调节器中，通过横摆角速度和侧偏角的共同反馈控制助力电机的转角。
In the controller, the motor Angle was controlled by the feedback of the yaw rate and the sideslip Angle.
汽车等速行驶时，常用稳态横摆角速度与前轮转角之比来评价其稳态响应。
The steady-state response of a vehicle is often evaluated by the steady-state yaw velocity and front wheel angle at a equal speed.
通过控制，降低了车辆横摆角速度与侧向加速度，提高了车辆的操纵稳定性。
The vehicle's yaw rate and lateral acceleration have been reduced, meanwhile, the vehicle handling and stability have been enhanced instead.
为了改善传统四轮转向系统的不足，研究了四轮线控转向系统的横摆角速度反馈控制策略。
To improve the defects of traditional Four-Wheel-Steering system yaw rate feedback control strategy of Four-Wheel-Steer-by-Wire system was researched.
运用模糊控制原理，设计了横摆角速度反馈控制模糊控制器和质心侧偏角反馈控制模糊控制器。
Based on fuzzy control principle. The fuzzy controller of feedback control of yaw rate and the fuzzy controller of feedback control of side slip Angle were designed.
说明采用该控制方法可以很好的控制汽车的横摆角速度和质心侧偏角，提高汽车的侧向稳定性。
The research results showed that the method of feedback control can enhance the yaw rate and side-slip angle of mass centre, therefore lateral stability of vehicle is further improved.
参考车速的计算准确与否直接影响名义横摆角速度的估算是否准确，从而影响对车辆运动状态的判断。
The accuracy of vehicle reference speed estimation is crucial to the estimation of nominal yaw rate and thus to the judgment of the vehicles dynamic state.
基于最优控制理论，设计横摆力矩控制器，通过前馈控制调整侧偏角，状态反馈控制调整横摆角速度和侧偏角。
Basing on the optimal control theory, the DYC controller is designed by the feed forward of the sideslip Angle regulation and the state feedback of both yaw rate and sideslip Angle.
在车辆动力学分析的基础上，建立了以纵向速度、横向速度、横摆角速度为状态变量的车辆纵横向耦合的动力学模型。
A longitudinal and lateral decoupled dynamics model was presented based on the dynamics analysis, as the longitudinal velocity, lateral velocity and yaw rate as the states.
该算法实现了横摆角速度的线性最小均方误差估计，且可对汽车行驶过程中的系统噪声和观测噪声统计特性进行在线估计。
This algorithm can realize linear minimum mean square error estimation of yaw rate, and on-line estimate statistical characteristic of system noise and observation noise during vehicle running.
将横摆力矩控制(dyc)与四轮转向(4ws)系统相结合，建立侧偏角和横摆角速度具有最佳输出响应的车辆理想模型。
A desirable vehicle model with the best performance of side slip Angle and yaw rate is established through connecting direct yaw moment control (DYC) with four wheel steering (4ws) system.
在此基础上，得到车辆采用零侧偏角控制策略时，车辆转向中心到质心的距离，横摆角速度增益及侧向加速度增益的表达式。
Based on a zero sideslip Angle proportional control, we get the gain of the distance from the centroid to the steering center position, yaw angular velocity and lateral acceleration.
利用所提出的前轮转向控制算法，可以使汽车具有不变的转向特性，通过横摆角速度和侧向加速度反馈控制，提高了汽车的稳定性。
The automobile which adopted the steering control algorithm can keep a constant steering characteristic; and its stability is improved through yaw rate and lateral acceleration feedback control.
设计的模糊pid控制器以横摆角速度和质心侧偏角作为控制目标，以整车模型的横摆角速度与理想横摆角速度之差作为控制变量。
Yaw rate and sideslip Angle are the control objectives and the difference of the yaw rate of actual vehicle model and the ideal yaw rate is the control variable in the fuzzy-PID controller.
设计的模糊pid控制器以横摆角速度和质心侧偏角作为控制目标，以整车模型的横摆角速度与理想横摆角速度之差作为控制变量。
Yaw rate and sideslip Angle are the control objectives and the difference of the yaw rate of actual vehicle model and the ideal yaw rate is the control variable in the fuzzy-PID controller.
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