Service Training

Audi Dynamic Steering

Self-Study Program 992803

Audi of America, LLC.

Service Training
Printed in U.S.A.
Printed 07/2008
Course Number 992803

2008 Audi of America, LLC.

All rights reserved. All information contained in this manual is

based on the latest information available at the time of printing
and is subject to the copyright and other intellectual property
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licensors. All rights are reserved to make changes at any time
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should be referred to Audi of America, LLC.

Always check Technical Bulletins and the latest electronic repair

literature for information that may supersede any information
included in this booklet.

Trademarks: All brand names and product names used in this

manual are trade names, service marks, trademarks, or registered
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Table of Contents

Introduction . . . . . . . . . . . . . . . . . . . . . . . . .

Basic Design and Functions . . . . . . . . . . . . . . . .

System Overview / System Components . . . . . . . .

Function Diagram / CAN Data Interchange . . . . . . . 18

Operation and Driver Information. . . . . . . . . . . . . 20
Special System Functions . . . . . . . . . . . . . . . .

22

Servicing . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Steering Pump with ECO Function . . . . . . . . . . . . 26
Knowledge Assessment . . . . . . . . . . . . . . . . . . 29

The Self-Study Program teaches the design and function of new vehicle models,
automotive components, and technologies.

Reference

Note

The Self-Study Program is not a Repair Manual!

The values given are only intended as a guideline. Refer to
the software version valid at the time of publication of the SSP.
For maintenance and repair work, always refer to the current technical literature.
i

Notes

ii

Introduction

The 2009 Audi A4 is the rst vehicle in the Audi model

line-up to use the Dynamic Steering System. This
steering system eliminates the compromise of having
a constant steering ratio. An optimal steering ratio is
obtained as a function of driving speed and steering
wheel angle.
The dynamic steering system provides a suitable steering
ratio for every situation - whether parking, driving on
windy country roads or at high speed on an expressway.

Over and above this, the dynamic steering system

assists the ESP system in specic driving situations by
implementing corrective steering inputs which serve to
maintain dynamic stability.
This intelligent new system, therefore, not only enhances
driving and steering comfort, but also provides a marked
improvement in active motoring safety.

S234_001

Introduction

In conventional steering systems there is a direct

mechanical connection between the steering wheel
and the steering gear. This also means there is a given
relationship between the steering wheel angle and the
lock angle of the steered wheels.

direct

steering ratio

indirect

The geometric conguration of the interlocking teeth of

the steering gear rack and the steering pinion rack allows
different ratios to be obtained.

Nevertheless, only one ratio can be implemented in

a vehicle at a time. The selection of suitable ratios
always represents a best possible compromise between
different, and at times, conicting requirements. The ratio
characteristic curve of the con ventional power steering
system of the Audi A4 without dynamic steering is shown
in yellow in the diagram.

Dynamic set-up
Comfort set-up
without dynamic steering

402_001
low
speed
(For example, parking, urban trafc)

medium
speed
(For example, country road)

The key requirements can only be met optimally by a

variable ratio characteristic curve. Such a characteristic
curve varies the actual steering angle of the wheels
according to driving speed and steering angle.
For the Audi A4, the dynamic steering system generally
implements two variable curves with comfortable and
sporty characteristics (red characteristic curves in the
diagram).

high
speed
(For example, expressway)

Drivers can select the characteristic curve which suits

their preferences (refer to chapter Operation and driver
information). The dependency of steering ratio on
vehicle speed is clearly recognizable.

Introduction

The variable characteristic curve is implemented by an

additional electro-mechanical drive steering pinion,
which is super-imposed on the drivers steering input.

In the event of a failure of this drive, the vehicle steering

system functions exactly the same as a conventional
steering system.

