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Hi! How do I simulate the tie rod forces on a steer-by-wire-system, when one single actuator is used per wheel?

guenter.aichinger over 6 years ago

The goal is to simulate the tie rod force for each wheel, without interference from the forces of the other wheel.

Does a steer-by-wire template exist for this purpose?

Is there any other way to simulate those forces?

Many thanks for your support!

0 Jesper Slattengren over 6 years ago

I am sure that such a template exists, but not in the shared database. So you have to build the template yourself.

It all depends on how your topology is and how detailed you want to do it. Some examples

Level low: On each tie rod you have two parts connected by a translation joint. You have a simple gear/coupler from the steering wheel to the displacement of these joints (one gear/coupler per side).

Level high: build a control system that measure the angle of the steering wheel and from that and the current angles of the wheels calculates an error. Using for example a PID controller (one for each side), you get a force that can be applied to each side.
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0 guenter.aichinger over 6 years ago

Many thanks for your answer!

How can I define the connection between the steering wheel and the translational joint? Is there a way to define a mathematical function which sets the displacement of the joint depending on the steering angle?

Thanks for your support!
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0 Jesper Slattengren over 6 years ago

Yes, a general contraint, GCON is probably the best choice.

Assuming that markers Ms1 and Ms2 is used for the steering wheel rotational joint and Mt3 and Mt4 are used by the tie-rod translational joint, you should use an expression that should evaluate to zero at each time step.

You can for example use an expression like

DZ(Mt3,Mt4) - AZ(Ms1,Ms2)**3

or even use a spline defining the relationship

DZ(Mt3,Mt4) - AKISPL(AZ(Ms1,Ms2),0,Spline_steering)
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0 guenter.aichinger over 6 years ago

Thanks for the detailed answer!

But where do I find the general constraint/GCON in Adams? I do not find the general constraint in the build menu.
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0 Jesper Slattengren over 6 years ago

You have to use the command navigator to find it under Constraints.
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