applied

sciences
Article
Research and Improvement of the Hydraulic
Suspension System for a Heavy Hydraulic
Transport Vehicle
Jianjun Wang 1,2,3,4 , Jingyi Zhao 1,3,4,5, * , Wenlei Li 1,3,4 , Xing Jia 6 and Peng Wei 6
1 Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,
Yanshan University, Qinhuangdao 066004, China; ahjdwjj@ahcme.edu.cn (J.W.); 15033532817@163.com (W.L.)
2 College of Mechanical Engineering, Anhui Technical College of Mechanical and Electrical Engineering,
Wuhu 241000, China
3 Key Laboratory of Advanced Forging & Stamping Technology and Science, Yanshan University,
Qinhuangdao 066004, China
4 Hebei Key Laboratory of Special Delivery Equipment, Yanshan University, Qinhuangdao 066004, China
5 State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University,
Hangzhou 310027, China
6 Tianjin Key Laboratory of Aerospace Intelligent Equipment Technology, Tianjin Institute of Aerospace
Mechanical and Electrical Equipment, Tianjin 300458, China; jxysu1991@126.com (X.J.);
weipeng19860511@163.com (P.W.)
* Correspondence: zjy@ysu.edu.cn; Tel.: +86-13603358270




Received: 1 July 2020; Accepted: 27 July 2020; Published: 29 July 2020


Featured Application: Adding an accumulator in a suspension system can effectively reduce the
hydraulic impact caused by an uneven road, and the appropriate accumulator parameters can be
obtained through combined simulation.

Abstract: In order to ensure the ride comfort of a hydraulic transport vehicle in transportation,
it is important to account for the effects of the suspension system. In this paper, an improved
hydraulic suspension system based on a reasonable setting of the accumulator was proposed for a
heavy hydraulic transport vehicle. The hydraulic transport vehicle was a multi-degree nonlinear
system, and the establishment of an appropriate vehicle dynamical model was the basis for the
improvement of the hydraulic suspension system. The hydraulic suspension system was analyzed,
and a mathematical model of the hydraulic suspension system with accumulator established and
then analyzed. The results revealed that installing the appropriate accumulator can absorb the impact
pressure on the vehicle, while a hydraulic suspension system with an accumulator can be designed.
Further, it was proved that a reasonable setting for the accumulator can reduce the impact force on
the transport vehicle through simulation, and the optimal accumulator parameters can be obtained.
Finally, an experiment in the field was set up and carried out, and the experimental results presented
to prove the viability of the proposed method.

Keywords: ride comfort; hydraulic shock; hydraulic suspension; accumulator; combined simulation

1. Introduction
The suspension system is one of the most important components of a transport vehicle, which can
improve the ride comfort, running stability, and reduce the impact force caused by an uneven road.
Therefore, it is very important to select the suspension design scheme and suspension parameters
in a reasonable way. The large impact force on the vehicle load-bearing platform will aggravate the

Appl. Sci. 2020, 10, 5220; doi:10.3390/app10155220 www.mdpi.com/journal/applsci

1. Introduction
The suspension system is one of the most important components of a transport vehicle, which
can improve the ride comfort, running stability, and reduce the impact force caused by an uneven
Appl. Sci.
road. 2020, 10, 5220it is very important to select the suspension design scheme and suspension
Therefore, 2 of 15

parameters in a reasonable way. The large impact force on the vehicle load-bearing platform will
aggravate
up and down the vibration
up and down of thevibration
tire, affectofthe the tire, affect
adhesion the adhesion
between the wheel between
and thethe wheeland
ground, and the
affect
ground, and affect the braking force, which will cause a great impact on
the braking force, which will cause a great impact on the stability of the vehicle [1–3]. The hydraulic the stability of the vehicle
[1–3]. The hydraulic
suspension system has suspension system hasone
great advantages, greatof advantages, one of the
the main functions is tomain
reducefunctions is to reduce
the impact on the
the impact on the vehicle load-bearing platform. The hydraulic
vehicle load-bearing platform. The hydraulic suspension system has been used for a long suspension system has been used for
time,
aand
long time, and it can not only improve the ride comfort of the vehicle,
it can not only improve the ride comfort of the vehicle, but also realize raising and lowering but also realize raising and
lowering
of the body. of theThebody. The transportation
transportation requirements requirements are ridestability,
are ride comfort, comfort,and stability,
safety and safety but
but because of
because of the poor compressibility of hydraulic oil, the rigidity of the
the poor compressibility of hydraulic oil, the rigidity of the hydraulic suspension is substantial and hydraulic suspension is
substantial and the absorption of the impact force is poor. Through simulation
the absorption of the impact force is poor. Through simulation analysis, Banerjee, S. improved the analysis, Banerjee, S.
improved the vibration
vibration reduction of a reduction
vehicle and ofoptimized
a vehicle and optimized the
the parameters parameters
of the of the hydro-pneumatic
hydro-pneumatic suspension [4].
suspension
Choi, S.B. realized vibration control through a synovial control strategy [5]. strategy
[4]. Choi, S.B. realized vibration control through a synovial control Francois. [5].compared
Francois.
compared
different gas different
modelsgas models tothe
to calculate calculate the spring
spring force force of a hydro-pneumatic
of a hydro-pneumatic suspensionsuspension
and found that and
found that the hydro-pneumatic suspension model on considering
the hydro-pneumatic suspension model on considering energy conversion was more accurate [6]. energy conversion was more
accurate
Wang, G.Y. [6].improved
Wang, G.Y. improved
the ride comfort the
of ride comfort
a vehicle of a vehicle
by changing by changing
the damping of thethesuspension
damping of the
under
suspension
different workingunder conditions
different working
[7]. Throughconditions [7]. Through
simulation, Ansari,simulation,
F.A. obtained Ansari,
the bestF.A. obtained the
parameters for
best parameters for accumulator pressure for a heavy trailer suspension
accumulator pressure for a heavy trailer suspension [8]. Zhang, S.Z. obtained a calculation [8]. Zhang, S.Z. obtained
method a
calculation method for the suspension accumulator according to the limiting
for the suspension accumulator according to the limiting working condition [9]. Zhao, J.Y. studied working condition [9].
Zhao, J.Y. studied
the compliance the compliance
of self-adaption of self-adaption
suspension group systems suspension group systems
in self-propelled in self-propelled
transporters [10]. Liu, X.
transporters [10]. Liu, X. proposed an observer-based active fault-tolerant
proposed an observer-based active fault-tolerant controller for a vehicle suspension system controller for a[11].
vehicle
Gui,
suspension system [11]. Gui, Z. analyzed the effects of an uneven road
Z. analyzed the effects of an uneven road on a multi-axle vehicle with hydraulic suspension and found on a multi-axle vehicle with
hydraulic suspension
that increasing the axle andnumberfoundof thethatmulti-axle
increasing the axle
vehicle number of
can effectively the multi-axle
suppress the dynamicvehicle
loadcanon
effectively suppress the
the frame and suspension [12]. dynamic load on the frame and suspension [12].
The heavy
The heavyhydraulic
hydraulictransport
transport vehicle
vehicle studied
studied is shown
is shown in Figure
in Figure 1. It is1.a special
It is a special transport
transport vehicle,
vehicle, not a conventional road vehicle. It is mainly used for transportation in construction
not a conventional road vehicle. It is mainly used for transportation in construction sites. sites.

