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.
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。
In the controller, the motor Angle was controlled by the feedback of the yaw rate and the sideslip Angle.
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。
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.
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。
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.
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。
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。
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.
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.
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。
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