Electronic Control module

Electro-mechanical drive

Activation signal

Steering pinion
Steering gear

402_002

However, the advantages of the dynamic steering system

go far beyond that. Working in conjunction with the ESP
system and associated sensors, the system also activates
when critical driving situations are imminent.
The dynamic steering system assists the ESP at the
dynamic stability limit through controlled adjustment of
the front-wheel steering angle.
This has two key advantages. First, the overall stability of
the vehicle is improved through simultaneous corrective
braking and steering inputs. Active safety is signicantly
enhanced. This is especially true at speeds (greater than
60 mph [100 kph]), since at these speeds the dynamic
steering system can take full advantage of its very quick
reaction times.

The second advantage is that in less critical driving

situations braking can be reduced or even eliminated,
thereby allowing the vehicle to be stabilized more
harmoniously and comfortably. By reducing the number
of corrective braking inputs and relying more on
corrective steering inputs, especially on road surfaces
with a low friction coefcient (for example, snow covered
roads) the vehicle moves with greater agility than a
vehicle stabilized by braking only.
ESP utilizes the dynamic steering function in both
oversteer and understeer situations, as well as under
braking on road surfaces with different friction
coefcients.

Introduction

Oversteering vehicle
In an oversteer situation, ESP stabilizes the vehicle by
integrating the dynamic steering system function. A
controlled amount of counter-steer is automatically
applied to prevent the rear of the vehicle from
shtailing.

Steering Angle
Wheel steering angle
Steering wheel angle
Stabilization angle
Brake pressure, front left
Brake pressure, front right

Time

402_044

Without Dynamic Steering

With the dynamic steering system, stabilizing countersteer is applied automatically, without the driver noticing
anything. This signicantly reduces the steering effort
required on the part of the driver. The driver need only
apply the steering angle that would be necessary in a
similar, stable driving situation.

Heavy corrective braking by the ESP system is the

consequence.

Brake Pressure

Brake Pressure

Steering Angle

A typical situation which can easily cause the vehicle to

oversteer is changing lanes quickly.

When steering back on the new lane, particularly at

high speeds, the rear end may begin to slide sideways
(shtail). The driver is often too late applying the
necessary counter-steer, or fails to do so at all.

Wheel steering angle

Steering wheel angle
Stabilization angle
Brake pressure, front left
Brake pressure, front right

Stabilizing counter-steer by
dynamic steering system

Time

402_045

With Dynamic Steering

There is also much less need for corrective braking by the

ESP system. This translates to improved vehicle stability
when changing lanes and higher lane-changing speeds.

Introduction

Understeering vehicle
In an understeer situation, the vehicle veers towards the
outside of the road when the front wheels are turned.

This driving state is characterised by decreasing lateral

traction with increasing steering angle, with the result
that the cornering radius becomes larger.

Vehicle 2

Lateral force

Vehicle 1

Increase in lateral force due to

understeer stabilization angle of
dynamic steering system

Slip angle

402_003

Most drivers react to this situation by applying more

steering lock (vehicle 1). This reduces the available
lateral friction between the tires and road surface.
The static friction between the tires and road surface
becomes sliding friction which causes the vehicle to lose
control and leave the road. In this situation, corrective
intervention by the ESP system will often be of no use.

Lateral traction is preserved, and the vehicle travels along

the shortest physically possible curve radius.

The dynamic steering system takes corrective action

before this happens. The dynamic steering system
counter-steers the vehicle (vehicle 2). The actual angle
which the wheels turn is less than the angle input by the
driver via the steering wheel.

The vehicle is thus braked and steered back onto the

desired path.

If this is insufcient, the ESP system applies corrective

braking preferably to the wheels on the inside of the
curve. Additional stabilizing counter-torque is produced
around the vehicles vertical axis.

Introduction

Braking on road surfaces with different friction

coefcients
It is possible for road surfaces to have both high and low
friction coefcients simultaneously. For example, one
side of the road may be dry asphalt while the other side is
covered with water or ice.
This is the case, for example, when snow-covered or icy
road surfaces are partially thawed or when wet leaves
partially cover on an otherwise dry road.

Steering Angle

Under braking, the vehicle pulls towards the side of the

road with the higher friction coefcient where braking
force is stronger.

