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To investigate the feasibility and effectiveness of the designed control system used for driving and steering of an electric scooter,a model of differential steering was developed.The function of electronic differential steering was realized by controlling the speed of right or left wheel and the corresponding speed difference.The control system was simulated with MATLAB/SIMULINK and ADAMS.It is found that the motor load torque is proportional to the tire vertical force,so the adhesive capacity is met.The electric scooter can operate stably on the slope road at a speed of more than 1.5m/s and turn stably at yawing velocities of 10°and 90°per second. 相似文献
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