MSC VPD2004

Modeling and Factor Analysis of Hydraulic Power

Steering Systems for Rotational Steering
Vibration by Using MSC.ADAMS

Jinghong Yu
Principal Engineer, Vehicle Research, Honda R&D Americas, Inc.
21001 State Route 739, Raymond, OH 43067, (937)309-9425, jyu@oh.hra.com, jyu6688us@yahoo.com
Jesper Slattengren, Keiichi Motoyama
MSC.Software Corporation

This presentation presents a study on the rotational vibration sensitivity of automotive hydraulic power
steering systems by using MSC.ADAMS. The results are used to predict the effect of specification
change and provide countermeasure ideas for reducing the level of steering rotational vibration.

1
Contents

Introduction
Modeling approach
Model validation
Application
Conclusions

2
Introduction

Steering vibration is a major NVH issue that affects overall

NVH comfort in passenger cars.

Two types of fundamental steering vibrations:

z Vertical/lateral translational vibration

z Rotational vibration Focus of this study

3
Introduction
Rotational steering vibration:
Vibration
mainly caused by excitation force
Steering
acting on the steering rack due to: wheel
z tire/wheel imbalance
Æ “Steering shimmy”
z braking torque fluctuation
Æ “Brake judder”
Oscillating force from:
Normal frequency range: 15Hz – 20Hz ¾Tire/wheel imbalance
¾Braking torque fluctuation

Steering
Steering system behaves exactly the same cylinder

for both steering shimmy and brake judder Rack

4
Introduction
Purposes:
9 Analyze the sensitivity of steering rotational vibrations to the
excitation force acting on steering rack;
9 Guide steering system tuning for reducing steering vibration;

9 Achieve an important step toward full transmissibility analysis

of vibration from road wheel to steering wheel.

Challenge:
9 Non-linear dynamic coupling between the steering rack-pinion
mechanism and the hydraulic sub-system.

5
Modelling Approach
Hydraulic power steering system
OIL RESERVOIR

Mechanical
mechanism
RUBBER COUPLER

FEED HOSE

Hydraulic
system INPUT SHAFT

CONTROL VALVE

CONNECTION
PIPES

STEERING CYLINDERS

STEERING RACK

6
Modelling Approach
Mechanical rack-pinion mechanism
Steering wheel
Upper column
Feedback to
hydraulic Excitation
Rubber force
Coupling

Lower Input shaft Pinion Gear Rack

column

Torsion
spring

Hydraulic
9 Rigid bodies model
force 9 Non-linear elements:
Rack housing friction
Mount
damping
Bushing backlash
Vehicle sub-frame/ body 9Coupling with hydraulic
sub-system
Joint constraint Friction & damping

7
Modelling Approach
Hydraulic sub-system

Connection pipe
(Hyd_pipe_2pf)

B’ A
(Hyd_orifice) (Hyd_orifice)
Control
Steering valve
cylinder From mechanical Pump
~
(Hyd_cylinder2)

feedback (Hyd_flow_source)

A’ B
(Hyd_orifice) (Hyd_orifice)

Connection pipe
9 Include fluid compressibility &
(Hyd_pipe_2pf) inertia
Hydraulic 9 Can include steering damper, as
force needed
9 Each component model is pre-
validated with test data (0-30Hz)
8
Modelling Approach
Model built on ADAMS/View & ADAMS/Hydraulics

Coupled vibrations
between mechanical &
hydraulic sys.

