US20030111289A1 - Independent steering and actuator - Google Patents
Independent steering and actuator Download PDFInfo
- Publication number
- US20030111289A1 US20030111289A1 US10/023,261 US2326101A US2003111289A1 US 20030111289 A1 US20030111289 A1 US 20030111289A1 US 2326101 A US2326101 A US 2326101A US 2003111289 A1 US2003111289 A1 US 2003111289A1
- Authority
- US
- United States
- Prior art keywords
- steering
- drive unit
- rotational drive
- axis
- steering knuckle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
- B62D5/14—Rotary motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/08—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in a single plane transverse to the longitudinal centre line of the vehicle
- B62D7/09—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in a single plane transverse to the longitudinal centre line of the vehicle characterised by means varying the ratio between the steering angles of the steered wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/18—Steering knuckles; King pins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/14—Independent suspensions with lateral arms
- B60G2200/142—Independent suspensions with lateral arms with a single lateral arm, e.g. MacPherson type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/44—Indexing codes relating to the wheels in the suspensions steerable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/30—Spring/Damper and/or actuator Units
- B60G2202/31—Spring/Damper and/or actuator Units with the spring arranged around the damper, e.g. MacPherson strut
- B60G2202/314—The spring being a pneumatic spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/41—Fluid actuator
- B60G2202/413—Hydraulic actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/442—Rotary actuator
Definitions
- This invention relates to steering systems for a vehicle, and more particularly, the invention relates to a steering system designed to address Ackerman errors.
- Vehicle steering systems steer wheels on opposing sides of the vehicle in response to a steering input.
- an input from a steering wheel is directed through mechanical steering components to steer the wheels on each side.
- the steering wheel is connected to a control box which is connected to one or more mechanical linkages connecting the opposing wheels.
- the mechanical linkages and control boxes are difficult to package in that they must be routed from one of the side to the other to mechanically connect the wheels.
- the inner wheels travel in a path having a smaller radius than the outer wheels.
- the inner wheel must be turned a greater amount than the outer wheel so that the wheels travel along their respective radial paths.
- the angle of the inner and outer wheels may not be changed independently from one another.
- the angles of the wheels during a turn is commonly referred to as the Ackerman angle.
- steering systems are designed so that the wheels are pointed in the direction of their respective radial paths for one particular turn, preferably in the range of 20° to 30°, such that there is no Ackerman error.
- Ackerman error exists such that at least one of the wheels is not pointed in the direction of its radial path.
- Ackerman error essentially causes the wheels to pull the vehicle in slightly different directions and accelerates tire wear. Therefore, what is needed is a steering system that eliminates Ackerman error for all of the vehicle turning angles to extend tire life.
- the present invention provides a steering system for a vehicle that includes a steering knuckle which is rotatable about an axis.
- the steering knuckle includes upper and lower portions or attachment points that define the steer axis.
- a lower suspension interconnects the lower portion to the vehicle frame or body.
- An energy absorbing mechanism preferably including an inner spring and a shock absorber, interconnects the upper portion to the vehicle body or frame.
- a rotational drive unit is connected to the steering knuckle for rotating the steering knuckle about the axis.
- a control module receives a steering input corresponding to the desired Ackerman angle and commands the rotational drive unit to rotate the steering knuckle about the axis to the desired Ackerman angle.
- Rotational drive units for each side of the vehicle ensure that the wheels are turned to the appropriate Ackerman angle for each wheel.
- the rotational drive unit may include an electric motor, or a pneumatic or hydraulic pump.
- the drive unit includes a rotary actuator which has a shaft connected rigidly to the steering knuckle.
- the actuator shaft may consist of either a single vane or multiple vanes.
- the fluid pump pumps fluid into the housing to rotate the vane with the shaft and steering knuckle about the axis in response to a command from the control module.
- the above invention provides a steering system that eliminates Ackerman error for all of the vehicle turning angles and extends tire life.
- FIG. 1 is a schematic view of one embodiment of the present invention
- FIG. 2 is another embodiment of the steering system of the present invention.
