92results about How to "Improve steering flexibility" patented technology

The invention discloses a multi-mode four-wheel steering system and a steering mode control method. Three steering systems comprising an electric booster steering system, a driving front wheel steering system and a wire-controlled steering system are combined in the multi-mode four-wheel steering system; based on a four-wheel steering platform, the advantages of the three steering systems can be exerted; besides, a vehicle can adjust the working mode according to the driving state information of the vehicle, so that driving pleasure of a driver can be promoted, and the steering flexibility when the vehicle travels at a low speed and the control stability when the vehicle travels at a high speed can also be improved by the four-wheel steering.

The invention discloses a rocking arm rhombus four wheels moon vehicle shift system, including a rotary rhombus frame and a front, a rear ,a left and a right wheels with an independent drive system mounted on the frame, the front and the rear wheels are independently fixed on the frame via a front hanger system and a rear hanger system, and the left and the right wheels are independently fixed on the frame via a left hanger system and a right hanger system. The front hanger system and the rear hanger system all consists of a connection mechanism and a steering mechanism. The invent uses a novel type of four wheels three axial rhombus chassis with the advantages of compact structure, high lightness degree, low energy consumption ,big load capacity, good cross country characteristics, convenient posture adjustment, strong land suitability , smooth vehicle body posture and high reliability.

The invention discloses a motor-driven power-assisted steering system with a duly-variable transmission ratio and a control method thereof, belonging to a motor-driven power-assisted steering system. The system comprises a steering wheel (1), a torque sensor (2), a steering motor (3), a planet gear (4), a sun gear (5), a gear ring (6), a steering tubular column (38), a power-assisted motor (7), a retarding mechanism (8), a rack (9), a steering rocker arm (10), a front wheel (11), an electronic control unit ECU (12), an advanced electronic control module ECUa (27), a vehicle-mounted satellite navigator (28), a vehicle-mounted foresight road condition instrument (29) and a self-adaption memory electronic control module ECUb (30). Because a planetary gear mechanism, a steering synchronizing clutch and a steering motor are added between the torque sensor and the gear rack, the motor-driven power-assisted steering system can realize the functions of steering mode selection, duly self-adaption variable transmission ratio control and active steering intervention on the basis of finishing the original motor-driven power-assisted steering; the steering stability and the travelling safety of the automobile can be improved; and the safety and the flexibility of the automobile can be perfectly combined.

The invention discloses a steering device of a wheeled magnetic attraction wall-climbing robot. The steering device comprises a wheeled combined moving device and a permanent magnet attraction device. The wheeled combined moving device comprises a chassis, a center driving wheel and four driven universal wheels, wherein the center driving wheel and the driven universal wheels are installed on the chassis, the driven universal wheels can rotate freely by 360 degrees, and flexible steering can be achieved; the permanent magnet attraction device connected with the chassis through threads is made of a permanent magnet material and attracts a magnetic conductive wall in a non-contact mode. In this way, the wheeled combined moving device and the permanent magnet attraction device are combined to make the robot attracted to the wall through the permanent magnet attraction device, the center driving wheel drives the robot to walk, and meanwhile the universal wheels capable of rotating freely by 360 degrees improve the steering flexibility, so that steering is fast, and the steering area is small.

