64 results about "Roll moment" patented technology

The invention discloses a sliding-mode adaptive vehicle roll stability control method based on deep reinforcement learning, which is applied to an active suspension vehicle and comprises the following steps: establishing a six-degree-of-freedom steering-roll vehicle dynamics model by combining a Doguff tire model, and calculating a target vehicle body roll angle based on a reverse roll mechanism. A sliding mode controller comprising a linear sliding mode surface and an exponential approaching rate is designed, an intelligent agent based on a soft behavior strategy gradient algorithm (SAC) is constructed, and the intelligent agent adaptively outputs optimal sliding mode parameters by sensing the vehicle state and the roll angle tracking condition. And finally, the sliding mode controller combines the optimal sliding mode parameters and the vehicle state to calculate the active roll-over moment and distributes the active roll-over moment to the main power of the left and right side suspensions, so that the precise regulation and control of the vehicle body posture are realized. According to the method, the roll stability domain during high-speed steering can be remarkably expanded, the lateral sensing acceleration of passengers is reduced, the high-robustness tracking effect is kept under complex disturbance, and meanwhile sliding mode buffeting is restrained.

The present application relates to a kind of vehicle steering body posture and control method of handling stability, comprising the following steps: the signal input required for control is collected, vehicle total anti-lateral moment is calculated by body posture feedforward-feedback controller, front and rear axle anti-roll moment distribution ratio is calculated by handling stability feedforward-feedback controller, total anti-roll moment and its front and rear axle distribution ratio are calculated, revised by control comprehensive module, finally output each suspension angle vertical force control instruction of vehicle.The present application has the following advantages:1) vehicle body posture control and handling stability control are comprehensively considered, and both are simultaneously optimized;2) vehicle body posture control and handling stability control both use feedback-feedforward, avoid the problem of pure feedforward control or feedback control, so that the overall performance of vehicle is more "natural";3) steering input and road input are decoupled, and four high sensors are saved.

The invention belongs to the technical field of automatic driving automobiles, and particularly relates to an electric automobile chassis cooperative control method considering lateral stability and roll stability. Comprising the following steps: step 1, constructing a multi-cell body linear parameter variable model based on a longitudinal vehicle speed auxiliary parameter and a tire cornering stiffness correction coefficient; step 2, on the basis of the multi-cell-body linear parameter variable vehicle model, designing an electric vehicle chassis cooperative controller by applying an online optimization solution robust model predictive control method; thirdly, according to the additional yaw moment and the anti-roll moment output by the chassis cooperative controller, optimal distribution of the additional yaw moment is achieved by solving the problem of minimization of the attachment utilization rate of four-wheel tires, and distribution of the anti-roll moment of the front active suspension and the anti-roll moment of the rear active suspension is adjusted according to the difference value of the actual yaw velocity and the reference quantity. According to the invention, a good solution can be provided for cooperative control of the intelligent automobile chassis in the future.

A control method, control apparatus and control system for an active stabilizer bar of a vehicle, and an electronic device, a vehicle and a computer-readable storage medium. The control method for an active stabilizer bar of a vehicle comprises: acquiring a sensor signal and a vehicle CAN signal of a vehicle; on the basis of the acquired sensor signal and vehicle CAN signal of the vehicle, estimating vehicle kinematic-state parameters, so as to obtain physical parameters that reflect a vehicle kinematic state; on the basis of the physical parameters that reflect the vehicle kinematic state, performing anti-roll moment decision-making, so as to obtain a desired anti-roll moment for the vehicle in the current state; and on the basis of the desired anti-roll moment for the vehicle in the current state, generating a torque control instruction corresponding to an active stabilizer bar configured for the vehicle, such that the active stabilizer bar outputs, on the basis of the torque control instruction, a reverse torque for preventing the vehicle from rolling. The requirement for anti-roll control of an active stabilizer bar can be met, thereby improving the vehicle operation stability and safety.

The invention relates to a stabilization self-adaptive control method and device based on double gyroscopes, and the self-adaptive control method comprises the steps: constructing a real-time updated'sea wave-ship-double gyroscope 'coupling dynamic model, and introducing the online identification of ship rolling parameters; physical limit, damping, maximum torque and other constraints of the double-gyroscope executing mechanism are explicitly written into a control law; the two gyroscopes are symmetrically arranged and opposite in precession direction, so that yawing torques are mutually counteracted and rolling torques are superposed, and the stabilization efficiency is improved; adaptively selecting PID according to the rolling amplitude, the sea condition uncertainty and the working state of the actuator, and adaptively switching the fuzzy adaptive PID and the model prediction control strategy; calculating a control instruction based on the selected strategy and the updating model, and performing physical constraint processing such as torque saturation and angle amplitude limiting; and outputting a safety instruction to drive the gyroscope to generate stabilization torque. The method can adapt to different working conditions, and the efficient and stable active stabilization performance and stabilization effect are kept under the multiple working conditions.

