Control method of four-wheel independent steering vehicle
A control method and vehicle technology, which is applied to automatic steering control components, steering mechanisms, steering rods, etc., and can solve problems such as weak steering stability
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[0084] Example 1
[0085] Such as figure 1 As shown, the control method for a four-wheel independent steering vehicle provided in this embodiment includes the following steps:
[0086] A. Preset ideal vehicle steering model, interference boundary estimation link, rear wheel angle sliding mode controller and yaw moment sliding mode controller;
[0087] The construction process of the ideal vehicle steering model is as follows:
[0088] Establish the following vehicle steering kinematics model:
[0089] m ( v · x - v y γ ) = ( F x 1 + F x 2 ) cosδ f - ( F y 1 + F y 2 ) sinδ f + ( F x 3 + F x 4 ) cosδ r - ( F y 3 + F y 4 ) sinδ r m ( v · y + v x γ ) = ( F x 1 + F x 2 ) sinδ f + ( F y 1 + F y 2 ) cosδ f + ...
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