Figure 1. The
The hydraulic
hydraulic transport
transport vehicle.

Based ononthe
theprevious work,
previous an improved
work, method
an improved for a hydraulic
method suspensionsuspension
for a hydraulic system is proposed
system in
is
this paper.inFirst,
proposed this the structure
paper. First, of
thethe suspension
structure system
of the was analyzed
suspension system and
wasexpressed
analyzed by anda mathematical
expressed by
amodel. The mainmodel.
mathematical function
Theofmain
the accumulators
function of thein accumulators
a hydraulic suspension system
in a hydraulic of a transport
suspension vehicle
system of a
is to absorb the impact pressure, so the diaphragm type accumulator was selected.
transport vehicle is to absorb the impact pressure, so the diaphragm type accumulator was selected. The hydraulic
suspension
The hydraulicsystem with accumulators
suspension system withwas designed, then
accumulators was the mathematical
designed, then themodel of the accumulator
mathematical model of
andaccumulator
the the dynamicand model
the of the vehicle
dynamic modelestablished. Finally,
of the vehicle the combined
established. Finally,simulation was realized
the combined by
simulation
ADAMS
was and by
realized AMESim,
ADAMSand andthe optimal and
AMESim, parameters of the
the optimal accumulator
parameters obtained.
of the The experiment
accumulator obtained. was
The
compared with
experiment wasthe simulation,
compared withwhich verified the
the simulation, correctness
which verifiedofthe
thecorrectness
simulationof andthedesign.
simulation and
design.
2. Analysis of the Suspension System
2. Analysis of the Suspension
The suspension System
system is the key component of the hydraulic transport vehicle. Its main function
is to support the vehicle load-bearing platform and buffer the load. It can also control the lifting
action of the whole vehicle [13]. Therefore, the suspension system is very important as it affects the
stability of the vehicle. Each axis of a hydraulic transport vehicle is equipped with two sets of hydraulic
Appl.Sci.
Appl. Sci.2020,
2020,10,
10,xxFOR
FORPEER
PEERREVIEW
REVIEW 33of
of15
15

Thesuspension
The suspensionsystem
systemis isthe
thekey
keycomponent
componentof ofthe
thehydraulic
hydraulictransport
transportvehicle.
vehicle.ItsItsmain
mainfunction
function
is
is to support
to support
Appl.
the vehicle
the5220
Sci. 2020, 10,
load-bearing platform and buffer the load. It can also control the
vehicle load-bearing platform and buffer the load. It can also control the lifting actionlifting action
3 of 15
of the whole vehicle [13]. Therefore, the suspension system is very important as it
of the whole vehicle [13]. Therefore, the suspension system is very important as it affects the stabilityaffects the stability
of the
of the vehicle.
vehicle. Each
Each axis
axis of
of aa hydraulic
hydraulic transport
transport vehicle
vehicle is
is equipped
equipped with with two
two sets
sets of
of hydraulic
hydraulic
suspension systems, each set of which is separately connected with the frame through aasupport.
suspension
suspension systems,
systems, each
eachset of
set which
of is
which separately
is connected
separately with
connected the
withframe
the through
frame a rotary
through rotary
rotary
The
support.composition
support. The of the
The composition hydraulic
composition of of the suspension
the hydraulic system
hydraulic suspension is shown
suspension system
system isin Figure
is shown
shown in 2.
in Figure
Figure 2.2.

SuspensionFrame
Frame Cylinder Rotary Support
Rotary Support
Suspension Cylinder
BalanceArm
Balance Arm

BrakeSystem
Brake System

Wheel
Wheel

Figure 2.
Figure
Figure 2. Schematic
2. Schematic diagram
diagram of the suspension
of the
the suspension system.
suspension system.
system.

The
The single hydraulic
Thesingle suspensionsystem
hydraulicsuspension
suspension systemcan
system canbe
can besimplified
be simplifiedinto
simplified into
into amechanism
mechanism
aamechanism asas
as shown
shown
shown inin
in Figure
Figure
Figure 3. 3.
3.

AA

jj

gg

aa CC
BB DD
cc LL11 L
L22 Wheel
Wheel
CC' ' GG
bb
FF

D' '
D

Figure 3. The
Figure The simplified mechanism.
mechanism.
Figure 3.
3. The simplified
simplified mechanism.

The initial
The initial angle
angle between
between the suspension
suspension frame
frame and and the
the suspension
suspension balance
balance arm is is a.
a. ItIt is
is
initial angle between thethesuspension frame and the suspension balance arm is a.arm
It is assumed
assumed the
assumed the rotation
rotation angle
angle of
of the
the suspension
suspension balance
balance arm relative
relative to
to the
the suspension
suspension frame
frame is is c,c, and
and
the rotation angle of the suspension balance arm relativearmto the suspension frame is c, and the stroke of
the stroke
the stroke of
of the
the corresponding
corresponding suspension
suspension cylinder
cylinder is
is x.
x. The
The following
following equation
equation can
can be
be obtained.
obtained.
corresponding suspension cylinder is x. The following equation can be obtained.

LAC+xxx= LLL222AB LLL222BC 2L aac)cc))

q
AB  BC  22LL AB L cos( (1)
LL
ACAC AB + BC − ABLL
AB BC cos(
BCcos
BC (a + (1)
According to
According to the
the moment
moment balance
balance equation
equation ofof the
the suspension
suspension mechanism,
mechanism, Equation
Equation (2)(2) is
is
According to the moment balance equation of the suspension mechanism, Equation (2) is obtained
obtained
obtained as follows.
as follows.
as follows.
FL1 = GL2 (2)
Appl. Sci. 2020, 10, 5220 4 of 15

where F is the force of the suspension cylinder, G is the load on each suspension.
According to the triangle area equation, Equation (3) can be obtained.

1 1
LAB LBC sin(a + c − b) = (LAC + x)L1 (3)
2 2
So L1 and L2 can be obtained as follows.

LAB LBC sin(a + c − b)

L1 = p (4)
L AB + L2 BC − 2LAB LBC cos(a + c − b)
2

L2 = LBD cos(a + c − j) (5)

So, Equation (2) can be transformed as follows, which is the relationship between the force on
each suspension and the force of one suspension cylinder.

