Abstract
BP neural network model of tire and three degrees of freedom dynamic model of Multi-Axle vehicle were built. According to Zero side slip angle control theory, with the use of MATLAB software, comparative analysis of the step response of the vehicle side slip angle, yaw angle velocity and rolling angle in the driving vehicle with linear and nonlinear tires was done. The results show thatMulti-Axle vehicle with nonlinear tires has obvious affect between side slip angle and yaw angle velocity of the vehicle body. Relative to Multi-Axle vehicle with linear tires, the overshoot of step response increases greatly, and the Steady-State value does not equal to zero; but rolling angle of the vehicle with nonlinear tires has less affected.
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