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B.

Vs JAWAHARLAL NEHRU INSTITUTE OF


TECHNOLOGY

DEPARTMENT OF MECHANICAL ENGINEERING

A
SEMINAR REPORT ON.
UNDERWATER WELDING
BY-
Bhagare. Kalyani. R.

GUIDED BY-
Prof. N. S. Deshmukh
CERTIFICATE

This is to certify that.


Miss. _Bhagare. Kalyani. R.
Class : TYME-1 Roll no.09 has completed
all the practical work satisfactorily in the
subject of EDP
As persevered by the board of technical
examination Maharashtra state in
academic year 2009-10 in the
department of mechanical engineering
of this institute.
PROJECT GUIDE CO-ORDINATOR HEAD OF DEAPARATMENT

FOUR WHEEL STEERING SYSTEM

ABSTRACT

This paper deals with the details of four wheel


steering (4WS) system. With the help of this system all the four
wheels can be turned to any direction using the steering. Thus the
vehicle can be controlled more effectively especially during
cornering and parking. Also the speed of the vehicle can be
increased or decreased.

`There are three types of production of four-wheel steering


systems:

1. Mechanical 4WS
2. Hydraulic 4WS
3. Electro/hydraulic 4WS

The mechanical 4WS uses two separate steering


gears to control the front and rear wheels. The hydraulic 4WS
uses a two-way hydraulic cylinder to turn both the wheels in the
same direction. It is not possible to turn them in the opposite
direction. The electro/hydraulic 4WS combine computer electronic
controls with hydraulics to make the system sensitive to both
steering angle and road speeds.
This system finds application in off-highway vehicles
such as fork lifts, agricultural and construction equipment and
mining machinery. It is also useful in passenger cars, mainly SUVs.

1. INTRODUCTION

Four-wheel steering, 4WS, also called rear-wheel


steering or all-wheel steering, provides a means to actively steer
the rear wheels during turning maneuvers. It should not be
confused with four-wheel drive in which all four wheels of a
vehicle are powered. It improves handling and help the vehicle
make tighter turns.

Production-built cars tend to understeer or, in few


instances, oversteer. If a car could automatically compensate for
an understeer/oversteer problem, the driver would enjoy nearly
neutral steering under varying conditions. 4WS is a serious effort
on the part of automotive design engineers to provide near-
neutral steering.

The front wheels do most of the steering. Rear wheel turning


is generally limited to 50-60 during an opposite direction turn.
During a same direction turn, rear wheel steering is limited to
about 10-1.50.
When both the front and rear wheels steer toward
the same direction, they are said to be in-phase and this produces
a kind of sideways movement of the car at low speeds. When the
front and rear wheels are steered in opposite direction, this is
called anti-phase, counter-phase or opposite-phase and it
produces a sharper, tighter turn.

2. WHY FOUR-WHEEL STEERING SYSTEM?

To understand the advantages of four-wheel


steering, it is wise to review the dynamics of
typical steering maneuvers with a conventional front -steered
vehicle. The tires are subject to the forces of grip, momentum,
and steering input when making a movement other than straight-
ahead driving. These forces compete with each other during
steering maneuvers. With a front-steered vehicle, the rear end is
always trying to catch up to the directional changes of the front
wheels. This causes the vehicle to sway. As a normal part of
operating a vehicle, the driver learns to adjust to these forces
without thinking about them.

When turning, the driver is putting into motion a


complex series of forces. Each of these must be balanced against
the others. The tires are subjected to road grip and slip angle.
Grip holds the car's wheels to the road, and momentum moves
the car straight ahead. Steering input causes the front wheels to
turn. The car momentarily resists the turning motion, causing a
tire slip angle to form. Once the vehicle begins to respond to the
steering input, cornering forces are generated. The vehicle sways
as the rear wheels attempt to keep up with the cornering forces
already generated by the front tires. This is referred to as rear-end
lag, because there is a time delay between steering input and
vehicle reaction. When the front wheels are turned back to a
straight -ahead position, the vehicle must again try to adjust by
reversing the same forces developed by the turn. As the steering
is turned, the vehicle body sways as the rear wheels again try to
keep up with the cornering forces generated by the front wheels.

