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To improve driving stability of bus driver in high-speed turning and obstacle avoidance in high speed driving condition, a vehicle model and an electronic control pneumatic system model is firstly established. Then, based on the super twisting algorithm, an additional yaw moment controller is designed for bus anti-rollover. The disturbance term of the system is estimated through a nonlinear disturbance observer, and it is compensated to the controller. Finally, the co-simulation of MATLAB/Simulink, TruckSim and AMESim is carried out. The simulation results show that compared with PID control, the algorithm proposed in this article can reduce the roll angle by 0.2° and 0.7° respectively under steering wheel step conditions and fishinghook conditions.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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