CN107351910B - The closed loop control method of the electro-hydraulic steering of special vehicle - Google Patents
The closed loop control method of the electro-hydraulic steering of special vehicle Download PDFInfo
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- CN107351910B CN107351910B CN201710466846.8A CN201710466846A CN107351910B CN 107351910 B CN107351910 B CN 107351910B CN 201710466846 A CN201710466846 A CN 201710466846A CN 107351910 B CN107351910 B CN 107351910B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0475—Controlling other elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses the closed loop control method of the electro-hydraulic steering of special vehicle, which includes the following steps, step 1, obtains the actual rotational angle of real-time speed and the first steeraxle；Step 2, the target rotation angle of the second steeraxle is determined using the actual rotational angle of real-time speed and the first steeraxle；Step 3, the actual rotational angle of the second steeraxle is obtained；Step 4, the corner deviation of the target rotation angle of the second steeraxle and the actual rotational angle of the second steeraxle is calculated；Step 5, it is based on proportional integral differential control mode, pulse width modulating signal is generated according to corner deviation；Step 6, the second steeraxle corner is adjusted by pulse width modulating signal.The closed loop control method of the electro-hydraulic steering of special vehicle of the invention can effectively improve and turn to precision, realization flexibly turns to, it can satisfy low speed flexibility and high stability of the multiaxis special vehicle under different road surfaces, different loads, to reduce the damage to track rod and tire.
Description
Technical field
The present invention relates to special vehicle technical fields, specifically for, the present invention is that special vehicle electro-hydraulic steering is closed
Ring control method.
Background technique
Large-scale heavy duty special vehicle has the characteristics that quality is big, mass center is high, the number of axle is more, wheelbase is big, for enhance its mobility,
Flexibility and control stability make vehicle have preferable flexibility when small place low speed is turned, can be when guaranteeing low speed
It realizes and flexibly turns in lesser space, while there is preferable control stability in high speed, to guarantee the safety of vehicle,
Large-scale heavy duty special vehicle mostly uses greatly multi-axle steering technology.
But existing multi-axle steering technology is mechanical transmission hydraulic power-assisted steering technology, is turned although multiaxis may be implemented
To, but limited by mechanical-type steering engine structure and rotating direction control method, steering precision is low, track rod is easily caused to deform,
Tire wear is serious.With the development of electronic technology and control technology, electric hydraulic steering system has become multi-shaft steering vehicle steering
The developing direction of system.
Therefore, how special vehicle is improved by electro-hydraulic steering and turns to precision, reduction turn-around delay time, reduction turning machine
The abrasion of structure, the emphasis for becoming those skilled in the art's technical problem urgently to be resolved and studying always.
Summary of the invention
To solve existing for mechanical rotating direction control method in the prior art, precision is low, flexibility is poor, track rod
Deformation, the problems such as tire wear is serious, present invention innovation propose a kind of closed loop control method of electro-hydraulic steering of special vehicle, energy
It enough effectively improves and turns to precision, reduce the turn-around delay time and reduce the abrasion of steering mechanism.
To realize above-mentioned technical purpose, the invention discloses a kind of closed loop control method of the electro-hydraulic steering of special vehicle,
The closed loop control method includes the following steps,
Step 1, the actual rotational angle of real-time speed and the first steeraxle is obtained, first steeraxle is before special vehicle
Steeraxle；
Step 2, the target rotation angle of the second steeraxle is determined using the actual rotational angle of the real-time speed and the first steeraxle,
Second steeraxle is the rear steering bridge of special vehicle；
Step 3, the actual rotational angle of the second steeraxle is obtained；
Step 4, the corner deviation of the target rotation angle of second steeraxle and the actual rotational angle of the second steeraxle is calculated；
Step 5, it is based on proportional integral differential control mode, pulse width modulation letter is generated according to the corner deviation
Number；
Step 6, proportion directional valve events are controlled by the pulse width modulating signal, the proportional direction valve is for real
When drive cylinder piston rod movement, the cylinder piston rod in real time adjust the second steeraxle corner, power-assisted steering.
By above-mentioned closed loop control method, the present invention can effectively solve the problem that steering low precision of the existing technology, spirit
The problems such as sensitivity is low, track rod is easily-deformable, tire wear is serious, to realize that special vehicle quickly, flexibly, accurately turns
To.
Further, in step 5, when the duty ratio of the pulse width modulating signal of generation is less than the first preset value, lead to
It crosses the mode for increasing offset for duty ratio and updates pulse width modulating signal；In step 6, pass through updated pulse width tune
Signal processed controls proportion directional valve events；When wherein, the offset passes through the resistance value of proportional direction valve and starts movement
Current value determines.
