Self-adaptive Wheel-side Independent Driving System with Active Suspension

A new traction-balanced driving vehicle steering in complicated cross country terrains was developed to improve the synchronous driving vehicle steering in complicated terrains low traction efficiency. The vehicle driving system traction-balanced was achieved through hydraulic-resistance control technology applied to the single-side wheel-side hydraulic driving motor and securing the tyro grounding by hydraulic active suspension. The semi-rail vehicle driving system model was set up based on the methods of estimating wheel–terrain contact angles of mobile robots using simple on-board sensors and principle of the pump-control-motor. The simulation showed that when the wheel grounding was secured, the vehicle traction efficiency was improved with the hydraulic-resistance control in different complicated terrains and the vehicle cross-country performance was improved further.