To be able to maintain a straight line in a vehicle without

dynamic steering, the driver must apply enough steering
lock to compensate for the pull effect. In a vehicle with
dynamic steering, the steering angle is automatically
controlled by the ESP and dynamic steering systems. The
driver does not notice anything and the steering wheel
remains in the position corresponding to the desired
direction of travel. Since ESP and dynamic steering are
able to set the required steering angle more quickly and
accurately than the driver, the additional use of dynamic
steering in this driving situation provides, on average,
shorter stopping distances than in vehicles without
dynamic steering .

Wheel steering angle

Steering wheel angle
Stabilization angle
Brake pressure, front left
Brake Pressure

Brake pressure, front right

402_046
Time

Basic Design and Functions

A superposition gearbox (actuator) integrated in the

steering system maintains the mechanical connection
between the steering wheel and the front axle in all
situations.

In the event of serious system faults, the shaft of

the superposition gearbox locks in order to prevent
malfunctioning.

Superposition gearbox
(actuator)

Control Module

402_005

The control module determines whether an increase or reduction in steering angle is needed. The control module
activates an electric motor, which drives the superposition gearbox. The total steering angle of the wheels is
determined from the total overlap angle and the drivers steering input. The overlap angle can:
increase the drivers steering input,
reduce the drivers steering input,
implement a steering angle without any steering input
from the driver.
Active Steering Control
Module J792

Electro-mechanical
drive (actuator)
Activation signal

Steering input by driver

Overlap angle
Effective steering angle
402_006

System Overview / System Components

Active Steering Control Module

J792
The control module is located in the drivers footwell, in
front of the seat cross-member. Its functionality can be
subdivided as follows:

1. Basic function:

direct

steering ratio

indirect

The control module calculates the overlap angle

necessary to implement the variable steering ratio. This
calculation is essentially based on the vehicles speed and
the drivers steering input. This control mode is always
active when the system is running normally.

variable steering ratio

without dynamic steering

402_007
low
speed
(For example, parking, urban trafc)

medium
speed
(For example, country road)

high
speed
(For example, expressway)

2. Auxiliary function: stabilizing intervention

The ESP control module uses stabilizing functions
in order to calculate the steering angle adjustments
necessary to maintain dynamic stability. These correction
values are sent to the Active Steering Control Module
J792 via the Instrument cluster/suspension CAN bus.
J792 adds the correction value to the calculated overlap
angle. The corrected steering angle is then applied to the
wheels.
402_005

A safety system monitors the proper functioning of the control module. All faults which, for safety reasons, lead to
corrective intervention by the actuator are diagnosed. Depending on the nature of the fault, measures taken range
from shutdown of selected sub-systems to a complete system shutdown.
The control module does not participate in run-on mode of the CAN bus via terminal 15.
The control module is monitored by an integrated temperature sensor. The shutdown temperature threshold is 212
degrees Fahrenheit (100 degrees Celsius).
8

System Overview / System Components

Actuator
Design and function:
The actuator applies torsion to the steering pinion for the
purposes of steering angle correction. The actuator has a
strain wave gear driven by an electric motor.
This type of gearing is ideal for converting the fast
rotational movement of an electric motor to much slower
rotational movements.

The basic principle is that two gears with different

numbers of teeth are meshed with each other. In the case
of the dynamic steering system, the gear driven directly
by the electric motor has 100 teeth while the output gear
has a spline with 102 teeth.

Steering shaft as coupling between steering

wheel and ex sleeve

Outer spline

Flex sleeve

Ring gear

Inner spline

Steering shaft bottom section as coupling

between ring gear and steering pinion
402_009

The steering shaft, which is coupled directly to the

steering wheel, is also connected to the steering pinion
of the steering gear in the dynamic steering system by
a spline. The ex sleeve is coupled to the upper part of
the steering shaft by interlocking teeth which allows the
gears to be free from backlash. This ex sleeve is a barrelshaped component with a thin, exible, outer wall. This
outer wall has an outer spline with 100 teeth.

