线控转向系统主要分为六大模块，分别是方向盘模块、路感模拟模块、转向执行模块、齿轮齿条模块和左、右转向前轮模块。
[En]
The on-line steering system is mainly divided into six modules, which are steering wheel module, road sense simulation module, steering execution module, gear and rack module and left and right steering front wheel module.
先单独对每个子系统进行建模，最后进行联合仿真实验。
第三节：转向执行模块
转向执行模块由电机和减速机构组成。并且转向执行机构的自由度多达3个，分别是转向电机的电机转角、齿轮齿条转向器的齿条位移以及转向车轮的车轮转角。文中分别对这3个自由度进行动力学分析，并建立如下3个模型:转向执行电机模型、齿轮齿条组件模型以及左、右前轮组件动力学模型。
[En]
The steering execution module is composed of a motor and a deceleration mechanism. And the steering actuator has as many as three degrees of freedom, namely, the motor angle of the steering motor, the rack displacement of the gear and rack steering gear and the wheel angle of the steering wheel. In this paper, the dynamics of these three degrees of freedom are analyzed respectively, and the following three models are established: steering execution motor model, gear and rack assembly model and left and right front wheel assembly dynamics model.
转向执行电机模块与路感模拟模块类似，都是接受ECU传递来的信号，然后通过减速器的调节，对外输出合适的转矩，然后实现目标转向意图，转向执行模块的动力学平衡方程可以如下表示:
TM：转向电机输出转矩
JM：转向电机转动惯量
BM：转向电机阻尼系数
K2：转向电机扭转刚度