Disclosed is a road surface self-adapting rhombus lunar rover moving system, which comprises a rotational lunar rover frame, a front wheel, a rear wheel, a left wheel and a right wheel, wherein the front wheel, the rear wheel, the left wheel and the right wheel are installed on the lunar rover frame and are in rhombus arrangement. The front wheel and the rear wheel are respectively fixed on the lunar rover frame via a front suspension system and a rear suspension system, the left wheel and the right wheel are respectively fixed on the lunar rover frame via a left suspension system and a right suspension system, the lunar rover frame comprises a front lunar rover frame and a rear lunar rover frame, the left suspension system is fixed on a left hinge joint shaft, the right suspension system is fixed on a right hinge joint shaft, the left hinge joint shaft is fixedly connected with the rear lunar rover frame via a connecting base, a motor is fixedly installed at the end of the left hinge joint shaft, the output shaft of the motor is fixedly connected with the right hinge joint shaft, a hinge joint bearing base is fixed on the front lunar rover frame, the left hinge joint shaft and the right hinge joint shaft are in hinge joint with the front lunar rover frame via the hinge joint bearing base with bearings. The lunar rover moving system utilizes a novel structure of a rhombus chassis with four wheels and three shafts, which is compact in structure, high in light weight degree, convenient in posture adjusting, fine in off-road performance, strong in terrain adaptive capacity and high in reliability.

The invention discloses a fully suspended electric magnetic levitation vehicle. The electric magnetic levitation vehicle comprises a vehicle body, a magnetic wheel and a magnetic wheel driving motor.The magnetic wheel is arranged on the lower part of the vehicle body; The magnetic wheel driving motor is arranged in the middle of the magnetic wheel, and is used for driving the magnetic wheel to rotate, so that the magnetic wheel is suspended above the maglev lane, the maglev lane comprises a roadbed and a conductor plate laid on the roadbed, and drives the vehicle body to move in the extendingdirection of the conductor plate. By using the fully suspended electric maglev vehicle provided by the invention, the full suspension of the whole electric maglev vehicle can be realized, so that thewheel does not contact with the road surface, thus effectively reducing the wear of the wheel and prolonging the service life of the vehicle.

The invention discloses a swing arm type diamond walking device of combining a track and a wheel. The device comprises a diamond vehicle frame, a front wheel, a rear wheel and two track moving devices positioned on the vehicle frame. The front wheel and the back wheel are positioned respectively on the front side and the rear side of the vehicle frame via a suspension bracket. The two track moving devices are positioned respectively at the left side and the right side of the vehicle frame via the suspension bracket of the track moving devices. A steering system is positioned in the front wheel and the rear wheel respectively. The invention relates to the swing arm type diamond walking device of combining a track and a wheel with simple and compact structure, low cost, being suitable for operation under various severe environments, wide application and good stability.

The invention discloses a jellyfish-like underwater robot based on a mollusk driver, comprising a sealed cabin at the upper end, a fixing device at the lower end, a control unit and a mollusk propelling unit, wherein the sealed cabin is fixedly connected with the fixing device; the mollusk propelling unit comprises mollusk tentacles and a pipeline connected with the mollusk tentacles; the mollusk tentacles are uniformly and fixedly mounted around the upper end of the fixing device so as to serve as a flexible driver of the whole robot; and the control unit is used for supplying or cutting compressive fluid to the mollusk tentacles through the pipeline to enable single or multiple mollusk tentacles to generate deformation, so that the whole robot turns or moves. According to the jellyfish-like underwater robot disclosed by the invention, the extension and constriction of jellyfish tentacles are simulated by the mollusk tentacles, and the mollusk tentacles are large in deformation amplitude, strong in driving force, high in efficiency and good in application prospect.

The invention discloses an active swing arm type variable diamond four-wheel lunar rover moving system. The system comprises a diamond like vehicle frame, a front wheel, a rear wheel, a left wheel and a right wheel with an independent driving system positioned on the vehicle frame. The front wheel and the rear wheel are fixedly positioned on the vehicle frame via a front suspension system and a rear suspension system. The left wheel and the right wheel are fixedly positioned on the vehicle frame via the left suspension system and the right suspension system. The front suspension system and the rear suspension system comprise a swing arm type power mechanism and a steering mechanism. The front wheel and the rear wheel change direction in linkage. The left suspension system and the right suspension system comprise a swing arm type power mechanism. Adopting the structure of the four-wheel three-axis diamond chassis and the active swing arm, the invention initially plays the high-efficient mobility of wheel type driving mode and the crawling ability of foot type moving system, and the invention relates to the active swing arm type variable diamond four-wheel lunar rover moving system with simple and compact structure, low cost, being suitable for operation under various severs environments, wide application, good stability, high reliability and strong flexibility of steering.