LAB LBC sin(a + c − b)

F· p = G · LBD cos(a + c − b) (6)
L AB + L2 BC − 2LAB LBC cos(a + c − b)
2

The full load G on each hydraulic suspension is 17 t, the force F of the suspension cylinder is related
to the geometric parameters of the suspension structure, and it can be obtained from Equation (6).
The force is 382.52 N and the working pressure of each suspension hydraulic cylinder is 21.3 MPa when
the vehicle is fully loaded. When the transport vehicle is running on an uneven road, it can be adjusted
freely by the telescopic movement of the suspension cylinders, so that the load-bearing platform is
always in a horizontal state, but there will be a hydraulic impact on the suspension cylinder.
The main reason for hydraulic impact is that the kinetic energy of the hydraulic oil is converted into
pressure energy instantaneously. According to the law of conservation of energy, the dynamic energy
of hydraulic oil is converted into elastic potential energy, Equation (7) can be obtained as follows:

1 1V
ρVv2 = ∆P2 (7)
2 2 K0
where V is the volume of the hydraulic oil, v is the average flow velocity, ρ is density of the hydraulic
oil, K’ is the equivalent bulk modulus of the hydraulic oil, ∆P is the impact pressure.
So, the impact pressure can be obtained as follows:
s
K0
∆P = ρ v = ρcv (8)
ρ

where c is the transmission velocity of the pressure shock wave in the pipeline.
According to the above theory, two simple hydraulic cylinders can be selected as approximate
suspension hydraulic cylinders for analysis. There are multiple suspension hydraulic cylinders in the
hydraulic transport vehicle similar to this. The two states of the two hydraulic cylinders are shown in
Figure 4.
The two hydraulic cylinders are the same. In the initial position, the two cylinders are in the same
horizontal position and the pressure value is the same. It is assumed that the oil is incompressible.
According to the change of oil volume in the two cylinders, the following equations can be obtained.

V1 + V2 = 2V0 (9)

d 2
V2 − V1 = π ( ) Y (10)
2
 Appl. Sci. 2020, 10, 5220 5 of 15

where V0 is the initial oil volume of the two cylinders, V1 is the oil volume of the left cylinder after
change, V2 is the oil volume of the right cylinder after change, ∆V is the changed oil volume, d is the
diameter of the cylinder, Y is the change of road surface.
According to Equations (9) and (10), ∆V can be obtained as follows.

πd2
∆V = V2 − V0 = Y (11)
8
According to the relationship between volume and flow, the changed oil flow Q can be obtained
from Equation (12) while the average flow velocity can be obtained as Equation (13).

d∆V πd2 dY
Q= = · (12)
dt 8 dt
Q 1 dY
v= 2
= · (13)
π( 2d ) 2 dt

The relationship between the average flow velocity and the road unevenness is shown
as Equation (13). However, it is a simplified model, in practice, there is a certain angle between
the position of the suspension cylinder and the vertical direction, which should be further considered
in an accurate calculation. According to Equation (13), Equation (8) can be transformed as follows.

1 dY
∆P = ρc (14)
2 dt
From Equation (14), it can be seen that the impact pressure is mainly related to the change of the
road surface and the time used. Because the type of hydraulic oil and pipeline has been selected and
the unevenness of the road cannot be changed, improving the stability of the transport vehicle can only
be achieved by lowering the speed of the vehicle and setting the accumulator. The main function of the
accumulator in the suspension system is the gas spring. During transportation, the compression and
release of gas can absorb well the impact pressure of the suspension cylinder caused by the uneven
road
Appl. Sci.surface
2020, 10,and impact
x FOR load.
PEER REVIEW 5 of 15

V0 V0 V1 V2

(a) (b)

Figure 4. (a) The initial state; (b) the state of encountering an uneven road.
Figure 4. (a) The initial state; (b) the state of encountering an uneven road.
3. Improvement of the Suspension Hydraulic System
The two hydraulic cylinders are the same. In the initial position, the two cylinders are in the
3.1. Accumulator
same Settingand the pressure value is the same. It is assumed that the oil is incompressible.
horizontal position
According to the change of oil volume in the two cylinders, the following equations can be obtained.
The accumulator is an important elastic element in the suspension system of the transport vehicle,
so the accumulator selected was the diaphragm type accumulator. When the transport vehicle is
V1  V2  2V0
running, the accumulator and the hydraulic cylinder can form a hydraulic spring suspension, which(9) can
be used to absorb the impact and vibration transmitted d 2 by the road. When the transporter is lifting
and lowering, the load will change andVthe 2 V 1   ( will
motion ) Ybe out of sync. This is due to the (10) poor
2
where V0 is the initial oil volume of the two cylinders, V1 is the oil volume of the left cylinder after
change, V2 is the oil volume of the right cylinder after change, ΔV is the changed oil volume, d is the
diameter of the cylinder, Y is the change of road surface.

According to Equations (9) and (10), ΔV can be obtained as follows.

control valve, and throttling orifices.

When the transport vehicle is ready to lift, the two-position two-way electromagnetic reversing
control valve is electrified to change the direction and cut off the accumulator from the hydraulic
system.
Appl. At the
Sci. 2020, same time, the two-position four-way electromagnetic directional control valve
10, 5220 is
6 of 15
electrified, and the two hydraulic control ports of the hydraulic directional control valve are
respectively connected with the hydraulic cylinder and the accumulator to realize the pressure
load resistanceto
compensation ofthe
the hydraulic
accumulator. In order
cylinder. to solve
After this problem,
the lifting operationthe suspension the
is completed, hydraulic system
all directional
with accumulator was designed as shown in Figure 5. It is composed of a three-
control valves return to the initial state, and the accumulator can be reconnected into the systemposition four-way
hydraulic directional
without impact. control
Because thevalve, a two-position
pressures four-way electromagnetic
in the accumulator and the hydraulic directional
cylindercontrol valve,
are always
aequal,
two-position two-way electromagnetic directional control
connection without impact of the accumulator can be realized. valve, and throttling orifices.

Suspension hydraulic cylinder

Accumulator

2/2 electromagnetic
directional valve

2/4electromagnetic
directional valve

Throttling orifice 3/4 hydraulic

directional valve
P T P1
Main pressure circuit Pressure compensation circuit

Figure
Figure 5. The schematic
5. The schematic diagram
diagram of
of the
the accumulator
accumulator setting.
setting.

When
3.2. The the transport
Improved Hydraulicvehicle
System is of
ready to lift, the two-position two-way electromagnetic reversing
Suspension
control valve is electrified to change the direction and cut off the accumulator from the hydraulic system.
At theThe schematic
same diagram
time, the of the suspension
two-position hydraulic system
four-way electromagnetic of the transport
directional controlvehicle after
valve is adding
electrified,
the accumulators
and is shown
the two hydraulic controlinports
Figure 6. The
of the load sensing
hydraulic technology
directional was are
control valve adopted in the connected
respectively hydraulic
system. The output flow and system pressure of the pump can be changed with the demand
with the hydraulic cylinder and the accumulator to realize the pressure compensation to the hydraulic of the
load and maintains a good flow with pressure matching. The multi-way valve can maintain
cylinder. After the lifting operation is completed, the all directional control valves return to the initial a good
proportional
state, and the characteristic,
accumulator can which can reduceinto
be reconnected thethe
power loss
system of the impact.
without system.Because
The inlet
theand outlet
pressures
pressure of the proportional multi-way valve can be kept constant, so that the
in the accumulator and the hydraulic cylinder are always equal, connection without impact of theoutput flow of the
proportional multi-way
accumulator can be realized.valve cannot be affected by the load.

