A Technical Seminar Report

On
FOUR WHEEL STEERING (4WS) SSTE!"
S#$mitte% in the partial &#l&illment &or the a'ar% o& the %e(ree o&
)achelor o& Technolo(*
In
!E+HANI+AL ENGINEERING
)*
L,-RA)HU .U!AR RE//012345A1665
DEPARTMENT OF MECHANICAL ENGINEERING
+HRISTU 7OTI INSTITUTE OF TE+HNOLOG 8 S+IEN+E
+olom$ona(ar9 e:h'anthap#r9 7an(aon (!)9
Waran(al (/i:t)9 ;1353<,
=15=0=156
1
+HRISTU 7OTI INSTITUTE OF TE+HNOLOG 8 S+IEN+E
+olom$ona(ar9 e:h'anthap#r9 7an(aon (!)9
Waran(al (/i:t)9 ;1353<
/E-ART!ENT OF !E+AHNI+AL ENGINEERING
CERTIFICATE
This is to certify that the report entitle !FOUR WHEEL
STEERING(4WS) SSTE!" "ein# s$"%itte "y L,-RA)HU .U!AR
RE// (12345A1665) in partial f$lfill%ent for the a&ar of the e#ree of
'achelor of Technolo#y in Mechanical Engineering is a recor &or(
carrie o$t "y hi% $ner o)er their s$per)ision an #$iance $rin#
acae%ic year *+1*,*+1-.
!r,.,a>oo$
Hea% o& the /epartment
*
A+.NOWLE/GE!ENT
I ta(e i%%ense pleas$re in than(in# !r, ,-A-I RE//9 /irector9 +hri:t#
7*oti In:tit#te o& Technolo(* 8 Science an /r,!#??ammil H#::ain/ "elo)e
-rincipal for ha)in# per%itte %e to carry o$t this &or(.
Neeless to %ention that !r, .,A.OO)9 Hea% o& the /epartment9 !echanical
En(ineerin( &ho ha "een a so$rce of inspiration an for his ti%ely #$iance in the
con$ct of %y &or(.
I e0press %y eep sense of #ratit$e to %y Coorinator9 !r, -,RA@I +HAN/ER for
the )al$a"le #$iance an $sef$l s$##estions/ &hich helpe %e in co%pletin# this
se%inar report.
Finally/ yet i%portantly/ &e &o$l li(e to e0press %y heartfelt than(s to "elo)e parents
for their "lessin#s/ %y friens1class%ates for their help an &ishes for the s$ccessf$l
co%pletion of this tas(.
-
A)STRA+T
A Fo$r 2heel steerin# 34256 5yste% is also (no&n as !7$ara 5teerin# 5yste%8. In this
paper/ "oth front as &ell as rear &heels can "e steere accorin# to spee of the )ehicle
an space a)aila"le for t$rnin#. 7$ara steer is syste% that #i)es f$ll si9e )ehicles #reater
ease &hile ri)in# at lo& spee/ an i%pro)es sta"ility/ hanlin# an control at hi#her
spee. 7$ara steerin# syste% &or(s in follo&in# three phases Ne#ati)e phase/ Ne$tral
phase/ Positi)e phase. It ena"les the car to "e steere into ti#hter par(in# spaces. It %a(es
the car %ore sta"le at spee 3less "oy roll6. It %a(es the car %ore efficient an sta"le on
cornerin#/ easier an safer lanes chan#e &hen on %otor&ays. The steerin# syste% allo&s
the ri)er to #$ie the %o)in# )ehicle on the roa an t$rn it ri#ht or left as esire. The
%ain ai% is that t$rnin# of the )ehicle sho$l not re:$ire #reater efforts on the part of the
ri)er. The 7$ara steer steerin# syste% offers a *1; re$ction in t$rnin# rai$s. 5o if a
)ehicle is capa"le of %a(in# a <,t$rn in a *=,foot space/ 7$ara steer allo&s the ri)er
to o it in a"o$t *+ feet.
4

