Mechanical elastic wheel (MEW) has the advantages of explosion-proof and prick-proof, which is conducive to the safety and maneuverability of the vehicle. However, the research on the performance of the full vehicle equipped with MEW is rare. Considering the particular properties of the radial and cornering stiffness of MEW, this paper aims to take into account both ride comfort and yaw stability of the vehicle equipped with the MEW through a nonlinear control method. Firstly, a 9-DOF nonlinear full vehicle model with the MEW tire model is constructed. The tire model is fitted based on experimental data, which corrects the impacts of vertical load on the cornering characteristic of the MEW. Then the full vehicle system is decoupled into four subsystems with a single input and a single output each according to active disturbance rejection control (ADRC) technology. In this process, the coupling relationship between different motions of the original system is regarded as the disturbance. Afterward, a novel nonlinear extended state observer is proposed, which has a similar structure of traditional linear extended state observer but smaller estimation error. Next, the control law of Backstepping-ADRC for different subsystems are derived respectively based on the Lyapunov theory. For the first time, the Backstepping-ADRC method is applied to the decoupling control of four-wheel steering and active suspension systems. Furthermore, the parameters of the controllers are adjusted through a multi-objective optimization scheme. Finally, simulation results validate the effectiveness and robustness of the proposed controller, especially when encountering some disturbances. The indices of vehicle body attitude and ride comfort are improved significantly, and also the yaw stability is guaranteed simultaneously.

机械弹性轮（MEW）具有防爆、防刺的优点，有利于车辆的安全性和机动性。然而，关于装备水电部的整车性能的研究却很少。考虑到水电部径向刚度和转弯刚度的特殊特性，本文旨在通过非线性控制方法同时考虑配备水电部的车辆的乘坐舒适性和横摆稳定性。首先，构建了具有MEW轮胎模型的9自由度非线性整车模型。轮胎模型是根据实验数据拟合的，修正了垂直载荷对水电部过弯特性的影响。然后，根据主动抗扰控制 (ADRC) 技术，将整车系统解耦为具有单个输入和单个输出的四个子系统。在这个过程中，原系统不同运动之间的耦合关系被视为扰动。随后，提出了一种新的非线性扩展状态观测器，其结构与传统线性扩展状态观测器相似，但估计误差较小。接着，基于Lyapunov理论分别推导出Backstepping-ADRC对不同子系统的控制律。首次将Backstepping-ADRC方法应用于四轮转向与主动悬架系统的解耦控制。此外，控制器的参数通过多目标优化方案进行调整。最后，仿真结果验证了所提出控制器的有效性和鲁棒性，尤其是在遇到一些干扰时。车身姿态、乘坐舒适性等指标得到显着提升，同时也保证了横摆稳定性。