- FIG. 3 is a cross-sectional view taken along lines 3 - 3 of FIG. 2;
- FIG. 4 is another embodiment of a fluid pump.
- the steering system 10 includes a steering assembly on a first side 12 and another steering assembly on the second side of the vehicle shown schematically at 13 .
- the steering assembly 12 includes a structural member 14 , such as a portion of a vehicle frame, supporting a lower suspension member 18 , or A-arm at pivotal connection 19 .
- a lower portion of a steering knuckle 20 is supported on the lower suspension arm 18 at a ball joint 21 .
- the steering knuckle 20 includes a spindle supporting a wheel 22 .
- An energy absorber mechanism 24 is secured to a second structural member 25 and is connected an upper portion of the knuckle 20 .
- the energy absorber mechanism 24 preferably includes an air spring and a shock absorber.
- the steering assembly arrangement shown in FIG. 1 is typically referred to as a MacPherson strut.
- the energy absorbing mechanism 24 is rotationally fixed relative to the second structural member 25 so that it does not rotate during a steering maneuver.
- the steering knuckle 20 is rotatable about an axis A during steering maneuvers.
- a rotational drive unit 26 is connected to the steering knuckle 20 to rotate the knuckle in response to a steering input.
- the rotational drive unit has a portion, such as a final drive gear, that is coaxial with axis A.
- the rotational drive unit 26 may be a suitable type of drive mechanism such as a pneumatic or hydraulic motor.
- the rotational drive unit 26 include an electric motor and gear reduction box.
- a control module 28 is connected to the steering assemblies 12 , 13 on each of the sides of the vehicle.
- Control module 28 receives a steering input corresponding to a desired Ackerman angle for each of the steering assemblies 12 , 13 . That is, each of the steering assemblies 12 , 13 requires a different Ackerman angle during a vehicle turn so that each of the wheels is pointed in the direction of its path of travel.
- the control module 28 commands the rotational drive unit 26 to rotate the steering knuckle 20 about the axis A to achieve the desired Ackerman angle for each of the wheel assemblies 12 , 13 . In this manner, each of the steering assemblies 12 , 13 are rotatable independently of one another so that the appropriate Ackerman angle for each wheel may be achieved.
- FIGS. 2 and 3 Another steering system 29 of the present invention is shown in FIGS. 2 and 3. Similar to the steering system 10 shown in FIG. 1, the steering system 29 includes first 30 and second 31 steering assemblies movable independently from one another.
- the steering system 29 includes an axle 32 having an end 33 .
- a knuckle 34 is supported on the end 33 and is secured thereto by king pins 38 , 39 .
- the knuckle 34 includes a spindle 36 for supporting a wheel (not shown).
- a rotational drive unit 40 is connected to the knuckle 34 for rotating the knuckle 34 about the axis A.
- the rotational drive unit 40 includes a fluid housing 42 .
- a shaft 44 extends from the king pin 39 and into the fluid housing 42 .
- a vane 46 extends from the shaft 44 within the housing 42 .
- the vane 46 divides the housing 42 into first 47 and second 48 chambers.
- a fluid pump 50 such as a hydraulic or pneumatic pump, is connected to the housing 42 .
- a fluid may be pumped by the fluid pump 50 into the first chamber 47 to move the vane 36 and shaft 44 in one direction, or the fluid pump 50 may pump fluid into the second chamber 48 to move the vane 36 and shaft 44 in the opposite direction. In this manner, the vane and shaft rotate the knuckle 34 about the axis A.
- This concept can be extended to multiple vane arrangement.
- a round housing 42 may consist of four separate single vanes connected to shaft 44 .
- the control module 52 is connected to the fluid pump 50 .
- Control module 52 receives a steering input corresponding to a desired Ackerman angle for each of the steering assemblies 30 , 31 .