The invention relates to the technical field of vehicle dynamic stability control, in particular to an anti-roll monitoring system for a live working vehicle. The system comprises a dynamic state acquisition unit which is used for monitoring a plurality of operation state parameters of the live working vehicle in real time and calculating at least one tilting moment and vehicle gravity center offset according to the parameters. The roll risk analysis unit is connected with the dynamic state acquisition unit and is used for analyzing time domain data of the tilting moment through a frequency domain to generate a first roll risk index; and generating a second roll risk index based on a coupling relationship between the center-of-gravity offset and the roll moment. The unit then integrates the first and second roll risk indices to determine a comprehensive roll risk level, and generates control instructions based on the level. And the stability control unit receives the control instruction and executes corresponding control operation, so that the stability of the hot-line work vehicle is improved.

The present invention belongs to the field of vehicle engineering technology, and specifically relates to a method for optimizing the rollover index of a multi-axle special vehicle. Step 1: Establish a dynamic model of a multi-axle special vehicle, and test the established multi-axle whole vehicle dynamic model; Step 2: Based on the multi-axle special vehicle dynamic model established in step 1, further establish a rollover dynamic model of the multi-axle special vehicle, and establish a rollover evaluation index LTR for the rollover dynamic model; Step 3: Establish an optimization method for the LTR transient value and warning threshold of step 2. Trucksim is used to establish a dynamic model of a multi-axle special vehicle whose dynamic characteristics are highly consistent with those of the actual vehicle. The influence of the roll moment of the sprung mass and the unsprung mass on the vertical load difference of the wheels on both sides, as well as the influence of vehicle speed and road environment changes on the rollover warning threshold are comprehensively considered. The calculation of LTR and LTR threshold is optimized, thereby improving the rollover warning accuracy of the special vehicle anti-rollover control.

The invention relates to the technical field of vehicle active suspension control systems, in particular to a vehicle roll-forward control method for an active suspension, which comprises the following steps of: constructing a roll state prediction unit, deducing a roll moment for causing roll of a vehicle body during steering of the vehicle, and predicting the roll degree of the vehicle body; constructing a control moment calculation unit, calculating the deformation resistance moment of the vehicle suspension, and determining the moment generated by the ground friction force on the vehicle chassis; a torque distribution calculation unit is constructed, and the total torque borne by the chassis during vehicle steering and the distribution proportion of the total torque between the front chassis and the rear chassis are determined; constructing a control force calculation unit, calculating active suspension target acting forces at four wheels required for realizing the front and rear suspension control moment, converting the target control moment into a target control force, and providing a specific control instruction for rear-end execution; according to the method, the roll degree of the vehicle body can be quickly predicted, the control target can be calculated in time, the control instruction is sent out before the vehicle body actually has large roll, and the stable control effect is achieved.

The invention relates to the technical field of automobile control, in particular to an anti-skid control method and device for a four-wheel-drive electric automobile and the automobile, and the method comprises the steps that the driving torque, the four-wheel positive pressure and the resultant pressure after rolling torque distribution of the four-wheel-drive electric automobile during wheel speed slipping are obtained, and the friction coefficient of the automobile is estimated according to the three parameters; and judging the friction working condition of the four-wheel-drive electric vehicle based on the friction coefficient. Under the friction working condition, four-wheel gravity is calculated, and four-wheel driving force, a driver control signal and a vehicle body posture signal are obtained; and determining a front wheel resultant moment and a rear wheel resultant moment based on the four-wheel gravity, the four-wheel driving force, the driver control signal and the vehicle body posture signal. And under the slipping working condition of the four-wheel-drive electric automobile, anti-slip control is conducted on the automobile according to the front wheel resultant moment and the rear wheel resultant moment. Therefore, the problems of difficulty in timely and active inhibition of vehicle slipping and drifting under high torque on the ice and snow covered pavement, insufficient safety and the like in related technologies are solved.