The idea behind four-wheel steering is that a vehicle


requires less driver input for any steering maneuver if all four
wheels are steering the vehicle. As with two-wheel steer vehicles,
tire grip holds the four wheels on the road. However, when the
driver turns the wheel slightly, all four wheels react to the
steering input, causing slip angles to form at all four wheels. The
entire vehicle moves in one direction rather than the rear half
attempting to catch up to the front. There is also less sway when
the wheels are turned back to a straight-ahead position. The
vehicle responds more quickly to steering input because rear
wheel lag is eliminated.
3. TYPES OF 4WS

There are three types of production of four-wheel


steering systems:

3.1 Mechanical 4WS


3.2 Hydraulic 4WS
3.3 Electro-hydraulic 4WS

3.1 Mechanical 4WS


Figure 1. Mechanical 4WS

In a straight-mechanical type of 4WS, two steering


gears are used-one for the front and the other for the rear wheels.
A steel shaft connects the two steering gearboxes and terminates
at an eccentric shaft that is fitted with an offset pin. This pin
engages a second offset pin that fits into a planetary gear.

The planetary gear meshes with the matching teeth


of an internal gear that is secured in a fixed position to the
gearbox housing. This means that the planetary gear can rotate
but the internal gear cannot. The eccentric pin of the planetary
gear fits into a hole in a slider for the steering gear.
A 120-degree turn of the steering wheel rotates the
planetary gear to move the slider in the same direction that the
front wheels are headed. Proportionately, the rear wheels turn the
steering wheel about 1.5 to 10 degrees. Further rotation of the
steering wheel, past the 120degree point, causes the rear wheels
to start straightening out due to the double-crank action (two
eccentric pins) and rotation of the planetary gear. Turning the
steering wheel to a greater angle, about 230 degrees, finds the
rear wheels in a neutral position regarding the front wheels.
Further rotation of the steering wheel results in the rear wheels
going counter phase with regard to the front wheels. About 5.3
degrees maximum counter phase rear steering is possible.

Mechanical 4WS is steering angle sensitive. It is not


sensitive to vehicle road speed.

3.2 Hydraulic 4WS


Figure 2. Hydraulic 4WS

The hydraulically operated four-wheel-steering


system is a simple design, both in components and operation. The
rear wheels turn only in the same direction as the front wheels.
They also turn no more than 11/2 degrees. The system only
activates at speeds above 30 mph (50 km/h) and does not
operate when the vehicle moves in reverse.

A two-way hydraulic cylinder mounted on the rear


stub frame turn the wheels. Fluid for this cylinder is supplied by a
rear steering pump that is driven by the differential. The pump
only operates when the front wheels are turning. A tank in the
engine compartment supplies the rear steering pump with fluid.

When the steering wheel is turned, the front


steering pump sends fluid under pressure to the rotary valve in
the front rack and pinion unit. This forces fluid into the front
power cylinder, and the front wheels turn in the direction steered.
The fluid pressure varies with the turning of the steering wheel.
The faster and farther the steering wheel is turned, the greater
the fluid pressure.

The fluid is also fed under the same pressure to the


control valve where it opens a spool valve in the control valve
housing. As the spool valve moves, it allows fluid from the rear
steering pump to move through and operate the rear power
cylinder. The higher the pressure on the spool, the farther it
moves. The farther it moves, the more fluid it allows through to
move the rear wheels. As mentioned earlier, this system limits
rear wheel movement to 11/2 degrees in either the left or right
direction.

3.3 Electro-hydraulic 4WS


Figure 3. Electro-hydraulic 4WS

Several 4WS systems combine computer electronic


controls with hydraulics to make the system sensitive to both
steering angle and road speeds. In this design, a speed sensor
and steering wheel angle sensor feed information to the
electronic control unit (ECU). By processing the information
received, the ECU commands the hydraulic system steer the rear
wheels. At low road speed, the rear wheels of this system are not
considered a dynamic factor in the steering process.
At moderate road speeds, the rear wheels are
steered momentarily counter phase, through neutral, then in
phase with the front wheels. At high road speeds, the rear wheels
turns only in phase with the front wheels. The ECU must know not
only road speed, but also how much and quickly the steering
wheel is turned. These three factors - road speed, amount of
steering wheel turn, and the quickness of the steering wheel turn
- are interpreted by the ECU to maintain continuous and desired
steer angle of the rear wheels.

