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In vehicle truck steering-system modeling and validation
Published in Johannes Edelmann, Manfred Plöchl, Peter E. Pfeffer, Advanced Vehicle Control AVEC’16, 2017
Jan Loof, Igo Besselink, Henk Nijmeijer
The steering-system of a truck generally contains components as in Figure 2. The driver controls the steering-wheel which is connected to the steering-house via the steering-column and two universal joints. These universal joints are necessary to facilitate the height adjustment and for the cabin motion. The steering-house contains a hydraulic power-steering system which amplifies the input torque given by the driver. The output of the steering-house is connected to the pitman-arm which moves the drag-link. This draglink movement is converted into a steering motion of the left wheel by means of the wheel lever. The left wheel is connected via a tie-rod to the right wheel.
Implementation and validation of a three degrees of freedom steering-system model in a full vehicle model
Published in Vehicle System Dynamics, 2019
Jan Loof, Igo Besselink, Henk Nijmeijer
A typical truck steering-system is shown in Figure 1(b). The driver actuates the steering-wheel, which is connected to the steering-column. Two universal joints are present to facilitate the height adjustment and the cabin motion. The second universal joint is connected to the input side of the steering-house, where the input torque is amplified by a hydraulic system. A simplified approach to model this hydraulic system is shown in Figure 1(a) where a boost-curve is shown. This boost-curve defines the resulting output torque of the steering-house as a function of input torque. The output of the steering-house is connected to the pitman-arm which moves the drag-link. The drag-link motion is converted to a rotation of the left wheel by means of a wheel-lever. The left wheel is connected to the right wheel via a tie-rod. Figure 3(a) shows the internals of a typical steering-house. The input torque is applied to the torsion-bar. This torsion-bar is connected to the spindle which converts the rotation into a translation of the piston. The piston has teeth on the bottom to actuate the sector-shaft which is the output of the steering-house. Upon deflection of the torsion-bar, the valve system gets actuated as shown in Figure 3(b). The inner part moves with respect to the outer part and the oil flow to one chamber gets restricted and the flow-path to the other chamber is opened. This results in a pressure difference across the piston. This pressure difference can only be influenced by torques on the output side of the steering-house resulting from the tyre feedback or by torques on the steering-wheel side resulting from the driver, there are no other inputs available.