Analysis and research on wheel steering motion of four-wheel locomotive

Main purpose of this paper is to analyze the kinematics characteristics of four-wheeled vehicles. Based on the kinematic discrete recursion formula and the kinematic relationship between the wheel and the fuselage, the kinematic discrete recursive model of the system is established, and the theoretical formulas of the front wheel steering and four wheel steering vehicle models are derived respectively. At the same time, Simulink was used in Matlab to simulate the driving process of the four-wheeled vehicle, and the steering angle of the wheel relative to the vehicle body and the trajectory of the front and rear wheels during the driving of the four-wheeled vehicle were obtained. The derived model data is used to simulate the satellite positioning wheel trajectory, and the variation law of the wheel steering angle during the driving process of the four-wheeled vehicle is obtained. The correctness of the analysis process and method is verified by theoretical derivation and numerical simulation, which provides a theoretical basis for the study of kinematics characteristics of smart cars in the future.