Steering Gear Research Articles

Analysis of the Suboptimal Performance of the Steering Gear on MT. Narpatisuta

The steering gear is one of the auxiliary machineries on board a ship that is used to move the ship's rudder, allowing the ship to turn to the right or left. This machinery utilizes an electro-hydraulic system, which combines electric and hydraulic technologies to control the ship's steering direction. The research focuses on analyzing the suboptimal performance of the steering gear on the MT. Narpatisuta. The objectives of the research are to identify the factors causing the suboptimal performance of the steering gear, the impacts resulting from this suboptimal performance, and the efforts made to address the suboptimal performance of the steering gear on the MT. Narpatisuta. The research method used is a qualitative descriptive method, with data collection techniques in the form of observation, interviews, documentation and literature study. The data analysis technique uses the SHEL method. Test the validity of the data using triangulation. The research results show that suboptimal performance of the steering gear is caused by hydraulic pipe leaks, deteriorating quality of hydraulic oil, and damage to seal and o-ring components, which lead to reduced steering gear performance, slower rudder movement, and can disrupt ship operations, endangering crew safety and the ship's cargo. Efforts that can be made to remedy this include routine inspection and maintenance of the steering gear and its components. Thus, this research emphasizes the need for routine inspection and maintenance to prevent these problems which must ensure maximum steering gear function, maintain safety and ship operational efficiency.

Optimized design and performance testing of hydraulic electrostatic actuator

ABSTRACT Hydraulic electrostatic actuators have become a research hotspot for their inherent flexibility and safety of human-machine interaction. This paper aims to combine the characteristics of dielectric elastomers and fluid actuators, enhancing the dielectric constant and breakdown field strength by modifying Al2O3 on the surface of nanostructured BaTiO3 and in order to develop a hydraulic electrostatic actuator with silicone rubber as the matrix material. Single-factor experiments were firstly conducted to confirm the range of three factors affecting the actuation strain of the actuator: BaTiO3@Al2O3 content, thickness of the silicone rubber elastomer film, and pre-stretching ratio coefficient. The response surface methodology was used to study the interactive influence of the above three influencing factors on the actuation strain. It was obtained that A has an insignificant influence on the actuation strain, AB has a significant influence on the actuation strain, and B, C, AC, and BC have a highly influence on the actuation strain. Maximizing actuation strain as the optimization objective yielded the combination results of each factor: BaTiO3@Al2O3 content of 2.57%, thickness of 0.60 mm, and pre-stretching ratio coefficient of 2.50. Actuation strain tests were conducted with optimized parameters under no-load. The experimental results of the actuation strain test show that the relative error between the test value and the model prediction value of 16.47% is less than 5%, and the optimization model results are reliable. The optimized hydraulic electrostatic actuator was tested for actuation strain and electrical performance under different loads. The experiment showed that the maximum actuation strain of the hydraulic electrostatic actuator was 17.20% under a load of 100 g. The critical breakdown current of the actuator ranged from 115 μA to 130 μA, and the maximum electromechanical conversion efficiency of the actuator under different loads was 67.93%. Finally, a joint actuating device was developed based on the structure of the actuator, amplifying the output displacement of the actuator to 30 mm, and the linear displacement of the soft electro-fluid actuator can be converted into a 20° rotation angle through the gear steering mechanism, thus validating the effectiveness of the hydraulic electrostatic actuator.

Design of electrical cabinet wire cutting machine based on STM32

Abstract The wire in the electric cabinet is one of the keys to ensuring the normal operation of the electric cabinet. In order to improve the production efficiency of wire cutting, this project designed a wire-cutting machine for an electrical cabinet, which could recognize the CSV table file of the electrical cabinet wiring list on a U disk and cut wires of different lengths and quantities according to the order in the file. The main control chip of the device uses STM32 single chip microcomputer (STM32F103C8T6) and CH376S module to realize the function of reading CSV file on U disk through serial communication. In terms of control, the device adopts a proportional-integral-differential (PID) control algorithm to achieve accurate control of the JGB37-520 gear motor and TD-8120MG steering gear and then realizes wire feeding, wire stripping, cutting, and other functions. The experimental results show that the average relative error of length is about 0.5%, and the error is within a reasonable range.