- the control module 52 commands the rotational drive unit 40 to rotate the steering knuckle 34 about the axis A to the desired Ackerman angle for each of the steering assemblies 30 , 31 . In this manner, the steering assemblies 30 , 31 rotate independently of one another to rotate the wheels to the appropriate Ackerman angle.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
- This invention relates to steering systems for a vehicle, and more particularly, the invention relates to a steering system designed to address Ackerman errors.
- Vehicle steering systems steer wheels on opposing sides of the vehicle in response to a steering input. Typically, an input from a steering wheel is directed through mechanical steering components to steer the wheels on each side. More specifically, the steering wheel is connected to a control box which is connected to one or more mechanical linkages connecting the opposing wheels. The mechanical linkages and control boxes are difficult to package in that they must be routed from one of the side to the other to mechanically connect the wheels.
- During a vehicle turn, the inner wheels travel in a path having a smaller radius than the outer wheels. As a result, the inner wheel must be turned a greater amount than the outer wheel so that the wheels travel along their respective radial paths. Due to the limitations of the mechanical linkage provided by the steering system, the angle of the inner and outer wheels may not be changed independently from one another. The angles of the wheels during a turn is commonly referred to as the Ackerman angle. Accordingly, steering systems are designed so that the wheels are pointed in the direction of their respective radial paths for one particular turn, preferably in the range of 20° to 30°, such that there is no Ackerman error. For all other turning angles an Ackerman error exists such that at least one of the wheels is not pointed in the direction of its radial path. Ackerman error essentially causes the wheels to pull the vehicle in slightly different directions and accelerates tire wear. Therefore, what is needed is a steering system that eliminates Ackerman error for all of the vehicle turning angles to extend tire life.
- The present invention provides a steering system for a vehicle that includes a steering knuckle which is rotatable about an axis. The steering knuckle includes upper and lower portions or attachment points that define the steer axis. A lower suspension interconnects the lower portion to the vehicle frame or body. An energy absorbing mechanism, preferably including an inner spring and a shock absorber, interconnects the upper portion to the vehicle body or frame. A rotational drive unit is connected to the steering knuckle for rotating the steering knuckle about the axis. A control module receives a steering input corresponding to the desired Ackerman angle and commands the rotational drive unit to rotate the steering knuckle about the axis to the desired Ackerman angle. Rotational drive units for each side of the vehicle ensure that the wheels are turned to the appropriate Ackerman angle for each wheel. The rotational drive unit may include an electric motor, or a pneumatic or hydraulic pump. In one preferred embodiment, the drive unit includes a rotary actuator which has a shaft connected rigidly to the steering knuckle. The actuator shaft may consist of either a single vane or multiple vanes. The fluid pump pumps fluid into the housing to rotate the vane with the shaft and steering knuckle about the axis in response to a command from the control module.
- Accordingly, the above invention provides a steering system that eliminates Ackerman error for all of the vehicle turning angles and extends tire life.
- Other advantages of the present invention can be understood by reference to the following detailed description when considered in connection with the accompanying drawings wherein:
- FIG. 1 is a schematic view of one embodiment of the present invention;
- FIG. 2 is another embodiment of the steering system of the present invention;
- FIG. 3 is a cross-sectional view taken along lines3-3 of FIG. 2; and
- FIG. 4 is another embodiment of a fluid pump.
