The application belongs to the technical field of amphibious special vehicle, and relates to a
steering control method of a single front axle wheel and track composite walking
system of a special vehicle. A sensor measures and obtains relevant parameters, and the relevant parameters are determined when the special vehicle is designed; a control component calculates (1) a steering inner track driving force F ti (2) a steering outer track driving force F to ; and the control component controls a driving motor to output a driving force with a value according to the calculated steering inner track driving force F ti and the steering outer track driving force F to . The
steering control method of the single front axle wheel and track composite walking
system of the special vehicle can be reliably applied to the special vehicle with the single front axle and track composite walking
system, and can control the size of the track driving force in real time during driving steering, so that the wheel and track steering torques are consistent according to the bearing proportion, the wheel drags the track or the track drags the wheel is avoided, the additional load of the structure is reduced, the wheel and track are minimized in wear, and the performance is improved.