The present application relates to the field of vehicle dynamics control, and discloses a kind of diagonal module configuration vehicle diagonal steering switching control method: the three-degree-of-freedom model of vehicle translation, yaw and roll of vehicle is established, and then the system state space equation is established;Vehicle desired state, vehicle output and the control index of controller are defined according to the front and rear wheel rotation angle of vehicle, the state feedback control law of controller is obtained;LPV system model is established in combination with system state space equation and time-varying vehicle speed, and LPV system model is used to describe the change of system state space equation caused by vehicle speed change;Gain scheduling is carried out based on LPV system model, and the state feedback control law under different vehicle speeds is obtained according to the state feedback control law of controller, the expected additional yaw moment and the expected roll moment are output, and then the expected wheel end torque of four wheels and the expected active suspension force are output.The present application solves the control problem of diagonal module configuration vehicle in mode switching process.

The application is a kind of estimation method for main dynamic parameters of vehicle, comprising the following steps: step one: establishing vehicle longitudinal dynamics model and wheel dynamics model, jointly estimating vehicle state and parameters through unscented Kalman filtering algorithm, obtaining vehicle mass center height, mass center to vehicle front axle distance and vehicle mass; step two: establishing vehicle single-track yaw dynamics model, jointly estimating vehicle state and parameters through unscented Kalman filtering algorithm combined with the estimation results of vehicle mass center height, mass center to vehicle front axle distance and vehicle mass obtained by vehicle longitudinal dynamics model, obtaining vehicle yaw axis moment of inertia; step three: obtaining longitudinal velocity, longitudinal acceleration, lateral acceleration, yaw angular velocity and roll angular velocity, and training and testing the identification of roll moment of inertia through multi-layer feedforward neural network; step four: estimating vehicle roll moment of inertia through the trained neural network observer.

The invention discloses a yaw-roll stability control method for a distributed driving automobile, which comprises the following steps: acquiring a target corrected yaw moment according to first data of a target vehicle, a preset linear two-degree-of-freedom vehicle ideal state model and a preset yaw moment control state equation; according to second data of the target vehicle, obtaining a target corrected roll-over moment including the first target corrected roll-over moment and a second target corrected roll-over moment; according to the target corrected yaw moment and the first target corrected roll moment, obtaining a target adjustment driving moment of each wheel; according to the second target correction roll moment, obtaining a target adjustment control moment of each suspension; the yaw-roll stability of the target vehicle is controlled by additionally applying the target adjustment driving torque to each wheel and additionally applying the target adjustment control torque to each suspension. The yaw stability and the roll stability of the distributed driving automobile can be controlled at the same time, and the driving safety of the automobile is improved.

This invention discloses an active suspension roll control method, system, vehicle, and computer-readable storage medium, belonging to the field of vehicle suspension technology. The active suspension roll control method is applied to a vehicle's active suspension system. The control method includes: acquiring the vehicle's total mass, lateral acceleration, and center of gravity height; calculating the total roll moment using the following formula: M_roll_total = M * Ay * Hei_CoG; where M_roll_total is the total roll moment, M is the vehicle's total mass, Ay is the lateral acceleration, and Hei_CoG is the center of gravity height; and controlling the active suspension system based on the total roll moment. By controlling the active suspension system based on the total roll moment calculated from the lateral acceleration, rather than feedback control based on the error between the target roll angle and the actual roll angle, the problem of robustness being affected by large noise at the actual roll angle is eliminated, making the roll control of the vehicle's active suspension system more stable and reliable.

The application belongs to the technical field of aircraft flight load design, and particularly relates to a correction method of an aircraft aerodynamic roll moment, initialization of a calculation parameter, calculation of an aircraft true airspeed, equivalent speed and aircraft speed pressure based on the calculation parameter, calculation of a motion parameter based on a dynamic response of a maneuver simulation, calculation of a full-aircraft target aerodynamic roll moment based on the motion parameter, given of an unbalanced moment tolerance, solving of the unbalanced moment based on the full-aircraft target roll moment, comparison and analysis of a difference value between the unbalanced moment and the unbalanced moment tolerance, and end of the calculation if an absolute value of the unbalanced moment is less than the unbalanced moment tolerance. By adjusting a local angle of attack of each profile of a wing component in a span direction, a wing spanwise pressure distribution characteristic is reconstructed, an unbalanced aerodynamic roll moment of the aircraft caused by the pressure distribution characteristic is eliminated, a load balance purpose is achieved, and a design requirement in engineering is met.