3.2. The Improved Hydraulic System of Suspension

The schematic diagram of the suspension hydraulic system of the transport vehicle after adding
the accumulators is shown in Figure 6. The load sensing technology was adopted in the hydraulic
system. The output flow and system pressure of the pump can be changed with the demand of
the load and maintains a good flow with pressure matching. The multi-way valve can maintain a
good proportional characteristic, which can reduce the power loss of the system. The inlet and outlet
pressure of the proportional multi-way valve can be kept constant, so that the output flow of the
proportional multi-way valve cannot be affected by the load.
Appl. Sci. 2020, 10, 5220 7 of 15
Appl. Sci. 2020, 10, x FOR PEER REVIEW 7 of 15
Appl. Sci. 2020, 10, x FOR PEER REVIEW 7 of 15
Suspension hydraulic cylinder
Suspension hydraulic cylinder
Accumulator
Accumulator
Explosion
Explosion
proof valve
proof valve

Pressure
PPressure
1 compensation
P1 compensation
circuit
circuit

Emergency
Emergency
lowering valve
lowering valve

Lifting valve
Lifting group
valve
group

Switching
Switching
valve group
valve group

Load sensitive variable

Load displacement
sensitive variable
pump
displacement pump

Figure The
6. The schematic diagram the
of the improved suspension hydraulic system.
Figure 6. The schematic
Figure 6. schematic diagram
diagram of
of the improved
improved suspension
suspension hydraulic
hydraulic system.
system.

4. Modeling
4. Modeling and Simulation
and Simulation
4. Modeling and Simulation
With thethe
With wide application
wide of the
application hydraulic
of the hydraulictransport
transportvehicle in transportation,
vehicle in transportation,thethe
requirements
requirements
With the wide application of the hydraulic transport vehicle in transportation, the requirements
on onride comfort
ride comfort areare
becoming higher
becoming andand
higher higher, to ensure
higher, thethe
to ensure safety of the
safety transportation.
of the In order
transportation. In order
on ride comfort are becoming higher and higher, to ensure the safety of the transportation. In order
to verify that
to verify thethe
that accumulator
accumulatorcancan
reduce thethe
reduce impact
impacton on
thethe
vehicle, andand
vehicle, for for
thethe
optimal parameter
optimal parameter
to verify that the accumulator can reduce the impact on the vehicle, and for the optimal parameter
selection of of
selection thethe
accumulator,
accumulator,a asimulation
simulationofofthe
thevehicle
vehiclewith
with the accumulators
accumulators was wascarried
carriedout.
out.
selection of the accumulator, a simulation of the vehicle with the accumulators was carried out.
4.1.4.1.
Mathematical Model
Mathematical Analysis
Model of Accumulator
Analysis of Accumulator
4.1. Mathematical Model Analysis of Accumulator
When
Whenthethe
accumulator
accumulatoris connected
is connectedto the system,
to the it isit generally
system, is generallyconnected through
connected a section
through of of
a section
When the accumulator is connected to the system, it is generally connected through a section of
pipeline, which
pipeline, has ahas
which great
a influence on the characteristics
great influence of the accumulator.
on the characteristics Therefore, when
of the accumulator. modeling
Therefore, when
pipeline, which has a great influence on the characteristics of the accumulator. Therefore, when
themodeling
accumulator, the connecting pipeline can be considered as a part of the accumulator. In
the accumulator, the connecting pipeline can be considered as a part of the accumulator. practical
modeling the accumulator, the connecting pipeline can be considered as a part of the accumulator.
application, the application,
In practical connecting pipeline between the
the connecting accumulator
pipeline between andthetheaccumulator
suspension cylinder
and theshould be
suspension
In practical application, the connecting pipeline between the accumulator and the suspension
as short as possible. The accumulator system diagram is shown as Figure 7.
cylinder should be as short as possible. The accumulator system diagram is shown as Figure 7.
cylinder should be as short as possible. The accumulator system diagram is shown as Figure 7.
Accumulator Hydraulic cylinder
Accumulator Hydraulic cylinder

K
K

Pa
Pa Qa P2
Qa P2
Orifice v
Orifice v
P1
P1
la
la
da
da

Figure 7. The
Figure accumulator
7. The system
accumulator diagram.
system diagram.
Figure 7. The accumulator system diagram.
In addition, thethe
In addition, following assumptions
following assumptions should be be
should made
madewhen
when modeling thethe
modeling accumulator
accumulator [14,15].
[14,15].
In addition, the following assumptions should be made when modeling the accumulator [14,15].
TheThe
charge pressure of the accumulator is a slow process, so the change of gas pressure and volume
charge pressure of the accumulator is a slow process, so the change of gas pressure and volume
The charge pressure of the accumulator is a slow process, so the change of gas pressure and volume
cancan
be be
seen asas
seen ananisothermal
isothermalprocess;
process;the
thedischarging
discharging process
process of the accumulator
of the accumulator isisfast,
fast,and
andthe
thegas
can be seen as an isothermal process; the discharging process of the accumulator is fast, and the gas
does not exchange heat with the outside world, so it can be considered as an adiabatic process
does not exchange heat with the outside world, so it can be considered as an adiabatic process
approximately; the compressibility of hydraulic oil is quite different from gas, so it can be ignored;
approximately; the compressibility of hydraulic oil is quite different from gas, so it can be ignored;
Appl. Sci. 2020, 10, 5220 8 of 15

gas does not exchange heat with the outside world, so it can be considered as an adiabatic process
approximately; the compressibility of hydraulic oil is quite different from gas, so it can be ignored;
and the flow of hydraulic oil in the accumulator can be regarded as laminar flow. The approximate
flow continuity equation of the accumulator can be expressed as follows.
s
2 0
Qa = Cd Ad ∆P (15)
ρ

where Qα is the flow into accumulator, Cd is the orifice discharge coefficient, Ad is the orifice area,
and ∆P’ is the pressure difference before and after the orifice.
The motion equation of the hydraulic oil in the connecting pipeline and the accumulator is
as follows.
dQa
L + RQa = P1 − Pa (16)
dt
where L is the liquid inductance, R is the fluid resistance, P1 is the pressure of the pipeline.
L and R are expressed as follows.
la
L=ρ (17)
Ad
128µla
R= (18)
πda 2
where µ is the kinetic viscosity, la is the length of the pipeline between accumulator and hydraulic
cylinder, da is the diameter of the pipeline.
The main function of the accumulator is to absorb the impact pressure of the system. The type of
gas charged in the accumulator is nitrogen. The required volume of the accumulator can be calculated
according to the Equation (19).
0.004QP2 (0.0164la − t)
Va = (19)
P2 − P1
where Va is the required volume of the accumulator, Q is the flow in the pipeline, P2 is the maximum
allowable impact pressure, t is the time from the beginning to the end of impact. After calculation
and analysis, the accumulator (075-1315-042-711) of Integral Corporation is selected. As the air
spring, the accumulator absorbs the impact pressure, and its spring stiffness K is equal to the ratio
of the force ∆F exerted by the volume change of accumulator gas on the suspension cylinder to the
displacement ∆x of the cylinder. It is shown as follows.

k
∆F ∆P0 · A dP kPa V
K= = = A2 = A2 k+12a (20)
∆x ∆V /A
0 dV V 1a

where ∆V’ is the changed volume of the gas in the accumulator, V1a is the gas volume in the initial
state, V2a is the gas volume in the impact state, A is the area of the cylinder, k is the isentropic exponent
of the gas, Pa is the pressure of the accumulator at any moment.