The basic working elements of the design of an


electro-hydraulic 4WS are control unit, a stepper motor, a swing
arm, a set of beveled gears, a control rod, and a control valve
with an output rod. Two electronic sensors tell the ECU how fast
the car is going.

The yoke is a major mechanical component of this


electro-hydraulic design. The position of the control yoke varies
with vehicle road speed. For example, at speeds below 33 mph
(53 km/h), the yoke is in its downward position, which results in
the rear wheels steering in the counter phase (opposite front
wheels) direction. As road speeds approach and exceed 33 mph
(53 km/h), the control yoke swings up through a neutral
(horizontal) position to an up position. In the neutral position, the
rear wheels steer in phase with the front wheels.
The stepper motor moves the control yoke. A swing arm is
attached to the control yoke. The position of the yoke determines
the arc of the swing rod. The arc of the swing arm is transmitted
through a control arm that passes through a large bevel gear.
Stepper motor action eventually causes a push-or-pull movement
of its output shaft to steer the rear wheels up to a maximum of 5
degrees in either direction.

The electronically controlled, 4WS system regulates the


angle and direction of the rear wheels in response to speed
and driver's steering. This speed-sensing system optimizes
the vehicle's dynamic characteristics at any speed, thereby
producing enhanced stability and, within certain parameters,
agility.
4. ACTUAL 4WS

The actual 4WS system consists of a rack and pinion


front steering that is hydraulically powered by a main twin-
tandem pump. The system also has a rear-steering mechanism,
hydraulically powered by the main pump. The rear-steering shaft
extends from the rack bar of the front-steering assembly to the
rear-steering-phase control unit.

The rear steering is comprised of the input end of the rear-


steering shaft, vehicle speed sensors, and steering-phase control
unit (deciding direction and degree), a power cylinder, and an
output rod. A centering lock spring is incorporated that locks the
rear system in a neutral (straight-ahead) position in the event of
hydraulic failure. Additionally, a solenoid valve that disengages
the hydraulic boost (thereby activating the centering lock spring
in case of an electrical failure) is included.
5. FAIL-SAFE MEASURES

All 4WS systems have fail-safe measures. For exam-


ple, with the electro-hydraulic setup, the system automatically
counteracts possible causes of failure: both electronic and
hydraulic, and converts the entire steering system to a
conventional two-wheel steering type. Specifically, if a hydraulic
defect should reduce pressure level (by a movement malfunction
or a broken driving belt), the rear-wheel-steering mechanism is
automatically locked in a neutral position, activating a low-level
warning light.

In the event of an electrical failure, it would be de-


tected by a self-diagnostic circuit integrated in the four wheel-
steering control unit. The control unit stimulates a solenoid valve,
which neutralizes hydraulic pressure, thereby alternating the
system to two-wheel steering. The failure would be indicated by
the system's warning light in the main instrument display.
On any 4WS system, there must be near-perfect
compliance between the position of the steering wheel, the
position of the front wheels, and the position of the rear wheels. It
is usually recommended that the car be driven about 20 feet (6
meters) in a dead-straight line. Then, the position of the front/rear
wheels is checked with respect to steering wheel position. The
base reference point is a strip of masking tape on the steering
wheel hub and the steering column. When the wheel is positioned
dead center, draw a line down the tape. Run the car a short dis-
tance straight ahead to see if the reference line holds. If not,
corrections are needed, such as repositioning the steering wheel.

Even severe imbalance of a rear wheel on a speed


sensitive 4WS system can cause problems and make basic
troubleshooting a bit frustrating.
6. ADVANTAGES OF 4WS

The vehicle's cornering behavior becomes more sta -


ble and controllable at high speeds as well as on wet or slippery
road surfaces.

The vehicle's response to steering input becomes


quicker and more precise throughout the vehicle's entire speed
range.

The vehicle's straight-line stability at high speeds is


improved. Negative effects of road irregularities and crosswinds
on the vehicle's stability are minimized.

