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<p>In the research on traditional wheel force sensors, researchers have mostly focused on the sensor itself, neglecting the influence of tires, the inherent deviation from the misalignment between the wheel plane and the force-measuring plane, and the overly complex connection between the elastomer and components like the wheel rim. To address these issues, this study designs an integrated wheel hub structure and proposes a dynamic estimation system for wheel six-dimensional forces based on spoke strain to achieve more accurate measurements. strain gauges are installed in different areas of the integrated wheel hub and connected into a Wheatstone full-bridge circuit to build a high-precision six-dimensional force measurement system; a static estimation model for wheel six-dimensional forces is established using strain data under static working conditions, and a dynamic estimation model is further constructed by introducing the wheel rotation angle and coordinate transformation. Experimental results show that this estimation model can accurately predict the wheel’s six-dimensional force components, including vertical force, longitudinal force, lateral force, and aligning torque.</p>

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Six-dimensional force estimation system based on wheel spoke strain

  • 期刊论文

  • 发表日期：

    2026年3月18日

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  • Yugan Yin,
  • Hongxun Fu,
  • Zhen Xiao,
  • Jinyan Zhang,
  • Libin Dai,
  • Shitong Xu

摘要

In the research on traditional wheel force sensors, researchers have mostly focused on the sensor itself, neglecting the influence of tires, the inherent deviation from the misalignment between the wheel plane and the force-measuring plane, and the overly complex connection between the elastomer and components like the wheel rim. To address these issues, this study designs an integrated wheel hub structure and proposes a dynamic estimation system for wheel six-dimensional forces based on spoke strain to achieve more accurate measurements. strain gauges are installed in different areas of the integrated wheel hub and connected into a Wheatstone full-bridge circuit to build a high-precision six-dimensional force measurement system; a static estimation model for wheel six-dimensional forces is established using strain data under static working conditions, and a dynamic estimation model is further constructed by introducing the wheel rotation angle and coordinate transformation. Experimental results show that this estimation model can accurately predict the wheel’s six-dimensional force components, including vertical force, longitudinal force, lateral force, and aligning torque.