The invention relates to the technical field of lithium battery copper foil manufacturing, and discloses a crude foil engine control method and device, a crude foil engine, a storage medium and a program product, and the crude foil engine comprises a cathode roller used for electrolyzing crude foil and a winding roller used for drawing and collecting copper foil; the measuring roller is used for measuring the linear speed and the winding tension of the crude foil; the method comprises the steps that the actual winding speed and the actual winding tension in the copper foil winding process of a winding roller and the measuring linear speed of a measuring roller are monitored; based on the actual winding speed and the measurement linear speed, the actual winding diameter is calculated; based on the actual winding tension and the actual winding diameter, the initial winding moment is calculated; determining a tension compensation torque based on the magnitude relationship between the actual winding tension and the preset winding tension; and the target winding torque is determined on the basis of the sum of the initial winding torque and the tension compensation torque, the winding roller is controlled to execute winding operation at the target winding torque, and speed and tension matching between cathode roller electrolytic foil generation and winding of the winding roller is achieved.

An embodiment of the present invention provides a control method and related device for a roll bar. The method includes: when the vehicle is in a turning state, determining the current lateral acceleration of the vehicle; when the absolute value of the current lateral acceleration is greater than a first preset acceleration value, determining the maximum anti-roll moment that the roll bar can provide as the target anti-roll moment; when the absolute value of the current lateral acceleration is less than or equal to the first preset acceleration value, determining a first anti-roll moment according to the current lateral acceleration, and determining a target anti-roll moment less than or equal to the first anti-roll moment according to the absolute value of the current lateral acceleration; controlling the roll bar according to the target anti-roll moment. Through the embodiment of the present invention, the active control of the roll bar is optimized, the existence of risks that cannot be perceived by the driver due to the active control of the roll bar is avoided, and the risk of vehicle rollover or fishtailing accidents is reduced.

In one mode, with a vehicle control apparatus, a vehicle control method, and a vehicle control system according to the present invention, a control command is output for operating an actuator unit mounted in a vehicle, so as to obtain a control moment including at least one of a roll moment, a pitch moment, and a yaw moment that are generated for the vehicle before a curve on a traveling road on which the vehicle runs, based on a physical quantity about a curvature ahead on the traveling road and a physical quantity about a speed of the vehicle. In this way, the passenger's sense of security when the vehicle runs on the curve may be improved.

This invention proposes a lightweight loading device and its design method suitable for low-altitude propeller balances, belonging to the technical field of low-altitude aircraft test balances. The aim is to solve the problem that existing loading devices cannot meet the requirements of low-altitude propeller six-component balances with diameters less than 200mm for simulating real-world installation methods, high rigidity, and lightweight calibration. In this invention, the low-altitude propeller balance is horizontally mounted on a raised base via a lower balance connector, and the upper surface of the low-altitude propeller balance is connected to the upper balance connecting plate. The central body is mounted on the outside of the low-altitude propeller balance; the front and rear, and left and right cantilever arms are all mounted on the central body; drag lugs are installed on both sides of the left and right cantilever arms, and normal force and roll moment lugs are installed on the left and right cantilever arms; pitch moment lugs are installed on the front and rear cantilever arms. This invention solves the problem that existing loading devices cannot meet the requirements of low-altitude propeller six-component balances with diameters less than 200mm for simulating real-world installation methods, high rigidity, and lightweight calibration.

The application relates to the technical field of vehicles and provides an automobile, which comprises a vehicle body and a side-tilt-preventing roof pressing device, at least one of the top of the vehicle body and the bottom of the vehicle body is provided with the side-tilt-preventing roof pressing device, and the side-tilt-preventing roof pressing device is used for increasing the height of the automobile in the up-down direction. The height of the automobile in the up-down direction is increased through the side-tilt-preventing roof pressing device, the highest point of the automobile is raised, the contact point with a large vehicle is raised, on one hand, when the large vehicle approaches and tilts to a small extent, the highest point of the automobile contacts the vehicle body of the large vehicle, the gravity arm of the large vehicle is reduced, and the downward pressure load of the side tilt of the large vehicle is reduced; on the other hand, the position where the automobile contacts the large vehicle is closer to the top of the large vehicle, the support arm of the automobile is increased, the support force required by the automobile for balancing the side-tilt torque of the large vehicle is correspondingly reduced, and the danger caused by the side tilt of the large vehicle to the automobile is reduced to a certain extent.