CONTENT5

+HA-TER
16 INTROD<CTION
*6 2H> FO<R 2HEEL 5TEERING34256 5>5TEM
-6 T>PE5 OF 425
46 ACT<AL 425
=6 FAIL,5AFE MEA5<RE5
?6 AD@ANTAGE5
A6 APPLICATION5
B6 CONCL<5ION
=
INTRO/U+TION

Fo$r,&heel steerin#/ 425/ also calle rear,&heel steerin# or all,&heel
steerin#/ pro)ies a %eans to acti)ely steer the rear &heels $rin# t$rnin# %ane$)ers. It
sho$l not "e conf$se &ith fo$r,&heel ri)e in &hich all fo$r &heels of a )ehicle are
po&ere. It i%pro)es hanlin# an help the )ehicle %a(e ti#hter t$rns.
Pro$ction,"$ilt cars ten to $nersteer or/ in fe& instances/ o)ersteer. If a
car co$l a$to%atically co%pensate for an $nersteer1o)ersteer pro"le%/ the ri)er
&o$l enCoy nearly ne$tral steerin# $ner )aryin# conitions. 425 is a serio$s effort on
the part of a$to%oti)e esi#n en#ineers to pro)ie near,ne$tral steerin#.
The front &heels o %ost of the steerin#. Rear &heel t$rnin# is #enerally
li%ite to =
+
,?
+
$rin# an opposite irection t$rn. D$rin# a sa%e irection t$rn/ rear
&heel steerin# is li%ite to a"o$t 1
+
,1.=
+
.
2hen "oth the front an rear &heels steer to&ar the sa%e irection/ they
are sai to "e in,phase an this pro$ces a (in of sie&ays %o)e%ent of the car at lo&
spees. 2hen the front an rear &heels are steere in opposite irection/ this is calle
anti,phase/ co$nter,phase or opposite,phase an it pro$ces a sharper/ ti#hter t$rn.
?
WH FOUR0WHEEL STEERING SSTE!A

To $nerstan the a)anta#es of fo$r,&heel steerin#/ it is
&ise to re)ie& the yna%ics of typical steerin# %ane$)ers &ith a con)entional front
,steere )ehicle. The tires are s$"Cect to the forces of #rip/ %o%ent$%/ an steerin# inp$t
&hen %a(in# a %o)e%ent other than strai#ht,ahea ri)in#. These forces co%pete &ith
each other $rin# steerin# %ane$)ers. 2ith a front,steere )ehicle/ the rear en is al&ays
tryin# to catch $p to the irectional chan#es of the front &heels. This ca$ses the )ehicle
to s&ay. As a nor%al part of operatin# a )ehicle/ the ri)er learns to aC$st to these forces
&itho$t thin(in# a"o$t the%.
2hen t$rnin#/ the ri)er is p$ttin# into %otion a co%ple0 series of forces.
Each of these %$st "e "alance a#ainst the others. The tires are s$"Cecte to roa #rip an
slip an#le. Grip hols the carDs &heels to the roa/ an %o%ent$% %o)es the car strai#ht
ahea. 5teerin# inp$t ca$ses the front &heels to t$rn. The car %o%entarily resists the
t$rnin# %otion/ ca$sin# a tire slip an#le to for%. Once the )ehicle "e#ins to respon to
the steerin# inp$t/ cornerin# forces are #enerate. The )ehicle s&ays as the rear &heels
atte%pt to (eep $p &ith the cornerin# forces alreay #enerate "y the front tires. This is
referre to as rear,en la#/ "eca$se there is a ti%e elay "et&een steerin# inp$t an
)ehicle reaction. 2hen the front &heels are t$rne "ac( to a strai#ht ,ahea position/ the
)ehicle %$st a#ain try to aC$st "y re)ersin# the sa%e forces e)elope "y the t$rn. As
the steerin# is t$rne/ the )ehicle "oy s&ays as the rear &heels a#ain try to (eep $p &ith
the cornerin# forces #enerate "y the front &heels.
The iea "ehin fo$r,&heel steerin# is that a )ehicle re:$ires less ri)er
inp$t for any steerin# %ane$)er if all fo$r &heels are steerin# the )ehicle. As &ith t&o,
&heel steer )ehicles/ tire #rip hols the fo$r &heels on the roa. Ho&e)er/ &hen the
ri)er t$rns the &heel sli#htly/ all fo$r &heels react to the steerin# inp$t/ ca$sin# slip
an#les to for% at all fo$r &heels. The entire )ehicle %o)es in one irection rather than
the rear half atte%ptin# to catch $p to the front. There is also less s&ay &hen the &heels
A
are t$rne "ac( to a strai#ht,ahea position. The )ehicle respons %ore :$ic(ly to
steerin# inp$t "eca$se rear &heel la# is eli%inate.