4.2. Motion Equation of the Vehicle

The transport vehicle is a complex multi-body system, which has not only an interaction force and
relative displacement between the components, but also an interaction between the tire and the road.
Therefore, it is very difficult to establish an accurate dynamic model of the whole vehicle. According to
the structure of the transport vehicle studied, the following assumptions can be made when building a
vehicle motion model [16].
The compressibility of the liquid can be considered as a spring, and the throttle effect of the
valve and the leakage of the hydraulic cylinder can be considered as damping. The elasticity of the
frame, the load-bearing platform, and the driver’s cab is much less than that of the suspension system,
Appl. Sci. 2020, 10, x FOR PEER REVIEW 9 of 15

The compressibility of the liquid can be considered as a spring, and the throttle effect of the valve
and Sci.
Appl. the2020,
leakage of
10, 5220 the hydraulic cylinder can be considered as damping. The elasticity of the frame, 9 of 15
the load-bearing platform, and the driver’s cab is much less than that of the suspension system, and
they are regarded as rigid bodies without considering elastic deformation. The vibration influence of
and they are
the diesel regarded
engine, as rigid bodies
transmission shaft,without considering
and gearbox on theelastic
wholedeformation. The vibration
vehicle is ignored. Becauseinfluence
only the
of the diesel engine, transmission shaft, and gearbox on the whole vehicle
suspension system of the vehicle is studied, the influence of the steering system is not considered.is ignored. Because only
the
Thesuspension systemofofgoods
center of gravity the vehicle is studied,
is assumed the influence
to remain unchangedof the steering
under system
full load is not considered.
condition.
The center of gravity of goods is assumed to remain unchanged under full load condition.
The simplified
The simplified dynamic model of the vehicle is modeled modeled as as show
shown n in
in Figure 8, and and M M isis the
the
mass of
mass of the
the vehicle
vehicle load-bearing
load-bearing platform,
platform, m mii is the
the mass
mass ofof wheel,
wheel, kkii is the stiffness
stiffness ofof the
the hydraulic
hydraulic
suspension, ktitiisisthe
suspension, thestiffness
stiffness ofofthethe
tire, ζi isζthe
tire, i is damping
the of
damping the hydraulic
of the suspension,
hydraulic z
suspension,
i0 is the
zi0vertical
is the
displacement
vertical of the of
displacement connection
the connectionpoint,point,
zi is zthei is vertical displacement
the vertical displacement of of
thethetire
tirecenter,
center, yyii is thethe
unevenness of
unevenness of the
theroad,
road,ZZ 1 1isisthe
thevertical
verticaldisplacement
displacementofofthe themass center,θθx,x,and
masscenter, andθθyyis is the
the angle
angle of of
rotation around the
rotation the X-axis
X-axisandandY-axis.
Y-axis.

Z1 Z30
Z20
θx
M Z40
L2 X
Z10
k3 ζ3
k2
ζ2
k1
Y θy
ζ1 k4
ζ4 z3
z2 m3
m2
kt3
kt2
z1 y2 z4 y3
m1 m4
kt1 kt4
y1 y4

Figure 8.
Figure 8. The
The dynamic
dynamic model
model of
of the
the vehicle.
vehicle.

According
According to
to Newton’s law and
Newton’s law and the
the dynamic
dynamic model
model ofof the
the vehicle,
vehicle, the
the force
force and
and vertical
vertical
displacement of the connection point can be obtained as follows [17].
displacement of the connection point can be obtained as follows [17].
. .
i =kik[z[i z− 
FF [ci
zi0z] +] ci zi [−z z
i0 ]( ](i1,2,1,3,2,43),4)
zi = (21)
(21)
i i i i0 i i0

0.51Lθ1x−x 
0.5L2 θ y

z10z10=ZZ1 1−0.5L 0.5L2 y



 z20 = Z1 + 0.5L1 θx − 0.5L2 θ y


z30z 20=Z1Z− 1 θ1x+x  0.52 θLy2 y

0.51 L (22)
0.5L 0.5L




(22)
0.51Lθ1x+ θ2y y

 z40z = Z1Z+0.5L
x  0.5

0.5L2L

 30 1

According to Equations (21) and  z(22),

40  the
Z1 three 1 x  0.5 L
0.5Ldirection 2 y
motion equations of the vehicle load-
bearing platform can be obtained as Equation (23). The motion equation of the unsprung mass is
According to Equations (21) and (22), the three direction motion equations of the vehicle
obtained as Equation (24).
load- bearing platform can be obtained
 ..
as Equation (23).
P The motion equation of the unsprung mass
 MZ1 = Fi
is obtained as Equation (24). 

 ..
IX θx = 0.5[(F2 + F4 ) − (F1 + F3 )]L1 (23)


 ..



 I θ = 0.5[(F + F ) − (F + F )]L
Y y  

M3 Z 4 F1i 2 2
1
mi zi + ζi (zi −
..
zIi0X)+x ki (0zi.5−[(zi0F)2 +
F kti ()z
4 i ( F1i  F3 )] L1
− y ) = 0(i = 1, 2, 3, 4) (24)
(23)
  
 y  0.5about [( F3 the  ( F1 IYFis2 )]
 I Yplatform
where IX is the rotation inertia of the F4 )X-axis, theL2rotation inertia of the platform
about the Y-axis.
mi zi  ofi (the
The vibration equation zi whole
zi 0 ) system
ki ( zi can  obtained
zi 0 )be kti ( zi  yas
i)  0(i  1,2,3,4)
follows. (24)
..
where IX is the rotation inertia of the platform .
about the X-axis, IY is the rotation inertia of the platform
[M]Z + [ζ]Z + [K]Z = [Kt ]Y (25)
about the Y-axis.
where M is the mass matrix, ζ is the damping matrix, K is the stiffness matrix, Kt is the tire stiffness
matrix, Q is the unevenness matrix of the road.
Appl.
Appl. Sci.
Sci. 2020,
2020, 10,
10, xx FOR
FOR PEER
PEER REVIEW
REVIEW 10
10 of
of 15
15

The
The vibration
vibration equation
equation of
of the
the whole
whole system
system can
can be
be obtained
obtained as
as follows.
follows.

