CN107562067A - The control method and system of a kind of vehicle balance - Google Patents

Abstract

The present invention provides a vehicle balance control method and system. In the present invention, when the vehicle is in a parked state, the angle of the front wheel turning angle can be adjusted to be greater than the preset angle, and then the calculated front wheel drive torque can be output to the motor driver, and then the motor driver can adjust the output torque of the front wheel drive motor so that the vehicle can automatically maintain balance. Since the present invention does not use the vehicle support to support the ground to maintain balance, and then solves the problem that when the vehicle support is damaged, the bicycle will not be able to The problem of being fixed on the ground by itself and balanced.

Description

Method and system for controlling vehicle balance

technical field

The invention relates to the field of vehicle balance control, and more specifically, to a vehicle balance control method and system.

Background technique

Compared with cars, bicycles are green and environmentally friendly, occupy a small parking area and are affordable, and the utilization rate of bicycles is increasing year by year.

When the bicycle is not in use, it is supported on the ground by the vehicle support of the bicycle to ensure the balance of the bicycle, but when the vehicle support is damaged, the bicycle will not be able to be balanced on the ground by itself.

Contents of the invention

In view of this, the present invention provides a vehicle balance control method and system to solve the problem that the bicycle cannot be balanced and fixed on the ground by itself when the vehicle branch is damaged.

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

A control method for vehicle balance, comprising:

When the vehicle is in a parking state, send an angle adjustment command to the front wheel steering motor driver, so that the front wheel steering motor driver controls the front wheel steering motor to adjust the angle of the front wheel steering angle to be greater than the preset angle;

Obtain the body roll angle and front wheel steering angle of the vehicle;

calculating the driving torque of the front wheels according to the roll angle of the vehicle body and the steering angle of the front wheels;

The driving torque of the front wheels is output to the motor driver, so that the vehicle automatically maintains static balance.

Preferably, calculating the front wheel driving torque according to the vehicle body roll angle and the front wheel steering angle includes:

Generate an output matrix; wherein, the output matrix is a matrix composed of the body roll angle and the front wheel steering angle;

calculating a feedback value according to the output matrix;

According to the estimated disturbance value of the previous cycle and the feedback value, the front wheel drive torque is calculated.

Preferably, the feedback value is calculated according to the output matrix, including:

multiplying the output matrix by a first adjustment coefficient to obtain a first output matrix;

After deriving the output matrix, multiplying it with a second adjustment coefficient to obtain a second output matrix;

Adding the first output matrix and the second output matrix to obtain the feedback value.

Preferably, the front-wheel driving torque is calculated according to the estimated disturbance value of the previous cycle and the feedback value, including:

The feedback value is subtracted from the estimated disturbance value of the previous cycle to obtain the front wheel drive torque.

Preferably, after the front-wheel drive torque is output to the front-wheel drive motor, it also includes:

Multiply the front wheel drive torque by the transfer function matrix to calculate the output adjustment;

Subtracting the output matrix from the output adjustment amount to obtain an output adjustment matrix;

The output adjustment matrix is multiplied by the interference adjustment matrix to obtain the estimated interference value of the current period.

A control system for vehicle balance, comprising:

The sensor group is used to obtain the body roll angle and front wheel steering angle of the vehicle when the vehicle is in a parked state;

The control module is used to send an angle adjustment command to the front wheel steering motor driver when the vehicle is in a parked state, so that the front wheel steering motor driver controls the front wheel steering motor to adjust the angle of the front wheel steering angle to be greater than the preset angle , calculating the front wheel drive torque according to the vehicle body roll angle and the front wheel steering angle, and outputting the front wheel drive torque to the motor driver;

The motor driver is used to receive the driving torque of the front wheels, and then adjust the torque of the front wheel driving motor to the driving torque of the front wheels.

Preferably, when the control module is used to calculate the driving torque of the front wheels according to the roll angle of the vehicle body and the steering angle of the front wheels, it is specifically used for:

Generate an output matrix; wherein, the output matrix is a matrix composed of the body roll angle and the front wheel steering angle;

calculating a feedback value according to the output matrix;

According to the estimated disturbance value of the previous cycle and the feedback value, the front wheel drive torque is calculated.

