SKF steering units

Compact and robust Maintenance-free Plug-and-play

Steer-by-wire for modern off-highway vehicles

By-wire technology offers several advantages in the operation and control of industrial and off-highway vehicles. When mechanical or hydraulic systems are replaced with by-wiretechnologies, for example, programmable steering functions and ergonomic improvements are possible. By-wire technology can also improve vehicle efficiency and enhance performance. Vehicles with better performance that consume less energy, can significantly reduce cost of ownership for the end user. SKF was one of the first companies to develop electronic steering units for industrial vehicles. The first unit, based on proven sensor bearing technology, is an excellent solution for applications such as fork lift trucks. Requirements put on steering input devices for industrial and off-highway vehicles vary. For many applications a compact unit with constant steering friction and moderate resolution of the steering signals is appropriate. Other applications may require more sophisticated functions and performance such as steering feel dependent on operating conditions tangible end stops programmability: for example the number of turns lock-to-lock can be set by the vehicle manufacturer or vary depending on operating parameters. Therefore, SKF offers two different types of steering units. Both are safe and reliable, maintenance-free and cost-effective plugand-play solutions.

SKF steering units

A compact and robust design
SKF steering units are designed to operate in harsh environments. The housing, made of corrosion resistant steel or polyamide, fully protects the inner mechatronic components. The stub shaft for connecting the steering wheel is made of stainless steel. The compact flanged housing makes it easy to mount the unit in any position.

A maintenance-free steering column

SKF steering units replace conventional steering columns and eliminate the need for maintenance. The units contain sealed SKF Explorer bearings providing long service life and reliable performance. These maintenancefree steering units will never require adjustment or relubrication during their expected service life.

A cost-effective solution
SKF steering units can simplify current designs. They are easy to install, mainten ance-free and reliably fulfil the demands of industrial and off-highway vehicle by-wire steering systems. When considered over the entire product lifetime, these units are a very cost-effective solution. Possible applications Forklifts Harvesters Tractors Construction site equipment Electric vehicles Boats

Reliable control signals

Either non-contact incremental or absolute position sensors are used to track the movement of the steering wheel. These magnetic sensors do not wear, are protected from external influences, and are designed to provide maximum service life. As steering requires a safety sensitive design, redundancy of the output signals is necessary. SKF steering units are made to support the safety architecture of steer-by-wire systems.

Features Compact input device for steering wheel position, steering speed and direction Redundant steering signal output Steering feel constant or variable Non-contact sensors

Benefits Enables more ergonomic cabin design, improved operator comfort and increased productivity. Reduction in components enhances system reliability. Redundant signals and robust design provide an extra margin of safety. Integrated and maintenance-free technology reduces lifetime cost.

AHE steering encoder units with constant steering friction

SKF AHE steering encoder units consist of a stainless steel stub shaft to mount the steering wheel two non-contact rotary incremental or absolute position sensors a friction mechanism providing constant steering feel a compact and robust housing an SKF rolling bearing There are three basic versions of AHE steering encoder units: Unit with incremental sensors for standard resolution (max. 256 increments per turn of the steering wheel), designation AHE-5400 A, Unit with incremental sensors for high resolution (max. 1024 increments per turn of the steering wheel), designation AHE-5700 A, Unit with absolute sensors and analogue output, designation AHE-5800 A. AHE steering encoder units are available both with flanged housing or without flange.

