How can I make differential steering model using Simscape Multibody?

Hi, I'd like to make a suspension model using simscape multibody.

So, I found the model in FileExchange, and I change suspension model to MacPherson model.

(https://kr.mathworks.com/matlabcentral/fileexchange/64648-matlab-and-simulink-racing-lounge-vehicle-modeling-with-simscape-multibody)

In this model, we give vehicle speed into the rear wheel sphere rotation (revolute joint).

When we simulate the input mode as slalom, turn left/right, the speed of both rear wheels is same.

So, I'd like to change the model into differential steering model.

How can I make this model?

My model is almost simliar to the FileExchange model.

Answer 1

[Steve Miller]

I believe when you say, "differential steering" that you want to drive the wheels at different speeds in order to make the vehicle turn. To do that, you need to simply provide separate signals to specify the speed of the wheels on opposite sides. The model from the File Exchange already has separate signals for the rear wheels. If you modify the input so that those signals are different, you will have differential steering.

--Steve

[Gyubin Han]

Thanks, Steve. I found the File Exchange what you say so.

So I separate the signals, and put them into different wheels.

And it pretty work well. Thanks for your help. :)