POWER STEERING

SHAILENDRA A
CDB0912004 Module Code: AEL 2515 Module Title: Control systems Engineering. Module Leader: K Vishwanath Reddy

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Marking
Head Technical Content Grasp and Understanding Delivery Technical and General Aspects Handling Questions Total Maximum 5 5 5 5 20 Score

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Introduction
It is the system used for directional change of an automobile It connects rotary motion of steering wheel into angular moment to turn vehicle into particular direction

This system is connected with front wheels of vehicles and

back wheels in some heavy vehicles making it 4 wheel steering

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Types of powered steering

Hydraulic powered steering Electronic powered steering

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Hydraulic powered steering

Hydraulic power steering (HPS) system uses high pressure fluids for assisting the steering movement which uses the

engine's power as a drive source

Figure 1 Hydraulic Power steering

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Electronic powered steering

Electronic powered steering uses an electric motor to drive

steering linkage directly.

The power steering mechanism is therefore independent of engine speed, resulting in significant energy saving.

Figure 2 Electronic powered steering

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Steering system components

Steering wheel- column and shaft - driver inputs Steering gear - changes direction - rotating steering motion into linear motion Steering linkage - connects steering gear to steering arms

Ball joints - allows movement of steering components and

suspension

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HPS vs EPS

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Steering gear systems

Recirculating ball Rack and pinion

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Recirculating ball type

Uses balls on a worm gear Has a pitman arm

Balls inside the gear ride inside guide paths

Uses a Parallelogram Linkage steering arm system Pitman arm moves steering tie rods

Figure 3 Recirculating ball

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Rack and pinion

Fewer moving parts than the recirculating ball Smaller and more compact

Figure 4 Rack and Pinion

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Steering ratio
Steering ratio is a measurement of how many turns that a steering wheel takes to go from a full lock to the other full lock Basically how many turns from all the way from left to right Also measured from the center (straight) to a full lock turn Fast ratio is 2-3 turns lock to lock Slow is about 4 or 5 times lock to lock

15:1 ratio wheels move 15deg for 1 degree of steering

wheel movement
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Ackerman Steering Geometry

Basic layout for passenger cars, trucks, and ag tractors o = outer steering angle and i = inner steering angle R= turn radius L= wheelbase and t=distance between tires
o i

Center of Gravity

R i o

Turn Center

Figure 1.1. Pivoting Spindle

Figure 5 Ackerman Steering geometry

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Block Diagram

CAN

Figure 6 Block Diagram

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Components
MDPSCM(Motor Driven Power Steering Control module) Motor Steering Angle sensor Steering Torque sensor Steering Column Power source

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Steering Column

Figure 7 Steering Shaft

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Motor Specification
Nominal current - 78A Nominal Torque - 3.7NM

Nominal Speed 1000RPM

Type used : Brushless Motor

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Working

Working of EPS
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Working
Driver steers the steering wheel Torsion bar detects the distortion of tyre and steering column

Torque sensor detects the distortion of torsion bar

The light is radiated from the element through light gun on to the disks

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Working

Working of EPS- Light detection

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Working
The shadow generated by light transmitted is detected by linear array( receiving element) At this time the distorted amount of torsion bar makes the difference in the shadow on to the disks

The linear array detects the shadow to detect whether it is left

turn or right turn

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Working- MDPSCM

Working of EPS- Data sharing

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 Averaging the detected values of the torque senor, the average is sent to the MDPSCM

MDPSCM controls the motor current based on the calculated

values

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Calibration

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Over heat mechanism/Advanced system

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Type of region

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Vehicle equipped with ABS

Vehicle speed from right wheel speed sensor

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Vehicle without ABS

Vehicle speed from Engine ECM

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Diagnostic Codes

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Mechanical system

Figure 7
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 Jh- assembly rotary inertia of steering wheel and input shaft Jm is the equivalent rotary inertia of power motor armature shaft

and reducer driving gear

Jr is the equivalent rotary inertia of steering mechanism and front tire h- Steering wheel angle p- steering pinion angle

m- power armature shaft angle

f-Front tyre angle

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 Th- Input torque of steering wheel Ts- Measured value of torque sensor

Tm- Input torque of power motor

Ta- Actual assisting torque Tr- Steering resistive torque equivalent to steering shaft Ks- Rigidity co efficient of twisting rod Ka- Motor electromagnetic torque coefficient

Bh- Damping coefficient of steering input shaft

Bm- Damping coefficient of motor armature shaft

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 Br- Equivalent damping coefficient of steering mechanism and front tyre G1- Reduction ratio from motor to steering shaft G2- Reduction ratio from steering pinion to front wheel

I- Motor current

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EPS differential equations

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EPS differential equations

The motor current is proportional to the measured value of
torque sensor. It is given by I = KTs = KKs (h - p) But taking into account the effects of the motor inertia, damping and friction, a compensatory current is added to

the motor current.

The compensated current is modeled as:

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Transfer function
Under normal driving condition, the steering system keeps

transferring the impression of the contact conditions between

the tires and road to the hand wheel, then the driver feels the force feedback.

This is what called road feeling. It is considered to be a very

important factor because it acts directly on the drivers hands

and the driver determines his/her actions based on this force.
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Transfer function
For studying the road feeling, we propose a method that a

steering wheel is set in a fixed mode

The mode corresponds to the actual driving conditions that the driver is holding the steering wheel tightly

When the wheel set with a fixed mode, the mathematical

model of the hand wheel as Th = Ts = - Ksp

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Transfer function
From equation 7

The transfer function from the steering resistance torque to

the steering wheel torque can be obtained as

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Conclusion
Hydraulic power steering is a primitive technology used for decades and has improved a lot with time.

Hydraulic power steering are speed sensitive and work

better than the older hydraulic power steering. Electric Power Steering gives better response at different speeds as compared to Hydraulic Power Steering Electric Power Steering is better than Hydraulic Power

steering in terms of maintenance, mileage and simplicity

and widely used nowadays in all automobiles based on applications
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References
XueWu Ji, XiaoPing Ma, KuiYuan Chen, Experimental study on EPS system performance, Journal of Jiangsu University (National Science Edition), 25(2):116-119, 2004. http://www.csuohio.edu/engineering/ece/research/theses/2010/Kandula%20Pr asanth%20Babu.pdf http://am.delphi.com/pdf/techpapers/1999-01-0399.PDF http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5203081&url=http%3 A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D5203 081

http://liu.diva-portal.org/smash/record.jsf?pid=diva2:23027
http://www.jofcis.com/publishedpapers/2012_8_1_65_72.pdf http://tos.pp.fi/koukku/892403.pdf
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Thank You

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