Escolar Documentos
Profissional Documentos
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MD-255
S. K. Saha
IIT Delhi
New Delhi, India
P. V. M. Rao
IIT Delhi
New Delhi, India
Feedback motor
Tie rod
Pinion angle sensor
Steering actuator
Power assist
unit
Kingpin
Pinion Rack
Pinion
I. Introduction
Steering linkages play a very important role in
maneuvering of cars. Amongst the steering linkages, the
rack and pinion steering (RPS) linkage is the most popular
one and widely used in passenger cars. Thus, it is chosen
in this study. Such linkage which consists of two steering
arms, two tie rods, and a rack, as depicted in Fig. 1(a), is
found in manual, power, and steer-by-wire (SBW)
versions. The concept of SBW is new and has received a
lot of attention in recent times due to its controllability
[1]. The SBW systems have been developed in several
versions, namely, steering arm actuation type; tie rod
actuating type; and rack actuation type. The last one is
usually consists of the elements shown in Fig. 1 (b). It
needs only one actuator on the rack to steer the front
wheels, in contrast to the others where two actuators are
used at the ends of steering arms or at the ends of the tie
rods [1]. The rack actuating SBW requires a useful
dynamic model of the RPS linkage to calculate the
required torque to steer the front wheels.
On the other hand, steering linkages have received a lot
of attention from the kinematics point of view because of
_______________________________
Email: *rahmaniali47@yahoo.com
saha@mech.iitd.ac.in (On-lien leave to IIT Madras)
pvmrao@mech.iitd.ac.in
MD-255
(q ) = 0
respectively. Furthermore, at the end of every link, a twodimensional coordinate system is considered that is fixed
to its previous link.
Direction of motion
2 X2
Y1
l1 #1
1
O1
l2
2 #2
l3
3
X3
+b4
#3
3
4
wt
6
l4 #4
5
5 X4
where q [u , b4 ] is
X1
7
7
Referring to Fig. 2,
wt l r
+ b4
(1)
2
wt is the wheel track, b4 is the rack travel, h is the distance
from the front wheels axis located between O1 and O7 to
the rack axis. Moreover, i and j are the unit vectors along
X1 and Y1, respectively, whereas l1 and l2 denote the 2dimensional planar vectors. Equation (1) can be written in
terms of its scalar components as
lc1 + lt c12 = b and ls1 + lt s12 = h
(2, 3)
where c and s stand for cosine and sine functions,
respectively, and 12 1 + 2 . Equations (2) and (3) can
be solved for 1 using the methodology given in [6],
which is expressed as
1 = atan2(s1 , c1 )
l 1 + l 2 = bi + hj , where b =
where, s 1
2 z1
, c 1
1 z12
z12
, and z1 tan
h + h 2 k1 + b 2
of
In this section, the dynamic formulation of an openchain serial system using the Decoupled Natural
Orthogonal Complement (DeNOC) matrices [5, 8] is
outlined, which forms the basis of the modeling for the
closed-loop RPS linkage.
1) The twist and wrench of the ith body moving in the 3dimensional Cartesian space are defined as the 6dimensional vectors of Cartesian velocities and the
corresponding forces and moments, applied at the origin
of the body, Oi, as depicted in Fig. 3, i.e.,
n
t i i and w i i
(11)
vi
fi
h 2 + b 2 + l 2 l t2
(4)
k1 + b
2l
Accordingly, 2 is obtained from one of the eqs. (2) and
(3) by substituting 1. To calculate 6, an expression
similar to eq. (1) is written from the right side links of the
steering linkage shown in Fig. 2, namely, links #4 and #5
connected to #3, i.e.,
w l
l 4 + l 5 = b i hj , where b = t r b4
(5)
2
Now, the scalar components of eq. (5) are written as
follows:
l t c 56 + lc 6 = b and lt s 56 ls 6 = h
(6, 7)
where 56 5 + 6 . Equations (6) and (7) provide the
values for 6, followed by 5, similar to the solutions of 1
and 2, respectively. It is seen that if b, 1, and 2 in eqs.
(2) and (3) are replaced with b, 6, and 5, respectively,
eqs. (6) and (7) will result. Hence, the solution
expressions of eqs. (2) and (3) are valid for eqs. (6) and
(7) also, when b is replaced with b and 1 with 6. Now,
the constraint equations, i.e., eqs. (2), (3), (6), and (7), are
arranged in vector equation of the following form:
z1 =
vector
.
2
1+
1+
The value of z1 is obtained as the solution of a quadratic
equation resulting from the kinematic constraint equations
namely, eqs. (2) and (3), i.e.,
z12
5-dimensional
generalized coordinates, and u [1 , 2 , 6 , 7 ] is the 4dimensional vector of dependent coordinates. The term,
b4, is the rack travel, which is treated as the independent
coordinate for the one-DOF RPS system. Hence, all the
dependent coordinates used in eq. (8) are known from the
solution of the set of kinematic constraint equations, eqs.
(1-7). Differentiating eq. (8) with respect to time, the
linear velocity relation is obtained as
Uu& = bb&4
(9)
&
where, U [ / u] ; b [ / b ] ; and u& and b are
#5
X6
the
(8)
T
X5
6
l5
O7
, k1
MD-255
1
e i
0
A i,i 1 ~
(13)
; p i , R; p i , P
0
e i
a i,i 1 1
In eq. (13), a i,i1 is the
yi+1
Z Y
xi+1
Oi+1
ri
Ci
X
vi
di
ai
#i
Oi
fi
ni
th
T
In eq. (14), & &1 K &n is the n-dimensional vector
of independent generalized speeds.
