42 results about "Laplace transform" patented technology

The invention provides a lithium battery parameter online identification method based on dynamic weight particle swarm optimization, and relates to the field of power lithium battery model parameter identification. According to the method, a lithium battery equivalent circuit model based on a second-order RC network is established, and a state-space equation is derived according to the Kirchhoff's current law and the voltage law; a discrete output model is obtained through Laplace transformation and discretization processing; constructing a recursive least square parameter updater with a forgetting factor, and jointly optimizing an initial parameter vector of the forgetting factor recursive least square and the forgetting factor by adopting a dynamic weight particle swarm optimization algorithm; and based on the optimized initial parameter vector and the forgetting factor, performing recursive least square updating with the forgetting factor, performing online identification on model parameters, and reversely deducing an equivalent parameter value in an original circuit. According to the method, the parameter identification precision can be remarkably improved, and the problem that data saturation parameter convergence is slow in a traditional recursive least square method is solved.

This invention relates to the field of wind tunnel aerodynamic measurement technology for hypersonic vehicles, and discloses a method for evaluating and optimizing the dynamic load testing accuracy of a wind tunnel force measurement system. The evaluation method involves: equating the force measurement system to a multi-degree-of-freedom spring and mass model; constructing a dynamic differential equation and performing a Laplace transform; then, combining the dynamic stiffness matrix to construct a frequency response function matrix; defining the output of the force measurement channel of a rod-type strain balance and solving for the transfer function from the excitation point to the force measurement channel; combining the reference transfer function and the actual load, calculating the identified load and performing a Fourier transform to obtain the relative identification error of the force measurement system at the excitation point; finally, calculating the power spectrum weighted average identification error at the excitation point and comparing it with the engineering allowable error to determine whether the system has undergone stiffness optimization. This invention not only accurately identifies the dynamic load of the force measurement system but also achieves stiffness optimization, improving the accuracy of unsteady aerodynamic force measurement.

The invention discloses a wave power generation and energy storage method based on a superconducting cable and an optimization controller. The method comprises the following steps: firstly, acquiring deviation between wave power generation power and power grid demand, and inputting the deviation to a TID controller after Laplace transformation; the core of the method is that an ant colony optimization algorithm is adopted to dynamically optimize a tilt term coefficient, an integral term coefficient and a differential term coefficient of a TID controller, a parameter space is discretized into candidate nodes, an ant colony probability optimization and pheromone updating mechanism is simulated, time weighted absolute error integral is taken as a fitness function, and an optimal control parameter combination is iteratively searched; based on the optimization result, the TID controller generates a master control signal, and after inverse transformation and physical constraint, the superconducting cable energy storage system is driven to rapidly charge and discharge, so that high-precision and self-adaptive stabilization of wave energy power fluctuation is realized. Intelligent parameter optimization and superconducting energy storage are combined, and the control performance, the response speed and the overall energy efficiency of the system are remarkably improved.

The application discloses a kind of flexible direct current transmission line fault transient electrical quantity determination methods, comprising: according to the circuit parameter of MMC converter station, construct MMC equivalent circuit when inter-pole short circuit;According to the transmission line parameter obtained, establish the equivalent model of two-port of direct current transmission line under complex frequency domain;According to the equivalent circuit of MMC when inter-pole short circuit and the equivalent model of two-port of direct current transmission line, obtain the expression of direct current fault transient under complex frequency domain;The expression of direct current fault transient under complex frequency domain is carried out Laplace transformation to obtain time domain response, the whole trend of transient process after fault can be given more accurately by the application.The calculation process is simple, avoids the complicated modeling simulation process in traditional simulation method.Meanwhile, it can well reflect the occurrence wave process when overhead line fails.The method can accurately express the overall development trend of the fault current flowing through the protection installation before the converter station is locked after the fault occurs, and has a positive significance for the fault current suppression and protection setting design of MMC-HVDC system.

The invention provides a Laplace-DLTS defect parameter extraction method and a Laplace-DLTS defect parameter extraction system. The Laplace-DLTS defect parameter extraction method comprises the following steps: acquiring capacitance transient data obtained by a deep energy level transient spectrum test; carrying out preprocessing on the capacitance transient data; constructing a Laplacian transformation kernel function according to the capacitance transient data, and performing discretization processing to obtain a discrete Laplacian transformation model; regularization constraint parameters are introduced to construct a target function, a corresponding emissivity spectrum is obtained through numerical solution, and the regularization constraint parameters are adaptively determined according to signal characteristics of capacitance transient data; performing automatic peak identification on the emissivity spectrum based on a preset criterion; and according to the identified effective defect peak, automatically extracting and outputting physical parameters of the corresponding defect. By introducing the adaptive regularization constraint parameter, the regularization degree can be dynamically adjusted according to the actual signal characteristics of the capacitance transient data, the instability problem of noise amplification and solution is effectively suppressed, and the resolution capability and reliability of the emissivity spectrum analysis result are improved.

