Vehicle Chassis Integrated Control Based on Multimodel and Multilevel Hierarchical Control

Table 2

The main parameters of the constructed vehicle.

Parameter	Value
m [kg]	1527
𝑚𝑢1,𝑚𝑢2 [kg]	49.05
𝑚𝑢3,𝑚𝑢4 [kg]	39.85
h 0 [m]	0.5
ℎ𝑝 [m]	0.4
ℎ𝑟 [m]	0.25
𝐼𝑏,𝑥 [kg·m^2]	744
𝐼𝑏,𝑦 [kg·m^2]	2160
𝐼𝑏,𝑧 [kg·m^2]	3048
𝐼wi [kg·m^2]	0.99
R [m]	0.313
a [m]	1.035
b [m]	1.655
𝑡𝑓 [m]	1.535
𝑡𝑟 [m]	1.535
𝑘𝑠1,𝑘𝑠2 [N/m]	29509
𝑘𝑠3,𝑘𝑠4 [N/m]	27126
𝑐𝑠1,𝑐𝑠2 [N·s/rad]	1767
𝑐𝑠3,𝑐𝑠4 [N·s/rad]	1542
𝑘𝑡𝑖 [N/m]	181000
𝑘𝜙𝑓 [N·m/rad]	47298
𝑘𝜙𝑟 [N·m/rad]	37311