Preferably, when the control module is used to calculate the feedback value according to the output matrix, it is specifically used for:

multiplying the output matrix by a first adjustment coefficient to obtain a first output matrix;

After deriving the output matrix, multiplying it with a second adjustment coefficient to obtain a second output matrix;

Adding the first output matrix and the second output matrix to obtain the feedback value.

Preferably, when the control module is used to calculate the front wheel drive torque according to the estimated disturbance value of the previous cycle and the feedback value, it is specifically used for:

The feedback value is subtracted from the estimated disturbance value of the previous cycle to obtain the front wheel drive torque.

Preferably, the control module is used to output the front wheel drive torque to the front wheel drive motor, and is also used to:

Multiply the front wheel drive torque by the transfer function matrix to calculate the output adjustment;

Subtracting the output matrix from the output adjustment amount to obtain an output adjustment matrix;

The output adjustment matrix is multiplied by the interference adjustment matrix to obtain the estimated interference value of the current period.

Compared with the prior art, the present invention has the following beneficial effects:

The present invention provides a vehicle balance control method and system. In the present invention, when the vehicle is in a parked state, the angle of the front wheel turning angle can be adjusted to be greater than the preset angle, and then the calculated front wheel drive torque can be output to the motor driver, and then the motor driver can adjust the output torque of the front wheel drive motor so that the vehicle can automatically maintain balance. Since the present invention does not use the vehicle support to support the ground to maintain balance, and then solves the problem that when the vehicle support is damaged, the bicycle will not be able to The problem of being fixed on the ground by itself and balanced.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is the structural representation of the vehicle provided by the present invention;

Fig. 2 is a method flowchart of a vehicle balance control method provided by the present invention;

Fig. 3 is a structural schematic diagram of a vehicle balance control system provided by the present invention.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

An embodiment of the present invention provides a vehicle balance control method, which is applied to a control module. Wherein, in order for those skilled in the art to understand the solution more clearly, the structural diagram of the bicycle is introduced first.

The bicycle includes a vehicle frame 1 and a steering device 2, a driving device 3, a sensor group, a battery 5, a front wheel 6, a rear wheel 7, a shaft coupling 8, a front wheel steering motor driver 9, and a servo motor driver arranged on the vehicle frame 1. 10. The vehicle seat 11 and the control module, the front wheel 6 is rotatably mounted on the driving device 3, and the front wheel 6 is fixedly connected to the power output end of the driving device 3; the steering device 2 is fixedly installed on the front end of the vehicle frame 1, and the steering The power output end of the device 2 is fixedly connected with the driving device 3 to drive the driving device 3 and the front wheel 6 to rotate; the rear wheel 7 is rotatably mounted on the rear end of the vehicle frame 1, and the control module, sensor group, battery 5, steering device 2 and The driving device 3 is electrically connected; the vehicle frame 1 is detachably mounted with a vehicle seat 11 . The control module is a single-chip microcomputer or a programmable logic controller PLC.

The control module detects the body roll angle and the front wheel steering angle of the vehicle frame 1 through the sensor group, and then outputs control signals to the steering device 2 and the driving device 3 . The direction and angle of the front wheels 6 can be controlled by controlling the steering device 2, so that the front wheels 6 can rotate in a certain direction and angle to control the balance of the vehicle. Wherein, in the present invention, the front wheel steering angle is a fixed value, and the control module calculates After the front wheel steering angle, it is output to the steering device 2, and then the vehicle is turned to the angle in the front wheel steering angle.

The steering device 2 includes a steering motor 21 and a steering motor driver 9 . The steering motor 21 is fixedly mounted on the front end of the vehicle frame 1; the steering motor 21 is vertically arranged, and its output shaft is fixedly connected with the driving device 3, and the steering motor driver 9 is electrically connected with the control module. According to the demand of the turning angle, the control module outputs the control signal to the turning motor driver 9, and then the steering motor 21 rotates according to the required rotation direction and angle, thereby driving the wheels to rotate, realizing the function of turning in different directions and angles, with high applicability, It is especially suitable for roads that require large-angle turns, with flexible steering, fast steering response and easy use.

