Abstract
The interaction of the vehicle and steering system is important to evaluate the vehicle on-centre handling. To analyse the vehicle and steering system dynamics at small steering wheel angle inputs a methodological approach to validate a simulation model is developed in this paper. The presented model is focused on the description of the major on-centre handling phenomena and characteristics. For the validation of the model adjusted test manouevres and a certain procedure to achieve highly reproducible measurement data are described. Due to the collected measurement data it is possible to describe the vehicle on-centre behaviour and to validate the overall model in a phased manner and more exactly. The results show the importance of the steering system characteristics and its influence on the on-centre handling regarding small steering wheel angles at low frequencies. Next to the steering system friction and elasticity the influence of the vehicle and steering system hysteresis loop is presented.
Article PDF
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.Avoid common mistakes on your manuscript.
Abbreviations
- a y :
-
lateral acceleration
- ∝ v,h :
-
slip angle front and rear axle
- C c :
-
torsional stiffness steering column
- C max :
-
maximum steering column stiffness
- C w :
-
roll stiffness
- c v,h :
-
cornering stiffness
- c y :
-
lateral stiffness of the contact patch in reference to the rim
- D c :
-
torsional damping steering column
- dF r :
-
differential force
- D w :
-
roll damping
- φ L :
-
steering wheel angle
- φ P :
-
pinion angle
- ∆φ :
-
torsion twist angle
- ∆φ t :
-
torsion twist angle of the steering column stiffness function
- F ESF , F r :
-
force of ESF Element
- f ESF :
-
factor of ESF friction Element
- F lim :
-
maximum of friction force
- F rstat :
-
maximum Breakaway force
- F* t :
-
tie rod force
- F y :
-
lateral tire force
- F yv,h :
-
force front/ rear axle
- (h a −h w ):
-
lever arm roll model
- i l :
-
ratio steering wheel to wheel
- J :
-
longitudinal momentum of inertia
- J z :
-
vertical momentum of inertia
- \(K_{ESF} = \frac{{F_{lim} }} {{f_{ESF} }}\) :
-
stiffness of friction element at zero force
- k rv :
-
exponential friction constant
- le v,h :
-
relaxation length
- M Fr :
-
steering column friction torque
- M r :
-
torsion torque
- M s :
-
power assistance moment of the servo motor
- n m :
-
mechanical trail
- n p :
-
pneumatic trail
- r 1 :
-
ratio pinion to steering rack
- r 2 :
-
ratio servo motor to steering rack
- v :
-
vehicle velocity
References
Badawy, A., Zuraski, J., Bolourchi, F. and Chandy, A. (1999). Modeling and analysis of an electric power steering system. SAE Paper No. 1999-01-0399, 147–154.
Boßdorf-Zimmer, B. (2007). Nichtlineare Fahrzustandsbeobachtung für die Echtzeitanwendung. Ph. D. Dissertation. Technische Universität Braunschweig. Germany.
Böhm, F. (1996). zur Mechanik des Luftreifens. Habilitationsschrift. Technische Hochschule Stuttgart. Germany.
Deppermann, K. H. (1989). Geradeauslauf von Pkw–Fahrversuche und Berechnung. Automobil-Industire, 3/89, 261–274.
Engels, A. (1994). Geradeauslaufkriterien für Pkw und deren Bewertung. Ph. D. Dissertation. Technische Universität Braunschweig. Germany.
Harrer, M. and Porsche, F. (2008). Objektivierung des Lenkverhaltens. 17. Aachener Kolloqium Fahrzeug- und Motorentechnik, 739–752.
ISO 13674-1:2010 (2010). Road Vehicles–Test Method for the Quantification of On-centre Handling–Part 1: Weave Test.
Kim, J. (2011). Objectification of on-centre handling charactersitics based on spring-mass-damper system. Int. J. Automotive Technology 12, 6, 857–864.
Kim, K. C. and Kim, C. M. (2008). Analysis process of a steering system using a concept model for idle vibration. Int. J. Automotive Technology 9, 3, 337–346.
Kobetz, C. (2003). Modellbasierte Fahrdynamikanalyse durch ein an Fahrmanövern Parameteridentifiziertes Querdynamisches Simulationsmodell. Ph. D. Dissertation. Technische Universität Wien. Austria.
Kushiro, I. and Yamomoto, M. (2006). Vehicle behaviour under the influence of steering dynamics by means of low frequency torque input. SAE Paper No. 2006-01-0557.
Liao, G. Y. and Du, I. H. (2003). Modeling and analysis of electric power steering system and its effect on vehicle dynamic behavior. Int. J. Vehicle Autonomous Systems 1, 3/4, 351–362.
Loth, S. (1996). Fahrdynamische Einflußgrößen beim Geradeauslauf von Pkw. Ph. D. Dissertation. Technische Universität Braunschweig. Germany.
Lozia, Z. and Zardecki, D. (2007). Friction and stick-slip phenomena in steering system–modeling and simulation studies. SAE Paper No. 2007-01-1153.
Mitschke, M. and Wallentowitz, H. (2003). Dynamik der Kraftfahrzeuge. 4th edn. Springer-Verlag. Berlin, Heidelberg, New York.
Mouri, H., Kubota, M. and Horiguchi, N. (2007). Study on effects of transient steering efforts characteristics on driver’s steering behaviour. SAE Paper No. 2007-01-0823, 163–173.
Neureder, U. (2001). Modellierung und simulation des lenkstranges für die untersuchung der lenkungsunruhe. ATZ Automobiltechnische Zeitschrift 103, 3, 216–224.
Nybacka, M., He, X., Gómez, G., Bakker, E. and Drugge, L. (2014), Links between subjective assessments and objective metrics for steering. Int. J. Automotive Technology 15, 6, 893–907.
Pfeffer, P. E. (2006). Interaction of Vehicle and Steering System Regarding On-centre Handling. Ph. D. Dissertation. University of Bath. UK.
Wohnhaas, A. T. (1994). Simulation von Kraftfahrzeug-Lenkungen unter besonderer Berücksichtigung von Reibung und Spiel. Ph. D. Dissertation. Universität Stuttgart. Germany.
Xu, Y. H. and Ahmadian, M. (2013). Study on the performance of active front steering system. Int. J. Automotive Technology 14, 4, 595–603.
Zomotor, Z. A., Ammon, D. and Meljnikov, D. (2003). Modellbasierter Fahrversuch. VDI- Berichte. Nr. 1755. 25–36.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
van Ende, K.T.R., Küçükay, F., Henze, R. et al. Vehicle and steering system dynamics in the context of on-centre handling. Int.J Automot. Technol. 16, 751–763 (2015). https://doi.org/10.1007/s12239-015-0076-4
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12239-015-0076-4