Ackermann Principle and its Implementation in Modern Cars

The Ackermann principle was developed when it became possible to separately control the four wheels of a moving object in the process of turning. In this case, two tasks arose. The first task was to control the wheels to ensure their pure rolling when the object is turned. The solution of this problem was in the Ackermann principle. The second task was to implement this principle in a specific mechanism. The paper analyzes the mechanisms common in modern cars in order to assess their compliance with the Ackermann principle. The method of analysis was in generating and modeling a finite-difference equation describing the process of transferring the movement of the steering wheel to the movement required to turn the wheels.

References

[1] Reimpell J. Fahrwerktechnik. Vogel Wurzburg, 1982. (Russ. ed.: Shassi avtomobilya. Moscow, Mashinostroenie Publ., 1983. 288 p.)

[2] Yaropolov V. Printsip Akkermana v rulevom upravlenii [Ackerman principle in steer drive]. rc-auto.ru: website. URL: https://www.rc-auto.ru/articles_models/id/445 (accessed: 15.03.2021). (In Russ.).

[3] Grishkevich A.I. Avtomobili. Konstruirovanie i raschet. Sistemy upravleniya i khodovaya chast’ [Vehicles. Design and calculation. Control systems and travel carriage]. Minsk, Vysshaya shkola Publ., 1987. 200 p.

[4] Bogatyrev A.V., ed. Avtomobili [Vehicles]. Moscow, Kolos Publ., 2004. 496 p.

[5] Titarenko D. Basic concepts of travel carriage and steer drive geometry. Avto spetsialist, 2012, no. 4, p. 26. (in Russ.).

[6] Zarak C.E., Townsend M.A. Optimal design of rack-and-pinion steering linkages. J. Mech., Trans., and Automation., 1983, vol. 105, no. 2, pp. 220–226, doi: https://doi.org/10.1115/1.3258512

[7] Trouple N.W. Optimization of steering geometry for ultra-high-mileage vehicles. Pennsylvania State University, 2011. 14 p.

[8] King-Hele D. Erasmus Darwin’s improved design for steering carriages and cars. Notes Rec. R. Soc. Lond., 2002, vol. 56, no. 1, pp. 41–62, doi: https://doi.org/10.1098/rsnr.2002.0166

[9] Mazilu A., Preda I. Kinematic optimization of the rack and pinion steering system of an automobile: an example. CONAT 2016 Int. Cong. Automot. Transp. Eng. Transilvania University, 2016, pp. 87–96.

[10] Sleesongsom S. Optimum synthesis of steering mechanism. MENETT 28, 2014, pp. 949–955.

[11] Wasiwitono U., Sidarta I., Pramono A.S., et al. Steering system kinematic and steady-state cornering analyses of the ITS electric car. J. Proc. Series, 2014, vol. 1, no. 1, pp. 58–62, doi: https://dx.doi.org/10.12962/j23546026.y2014i1.233