Stability in lane changing at high speeds is


improved. The vehicle is less likely to go into a spin even in situ-
ations in which the driver must make a sudden and relatively
large change of direction.

By steering the rear wheels in the direction opposite


the front wheels at low speeds, the vehicle's turning circle is
greatly reduced. Therefore, vehicle maneuvering on narrow roads
and during parking becomes easier.

7. APPLICATIONS OF 4WS

Some of the vehicles in which the 4WS is applied


are:

7.1 Chevrolet Suburban 2500:


The purely electronic system works so that, at low speed, the rear
wheels turn the opposite direction of the front wheels, thus shortening the turning
circle. At higher speeds all four wheels turn in the same direction for better
stability in lane change maneuvers. The system works spectacularly well with the
Suburban and the turning circle diameter drops down from 44.5 feet to 35.2 feet.
There is a switch to turn the system off and the Suburban drives like a regular two-
wheel steering machine and, in contrast, it feels quite ponderous.
Unfortunately the four-wheel steering system also pushes the width
of the Sub out past 80 inches. But the very worst thing about the four-wheel
steering system is its $4495 option cost. Hopefully as the four-wheel steering
system becomes more ubiquitous across the GM range of products the cost of the
system will drop.

7.2 GM Concept Truck:

QUADRASTEER TM (four-wheel steering system) by


Delphi is featured on General Motor Corp.'s GMC Terradyne
concept vehicle. QUADRASTEER TM by Delphi is an electronic
four-wheel steering system that enables vehicles to significantly
improve handling and maneuverability in full-size vehicles. Based
on tests with full-size SUVs and pickup trucks, QUADRASTEER by
Delphi reduces the minimum turning circle diameter by an
average of 19 percent. In fact, one full-size pickup's turning
radius was reduced from 46.2 feet to 37.4 feet, making it
comparable to a Nissan Ultima at 37.4 feet and a Saturn Coupe at
37.1 feet.
QUADRASTEER TM by Delphi combines conventional
front-wheel steering with an electrically powered rear-wheel
steering system. The system has four main components - a front-
wheel position sensor, steerable solid hypoid rear axle, electric
motor-driven actuator, and control unit. Hand wheel position and
vehicle speed sensors continuously report data to the control unit,
which in turn determines the appropriate angle of the rear wheels.
Algorithms are then used to determine the correct phase of
operation. The QUADRASTEERTM by Delphi Systems also provides
a controlled return to regular two-wheel steering if the four-wheel
steering system is damaged.

7.3 Jeep Hurricane:


The Jeep Hurricane, a radical off-road machine with two 5.7 litre V8
engines features a turn radius of absolutely zero, using skid steer capability and toe
steer: the ability to turn both front and rear tires inward. In addition, the vehicle
features two modes of automated four-wheel steering.

The first is traditional with the rear tires turning in the opposite
direction of the front to reduce the turning circle. The second mode is an
innovation targeted to off-road drivers: the vehicle can turn all four wheels in the
same direction for nimble crab steering. This allows the vehicle to move sideways
without changing the direction the vehicle is pointing. The multi-mode four-wheel
steering system offers killer performance and maneuverability.

Figure 4. Jeep Hurricane

Figure 5. Ford Suburban 2500


8. CONCLUSION

Thus the four-wheel steering system has got


cornering capability, steering response, straight-line stability, lane
changing and low-speed maneuverability. Even though it is
advantageous over the conventional two-wheel steering system,
4WS is complex and expensive. Currently the cost of a vehicle
with four wheel steering is more than that for a vehicle with the
conventional two wheel steering. Four wheel steering is growing
in popularity and it is likely to come in more and more new
vehicles. As the systems become more commonplace the cost of
four wheel steering will drop.
REFERENCES

1. Automotive Technology-A Systems Approach, Jack Erjavec.


2. Automotive Suspension and Steering Systems, Thomas W
Birch.
3. Automotive Service-Inspection, Maintenance, Repair, Tim
Gilles.
4. http:\\www.howstuffworks.com
5. http:\\www.howhurricaneworks.com
6. http:\\www.thecarconnection.com
7. http:\\www.theautochannel.com
8. http:\\www.delphiauto.com

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