The invention discloses a color image blind watermarking method based on two-dimensional quantization index modulation, and the method comprises the steps: firstly carrying out the discrete Fourier transform of image blocks, and converting a pixel matrix into a frequency domain coefficient matrix; then, energy distribution is further optimized through Laplacian transformation, so that energy is obviously gathered in a left diagonal region and a right diagonal region of the matrix, and two maximum energy coefficients are obtained; on the basis, a two-dimensional quantization index modulation technology is innovatively utilized, and the robustness of a watermark algorithm is enhanced by optimizing a quantization strategy. The method not only has better invisibility, but also has better robustness, solves the problems of poor robustness and low invisibility of a color image digital watermarking algorithm, and is suitable for occasions of digital media copyright protection with strong robustness and high invisibility.

The present application relates to a kind of methods for calculating cell picture definition value based on saturation value, provide a kind of methods for calculating cell picture definition value based on saturation value, comprising the following steps: (1) the color conversion of cell picture obtained by shooting is carried out, and cell picture is converted from RGB (red green blue) channel to HSV (color, saturation, brightness);(2) separate out saturation channel picture S, remove part of noise by Gaussian filtering (or mean filtering), obtain picture S1;(3) select suitable size kernel to picture S1 and carry out Laplace transform and calculate absolute value, find out the position of change in picture, obtain picture S2;(4) set appropriate threshold, carry out thresholding processing to picture S2, record saturation value, find out corresponding bright spot position;(5) the bright spot position of multiple cell pictures is counted, and the saturation value of corresponding picture S2 is recorded.This algorithm is simple, effective, combined with Gaussian filtering (or mean filtering), Laplace transform, decision tree, morphological operation etc., so that the result of judging cell picture definition value is more accurate.

The application discloses a kind of 3D shape segmentation method and system based on text driving and attention mechanism, it is related to computer vision technical field, including: obtaining the 3D model to be handled and its corresponding component description text;Based on component description text input to prefix tuning module, obtain global sentence feature and multiple lexical features;Based on 3D model input to grid attention module, obtain multiple patch geometry features;Based on global sentence feature, lexical feature and patch geometry feature input to text-driven fusion module, obtain geometric text fusion feature;Based on geometric text fusion feature input to Laplacian adaptive attention module, obtain Laplace transform feature;Based on Laplace transform feature input to output module, obtain the predicted semantic label of each patch of 3D model, realize 3D model segmentation. Improve the segmentation accuracy of 3D shape.

This invention discloses a dimension-reduction reliability assessment method for switched reluctance motors (SRMs) that considers repairability. This method analyzes the faults of the SRM at structural levels, comprehensively converting the failure probabilities of each underlying component into overall system state transition parameters. Based on this, the repairability rate is calculated according to the actual periodic maintenance cycle of the equipment, and a Markov state transition equation system containing maintenance recovery paths is established. To avoid complex calculus operations involving high-order matrices, this invention utilizes Laplace transform to convert the dynamic process into algebraic calculations in the complex frequency domain, achieving analytical order reduction of the model. By performing algebraic analysis on the complex frequency domain function, the dynamic reliability function and mean time between failures (MTBF) of the system are directly obtained. This invention overcomes the shortcomings of traditional models, such as cumbersome computation and unrealistic lifespan predictions. While effectively reducing the computational complexity of microcontrollers, it significantly improves the accuracy of lifespan prediction for motor drive systems and enhances their engineering application value.

The application discloses a preset time formation control method for input delay multi-universal mobile robots, and belongs to the field of adaptive control of universal mobile robots. The control method comprises the following steps: establishing a dynamic model of multi-universal mobile robots with input delay, unknown nonlinear terms and external disturbance; introducing auxiliary vectors based on Padé approximation and Laplace transformation to simplify input delay analysis, and reconstructing the dynamic model based on the auxiliary variables; combining dynamic surface control technology to construct a preset time filter; step-by-step constructing Lyapunov functions to obtain an adaptive law and a preset time formation controller, wherein the preset time formation controller is used to output a control vector, the control vector is input into the reconstructed dynamic model, and formation control is realized. The preset time formation control method effectively suppresses the influence of input delay on the dynamic characteristics of the system, ensures the real-time performance of the control signal, and also ensures that each robot completes the formation task within the preset time.

