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For the ET120 wheel-legged excavator model, a kinematic and dynamic model of the wheel-legged chassis was developed. This study explores a retrofit solution that employs an electro-hydraulic servo valve to control the lift cylinders of the wheel-legged chassis. Based on the original excavator configuration, the system was enhanced with functions such as active–passive mode switching, electro-hydraulic servo control, oil pressure maintenance, and fluid replenishment, along with the corresponding components. These upgrades enable the hydraulic system to deliver sufficient force and flow to support an active suspension function for the excavator. A PID controller was implemented to regulate both the excavator’s attitude and the chassis ground clearance, thereby ensuring minimal variation in attitude angle when operating on uneven terrain.

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A Study on the Active Suspension System of a Wheel-Legged Excavator with Attitude Adjustment

  • 会议论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年

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  • Zeguang Hu,
  • Hao Xiong,
  • Dingxuan Zhao,
  • Haiwu Zheng

摘要

For the ET120 wheel-legged excavator model, a kinematic and dynamic model of the wheel-legged chassis was developed. This study explores a retrofit solution that employs an electro-hydraulic servo valve to control the lift cylinders of the wheel-legged chassis. Based on the original excavator configuration, the system was enhanced with functions such as active–passive mode switching, electro-hydraulic servo control, oil pressure maintenance, and fluid replenishment, along with the corresponding components. These upgrades enable the hydraulic system to deliver sufficient force and flow to support an active suspension function for the excavator. A PID controller was implemented to regulate both the excavator’s attitude and the chassis ground clearance, thereby ensuring minimal variation in attitude angle when operating on uneven terrain.