Steering System

Ackerman
Linkage geometry
Road wheel geometry
Caster
Kingpin inclination
Compliance effects
Ackerman Steer
d
o
d
i
R
L
t/2
Inboard off-tracking

L
2 R
2
d = tan
-1
----- = -----
R+t/2
L
o
d = tan
-1
----- = -----
R-t/2
L
i
Turn
Center

R+t/2
R-t/2
L
L
For large radii, R >> t/2
d = --
Ack
L
R
Ackerman Truck Steering
System
Straight ahead
Right turn
Left turn
Ackerman Steer
-60
-40
-20
0
20
40
-50 -30 -10 10 30 50
Right Wheel Steer Angle (deg)
L
e
f
t

W
h
e
e
l

S
t
e
e
r

A
n
g
l
e

(
d
e
g
)
50%
Car Steering Systems
Rack and pinion
Gearbox Rack
Tire rod
Steering arm
Gearbox
Steering arm
Tire rod
Relay link Idler arm
Pitman arm
Truck Steering Systems
Tire rod
Steering arm
Drag link
Pitman arm
Gearbox
Compliance in Steering System
Geometry at the Wheel
Center of
Tire Contact
Caster Angle
Kingpin Inclination Angle
Kinpin Offset at the Ground
Kingpin Axis
Lateral Inclination Angle
( ) sin sin
zl zr
M F F d

d = -
F
zr
F

s
in

z
r
d

F

s
in

z
r
F
zr
d
d sin d
Torques from Lateral Inclination
45 30 15 0 -15 -30 -45
-200
-100
0
100
200
Total
Steering Angle (deg)
S
t
e
e
r
i
n
g

T
o
r
q
u
e

(
i
n
-
l
b
)
STEERING TORQUE FROM
LATERAL INCLINATION ANGLE
Right Wheel (600 lb)
1" Offset
10 Inclination Angle
Left Wheel (800 lb)
M = - (F + F ) d sin sin d
V
zl zr
( ) sin sin
zl zr
M F F d

d = -
Caster Angle
( ) sin cos
zl zr
M F F d

d = -
F
zr
F



s
i
n

z
r
d

F



s
i
n

z
r
F
zr
d
d cos d
Torques from Caster Angle
45 30 15 0 -15 -30 -45
-200
-100
0
100
200
Steering Angle (deg)
S
t
e
e
r
i
n
g

T
o
r
q
u
e

(
i
n
-
l
b
)
STEERING TORQUE FROM
CASTER ANGLE
Total
Left Wheel (800 lb)
Right Wheel (600 lb)
1" Offset
5 Caster Angle
M = (F - F ) d sin cos d
V
zl zr
d

cos sin ) ( - = d F F M
xr xl
Lateral Force
tan ) ( r F F M
yr yl L
- =
F
yr

r tan
Tractive Force
d F F M
xr xl T
- = ) (
F
xr
d

4 Wheel Steer - Low Speed

R =
d (1 d /d )
f
r
f
L
d
R
L
f
d
r
Turn
Center
4 Wheel Steer - High Speed
d
f
d
r
a
x
Four-wheel in-phase steering
Only at high speed (typically
above 35 mph)
Rear steer angles less than
front
Rear steer angles limited to a
few degrees
Steering System Applications
Effect of steering geometry on performance
Understeer (linear range)
Limit cornering (non-linear range)
Steering torques and feel
On-center feel
Torque gradients
Linearity
Power assist characteristics
Friction and damping
Evaluate effects of asymmetry
Manufacturing tolerance
Steering Ratio
Steering Ratio = Steering wheel angle (deg) / Road wheel angle (deg)

Steering ratio for cars = 15 to 20

Steering ratio for trucks = 20 to 40
Steering Ratio
Assignment
Design linkage geometry to meet
requirement of the minimum turn radius
and provide close to Ackerman geometry
(X-Y plane is ok)
Design steering ratio with measurements
on your car