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DESIGN OF STEERING SYSTEM OF SELU MINI BAJA CAR DESIGN OF STEERING SYSTEM OF SELU MINI BAJA CAR

DESIGN OF STEERING SYSTEM OF SELU MINI BAJA CAR - PowerPoint Presentation

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DESIGN OF STEERING SYSTEM OF SELU MINI BAJA CAR - PPT Presentation

Benjamin Genre Advisor Dr Ho Hoon Lee   Dr Cris Koutsougeras ET 493 Senior Design Project I Spring 2017 Goal of Project Create a CProgram capable of calculating steering error for any Mini Baja design ID: 804356

rack steering axle pinion steering rack pinion axle frame length enter front error design distance program car arm system

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Slide1

DESIGN OF STEERING SYSTEM OF SELU MINI BAJA CAR

Benjamin Genre

Advisor: Dr. Ho-

Hoon

Lee

 

Dr.

Cris

Koutsougeras

ET 493 Senior Design Project I

Spring 2017

Slide2

Goal of Project

Create a C-Program capable of calculating steering error for any Mini Baja design.

Determine the best setup to be used on the two different frame designs.

Slide3

Background

In 2013 a research paper about the steering design of an SELU Mini Baja car was written by Alfred Showers, Dr. Ho-

Hoon

Lee, and Dr.

Cris

Koutsougeras. It was determined that a commercially available Rack-and-pinion system would be best used for a Mini Baja car.A rack-and-pinion system uses rotational motion of a pinion gear and converts it into linear motion with the rack, moving the wheels of a vehicle left and right.

Slide4

With this design, steering error would become a factor and the placement of the rack-and-pinion would be a design parameter.

The distance from the front axle to the placement of the rack-and-pinion is the main value the program helps to determine.

Rack and Pinion System

Slide5

Ackerman Steering Principle

States that the axial lines of all the wheels should meet at the same point.

Slide6

When the projections of the two front wheels do not meet at the same point on the rear axle’s axis.

By changing the distance from the front axle to the rack, the steering error also changes.

Ackermann Steering Error

Steering Error

Slide7

Flow Chart

Program made with Microsoft Visual Studio.

At the start of the program, the user is asked to input the constants of the design. These include:

Length from front axle to rear axle.

Width of car.

Length of the rack and pinion.

Length of steering arm.

Angle between steering arm and wheel.

Maximum displacement of rack.

Initial value of S (the distance between the front axle and rack.)

Maximum value of S.

Slide8

Flow Chart

Everything is calculated as a function of S using the equations derived in the paper.

Prints values of S,

lt

,

θ

l,

θ

r, and

es

.

S is increased and then compared to

Smax

.

If S <

Smax

, the calculations start over with new value for S

If S >

Smax

, then the program ends.

Slide9

Output Frame 1

Steering Error Calculator

Enter length from front axle to rear axle:

64

Enter width of car:

38

Enter length of rack and pinion:

11

Enter length of steering arm:

4

Enter angle between wheel and steering arm in degrees:

16.5

Enter maximum displacement of the rack:

2.25

Set initial value of S, the distance between the front axle and rack and pinion:

2.5

Set Max value of S, the distance between the front axle and rack and pinion:

4.5

Slide10

Table Frame 1

Steering Error Output for Frame 1

s (in)

lt

(in)

Ol

(rad)

Or (rad)

es

(in)

2.500000

12.435833

-2.698303

1.561025

32.791946

2.600000

12.425493

-2.681408

1.542593

27.116013

2.700000

12.415951

-2.664580

1.523945

21.834167

2.800000

12.407207

-2.647819

1.505060

16.904785

2.900000

12.399262

-2.631127

1.485913

12.291878

3.000000

12.392121

-2.614508

1.466477

7.964203

3.099999

12.385782

-2.597961

1.446716

3.894279

3.199999

12.380248

-2.581490

1.426593

0.058311

3.299999

12.375521

-2.565096

1.406059

3.564545

3.399999

12.371598

-2.548780

1.385054

-6.993240

3.499999

12.368484

-2.532545

1.363509

-10.244102

3.599999

12.366177

-2.516391

1.341329

-13.331718

3.699999

12.364678

-2.500320

1.318400

-16.269325

Slide11

Output Frame 2

Steering Error Calculator

Enter length from front axle to rear axle:

64

Enter width of car:

40

Enter length of rack and pinion:14Enter length of steering arm:4

Enter angle between wheel and steering arm in degrees:

17.35

Enter maximum displacement of the rack:

2.25

Set initial value of S, the distance between the front axle and rack and pinion:

2.05

Set Max value of S, the distance between the front axle and rack and pinion:

3.05

Slide12

Table Frame 2

Steering Error Output for Frame 2

s (in)

lt

(in)

Ol

(rad)

Or (rad)

e

s

(in)

2.050000

11.938805

-2.727748

1.595668

41.716309

2.150000

11.924406

-2.709923

1.576939

34.935944

2.250000

11.910830

-2.692160

1.558010

28.682266

2.350000

11.898078

-2.674464

1.538864

22.893677

2.450000

11.886154

-2.656836

1.519481

17.517822

2.550000

11.875060

-2.639279

1.499837

12.509750

2.650000

11.864799

-2.621795

1.479902

7.830841

2.750000

11.855372

-2.604387

1.459646

3.447845

2.849999

11.846783

-2.587056

1.439030

-0.668266

2.949999

11.839031

-2.569805

1.418006

-4.542877

3.049999

11.832120

-2.552636

1.396518

-8.198227

Slide13

Design Comparison

Rack Length: 11”

S: 3.2”

Es

: 0.058”

Xr

: 102.0”Xl: 102.06”Turn Radius: 8.5 ft

Frame 1

Rack Length: 14”

S: 2.85”

Es

: -0.67”

Xr

: 104.2”

Xl: 103.0”

Turn Radius: 8.583

ft

Frame 2

Slide14

Cost Analysis

Parts List

Part

Description

Cost

Steering Rack-Frame 1

(Figure 5)

11” Rack and Pinion Unit

Weights 2.25

lbs

desertkarts.com

$100.00

Steering Rack-Frame 2

(Figure 5)

14” Rack and Pinion Unit

Weights 2.25

lbs

desertkarts.com

$100.00

Steering U-Joint

(Figure 6)

Universal Joint with

5/8” Splines

desertkarts.com

$28.00

Steering Quickener

(Figure 7)

Howe 5224 2:1

Quickener

summitracing.com

$86.97

(Optional)

Steering Shaft Coupler

Steering Coupler, Steel, 5/8 in.

36-Spline, 3/4 in.

summitracing.com

$19.49

11” Rack-and-Pinion

Steering

Quickener

Steering U-Joint

Slide15

Accomplishments

Studied Research Paper

Constructed Flowchart

Created Steering Error Calculating Program

Determined Steering Error for Frame Designs

Estimated Cost for Steering Parts

Future Work

Determine Steering Column Length for Final Design

Finalized Design Dimensions

Collect All Parts

Assemble Steering System