Hydrostatic Steering

System
Lecture 2
Day 1-Class 2
Basic System Components
Steering Valve
Cylinder/Actuator
Filter
Reservoir
Steering Pump
Relief Valve
Can be built into
pump
Figure 2.1 Basic
steering system
(Parker-Hannifin)
Pump
Driven by direct or indirect coupling with
the engine or electric motor
The type depends on pressure and
displacement requirements, permissible
noise levels, and circuit type


Gear Pump
Fixed displacement for open center
Tolerates dirt well
Suitable for rugged applications
Cheap
Simple
High noise levels
Pressure pulses
Gerotor
Type of internal gear
pump
Used for pressures
less than 1200 psi
Quieter than other
internal or external
gear pumps
Figure 2.3 Gerotor Pump
(John Deere)
Vane Pump
Usually fixed
displacement for
open center, but can
have variable
displacement
Quieter operation
than the gear pump
Pressure ripples are
small, smooth
operation
More expensive

Figure 2.4 Vane pump
(John Deere)
Piston Pump
Variable
displacement, closed
center
Flow is pulsating
Can handle high
pressures, high
volumes and high
speeds
High power to weight
ratio
Complex and
expensive
Figure 2.5 Piston
Pump (John Deere)
Actuators
There are three types of actuators
Rack and pinion
Cylinder
Vane
The possible travel of the actuator is limited by
the steering geometry
Figure 2.6.
Actuator
Types
(Wittren,
1975)
Cylinders
Between the steered wheels
Always double acting
Can be one or two cylinders
Recommended that the stroke to bore
ratio be between 5 and 8 (Whittren)
Hydrostatic Steering Valve
Consists of two sections
Fluid control
Fluid metering
Contains the following
Linear spool (A)
Drive link (B)
Rotor and stator set
(C)
Manifold (D)
Commutator ring (E)
Commutator (F)
Input shaft (G)
Torsion bar (H)


A
B
D
E
F
G
C
H
Figure 2.7. Parker HGA
hydrostatic power
steering valve (Parker)
Steering Valve Characteristics
Usually six way
Commonly spool valves
Closed Center, Open Center, or Critical
Center
Must provide an appropriate flow gain
Must be sized to achieve suitable pressure
losses at maximum flow
No float or lash
No internal leakage to or from the cylinder
Must not be sticky
Wittren (1975)
Valve Flows
The flow to the load from the valve can be calculated
as:
) (
1
) (
1
2 1 L S d L S d L
P P A C P P A C Q + =

The flow from the supply to the valve can be
calculated as:
) (
1
) (
1
2 1 L s d L s d s
P P A C P P A C Q + + =

(Merritt, 1967)
Q
L
=flow to the load from the valve A
1
=larger valve orifice
Q
S
=flow to the valve from the supply A
2
=smaller valve orifice
C
d
=discharge coefficient =fluid density
P
S
=pressure at the supply P
L
=pressure at the load
(1)
(2)
Discharge Coefficient Review
2
1
2
1
] ) ( * 74 . 13 5 . 1 [

+ =
DR
L
C
d
50 >
L
DR
2
1
) 64 28 . 2 (

+ =
DR
L
C
d
for
50 <
L
DR
for
L = length of the orifice
D = diameter of the orifice
R = Reynolds number
Discharge coefficient for a short tube orifice
(Merritt, 1967)
Reynolds Number
The Reynolds number requires the
velocity of the fluid, so it will be an
iterative process to solve for the flow
rate.

VD
R =
=fluid density
V=fluid velocity
D=diameter of the pipe
= fluid viscosity
(Merritt, 1967)
Flow Gain
Flow gain is the ratio of flow increment to
valve travel at a given pressure drop
(Wittren, 1975)
It is determined by the following equation:

v
L
q
x
Q
K
c
c
=
Q
L
=flow from the valve to the load
X
v
=displacement from null position
(3)
(Merritt, 1967)
Flow Gain
Lands ground to
change area
gradient
Figure
2.8. Valve
spool with
modified
metering
lands
Pressure Sensitivity
Pressure sensitivity is an indication of the effect
of spool movement on pressure
It is given by the following equation from Merritt:

v
L
p
x
P
K
c
c
=
(4)
(Merritt, 1967)
Critical Center Valve
There is no underlap or overlap of metering
lands
Linear flow gain
Very expensive to manufacture
Leakage flows are minimum
(Merritt, 1967)
Figure 2.9.
Critical
Center
Valve
Diagram
Flow for Critical Center
Assuming all the orifices of a valve are symmetrical,
the load flow can be approximated as:
) (
1
L
v
v
s v d L
P
x
x
P wx C Q =

w = the area gradient of the valve

Q
c
= leakage flow at center position
= fluid viscosity (typical value is 2 x 10-6 lb-sec/in2)
r
c
= radial clearance between spool and sleeve (typically 2 x 10-4 in)
(Merritt, 1967)
(5)
s
c
c
P
wr
Q

t
32
2
=
The leakage flow can be derived from
equation 5 assuming Q
L
, P
L
, and x
v
are 0.
(6)
Critical Center Flow Gain
Flow gain of a critical center valve in the
null position can be obtained by the
following equation (Merritt, pg. 87)

s
d q
P
w C K =
C
d
=discharge coefficient
w=area of the orifice
=density of the fluid
P
s
=supply pressure
(7)
(Merritt, 1967)
Critical Center Valve Pressure
Sensitivity
Pressure sensitivity for a critical center valve is:

v
L s
p
x
P P
K
) ( 2
=
(Merritt, 1967)
2
0
32
c
S d
p
r
P C
K
t

=
For a Practical Critical Center Valve:
(8)
(9)
Open Center Valve
Open center valves have an underlap at
the metering region allowing maximum
flow in the null position.
(Merritt, 1967)
Figure
2.10 Open
Center
Valve
Diagram
Open Center Valve Flow
The following equation represents the flow to the load for
an open center valve:
) ) 1 )( 1 ( ) 1 )( 1 ( (
2 / 1 2 / 1
S
L v
S
L v s
d L
P
P
U
x
P
P
U
x P
wU C Q + =

U=Underlap of valve

(10)

s
d c
P
wU C Q 2 =
(11)
If P
L
and x
v
are taken to be 0 then, the leakage flow is:
(Merritt, 1967)
Open Center Flow Gain
In the null position, the flow gain can be
determined by (Merritt, pg. 97):

s
d q
P
w C K 2
0
=
The variables are the same as defined in the
previous slide.
(12)
(Merritt, 1967)
Open Center Pressure
Sensitivity
In the null position, the open center pressure
sensitivity is:

U
P
K
s
p
2
0
=
U = underlap
(Merritt, 1967)
(13)
Closed Center Valve
The metering region has an overlap
Overlap reduces high pressure leakage
(Merritt, 1967)
Figure
2.11.
Closed
Center
Spool
Valve
Diagram
Closed Center Flow
Closed center leakage flow is laminar
It is determined as follows:

s
c
c
c
P
r L
Dr
Q ]
2
3
1 [
12
2
2
0
3
c

t
+ =
(14)
D=diameter of the valve housing
L
0
=overlap
=eccentricity of the spool
(Merritt, 1967)
Closed Center Flow Gain
Constant dead band
near the null position
Figure 2.11. Dead band on
closed center valve (Wittren
1975)
References
John Deere Corporation, 2000. Fundamentals of
Service-Hydraulics. John Deere Corporation: Moline, IL.
Merit, H. E., 1967. Hydraulic Control Systems. John
Wiley & Sons, Inc.: New York, NY.
Parker-Hannifin Corporation, 1999. Mobile Hydraulic
Technology, Bulletin 0274-B1. Motion and Control
Training Department: Cleveland, OH.
Parker-Hannifin Corporation, 2000. Hydraulic Pumps,
Motors, and Hydrostatic Steering Products, Catalog
1550-001/USA. Hydraulic Pump/Motor Division:
Greenville, TN.
Wittren, R.A., 1975. Power Steering For Agricultural
Tractors. ASAE Distinguished Lecture Series No. 1.
ASAE: St. Joseph, MI.