I think everybody know what is it and it isn´t important to explain it.
When we say axle base is l, R is teoretical radius of cornering, t0 is distance between steering pivots, B1 is steer angle of outside wheel and B2 is steer angle of inside wheel, we get
cotB1=R+t0 :2/ l
cotB2=R+t0 :2/ l and from this formulas:
cotB1 - cotB2 =t0/ l

Yes, then we can calculate with plasticity of steering pivots, but now it isn´t important. I want know how can we adjust this equation to got equation which compute with error curve for single axle suspension. Please explain me that problem both graphically and numerically. Thanks for all comments.
Richard

I strongly suggest you get hold of Reimpell and Stoll, which has the best explanation of ackerman equations I know of.

Alternatively I charge $180 ph.

PS It doesn't matter much until you take tre behavior into account. Then you can throw your equations away.

Don't understand the question. Don't understand the point of the question. Maybe with a bit more about what you are trying to do we could help.
Tyre data (otherwise known as unobtanium!) will tell you what dynamic toe you want, otherwise you need to test/experiment. "Classical" Ackermann theory is about not disturbing the gravel in your drive when cars steer on it, not terribly relevant at any kind of slip angle a race car will operate at.

OK, I explain my idea. I can fill my equations.
cotB1 - cotB2 =t0/ l is for steering pivots without plasticity, it depends lines from centre of gravity of pivots cut themselves in distance t0/2 (centre between steering pivots) at rear axle. But in realitty it doesn´t work because pivots can travel for small distance and the axis can have track offset. I will specify pivot travel as Y and track offset as X. My equations are going to change into:
cotB1 = t0 :2 +Y/X
cotB2 = t0 :2 - Y/X and logically
cotB1- cotB2 = 2Y/x = t0/l It is the reason why we use the steering trapezium. The angle between straight line of vehicle longitudinal axis and steering swivel arm I define as gamma. To get gamma for beam axle we have used Causant method and we get the error curve. To make Causant method we must define t0 and l(t0 is vertical to l) and from t0´s end points(C of G of pivots) we draw B1 (B1´) and from the 2nd point B2 B2´. B1 and B2 are angles between straight line of vehicle longitudinal axis and line from pivots and B1´ and B2´are between t0 and steering swivel arm. Then we draw a line from t0/2 to end point of l and we get the curve which goes through 3 poins( t0/2, intersection B1 and B2, intersection of B1´ an B2´). This is error curve.
This is only for beam axle
And my question: 1) How can I find error curve for single-axle suspension?
2)How can I calculate with error curve in my firsts equations?
PS: I think it is serious to say I read it in books by Czech profesor VlkVisit My Website.