The invention discloses a mechanical hydraulic and active differential grouping hybrid steering system for a multi-axle hybrid vehicle. The system adopts mechanical control hydraulic power-assisted steering of first and second axle steering wheels and active differential steering of fifth and sixth axle electronically-controlled wheel hub motors, and the system is composed of a rear axle electronically-controlled active differential steering system, a steering operation mechanism 1, a steering transmission mechanism 2, a steering hydraulic control system 3, a steering controller, a display system 4 and an angle sensor device 5; a rear wheel set and a front wheel set rotate reversely during low-speed turning, the turning radius of the vehicle can be reduced, and the maneuverability of the vehicle is improved; the front wheel set has a steering function at a high speed, the rear wheel set has no steering function, the stability of the vehicle during high-speed turning and accelerated overtaking is improved, turning movement generated when the vehicle turns at the high speed is reduced, steering of the rear wheel set is automatically recognized by the steering controller without the intervention of a driver, and the vehicle is operated more easily.

The invention particularly relates to a novel parking lot system for electric vehicles, wherein the novel parking lot system is high in intelligence degree and saves space. The system includes a firsttransmission platform and a second transmission platform which are placed in sequence. A robot mounting device is arranged on one side of the second transmission platform, and a battery recovery device is arranged on the other side of the second transmission platform. A third transmission platform is arranged at the position of an exit of a parking lot, and a battery push platform is arranged onone side of the third transmission platform; the robot mounting device includes a positioning and pushing platform, the positioning and pushing platform includes an elevating platform, and a guide rail type mobile platform that can move in the longitudinal and transverse directions of a first auxiliary conveyor belt is arranged on the elevating platform, a push mechanism is fixedly placed on the mobile platform, and the push mechanism can push out a walking robot placed on the mobile platform. An omni-wheel travelling mechanism can effectively improve the flexibility of automobile steering, reduce the parking space distance of the parking lot, and improve the utilization rate of the site.

The invention discloses an active and passive combined rock arm type diamond lunar rover moving system, which comprises a chassis which can rotate as well as a front wheel, a rear wheel, a left wheel and a right wheel which are arranged on the chassis in a diamond manner, wherein the front wheel and the rear wheel are respectively fixed on the chassis through a front suspension system and a rear suspension system; the left and the right wheels are respectively fixed on the chassis through a left suspension system and a right suspension system; the front suspension system and the rear suspension system respectively consist of a connecting mechanism and a swing arm motor; the chassis comprises a front chassis provided with the front wheel and the rear chassis provided with the rear wheel; an end of the rear chassis is provided with a shaft; the rear chassis is hinged with the front chassis through the shaft; the left suspension system and the right suspension system respectively consist of a connecting mechanism and a swing arm motor which are arranged on the left and the right ends of the front chassis; an output shaft is fixedly connected with the left suspension or the right suspension. By adopting the four-wheel triaxial diamond chassis, the active and passive combined rock arm type diamond lunar rover moving system has the advantages of compact structure, high lightweight, good cross-country performance, strong topography adapting ability, steady bodywork attitude and high reliability.

