角制的

The transformation of the yaw moment under differential brake and the impact of the slip ratio and road surface friction coefficient to the yaw moment were analyzed. The distribution method of the brake force was confirmed. After analyzing the observability of the control system, the state observer was designed, the evaluation of the side slip angle was completed and result of the evaluation wan validated.

本文分析了差动制动时整车横摆力矩的变化情况，研究了滑移率和路面摩擦系数对横摆力矩的影响，确定了制动力的分配原则，进行了控制系统的可观性分析，并设计了状态观测器，完成了质心侧偏角的估算并对此估算结果进行了验证。

I didn't watch TV last night, because it .

昨晚我没有看电视，因为电视机坏了。

Since this year, in a lot of villages of Beijing, TV of elevator liquid crystal was removed.

今年以来，在北京的很多小区里，电梯液晶电视被撤了下来。