Based on above-mentioned improved technical solution, the present invention innovatively increases dead zone offset, and dead zone offset is above-mentioned
Offset is added, to solve proportion directional in the case of low PWM duty cycle by offset with the duty ratio less than the first preset value
The problem of valve is failure to actuate has been finally reached the purpose for improving the reliability and stability that the present invention controls.
Further, it is the reasonability and accuracy that improve special vehicle course changing control, in step 6, obtains pulse width
After modulated signal, the switching signal of the second steeraxle locking wraping plate is obtained: if the state of the switching signal is non-locking, i.e.,
Allow to control the second steeraxle, then controls proportion directional valve events, the second steeraxle corner of adjustment；If the switch
The state of signal is locking, i.e., does not allow to control the second steeraxle, then does not control proportion directional valve events, do not adjust the
Two steeraxle corners.
Further, in step 6, when controlling the opening size and energization of proportional direction valve according to pulse width modulating signal
Between length, and then adjust the second steeraxle corner size in real time.This regulative mode is high, highly reliable etc. prominent with degree of regulation
Advantage out.
Further, in step 1, the is obtained by being installed on the first binary channels rotary angle transmitter on the left of the first steeraxle
The actual rotational angle of one steeraxle；In step 3, obtained by being installed on the second binary channels rotary angle transmitter on the left of the second steeraxle
The actual rotational angle of second steeraxle；The actual rotational angle of first steeraxle is by calculating the acquisition of the first binary channels rotary angle transmitter
The mean value of binary channels angular signal obtain, the actual rotational angle of second steeraxle is by calculating the second binary channels rotation angular sensing
The mean value of the binary channels angular signal of device acquisition obtains.
The present invention innovatively uses binary channels rotary angle transmitter, realizes the acquisition to two-way angular signal, passes through bilateral
Road Redundancy Design can greatly improve the accuracy and reliability of roll angle inspection.
Further, in step 1, between direction of traffic of the actual rotational angle of the first steeraxle for front vehicle wheel and before turning to
Angle；Angle in step 3, between direction of traffic of the actual rotational angle of the second steeraxle for rear wheel and before turning to.
Further, in step 1, the actual rotational angle of the first steeraxle is compared with the first corner upper limit, if institute
The actual rotational angle for stating the first steeraxle is greater than the first corner upper limit, then alarms；In step 3, by the second steeraxle
Actual rotational angle is compared with the second corner upper limit, if the actual rotational angle of second steeraxle is greater than on second corner
Limit, then alarm.
Present invention employs the modes of actual rotational angle overload alarm, can effectively improve the safety of steering procedure middle rolling car
Property.After a bridge corner exceeds effective range, warning note is carried out, after a bridge corner returns to effective range, alarm is eliminated；When
It after four bridge corners exceed effective range, alarms, while four bridge corners of control are constant, when four bridge corners return to effective range
Afterwards, alarm is eliminated；After five bridge corners exceed effective range, alarm；It is constant that five bridge corners are controlled simultaneously, when five bridge corners
After returning to effective range, alarm is eliminated.
Further, first steeraxle is driven by mechanical-hydraulic, and second steeraxle is driven by electric-controlled hydraulic
It is dynamic.
Further, the special vehicle is multi-axle steering special vehicle.
Further, the special vehicle is five-axle steering special vehicle, and the five-axle steering special vehicle has five bridges；
First steeraxle includes a bridge and two bridges, and second steeraxle includes four bridges and five bridges；Three bridges are non-steering axle.
The invention has the benefit that the closed loop control method of the electro-hydraulic steering of special vehicle of the invention can effectively improve
Turn to precision, realize and flexibly turn to, can satisfy low speed flexibility of the multiaxis special vehicle under different road surfaces, different loads and
High stability, to reduce the damage to track rod and tire.
Detailed description of the invention
Fig. 1 is the flow diagram of the closed loop control method of the electro-hydraulic steering of special vehicle.
Fig. 2 is the implementation state block diagram of the closed loop control method of the electro-hydraulic steering of special vehicle.
Specific embodiment
The closed loop control method of the electro-hydraulic steering of special vehicle of the invention is carried out with reference to the accompanying drawings of the specification detailed
Explanation and illustration.