The mating part is a ring gear which has an inner spline

with 102 teeth. The ring gear is rigidly coupled to the
bottom part of the steering shaft, and therefore, to the
steering pinion in the steering gear.
When the driver turns the steering wheel, the ex sleeve
and the ring gear behave like an interlocking shaft
and hub, and the rotational movement is transmitted
positively. This principle of operation is identical to that of
a conventional steering system.

System Overview / System Components

Actuator
Design and function:
In the upper steering shaft, a hollow shaft is mounted
so that it can rotate independently within the actuator
housing. This hollow shaft is driven directly by an electric
motor. For this purpose, the electric motor rotor is rigidly
coupled to the hollow shaft on one side.

The opposite side of the shaft is rigidly coupled to the

inner ring of an angular contact ball bearing. This inner
ring is not perfectly round. The balls travel along an
eccentric, oval path as they roll around the ring.
Electric motor rotor

Bearing inner race

Flex sleeve
Ring gear
Steering shaft

Electric motor Stator

Hollow shaft

402_010

Bearing inner race

The bearing outer race is a exible steel ring. The

eccentric outer shape of the bearing inner race is
transmitted to the outer race. The ex sleeve is lightly
press tted onto the outer race of this bearing.The
exible outer wall of the ex sleeve likewise follows the
eccentric outer shape of the bearing.

Bearing outer race

402_011

Cover Disc
Flex sleeve
Ring gear

The outer spline of the ex sleeve is not in mesh with

the conventional (round) inner spline of the ring gear
over its full circumference due to the eccentricity of the
bearing.

Flex sleeve

Bearing
402_012

10

System Overview / System Components

When the electric motor is actuated, the hollow shaft is

driven. The inner ring of the angular contact ball bearings
rotates, causing the eccentricity to rotate as well. Due to
the different numbers of teeth on the ex sleeve spline
and on the ring gear spline, the teeth on the ex sleeve
do not mesh exactly with the teeth on the ring gear. The
teeth on the ex sleeve engage the tooth anks of the
ring gear in a laterally offset manner.

The force acting on this tooth ank produces a minimal

rotational movement of the ring gear. All the teeth on
the circumference of the spline mesh in a time-shifted
manner due to the "rotation" of the eccentricity under
motor drive. This produces a continuous rotational
movement of the ring gear and the steering pinion
coupled to it. The steering angle of the wheels changes.
The reduction ratio from the motor to the steering pinion
is approximately 50:1.

Eccentricity

L = 0
H = +0

L = 90
H = +0.88

L =180
H = +1.76

402_013

L = 270
H = +2.65

L = 360
H = +3.53

Inner bearing ring (L)

Ring gear (H)

402_014

11

System Overview / System Components

Electric motor
A permanently excited synchronous motor is used. The
rotor, rigidly coupled to the hollow shaft, is comprised of
eight permanent magnets with alternating polarity.

Electric motor rotor

402_017

Hollow shaft

The stator consists of six pairs of coils. The coils are

arranged inside the actuator housing and activated by the
Active Steering Control Module J792. The shielded supply
lead is connected to the actuator housing.

Electric motor stator

402_018

The motor is activated by three phase-offset AC voltages,

which produce a rotating magnetic eld around the
stationary coils. The force action of this alternating
magnetic eld on the permanent magnet of the rotor
mounted on the hollow shaft induces a rotational
movement of the rotor.

12

The principal advantage of this type of electric motor is

that it has a quick response, which is essential for making
corrective steering inputs to stabilize the vehicle.

System Overview / System Components

Dynamic Steering Lock

To represent a fail-safe mode in the event of a system
fault or failure, the dynamic steering gear can be locked
(disabled) mechanically. During normal operation, the
lock is engaged whenever the engine is switched off.

When the engine is started, the dynamic steering system

is unlocked, as indicated by an audible click noise.
Locking is provided by a solenoid bolted onto the gearbox
housing.

402_019

A ring with multiple outer recesses is attached to the

electric motor driven hollow shaft. The cylindrical plunger
of the solenoid engages these recesses. The hollow shaft
is thereby locked, and the eccentric bearing can no longer
be driven by the electric motor.

