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 F
(C)
C
H
Manifold (D)
B
Commutator ring (E)
Commutator (F)
Figure 2.7. Parker HGA
Input shaft (G)
hydrostatic power
steering valve (Parker)
Torsion bar (H)

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:

QL Cd A1

1
( PS PL ) Cd A2

1
( PS PL )

(1)

The flow from the supply to the valve can be calculated

as:

Qs C d A1

( Ps PL ) C d A2

QL=flow to the load from the valve

QS=flow to the valve from the supply

(2)

( Ps PL )

A1=larger valve orifice

A2=smaller valve orifice

Cd=discharge coefficient

=fluid density

PS=pressure at the supply

PL=pressure at the load

(Merritt, 1967)

Discharge Coefficient Review

Discharge coefficient for a short tube orifice

L 12 12
Cd [1.5 13.74 * ( ) ]
DR
L 12
Cd (2.28 64
)
DR

for

for

DR
50
L

DR
50
L

L = length of the orifice

D = diameter of the orifice
R = Reynolds number
(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:

Kq

QL

xv

(3)

QL=flow from the valve to the load

Xv=displacement from null position

(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:

PL
Kp
xv

(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

Figure 2.9.
Critical
Center
Valve
Diagram

(Merritt, 1967)

Flow for Critical Center

Assuming all the orifices of a valve are symmetrical,

the load flow can be approximated as:

QL Cd wxv

1
xv
( Ps
PL )

xv

(5)

The leakage flow can be derived from

equation 5assuming
QL, PL, and xv are 0.
wrc2
Qc
Ps
32
(6)
w = the area gradient of the valve
Qc= leakage flow at center position
= fluid viscosity (typical value is 2 x 10-6 lb-sec/in2)
rc= radial clearance between spool and sleeve (typically 2 x 10-4 in)
(Merritt, 1967)

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)

Ps
K q Cd w

(7)

Cd=discharge coefficient
w=area of the orifice
=density of the fluid
Ps=supply pressure
(Merritt, 1967)

Critical Center Valve Pressure

Sensitivity
Pressure sensitivity for a critical center valve is:

2( Ps PL )
Kp
xv

(8)

For a Practical Critical Center Valve:

K p0

32Cd PS

rc2

(9)

(Merritt, 1967)

Open Center Valve

Open center valves have an underlap at

the metering region allowing maximum

flow in the null position.

Figure
2.10 Open
Center
Valve
Diagram

(Merritt, 1967)

Open Center Valve Flow

The following equation represents the flow to the load for

an open center valve:

QL Cd wU

Ps
x
P
x
P
( (1 v )(1 L )1/ 2 (1 v )(1 L )1/ 2 )

U
PS
U
PS

(10)

If PL and xv are taken to be 0 then, the leakage flow is:

Qc 2Cd wU

Ps

(11)

U=Underlap of valve
(Merritt, 1967)

Open Center Flow Gain

In the null position, the flow gain can be

determined by (Merritt, pg. 97):

K q0

Ps
2Cd w

(12)

The variables are the same as defined in the

previous slide.

(Merritt, 1967)

Open Center Pressure

Sensitivity
In the null position, the open center pressure

sensitivity is:

K p0

2 Ps

(13)

U = underlap
(Merritt, 1967)

Closed Center Valve

The metering region has an overlap
Overlap reduces high pressure leakage

Figure
2.11.
Closed
Center
Spool
Valve
Diagram

(Merritt, 1967)

Closed Center Flow

Closed center leakage flow is laminar
It is determined as follows:

Dr
3
Qc
[1 2 ]Ps
12 L0
2rc
3
c

(14)

D=diameter of the valve housing

L0=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.