The invention discloses an all-wheel 360-degree steering unmanned platform vehicle. The unmanned platform vehicle is composed of a chassis, a suspension mechanism, an interconnection mechanism, a steering mechanism and a driving mechanism. The suspension mechanism is composed of an upper pull rod, a lower pull rod and a shock absorber, the interconnection mechanism is composed of a left interconnection guide rod, a right interconnection guide rod, a left triangular rod, a right triangular rod and an interconnection spring, the steering mechanism is composed of a support, a steering motor, a steering shaft, a steering arm, a steering knuckle and the like, and the driving mechanism is composed of a hub, a hub motor, a brake disc and a brake caliper. The driving mechanism is connected with the steering mechanism and connected with the chassis through the suspension mechanism. The front steering mechanism and the rear steering mechanism in the advancing direction of the unmanned platform vehicle are interconnected through an interconnection mechanism. Each wheel of the unmanned platform vehicle can be independently driven and braked, 360-degree steering is achieved through a steering motor, and driving, braking and steering are all linearly controlled; meanwhile, suspension interconnection can be achieved, high maneuvering performance and driving stability are achieved, and universality is high.

The invention relates to the technical field of vehicle suspensions, in particular to a front suspension deflection mechanism for a reverse tricycle. Steering pull rods are not coaxially arranged. A parallelogram structure is formed among the steering pull rods, an upper arm of a suspension and a lower arm of the suspension. The steering angle error of a left wheel and a right wheel in the steering process and the tricycle toe-in change in the cantilever swinging process are effectively reduced, the tricycle running and operation stability is improved, the wear rate of the left wheel and the right wheel is reduced, and the use reliability is greatly improved.

The invention provides a hydraulic steering four-wheel drive axle of a plant protection machine. The axle comprises a horizontal main reduction gear box assembly, the two ends of the main reduction gear box are respectively and rotatably provided with a vertical knuckle assembly, the two knuckle assemblies are symmetrically arranged, the tail end of each knuckle assembly is provided with a tail end transmission assembly through a fastener, a steering mechanism used for driving the two knuckle assemblies to steer is arranged between the two knuckle assemblies and the main reduction gear box, a first included angle is formed between a knuckle pin shaft of the two knuckle assemblies and the vertical direction, and a second included angle is formed between a tail end drive shaft of the two tail end transmission assemblies and the horizontal direction. The axle is reasonable in structure and compact and attractive in appearance, passing ability is obviously improved during field work, steering, supporting and connection are firm, reliable and flexible, a tail end structure mode is improved, and passing ability is optimized.

The invention provides a turnable unmanned moon vehicle driven by hub motors which comprises a moon vehicle body, wherein the moon vehicle body comprises an ECU (electronic control unit), a chassis and detecting-sampling equipment mounted on the chassis; a driven rear wheel is mounted at the back end of the chassis through a rear axle; a driving front wheel is mounted at each of the left side and the right side of the front end of the chassis through a front axle. Meanwhile, the invention provides a control method of the turnable unmanned moon vehicle driven by the hub motors. An ECU can control the operation of a turnable motor and various hub motors automatically to realize the smooth driving and detecting under complex pavement conditions according to the feedback information of a laser sensor, an angle sensor, rotating speed sensors and torque sensors.

The invention provides a hydraulic system of a high-ground-clearance spraying machine. A first hydraulic pump is connected with a priority valve; the priority valve is connected with a front wheel steering hydraulic cylinder through a hydraulic steering gear and is connected with an energy accumulator and a first reversing valve in parallel through a fixed throttling opening and a one-way valve insequence; an oil outlet of a second hydraulic pump is connected with a diverter valve and a fixed differential reducing valve through a one-way stable diverter valve, the diverter valve is connectedwith a fertilizer throwing hydraulic motor through a second reversing valve and a speed regulating valve, and a third reversing valve is connected with a spraying hydraulic motor through a fixed pressure reducing valve; the fixed differential reducing valve is connected with a rear wheel steering hydraulic cylinder through a fourth reversing valve and a hydraulic control one-way valve group; and ashuttle valve is connected with two working oil ports of the fourth reversing valve, and oil liquid of the working oil port with higher pressure is fed back to a spring cavity of the fixed differential reducing valve. The hydraulic system adopts a hydraulic transmission mode and is flexible in steering mode, and easy to turn and turn round, the damage degree of a seedling bed is small in the steering process, and meanwhile, the operation process is convenient.

