HUGE Vehicle steering problem

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#1

I have a two-wheel vehicle stabilized with a BodyGyro and has suspension and a leaning system. Everything works well except the steering.

When you turn while going slowly the front wheel wiggles ALOT. Much more when just going backwards.

The steering system has a servo that connects an invisible part and the sterm. The sterm is connected with the other parts that rotate along, and the invisible part is welded to the rest of the bike. (image below)

red are the main parts
blue are the parts that steer
yellow are the other parts of the bike
Rest doesnt matter

bikeee
bikeee800×600 45.6 KB

Servo hingeConstraint settings:

  • AngularResponsiveness = 45
  • AngularSpeed = 10
  • ServoMaxTorque = 10000
  • Target angle = [tuned by script]

The invisible part and sterm’s masses are around 0.375
The wheel’s mass is 1.595 (rear wheel has a higher mass due to the bike spinning out)

I never faced this problem and I would appreciate ANY help.

#2

Your MaxTorque is waaaay to low. I usually set them at ridiculously high numbers for Servos because you usually want them to move and stay in their positions.
AngularResponsiveness will cause issues and needs to be tuned properly for your movement. For most of my servos I set it to 200 (I think it’s the max, it may have changed over the years) to make the servo try to reach its target immediately. If I want to slow the movement I set the AngularSpeed to something smaller (remember it rotates in radians/sec, not degrees/sec).

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