- One embodiment of the present
invention steering system 10 is shown in FIG. 1. Thesteering system 10 includes a steering assembly on afirst side 12 and another steering assembly on the second side of the vehicle shown schematically at 13. Thesteering assembly 12 includes astructural member 14, such as a portion of a vehicle frame, supporting alower suspension member 18, or A-arm atpivotal connection 19. A lower portion of asteering knuckle 20 is supported on thelower suspension arm 18 at aball joint 21. Thesteering knuckle 20 includes a spindle supporting awheel 22. - An
energy absorber mechanism 24 is secured to a secondstructural member 25 and is connected an upper portion of theknuckle 20. Theenergy absorber mechanism 24 preferably includes an air spring and a shock absorber. The steering assembly arrangement shown in FIG. 1 is typically referred to as a MacPherson strut. Preferably theenergy absorbing mechanism 24 is rotationally fixed relative to the secondstructural member 25 so that it does not rotate during a steering maneuver. - The
steering knuckle 20 is rotatable about an axis A during steering maneuvers. Arotational drive unit 26 is connected to thesteering knuckle 20 to rotate the knuckle in response to a steering input. For the embodiments shown in FIG. 1, preferably the rotational drive unit has a portion, such as a final drive gear, that is coaxial with axis A. Therotational drive unit 26 may be a suitable type of drive mechanism such as a pneumatic or hydraulic motor. For the embodiments shown in FIG. 1, it is preferable that therotational drive unit 26 include an electric motor and gear reduction box. - A
control module 28 is connected to thesteering assemblies Control module 28 receives a steering input corresponding to a desired Ackerman angle for each of thesteering assemblies steering assemblies control module 28 commands therotational drive unit 26 to rotate thesteering knuckle 20 about the axis A to achieve the desired Ackerman angle for each of thewheel assemblies steering assemblies - Another
steering system 29 of the present invention is shown in FIGS. 2 and 3. Similar to thesteering system 10 shown in FIG. 1, thesteering system 29 includes first 30 and second 31 steering assemblies movable independently from one another. Thesteering system 29 includes anaxle 32 having anend 33. Aknuckle 34 is supported on theend 33 and is secured thereto byking pins knuckle 34 includes aspindle 36 for supporting a wheel (not shown). Arotational drive unit 40 is connected to theknuckle 34 for rotating theknuckle 34 about the axis A. - The
rotational drive unit 40 includes afluid housing 42. Ashaft 44 extends from theking pin 39 and into thefluid housing 42. Avane 46 extends from theshaft 44 within thehousing 42. As shown in FIG. 3, thevane 46 divides thehousing 42 into first 47 and second 48 chambers. Afluid pump 50, such as a hydraulic or pneumatic pump, is connected to thehousing 42. A fluid may be pumped by thefluid pump 50 into thefirst chamber 47 to move thevane 36 andshaft 44 in one direction, or thefluid pump 50 may pump fluid into thesecond chamber 48 to move thevane 36 andshaft 44 in the opposite direction. In this manner, the vane and shaft rotate theknuckle 34 about the axis A. This concept can be extended to multiple vane arrangement. As shown in FIG. 4, around housing 42 may consist of four separate single vanes connected toshaft 44. - The
control module 52 is connected to thefluid pump 50.Control module 52 receives a steering input corresponding to a desired Ackerman angle for each of thesteering assemblies control module 52 commands therotational drive unit 40 to rotate thesteering knuckle 34 about the axis A to the desired Ackerman angle for each of thesteering assemblies steering assemblies - The invention has been described in an illustrative manner, and it is to be understood that the terminology that has been used is intended to be in the nature of words of description rather than of limitation. Obviously, many modifications and variations of the present invention are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims the invention may be practiced otherwise than as specifically described.