4) For the ith moving body, the Newton-Euler (NE)
equations of motion are expressed as
M i t& i + Wi M i E i t i = w i
(16)
where the 66 matrices, Mi, Wi and Ei are given by
~
~
I
1
mi di
i
; Ei
(17)
Mi i ~
; Wi
~
mi di mi 1
i
E diag[E1 , E 2 ,....,E n ]
1 L O
2
(15)
Nd =
N l = 21
M
M
M O M
M
O M
0 0 L pn
A n1 A n2 L 1
t t 1T , t T2 , K , t Tn ; w w 1T , w T2 , K , w Tn
(19b)
6) On the right side of eq. (18), the wrench, w, includes all
the forces and moments applied on the system, i.e., the
external forces and moments, the reaction forces and
moments, and those due to gravity, dissipation, etc. As
shown in [5], if both side of eq. (18) is pre-multiplied by
the transpose of matrix N, eq. (14), the wrench associated
with the reaction forces are vanished, and eq. (18) is
modified as
N T (Mt& + WMEt ) = N T w e
(20)
(21)
where all the matrices and vectors are associated with the
closed-loop system with appropriate dimensions. The
derivations are explained in section IV with respect to the
RPS system under study.
IV. Dynamics of the RPS Linkage
(19a)
MD-255
23y
C 32y
32x 23x
D
ftx t A
43y
f
w eL = w 1e
T
w e2
(22)
34y
E
43x 34x
fty
C
H t ftx
w L = w 1
T
w 2
(24a)
w 3 0 0 0 32 x
32 y
A
O
1
23
1.5
2 w
, where t , , w, and P are the torque
3 P
applied to each tire, the coefficient of friction between tire
and road, the load on each tire, and tire inflation pressure,
respectively. Other external force acting on the RPS
linkage under study is the horizontal force f on the rack
due to pinion rotation by the driver. Note that the Z
component of the tire force due to the suspension system
is assumed to act along the normal to the plane of motion,
and, hence, it has no effect on the steering linkage
dynamics. Also, due to slow cornering, X and Y
components of the force applied to the tires are negligible.
Considering the left serial system, ABC, which has two
moving links, namely, AB and BC with revolute joints
located at A and B. If C' is the contact point between the
left tires and the road, and ft is the associated force applied
i.e., t =
32 x
0 0 0 1 0 0
E
(25)
, 32
0 0 0 0 1 0
32 y
32x and 32y being the Lagrange multipliers due to the cut
joint C. If the left side of eq. (18) is now denoted with
w*L, i.e., w L* M L t& L + WL M L Et L , which represents the
inertia wrench and is known from the motion of the left
system, as obtained from kinematic analyses given in
section 2, the vector 32 can be calculated using eq. (21).
MD-255
For that, eq. (21) is rewritten for the left serial system,
namely,
N TL w L = N TL w eL N TL w L
(26)
On the other hand, substituting eq. (24b) into eq. (26)
yields
N TL w L = J TL 32 , where J L E T A L T N L
(27)
32 = (J TL ) 1 (N TL w eL N TL w L )
(28)
where the 22 Jacobin matrix, JL, and the Natural
Orthogonal Complement matrix, NL, corresponding to the
left system are as follows:
a13y
JL
a23y
a13x
a23x
p1
A 21p1
and N L
0
p 2
Inertia-Kgm2
L
i
n
k
s
Dim. (mm)
1
2
3
4
and 43x = 34 x
(29)
in which mr is the mass of the rack, and 32x and 34x are
already introduced. The value of f is useful for SBW
systems, whereas if one is interested with the constraint
forces at the uncut joints for the purposes of mechanical
design and others, they are obtained recursively using the
following relation:
w i 1,i = A i,i +1 w i,i +1 + w *i w ie
(30)
Dia.
15
6
10
110
256
678
145/70 R12
(mass cen.)
Mass
Kg
I x, I y
0.6
0.22
1.66
11
Iz
6e-4
0
1.2e-3
0
0.064
0
0.197 0.355
External Forces
z
fx
fy
fz
Nm
0
0
0
42.8
0
0
fp
0
0 0
0
0
0
0
0 1800
defined similar to eq. (11), whereas ni-1,i and fi-1,i are the
moment and force exerted by the (i-1)st link on the ith link.
Moreover, Ai,i+1 is the wrench propagation matrix defined
similar to A23 of eq. (25). For the left subsystem, ABC,
the constraint wrenches at joints B, A can be evaluated as
w12 + w1* w1e
w12 = A23 w 23 + w *2 w e2 ,and w 01 = A12
where the 6-dimensional vector, w 23 w 2 , is given after
eq. (24a), the 6-dimensional inertia wrenches, w1e and
100
w e2
110
340
90
330
80
320
70
310
60
300
50
290
40
280
30
0
350
2
3
time (sec)
270
0
2
3
time (sec)
Force (N)
1600
-200
1400
-400
1200
-600
1000
-800
800
-1000
-1200
-1400
-1600
0
VI. Conclusions
along X-proposed
along X-ADAMS
along Y-proposed
along Y-ADAMS
400
200
4
0
0
a) Reaction force at A
Force (N)
b) Reaction force at B
500
along X-proposed
along X-ADAMS
along Y-proposed
along Y-ADAMS
400
300
1000
along X-proposed
along X-ADAMS
along Y-proposed
along Y-ADAMS
200
800
100
600
400
-100
200
0
0
t (sec)
1600
1200
600
along X-proposed
along X-ADAMS
along Y-proposed
along Y-ADAMS
t (sec)
1400
MD-255
-200
0
t (sec)
VII. Acknowledgement
t (sec)
c) Reaction force at C
d) Reaction force at E
2000
Force (N)
1800
f-prposed
f-ADAMS
1600
References
1400
1200
1000
800
0
0.5
1.5
2.5
3.5
4.5
t (sec)
e) Rack force
Fig. 6 Forces of the RPS linkage