STEERING:

Overview:
This report is all about the steering system being used in our student
formula (SUPRA) with a necessary explanation of the selection criteria.

INTRODUCTION:
The steering system is designed based on the Ackerman Geometry since
the average achievable speed on track described in the rulebook is
80 km/h which is moderate speed. The rack and pinion mechanism is
preferred as it is easy in design. Due to the ease in manufacturing, lower
weight and simple geometry a rack and pinion steering geometry with
ratio of 5: 1 was selected. Moreover a higher percentage Ackerman in
rack
and
pinion
arrangement
was achieved. For selection of
components and configuration following criteria were considered:

Low cost
Light weight
Simple design
High serviceability
Positive feedback
Responsiveness to driver input
Easy to troubleshoot.

CALCULATIONS:
WHEELBASE

65 inch

TRACKWIDTH

50 inch

CG FROM GROUND

15inch

INNER ANGLE (i)

35o

KING PIN INCLINATION( )

3o

CASTOR ()

3o

CAMBER

-1.5o

WEIGHT WITH DRIVER

270KG

WHEEL RADIUS
STEERING WHEEL RADIUS

10 inch
4.5 inch

Ackerman expressioncotocoti =w/l

Where,

i = the steer angle of the inner wheel

o = the steer angle of the outer wheel
O = turning center.
Cot ocot 35o =50/65
o = 24.47o

AVERAGE STEER ANGLE-

mean

(i + o)/2

mean = 29.73o

Turning radiusT.R= (T.W/2) + (W.B/sin

=156.05 inches =3.963m

mean

 Weight distributionRatio =40:60

Fro

nt

c
Rear
Total weight of the vehicle= 270 kg
Weight in front (40 % of total) = 108 kg
Weight in rear (60 % of total) = 162 kg

Distance of center of gravityDistance from front=b

Distance from rear=c
For c-

Wf = (W * C)/ l
c = 26 inch=0.6604m
Where,
Wf = Weight in front in static condition
W = total weight of vehicle with driver
C = distance from rear to C.G.

l = wheel base.
Forb-

Wr = (W * b)/ l
b = 39 inch=0.991m
Where,
Wr = Weight in rear in static condition
b = distance from front to C.G

Caster-

Caster angle normally ranges from 0 o to 70,but in our steering geometry

caster is assumed + 3o because positive caster creates lot of align torque
that straightens the steering wheel when going forward and improves
straight line stability of vehicle.
Caster angle has a positive effect on steer-camber. With positive caster
angle, the outside wheel will camber in a negative direction and the inner
wheel in a positive direction, causing both wheels to lean into the turn. Too
much caster causes weight transfer that can result in over steering effect.

King pin inclinationK.P.I angle is different in different vehicles, we have taken it 3 as too
much of kingpin inclination causes a lot of rising of the front axle while
steering. Keeping scrub radius small will make the car easier to steer.
In our upright/knuckle the spindle length is taken positive so that the car
will be raised up as the wheels are turned and this results in an increase of
the steering moment at the steering wheel.

Mechanical

trail(MT)-

MT = tan * r
=tan 3o * 10
= 0.524077 inch=0.0133m
Where,
r = Tire radius
= caster angle

Scrub radius(d)-

(d) = tan * r + AC
= tan 3o * 10 + 3.75
=4.27407 inch=0.108m
Where,
= king pin inclination angle
AC = king pin offset distance=tyre width 2
Tyre width=7.5 inches
r = tire radius

 Load transfer during brakingW f= w/l(

Where,
Wf= Load transfer
G=gravity
Wheel base (l) =65 inches
Height of center of gravity (h) = 15inches
Deceleration (d) = 2g
Gradient angle () = 15o
Total weight (w) = 270 kg
Distance of C.G. from back(C) = 26 inches
Wf = 36.46kg
Resultant weight on front = 108 + 36.46
=144.46kg
Weightleft = Weightright
= 144.46/2
=72.23 kg

FORCES-

 Lateral forceThe lateral force Fy, acting at the center of tire produces a
moment through the longitudinal offset resulting from caster
angle as shown in figure below. The net moment produced is:

ML = (Fyl + Fyr)
* r * tan
Where,
= caster angle,
r = tire radius,
Fyl , Fyr= lateral forces at left and right wheels.

Lateral forceF y = CS * FV *
Fv=72.23*9.81=708.5N
Fy= 113.36N
Ml=3.02Nm
Where,
Cornering stiffness (CS )= 0.16/1o
Load transferred during breaking on left/right wheel (FV) = 70 N
Slip angle () = 1o

Lateral momentFzl, Fzr= load transferred during breaking on left/right wheel,

= K.P.I angle,
= avg. steer angle,

d = tire radius.
Mv=Moment about vertical axis
Mv=(Fzl+Fzr)*d*sin *sin(mean)
=(708.5+708.5)*0.108*sin3*sin 29.735=3.972Nm

Self-aligning torqueThe aligning torque, Mz,acts vertically and may be resolved

into a component acting parallel to steering axis, since
moments may be translated without change in magnitude,
the equation for the net moment is:
MAT = (MZL+MZR)*cos

MAT = (3.972+3.972)*cos(18)
=7.92N-m

Total steering torqueMAT + Mv + ML

= 7.92+3.972+3.02
= 14.912 N-m

Pinion radiusIn our rack and pinion assembly geometry we are fixing
steering ratio 6:1
Then,
Input steering moment (I)2 * * radius of steering
wheel
Output steering moment (o)2 * * radius of pinion
Then,

Steering ratio = I / o
6/1 = 2 * * radius of
* radius of pinion
=3.83cm

Steering wheel force

steering

wheel / 2 *