M]]ZZ[[ ]]ZZ [[K

[[M K]]ZZ [[K
Ktt]]YY (25)
(25)
Appl. Sci. 2020, 10, 5220 10 of 15
where
where M M is
is the
the mass
mass matrix,
matrix, ζζ is
is the
the damping
damping matrix,
matrix, KK is
is the
the stiffness
stiffness matrix,
matrix, KKtt is
is the
the tire
tire stiffness
stiffness
matrix, Q is the unevenness matrix of the
matrix, Q is the unevenness matrix of the road. road.
4.3. The Simulation Model
4.3.
4.3. The
The Simulation
Simulation
Because Model
Model
hydraulic transport vehicles are used to transport heavy goods, the class B road is selected
in the simulation,
Because
Because a 3D road
hydraulic
hydraulic is established
transport
transport vehicles with
vehicles are a length
are used
used to of 10 m and
to transport
transport heavya width
heavy goods,
goods, of 3the
m.class
the The tire
class is also
BB road
road is
is
an important
selected
selected in thepart
in the of the vehicle,
simulation,
simulation, aa 3D
3D road
road sois the
is accuracy with
established
established of the
with tire
aa length
lengthmodel
of 10plays
of 10 mm and
and anaa width
important
width of role
of 33 m.
m. in tire
The
The the
tire
characteristics
is
is also
also an
an importantof the part
important transport
part of thevehicle
of the vehicle,
vehicle, model.
so theThe
so the suspension
accuracy
accuracy of thesystem
of the tire of the
tire model
model whole
plays
plays an vehicle
an important
importantis studied,
role
role in
in
not
the only the
the characteristicsvertical
characteristics of force
of the of
the transportthe tire,
transport vehicle but also
vehicle model. the longitudinal
model. TheThe suspension force
suspension system and
system ofexternal
of the force
the whole should
vehiclebe
whole vehicle is
is
considered,
studied,
studied, not so
not only
onlythetheUA
the tire type
vertical
vertical force
force isof
selected
of the tire,[18].
the tire, but According
but also
also the to the tireforce
the longitudinal
longitudinal typeand
force andexternal
and specificforce
external parameters
force should
should be of
be
the transport
considered,
considered, sovehicle,
so the UAatire
the UA tiretype
tire model
type is is obtained.
is selected
selected [18]. This hydraulic
[18]. According
According to
to thetransport
the tire typevehicle
tire type and is self-propelled,
and specific
specific parameters
parameters of so
of the
the
wheels
transport are added
transportvehicle, to
vehicle,aatire drive
tiremodel
modelis directly in
isobtained. the
obtained.This model.
ThishydraulicThe final
hydraulictransport vehicle
transportvehicle model
vehicleis is established
isself-propelled,
self-propelled,so as
sotheshown
thewheels
wheelsin
Figure
are
are added9. to
added to drive
drive directly
directly in in the
the model.
model. The The final
final vehicle
vehicle model
model is is established
established as as shown
shown in in Figure
Figure 9. 9.

Figure
Figure 9.
Figure 9. The
9. The model
The model of
model of the
of the whole
the whole vehicle.
whole vehicle.
vehicle.

Then
Then the
the AMESim
AMESim modelmodel ofof the
the suspension
suspension system
system is is built.
built. And
And thethe ADAMS
ADAMS modelmodel is is imported
imported
into the AMESim
into the AMESim
AMESimmodel,model, the
model,the combined
thecombined simulation
combinedsimulation
simulation model
model
modelcan be
cancan obtained
be be
obtained as shown
as shown
obtained as shownin Figure
in Figure 10.
10. The
in Figure The
10.
parameters
parameters
The of
parametersof the
of model
the model
the are
model set
areare according
set set
according
accordingto the
to to design.
thethe
design.
design. The
The
The sampling
sampling
sampling interval
intervalis
interval isisset
setas
set as0.01
as 0.01 ss in
0.01 in
ADAMS,
ADAMS, and andin in order
inorder
ordertoto observe
toobserve
observethethe simulation
thesimulation process
simulationprocess clearly,
processclearly,
clearly,
thethe
the sampling
sampling
sampling period
period
period is is
is set
set asas
set as 0.001
0.001
0.001 s inss
in AMESim
in AMESim
AMESim [19].
[19].[19]. In
In thethe
In the simulation,
simulation,
simulation, an
an an impact
impact
impact loadload
load 4
10
10 10 44N is added to the vehicle load-bearing platform
NN is added
is added to to
thethe vehicle
vehicle load-bearing
load-bearing platform
platform at
at
at the
the the 10th
10th
10th second.
second.
second.

ZS_X4
ZS_X4
GT_F1
GT_F1 ZS_V4
ZS_V4
GT_X4
GT_X4
ZS_F1
ZS_F1 GT_V4
GT_V4
GT_F2 ZS_X3
ZS_X3
GT_F2 ZS_V3
ZS_V3
ADAMS
ADAMS GT_X3
GT_X3
ZS_F2
ZS_F2 For GT_V3
For GT_V3
GT_F3 AMESim ZS_X2
ZS_X2
GT_F3 AMESim ZS_V2
ZS_V2
ZS_F3 GT_X2
GT_X2
ZS_F3 GT_V2
GT_V2
GT_F4 ZS_X1
ZS_X1
GT_F4 ZS_V1
ZS_V1
ZS_F4 GT_X1
GT_X1
ZS_F4 GT_V1
GT_V1

Figure 10. The combined simulation model.

Appl. Sci. 2020, 10, x FOR PEER REVIEW 11 of 15
Appl. Sci. 2020, 10, x FOR PEER REVIEW 11 of 15
Appl. Sci. 2020, 10, 5220 11 of 15
Figure 10. The combined simulation model.
Figure 10. The combined simulation model.
4.4. The Parameter Selection of the Accumulator
4.4. The Parameter Selection of the Accumulator
4.4. The Parameter Selection of the Accumulator
The initial charging pressure of the accumulator is 30 bar in the simulation, the pressure fluctuation
The initial charging pressure of the accumulator is 30 bar in the simulation, the pressure
curvesThe
of initial charging hydraulic
one suspension pressure of the accumulator
cylinder are obtainedisby 30taking
bar indifferent
the simulation,
accumulatorthe volumes,
pressure
fluctuation curves of one suspension hydraulic cylinder are obtained by taking different accumulator
fluctuation curves of one suspension hydraulic cylinder are obtained by taking different
as shown in Figure 11. It can be seen that the fluctuations of cylinder pressure are relatively small in accumulator
volumes, as shown in Figure 11. It can be seen that the fluctuations of cylinder pressure are relatively
volumes,
the first 3 as
s, shown
becauseintheFigure 11. is
system It can
not be seenwhen
stable that the
it isfluctuations
first started.ofAfter
cylinder
5 s, pressure
it can be are
seenrelatively
that the
small in the first 3 s, because the system is not stable when it is first started. After 5 s, it can be seen
small in the
pressure first 3 s,of
fluctuation because the system
the cylinder is not stable
is relatively whenthe
small when it isaccumulator
first started.volume
After 5iss,0.75
it can
L, be
andseen
the
that the pressure fluctuation of the cylinder is relatively small when the accumulator volume is 0.75
that the pressure fluctuation of the cylinder is relatively small when the accumulator
fluctuation range is within 5 bar. The pressure fluctuations are relatively large under other volumes, volume is 0.75
L, and the fluctuation range is within 5 bar. The pressure fluctuations are relatively large under other
L, and the
which fluctuation
obviously range
cannot is within
meet 5 bar. The pressure
the requirements. Therefore, fluctuations are relatively
the accumulator largeisunder
volume other
selected as
volumes, which obviously cannot meet the requirements. Therefore, the accumulator volume is
volumes,
0.75 L. which obviously cannot meet the requirements. Therefore, the accumulator volume is
selected as 0.75 L.
selected as 0.75 L.
20
20 0.5L
0.5L
0.75L
15 0.75L
1L
15 1L
1.5L
1.5L
10
10
5
P/bar

