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Steering Calculations

This document discusses the calculations for Ackerman steering geometry. It defines key terms like Ackerman angle, king pin center to center distance, wheelbase, and tie rod length. It then shows calculations for determining: 1) The Ackerman angle given the king pin distance and wheelbase 2) The length of the tie rod based on the Ackerman angle 3) The turning radius using trigonometry and wheelbase/turning angle relationships 4) The inner and outer wheel turn angles needed for 100% Ackerman steering 5) Additional geometry calculations to determine the steer angle of the tires given distances and angles in the steering linkage 6) The steering ratio based on the maximum wheel turn

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Darshan
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2K views6 pages

Steering Calculations

This document discusses the calculations for Ackerman steering geometry. It defines key terms like Ackerman angle, king pin center to center distance, wheelbase, and tie rod length. It then shows calculations for determining: 1) The Ackerman angle given the king pin distance and wheelbase 2) The length of the tie rod based on the Ackerman angle 3) The turning radius using trigonometry and wheelbase/turning angle relationships 4) The inner and outer wheel turn angles needed for 100% Ackerman steering 5) Additional geometry calculations to determine the steer angle of the tires given distances and angles in the steering linkage 6) The steering ratio based on the maximum wheel turn

Uploaded by

Darshan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Steering calculations

ACKERMANN ANGLE
Ackerman Angle

Wheel base

TAN Angle B =

King Pin Center to Center Distance


2

king pin center to center distance / 2


Wheelbase

Angle B = ARCTAN (king pin center to center distance / 2)


Wheelbase
Angle B = ARCTAN

56 / 2
68

Angle B =22.38

So the ackerman angle for new design is 22.38

LENGTH OF THE TIE ROD

Y
SIN Ackerman Angle =
Ackerman Arm Radius.

SIN 22.38 = Y/5


Y =1.904

LT = DKC 2Y
Where:
LT is the length of the tie rod and rack rod
DKC is the distance between king pins center to center
LT = 56 2*5*SIN 22.38
LT =52.193

TURNING RADIUS
From Law of Sin
a
b
c
=
=
sinA sin B sin C
turning radius wheel base
=
sin 90
sin ( i )

68 } over {sin (i)}


3000
=
sin 90

90
( 1727.330sin
)
00

i=arcsin

i=35.15

ACKERMANN STEERING GEOMETRY


TO DETERMINING INNER AND OUTER WHEEL TURN
ANGLE FOR 100% ACKERMAN
Cot o Cot i = L/B
Where
o= turn angle of the wheel on the outside of the turn
i= turn angle of the wheel on the inside of the turn
L= track width
B= wheel base
Wheel base =1727.2mm
Track width=1422.4mm
Substitute the W and L in above equation
Cot o Cot i = 0.824
As we known the maximum wheel turning angle as 35.15 are
calculated from ackerman geometry (turning radius).

Cot

Cot

o = 0.824+1.42

Cot (35.15) = 0.824

= arccot(2.244)

o = 24.017

TO DETERMINING INNER AND OUTER WHEEL TURN ANGLE


FOR ACTUAL DESIGN

Point Bs X coordinate = RAA * COS(AA + SAL)

Point Bs Y coordinate = RAA * SIN(AA + SAL)


Assume if a car takes 30 left turn
Point Bs X coordinate = 5 * COS(22.38 + 35.15)
Point Bs X coordinate = 2.684
Point Bs Y coordinate = 5 * SIN(22.38 +
35.15)
Point Bs Y coordinate = 4.218
So, the coordinates of Point B at a 0 left turn are (2.684, 4.218)

TO DETERMINE ANGLE

DE = AD AE
DE = 56-4.218
DE = 51.78

Now that we know EB and ED, we can find the length of BD because it
is a hypotenuse of the triangle formed. Using Pythagorean Theorem:

BD =

BD =

(EB 2 + (DE)2

(51.78) 2 + (2.684)2

BD = 51.85

we know the sides of the triangle we can determine angle

TAN

= EB/ED

ARCTAN (EB/ED) =

ARCTAN (2.684/51.78) =

=2.96
So now that we know angle k and the Ackerman angle
TO FIND ANGLE(

Law of cosines for non-right triangles


COS = A2 + B2 C2
2AB
ARCCOS A2 + B2 C2

2AB
ARCCOS (52)2 + (5)2 (51.78)2

2(52)(5)
=84.72

Now if we add up angle , and the Ackerman angle, well have the
tires steer angle from the line that connects the two kingpins. To get
the steer angle, we have to subtract 90. The formula is:
Steer Angle = + + Ackerman Angle - 90
Steer Angle = 2.96 + 84.72 + 22.38 - 90
Steer Angle = 20

STEERING RATIO CALCULATION

Steering ratio =

Turn of steering

wheel
Turn of wheel
Maximum wheel turning angle =35.15

Steering ratio =

360

35.15

Steering ratio
=11:1

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