CAJ | 학술논문

文章采用纵向、侧向、横摆、侧倾及四个车轮的转动这八个自由度对四轮驱动、四轮转向型车辆进行了非线性建模，并采用Burckhardt轮胎模型，运用适当的级数展开及近似技术建立了标准的非线性状态空间模型。为以后解析研究这种模型下的控制问题提供了便利。
문장채용종향、측향、횡파、측경급사개차륜적전동저팔개자유도대사륜구동、사륜전향형차량진행료비선성건모，병채용Burckhardt륜태모형，운용괄당적급수전개급근사기술건립료표준적비선성상태공간모형。위이후해석연구저충모형하적공제문제제공료편리。
To build the nonlinear state space vehicle model, the 8-Degree of Freedom （8DOF） ,that is, the longitudinal, the lateral, the yawing, the rolling, and 4 rolling wheels, together with 4-Wheel Driving （4WD）and 4-Wheel Steering （4WS） are considered. With the Burckhardt tire model, the standard state space model is obtained by utilizing appropriate series expansion and approximation techniques. The state space model obtained is convenient to the controller design in the future.