Because cross-coupling control is advantageous to restricting and harmonizing between multi driving wheels, it can reduce orientation error and improve the accuracy of path tracking effectively.
由于交叉耦合控制利于多轮驱动之间的制约和协调，可以有效减少方向误差和提高路径跟踪的精确性。
Secondly, the whole vehicle rigid-flexible coupling modal equipped with the frame is built and analyzed to obtain the load histories through driving on cross-country path and strengthen-road .
其次建立该整车的刚柔耦合动力学模型，并进行越野路、强化路等路面的整车动力学仿真，得到相应的模态位移时间历程；
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