Driving device 3 comprises mounting frame 31, the front wheel driving motor 32 that is installed on mounting frame 31, servo motor driver 10 and transmission mechanism, and front wheel driving motor 32 is fixedly installed on mounting frame 31, and front wheel 6 is rotatably installed on mounting frame. On the frame 31; the output shaft of the front wheel drive motor 32 is connected with the front wheel 6 through the transmission mechanism to drive the front wheel 6 to rotate, and the servo motor driver 10 is electrically connected to the control module. The control module controls the working state of the front wheels 6 through the servo motor driver 10, the front wheel drive motor 32 and the transmission mechanism. Because the control module controls the wheels to rotate or stop through the front wheel drive motor 32 alone, the working state of the motor can be changed quickly to realize the rotation and stop of the front wheels 6 .

The transmission mechanism includes a driving pulley, a driven pulley and a transmission belt, the driving pulley is connected with the driven pulley through the transmission belt, and the driving pulley and the driven pulley are fixedly connected with the front wheel drive motor 32 and the front wheel 6 respectively. During work, the front wheel driving motor 32 drives the wheel to rotate through the driving pulley, transmission belt and driven pulley successively, so that the bicycle moves forward.

Referring to Fig. 2, the control method of vehicle balance includes the following steps:

S11. When the vehicle is in the parking state, send an angle adjustment command to the front wheel turning motor driver, so that the front wheel turning motor driver controls the front wheel turning motor to adjust the angle of the front wheel turning angle to be greater than the preset angle;

Specifically, according to the kinematics and dynamics of monorail vehicles, when the vehicle is at a standstill, the front wheel turning angle cannot effectively adjust the position of the center of gravity of the vehicle body relative to the support points of the front and rear wheels, and thus cannot be used to balance the vehicle. But when the turning angle is fixed at a large angle (the turning angle is greater than +-45 degrees, the best is +-90 degrees), adjusting the front wheel drive torque can make the vehicle reach a balance.

The preset angle is 45 degrees.

S12. Obtain the body roll angle and front wheel steering angle of the vehicle;

Wherein, the rolling angle of the vehicle body is obtained by measuring the inertial sensor, and the steering angle of the front wheel is obtained by measuring the encoder. Wherein, the encoder may be an optical encoder.

S13. Calculate the driving torque of the front wheels according to the roll angle of the vehicle body and the steering angle of the front wheels;

Optionally, on the basis of this embodiment, step S13 includes:

1) Generate an output matrix; wherein, the output matrix is a matrix formed by the roll angle of the vehicle body and the steering angle of the front wheels;

Specifically, the output matrix is a 2*1 matrix composed of the body roll angle and the front wheel steering angle. For example, y is q1 is the body roll angle, q3 is the front wheel steering angle.

In addition, the state matrix can also be generated,

output matrix y = Cx where q1 is the body roll angle, q3 is the front wheel steering angle, is the derivative of the body roll angle with respect to time, is the derivative of the front wheel steering angle with respect to time.

2) Calculate the feedback value according to the output matrix;

Wherein, the feedback value is an intermediate value of the calculated front wheel driving torque.

3) According to the estimated disturbance value and the feedback value of the previous cycle, the front wheel drive torque is calculated.

Specifically, the feedback value is subtracted from the disturbance estimation value of the previous cycle to obtain the front wheel driving torque.

S14. Outputting the driving torque of the front wheels to the motor driver, so that the vehicle automatically maintains static balance.

Specifically, after receiving the front wheel driving torque, the motor driver adjusts the output torque of the front wheel driving motor so that the output torque of the front wheel driving motor is the front wheel driving torque. Wherein, the motor driver is a servo motor driver 10 .

It should be noted that step S11-step S14 needs to be performed every preset time, wherein the preset time is set by the technician according to the specific working conditions. For example, it can be 10s. In this way, the control module can adjust the front-wheel drive torque of the front-wheel drive motor in real time, so that the vehicle can realize the static balance of the vehicle regardless of the vehicle support.

In addition, after the front wheel drive torque is output to the motor driver, the front wheel of the vehicle is under the external disturbance d, and the actual drive torque of the front wheel is obtained, and the actual drive torque of the front wheel is input into the anti-interference model to obtain the obtained output matrix.

Among them, the anti-jamming model is P(t).

Wherein, it is assumed that the matrix K=[c,d,a,b], k is a constant matrix. K=[c,d,a,b], where a, b, c and d are all constants.

K=R ^-1 (B ^T P(t)+N ^T ), P(t) can be obtained by the following equation,

A ^T P(t)+P(t)A-(P(t)B+N)R ^-1 (B ^T P(t)+N ^T )+Q＝0, R, Q, N are weights, N is set to 0 in this example.