If the magnetic coil is activated via Active Steering

Control Module J792, the plunger is moved towards the
magnetic coil against the pressure of the spring. The
plunger is thereby disengaged releasing the hollow shaft
and the dynamic steering gear.

The plunger locks the dynamic steering gear without

electrical current, and is held in its limit stop position by a
compression spring.
Magnetic coil

Compression spring

Plunger

402_021

402_020

Locking ring

FF = spring force

FM = magnetic force

13

System Overview / System Components

Sensors
Motor position sensor
The position of the hollow shaft is measured by a motor
position sensor. A magnetic ring on the hollow shaft
acts as a sender. The magnetic ring is comprised of
eight poles. The magnetic eld is measured by a sensor
with three Hall elements. A signal is generated for every
15-degree revolution of the motor (equivalent to 0.3
degrees at the steering wheel) and sent through discrete
wiring to Active Steering Control Module J792. The actual
position is stored in Active Steering Control Module J792
when the ignition is switched off. In the event of a sudden
loss of terminal 30, the zero position is identied by the
index sensor (refer to "Initialization" on page 22).
402_022

Index sensor
The index sensor outputs one signal per turn of the
steering wheel or per revolution of the actuator output
shaft. This signal is used to determine the center position
of the steering gear and for initializing the control
module after a fault (refer to Initialization after a fault).
A magnetically pre-loaded Hall sensor is used. The sensor
is installed together with the motor position sensor in a
common housing. A recess on the outside of the outputend ring gear serves as a sender. This recess produces a
squarewave signal at the Hall sensor of the index sensor.
402_023

402_024

14

System Overview / System Components

ESP Sensor Unit G419 and ESP Sensor Unit 2

G536
Two sensor units (G419 and G536) are used on vehicles
with dynamic steering. The sensor units are functionally
identical and, deliver identical signals for yaw rate
and transverse acceleration. The sensor units can be
identied externally by their connectors.

The sensor units are connected to the ABS Control

Module J104 and the Active Steering Control Module
J792 by sensor-CAN. The ABS control module requires
the signals of both sensor units in order to calculate the
steering overlap angle necessary to stabilise the vehicle.

The dual-sensor conguration provides security against

malfunctions, which can be caused by faulty sensor
signals. The signals from both sensors are checked to
ensure they have the same wave form.

The sensor units are located below the driver seat.

402_025

Steering Angle Sensor G85

A key input signal is that of momentary steering angle.
This signal is required both for calculating the overlap
angle required to obtain the variable steering ratio and
for calculating the overlap angle necessary to stabilize the
vehicle.
For this reason, the information is read in by both control
modules J104 and J792.
The steering angle sensor is congured for redundancy.
It outputs prepared measured data to the Instrument
Cluster/Suspension CAN-bus.

402_026

15

System Overview / System Components

System overview

Steering Angle Sensor G85

Steering Angle Sensor G85

Actuator Dynamic steering

ABS Control Module J104

ABS Control Module J104

16

System Overview / System Components

ESP Sensor Unit G419

ESP Sensor Unit 2 G536

Index sensor Motor

position sensor

Active Steering
Control Module J792

Dynamic steering lock

402_026a

17

Function Diagram / CAN Data Interchange

Functional Diagram

402_030
J792 Active Steering Control Module
Positive

Instrument Cluster/Suspension CAN

Ground

Sensor-CAN to ABS Control Module J104

Output Signal

Input Signal

18

Function Diagram / CAN Data Interchange

CAN Data Interchange

J792 Active steering control module

J104 ABS control module (4)

System status (4,9)

Total overlap angle (4)
Direction of total overlap angle (4)
Dynamic reserve* (4)
Warning lamp activation (6)

System status
Direction of travel
Road speed
Wheels speeds
Steering angle request

Warnings (6)
Current driving program (9)
Changeover request recognition (9)

G85 Steering angle sensor (5)