The invention discloses a forklift active anti-rollover control system and method based on multi-source sensing and dynamic detection. The defects that in the prior art, sensing is single, and control is extensive are overcome. The system comprises a sensing module (a forward binocular camera and an inertia / acceleration / steering angle sensor), a data processing module (a YOLOv8 algorithm and a dynamic model), a hierarchical control module and an execution module. According to the method, cargo images and forklift operation data are collected, cargo inclination parameters are fused and recognized, the gravity center and the roll moment of the forklift are calculated, five risk grades are divided, and progressive control over sound-light alarm, reverse compensation moment, forced deceleration, emergency braking and power cut-off is correspondingly achieved. The system realizes synchronous monitoring of cargo and forklift states, is accurate in control, adapts to various forklifts, effectively improves the anti-rollover early warning accuracy and operation safety, and is suitable for warehouse logistics and other complex working conditions.

The present invention discloses a multi-actuator full vector control method and related devices, including: obtaining vehicle motion state information and road surface adhesion information, wherein the vehicle motion state information is obtained based on in-vehicle sensors and / or a vehicle state estimation module, and the road surface adhesion information is obtained based on a road surface identification module; obtaining steering wheel angle information based on the vehicle motion state information to determine an expected yaw rate tracking sequence; determining upper-layer control information based on the vehicle motion state information, the road surface adhesion information, and the expected yaw rate tracking sequence, wherein the upper-layer control information includes additional yaw moment, additional roll moment, additional pitch moment, and rear wheel steering angle; determining lower-layer control information based on the vehicle motion state information, the road surface adhesion information, and the upper-layer control information, wherein the lower-layer control information is used to allocate vehicle actuators, and the lower-layer control information includes additional driving torque and suspension active force.

The invention relates to a vehicle steering vehicle body posture and handling stability control method which comprises the following steps: collecting signal input required by control, calculating the total anti-lateral torque of a vehicle through a vehicle body posture feed-forward-feedback controller, calculating the anti-lateral-tilting torque distribution ratio of a front axle and a rear axle through a handling stability feed-forward-feedback controller, and controlling the overall anti-lateral-tilting torque distribution ratio of the front axle and the rear axle through the handling stability feed-forward-feedback controller. And calculating and correcting the total anti-roll moment and the distribution ratio of the front axle and the rear axle through the control comprehensive module, and finally outputting a vertical force control instruction of each suspension angle of the vehicle. The method has the following advantages: 1) vehicle body attitude control and control stability control are comprehensively considered, and the two are optimized at the same time; (2) feedback-feedforward is used for vehicle body attitude control and control stability control, so that the problem of pure feedforward control or feedback control is avoided, and the overall performance of the vehicle is more natural; and 3) steering input and road surface input decoupling is realized, and four height sensors are saved.

The present invention relates to a brake control device in which a control unit controls a yaw moment and a roll moment by independently controlling a braking force applied to each wheel of a vehicle by a braking device from when an intervention condition is satisfied to when an intervention completion condition is satisfied during turning of the vehicle. When the brake device is in a low-temperature state, the changing unit performs at least one of changing to easily satisfy an intervention condition and changing to hardly satisfy an intervention termination condition compared with when the brake device is in a non-low-temperature state.

The application discloses a kind of vehicle control methods for limit cornering operating mode, belong to vehicle dynamics control technical field.The method first obtains target longitudinal resultant force, target additional yaw moment and target total anti-roll moment;Establish the mapping relationship between vehicle control target and actuator layer control quantity;Introduce control target slack variable, rewrite each target into soft constraint form containing slack variable;Joint optimization cost function containing control target priority trade-off cost is constructed;Under the condition of satisfying tire adhesion constraint, the optimal distribution of each wheel longitudinal force and front, rear axle active stabilizer bar output torque is obtained.The application realizes the adaptive trade-off of control target under limit operating mode by slack variable mechanism, avoids distribution rigidity and degree of freedom lock, and optimizes stabilizer bar interaxle distribution based on adhesion margin, inhibits single axle tire premature saturation, significantly improves the yaw stability and steering controllability of vehicle in high-speed sharp turn, emergency obstacle avoidance and other limit operating mode.

Method for influencing the driving position of a motor vehicle by means of at least one active component (3, 4) for compensating roll moments, wherein the component (3, 4) can be deactivated automatically or manually, wherein the motor vehicle has an off-road mode, wherein the off-road mode can be set automatically or manually, wherein in the off-road mode the active component (3, 4) is deactivated, and wherein in the deactivated state of the active component (3, 4) the active component (3, 4) is manually activated and set.

