Steering System Rack and Pinion

Dear Sir,

I am modeling an steering system so that i can control the steering wheel with DC motor but I am now stuck at modeling steering system. I need the model to acting with steering force. When i use other Steering Block it is just right time respond (i thought that didnot contain steering force in that block).

I am using Steering System, Fiala Wheel 2DOF, Vehicle Rigid Body 3DOF in Vehicle Dynamic Blockset.

Fiala Wheel for 2 front wheel with output are Fx, Fy, Fz, Mx, My, Mz. Iam using this output là 1x12 vector for Tire Feedback Steering System. Then using Torque input for Steering System to apply for Rigid Body 3DOF.

There are some problems:

1. When i apply 0 AxlTrq to Fiala Wheel 2DOF and 0 Torque input or 0 Angle Input for Steering System, the model is always turning in 1 direction.

Here is what i get from Graph XY.

I dont know how to fix this.

2. Is AxlTrq needed in Fiala Wheel 2Dof? When i apply AxlTrq = Fx*Re, Fx is the output from front right and left force from Vehicle Rigid Body, Re is feedback from Fiala Wheel Radius Effective.

I got a problem:

But I think this can be fixxed if the problem 1 can be solved.

3. I wonder if my model is doing right?

Thank you for your help.

[Tran]

h

Here is overview of my model.