Steering angle
Turning direction
Steering angle speed

J533 Data Bus On Board Diagnostic

Interface (1)
Time
Date
Mileage (km)

J285 Instrument cluster control

module
Receiver only

G419 ESP sensor unit (7)

System status
Lateral acceleration
Yaw rate

J220 Engine control module (2)

G536 ESP sensor unit 2 (8)
System status
Normal operation
Engine speed

System status
Lateral acceleration
Yaw rate

J393 Comfort system central control

module (3)

J519 Vehicle electrical system control

module (9)

Vehicle identication number

Status of Audi drive select system

Driving program request from Audi drive
select

Powertrain CAN bus

Instrument Cluster/Suspension CAN

402_031

Convenience CAN
Sensor CAN
Information sent by module J792 The number in brackets
denotes the bus users to whom the information is sent
Information received and evaluated by module J792

* Indicates, in degrees, the steering angle and speed which can

be set by activating the electric motor

19

Operation and Driver Information

Steering ratio selection

With Audi drive select, drivers can select a steering
ratio to suit their preferences (Dynamic or Comfort). For
detailed information regarding Audi drive select, please
refer to Self-Study Program 991803.

Functions of the ASR/ESP Button

E256
Briey pressing the button (for less than 3 seconds)
deactivates the TCS function. However, the stabilizing
function of the dynamic steering system continues to be
fully available. The ESP function remains active, but the
braking is reduced. This mode is designed specically for
freeing the vehicle when it is stuck in loose surfaces or
snow, for example.

402_027

Pressing the button for longer than 3 seconds deactivates

the ESP function. The stabilizing functions of the dynamic
steering system are also deactivated in understeer and
oversteer situations. However, the stabilizing function
of the dynamic steering system continues to be fully
available under braking on road surfaces with different
friction coefcients. This function cannot be deactivated
by the driver.
Pressing the button for longer than 10 seconds
reactivates all functions. The ESP function cannot be
deactivated again until the ignition is turned off and back
on.

20

402_028

Operation and Driver Information

Function and Fault Indication

A warning lamp integrated in the tachometer serves the
dynamic steering system as a function and fault indicator.
Warning text is also shown in the center display of the
instrument cluster.
The diagnostic warning lamp is checked when the
ignition is switched on. The warning lamp remains
activated until the engine is started. When the engine
is running, the dynamic steering system is activated by
releasing the lock.

402_029

If a system fault occurs, it is indicated on the center

display of the instrument cluster and by the warning
lamp.
System response varies according to fault severity. The
control module is designed in such a way that the system
can continue to operate with a minimum of limitations.
Dynamic Steering:
System Fault

8224

Mi

91.7

+ 56F
402_034

Each possible and diagnosable fault is assigned to an

explicitly dened system limitation (fail-safe mode).

The following deviations from a normal system response

can occur:
The vehicles steering response has been modied.
When driving at low speeds, more steering input may be
necessary. At high speeds, the vehicle may respond more
sensitively to steering inputs.
The stabilizing functions of the dynamic steering
system are no longer are available.
The steering wheel may be at an angle when driving in a
straight line.
In the event of serious system faults, all functions of the
dynamic steering system are disabled.

21

Special System Functions

Initialization
Because of current statutory requirements, the dynamic
steering system is designed in such a way that, despite
the possibility for electro-mechanical adjustment, a
permanent mechanical connection exists between the
steering wheel and the steering pinion. Even when
dynamic steering is off, it is possible to steer the wheels
with the steering wheel. Such a steering operation is
executed without steering angle overlap by the dynamic
steering system, that is, without implementing the
variable characteristic curve.

The next time the system starts, when the engine is

started, the steering angle of the front wheels will no
longer match the steering angle dened by the variable
characteristic curve at the corresponding steering wheel
angle. The task of the initialization routine now is to
determine this deviation from the nominal value and to
implement the necessary steering angle overlap in order
to restore the correct steering angle at the front wheels.