5
P/bar

0
0
-5
-5
-10
-10
-15
-15 0 5 10 15 20 25
0 5 10 T/s15 20 25
T/s
Figure 11. The pressure
Thepressure fluctuations
pressure fluctuations of
fluctuations of the
of the cylinder
the cylinder under
cylinder under different
under different volumes of
different volumes
volumes of accumulator.
Figure 11.
Figure 11. The of accumulator.
accumulator.

After the accumulator volume is set to 0.75 L, the pressure fluctuation curves of the suspension
After the accumulator volume is set to 0.75 L, the pressure fluctuation curves of the suspension
hydraulic cylinder
cylinder are are obtained
obtained under
under the
the different accumulator charging pressures, as shown in
different accumulator
hydraulic accumulator charging pressures, as shown in
ItIt can be seen that the pressure fluctuation of the cylinder is at a minimum
minimum
Figure 12. It can be seen that the pressure fluctuation of the cylinder is at a minimum when
Figure 12. can be seen when the
the
charging pressure
charging pressureis 30 is bar.
30 bar.
UnderUnder
otherother charging
charging pressures,
pressures, the the pressure
pressure fluctuations
fluctuations of the of the
suspension
charging pressure is 30 bar. Under other charging pressures, the pressure fluctuations of the
suspensioncylinder
hydraulic hydraulic cylinder
are cylinder are
too large are too large
to meet to meet the requirements.
the requirements. Therefore, the charging
suspension hydraulic too large to meet the Therefore, the charging
requirements. Therefore,pressure of the
the charging
pressure of
accumulator the accumulator
is selected is selected
as 30isbar. as 30 bar.
pressure of the accumulator selected as 30 bar.
15
15
10bar
10 10bar
30bar
10 30bar
50bar
50bar
70bar
5 70bar
5
0
P/bar

0
P/bar

-5
-5
-10
-10
-15
-15
-20
-20 0 5 10 15 20 25
0 5 10 T/s15 20 25
T/s
Figure 12. The pressure fluctuations of the cylinder under different charging pressures of the
Figure
Figure 12. 12.The
The pressure
pressure fluctuations
fluctuationsofof
thethe
cylinder under
cylinder different
under charging
different pressures
charging of the of
pressures
accumulator.
the accumulator. accumulator.

5. Analysis of the Experiment and Simulation

Analysis of
5. Analysis the Experiment and Simulation
When the vehicle is running with full load, the ride comfort standard of this special transport
When the vehicle is running with full load, the ride comfort standard of this special transport
vehicle is such
vehicle is such that
that the
the impact
impact pressure
pressure of
of the
the suspension
suspension hydraulic cylinder
hydraulic cylinder is
cylinder is no
is no more
no more than
more than 20
than 20 bar,
20 bar,
bar,
suspension hydraulic
and the height
height change
change ofof the
the vehicle
vehicle platform
platform should
should be
be less
less than
than 50
50 mm
mm [20–22].
[20–22].
and the mm [20–22].
Appl. Sci. 2020, 10, 5220 12 of 15
Appl.
Appl.Sci.
Appl. Sci.2020,
Sci. 2020,10,
2020, 10,x
10, xxFOR
FORPEER
FOR PEERREVIEW
PEER REVIEW
REVIEW 12
12of
12 of15
of 15
15

From the above simulation results, it can be concluded that the accumulator setting plays a
From
From the
From the above
above simulation
simulation results,
results, it
itit can
can be
be concluded
concluded that
that the
the accumulator
accumulator setting
setting plays
plays aaa
positive rolethe above simulation
in suspension impact results,
reduction. can be concluded
In order that
to verify the the accumulator
simulation setting
results, the plays
experiment
positive role
positiverole
positive roleinin suspension
insuspension impact
suspensionimpact reduction.
reduction.In
impactreduction. order
Inorder to
orderto verify
toverify the
verifythe simulation
thesimulation results,
simulationresults, the
results,the experiment
theexperiment
experiment
in the field was carried out as shown in FigureIn13.
in the
inthe
in field
thefield was
fieldwas carried
wascarried out
carriedout as
outas shown
asshown in
shownin Figure
inFigure
Figure13. 13.
13.

Figure
Figure
Figure 13.
Figure13.
13. The
13.The experiment
Theexperiment in
experimentin the
inthe
in field.
thefield.
the field.
field.

The
The
The data
Thedata
data acquisition
dataacquisition
acquisitionin
acquisition in
in the
inthe
the experiment
theexperiment
experimentis
experiment is based
isisbased
basedon
based on LabVIEW
onLabVIEW
on software.
LabVIEWsoftware.
LabVIEW software. The
software. principle
Theprinciple
The principle of
principle data
ofdata
of data
data
transmission
transmission
transmissionis
transmission isisshown
is shown
shownin
shown in
in Figure
inFigure
Figure14.
Figure 14.
14. The
14.The
The data
Thedata
dataof
data of sensors
ofsensors
sensorscan
sensors canbe
can converted
beconverted
be into
convertedinto
converted voltage
intovoltage
into signals,
voltagesignals,
voltage and
signals,and
signals, the
andthe
and the
the
corresponding
corresponding pressure value can be obtained after conversion and calculation. Data measuring in
corresponding
corresponding pressure
pressure
pressure value
value
value cancanbe
can be
be obtained
obtained
obtained after
after conversion
conversion
after and
conversion and calculation.
calculation.
and Data
Data
calculation. measuring
measuring
Data in
measuring the in
in
the
fieldfield
thefield
the field experiment
experiment
experiment
experiment is
is shown shown
isisshown
shown in
in Figure Figure 15.
15. 15.
inFigure
in Figure 15.

