Autonomous-driving hydraulic steering modification control system and control method

An autonomous-driving hydraulic steering modification control method, performed by an autonomous-driving hydraulic steering modification control system, the control method comprising the following steps:

• obtaining current turning angle data of a turning wheel of the autonomous-driving hydraulic steering modification control system;
• comparing the current turning angle data of the turning wheel with expected turning angle data of the turning wheel, and calculating a difference value between the current turning angle data and the expected turning angle data;
• judging whether the difference value is within a preset precision range;
• providing a first-stage precision control using a steering motor of the autonomous-driving hydraulic steering modification control system;
• adjusting a transmission ratio of a transmission mechanism of the autonomous-driving hydraulic steering modification control system to provide a second-stage precision control in response to the difference value being not within the preset precision range, wherein the transmission mechanism comprises a pinion and a larger gear engaged with the pinion, and the adjusting step comprises substituting the pinion with a different pinion having a different number of teeth and/or substituting the larger gear with a different larger gear having a different number of teeth;
• obtaining an expected rotating speed and expected turning angle data of the steering motor by introducing the difference value into a PID controller;
• controlling the steering motor to act according to the expected rotating speed and expected turning angle data of the steering motor;
• and
• returning feedback turning angle data collected by an encoder of the autonomous-driving hydraulic steering modification control system to a controller of the autonomous-driving hydraulic steering modification control system.