The invention discloses a high-property synthetic power-assisted steering oil composition and a preparation method thereof. The high-property synthetic power-assisted steering oil composition is prepared from the following components in percentage by weight: 10 to 15% viscosity-index improver, 0.5 to 1.5% ashless hydraulic-oil compounding agent, 0.05 to 1.0% antiwear agent, 0.05- to 0.5% metal deactivating agent, 0.3 to 0.5% antioxidant, 0.01 to 0.06% anti-foaming agent, 0.006 to 0.012% oil-soluble green and the balance of base oil, wherein the content of hydrogenated polydecene in the base oil is more than or equal to 65%. The high-property synthetic power-assisted steering oil composition provided by the invention has the advantages of ultrahigh viscosity index, excellent low-temperaturefluidity, and good oxidation stability and antiwear property; and the preparation process is simple and convenience is brought for industrial production.

The invention discloses a pull type multi-section modularized bicycle robot mechanism which comprises a tractor and at least one section of a hitching trolley, wherein the tractor comprises a front tracking wheel and a rear tracking wheel; the front tracking wheel and the rear tracking wheel are respectively mounted at the front end and the rear end of a tracking frame through a front tracking fork and a rear tracking fork; a front tracking wheel driving component and a front tracking wheel walking encoder component are arranged on the front tracking fork; a rear tracking wheel brake component and a rear tracking wheel brake encoder component are arranged on the rear tracking fork; a front tracking wheel steering component and a steering encoder component are arranged on the tracking frame; the hitching trolley comprises a hitching wheel; the hitching wheel is mounted at the rear end of the hitching frame through a hitching fork; a hitching wheel brake component and a hitching wheel brake encoder component are arranged on the hitching fork; the hitching frame is connected with the tracking frame through a hook joint assembly. The hitching trolley of the pull type multi-section modularized bicycle robot mechanism can swing upwards and downwards along with fluctuation of the ground and flexible steer along the movement track of the tractor.

The invention relates to a carrying device capable of being applied to swarm type carrying. The device comprises a frame, an air suspension, a hydraulic support pillar, a connecting plate, a non-pressure hub motor and a control device, the front side and the rear side of the frame are each provided with an annular steering guide groove. Auxiliary steering motors used for driving the annular steering guide grooves to rotate are correspondingly installed on the front side and the rear side of the frame. The center of each annular steering guide groove is downwards and rotationally connected witha connecting plate through a hydraulic jacking column. An air suspension is arranged on each of the left side and the right side of each connecting plate; the top end of each air suspension is matched with the annular steering guide groove, and rotates accordingly driven by the annular steering guide groove, thus to drive the corresponding connecting plates to rotate with the hydraulic jacking column as the center, the left end and the right end of each connecting plate are each connected with a non-pressure hub motor, and the control device is electrically connected with the auxiliary steering motors and the control ends of the non-pressure hub motors so as to control the motors to work. The device is flexible in movement and good in using effect.

Disclosed is a road surface self-adapting rhombus lunar rover moving system which is provided with two wheels in the middle, wherein the two wheels can swing arms actively. The invention comprises a rotational lunar rover frame, a front wheel, a rear wheel, a left wheel and a right wheel, wherein the front wheel, the rear wheel, the left wheel and the right wheel are installed on the lunar rover frame and are in rhombus arrangement. The front wheel and the rear wheel are respectively fixed on the lunar rover frame via a front suspension system and a rear suspension system, the left wheel and the right wheel are respectively fixed on the lunar rover frame via a left suspension system and a right suspension system, the front suspension system and the rear suspension system are formed by a connection mechanism and a steering mechanism, the left suspension system and the right suspension system are formed by the connection mechanism and a swing arm motor, the lunar rover frame comprises a front lunar rover frame which is equipped with the front wheel and a rear lunar rover frame which is equipped with the rear wheel, one end of the rear lunar rover is equipped with a rotation shaft, the rear lunar rover frame is in hinge joint with the front lunar rover via the rotation shaft, and the rotation shaft is connected with a electromagnetic brake. The lunar rover moving system utilizes a novel structure of a rhombus chassis with four wheels and three shafts, which is compact in structure, high in light weight degree, convenient in posture adjusting, fine in off-road performance, strong in terrain adaptive capacity and high in reliability.