The invention discloses a robust node classification and dynamic decision-making method for an agricultural pest and disease monitoring scene, and belongs to the technical field of agricultural information. The method comprises the following steps: fusing a crop spatial distribution topological structure and pest node attributes by utilizing topology-attribute joint embedding, obtaining hidden representation through symmetric normalized Laplace transformation, and decoupling the hidden representation into spatial features and semantic features by adopting an auto-encoder; carrying out bicubic interpolation processing on the heterogeneous node features acquired by the multi-modal sensor, and converting sparse unstructured node data into regularized structural data; a key feature channel is selectively enhanced through a feature enhancement module, a noise feature channel is suppressed, and the anti-interference capability of the model under field dynamic disturbance is improved; a deep convolutional generative adversarial network is adopted for robust training, the diversity of pest and disease data samples is expanded, and implicit regularization constraints are introduced. According to the method, the problems of sparse data, environmental interference, insufficient samples and the like in agricultural pest monitoring are effectively solved, and the monitoring precision and the model generalization ability are improved.

The application discloses a kind of energy storage converter asymmetric fault analysis methods based on virtual synchronous machine technology, using the vector control strategy based on internal potential orientation, grid-connected point voltage is separated into positive and negative sequence;According to asymmetric fault scene adjustment control link, including using trap filter to filter out the two-frequency fluctuation component in inverter output power, the reference voltage in reactive-voltage loop is switched from rated voltage to grid-connected point positive sequence voltage, negative sequence is inhibited by balance current strategy;Based on reactive-voltage circuit equation and reactive-voltage control equation, establish the equation about internal potential;According to virtual impedance ring control equation, calculate current reference value before fault and substitute into the virtual impedance ring control equation after Laplace transform, establish the equation about fault current dq axis component;According to the equation about internal potential and the equation about fault current dq axis component, construct the analytical expression of fault current.The application considers the influence of inverter control link on fault current transient characteristic, and analytical precision is high.

The application discloses a deflection calculation method of a steel-concrete composite beam under uniform load, and relates to the technical field of high-speed railway bridge construction. The method comprises the following steps: a differential equation of a continuous steel-concrete composite beam is established, and Laplace transformation is performed to obtain an expression of non-zero real number solution; inverse transformation is performed on the equation after the Laplace transformation to obtain an analytical expression of the deflection of the composite beam, which contains multiple unknown quantities. The structural parameters and material parameters of the composite beam are substituted into the non-zero real number solution expression to solve the Laplace transformation parameters; the parameters and boundary conditions are substituted into the deflection analytical expression to obtain matrix elements for solving the unknown quantities; a linear equation set is constructed, the unknown quantities are solved, and then are substituted into the deflection analytical expression to finally obtain a complete expression for solving the deflection of the continuous composite beam. The complete expression of the deflection of the continuous composite beam provided by the application is suitable for analyzing the deflection of a single-span or continuous steel-concrete composite beam, and has high calculation precision.

This invention discloses an analytical method for micro-water testing and permeability coefficient inversion considering a finite-thickness negative thin-walled layer and the non-Darcy effect within the layer. A mathematical model for micro-water testing considering the finite-thickness negative thin-walled layer and the non-Darcy effect within the layer is constructed. Based on the radial dual-zone medium assumption, seepage within the negative thin-walled layer is generalized as Forchheimer-type seepage, while seepage within the aquifer is linear Darcy flow. The Laplace transform and Brady method are introduced to handle the nonlinear terms, and the well water level is derived. H ( t Semi-analytical solutions in semi-infinite and finite domains. During parameter inversion, high-frequency, high-precision water level gauges deployed in the test well are used to collect water level response data after excitation, generating... H Follow t The permeability coefficients of the negative thin-walled layer and the aquifer are calculated simultaneously by comparing the measured curves with the standard curves and then performing inversion calculations. K i This invention is the first to achieve simultaneous inversion of the permeability coefficients of negative thin-walled layers and aquifers, and significantly improves the efficiency of permeability coefficient measurement in micro-water tests. K i The accuracy of the value.