Claims (17)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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US10/023,261 US6568697B1 (en) | 2001-12-13 | 2001-12-13 | Independent steering and actuator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/023,261 US6568697B1 (en) | 2001-12-13 | 2001-12-13 | Independent steering and actuator |
Publications (2)
Publication Number | Publication Date |
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US6568697B1 US6568697B1 (en) | 2003-05-27 |
US20030111289A1 true US20030111289A1 (en) | 2003-06-19 |
Family
ID=21814029
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/023,261 Expired - Fee Related US6568697B1 (en) | 2001-12-13 | 2001-12-13 | Independent steering and actuator |
Country Status (1)
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US (1) | US6568697B1 (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2878806A1 (en) * | 2004-12-08 | 2006-06-09 | Renault Sas | Steering assembly for motor vehicle, has actuator mounted on axle system and adapted to allow hub carrier to pivot with respect to connecting structure along directional axis, and worm provided between electrical motor and actuator arm |
US20090057050A1 (en) * | 2007-08-28 | 2009-03-05 | Hitachi, Ltd. | Steering apparatus |
WO2014037595A1 (en) * | 2012-09-07 | 2014-03-13 | Microelectronica Maser, S.L. | Power steering system for vehicles |
US20180093707A1 (en) * | 2016-10-05 | 2018-04-05 | Jtekt Corporation | Vehicle Steering System |
US11352056B2 (en) * | 2020-06-22 | 2022-06-07 | Hyundai Motor Company | Suspension joining structure |
US11390321B2 (en) * | 2020-08-04 | 2022-07-19 | Hyundai Motor Company | Coupling structure of suspension |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7798506B2 (en) * | 2003-10-03 | 2010-09-21 | Gpv, L.L.C. | Wheel suspension system for vehicles |
US7085641B2 (en) * | 2004-11-01 | 2006-08-01 | Honda Motor Co., Ltd. | Ackerman angle correction in a steering system for a low speed turn |
US7360773B2 (en) * | 2006-07-21 | 2008-04-22 | Hendrickson Usa, L.L.C. | Self-steering axle suspension system having a rotary stabilizer |
US8276925B2 (en) | 2010-04-01 | 2012-10-02 | Arvinmeritor Technology, Llc | Mounting arrangement for lower steering arm |
DE102011005611A1 (en) * | 2011-03-16 | 2012-09-20 | Ford Global Technologies, Llc | Device and method for steering the wheels of a steerable by means of steering axle steering axle |
EP3299258B1 (en) | 2016-09-23 | 2020-11-04 | Dana Heavy Vehicle Systems Group, LLC | Steer-by-wire steering system |
CN111114621A (en) * | 2018-10-30 | 2020-05-08 | 舍弗勒技术股份两合公司 | Steering system for hub-driven vehicle and hub-driven vehicle |
JP7342808B2 (en) * | 2020-06-30 | 2023-09-12 | トヨタ自動車株式会社 | Wheel arrangement module |
JP2022030203A (en) * | 2020-08-06 | 2022-02-18 | トヨタ自動車株式会社 | Steering system |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5653304A (en) * | 1994-04-20 | 1997-08-05 | University Of Arkansas, N.A. | Lever steering system |
-
2001
- 2001-12-13 US US10/023,261 patent/US6568697B1/en not_active Expired - Fee Related
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2878806A1 (en) * | 2004-12-08 | 2006-06-09 | Renault Sas | Steering assembly for motor vehicle, has actuator mounted on axle system and adapted to allow hub carrier to pivot with respect to connecting structure along directional axis, and worm provided between electrical motor and actuator arm |
EP1669275A1 (en) * | 2004-12-08 | 2006-06-14 | Renault SAS | Steering assembly |
US20090057050A1 (en) * | 2007-08-28 | 2009-03-05 | Hitachi, Ltd. | Steering apparatus |
US7866434B2 (en) * | 2007-08-28 | 2011-01-11 | Hitachi, Ltd. | Steering apparatus |
WO2014037595A1 (en) * | 2012-09-07 | 2014-03-13 | Microelectronica Maser, S.L. | Power steering system for vehicles |
CN104703860A (en) * | 2012-09-07 | 2015-06-10 | 微型电子设备发射器公司 | Power steering system for vehicles |
US20150232119A1 (en) * | 2012-09-07 | 2015-08-20 | Microelectronica Maser, S.L. | Power steering system for automobiles |
US9821835B2 (en) * | 2012-09-07 | 2017-11-21 | Microelectronica Maser, S.L. | Power steering system for automobiles |
US20180093707A1 (en) * | 2016-10-05 | 2018-04-05 | Jtekt Corporation | Vehicle Steering System |
US10569802B2 (en) * | 2016-10-05 | 2020-02-25 | Jtekt Corporation | Vehicle steering system |
US11352056B2 (en) * | 2020-06-22 | 2022-06-07 | Hyundai Motor Company | Suspension joining structure |
US11390321B2 (en) * | 2020-08-04 | 2022-07-19 | Hyundai Motor Company | Coupling structure of suspension |
Also Published As
Publication number | Publication date |
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US6568697B1 (en) | 2003-05-27 |
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