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Steering actively
Steering actively
Steering
wheel
Motor
Pinion
Pinion =
1
iD
Steering +
wheel
1
iM
Motor
Steering actively
System Configuration
3
4
Motor angle
(superposition
angle)
Wheel angle
1
Wheel angle
System Configuration
1
2
3
4
5
6
ZF Servolectric
Steering column
Actuator
Steering intermediate shaft
Steering pinion
Electronic control unit
Figure at top:
Actuator variant in the steering
column
Figure at bottom:
Actuator variant in the steering gear
System Configuration
Actuator
X
7
5
superposition gear system, enclosed in a lightweight metal housing, the Active Steering unit is
able to generate, within split
seconds, the additional steering
angle requested by the vehicle
electronics as required by the current situation. The conventional
steering feel is not adversely
affected by this.
10
Actuator
Figure on page 7:
Partial section of sectional plane X-X
11 Major axis of the ellipse
12 Minor axis of the ellipse
2
spline with internal teeth. In the
area of the minor axis of the
ellipse (12), however, there is no
contact among the two tooth
systems. The flex spline can be
driven by both the circular spline
and the universal shaft (6) that is
positively connected with it or by
the wave generator.
When the wave generator rotates, the major axis of the ellipse
shifts and with it, the tooth
engagement area. Because the
circular spline has two teeth
more (number of teeth = 102)
than the flex spline (number of
teeth = 100), there results, after
half a rotation of the wave generator, a relative movement of
one tooth between the parts
and, after a full rotation, a relative movement of two teeth. For
instance, 51 revolutions of the
electric motor are necessary,
assuming the steering wheel is
static, to move the circular spline
12
4
3
11
Driver
Steering wheel
angle
without Active
Steering
(whole speed range)
with Active Steering
(at 20 km/h)
100
Effect
Advantages
Actuator
Motor angle
Steering gear
Pinion angle
Vehicle
Wheel angle
not available
100
+ 25
125
7,5
- 25
75
4,5
Actuator
System Control
System Control
stabilizing
functions
monitoring and
safety functions /
error strategy
AFS ECU
signal
processing
steering assistance
functions
Controlled system
actuator
control
AFS
steering system
vehicle
monitoring and
safety functions /
error strategy
Vehicle signals
System Control
c.g.
Braking forces
c.g. = Vehicle center of gravity
Lateral forces
AFS intervention
10
150
85
300
170
150
85
0
Obstacle
in view
Obstacle
in view
Larger steering
wheel motion
without Active Steering
Smaller steering
wheel motion
with Active Steering
11
i_V
i_V max
Stability
i_V passive
Comfort
Agility
i_V min
0
0
50
100
150
Speed (km/h)
12
AFS Development
Actuator
Electronics
Sensor
Electronic control
unit (ECU)
Gear system
Software
Motor
Functions
Locking unit
Safety
Mechanical
interfaces
Electrical
interfaces
Acoustics
Vehicle test
Steering column
13
Comprehensive Expertise
ZF Lenksysteme GmbH:
the systems partner
ZF Lenksysteme GmbH is one of
the largest independent manufacturers of power steering
systems for passenger cars and
commercial vehicles. Renowned
automotive manufacturers from
all over the world value us as a
creative and efficient systems
partner for the development of
new and innovative solutions.
As a joint venture of Robert
Bosch GmbH and ZF Friedrichshafen AG, ZF Lenksysteme GmbH
offers its customers a unique
source of expertise when it
comes to integrating a wide
range of top technologies in
modules, system modules or
entire chassis systems.
The benefits for the manufacturer are clear to see: even shorter
development times and optimized production processes
with quality standards which just
get better and better.
ZF Lenksysteme GmbH
Richard-Bullinger-Strasse 77
D-73527 Schwbisch Gmnd
Germany
Phone: +49 (0) 71 71) 31 - 0
Telefax: +49 (0) 71 71) 31 - 32 22
www.zf-lenksysteme.com