The application discloses a micro water test model analysis and permeability coefficient value inversion calculation method based on a nonlinear seepage theory, establishes a complete well micro water test analysis model of a confined aquifer which can explicitly describe the influence of the global non-Darcy effect in the aquifer, adopts a Forchheimer equation to describe a nonlinear seepage field, processes the nonlinear term by using a Laplace transform and a Brady method, and realizes accurate solution of well water level H(t) by using a Talbot algorithm for numerical inversion. High-frequency and high-precision water level pressure sensors arranged in a test well and at different observation points are used to collect and record water level distribution of an initial background seepage field and water level response data after a micro water test is excited, so that the seepage state of the seepage field in the aquifer is determined. In the inversion process of the permeability coefficient value of the aquifer, a change rule curve of the well water level H with time t is generated based on the water level response data of the test well, and the permeability coefficient K value of the aquifer is inverted by comparing the fitting of the measured value with a standard curve.

The invention provides an energy storage power station grid-connected system frequency disturbance analysis method considering the influence of a phase-locked loop. The method comprises the following steps: S1, obtaining an operation state and a control parameter of a target energy storage power station grid-connected system before a power grid is disturbed; s2, constructing a power deviation model based on phase-locked loop influence; s3, constructing an energy storage power station grid-connected frequency response model based on the power deviation model; s4, performing Laplace transformation on the grid-connected frequency response model of the energy storage power station, and establishing a grid-connected frequency deviation time domain model of the energy storage power station; s5, constructing a maximum frequency difference model under power grid disturbance, and taking a corresponding maximum frequency difference as a result when the change rate of the grid-connected frequency deviation time domain model of the energy storage power station is 0; power control errors caused by phase-locked transient response can be fully quantified, and the accuracy of frequency evaluation or prediction is improved; and the whole process is rapid and easy to implement, and has relatively high expandability.

The invention relates to a prediction control method for stator current of an open-winding surface-mounted permanent magnet synchronous motor. Comprising the following steps: acquiring stator current and stator voltage historical data of the open-winding surface-mounted permanent magnet synchronous motor in a plurality of continuous sampling periods; on the basis of historical data, a data driving estimation algorithm based on Laplacian transformation and integral operation is utilized to calculate a stator voltage disturbance term estimation value of the current sampling period on line; obtaining stator current data of the current sampling period, and calculating a stator current prediction value of the next sampling period through a first-order super-local stator current prediction model in combination with the disturbance term estimation value; and based on the stator current prediction value, an externally given stator current reference value and a prediction model, calculating a stator voltage reference vector of a next sampling period, and controlling the open-winding surface-mounted permanent magnet synchronous motor according to the stator voltage reference vector. Therefore, the problems of model misalignment and control performance reduction caused by motor parameter time varying and mismatching in predictive control in related technologies are solved.

A machine tool spindle bearing fault detection method based on pull type weighted modal decomposition, comprising the following processes, S1: collecting vibration signal data; S2: periodically intercepting the collected vibration signal to improve the analysis accuracy of the Laplace transform; S3: calculating the periodic pulse integrated features in each frequency band based on the periodic harmonic product enhancement principle; S4: weighting and integrating the narrowband filtered signals after the Laplace transform according to the integrated features in step S3; S5: performing envelope spectrum analysis on the weighted integrated signals in step S4 to qualitatively judge the bearing fault; S6: using the spindle bearing damage evaluation mechanism established in step S5 to statistically analyze the influence of different spindle bearing damage degrees on high-speed machine tool machining under dynamic working conditions. The present application improves the detection accuracy of weak faults, is beneficial to quantitative evaluation of bearing damage size, solves the problem of workpiece vibration marks caused by spindle bearing disturbance interference, breaks through the difficulty of online quantitative diagnosis, and provides technical support for safe operation of the spindle bearing.

The application discloses a kind of active front wheel steering time delay feedback controller parameter time delay feasible region's calibration method, and include steps: 1) the vehicle system model of active front wheel steering feedback controller including time delay is established;2) by constructing Lyapunov-Krasovskii functional, time delay independent stability parameter region is solved;3) by Laplace transform solving system characteristic equation, obtain stability discriminant polynomial;4) it is solved to the minimum critical time delay that can be tolerated under time delay independent stability region and time delay related stability zone under different control parameter combinations of system.This application can provide reference for controller stability design, compared with traditional active front wheel steering controller without considering time delay, can more effectively judge whether system meets stability requirement, and reduce control parameter adjustment range, so as to reduce test cost in actual engineering, guarantee the stability of vehicle control system.