The propulsion system comprises a main shaft, an impeller assembly, a flow guide nose cone, a flow guide cover, a plurality of nozzles and a plurality of flow guide sliding plates, and the impeller assembly is rotationally connected to the periphery of the main shaft; the impeller assembly is sleeved with the flow guide cover, and the flow guide cover and the impeller assembly form a water flow cavity. The nozzles are respectively arranged at the joints of the aircraft body and the fairing; the multiple flow guide sliding plates are slidably connected into the nozzles correspondingly. The propulsion system is arranged at the front end of the aircraft body, water flow enters from the flow inlet between the flow guide nose cone and the flow guide cover and is conveyed to the nozzle through the guiding and conveying effect of the impeller assembly, and the water flow is controlled to be sprayed out towards the outer rear portion or the outer front portion by controlling the front-back position of the flow guide sliding plate at the nozzle. The vehicle body is pushed to advance or retreat by using the counter force of the water flow spraying force, and the steering and up-down floating actions of the vehicle body are controlled by controlling the water flow spraying conditions of different nozzles, so that the steering flexibility of the vehicle body is improved.

The invention relates to an electric automobile four-wheel independent driving and steering execution mechanism and execution method. The execution mechanism comprises a steering mechanism and a driving mechanism which are installed at the inner side face of a hub; a steering motor and steering reducer assembly in the steering mechanism is fixed to a chassis of an electric automobile, an output shaft of a steering reducer is connected to the axis center of a rotary disc, a lower control arm is connected to the steering motor and steering reducer assembly and a steering knuckle, and the two ends of a connection rod are connected with the rotary disc and the steering knuckle through ball-headed pins; a driving mechanism is installed on the steering knuckle, an output shaft of a driving reducer in the driving mechanism is connected to the hub, and the driving reducer is installed in the hub. According to the electric automobile four-wheel independent driving and steering execution mechanism and execution method, a driving motor drives the hub to rotate, the steering motor controls the hub to steer through all transmission parts, electric automobile four-wheel independent driving and steering are achieved, the reliability and safety of the electric automobile in a medium-high speed driving working condition are improved, the driving force of each wheel can be precisely controlled,and the manipulation stability and steering flexibility of the automobile are greatly improved.

The invention relates to a steering system, a vehicle and a vehicle steering method. The steering system comprises a plurality of wheel sets, suspension assemblies (4) and rotation driving devices (3), wherein at least one of the wheel sets comprises two wheels (2); the number of the suspension assemblies (4) is the same as that of the wheel sets, and the suspension assemblies (4) are correspondingly connected with the wheel sets; and the number of the rotation driving devices (3) is the same as that of the suspension assemblies (4), and the rotation driving devices (3) are correspondingly connected with the suspension assemblies (4) and are used for driving the correspondingly connected suspension assemblies (4) to rotate so as to drive the corresponding wheel sets to achieve independentsteering. The vehicle comprises the steering system. According to the invention, each wheel set can realize independent steering so as to enable the vehicle to have higher steering flexibility; the structure is simpler, and the occupied size is small; moreover, the steering angle of the rotation driving device is large, so that the turning radius is effectively reduced, and tire abrasion is reduced; and the supporting capacity is better, and the vehicle stability is good.

