Table of Contents
International Journal of Vehicular Technology
Volume 2016, Article ID 2175204, 12 pages
Research Article

Modeling, Validation, and Control of Electronically Actuated Pitman Arm Steering for Armored Vehicle

Department of Mechanical Engineering, Faculty of Engineering, National Defense University of Malaysia (NDUM), Kem Sungai Besi, 57000 Kuala Lumpur, Malaysia

Received 24 October 2015; Revised 5 March 2016; Accepted 14 March 2016

Academic Editor: Radu Danescu

Copyright © 2016 Vimal Rau Aparow et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In this study, 2 DOF mathematical models of Pitman arm steering system are derived using Newton’s law of motion and modeled in MATLAB/SIMULINK software. The developed steering model is included with a DC motor model which is directly attached to the steering column. The Pitman arm steering model is then validated with actual Pitman arm steering test rig using various lateral inputs such as double lane change, step steer, and slalom test. Meanwhile, a position tracking control method has been used in order to evaluate the effectiveness of the validated model to be implemented in active safety system of a heavy vehicle. The similar method has been used to test the actual Pitman arm steering mechanism using hardware-in-the-loop simulation (HILS) technique. Additional friction compensation is added in the HILS technique in order to minimize the frictional effects that occur in the mechanical configuration of the DC motor and Pitman arm steering. The performance of the electronically actuated Pitman arm steering system can be used to develop a firing-on-the-move actuator (FOMA) for an armored vehicle. The FOMA can be used as an active safety system to reject unwanted yaw motion due to the firing force.