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而传统的履带式车辆的转向机构通常采用的是转向离合器，其转向精度低、操作过程复杂，可控性差。
The traditional steering mechanisms was used in tracked vehicles usually adopted steering clutch, which had much lower steering precision and complicated operation.
但就实现机构的实时可控性而言，这些数学模型与算法还显得相对复杂。
But for instantaneous controllability of the electromagnetic mechanism, these mathematical models and algorithms are still relatively complicated in practice.
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