A is a 4*4 coefficient matrix, B is a 4*1 coefficient matrix, and C is a 2*4 coefficient matrix. Such as

R=35.

In this embodiment, when the vehicle is in a parked state, the angle of the front wheel steering angle can be adjusted to be greater than the preset angle, and then the calculated front wheel drive torque can be output to the motor driver, and then the motor driver can adjust the front wheel drive motor output torque to keep the vehicle automatically balanced, because the invention does not use the vehicle support to support the ground to maintain balance, and then solves the problem that the bicycle cannot be balanced on the ground by itself when the vehicle support is damaged.

According to the description in this embodiment, the sensor group includes an inertial sensor 41 for measuring the roll angle of the front wheels, and an encoder 42 for detecting the steering angle of the front wheels 6, the inertial sensor 41 and the encoder 42 are connected with the control module electrical connection. The inertial sensor 41 and the encoder 42 together detect the roll angle and the steering angle during the movement of the vehicle frame 1 to form a self-balancing control structure. Wherein, the inertial sensor 41 measures the roll angle of the vehicle frame 1 by it, and transmits the measured data to the control module in real time, and then the control module controls the roll angle of the front wheels 6 through the steering motor 21 to correct the roll angle of the vehicle frame 1. Roll angle, so that the roll angle reaches an ideal value, so as to control the vehicle to achieve self-balancing. The encoder 42 can detect the steering angle data of the front wheels 6 in real time, so as to control the steering angle of the whole vehicle within an adaptive range, so as to ensure the balance of the vehicle frame 1 and the safety of driving, and has intelligent control, driving and Safe and reliable features.

The steering motor 21 is fixedly connected with the driving device 3 through a shaft coupling 8 . The steering motor 21 can play the role of decelerating and increasing torque through the coupling 8, increasing the torque output from the steering motor 21 to the drive device 3, thereby controlling the smoothness of the rotation of the front wheels 6, and preventing the occurrence of steering jam due to insufficient torque pauses and lags.

The steering motor 21 is usually a DC brushless servo motor. The motor driver can control the turning angle of the turning motor by outputting different numbers of pulses to the turning motor, so as to adapt to the needs of different turning angles of the front wheels 6, and the adjustment is convenient.

The front wheel drive motor 32 is a servo motor. The control module detects the steering angle of the front wheels 6 in real time through the encoder 42, and then controls the servo motor to correct it, so as to accurately control the steering angle of the front wheels 6.

The control module is electrically connected to the steering motor 21 and the front wheel drive motor 32 through the front wheel steering motor driver 9 and the servo motor driver 10 respectively. The control module, the servo motor driver 10 and the servo motor together form the driving structure of the front wheel 6 . The control module detects the steering angle of the wheels through the encoder 42, and then intelligently controls the steering angle of the servo motor to control the steering angle within an appropriate range, so as to realize the balanced and stable driving of the vehicle.

Optionally, on the basis of the above embodiments, the feedback value is calculated according to the output matrix, including:

1) multiplying the output matrix with the first adjustment coefficient to obtain the first output matrix;

Wherein, the first adjustment coefficient is k ₂ =[c,d], where K2 is a constant matrix.

2) After deriving the output matrix, multiply it with the second adjustment coefficient to obtain the second output matrix;

Wherein, the first adjustment coefficient is k ₁ =[a, b], where K1 is a constant matrix.

3) Adding the first output matrix and the second output matrix to obtain a feedback value.

In this embodiment, a calculation method for calculating the feedback value is given, and then the feedback value can be calculated according to the method.

Optionally, on the basis of any of the above embodiments, after the front wheel drive torque is output to the front wheel drive motor, it also includes:

1) Multiply the front wheel drive torque by the transfer function matrix to calculate the output adjustment amount;

Specifically, the transfer function matrix is p _n (s)=C(sI-A) ^-1B . Among them, A is a 4*4 coefficient matrix, B is a 4*1 coefficient matrix, and C is a 2*4 coefficient matrix.

Such as

I is the identity matrix, and s is the independent variable. The output adjustment can be calculated by multiplying the front wheel drive torque with the transfer function matrix.