The invention provides a turnable unmanned moon vehicle driven by hub motors which comprises a moon vehicle body, wherein the moon vehicle body comprises an ECU (electronic control unit), a chassis and detecting-sampling equipment mounted on the chassis; a driven rear wheel is mounted at the back end of the chassis through a rear axle; a driving front wheel is mounted at each of the left side and the right side of the front end of the chassis through a front axle. Meanwhile, the invention provides a control method of the turnable unmanned moon vehicle driven by the hub motors. An ECU can control the operation of a turnable motor and various hub motors automatically to realize the smooth driving and detecting under complex pavement conditions according to the feedback information of a laser sensor, an angle sensor, rotating speed sensors and torque sensors.

The invention provides an upper rotor left and right swing control mechanism on a rotorcraft. The upper rotor left and right swing control mechanism comprises a control handle, a drive connecting rod, a driven connecting rod and a fixing clamp; the control handle is arranged in a control cabin for a driver to control the flight direction of the rotorcraft; the two ends of the drive connecting rod are movably connected with the control handle and the driven connecting rod correspondingly, and the control handle can be pulled forwards and backwards or rotate left and right to control the drive connecting rod to move along the control handle; one end, away from the drive connecting rod, of the driven connecting rod is movably connected with an upper motor through the fixing clamp, and the drive connecting rod moves forwards and backwards or rotates left and right to drive the driven connecting rod to rise or fall or tilt left and right, so that the tilt direction of the upper rotor is changed; and the upper rotor is movably connected with the fixing clamp, and the upper rotor can be driven by the driven connecting rod to swing up and down or left and right relative to the fixing clamp. The upper rotor left and right swing control mechanism on the rotorcraft has the characteristics of simple structure and flexible and convenient control.

The invention discloses a vehicle articulated mechanism, an articulated vehicle and a steering control method of the articulated vehicle. Steering control is achieved through the articulated mechanism. In the hinging mechanism, transverse oil cylinders are correspondingly installed on a front vehicle body and a rear vehicle body of the vehicle in pairs, each group of transverse oil cylinders are arranged in a bilateral symmetry mode, one ends of the transverse oil cylinders are fixed to the vehicle bodies, the other ends of the transverse oil cylinders are connected with movable hinging supports, and the movable hinging supports are driven to do horizontal reciprocating motion along linear sliding ways. Left-right symmetrical arrangement of two steering oil cylinders is realized. One ends of the two steering oil cylinders are hinged to the movable hinged support correspondingly connected with one side of one group of transverse oil cylinders, and the other ends of the two steering oil cylinders are hinged to the movable hinged support correspondingly connected with the same side of the other group of transverse oil cylinders; two pitching oil cylinders are arranged in a left-right symmetric mode; the two ends of the two pitching oil cylinders are connected with the front vehicle body and the rear vehicle body through fixed hinge supports respectively. According to the invention, various forms of steering of the special vehicle on an unstructured road can be realized, and the steering flexibility of the hinged special vehicle is effectively improved.

The present invention discloses one kind of high stability remote controlled aeroboat and its stability raising control method. The high stability remote controlled aeroboat features that ailerons are connected to the back of the fixed rudder face for the remote control to alter the direction. The stability raising control method is to control remotely the two symmetrical ailerons to operate in either interlinking or differential state. The method of the present invention can control the aeroboat in high reaction speed, small power consumption and high stability.

The invention discloses a vehicle steering control method, a steering control device and a vehicle. The vehicle steering control method comprises the following steps that the four-wheel steering angleand the steering wheel angle of the vehicle are obtained; when it is determined that the four-wheel steering angle is consistent with the steering wheel steering angle, the steering mode of the vehicle is obtained; and the four-wheel steering angle is controlled according to the steering mode of the vehicle, and the steering mode of the vehicle comprises a conventional mode, a sidesway mode, an in-situ mode and a side parking mode. According to the steering control method provided by the embodiment of the invention, the four-wheel steering angle of the vehicle can be controlled in a drive-by-wire manner, and different steering modes are realized, so that the steering flexibility of the vehicle is improved, different road conditions and parking environments are met, and the user requirements are met.