In general, it using the large-scale heavy duty special vehicle of electric hydraulic steering system, needs to realize wheel instantaneous positioning, protect
The accuracy and reliability turned to is demonstrate,proved, the present invention proposes a kind of multi-axle steering special vehicle electric hydraulic steering system control program, and
The control method for adding dead zone to deviate using segmentation PID (proportional-integral-differential) algorithm is proposed, to efficiently solve electro-hydraulic turn
To system turn-around delay time length, turn to the problem of low precision.Specifically, the invention discloses a kind of electro-hydraulic steerings of special vehicle
Closed loop control method.As shown in Figure 1, 2, which includes the following steps.
Step 1, the actual rotational angle of real-time speed and the first steeraxle is obtained, the first steeraxle is the front steering of special vehicle
Bridge is driven by mechanical-hydraulic, and between direction of traffic of the actual rotational angle of the first steeraxle for front vehicle wheel and before turning to
Angle；In the present embodiment, the first steeraxle is obtained by being installed on the first binary channels rotary angle transmitter on the left of the first steeraxle
Actual rotational angle, the actual rotational angle of the first steeraxle is by calculating the binary channels corner letter of the first binary channels rotary angle transmitter acquisition
Number mean value obtain.In order to improve the safety of course changing control, by the actual rotational angle of the first steeraxle and the first corner upper limit into
Row compares, if the actual rotational angle of the first above-mentioned steeraxle is greater than the first corner upper limit, alarms.
Special vehicle of the present invention is the special vehicle of multi-axle steering, and the present embodiment is with five-axle steering heavy type special purpose vehicle
For, five-axle steering special vehicle has five bridges；First steeraxle includes a bridge and two bridges, and a bridge and two bridges are front steering
Bridge, the second steeraxle include four bridges and five bridges, and four bridges and five bridges are rear steering bridge and independent control；Three bridges are non-steering axle.Under
The input/output signal of the electro-hydraulic steering control system of the present embodiment five-axle steering heavy special vehicle is described in detail in table.
Step 2, the target rotation angle that the second steeraxle is determined using the actual rotational angle of real-time speed and the first steeraxle, for
The strategy of target rotation angle is calculated, under technical inspiration of the invention, those skilled in the art can reasonably select from routine techniques；
Second steeraxle is the rear steering bridge of special vehicle and passes through Electro-hydraulic drive.
Step 3, the actual rotational angle of the second steeraxle is obtained, and the actual rotational angle of the second steeraxle is rear wheel and steering
Angle between preceding direction of traffic；In the present embodiment, passed by being installed on the second binary channels corner on the left of the second steeraxle
Sensor obtains the actual rotational angle of the second steeraxle, and the actual rotational angle of the second steeraxle is by calculating the second binary channels rotary angle transmitter
The mean value of the binary channels angular signal of acquisition obtains.For improve course changing control safety, by the actual rotational angle of the second steeraxle
It is compared with the second corner upper limit, if the actual rotational angle of the second steeraxle is greater than the second corner upper limit, alarms.
In the present embodiment, a binary channels rotary angle transmitter is respectively installed on the left of a bridge, four bridges and five bridges, two paths are only
Vertical acquisition angular signal respectively obtains the actual rotational angle of a bridge, four bridges, five bridges by corresponding corner calculative strategy, the present invention
It can be improved the reliability of roll angle inspection by binary-channel redundancy design.For two bridges, a bridge can be followed to turn to simultaneously, it can also be into
Row individually control.
Step 4, the corner deviation of the target rotation angle of the second steeraxle and the actual rotational angle of the second steeraxle is calculated, it is specific next
It says, realizes that calculating corner is inclined by way of making the difference the actual rotational angle of the target rotation angle of the second steeraxle and the second steeraxle
Difference, the two absolute value of the difference are corner deviation.
Step 5, it is based on the control mode of proportional-integral-differential (PID), pulse width modulation is generated according to corner deviation
Signal, in the present embodiment, for the corner deviation of Jiang Siqiao and five bridges respectively as input, output is respectively used to four bridges of control and five bridges
Proportioning valve BL1 and BL2 the two in one, one PWM duty cycle signal in BL3 and BL4 the two, control four bridges, five
The wheel of bridge turns left or turns right, and according to the control accuracy requirement of steering system, the proportional component P in PID is divided into seven by the present invention
Section, adjusts every section of corresponding parameter respectively, thus improve can the sensitivity of steering system control precision need according to practical certainly
It wants, the proportional component P in PID can be divided into several segments, adjust every section of corresponding parameter respectively；To improve the reliable of course changing control
Property, when the duty ratio of the pulse width modulating signal of generation is less than the first preset value, by increasing offset for duty ratio
Mode updates pulse width modulating signal, and the first preset value can be rationally arranged as needed.The present invention innovatively increases
It is added by dead zone offset with the PWM duty cycle of segmentation pid algorithm output, and when solving low PWM duty cycle, proportioning valve is motionless
The problem of making.Moreover, the present invention designs segmentation pid algorithm, adjusts to pid parameter, can effectively increase low corner
The sensitivity turned to when deviation.Segmentation pid algorithm combines to obtain control method with dead zone offset, effectively improves the essence of steering
Degree reduces the abrasion of tire in steering procedure, increases Life of Tyre.