This process is indicated in the center display of the

instrument cluster by ashing of the warning lamp and by
the text Initialization when the engine starts.
If the vehicle is set in motion during this initialization
routine, the display remains active until the initialization
procedure is complete. In this case, the initialization
procedure takes place in the background and is virtually
unnoticed by the driver.
The initialization is implemented with the signals
generated by the motor position sensor and the steering
angle sensor. The steering angle sensor indicates to the
control module the momentary position of the steering
wheel. The motor position sensor signals the position of
the hollow shaft, and therefore, the eccentricity of the
bearing. The control module calculates the difference
between the nominal and actual motor positions and
makes the necessary correction by activating the motor.
If this difference is greater than a steering wheel angle of
8, the correction is made when the vehicle is stationary.
If the vehicle is driven away immediately, the correction
is aborted and substituted by a correction during the
steering input. If minor deviations occur, a correction is
generally made during the next driver steering input.

Note
The steering wheel may move without any
action by the driver during the stationary
initialization routine.

22

Dynamic Steering:
Initialization

8224

Mi

91.7

+ 56F

402_032

Special System Functions

Initialization after a fault

The motor position sensor can now be re-initialized by
the pulse generated by the index sensor and from the
position of the steering angle sensor. The normal
initialization routine synchronizes the steering wheel if it
is at an angle.

If the active steering control module J792 is not capable

of reliably saving the signal from the motor position
sensor when the ignition is switched off, due to a serious
fault, a special initialization routine is started. This
procedure requires the index sensor, which outputs a
signal when the steering gear is in its center position.
From the basic setting procedure (refer to Servicing),
the active steering control module knows the
assignments of the measured data generated by the
steering angle sender (=steering wheel position), the
motor position sensor (position of eccentricity) and the
index sensor (steering gear pinion position).

1
2

402_033

1 : steering angle (steering wheel position)

2 : motor position (position of eccentricity)
3 : index pulse (steering gear pinion position)
4 : activation of electric motor

23

Servicing

The dynamic steering system can be found on the Scan

Tool under Address Word 1B.
The functions shown in the gure can be selected in
the Guided Fault Finding menu under Function and
component selection.

+ Suspension system (Rep.Gr.01; 40 - 49)

+ Active steering (Rep Gr..48)
+ 01 - Self-diagnosable systems
+ 1B Active steering I J792
+ 1B - Functions of the active steering system J792
1B - General description of system (Rep.Gr.48)
1B - Installation locations of components (Rep.Gr.48)
1B - Encode control unit (Rep.Gr.48)
1B - Replace control unit (Rep.Gr.48)
1B - Read data block (Rep.Gr.48)
1B - Basic setting (Rep.Gr.48)

402_035

Encoding Active Steering Control Module J792

The control module is encoded online via SVM (Software
Version Management).

402_008

Basic setting of the dynamic steering system

The basic setting procedure teaches the active steering
control module, once only, the assignments of the
measured values of the steering angle sender (=steering
wheel position), of the motor position sensor (position
of the eccentricity) and the index sensor (position of the
steering gear pinion). In the case of new vehicles, the
individual sensor signals are assigned to each other at
the factory. These assignments are, therefore, a basic
requirement for the initialization and also for ensuring
that the steering wheel is aligned straight when driving
in a straight line on a level road surface. This procedure
must be carried out with utmost care.
The basic setting procedure must be performed in the
service workshop after:
installing a new / different Active Steering Control
Module J792
installing a new / different steering column
installing a new / different steering angle sensor G85 or
after recalibrating the steering angle sensor
changing the wheel alignment values

24

402_037

Servicing

Basic setting of the dynamic steering system

When the Basic setting function is selected in the
Guided Fault Finding menu of the scan tool, the steering
angle sensor is calibrated before starting the actual basic
setting procedure. The calibration is done using the new
special tool, VAS 6458.
This calibration procedure must be carried out with
utmost care.
After the calibration, control module J792 knows the
steering angle at which the steering wheel is aligned
perfectly straight.
A wheel alignment rack is required for the following
basic setting procedure. The front wheels are moved into
the position dened by identical individual toe values
relative to geometric drive axis. In this position, the
control module J792 utilizes the motor position sensor to
determine the momentary steering angle, as well as the
position of the dynamic steering systems electric motor
(and therefore, the eccentricity).

