在简化力学模型的基础上,基于非线性轮胎力模型,利用拉格朗日能量法建立了汽车四轮转向系统动力学模型,包括俯仰、侧倾、侧向、横摆及垂直五个自由度。探索了利用能量法建立动力学模型的思路,该模型能够反映汽车实际结构参数对汽车的影响,对于发出合理的四轮转向控制系统有重要的指导意义。 Based on the simplified mechanics model, a dynamic model of a four-wheel steering system is established based on the nonlinear tire force model using Lagrange energy method, including five degrees of freedom (pitch, roll, lateral, yaw and vertical) . The idea of ​​establishing dynamic model by using energy method is explored. The model can reflect the influence of the actual structural parameters of the automobile on the automobile and has important guiding significance for issuing a reasonable four-wheel steering control system.