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Abstract
Production cars are designed to understeer and rarely do they oversteer. If a car could automatically compensate
for an understeer/oversteer problem, the driver would enjoy nearly neutral steering under varying operating conditions.
Four-wheel steering is a serious effort on the part of automotive design engineers to provide near-neutral steering. Also in
situations like low speed cornering, vehicle parking and driving in city conditions with heavy traffic in tight spaces,
driving would be very difficult due to vehicle’s larger wheelbase and track width. Hence there is a requirement of a
mechanism which result in less turning radius and it can be achieved by implementing four wheel steering mechanism
instead of regular two wheel steering.
In this project Maruti Suzuki 800 is considered as a benchmark vehicle. The main aim of this project is to turn the
rear wheels out of phase to the front wheels. In order to achieve this, a mechanism which consists of two bevel gears and
intermediate shaft which transmit 100% torque as well turns rear wheels in out of phase was developed. The mechanism
was modelled using CATIA and the motion simulation was done using ADAMS. A physical prototype was realised.
The prototype was tested for its cornering ability through constant radius test and was found 50% reduction in
turning radius and the vehicle was operated at low speed of 10 kmph.
3.1 Methodology
Literature review on effect of implementing four
wheel steering system on turning radius and
maneuverability of a car are carried out by
referring journals, books, manuals and related
documents.
The four wheel steering system model was built
Fig. 2 High speed lane change maneuvers. [2] using ADAMS software and simulations carried
The company Honda Prelude [3] manufactured out to know the turning radius and
the first four wheel steering car and it defines four maneuverability.
wheel steering as the effect of the 4WS mechanism Four wheel steering physical model was built
acting in this way was non-linear steering. That is, the considering same stub axle for front and rear.
effective steering ratio varied from a low ratio at small CRC test was conducted to analyze
steering angles, to high ratio at large angles. This means maneuverability of the model.
more steering angle input is required to perform a Turning radius comparison were made between
gradual turn, making the car less twitchy and more the physical model and the ADAMS model.
relaxed to drive at high speed, without requiring
constant corrections; while less steering angle is 4. CALCULATION [5]
required to perform a tight-radius turn, giving the car a
go-kart like feel during tight maneuvers. The observed Calculation for steering angles for the turning radius of
effect while driving might be best imagined as a 4.4m.
variable effective wheelbase, from a long wheelbase at From the benchmark vehicle we know that turning
small steering angles, to very short wheelbase at large radius is 4.4 m.
We know that
angles. R2 = a22 + R12…………………………….. (1)
Sano [4] conducted experiment and calculated for Where R = Turning radius of the vehicle.
the turning radius and suggested low speed turning a2 = Distance of CG from rear axle.
performance is improved by steering the rear wheels out R1 = Distance between instantaneous centre
of phase with the front wheels to reduce the turn radius, and the axis of the vehicle.
thus improving maneuverability. Normally the rear To find a2
wheel steer angles are a fraction of that at the point Wf = (W * a2) / L………………………… (2)
(typically limited to about 5 degrees of steer) and may Where Wf = Load on front axle.
only be applied at low speeds. At 50 percent rear steer W = Total weight of car.
angle, a one third reduction in turn radius is achieved. L = Wheelbase.
At 100 percent rear steer angle, a 50 percent reduction So from equation 2 and 1
in turn radius occurs. a2 = 1305 mm.
R1 = 4202 mm.
The primary advantage of 4WS is derived from the To find steering angles;
better control of transient behaviour in cornering. In From test we found that the inner angle of front tire is,
general 4WS systems yield a quicker response with δif = 25.60.
better damping of the yaw oscillation that occurs with tan δif = C1 / (R1 – wf / 2)………………. (3)
initiation of a turn. C1 + C2 = L…………………………….. (4)
Where C1 = Distance of instantaneous centre from front
3. PROBLEM DEFINATION axle axis.
C2 = Distance of instantaneous centre from
Nowadays all vehicles uses two wheel steering rear axle axis.
system, but the efficiency of the two wheel steering wf = Front trackwidth.
(2WS) vehicle is proven that it is still low compared to From equation 3 and 4
the four wheel steering (4WS) system car. So, this C1 = 1722.19 mm.
project is base on how to prove that the 4WS is better C2 = 452.80 mm.
than 2WS in terms of turning radius. To find δof = outer angle of front tire.