The position of the index sensor relative to the associated

steering angles is determined by subsequent steering
wheel movements about the center position.
The difference between the steering angles is determined
for identical individual toe values relative to the
geometric drive axis and steering angle when the steering
wheel is aligned straight. The steering wheel angle is
then corrected automatically by control module J792
via activation of the electric motor. This ensures that
the steering wheel is aligned straight when driving in a
straight line.
A prerequisite for basic setting is an encoded control
module J792.

25

Steering Pump with ECO

(Electronically Controlled Orice)

Overview
The dynamic steering system is capable of very quick
steering wheel movements. A high performance steering
pump is required in order to achieve this. However, there
is relatively little need for very fast steering inputs. If a
conventional steering pump was to be used, the pump
would permanently produce a high hydraulic uid ow
rate, even though this is not needed in most situations.
For this reason, a steering pump with a special closedloop control system is used in the V6 engine versions of
the 2009 Audi A4 with dynamic steering.

This control system has the following advantages over

conventional systems:
Reduction in system temperature
Reduction in fuel consumption
Approximately a 35% reduction in pump power
consumption

Design and Function

The central actuator in the system is an electrically
activated hydraulic valve, or ECO valve. This valve
provides a demand driven hydraulic uid ow within the
steering system.

It is activated electrically by control module J792, which

utilizes a PWM signalas a function of steering speed and
driving speed.

Reservoir

Cooler

Steering angle sensor

Expansion hose

ECO valve
Steering valve
Steering pump
Steering gear

Battery
Vehicle speed signal
Control unit J792

CAN bus

26

402_040

Steering Pump with ECO

(Electronically Controlled Orice)

Design and Function

If the valve has a small port cross-section, a high backpressure develops at the inlet end of the valve. This backpressure acts upon the pressure control valve gate. A line
allowing the hydraulic uid to ow from the pressure side
of the pump to the intake side of the pump opens when
a dened back-pressure level is exceeded. The resistance
against which the pump must work is reduced, resulting
in the above-mentioned advantages.

Suction side
402_041
Pressure side

Quick steering inputs and low driving speeds produce

a large valve port cross-section. A low back pressure
develops on the inlet side of the valve. The pressure
control valve gate is not moved far enough in order to
open the line leading to the intake side of the pump.

Suction side
Pressure side

402_042

27

Steering Pump with ECO

(Electronically Controlled Orice)

System response in the event of

a fault
All steering pumps with ECO valves must pass a function
test prior to installation. Their mechanical functioning is
not monitored during vehicle operation.
In the event that the steering pump malfunctions
mechanically or electrically the valve is opened with a
dened cross-section. The volumetric ow rate available
for operation of the steering system is sufcient for
all driving situations. The necessary steering effort is,
however, slightly higher, particularly with rapid steering
inputs.

402_043

Service Work
The ECO valve is an integral part of the steering pump
and is not accessible from the exterior. In the event of a
fault, the complete steering pump must be replaced. An
indication of faults are steering movements when the
vehicle is stationary. The required steering effort will also
be much greater than in a properly functioning system.

28

Knowledge Assessment
Knowledge Assessment
An on-line Knowledge Assessment (exam) is available for this SSP.
The Knowledge Assessment may or may not be required for Certification.
You can find this Knowledge Assessment at:
www.accessaudi.com

From the accessaudi.com homepage:

Click on the ACADEMY Tab
Click on the Academy Site Link
Click on the CRC Certification Link

For assistance, please call:

Audi Academy
Learning Management Center Headquarters
1-877-AUDI-LMC (283-4562)
(8:00 a.m. to 8:00 p.m. EST)

iii

992803

All rights reserved.

Technical specications
subject to change without
notice.
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2200 Ferdinand Porsche Drive
Herndon, VA 20171