B
T-ES OF 4WS
There are three types of pro$ction of fo$r,&heel steerin# syste%sE
1. MECHANICAL 425
*. H>DRA<LIC 425
-. ELECTROH>DRA<LIC 425
!E+HANI+AL 4WS


!echanical 4WS

In a strai#ht,%echanical type of 425/ t&o steerin# #ears are $se,one for
the front an the other for the rear &heels. A steel shaft connects the t&o steerin#
#ear"o0es an ter%inates at an eccentric shaft that is fitte &ith an offset pin. This pin
en#a#es a secon offset pin that fits into a planetary #ear.
F
The planetary #ear %eshes &ith the %atchin# teeth of an internal #ear that
is sec$re in a fi0e position to the #ear"o0 ho$sin#. This %eans that the planetary #ear
can rotate "$t the internal #ear cannot. The eccentric pin of the planetary #ear fits into a
hole in a slier for the steerin# #ear.
A 1*+,e#ree t$rn of the steerin# &heel rotates the planetary #ear to %o)e
the slier in the sa%e irection that the front &heels are heae. Proportionately/ the rear
&heels t$rn the steerin# &heel a"o$t 1.= to 1+ e#rees. F$rther rotation of the steerin#
&heel/ past the 1*+e#ree point/ ca$ses the rear &heels to start strai#htenin# o$t $e to
the o$"le,cran( action 3t&o eccentric pins6 an rotation of the planetary #ear. T$rnin#
the steerin# &heel to a #reater an#le/ a"o$t *-+ e#rees/ fins the rear &heels in a ne$tral
position re#arin# the front &heels. F$rther rotation of the steerin# &heel res$lts in the
rear &heels #oin# co$nter phase &ith re#ar to the front &heels. A"o$t =.- e#rees
%a0i%$% co$nter phase rear steerin# is possi"le.
Mechanical 425 is steerin# an#le sensiti)e. It is not sensiti)e to )ehicle
roa spee.


1+
H/RAULI+ 4WS


H*%ra#lic 4WS
The hyra$lically operate fo$r,&heel,steerin# syste% is a si%ple esi#n/
"oth in co%ponents an operation. The rear &heels t$rn only in the sa%e irection as the
front &heels. They also t$rn no %ore than 111* e#rees. The syste% only acti)ates at
spees a"o)e -+ %ph 3=+ (%1h6 an oes not operate &hen the )ehicle %o)es in re)erse.
A t&o,&ay hyra$lic cyliner %o$nte on the rear st$" fra%e t$rn the
&heels. Fl$i for this cyliner is s$pplie "y a rear steerin# p$%p that is ri)en "y the
ifferential. The p$%p only operates &hen the front &heels are t$rnin#. A tan( in the
en#ine co%part%ent s$pplies the rear steerin# p$%p &ith fl$i.
11
2hen the steerin# &heel is t$rne/ the front steerin# p$%p sens fl$i
$ner press$re to the rotary )al)e in the front rac( an pinion $nit. This forces fl$i into
the front po&er cyliner/ an the front &heels t$rn in the irection steere. The fl$i
press$re )aries &ith the t$rnin# of the steerin# &heel. The faster an farther the steerin#
&heel is t$rne/ the #reater the fl$i press$re.
The fl$i is also fe $ner the sa%e press$re to the control )al)e &here it
opens a spool )al)e in the control )al)e ho$sin#. As the spool )al)e %o)es/ it allo&s
fl$i fro% the rear steerin# p$%p to %o)e thro$#h an operate the rear po&er cyliner.
The hi#her the press$re on the spool/ the farther it %o)es. The farther it %o)es/ the %ore
fl$i it allo&s thro$#h to %o)e the rear &heels. As %entione earlier/ this syste% li%its
rear &heel %o)e%ent to 111* e#rees in either the left or ri#ht irection.