The application discloses a modeling method and device for inverter output impedance, and solves the problem that the prior art cannot model the output impedance of a grid-connected inverter based on a Lyapunov method. The modeling method comprises the following steps: obtaining differential equations and overall control rates of a grid-connected inverter system, and performing Laplace transformation on the differential equations and the overall control rates respectively to obtain a frequency domain state equation and a control rate frequency domain expression; obtaining an inverter output voltage frequency domain expression based on the control rate frequency domain expression; obtaining a grid-side inductor current frequency domain expression based on the frequency domain state equation and the inverter output voltage frequency domain expression; obtaining an inverter output impedance transfer function without considering a phase-locked loop based on the grid-side inductor current frequency domain expression; obtaining an inverter output impedance transfer function considering the phase-locked loop based on the inverter output impedance transfer function without considering the phase-locked loop and a phase-locked loop transfer function; and establishing an inverter output impedance model based on the inverter output impedance transfer function considering the phase-locked loop.

This invention specifically relates to an analytical calculation method for the flow field in foundation pits within unconfined aquifers, encompassing the fields of hydrogeology and engineering geology. The method involves incorporating dimensionless hydrogeological data, the length and location of the suspended cutoff wall, and the pumping volume construction plan into an analytical solution to calculate the changes in the seepage field within the foundation pit. This invention simultaneously considers the effects of the suspended cutoff wall and the river boundary, making it more suitable for realistic foundation pit dewatering conditions compared to other current analytical methods. By introducing the instantaneous release boundary condition of the water table, it can reflect the unsteady seepage characteristics of unconfined aquifers. Utilizing dimensionless methods and Laplace transform, the complex unsteady seepage problem is transformed into a solvable analytical form, and combined with numerical inverse transform, a time-domain solution is efficiently obtained. This provides a rapid calculation tool for engineering projects and serves as an important verification method for numerical simulations.

The application discloses a kind of high-low altitude platform cooperation's V2X system hybrid transmission capacity optimization method and system, belong to vehicle networking technical field.The method includes: considering the heterogeneous channel characteristics, spectrum resource multiplexing mechanism and LAP distribution characteristics, construct three-layer heterogeneous V2X communication system model, design the mixed transmission strategy based on scene perception;Combining direct connection and relay link scene, construct time-varying CSI estimation model based on least square criterion;Based on time-varying CSI estimation model, combined with Palm theory and Laplace transform, deduce LAP existence probability, relay link distance expected value and system successful transmission probability;Establish relay transmission and direct transmission double scene capacity analysis model, extend the capacity expression under variable V2X link distance is deduced.The application improves transmission capacity and reliability under complex dynamic scene, provides theoretical basis and technical support for the deployment and optimization of high-low altitude cooperative V2X system.

The invention discloses a finite-scale confined aquifer porous micro-water test model solution and parameter identification method, which comprises the following steps of: constructing a radial unstable flow mathematical model considering a shaft water storage effect and a far-end constant water head boundary constraint, and carrying out dimensionless processing; the method comprises the following steps of: deriving an analytical expression for representing internal water head response of a test well and an aquifer in a frequency domain by utilizing Laplace transformation, and solving a transient water level semi-analytical solution in a time domain by matching with a Stehfest numerical inverse transformation algorithm; in the parameter identification process, high-frequency and high-precision water pressure sensors arranged in a test well and observation wells at different positions are used for synchronously collecting water level response data after micro-water excitation. Before non-steady flow data is processed, steady flow water injection test data before micro-water excitation can be utilized, a radial steady-state well flow formula is combined, and a permeability coefficient reference value is obtained through logarithmic linear regression analysis of a water head and a distance. And finally, carrying out decoupling identification on the permeability coefficient and the water storage rate. The accuracy of the permeability coefficient and the water storage rate is remarkably improved.

This invention relates to the field of power equipment testing, and provides a method and system for power equipment fault diagnosis based on graph analysis. The method includes: processing the collected raw acoustic signature signal of a transformer through noise identification and multi-strategy cascade filtering to obtain a clean acoustic signature signal; performing multi-domain feature extraction and feature sensitivity screening on the clean acoustic signature signal to obtain a sensitive feature vector; constructing a graph model based on the sensitive feature vector and the clean acoustic signature signal, and performing graph Laplace transform processing to obtain the graph power spectral entropy, which is then concatenated with the sensitive feature vector to obtain a fused feature vector; classifying the fused feature vector through random forest ensemble to obtain the fault category and classification confidence, and triggering a corresponding level of early warning based on the classification confidence. This invention can effectively overcome the problems of complex noise interference and sample imbalance, significantly improving the accuracy of transformer fault diagnosis and the reliability of early warning.