2) subtracting the output matrix from the output adjustment amount to obtain the output adjustment matrix;

3) Multiply the output adjustment matrix and the interference adjustment matrix to obtain the estimated value of interference in this period.

Wherein, the interference adjustment matrix K _g (s) can be solved by the following method, the transfer function matrix H _yd from the interference input d to the output matrix y =(s)=p _n (s)-p _n (s)K _g (s) p _n (s), solving Make ||H _yd (s)|| _∞ obtain the minimum value, where n _i , n _o are the input and output variables of the system, namely x and y. Here are 4,2 respectively. k ₁ , k ₂ are obtained by using continuous time unbounded linear quadratic controller method. When ||H _yd (s)|| _∞ takes a minimum value, K _g (s) can be calculated.

Thereafter, the output adjustment matrix is multiplied by the interference adjustment matrix to obtain the estimated interference value for this period.

In this embodiment, an estimated disturbance value is calculated every preset time, and then the driving torque of the front wheels in the next cycle can be calculated according to the estimated disturbance value.

Optionally, another embodiment of the present invention provides a vehicle balance control system, referring to FIG. 3 , including:

The sensor group 101 is used to collect the body roll angle and front wheel steering angle of the vehicle when the vehicle is in a parked state;

The control module 102 is used to send an angle adjustment command to the front wheel steering motor driver when the vehicle is in a parked state, so that the front wheel steering motor driver controls the front wheel steering motor to adjust the angle of the front wheel steering angle to be greater than the preset Angle, according to the body roll angle and front wheel steering angle, calculate the front wheel drive torque, and output the front wheel drive torque to the motor driver;

The motor driver 103 is used to receive the driving torque of the front wheels, and then adjust the torque of the front wheel driving motors to be the driving torque of the front wheels.

Wherein, the sensor group includes: an inertial sensor for measuring the roll angle of the vehicle body, that is, the inertial sensor 41 in FIG. 1 , and an encoder for measuring the steering angle of the front wheels, that is, the encoder 42 in FIG. 1 .

The motor driver 103 may be the servo motor driver 10 in FIG. 1 .

Optionally, on the basis of this embodiment, the control module 102 is used to calculate the front wheel drive torque according to the roll angle of the vehicle body and the steering angle of the front wheels, specifically for:

Generate an output matrix; wherein, the output matrix is a matrix composed of the body roll angle and the front wheel steering angle;

Calculate the feedback value according to the output matrix;

According to the estimated disturbance value of the previous cycle and the feedback value, the front wheel drive torque is calculated.

Among them, the control module is used to calculate the front wheel drive torque according to the estimated disturbance value and the feedback value of the previous cycle, specifically for:

The feedback value is subtracted from the disturbance estimate from the previous cycle to obtain the front wheel drive torque.

In this embodiment, when the vehicle is in a parked state, the angle of the front wheel steering angle can be adjusted to be greater than the preset angle, and then the calculated front wheel drive torque can be output to the motor driver, and then the motor driver can adjust the front wheel drive motor output torque to keep the vehicle automatically balanced, because the invention does not use the vehicle support to support the ground to maintain balance, and then solves the problem that the bicycle cannot be balanced on the ground by itself when the vehicle support is damaged.

It should be noted that, for the working process of the sensor group 101 , the control module 102 and the motor driver 103 in this embodiment, please refer to the corresponding descriptions in the above embodiments, and details will not be repeated here.

Optionally, on the basis of the above-mentioned embodiment of the control system, when the control module is used to calculate the feedback value according to the output matrix, it is specifically used for:

multiplying the output matrix by the first adjustment coefficient to obtain the first output matrix;

After deriving the output matrix, multiply it by the second adjustment coefficient to obtain the second output matrix;

The first output matrix is added to the second output matrix to obtain a feedback value.

In this embodiment, a calculation method for calculating the feedback value is given, and then the feedback value can be calculated according to the method.

It should be noted that, for the working process of the control module 102 in this embodiment, please refer to the corresponding descriptions in the above embodiments, and details will not be repeated here.

Optionally, on the basis of any of the above control system embodiments, the control module 102 is configured to output the front wheel drive torque to the front wheel drive motor, and is also used to:

Multiply the front wheel drive torque by the transfer function matrix to calculate the output adjustment;

Subtract the output matrix from the output adjustment amount to obtain the output adjustment matrix;

The output adjustment matrix is multiplied by the interference adjustment matrix to obtain the interference estimate for the current period.

