Design and Stability Analysis of Six-Degree-of-Freedom Hydro-Pneumatic Spring Wheel-Leg
Source abstract
Abstract
Traditional hydro-pneumatic spring suspensions are limited to a single vertical degree of freedom, which cannot accommodate the significant technological changes introduced by the new in-wheel motor drive mode. Integrating the motor into the vehicle’s hub creates a direct motor drive mode, replacing the traditional engine–transmission–drive shaft configuration. Together with the dual in-wheel motor wheelset structure, this setup can achieve both drive and differential steering functions. In this study, we designed a six-arm suspension wheel-leg device based on hydro-pneumatic springs, and its structural composition and functional characteristics are presented herein. The external single-chamber hydro-pneumatic springs used in the six-arm structure suspension were analyzed and mathematically modeled, and the nonlinear characteristic curves of the springs were derived. To overcome the instability caused by inconsistent extension lengths of the hydro-pneumatic springs during horizontal steering, the spring correction force, horizontal rotational torque, consistency, and stiffness of the six-degree-of-freedom hydro-pneumatic spring wheel-leg device were analyzed. Finally, with the auxiliary action of tension springs, the rotational torque of the hydro-pneumatic springs and the tension resistance torque of the tension spring counterbalanced each other, keeping the resultant torque on the wheelset at approximately 0 N∙m. The results suggest that the proposed device has excellent self-stabilizing performance and meets the requirements for straight-line driving and differential steering applications. This device provides a new approach for the drive mode and suspension design of the dual in-wheel motor wheelset.
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Research context
OpenAlex topics: Hydraulic and Pneumatic Systems · Vehicle Dynamics and Control Systems · Mechanical Engineering and Vibrations Research
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Shanxi Key Laboratory of High-End Equipment Reliability Technology, North University of China, Taiyuan 030051, China
School of Electrical and Control Engineering, North University of China, Taiyuan 030051, China
State Key Laboratory of Dynamic Measurement Technology, North University of China, Taiyuan 030051, China
Funding
Guiding the Transformation of Scientific and Technological Achievements of Shanxi Province · Fund for Fundamental Research Program of Shanxi Province · Research Fund of Shanxi Key Laboratory of High-end Equipment Reliability Technology
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