Research Article
Modeling, Validation, and Control of Electronically Actuated Pitman Arm Steering for Armored Vehicle
Table 1
Parameter of the Pitman arm steering model.
| Description | Symbol | Value |
| Moment of inertia of steering wheel | | 0.035 kg m2 | Viscous damping of steering wheel | | 0.36 Nm/(rad/sec) | Steering column rotational stiffness | | 42000 Nm/rad | Angular displacement due to universal joint | | 20° | Steering arm length | | 0.2 m | Return pressure | | 0 N/m2 | Pump flow rate | | 0.0002 m3/s | Piston area | | 0.005 m2 | Cylinder length | L | 0.15 m | Orifice flow coefficient | | 0.6 | Fluid density | | 825 kg/m3 | Fluid volume | | m3 | Fluid bulk modulus | | N/m2 | Torsion bar rotational stiffness | | 35000 Nm/rad | Sector gear ratio | | 0.5 | Moment of inertia of steering column | | 0.055 kg m2 | Viscous damping of steering column | | 0.26 Nm/(rad/sec) | Coulomb friction breakout force on steering linkage | | 0.5 N | Gear ratio efficiency of forward transmission | | 0.985 | Gear ratio efficiency of backward transmission | | 0.985 | Steering rotational stiffness due to linkage and bushing | | 15500 Nm/rad | Metering orifice | and | 2.5 mm2 |
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