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Wheel Dynamic Load Estimation Method Based on Gas Pressure of Hydro-pneumatic Suspension

Qijun Liao, Jue Yang, Subhash Rakheja, Yiting Kang, Yumeng Yao, Yuming Yin

Abstract

This paper proposes a novel method to estimate the wheel dynamic load based on the gas pressure of a hydro-pneumatic suspension. A nonlinear coupled model between suspension chamber pressure and tire-ground contact force is developed, integrating suspension dynamics with its nonlinear stiffness characteristics. An iterative algorithm is developed to estimate wheel dynamic load using data from only one single pressure sensor, thereby eliminating the reliance on traditional tire models and complex multi-sensor fusion frameworks. This method effectively reduces hardware redundancy and minimizes the propagation of measurement errors. The proposed model is experimentally validated on a dedicated suspension test bench, demonstrating satisfactory agreement between the measured and estimated data. Additionally, co-simulation with TruckSim verifies the accuracy of both the calculated damping force and wheel dynamic load, demonstrating the effectiveness of the model on characterizing the mechanical behavior of the hydro-pneumatic suspension system. The proposed method provides a practical, low-cost, and efficient solution with minimal hardware dependencies.

Wheel Dynamic Load Estimation Method Based on Gas Pressure of Hydro-pneumatic Suspension

Abstract

This paper proposes a novel method to estimate the wheel dynamic load based on the gas pressure of a hydro-pneumatic suspension. A nonlinear coupled model between suspension chamber pressure and tire-ground contact force is developed, integrating suspension dynamics with its nonlinear stiffness characteristics. An iterative algorithm is developed to estimate wheel dynamic load using data from only one single pressure sensor, thereby eliminating the reliance on traditional tire models and complex multi-sensor fusion frameworks. This method effectively reduces hardware redundancy and minimizes the propagation of measurement errors. The proposed model is experimentally validated on a dedicated suspension test bench, demonstrating satisfactory agreement between the measured and estimated data. Additionally, co-simulation with TruckSim verifies the accuracy of both the calculated damping force and wheel dynamic load, demonstrating the effectiveness of the model on characterizing the mechanical behavior of the hydro-pneumatic suspension system. The proposed method provides a practical, low-cost, and efficient solution with minimal hardware dependencies.
Paper Structure (41 sections, 1 theorem, 45 equations, 11 figures, 3 tables, 2 algorithms)

This paper contains 41 sections, 1 theorem, 45 equations, 11 figures, 3 tables, 2 algorithms.

Table of Contents

  1. Introduction
  2. Suspension Output Force Calculation Based on Gas Pressure
  3. Nonlinear Dynamic Modeling of the Suspension System
  4. Gas Pressure
  5. Quasi-Dynamic Polytropic Process
  6. Gas Pressure Calculation
  7. Fluid Damping Force
  8. Damping Pressure Difference Composition
  9. Viscous Pressure Drop
  10. Fluid Inertia Effect
  11. Orifice Throttling Pressure Drop
  12. Clearance Flow Pressure Drop
  13. Total Damping Force Calculation
  14. Friction Force
  15. Suspension Kinematics Parameter Calculation
  16. ...and 26 more sections

Key Result

Theorem 1

Let a generic pneumatic-hydraulic system enclosed by a piston (such as a hydro-pneumatic suspension) satisfy the following conditions: First, the gas state follows the polytropic process equation where $P_0$, $V_0$ are initial pressure and volume, and $n_{\text{eff}}$ is the effective polytropic index. Second, the sampling interval $\Delta t$ is fixed and known. Third, system geometric parameters

Figures (11)

  • Figure 1: Schematic diagram of hydro-pneumatic suspension system structure
  • Figure 2: Working process diagram of hydro-pneumatic suspension
  • Figure 3: Suspension on test rig
  • Figure 4: Cylinder temperature variation under all experimental conditions
  • Figure 5: Suspension output force-pressure relationship at 30°C and 50°C initial temperatures
  • ...and 6 more figures

Theorems & Definitions (2)

  • Theorem 1: Pressure-Velocity Uniqueness Mapping Theorem
  • proof