A bionic bird jumping grasping structure design based on stm32 development board control

During takeoff and landing, birds bounce and grab with their legs and feet. In this paper,the lower limb structure of the bionic bird is designed with reference to the function of jumping and grasping, and the PID algorithm based on the development module of stm32 development board is used to speed control the lower limb driving element, so that the motor and the bishaft steering gear move with the rate change of sine wave. According to the speed of grasping response time and the size of grasping force, the structure of the bionic bird paw is designed. Based on the photosensitive sensor fixed in the geometric center of the foot, the grasping action of the lower limb mechanism is intelligently controlled. Finally, the kinematic verification of the lower limb structure is carried out by ADAMS. Experiments show that the foot structure with four toes and three toes is more conducive to maintaining the stability of the body while realizing the fast grasping function. In addition, it can effectively improve the push-lift ratio of the bionic ornithopter by adjusting the sinusoidal waveform rate of the motor speed.

Adaptive backstepping sliding mode compensation control for electro‐hydraulic load simulator with backlash links

AbstractWhen a mechanical backlash between the loading piston rod and the steering gear piston rod connection of the electro‐hydraulic load simulator (EHLS), it will lead to poor loading accuracy. To solve this problem, an adaptive backstepping sliding mode controller based on the backlash feedforward compensation and state observer is proposed. First, the mechanism of surplus force generation in the EHLS is analyzed, and a mathematical model containing position disturbance and backlash nonlinearity is established based on the analysis results. Second, a state observer is designed to estimate the system state and the parameter adaptive law is designed to estimate the system parameters. Third, the adaptive backstepping method is combined with the non‐singular terminal sliding mode control (NTSMC) strategy to deal with the position disturbance and parameter uncertainty and to enhance the system's dynamic performance. Finally, a backlash feed‐forward compensator is engineered to restrain the detrimental effects caused by the backlash nonlinearity, and the simulation experimental results show that the designed new method can realize the precise loading of the EHLS under different working conditions, and the surplus force is suppressed better at the same time.

Comparative analysis of dynamic load characteristics of artillery steering gear based on different MBD methods

The multi-body dynamics analysis model of the steering gear of a certain type of artillery was established. The dynamic load characteristics of the output gear of the steering gear motor and its driven gear under the given speed and load conditions were calculated based on the three different MBD analysis methods, such as the speed, meshing force, and contact stress. Through the comparative analysis, it was concluded that the calculation results of rigid-flexible coupling analysis were closer to the theoretical value and the fluctuation range was smaller, which provides reference and basis for the prediction of gear fatigue life and the optimization design under dynamic load conditions.

Design and Performance Analysis of Soft Crawling Robot Based on Photoelectric Sensor/STM32

In this study, a control system based on STM32/photoelectric sensor is designed for soft crawling robot. The system consists of a front-end camera installed on soft robot, wireless routing, STM32 single-chip microcomputer and several photoelectric sensors. In this design, STM32 single-chip microcomputer is used as the main controller to send instructions to the four-limb drive steering gear through RS-485 module, and the feedback incentive mechanism is adopted to improve the accuracy and stability of the digital steering gear system. In order to better perceive the working environment, this design is also equipped with a variety of photoelectric level sensors, and photoelectric pressure sensors are installed to monitor the perceived pressure of the robot to make it move better on the ground. The photoelectric sensor is used to realize the soft crawling robot walking according to the planned route. The photoelectric tilt robot is used to change the walking direction during the moving process. Through the overall cooperation of the above components, the movement angle of limbs can be changed to make them crawl under narrow conditions. In the experiment, soft robot’s posture information is collected by various photoelectric sensors and displayed on the corresponding control interface, so that it can walk at the specified gait and leg swinging frequency. On the flat road, the swinging frequency of the robot first increases and then gradually stabilizes, and the movement efficiency is maintained at about 75% at the maximum movement speed.

ANALYSIS OF A NEW TYPE OF ELECTRIC POWER STEERINGGEAR WITH TWO PINIONS ENGAGED ON THE SAME SETOF TEETH ON THE RACK

Electric power steering is the most commonly used solution in passenger cars. It is a more economical andreliable solution than the hydraulic equivalent. Its main parts are usually the rack, pinion, and worm wheel,which are subject to wear during driving. A steering gear that works incorrectly poses a direct threat to thesafety of the driver and other road users. The paper presents various types of electric power steering gears,with a particular emphasis on the problems that arise during the design of the pinion and rack. In this paper,a new electric power steering system consisting of a steering gear with two pinions working on a commontoothing of the rack (TPEPS) is proposed. The benefits of placing two pinions on one tooth set of a steeringrack are described, which eliminates many problems during production, and thus allows the reduction inproduction costs. As part of the analysis, design challenges for a new type of transmission are presented,taking into account key customer requirements, with a particular emphasis on durability and ensuring thedesired noise level, which is important due to the replacement of cars with an internal combustion drive withan electric drive. This paper presents selected friction and noise test results for a new power steering system.A comparison is made with a system that has two pinions and different teeth on the rack (DPEPS). The resultsindicate that the new system could become an alternative solution due to its lower friction value and lowernoise.

