一种基于Burckhardt轮胎模型的4WD＋4WS型VSC系统建模

摘要

In this paper, the Burckhardt tire, together with 4-Wheel Driving （4WD）and 4-Wheel Steering （4WS） but without rolling model were used in the Vehicle Stability Control （VSC） system modeling. The standard nonlinear state space model was obtained by utilizing analytical method and appropriate approximation techniques. The model obtained is convenient to the controller design in the future.%文章采用Burckhardt轮胎模型，对不含侧倾的四轮驱动（4WD）、四轮转向（4WS）型车辆的稳定性控制（VSC）系统进行了非线性建模。文中采用解析形式和适当的近似技术建立了VSC系统标准的非线性状态空间模型．便于今后的控制器设计。