Escolar Documentos
Profissional Documentos
Cultura Documentos
ISSN: 2278-0181
Vol. 2 Issue 10, October - 2013
Abstract
1. Introduction
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Front
lw
wheel
Front
ls
lt
Tie r
o
Steering arm
l rp
d
Rack and pinion
ls
lt
o
Tie r
la
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lw
Fig. 1 Ackermann principle
Steering arms
Front axle
=
=
Rear axle
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( cos )2 + ( sin )2
(1)
(2)
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l
Front
wheel
ls lt
l rp
lt
Rack axis
(3)
cos + cos = + ,
(4)
= sin1
= sin1
sin + sin = .
(18)
2 +2
(19)
where = tan1 ( / ),
= 2 ( ),
(20)
(6)
(7)
(8)
For the right steering angle, Eqs. (4) and (5) can
be rewritten as
cos = + cos ,
sin = sin .
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cos + cos = ,
2 + 2
(5)
(17)
= ,
(16)
sin + sin = .
2 + 2
u
Fig. 4 Steering system having rack displacement
= + ,
sin( + ) =
2 + 2
ls
Front axle
which is equivalent to
= 2 ,
(21)
= 2 2 2 2 2 + 2.
(22)
= + sin1
2
(9)
= sin1
(10)
(12)
= 2 ,
(13)
= 2 2 2 2 2 2.
(14)
2 + 2
2 +2
+ ,
(23)
+ .
2
(24)
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[P cos + sin + ] = 0,
(15)
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start
Read
constant
steering
parameters
Compute
Steering angles,
Steering error
(25)
= tan + ( + tan )
(26)
Print s, angles,
error
Increment value s
(27)
tan
+ tan
(28)
tan
tan
+ tan
tan
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no
end
(29)
u (in)
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
s (in)
2.683
2.783
2.883
2.983
3.083
3.183
3.283
3.383
3.483
3.583
3.683
3.783
3.883
3.983
4.083
4.183
4.283
4.383
4.483
lt (in)
16.514
16.510
16.507
16.504
16.502
16.501
16.500
16.500
16.501
16.502
16.503
16.506
16.508
16.512
16.516
16.521
16.526
16.532
16.539
(rad)
(rad)
0.580
0.580
0.580
0.580
0.580
0.580
0.580
0.580
0.580
0.580
0.580
0.580
0.580
0.580
0.580
0.580
0.580
0.580
0.580
0.746
0.752
0.758
0.765
0.771
0.778
0.786
0.794
0.802
0.811
0.820
0.830
0.840
0.852
0.864
0.879
0.895
0.913
0.936
es (in)
-13.776
-12.756
-11.710
-10.636
-9.532
-8.393
-7.217
-6.000
-4.736
-3.420
-2.043
-0.596
0.933
2.560
4.307
6.209
8.315
10.710
13.565
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6. References
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[1] Chaudhary, H. and Saha, S. K. Analyses of fourbar linkages through multi-body dynamics
approach. In 12th National Conference on
Machine and Mechanism (Nacomm) pages 45-51,
IIT Guwahati, December 16-17, 2005.
[2] Felzien, M. L. and Cronin, D. L. Steering error
optimization of the McPherson strut automotive
front suspension. Mechanism and Machine
Theory, 20(1): 1726, 1985.
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