Vehicle Steering Gear Sleeve Defect Detection Method Based on Machine Vision

This project takes the steering gear sleeve as the research object, and uses computer vision technology to detect it. By using this method, the Canny operator is adaptive filtered and integrated with the watershed method, and many features of the image are extracted. SVM classifier was established for three representative defects, such as lack of material, burr and coating. It is used to identify the steering gear sleeve. A test platform is set up to automatically classify and remove defective parts of automobile steering gear sleeve based on UR5 robot. The accuracy and stability of detection are improved by an improved edge segmentation algorithm. The experimental results show that the system can diagnose the fault of the axle sleeve of the automobile steering gear and cooperate with the operating arm to make it possible to automatically detect and remove the fault products.

Exploring mass and economic potentials of rare earth elements recycling from electric vehicles at end-of-life

AbstractRare earth elements (REEs) are fundamental for various modern technologies and industrial applications. One significant application of REEs is in the production of neodymium-iron-boron (NdFeB) magnets, which are key components in electric vehicles (EVs), wind turbines, and electronic devices. These applications play a crucial role in driving the ecological and digital transition, highlighting the significance of REEs as strategic materials. With the dominance of very few countries in the REEs global supply and the rising of EVs demand, several concerns regarding resource availability, supply chain security, and price volatility have heightened the importance of efficient NdFeB magnet recycling, especially in Europe. This study assessed the elemental recycling potential of REEs from EV components through collaboration with authorized treatment facilities and metal recyclers in Italy. The study focused on three representative electric vehicles: a compact car, a van, and a hybrid vehicle. NdFeB magnets were found in various components, including the electric drive motor, air conditioning system, electric power steering, alternator, and electric gear box. The content of NdFeB magnets and REEs inside these components has been determined and economic feasibility of their recycling has been estimated by considering the intrinsic value of the raw materials contained. Despite being preliminary results, the economic value of REEs and Cu recoverable attested a promising potential for recycling, while the direct dismantling of magnets from the engine proves economically unviable for the studied components. Therefore, the study emphasizes the need for the development of specific recycling processes such as demagnetization and mechanical processing of the motors. The study also analysed the dismantling times of the target components from the vehicle and their relative economic impact on the potential for recovery.

A Review of the Research on Electro-hydraulic Load Simulator and Characteristics with Improvement Methods

Abstract: The electro-hydraulic load simulator is a semi-physical simulation system. It is used to simulate different loads on the bearing capacity object (steering gear system) under working conditions and further test the dynamic and static characteristics of the bearing capacity object. Therefore, it is widely used in important applications such as the simulation of various loads and the development of high-performance steering gear systems. By analyzing and discussing the electro-hydraulic load simulator equipment and its improvement methods, some useful conclusions have been drawn to predict the development of the electro-hydraulic load simulator and its key technologies. The current status of research on electro-hydraulic load simulator prototypes is discussed in depth. The electro-hydraulic load simulators are classified according to the loading system applying force (torque). The improvement methods of the electro-hydraulic load simulator, including the method of suppressing the extraneous force, the compensation method of nonlinear factors, and the method of establishing the mathematical model, are analyzed and summarized. By summarizing the literature and patents on electro-hydraulic load simulation technology, the principle, and characteristics of different equipment and improvement methods are analyzed and compared, and future development of electro-hydraulic load simulation equipment and technology is discussed. The research on the characteristics of the prototype, the hardware means and control strategy to suppress the extraneous force, the compensation of nonlinear factors, and the methods of establishing the mathematical model are beneficial to improve the loading accuracy of the electro-hydraulic load simulator.

