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.

翻译：本文提出了一种基于油气悬架气体压力估计车轮动态载荷的新方法。通过整合悬架动力学及其非线性刚度特性，建立了悬架腔室压力与轮胎-地面接触力之间的非线性耦合模型。开发了一种仅使用单个压力传感器数据的迭代算法来估计车轮动态载荷，从而消除了对传统轮胎模型和复杂多传感器融合框架的依赖。该方法有效降低了硬件冗余并最小化了测量误差的传播。所提出的模型在专用悬架试验台上进行了实验验证，实测数据与估计数据之间表现出良好的一致性。此外，与TruckSim的联合仿真验证了计算所得阻尼力和车轮动态载荷的准确性，证明了该模型在表征油气悬架系统力学行为方面的有效性。所提出的方法提供了一种实用、低成本且高效的解决方案，其对硬件的依赖性极低。