The invention relates to the technical field of intelligent automobiles, and discloses a semi-trailer train self-adaptive control method and system considering a lifting bridge, and the system comprises a lifting bridge position decision module which determines the lifting bridge of a semi-trailer train to be lifted or put down; the side-tipping risk evaluation module is used for judging the side-tipping risk of the tractor and the side-tipping risk of the trailer; the roll risk suppression module is used for calculating the active anti-roll moment of the tractor and the active anti-roll moment of the trailer and carrying out active anti-roll rod control on the tractor and the trailer; the maximum speed decision module is used for calculating the maximum speed of the semi-trailer train; the yaw risk evaluation module is used for calculating the yaw risk coefficient of the tractor and predicting the yaw risk of the tractor; the yaw risk suppression module is used for acquiring wheel braking force of the tractor and the trailer and performing braking; according to the method, the influence of the position state of the lifting axle on the dynamics of the whole vehicle is considered, the intelligent control level of the semi-trailer train is improved, and meanwhile the running safety of the semi-trailer train is improved.

A lateral stability control system applicable to a trailer truck, which solves the problems existing in the prior art, such as simple mechanical structure and functions, poor practicability, cumbersome manual operation process, large mechanical transmission rigidity, and easy fatigue damage to the vehicle body and transmission parts. It includes two groups of symmetrically arranged detection devices provided on the front axle of the truck chassis, and the detection device is composed of a horizontal sensor and a centrifugal force detector; emergency response devices are symmetrically arranged at the positions of the truck wheels on both sides of the truck chassis respectively, and the emergency response device is arranged between the leaf spring shock absorber and the vehicle body steel frame, and the driving end of the emergency response device is connected to the power supply device. Its design is reasonable and the structure is compact. When the truck encounters a sharp turn at high speed or the road surface inclination angle is too large, it can quickly respond, lift the vehicle body on the side to be overturned, change the position of the center of gravity of the truck, reduce the roll moment, relieve the slope and centrifugal force, and effectively improve the driving stability and safety of the truck.

The invention provides an underwater vehicle target strength calculation method considering ocean current influence, which comprises the following steps: determining vehicle types including a cylindrical vehicle and a flat vehicle; aiming at different aircrafts, respectively constructing aircraft disturbance torque models, and acquiring rolling torques and pitching torques of a cylindrical aircraft and a flat aircraft; based on the obtained rolling torque and pitching torque of the cylindrical vehicle and the flat vehicle, attitude response models of the cylindrical vehicle and the flat vehicle are constructed respectively, the attitude response models of the vehicles are solved, and rolling angles and pitching angles of the cylindrical vehicle and the flat vehicle are obtained; calculating the static target strength of the aircraft, and correcting the target strength by considering the real-time change of the rolling angle and the pitching angle of the aircraft to obtain a time-varying curve of the target strength of the aircraft; according to the method, the influence of rolling and pitching on the target strength of the underwater vehicle is considered, and the calculation precision of the target strength is improved.

The invention provides a test method, device, equipment and system of an active stabilizer bar and a storage medium, and is applied to the technical field of vehicle safety testing, and the method comprises the steps: obtaining a vehicle body roll angle, a torque distribution coefficient and a preset reference vehicle body roll angle; if the vehicle body roll angle is larger than the reference vehicle body roll angle, the active roll moment is determined according to the difference value between the vehicle body roll angle and the reference vehicle body roll angle; according to the active roll moment and the torque distribution coefficient, the torque of a front axle active stabilizer bar motor and the torque of a rear axle active stabilizer bar motor are determined; the torque of a front axle active stabilizer bar motor and the torque of a rear axle active stabilizer bar motor are applied to the vehicle, and the adjusted roll angle after the preset time is obtained; and according to the adjustment roll angle and the reference vehicle body roll angle, the regulation and control effect of the active stabilizer bar is determined. The real vehicle testing method is more in line with the actual use condition of the vehicle, and the accuracy of active stabilizer bar effect evaluation is improved.

A rotor control device for performing attitude control of a fuselage of an aircraft includes a VTOL rotor control unit for controlling each rotor based on a roll moment command value, a pitch moment command value, and a yaw moment command value. When the magnitude of the roll moment command value or the magnitude of the pitch moment command value is equal to or greater than a threshold, the VTOL rotor control unit controls each rotor without using the yaw moment command value.