Table 1 Mechanical data Weight 0,55 kg

Load carrying ability of the steering column: Bending moment, static 100 Nm Axial force, static 2 kN push 1 kN pull

Table 2 Ambient conditions Operating temperature 40 to +85 C (40 to +185 F)

Fig. 1 AHE steering encoder unit with a flanged housing (main dimensions, mm)
94 25 22 3 7,2 35

65

65 250

Table 3 Sensor data Incremental sensor Incremental sensor with standard resolution with high resolution (AHE-5400 A) (AHE-5700 A) Sensor type non-contact, non-contact, redundant Hall redundant Hall elements elements Power supply 5 to 12 V DC 5 to 12 V DC (24 V DC on request) (24 V DC on request) Resolution Signal output 64 impulses per revolution, a maximum of 256 increments can be evaluated Open-collector, square wave, with 90 phase difference, incremental 256 impulses per revolution, a maximum of 1024 increments can be evaluated Push-pull-output, square wave, with 90 phase difference, incremental Absolute position sensor with high resolution (AHE-5800 A) non-contact, redundant Hall elements 5 to 12 V DC 12 bits (output 0 to 5 V DC)

Analogue 0,5 to 4,5 V DC

ADD steering units with variable steering feel

The ADD-7001 steering unit is an advanced addition to the SKF steering unit range. It is designed as a cost-effective, reliable, and maintenance-free plug-and-play solution. An ADD-7001 steering unit consists of: a stub shaft to mount the steering wheel two independent non-contact rotary absolute position sensors two independent CAN interfaces an electro-magnetic brake a corrosion resistant steel housing SKF rolling bearings The ADD-7001 steering unit detects the position of the steering wheel and provides programmable steering feel and end stops.

soon as the steering wheel is moved in the opposite direction. The steering unit end-stop positions are programmable, unlike mechan ical or hydraulic steering systems where the end-stops are fixed. In addition, the steering ratio can be programmed to vary with vehicle speed or other operating parameters.

Suitable for various applications

The ADD-7001 steering unit is seen as an input device for steer-by-wire systems in all types of off-highway vehicles such as industrial, agricultural and forestry vehicles, construction equipment as well as in ships. The unit can be integrated into either electromechanical or electro-hydraulic steering systems. It can eliminate the need for expensive mechanical connections or hydraulic systems. The ADD-7001 steering unit meets electromagnetic compatibility guidelines.

Standard interfaces with redundancy

Two non-contact absolute position sensors are integrated into the steering unit. Both sensors and output channels comprising the microprocessors and CAN-bus interfaces are redundant. The primary unit provides the angle of the steering wheel via the primary CAN-bus circuit. It also controls steering feel by varying the current to the electro-magnetic brake. The secondary unit is a back-up for emergency control. The status of each sensor is monitored. In case of errors, they are automatically reported to the vehicle controller via the CAN-bus. Thus the unit is considered fail-safe.

Individual steering feel

The integrated electro-magnetic brake provides the driver with realistic feedback by changing the torque resistance to the steering wheel. Feedback is controlled by the vehicle controller via the CAN-bus or by the microprocessor in the steering unit. The brake is further used to simulate endstops that keep the steering wheel from turning when the actual end-stop position of the steered wheels is reached. By a special patented solution, the brake is released as

Table 4 Mechanical data Weight Load carrying ability of the steering column Bending moment, static Axial force, static Static steering moment Max. brake moment (end stop) 2,3 kg 200 Nm 1 kN 1 Nm 10 Nm Electrical data Supply voltage Wrong wiring protection Sensor resolution CAN-bus Power-up time

Table 5 ADD-7001 steering unit (main dimensions, mm) 12 V DC (24 V DC on request) for all connectors 12 bit (0,09) version 2.0B, 250 kbit/s max update rate 5 ms, CAN transceiver is ISO 11898-2 compliant max. 1 s 100 22

Fig. 2

50

Table 6 Ambient conditions Operating temperature 40 to +85 C (40 to +185 F)

max. 168,5

70 52,5

SKF is a registered trademark of the SKF Group. SKF Group 2007 The contents of this publication are the copyright of the publisher and may not be reproduced (even extracts) unless permission is granted. Every care has been taken to ensure the accuracy of the information contained in this publication but no liability can be accepted for any loss or damage whether direct, indirect or consequential arising out of the use of the information contained herein. Publication 6271 EN June 2007 Printed in Sweden on environmentally friendly paper.

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