Investigation into vibration analysis for detecting faults in vehicle steering outer tie-rod

This study presents a novel fault detection method in car gear steering systems, employing MSC Adams and MATLAB simulations to analyze angular acceleration from the outer tie rod. The approach closely mimics real accelerometer data to differentiate between normal and faulty conditions, including wear and obstacle navigation. Emphasis is on noise robustness, utilizing advanced noise injection and denoising techniques. The efficacy of wavelet scattering, discrete wavelet transform (DWT) methods, and classifiers like Support Vector Machines (SVM) and Neural Networks (NN) is extensively evaluated. Among fifteen fault detection methods, the combination of wavelet scattering with Long Short-Term Memory (LSTM) Neural Networks, optimized with Adam tuning, is notably stable across four scenarios. The research highlights the importance of precise feature selection, employing techniques like Principal Component Analysis (PCA), Linear Discriminant Analysis (LDA), and Recursive Feature Elimination (RFE). This research significantly advances the reliability of autonomous driving systems and provides essential insights into fault detection in gear steering systems.

The control method for ship tracking when navigating through narrow and curved sections

A track control method is proposed to solve the problem of manual steering difficulties in narrow and curved sections. The performance of a ship heading controller is affected by various factors, such as delay of the ship steering gear, external environmental disturbances, and variations in ship's speed. Firstly, a Smith optimal PID heading controller is designed. Then, a speed control method based on dichotomous method is proposed to accurately control ship speed and improve the rudder efficiency. Finally, a track control method based on model prediction and feedback compensation is proposed, considering the coupling relationship between course control and speed control. The Lantang Channel is selected as the experimental water area, and comparative simulation experiments are carried out under static water and environmental disturbance. The pre-planned route information is taken as input, and the target course at the current moment is calculated by the guidance method. The target course is used as the input of the course controller to calculate the rudder angle to control the ship's motion, and the new ship position is compared with the planned route information. The above steps are repeated to track the planned route. In order to make the ship pass the curve smoothly, the target speed of the control point is preset according to the sailing convention of decelerating first and accelerating later, and the variable speed time point and variable telegraph are solved by the dichotomy. The results are as follows: (1) The maximum track deviation and speed deviation of the Smith-OP PID are 2 m and 0.21 kn, respectively, without considering environmental interference. The maximum track deviation of the traditional PID is 8 m. (2) The maximum track deviation and speed deviation of the Smith-OP PID are 25 m and 0.27 kn, respectively, under the set environmental interference. The maximum track deviation of the traditional PID is 49 m. (3) The track control method is consistent with the practical practices of "deceleration before acceleration" and "hanging high and taking low". In summary, the track control method can be well applied to narrow and curved sections, and provide a theoretical basis for subsequent research on autonomous navigation and intelligent ships.

Сравнительный анализ принципов проектирования электрогидравлических рулевых машин скоростных судов

The composition and control principles of steering electro-hydraulic machines of a simple and follower type, intended for rudder shifting of small and high-speed vessels are considered. An analysis of the functioning of existing steering gears for the specified group of vessels was carried out. Deficiencies in the work associated with the element base and composition of the control and electric drive systems of the analyzed steering machines have been formed. The features of the operation of hydraulic systems with drive electric motors of pumps made on direct current, revealed as a result of experiments, are shown. Variants of technical solutions for improving the energy performance of the electric drive are proposed. A comparative analysis of the operation of steering machines with AC and DC drives has been carried out. An assessment of steering machines operation in normal and emergency modes is given. Structural diagrams of control systems of simple and follow-up action are proposed, taking into account the operating features identified during the analysis and the requirements of the Russian classification society. The possibility of implementing an SM electric drive built using a frequency converter – asynchronous motor system powered by an alternating current network and an emergency source has been shown. Options for the implementation of electric drives for pumps of hydraulic stations with a high-voltage battery are proposed. The possibility of creating domestic installations for steering and other ship mechanisms, according to the proposed structural diagrams of control systems for hydraulic stations for high-speed ships, is shown. Recommendations are given for the construction of steering gears for high-speed vessels with a total displacement of up to 100 tons using domestic electrical equipment.

Research on Variable Transmission Ratio Control Method to Improve Vehicle Handling Comfort Based on Steer-by-Wire System

The steer-by-wire system severs the mechanical link between the steering wheel and the steering gear. This configuration enhances the angular transmission characteristics. Entering the nonlinear region of the tires could result in a reduction in the vehicle’s steering gain. In order to improve the comfort of vehicle steering operation, we have developed a variable transmission ratio controller for the steer-by-wire (SBW) system. This controller utilizes information on the vehicle speed and steering wheel angle to generate a variable transmission ratio coefficient, thereby adjusting the steering ratio. We introduce a multi-objective comprehensive evaluation index that takes into account vehicle lateral deviation, driver steering burden, vehicle stability, and safety. To harmonize the transmission ratio weights of constant steering gain, we employ the coefficient of variation method. Ultimately, a fuzzy neural network is employed to craft a nonlinear controller. We conducted steady-state circular motion tests, double lane-change tests, and step input tests to validate the performance of the variable transmission ratio control. The results suggest that, in comparison to conventional fixed transmission ratio systems, the variable transmission ratio control within the steer-by-wire system significantly alleviates the driver’s operational burden while enhancing the vehicle’s handling stability and safety.

