Modeling and experiment of in-arm hydro-pneumatic suspension in tracked vehicle

In order to learn the static and dynamic characteristics of the new type of in-arm suspension unit(ISU) designed by the project team, and thus lay a foundation for active control research. Based on the structure parameters and working principle of ISU, mathematical model of ISU was established, the main characteristics were studied and simulated, and rationality of model were validated using bench test, the main control parameters of test vehicle attitude were acquired, on this basis, multi-parameter of in-arm hydro-pneumatic suspension such as the influence of precharge pressure and excitation frequency on in-arm hydro-pneumatic suspension were further analysis and discussion.