| Coupling Control Theory and Bench Test of Body Attitude and Wheel Reaction Force for Multi-axle Vehicles in 3D Off-Road Terrain |
| Chu Li1, Fan Zhang2, Jian Guo1, Jiguo Yang1, Yafei Ji1, Jikai Cui1, Wei Fan1, Xianyue Gang1 |
1School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255000 , Shandong, People’s Republic of China
2Academic Office, BinZhou Polytechnic, Binzhou 256600, Shandong, People’s Republic of China |
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Received: December 9, 2024; Revised: February 20, 2025 Accepted: April 8, 2025. Published online: June 14, 2025. |
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| ABSTRACT |
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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. |
| Key Words:
Multi-axle vehicle · Active suspension · Body attitude · Wheel reaction force · Coupling control · 3D off-road terrain |
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Corresponding Author.
Fan Zhang , Email. 
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