This invention provides a semi-analytical method for calculating the residual amount of water droplets after evaporation in high-temperature flue gas. The method includes: acquiring and preprocessing ambient temperature data and initial parameter data of water droplets in high-temperature flue gas; constructing a radial unsteady-state partial differential equation for heat conduction based on spherical coordinates; transforming the preprocessed data to the Laplace domain using a Laplace transform to obtain an analytical formula for the temperature field; applying the Stehfest numerical inverse transform algorithm to reconstruct the analytical solution in the Laplace domain into a time-domain solution; calculating the spatiotemporal evolution matrix of the temperature field based on the analytical formula to obtain the spatiotemporal evolution data of the temperature field inside the water droplet; setting an evaporation threshold temperature; searching for and locating the evaporation front based on the temperature field evolution data; calculating its precise radius through interpolation to obtain the instantaneous residual diameter of the water droplet; and generating a time-residual diameter evolution curve. This invention eliminates the need for complex mesh generation and high-risk physical experiments, achieving rapid and accurate calculation of the dynamic evolution of the radial temperature field inside the water droplet and the residual water content.

This invention discloses a semi-analytical method for predicting the temperature distribution of gas-injected reservoirs in underground gas storage facilities. The method includes: establishing a caprock heat transfer model for the underground gas storage facility; performing a Laplace transform based on initial conditions; and calculating the temperature at the interface between the caprock and reservoir based on inner and outer boundary conditions. Under a constant gas injection mass flow rate, the method establishes and simplifies the reservoir energy balance equation by considering convective heat transfer and throttling effects, caprock heat transfer, and thermal conductivity of the internal rock skeleton of the reservoir. The simplified reservoir energy balance equation is then subjected to a Laplace transform to calculate the Laplace space solution of the reservoir temperature distribution, and the reservoir temperature distribution is obtained through Laplace numerical inversion. This invention considers the unstable thermal conductivity of the upper and lower caprocks using a linear heat flow model, and considers radial convective heat transfer and the Joule-Thomson effect near the wellbore within the reservoir, forming a Laplace space solution for the reservoir temperature distribution under gas injection conditions. This method can quickly predict the temperature distribution patterns of underground gas storage facilities.

The application discloses a kind of hydraulic pipeline fluid-structure coupling vibration analysis method, medium and system, wherein method includes: based on Euler beam theory constructs transmission pipeline fluid-structure coupling vibration dynamics equation;Carry out finite element discretization, to obtain a plurality of beam elements, and to beam element integration, to obtain unit mass matrix, unit total stiffness matrix and coupling gyro matrix;Assemble system overall dynamics equation;Carry out Laplace transform, to convert system overall dynamics equation to frequency domain, and establish transfer function relationship;Coupling influence of fluid pressure and flow rate is equivalent as displacement feedback force and velocity feedback force, and corresponding equivalent feedback coefficient is determined;Pipeline model is constructed, and equivalent feedback coefficient is inputted in model in the form of transfer function, to obtain the natural frequency and modal shape of pipeline;It can effectively couple fluid state information in the process of pipeline vibration analysis, improve the accuracy of final analysis result from actual working condition.

The application discloses a vehicle control method, device, medium, equipment and vehicle based on automatic driving, and the method comprises the following steps: establishing state quantity including lateral position deviation and yaw angle deviation, parameter quantity including vehicle speed and curvature, and control quantity including expected yaw angular velocity kinematics equation; determining the kinematics outer loop control law by using the first nominal model determined by the kinematics equation and the backstepping method, and calculating the expected yaw angular velocity based on the kinematics outer loop control law; establishing state quantity including lateral velocity and actual yaw angular velocity, parameter quantity including longitudinal velocity, front-rear axle cornering stiffness, distance from the mass center point to the front-rear axle of the vehicle, vehicle body mass and yaw rotational inertia, and control quantity including front wheel steering angle dynamics equation; determining the state feedback control law and the feedforward control law by using the small gain theorem and the Laplace transform final value theorem respectively based on the second nominal model determined by the dynamics equation and the expected yaw angular velocity, and calculating the front wheel steering angle control vehicle steering based on the two kinds of control laws.