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GroupC Steering PDF
GroupC Steering PDF
MECHANISM
AJMAL HUSSAIN (ME10B001)
• Introduction
• Types of steering
• Cad models
• Role of cornering stiffness
• Lateral control system
• Electric power assisted steering
• Optimization using genetic algorithm
• Conclusion
INTRODUCTION
The pinion moves the rack converting circular motion into linear motion along a different axis
Rack and pinion gives a good feedback there by imparts a feel to the driving
The steering wheel rotates the shaft which turns the worm gear.
●
Worm gear is fixed to the block and this moves the wheels.
●
● Electric eliminates the problems of dealing with leakage and disposal of the hydraulic fluid.
● Another issue is that if the hydraulic system fails, the driver will have to spent more effort since he
has to turn the power assistance system as well as the vehicle using manual effort.
● Hydraulic pump must be run constantly where as electric power is used accordingly and is more
energy efficient.
● Hyrdraulic is more heavy, complicated, less durable and needs more maintenance.
● Hydraulic takes the power directly from the engine so less mileage.
SPEED SENSITIVE STEERING
αf = τ - βf; αf = τ - β - hf r/ U
αr = βr; αr = - β + hr r/ U hr
FINAL EQUATIONS
STATE SPACE EQUATIONS
The matrices of the state
space equations are given
B(1,1)=Cf/(m*U);
B(2,1)=hf*Cf/J;
sys=ss(A,B,C,D) C(1,1)=-((Cf+Cr)/m)+(ls*(hr*Cr-hf*Cf)/J);
C(1,2)=((hr*Cr-hf*Cf)/(m*U))-ls*(((hr^2)*Cr+(hf^2)*Cf)/(J*U));
C(2:3,1:2)=eye(2,2);
D(1,1)=(Cf/m)+ls*(hf*Cf/J);
The transfer functions are
then given by, sys=ss(A,B,C,D);
tf(sys)
tf()sys
STABLE AND UNSTABLE REGIONS
VARYING CORNERING STIFFNESS
Stable region
Slip angle
Time
M=3000 kg
Yaw rate
Time
Lateral acc
Time
Slip angle
Time
M=4000 kg
Yaw rate
Time
Lateral acc
Time
Slip angle
Time
M=5000 kg
Yaw rate
Time
Lateral acc
Time
RESULTS
Cornering
Vehicle Settling Time
Sl.No Stiffness Peak
mass (sec)
(kN/deg)
β 5.8 1.02
• Firstly, the road curvature estimator is designed based on the steering angle, which has
steering angle and its derivative as two state variables for which an estimation algorithm is
employed whose input comes from the sensor and the GPS data
• The closed loop controller is used as a compensator to control the lateral dynamics
• Precise and real-time estimation of the lateral displacements w. R. T the road are
accomplished using the proposed control system
SINGLE TRACK DYNAMICS
Actuator Dynamics
.
X AX BU
d sf 80000
.
0
a
1 0 0 0 0 A( s)
d sf f a22 a21 a24 b 2 ( s 62.8)(s 12.56 28.77 j )(s 12.56 28.77 j )
X , U , A 21 , B 21
d
.sr ref 0 0 0 1 0 g 4
d a41 a42 a41 a44 b41 2
sr
Feedback Controller Dynamics
Structure C f ( s ) Cr ( s )
g2 lsf g1 g l g lsf (lsr g1 g 3 ) g1 lsf g 2 lsf (lsf g1 g 3 )
a21 , a22 1 sr 2 , a22 K DDf s 2 K Df s K Pf
Mg 4 I g 4 Mg 4 I g 4 KI
Mg 4 I g 4
C f (s)
g l g g l g l (l g g 3 ) g1 lsf g 2 lsr (lsf g1 g 3 ) s s 2 2 Ds s
a41 2 sr 1 , a42 1 sr 2 sr sr 1 , a44 1 2 1
Mg 4 I g 4 Mg 4 I g 4
Mg 4 I g 4
2 1 1
1 lsf ltf 1 l l
b21 c f , b41 c f sr tf K DDr s 2 K Dr s K Pr
M I M I Cr ( s )
s s 2 2 Ds
g1 (cr ltr c f ltf ), g 2 (c f cr ), g 3 (cr ltr2 c f ltf2 ), g 4 lsf lsr 1 2 1
2 1 1
CONTROL SYSTEM
Lateral Position Estimation System
.
^ ^ _ ^
X A X B U L( d sr H X )
^
d^sf
.
^
d
X ^sf
d sr
^.
d sr
^ f
U ^
ref
1
1
X l
1
Implementation of Control System
1
RESULTS
Simulation result for a speed 80mi/h on dry road (road adhesion factor of 1 )
ELECTRIC POWER ASSISTED STEERING
EQUATIONS
Steering column, Driver torque
Time
Speed 40kmph (with controller)
Assist Current (A)
Time
RESULTS
• Assuming small angles and equal slip angles on the left and right wheels,
𝑈𝑦 +𝑟𝑎
𝛼𝑓𝑟 = −𝛿
𝑈𝑥
𝑈𝑦 − 𝑟𝑏
𝛼𝑟 =
𝑈𝑥
• Where Cf and Cr are the front and rear cornering stiffness's, respectively. Substituting the
expressions or the lateral forces into equations 1 through 3 and making small angle
approximations yields,
(𝑈𝑦 +𝑟𝑎)
• 𝑚𝑈𝑥 = 𝑚𝑟𝑈𝑦 + 𝐹𝑥𝑟 + 𝐹𝑥𝑓 + 𝐶𝑓 𝛿
𝑈𝑥
• Taking the determinant of I A yields the characteristic equation of the system
2 2 a1 a2 0
(C f Cr ) I z (a 2 C f b 2 C r )m
a1
I z mS
C f Cr (a b) 2 (bC r aC f )mS 2
a2
I z mS 2
STABLE AND UNSTABLE REGIONS
VARYING CORNERING STIFFNESS
• In an oversteering case (aCf > bCr), the coefficient a2 will be negative when the
speed
C f C r ( a b) 2
• The critical speed obtained S
(aC f bC r )m