Abstract
According to the particularity of balanced rocker wheeled chassis, a four wheel independent steering system was designed. The chassis of the two degree of freedom model was established, the proportional feedback control of yawing angular velocity and front wheel Angle-yawing angular velocity was simulated, the chassis steering performance under the two classic control methods was analyzed, then the dynamics of mechanical model was established in ADAMS software, the steering performance under different speed was simulated. At last, compared with two simulation results, it was proved that the steering system has good handling stability.
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