In the controller, the motor Angle was controlled by the feedback of the yawrate and the sideslip Angle.
调节器中，通过横摆角速度和侧偏角的共同反馈控制助力电机的转角。
2
The vehicle's yawrate and lateral acceleration have been reduced, meanwhile, the vehicle handling and stability have been enhanced instead.
通过控制，降低了车辆横摆角速度与侧向加速度，提高了车辆的操纵稳定性。
3
The principle and typical application of single chip yawrate gyroscope are introduced, then the design notes of yawrate measure instrument are presented.