Step 6, proportion directional valve events are controlled by pulse width modulating signal, if pulse width modulating signal is by more
New mistake then controls proportion directional valve events by updated pulse width modulating signal；The offset of the present embodiment passes through
The resistance value of proportional direction valve and the current value started when acting determine, control proportional direction valve according to pulse width modulating signal
Opening size and conduction time length, proportional direction valve is used for real-time drive cylinder piston rod movement, and cylinder piston rod is used for
Adjustment the second steeraxle corner, power-assisted steering in real time, it is final to realize the second steeraxle corner size of adjustment in real time.In this step,
It should be noted that obtaining the switching signal of the second steeraxle locking wraping plate: if opened after obtaining pulse width modulating signal
The state of OFF signal is non-locking, and ECU controls solenoid directional control valve YA3, YA4 and is powered, then controls proportion directional valve events, adjustment the
Two steeraxle corners, then four bridges and five bridges turn to；If the state of switching signal is locking, ECU controls solenoid directional control valve
YA3, YA4 power-off, then do not control proportion directional valve events, do not adjust the second steeraxle corner, then four bridges and five bridges do not turn to.?
In practical control, above-mentioned steps often execute repeatedly, i.e., step 6 execute after the completion of can return step 1, and the in step 3
The actual rotational angle of two steeraxles is the result after the control of last time step 6.
It should be noted that vehicle can be integrated in using the electro-hydraulic steering control system of the heavy special vehicle of the present invention program
Electronic control unit (ECU) in, for example, acquiring the switching signal of the second steeraxle locking wraping plate by the ECU, judgement is
No contact rear axle locking.In the present embodiment, ECU uses TTC60 controller, and the above-mentioned pid algorithm being related to can run in ECU,
And CodeSys Development of Configuration Software control algolithm and control strategy can be applied.In addition, the electro-hydraulic steering of special vehicle of the present invention is closed
Ring control method has stronger versatility, is applicable to other vehicles after modifying Rational Parameters.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the description of this specification, above-mentioned reference term " the present embodiment ", " one embodiment ", " some implementations
The description of example ", " example ", specific examples or " some examples " etc. means specific spy described in conjunction with this embodiment or example
Sign, structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned
The schematic representation of term is necessarily directed to identical embodiment or example.Moreover, the specific features of description, structure, material
Material or feature may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, not conflicting
In the case where, those skilled in the art can be by different embodiments or examples described in this specification and different embodiments
Or exemplary feature is combined.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modification, equivalent replacement and simple modifications etc., should all be included in the protection scope of the present invention in content.
Claims (10)
1. the closed loop control method of the electro-hydraulic steering of special vehicle, it is characterised in that: the closed loop control method includes the following steps,
Step 1, the actual rotational angle of real-time speed and the first steeraxle is obtained, first steeraxle is the front steering of special vehicle
Bridge；
Step 2, the target rotation angle of the second steeraxle is determined using the actual rotational angle of the real-time speed and the first steeraxle, it is described
Second steeraxle is the rear steering bridge of special vehicle；
Step 3, the actual rotational angle of the second steeraxle is obtained；
Step 4, the corner deviation of the target rotation angle of second steeraxle and the actual rotational angle of the second steeraxle is calculated；
Step 5, it is based on proportional integral differential control mode, pulse width modulating signal is generated according to the corner deviation；
Step 6, proportion directional valve events are controlled by the pulse width modulating signal, the proportional direction valve for driving in real time
Dynamic cylinder piston rod movement, the cylinder piston rod for adjusting the second steeraxle corner, power-assisted steering in real time.
2. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 1, it is characterised in that: in step 5, when
When the duty ratio of the pulse width modulating signal of generation is less than the first preset value, by way of increasing offset for duty ratio more
New pulse width modulating signal；In step 6, proportion directional valve events are controlled by updated pulse width modulating signal；Its
In, the offset is determined by the resistance value of proportional direction valve and current value when starting movement.
3. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 1 or 2, it is characterised in that: step 6
In, after obtaining pulse width modulating signal, obtain the switching signal of the second steeraxle locking wraping plate: if the switching signal
State is non-locking, then controls proportion directional valve events, the second steeraxle corner of adjustment；If the state of the switching signal is
Locking does not control proportion directional valve events then, does not adjust the second steeraxle corner.
4. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 3, it is characterised in that: in step 6, root
According to the opening size and conduction time length of pulse width modulating signal control proportional direction valve, and then the second steering is adjusted in real time
Bridge corner size.
5. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 1 or 4, it is characterised in that: step 1
In, the actual rotational angle of the first steeraxle is obtained by being installed on the first binary channels rotary angle transmitter on the left of the first steeraxle；Step
In rapid 3, the actual rotational angle of the second steeraxle is obtained by being installed on the second binary channels rotary angle transmitter on the left of the second steeraxle；
The actual rotational angle of first steeraxle passes through the equal of the binary channels angular signal for calculating the acquisition of the first binary channels rotary angle transmitter
Value obtains, and the actual rotational angle of second steeraxle is believed by calculating the binary channels corner of the second binary channels rotary angle transmitter acquisition
Number mean value obtain.
6. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 5, it is characterised in that: in step 1, the
Angle between direction of traffic of the actual rotational angle of one steeraxle for front vehicle wheel and before turning to；In step 3, the second steeraxle
Angle between direction of traffic of the actual rotational angle for rear wheel and before turning to.
7. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 1 or 6, it is characterised in that: step 1
In, the actual rotational angle of the first steeraxle is compared with the first corner upper limit, if the actual rotational angle of first steeraxle
Greater than the first corner upper limit, then alarm；In step 3, by the actual rotational angle of the second steeraxle and the second corner upper limit
It is compared, if the actual rotational angle of second steeraxle is greater than the second corner upper limit, alarms.
8. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 7, it is characterised in that: described first turn
It is driven to bridge by mechanical-hydraulic, second steeraxle passes through Electro-hydraulic drive.
9. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 1 or 8, it is characterised in that: the spy
Kind vehicle is multi-axle steering special vehicle.
10. the closed loop control method of the electro-hydraulic steering of special vehicle according to claim 9, it is characterised in that: the special type
Vehicle is five-axle steering special vehicle, and the five-axle steering special vehicle has five bridges；First steeraxle include a bridge and
Two bridges, second steeraxle include four bridges and five bridges；Three bridges are non-steering axle.
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| CN201710466846.8A CN107351910B (en) | 2017-06-20 | 2017-06-20 | The closed loop control method of the electro-hydraulic steering of special vehicle |
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| CN112172918B (en) * | 2020-09-29 | 2022-04-01 | 北京航天发射技术研究所 | Double-closed-loop control system and method for multi-axis electro-hydraulic steering system |
| CN113642101B (en) * | 2021-07-21 | 2023-12-01 | 北京航天发射技术研究所 | Fault diagnosis method and device for hydraulic power steering gear |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101670851A (en) * | 2009-09-29 | 2010-03-17 | 长沙中联重工科技发展股份有限公司 | Follow-up control method and control system of vehicle rear axle electronically controlled steering wheel |
| CN201951545U (en) * | 2010-11-03 | 2011-08-31 | 王政中 | Wheel turning device of multi-axle automotive |
| CN106080753A (en) * | 2016-06-14 | 2016-11-09 | 宁波工程学院 | A kind of Electric Motor Wheel steering control system merging active steering, power-assisted steering and direct yaw moment control function and control method thereof |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5521943B2 (en) * | 2010-09-27 | 2014-06-18 | 株式会社アドヴィックス | Vehicle total weight estimation device |
| US8893831B2 (en) * | 2011-09-22 | 2014-11-25 | Macdon Industries Ltd. | Swather tractor with rear wheel active steering |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101670851A (en) * | 2009-09-29 | 2010-03-17 | 长沙中联重工科技发展股份有限公司 | Follow-up control method and control system of vehicle rear axle electronically controlled steering wheel |
| CN201951545U (en) * | 2010-11-03 | 2011-08-31 | 王政中 | Wheel turning device of multi-axle automotive |
| CN106080753A (en) * | 2016-06-14 | 2016-11-09 | 宁波工程学院 | A kind of Electric Motor Wheel steering control system merging active steering, power-assisted steering and direct yaw moment control function and control method thereof |
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