对不同制动和驱动条件下轮胎摩擦力进行了计算，取得了同试验数据吻合很好的预测结果。
When calculation is made for tyre frictional force according to different braking and driving conditions, predicted result is obtained in very good conformation with the tested data.
中间层是加速度控制，最底层是(驱动和制动)力矩控制。
And the middle level tunes the vehicle acceleration while the lowest controls the needed brake and drive torque.
为了保证电动车平稳越障，要求驱动系统能够在电动和制动状态下平稳运行。
Driving system is required to operate steadily under electric and braking states to guarantee the smooth obstacle.
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