CarSim simulation quick start (XIII) - steering system

What is steering ?

Steering refers to one aspect of the angular orientation of the wheels in the vehicle's coordinate system （ Others are camber or tilt and rotation ）. To be specific , Steering is from the longitudinal axis of the vehicle （ stay CarSim In Chinese, it means X Axis ） To the plane of the wheel and the horizontal plane of the vehicle （ stay CarSim In Chinese, it means X-Y Plane ） The angle of the line formed by the intersection of . stay CarSim in , Besides using LegacyTwist Beam（Legacy Twist Beam Steering freedom is not included ） Outside the suspension , All wheels on any axle can turn .CarSim The steering of the trailer axle is not supported , But advanced users can use VS Command to implement ..

There are many sources of steering force . First , The most obvious is the vehicle and axle steering system （ If there is ） Output . The steering system will be applied to the vehicle steering wheel （ Or other inputs ） The steering command of is converted to the steering of the wheel . In the internal , The steering system may or may not have dynamic elements （ Differential equations and their integrals ）, And may or may not depend on the applied force . This part of steering can be called active steering .

The second source of wheel steering is the kinematic characteristics of the suspension system . Whether or not there is a steering command , Will happen . It is usually called “ Steering smoothness ”,“ Steering toe in ”,“ Roll steering amount ” or “ Roll steering angle ”. ad locum , According to the traditional custom, the steering angle refers to the steering movement with opposite symbols on the two wheels on the axle . When both wheels turn to the vehicle centerline , This effect is called steering angle inward or positive steering angle . When both wheels turn away from the vehicle centerline , This effect is called steering angle outward or negative steering angle .（ Please note that , The steering amplitude on both sides need not be equal , That is, the effect may be asymmetric .）

The third source of wheel steering is movement , This is due to components （ Mainly tyre force ） Motion caused by applying elastic deformation （ Mainly elastic bushing , But it also includes structural deformation ）. It is called steering motion characteristic or kinematic steering angle , It is usually characterized by a coefficient describing the wheel steering change rate per unit change of the applied force component .