1*
ELE+TRO0H/RAULI+ 4WS


Electro0h*%ra#lic 4WS
5e)eral 425 syste%s co%"ine co%p$ter electronic controls &ith
hyra$lics to %a(e the syste% sensiti)e to "oth steerin# an#le an roa spees. In this
esi#n/ a spee sensor an steerin# &heel an#le sensor fee infor%ation to the electronic
control $nit 3EC<6. 'y processin# the infor%ation recei)e/ the EC< co%%ans the
hyra$lic syste% steer the rear &heels. At lo& roa spee/ the rear &heels of this syste%
are not consiere a yna%ic factor in the steerin# process.


At %oerate roa spees/ the rear &heels are steere %o%entarily co$nter
phase/ thro$#h ne$tral/ then in phase &ith the front &heels. At hi#h roa spees/ the rear
&heels t$rns only in phase &ith the front &heels. The EC< %$st (no& not only roa
1-
spee/ "$t also ho& %$ch an :$ic(ly the steerin# &heel is t$rne. These three factors ,
roa spee/ a%o$nt of steerin# &heel t$rn/ an the :$ic(ness of the steerin# &heel t$rn ,
are interprete "y the EC< to %aintain contin$o$s an esire steer an#le of the rear
&heels.

The "asic &or(in# ele%ents of the esi#n of an electro,hyra$lic 425 are
control $nit/ a stepper %otor/ a s&in# ar%/ a set of "e)ele #ears/ a control ro/ an a
control )al)e &ith an o$tp$t ro. T&o electronic sensors tell the EC< ho& fast the car is
#oin#.
The yo(e is a %aCor %echanical co%ponent of this electro,hyra$lic esi#n.
The position of the control yo(e )aries &ith )ehicle roa spee. For e0a%ple/ at spees
"elo& -- %ph 3=- (%1h6/ the yo(e is in its o&n&ar position/ &hich res$lts in the rear
&heels steerin# in the co$nter phase 3opposite front &heels6 irection. As roa spees
approach an e0cee -- %ph 3=- (%1h6/ the control yo(e s&in#s $p thro$#h a ne$tral
3hori9ontal6 position to an $p position. In the ne$tral position/ the rear &heels steer in
phase &ith the front &heels.
The stepper %otor %o)es the control yo(e. A s&in# ar% is attache to the
control yo(e. The position of the yo(e eter%ines the arc of the s&in# ro. The arc of the
s&in# ar% is trans%itte thro$#h a control ar% that passes thro$#h a lar#e "e)el #ear.
5tepper %otor action e)ent$ally ca$ses a p$sh,or,p$ll %o)e%ent of its o$tp$t shaft to
steer the rear &heels $p to a %a0i%$% of = e#rees in either irection.
The electronically controlle/ 425 syste% re#$lates the an#le an irection
of the rear &heels in response to spee an ri)erDs steerin#. This spee,sensin# syste%
opti%i9es the )ehicleDs yna%ic characteristics at any spee/ there"y pro$cin# enhance
sta"ility an/ &ithin certain para%eters/ a#ility.