Customized friction
For hydraulic rubber Non-linearity
sealing Stiction, sliding friction
& backlash

9
Modelling Approach
Gearbox friction Control valve characteristics
9 Based on inverted sliding test 9 Based on gearbox torque-pressure test
9 Velocity-friction function was identified 9 Relative opening function was identified
Pk Friction
Avg Friction

Arearelativeopening
Gearboxfriction

Rack velocity Valve relative angle

Rubber parts stiffness & damping Friction profile

9 Based on excitation measurement 9 Customized for hydraulic rubber sealing
9 Data at proper range of frequency were used 9 Created by using “STEP” functions

Hydraulic system
C

Friction
K

Frequency

Frequency
Relative velocity
10
Model Validation
Bench test system
Hydraulic
supply Steering
wheel

Steering
column
Data
acquisition
Steering rack

Vibration
shaker

Exciting amplitude:
100N-360N Produce repeatable data
Exciting frequency:
10Hz-25Hz
for model validation

11
Model Validation
Comparison of measured & simulated results – time domain
Excitation force Cylinder differential pressure Measured Simulated

Different amplitudes,
same frequency Time Time

Steering rack acceleration Measured Simulated

Steering wheel acceleration Measured Simulated

Time
Time

Input shaft acceleration Measured Simulated

Excellent agreement between

Time
simulation and measurement, even for
different exciting force levels
12
Model Validation
Comparison of simulated & measured results – frequency domain
Excitation force Cylinder differential pressure Measured
Simulated

Frequency (Hz)
Frequency (Hz)
0 25 50 75 0 25 50 75

Steering wheel accelaration Measured

Steering rack acceleration Measured
Simulated Simulated

Frequency (Hz)
Frequency (Hz)
0 25 50 75 0 25 50 75

Input shaft acceleration Measured

Simulated
9 Frequency domain data show an
excellent agreement
9 The model can predict the nonlinear
Frequency (Hz) vibration behavior very well
0 25 50 75
13
Model Validation
Comparison of measured & simulated results
Excitation force Cylinder differential pressure Measured Simulated
10Hz 15Hz 20Hz

Different frequencies,
same amplitude Time Time

Steering rack acceleration

Steering wheel acceleration Measured

Simulated

Time

Time
Measured
Simulated

Input shaft acceleration Measured

Simulated

Excellent agreement between

Time
simulation and measurement for
exciting frequency range 10-20Hz
14
Application
Factor analysis by using ADAMS/Insight
Change of steering wheel vibration with SPEC variation from 75% to 125%

Vibration decrease Vibration increase

Factor 1
Factor 2
Factor 3
Factor 4
Factor 5
Factor 6
Factor 7
Factor 8
Factor 9
Factor 10
Factor 11
Factor 12
Factor 13
Factor 14
Factor 15
Factor 16
Factor 17
Factor 18
Factor 19
Factor 20 9Quantify the effect of steering factors
Factor 21
Factor 22 9High efficiency, without actual tests
Factor 23
Factor 24

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 Application
Sensitivity analysis
1st order
forc e

2nd order
sensitivity

Improved
vibration
excitation
force
vibration
excitation
wheel
to rack
wheel
to rack
S teering

Improve the steering

sensitivity
Steering

vibration sensitivity by
the virtual tuning of
critical factors

0 5 10 15 20 25
Excitation frequency
Excitation (Hz)(Hz)
frequency

16
 Application
Countermeasure prediction
Measured results M easured results M easured results
Simulated trend Sim ulation trend Sim ulated trend

Steering vibration
Steering shimmy

Steering shimmy

Factor 2 Factor 3 Factor 6

The simulation tool is used to predict the effect of specification change on

steering rotational vibrations

17
Conclusions
9A simulation tool for analyzing the fluid-mechanically-coupled, rotational
steering vibration sensitivity of hydraulic power steering systems has been
created, by using MSC.ADAMS.
9The simulation model was well correlated with an actual steering system
under various excitation conditions corresponding to steering shimmy and
brake judder.
9It has been proven to accurately predict the non-linear, coupling vibration
behavior of steering mechanical and hydraulic sub-systems within the
frequency range of interest.
9The tool has been used to identify the most influential steering factors,
provide countermeasure ideas, predict the effect of steering part change,
and integrate with the models of other sub-systems to perform full
transmissibility analysis.

18