In this embodiment, an estimated disturbance value is calculated every preset time, and then the driving torque of the front wheels in the next cycle can be calculated according to the estimated disturbance value.

It should be noted that, for the working process of the control module 102 in this embodiment, please refer to the corresponding descriptions in the above embodiments, and details will not be repeated here.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A control method for vehicle balance, comprising: When the vehicle is in a parking state, send an angle adjustment command to the front wheel steering motor driver, so that the front wheel steering motor driver controls the front wheel steering motor to adjust the angle of the front wheel steering angle to be greater than the preset angle; Obtain the body roll angle and front wheel steering angle of the vehicle; calculating the driving torque of the front wheels according to the roll angle of the vehicle body and the steering angle of the front wheels; The driving torque of the front wheels is output to the motor driver, so that the vehicle automatically maintains static balance. 2. The control method according to claim 1, wherein calculating the front wheel drive torque according to the roll angle of the vehicle body and the steering angle of the front wheels comprises: Generate an output matrix; wherein, the output matrix is a matrix composed of the body roll angle and the front wheel steering angle; calculating a feedback value according to the output matrix; According to the estimated disturbance value of the previous cycle and the feedback value, the front wheel drive torque is calculated. 3. The control method according to claim 2, wherein the feedback value is calculated according to the output matrix, comprising: multiplying the output matrix by a first adjustment coefficient to obtain a first output matrix; After deriving the output matrix, multiplying it with a second adjustment coefficient to obtain a second output matrix; Adding the first output matrix and the second output matrix to obtain the feedback value. 4. The control method according to claim 2, characterized in that, according to the estimated disturbance value of the previous period and the feedback value, the front wheel drive torque is calculated and obtained, comprising: The feedback value is subtracted from the estimated disturbance value of the previous cycle to obtain the front wheel drive torque. 5. The control method according to claim 1, characterized in that, after outputting the front wheel drive torque to the front wheel drive motor, further comprising: Multiply the front wheel drive torque by the transfer function matrix to calculate the output adjustment; Subtracting the output matrix from the output adjustment amount to obtain an output adjustment matrix; The output adjustment matrix is multiplied by the interference adjustment matrix to obtain the estimated interference value of the current period. 6. A control system for vehicle balance, comprising: The sensor group is used to obtain the body roll angle and front wheel steering angle of the vehicle when the vehicle is in a parked state; The control module is used to send an angle adjustment command to the front wheel steering motor driver when the vehicle is in a parked state, so that the front wheel steering motor driver controls the front wheel steering motor to adjust the angle of the front wheel steering angle to be greater than the preset angle , calculating the front wheel drive torque according to the vehicle body roll angle and the front wheel steering angle, and outputting the front wheel drive torque to the motor driver; The motor driver is used to receive the driving torque of the front wheels, and then adjust the torque of the front wheel driving motor to the driving torque of the front wheels. 7. The control system according to claim 6, wherein the control module is used for calculating the driving torque of the front wheels according to the roll angle of the vehicle body and the steering angle of the front wheels, specifically for: Generate an output matrix; wherein, the output matrix is a matrix composed of the body roll angle and the front wheel steering angle; calculating a feedback value according to the output matrix; According to the estimated disturbance value of the previous cycle and the feedback value, the front wheel drive torque is calculated. 8. The control system according to claim 7, wherein when the control module is used to calculate the feedback value according to the output matrix, it is specifically used for: multiplying the output matrix by a first adjustment coefficient to obtain a first output matrix; After deriving the output matrix, multiplying it with a second adjustment coefficient to obtain a second output matrix; Adding the first output matrix and the second output matrix to obtain the feedback value. 9. The control system according to claim 7, wherein the control module is used to calculate the front wheel drive torque according to the estimated disturbance value of the previous cycle and the feedback value, and is specifically used for: The feedback value is subtracted from the estimated disturbance value of the previous cycle to obtain the front wheel drive torque. 10. The control system according to claim 6, wherein the control module is further configured to: Multiply the front wheel drive torque by the transfer function matrix to calculate the output adjustment; Subtracting the output matrix from the output adjustment amount to obtain an output adjustment matrix; The output adjustment matrix is multiplied by the interference adjustment matrix to obtain the estimated interference value of the current period.