14
A+TUAL 4WS

The act$al 425 syste% consists of a rac( an pinion front steerin# that is
hyra$lically po&ere "y a %ain t&in,tane% p$%p. The syste% also has a rear,steerin#
%echanis%/ hyra$lically po&ere "y the %ain p$%p. The rear,steerin# shaft e0tens
fro% the rac( "ar of the front,steerin# asse%"ly to the rear,steerin#,phase control $nit.
The rear steerin# is co%prise of the inp$t en of the rear,steerin# shaft/
)ehicle spee sensors/ an steerin#,phase control $nit 3eciin# irection an e#ree6/ a
po&er cyliner/ an an o$tp$t ro. A centerin# loc( sprin# is incorporate that loc(s the
rear syste% in a ne$tral 3strai#ht,ahea6 position in the e)ent of hyra$lic fail$re.
Aitionally/ a solenoi )al)e that isen#a#es the hyra$lic "oost 3there"y acti)atin# the
centerin# loc( sprin# in case of an electrical fail$re6 is incl$e.
1=
FAIL0SAFE !EASURES
All 425 syste%s ha)e fail,safe %eas$res. For e0a%ple/ &ith the electro,
hyra$lic set$p/ the syste% a$to%atically co$nteracts possi"le ca$ses of fail$reE "oth
electronic an hyra$lic/ an con)erts the entire steerin# syste% to a con)entional t&o,
&heel steerin# type. 5pecifically/ if a hyra$lic efect sho$l re$ce press$re le)el 3"y a
%o)e%ent %alf$nction or a "ro(en ri)in# "elt6/ the rear,&heel,steerin# %echanis% is
a$to%atically loc(e in a ne$tral position/ acti)atin# a lo&,le)el &arnin# li#ht.
In the e)ent of an electrical fail$re/ it &o$l "e etecte "y a self,ia#nostic
circ$it inte#rate in the fo$r &heel,steerin# control $nit. The control $nit sti%$lates a
solenoi )al)e/ &hich ne$trali9es hyra$lic press$re/ there"y alternatin# the syste% to
t&o,&heel steerin#. The fail$re &o$l "e inicate "y the syste%Ds &arnin# li#ht in the
%ain instr$%ent isplay.
On any 425 syste%/ there %$st "e near,perfect co%pliance "et&een the
position of the steerin# &heel/ the position of the front &heels/ an the position of the
rear &heels. It is $s$ally reco%%ene that the car "e ri)en a"o$t *+ feet 3? %eters6 in a
ea,strai#ht line. Then/ the position of the front1rear &heels is chec(e &ith respect to
steerin# &heel position. The "ase reference point is a strip of %as(in# tape on the
steerin# &heel h$" an the steerin# col$%n. 2hen the &heel is positione ea center/
ra& a line o&n the tape. R$n the car a short istance strai#ht ahea to see if the
reference line hols. If not/ corrections are neee/ s$ch as repositionin# the steerin#
&heel.
E)en se)ere i%"alance of a rear &heel on a spee sensiti)e 425 syste%
can ca$se pro"le%s an %a(e "asic tro$"leshootin# a "it fr$stratin#.
1?
A/@ANTAGES OF 4WS
The )ehicleDs cornerin# "eha)ior "eco%es %ore sta"le an controlla"le at
hi#h spees as &ell as on &et or slippery roa s$rfaces
The )ehicleDs response to steerin# inp$t "eco%es :$ic(er an %ore precise
thro$#ho$t the )ehicleDs entire spee ran#e.
The )ehicleDs strai#ht,line sta"ility at hi#h spees is i%pro)e. Ne#ati)e
effects of roa irre#$larities an cross&ins on the )ehicleDs sta"ility are
%ini%i9e.

5ta"ility in lane chan#in# at hi#h spees is i%pro)e. The )ehicle is less
li(ely to #o into a spin e)en in sit$ations in &hich the ri)er %$st %a(e a
s$en an relati)ely lar#e chan#e of irection.

