows a graph 19 showing the flow outputted by the electro-hydraulic unit 11 and a graph 20 showing the flow outputted by the steering unit 3. It can be seen that the flow 20 outputted by the steering unit 3 is much larger than the flow outputted by the electro-hydraulic unit 11. This flow can, however, be adjusted by parameter setting.

(24) In addition to the system shown in FIG. 2, additional sensors can be added which can be used to improve estimation of the flow contributed by the electro-hydraulic unit 11. In this manner the fluid volume supplied by the electro-hydraulic unit 11 upon activation of the steering wheel 2 may be adjusted according to these sensor inputs. An additional sensor could be a pressure sensor. For instance, this pressure sensor could be used to measure the stand-by pressure, the pump pressure subtracted load sensing pressure, to increase the quality of the prediction of the optimal open loop flow wanted upon activation of the steering wheel 2.

(25) Another additional sensor could be a temperature sensor which could be used to measure the oil temperature and predict the viscosity which may then be included in the open loop control algorithm.

(26) The open loop control algorithm could also utilize input from other smart sensors to optimize the electronic deadband compensation.

(27) FIG. 6 shows a further embodiment of the steering arrangement 1 in which the same elements are denoted with the same reference numerals. However, a wheel angle sensor 21 is added which allows the controller 10 to use the signal of the wheel sensor 21 for monitoring the wheel angle movement. Thereby, the controller 10 can stop the flow contribution of the electro-hydraulic unit 11 if the wheel angle response is larger than expected.

(28) Furthermore, the wheel angle sensor 21 can be used for calibration routines, during which the open loop controller can be adjusted to the optimal performance.

(29) In addition or as an alternative, feedback of the wheel angle sensor 21 can be used for an adaptive control, so the operator will always feel the same steering response in every driving condition.

(30) Using the signals from the steering wheel sensor 9 and the wheel angle sensor 21 can also be used to perform closed loop control between these two signals. This means that the flow Q.sub.2 from the electro-hydraulic unit 3 will be added whenever the wheel angle does not follow the steering wheel 2, and when the error between the wheel angle and steering wheel 2 can be eliminated solely by the flow out of the steering unit 3, then no electro-hydraulic flow will be added.

(31) FIGS. 7 and 8 show another embodiment of the invention in which the same elements are noted with the same reference numerals.

(32) A further sensor 22 has been added to detect an angle at the input of the steering unit 3. Accordingly, the sensor 22 is named “steering unit input angle sensor”.

(33) The steering wheel sensor 9 is still mounted in a position where the mechanical play between the steering wheel sensor 9 and the steering wheel 2 is as small as possible. The steering unit input angle sensor 22 is mounted on the steering unit 3 itself. Thereby an input of each of the sensors 9, 22 can be used in different control strategies. The input from the steering wheel sensor 9 can be used for a control strategy to eliminate or modify the mechanical play. The input from the steering unit input angle sensor 22 can be used in a control strategy of the hydraulic deadband in the steering unit 3.

(34) The control strategy for this embodiment may be any of the above-mentioned methods.

(35) The embodiment shown in FIGS. 7 and 8 can also be equipped with a wheel angle sensor 21.

(36) While the present disclosure has been illustrated and described with respect to a particular embodiment thereof, it should be appreciated by those of ordinary skill in the art that various modifications to this disclosure may be made without departing from the spirit and scope of the present disclosure.