A vehicle with higher turning radius face difficulty tan δof = C1 / (R1 + wf / 2)…….………. (5)
in parking and low speed cornering due to its higher δof = 19.700
wheelbase and track width, but the passenger prefer the To find δir = inner angle of rear tire.
vehicle to be higher wheelbase and track width as it tan δir = C2 / (R1 – wr / 2)……….……. (6)
gives good comfort while travelling. In this scenario δir = 7.1640
four wheel steering will be effective as the turning To find δif = outer angle of rear tire.
radius will be decreased for the same vehicle of higher tan δor = C2 / (R1 + wr / 2)……………. (7)
wheelbase. In this project a benchmark vehicle is δor = 5.3860
considered and four wheel steering is implemented
without change in dimension of the vehicle and
reduction in turning radius is achieved. For achieving
Steering wheel Rack body Revolution 2. A pipe of 25.4 mm diameter with 2 mm thickness.
Steering column 1 Steering column 2 Hooke 4. Four tires of Maruti Suzuki 800 of dimension
145/70R12.
Steering column 2 Rack body Cylindrical
5. Two sets of stub axle of front tires of Maruti Suzuki
Rack Tie rod Translation 800.
Tie rod Ball joint Spherical 6. One steering wheel of Maruti Suzuki 800.
Ball joint Wheel Fixed 7. Two tie rods of Maruti Suzuki 800.
Fig. 11 Two wheel steer of the prototype model 6.2 Front Right Wheel v/s Steering Wheel
Fig. 19 Constant radius test conducted for four [1] Unknown, Four wheel steering report,
http://www.scribd.com/doc/34677964/Four-
wheel steer.
Wheel-Steering-report, Retrived on 13th Sep 2012.
6.7 Comparison [2] Unknown, Four wheel steering,
http://www.wisegeek.com/what-is-four-wheel-
steering.htm, Retrived on 13th Sep 2012.
[3] Unknown, Four wheel steering, http://what-when-
how.com/automobile/four-wheel-steering-4ws-
automobile/, Retrived on 14th Sep 2012.
[4] “Honda Prelude Si 4WS: It Will Never Steer You
Wrong,” Car and Driver, Vol. 33, No. 2, pps. 40-
45, August 1987.
[5] Sano s et al, “Operational and design features of
the steer angle dependent four wheel steering
system.” 11th International conference on
Experimental safety vehicles, Washington D C
1988, 5P.
[6] Jack Erjavec., Automotive Technology, A System
Approach, 5th Edition, 2010.
[7] Farrokhi, Four wheel steering,
Fig. 20 Comparison circle of 2WS and 4WS http://www.iust.ac.ir/files/ee/farrokhi_0a5f0/journa
l_papers/j13.pdf, Retrived on 20th Oct 2012.
Table 2. Comparison for two wheel steer [8] M. Abe, "Vehicle Dynamics and Control for
and four wheel steer Improving Handling and Active Safety: From
Four-Wheel-Steering to Direct Yaw Moment
Turning Four Two Control," in Proc. Institution of Mechanical
radius wheel steer wheel steer Engineers, Part K, Journal of Milti-body
Dynamics, vol. 213, no. 4, 1999.
By 2.59 m 4.4 m [9] Lee, A.Y., “Vehicle Stability Augmentation
calculation Systems Designs for Four Wheel Steering
Vehicles,” ASME Journal of Dynamical Systems,
By 2.85 m 5.75 m Measurements and Control, Vol. 112, No. 3, pps.
experiment 489-495, September 1990.
[10] four wheel steering system for future -
International Journals
tjprc.org/download.php?fname=2-
Table 2 gives the comparison between the turning 23...5...%20FOUR%20%20...
radius for two wheel steer and four wheel steer by [11] Nalecz A G and Bindemann A C, “ Analysis of the
calculation and experiment. By calculation we can dynamic response of four wheel steering vehicles
conclude that there is 41.13 % reduction in turning at high speed.” International journal of vehicle
radius and by experiment it’s 50.43%. design, Vol 9, No 2, 1988, pp. 179-202.
[12] Unkown, Maruti Suzuki,
7. CONCLUSION http://www.carfolio/maruti-suzuki-800.htm,
Retrived on 4th Nov 2012.
By the analytical and experimental analysis [13] Reza.N.Jazar., Vehicle Dynamics, Theory and
and results we conclude that; applications, 2008.
• Four wheel steering concept was generated
• The four wheel concept was simulated in
ADAMS to check for functionality of
mechanism