Failure Analysis and Improvement Repair of Steering Gear Hydraulic Pump Station

Failure Analysis and Improvement Repair of Steering Gear Hydraulic Pump Station

Research on Improving the Tribological Properties of Bearings under Cryogenic Conditions

Bearings, as one of the most central components of rotating equipment, are widely used both in servo steering gear, aerospace and other fields. However, for extremely cryogenic conditions, the life of bearings is low, so it is necessary to carry out the tribological design of bearings to improve its cryogenic performance. In this paper, four kinds of optimized and improved plain bearings are designed. The tribological tests of these four bearings under extreme cryogenic working conditions were carried out using the developed bearing simulation test rig. The results show that under the same load and rotational speed conditions, the preparation of micro-weave structure on the surface of the shaft tile or the preparation of composite coating on the surface of the journal can improve the friction and wear performance of the bearings to a certain extent. When both methods are used at the same time, the friction reduction and anti-friction wear effect of the sliding bearing is better. This study not only provides theoretical guidance and technical support for improving the cryogenic tribological performance of bearings, but also has important practical significance for the future development of rotating equipment in the low-temperature field.

Mounting and testing technology for a steering gear system with hydraulic cylinders

The steering gear system is part of the group of vital installations for a ship. Its role is to ensure course stability and, at the same time, to facilitate the changes of navigation direction. In this context, the technology for assembling the system is well-defined through rules, procedures, and work instructions. A steering system that is correctly assembled according to the instructions and execution drawings will lead to proper operation and, at the same time, the successful completion of applicable steering system tests. The applicable tests for steering systems are depending to the type and purpose of the vessel. However, SOLAS defines a series of general high-level tests that must be performed, and during these tests, the quality of the installation is to be demonstrated. The present work will develop both the subject of the steering gear installation, which directly influences the results of the tests.

ARDUINO-BASED SHIP STEERING SIMULATION BY COMPARING INCREMENTAL ROTARY ENCODER SENSOR WITH INFRARED SENSOR

In vocational institution, practicum activities can be done by using a bridge simulator, such as in the nautical study program, which has a steering component in the simulator. In our engineering study program, we tried to design a ship steering simulation by comparing an incremental rotary encoder sensor with an infrared sensor to determine the direction and degree of rotation. The steering gear is a very important tool of a ship because it determines the safety of the ship. Therefore, the rudder must meet the requirements set by SOLAS 74 rule 29 Chapter II regarding steering gear. When the ship is traveling at maximum economic speed, the main steering gear must be able to steer 35 degrees to the left/right within 28 seconds. In connection with this, we wanted to design, build, and manufacture a tool that can simulate ship steering. This simulation tool that we have designed generally has several capabilities such as being able to steer the ship from 35 degrees port to 35 degrees starboard, or vice versa, during maximum engine speed and load in a maximum period of 28 seconds. [1] Arduino is used to process data from incremental rotary encoder sensors and infrared sensors which will be sent via serial USB to the computer. Rotary encoders and infrared are used to determine how many degrees the ship will turn right or left, both are compared in terms of time and accuracy. To display a ship's steering simulation, a visual basic application is used to display a ship's movement simulation, ship's steering and ship's rudder.

A micro quadruped crawling robot manufactured from PLA material

In order to meet the requirement of the movement flexibility of crawling robot, a kind of crawling robot imitating spider gait manufactured from polylactic acid (PLA)material was proposed. The motion mechanism of the robot is analyzed by gait decomposition method. Based on the Arduino platform, the control system of bionic spider gait crawling robot is developed. The mobile App software and Bluetooth module are used to realize the wireless control of the robot and the motion performance test. The experimental results show that when the steering angle is 30°, the average moving speed of the spider gait crawling robot is 4.5 mm/s. The movement speed of each leg of the crawling robot increases non-linearly with the increase of steering gear angle. And with the stride time changes, the crawling speed of the robot changes steadily. Besides, the turning angle of the robot increases with the increase of the steering angle of the steering gear. The results lay a foundation for improving the overall performance of spider gait mimicking crawling robot.