'y steerin# the rear &heels in the irection opposite the front &heels at
lo& spees/ the )ehicleDs t$rnin# circle is #reatly re$ce. Therefore/
)ehicle %ane$)erin# on narro& roas an $rin# par(in# "eco%es easier.
1A
A--LI+ATIONS OF 4WS
5o%e of the )ehicles in &hich the 425 is applie areE
+heBrolet S#$#r$an =;11C
The p$rely electronic syste% &or(s so that/ at lo& spee/ the rear &heels
t$rn the opposite irection of the front &heels/ th$s shortenin# the t$rnin# circle. At
hi#her spees all fo$r &heels t$rn in the sa%e irection for "etter sta"ility in lane chan#e
%ane$)ers. The syste% &or(s spectac$larly &ell &ith the 5$"$r"an an the t$rnin# circle
ia%eter rops o&n fro% 44.= feet to -=.* feet. There is a s&itch to t$rn the syste% off
an the 5$"$r"an ri)es li(e a re#$lar t&o,&heel steerin# %achine an/ in contrast/ it
feels :$ite ponero$s.
<nfort$nately the fo$r,&heel steerin# syste% also p$shes the &ith of the
5$" o$t past B+ inches. '$t the )ery &orst thin# a"o$t the fo$r,&heel steerin# syste% is
its G44F= option cost. Hopef$lly as the fo$r,&heel steerin# syste% "eco%es %ore
$"i:$ito$s across the GM ran#e of pro$cts the cost of the syste% &ill rop.
G! +oncept Tr#c>C
7<ADRA5TEER
TM
3fo$r,&heel steerin# syste%6 "y Delphi is feat$re on
General Motor Corp.Ds GMC Terrayne concept )ehicle. 7<ADRA5TEER
TM
"y
Delphi is an electronic fo$r,&heel steerin# syste% that ena"les )ehicles to si#nificantly
i%pro)e hanlin# an %ane$)era"ility in f$ll,si9e )ehicles. 'ase on tests &ith f$ll,si9e
5<@s an pic($p tr$c(s/ 7<ADRA5TEER "y Delphi re$ces the %ini%$% t$rnin#
circle ia%eter "y an a)era#e of 1F percent. In fact/ one f$ll,si9e pic($pDs t$rnin# rai$s
&as re$ce fro% 4?.* feet to -A.4 feet/ %a(in# it co%para"le to a Nissan <lti%a at -A.4
feet an a 5at$rn Co$pe at -A.1 feet.

1B
7<ADRA5TEER
TM
"y Delphi co%"ines con)entional front,&heel
steerin# &ith an electrically po&ere rear,&heel steerin# syste%. The syste% has fo$r
%ain co%ponents , a front,&heel position sensor/ steera"le soli hypoi rear a0le/ electric
%otor,ri)en act$ator/ an control $nit. Han &heel position an )ehicle spee sensors
contin$o$sly report ata to the control $nit/ &hich in t$rn eter%ines the appropriate
an#le of the rear &heels. Al#orith%s are then $se to eter%ine the correct phase of
operation. The 7<ADRA5TEER
TM
"y Delphi 5yste%s also pro)ies a controlle ret$rn
to re#$lar t&o,&heel steerin# if the fo$r,&heel steerin# syste% is a%a#e.
7eep H#rricaneC
The Heep H$rricane/ a raical off,roa %achine &ith t&o =.A litre @B
en#ines feat$res a t$rn rai$s of a"sol$tely 9ero/ $sin# s(i steer capa"ility an toe steerE
the a"ility to t$rn "oth front an rear tires in&ar. In aition/ the )ehicle feat$res t&o
%oes of a$to%ate fo$r,&heel steerin#.
The first is traitional &ith the rear tires t$rnin# in the opposite irection of
the front to re$ce the t$rnin# circle. The secon %oe is an inno)ation tar#ete to off,
roa ri)ersE the )ehicle can t$rn all fo$r &heels in the sa%e irection for ni%"le cra"
steerin#. This allo&s the )ehicle to %o)e sie&ays &itho$t chan#in# the irection the
)ehicle is pointin#. The %$lti,%oe fo$r,&heel steerin# syste% offers (iller perfor%ance
an %ane$)era"ility.
1F


7eep H#rricane


For% S#$#r$an =;11



+ON+LUSION
*+
Th$s the fo$r,&heel steerin# syste% has #ot cornerin# capa"ility/ steerin#
response/ strai#ht,line sta"ility/ lane chan#in# an lo&,spee %ane$)era"ility. E)en
tho$#h it is a)anta#eo$s o)er the con)entional t&o,&heel steerin# syste%/ 425 is
co%ple0 an e0pensi)e. C$rrently the cost of a )ehicle &ith fo$r &heel steerin# is %ore
than that for a )ehicle &ith the con)entional t&o &heel steerin#. Fo$r &heel steerin# is
#ro&in# in pop$larity an it is li(ely to co%e in %ore an %ore ne& )ehicles. As the
syste%s "eco%e %ore co%%onplace the cost of fo$r &heel steerin# &ill rop.
*1