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<p>When passing through or lingering in 3D off-road terrain, specialized civil and military vehicles have clear requirements for body attitude and wheel reaction force control. However, due to the complex coupling characteristics of the body–suspension–wheel statically indeterminate system, the adjustment has complex coupling, nonlinear, and infinite solution relationships, making it difficult to achieve coupling control and even cause malignant effects. Constructing a convenient coupling control methodology for multi-axle vehicles is key in breaking through their trafficability. In this paper, the body–suspension–wheel kinematics model is established for the independent attitude adjustment based on current status forward calculation and suspension actuation reverse calculation. Second, the coupling control model of body attitude and wheel reaction force is constructed based on the characterization of the force–deformation coupling system and is verified through multi-body dynamics simulation. Finally, active suspension bench tests are carried out on a three-axle hydraulic active suspension experimental platform for both control methods. Comparison results proved that the proposed coupling control methodology can realize flexible, minimally iterative, and most importantly, coupling body attitude and wheel reaction force adjustment for vehicles with multi-axles, thus providing good application value to active rescue of trapped vehicles and expectant active suspension control in off-road terrain traveling.</p>

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Coupling Control Theory and Bench Test of Body Attitude and Wheel Reaction Force for Multi-axle Vehicles in 3D Off-Road Terrain

  • 期刊论文

  • 发表日期：

    2025年6月14日

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  • Chu Li,
  • Fan Zhang,
  • Jian Guo,
  • Jiguo Yang,
  • Yafei Ji,
  • Jikai Cui,
  • Wei Fan,
  • Xianyue Gang

摘要

When passing through or lingering in 3D off-road terrain, specialized civil and military vehicles have clear requirements for body attitude and wheel reaction force control. However, due to the complex coupling characteristics of the body–suspension–wheel statically indeterminate system, the adjustment has complex coupling, nonlinear, and infinite solution relationships, making it difficult to achieve coupling control and even cause malignant effects. Constructing a convenient coupling control methodology for multi-axle vehicles is key in breaking through their trafficability. In this paper, the body–suspension–wheel kinematics model is established for the independent attitude adjustment based on current status forward calculation and suspension actuation reverse calculation. Second, the coupling control model of body attitude and wheel reaction force is constructed based on the characterization of the force–deformation coupling system and is verified through multi-body dynamics simulation. Finally, active suspension bench tests are carried out on a three-axle hydraulic active suspension experimental platform for both control methods. Comparison results proved that the proposed coupling control methodology can realize flexible, minimally iterative, and most importantly, coupling body attitude and wheel reaction force adjustment for vehicles with multi-axles, thus providing good application value to active rescue of trapped vehicles and expectant active suspension control in off-road terrain traveling.