Using Lagrangian analysis method, a 3-dof multi-axle steering vehicle model is established, which considers steering system stiffness, cornering stiffness and power steering system.

利用拉格朗日分析力学体系，推导了考虑转向系统刚度、轮胎侧偏刚度和转向助力等因素的线性多轴转向车辆的三自由度普适动力学方程。

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The fat outer tire can be moved in and out on the axle before the race to achieve maximum cornering power for track conditions.

FORBES: Vroom!