TABLE OF CONTENTS

CHAPTER NO TITLE PAGE NO

Abstract i

List of Tables ii

List of Figures iii

List of Symbols iv

1. INTRODUCTION TO AUTOMOBILE 1
1.1 Types of Automobile 2
1.2 Introduction to Steering system 3
1.3 Requirements to Steering system 4
1.4 Functions of the Steering system 5
1.5 Types of Steering 5
1.5.1 Front Wheel Steering 5
1.5.2 Rear Wheel Steering 5
1.5.3 Four Wheel Steering 6
1.7 Two modes are generally used in this 4ws models 8
1.7.1 Slow speed rear steer mode. 8
1.7.2 High speed 9
1.7.3 Zero turning circle radius 360 mode 10

2. LITERATURE SURVEY 11
2.1 Honda 4ws system 11
2.2 Mazada 4ws system 12

3. STEERING SYSTEM 15
 3.1 Ackerman steering mechanism 15
3.2 Steering ratios 18
3.3 Turning circles 20
3.4 King pin and king pin axis 21
3.5 King pin inclination 21
3.6 Center point steering 22
3.6.1 Disadvantages of not having
centre point steering 22
3.7 Scrub radius 23
3.7.1 Positive scrub radius 23
3.7.2 Negative scrub radius 23
3.8 Front Wheel Geometry 24
3.8.1 Castor 24
3.8.2 Camber 25
3.10 Toe-in 27
3.11 Toe-out 28

4. VEHICLE DYNAMICS AND STEERING 29

4.1 Under steer 29
4.2 Over steer 30
4.3 Neutral or counter steering 30

5. STEERING GEAR BOXES 32

5.1 Pitman Arm 32
5.2 Rack and Pinion 34
5.2.1 Variable Ratio Rack and Pinion Steering 36
5.3 Recirculating ball rack and sector 36
5.4 Worm and sector 37
 5.5 Worm and roller 38
5.6 Cam and roller 39

6. TYPES OF 4WS 40
6.1 mechanical 4WS 40
6.2 hydraulic 4WS 42
6.3 electro-hydraulic 4WS 44
6.4 actual 4WS 46

7. CHARACTERISTICS OF WHEEL CHAIR DRIVE 47

CONFIGURATIONS

8. DESIGN OF FOUR WHEEL STEERING SYSTEM 51

8.1 fundamental equations for correct steering 52
8.2 steering torque required 53
8.3 wheel alignment constraints for 4WS 54

9. FABRICATION OF FOUR WHEEL STEERING 56

SYSTEM
9.1 Specification of the Maruthi-800 56
9.2 Methodology 58
9.3 Working Principle 59
9.4 Photos of Four Wheel Steering System 60
9.5 Benefits of the 4WS model 62
9.6 Applications of 4WS with 360 Mode. 63
9.6.1 Parallel parking 63
9.6.2 High speed lane changing 64
9.6.3 Application in heavy vehicles 65
 9.7 Requirements for Real Time Implementation 66

10. FAIL SAFE MEASURES 69

10. RESULTS AND DISCUSSIONS 70

10.1 control issues 70
10.2 drive wheel options 71

11. CONCLUSIONS AND SCOPE FOR FUTURE WORK 72

12. REFERENCES 73
 LIST OF TABLES

S. No. Name Page No.

3.1 steering troubles and their causes 17

3.2 comparative steering data of some Indian automobiles 19
3.3 Steering wheel diameters of some of the light vehicles 20
manufactured in India.
9.1 Specification of the Maruthi-800. 57
 LIST OF FIGURES

Fig. No. Name Page No.

1.1 Steering System 3

1.2 Conventional Front Wheel Steering System 5
1.3 Four Wheel Steering System 7
1.4 Rear Steer Mode 8
1.5 Crab Mode 8
1.6 Front-Rear Steering Ratio with Respect to Speed 9
1.7 The Jeep Hurricane Concepts With 9
Zero Turning Circle Radius
2.1 Epicyclic Gear Action (Honda). 12
2.2 Epicyclic Gear Action (Honda). 12
2.3 Schematic Layout Of Rear-Wheel Steer Unit (Mazda). 13
2.4 Steering Phase Control Unit. 14
3.1 Ackerman Steering Geometry. 16
3.2 King Pin Axis 21
3.3 King Pin Angle 22
3.4 Scrub Radius 23
3.5 Wheel Geometry 24
3.6 Caster 25
3.7 Camber 26
3.8 Toe-In 27
3.9 Toe- Out 28
3.9 Toe-Out (Detailed) 29
4.1 Under Steer 30
4.2 Over Steer 31
4.3 Counter Steering 32
5.1 Pitman Arm Type 33
5.2 Rack And Pinion Type 35
5.3 Rack And Pinion 35
5.4 Recirculating Ball Rack and Sector 36
5.5 Worm and Sector 37
5.6 Worm and Roller 38
5.7 Cam and Roller 39
6.1 Mechanical 4ws 40
6.2 Hydraulic 4ws 42
6.3 Electro-Hydraulic 4ws 44
7.1 Fixed Rear-Wheel Differential Drive Configuration. 48
7.2 Wheel Alignment for Four-Wheel Steering About a 49
Single Pivot Point.
8.1 Variation in Steer Angles for Left and Right Wheels 51
8.2 Relative Angles of the Tyres to the Car 51
8.3 Steering Angles 53
8.4 Wheel Alignment Constraints for Four-Wheel Steering. 55
9.2 Maruti 800 Front Wheel Drive. 58
9.3 Bevel Gear Arrangement with Front Steering System 60
9.4 Support for Power Transfer Rod 60
9.5 Rear Rack And Pinion Assembly 61
9.6 Rear Wheel Opposite To Front Wheel 61
9.7 Right Side View 62
9.8 Parallel Parking Maneuver Simplified With 360 Mode 64
9.9 Crab Mode in Action 65
9.10 Trailer Bus with Four-Wheel Steering 66
 LIST OF SYMBOLS

γ = Camber Angle (Deg)

= King Pin Inclination (Deg)
rs = Steering Scrub Radius (Mm)

= Caster Angle (Deg)

δvs = Toe-In Angle (Deg)
Θ = Inner Front Wheel Turning Angle (Deg)
Ф = Outer Front Wheel Turning Angle (Deg)
T = Steering Torque (N)
Μ = Coefficient Of Friction between the Road and the Tyre
W = Load (N)
P = Tire Pressure (N/M2)