Signal
Signal
GND
GND
GND Signalacquisition
+24V
+24V R
Pressure sensor 44 +24V RR
acquisition
acquisitionsystem

Pressuresensor
Pressure sensor4
Out
Output:0-20mA
Out put:0-20mA
put:0-20mA AGND
AGND
AGND
+24V
+24V R
Pressure sensor
Pressuresensor
Pressure 33
sensor3 +24V RR Signal
Signal4
Signal 44
system
system(Input

Out
Output:0-20mA
Out put:0-20mA
put:0-20mA
Signal
Signal3
Signal 33
(Input

+24V R
(Input:::0-5000mV)

+24V
Pressure sensor
Pressuresensor
Pressure 22
sensor2 +24V RR
Signal
Signal2
Signal 22
Out
Output:0-20mA
Out put:0-20mA
put:0-20mA
0-5000mV)
0-5000mV)

Signal
Signal1
Signal 11
+24V
+24V R
Pressure sensor
Pressuresensor
Pressure 11
sensor1 +24V RR
Out
Output:0-20mA
Out put:0-20mA
put:0-20mA

Figure
Figure
Figure 14.
Figure14.
14. The
14.The principle
Theprinciple of
principleof data
ofdata transmission
datatransmission and
transmissionand
transmission acquisition.
andacquisition.
and acquisition.
acquisition.

Figure
Figure 15.
Figure15.
15. Data
15.Data
Data measuring
Datameasuring in
measuringin
measuring the
inthe
in field.
thefield.
the field.
field.
Figure

5.1.
5.1.Pressure
5.1.
5.1. Pressureof
Pressure ofofthe Suspension
theSuspension
the Cylinder
SuspensionCylinder
Suspension Cylinder
Cylinder
In
In
In the
Inthe
the experiment,
theexperiment,
experiment,the
experiment, thecement
the cement blocks are
cement blocks
blocks selected as
are selected
are selected as the
as the load,
the load, and
load, and the
and the speed
the speed is
speed
speed isis set
set to
set to 10
to 10 km/h.
10 km/h.
km/h.
The
The
The pressure
Thepressure
pressure curves
pressurecurves
curvesof
curves of
of one
ofone
one suspension
onesuspension
suspension cylinder
suspensioncylinder
cylinderare
cylinder are obtained
areobtained
are obtainedand
obtained and compared
andcompared
and comparedwith
compared with
withthe
with the combined
thecombined
the combined
combined
simulation
simulationas
simulation asshown
as shownin
shown inFigure
in Figure16.
Figure 16.It
16. ItItcan
canbe
can beseen
be seenthat
seen thatthe
that theinput
the inputimpact
input impactload
impact loadcauses
load causesthe
causes theimpact
the impactpressure
impact pressure
pressure
at the
at the
at 10th
the 10th second.
10th second. When
second. When
When the the accumulator
the accumulator is connected,
accumulator isis connected, the
connected, the impact
the impact pressure
impact pressure is obviously
pressure isis obviously reduced,
obviously reduced,
reduced,
Appl. Sci. 2020, 10, 5220 13 of 15

Appl. Sci. 2020, 10, x FOR PEER REVIEW 13 of 15

simulation
Appl. Sci. 2020,as
10,shown in Figure
x FOR PEER 16.
REVIEW It can be seen that the input impact load causes the impact pressure 13 of 15
and the maximum reduction is 12 bar. From Figure 16, it can be seen that the pressure fluctuation of
at the 10th second. When the accumulator is connected, the impact pressure is obviously reduced,
the suspension
and hydraulic cylinder is large when the accumulator is disconnected, the maximum and
and the
the maximum
maximum reduction
reduction isis 12
12 bar.
bar. From
From Figure
Figure 16,
16, it
it can
can be
be seen
seen that
that the
the pressure
pressure fluctuation
fluctuation ofof
minimum
the pressure are 227cylinder
bar andis207 barwhen
in thethe
experiment; but when the accumulator is connected,
the suspension hydraulic cylinder is large when the accumulator is disconnected, the maximum and
suspension hydraulic large accumulator is disconnected, the maximum and
the pressure fluctuates
minimum within 7andbar, and the fluctuation is relatively smooth. The experimental results
minimum pressure
pressure areare 227
227 bar
bar and 207207 bar
bar in
in the
theexperiment;
experiment; butbutwhen
whenthe theaccumulator
accumulatorisisconnected,
connected,
are pressure
the basicallyfluctuates
consistentwithin
with the
7 combined
bar, and the simulation isresults,
fluctuation which
relatively showsThe
smooth. theexperimental
correctness results
of the
the pressure fluctuates within 7 bar, and the fluctuation is relatively smooth. The experimental results
simulation,
are and further verifies the combined
rationality simulation
of the accumulator parameter selection.
are basically consistent with the combined simulation results, which shows the correctness of the
basically consistent with the results, which shows the correctness of the
simulation, and further verifies the rationality of the accumulator parameter
simulation, and further verifies the rationality of the accumulator parameter selection. selection.
230 Simulation 230
Experiment Simulation
230
225 Simulation 230 Experiment
Experiment
225 Simulation
Experiment
225
220 225
220
P/barP/bar

P/barP/bar
220
215 220
215
215
210 215
210
210 210
205
205
0 5 10 15 20 25 0 5 10 15 20 25
205 T/s 205 T/s
0 5 10 15 20 25 0 5 10 15 20 25
(a) T/s (b) T/s

(a) (b)
Figure 16. The pressure of one cylinder: (a) Accumulator off; (b) accumulator on.
Figure 16. The pressure of one cylinder: (a) Accumulator off; (b) accumulator on.
Figure 16. The pressure of one cylinder: (a) Accumulator off; (b) accumulator on.
5.2. Ride Comfort of the Vehicle
5.2. Ride Comfort of the Vehicle
5.2. Ride Comfort
In order to of the Vehicle
verify the correctness of the design, the change curves of the vehicle load-bearing
In order to verify the correctness of the design, the change curves of the vehicle load-bearing
platform center
In order are
toare collected
verify as shown in the
the correctness Figure 17. When the accumulator is on, it can be seen that
platform center collected as shown inofFigure design,
17. Whenthe the
change curves of
accumulator is the
on, itvehicle
can beload-bearing
seen that the
the height of the
platform arevehicle platform changes smoothly, andthe
theaccumulator
displacement change ofbethe vehicle
height of center
the vehicle collected
platformas shown
changes in Figure
smoothly, 17. When
and the displacement change is of
on, it can
the vehicle seen that
platform
platform
the height in the
of thevertical
vehicle direction is obviously reduced.
in the vertical direction is platform
obviouslychanges
reduced.smoothly, and the displacement change of the vehicle
platform in the vertical direction is obviously reduced.
80 40
80
40 40
20
D/mm

D/mm

40
0 20
0
D/mm

D/mm

0
-40 0
-20
-40
-80 -20
-40
0 5 10 15 20 25 0 5 10 15 20 25
-80 T/s -40 T/s
0 5 10 15 20 25 0 5 10 15 20 25
(a)T/s (b)T/s
(a)
Figure 17. The platform height change: (a) Accumulator off; (b) accumulator on.
(b)
Figure 17. The platform height change: (a) Accumulator off; (b) accumulator on.
6. Conclusions Figure 17. The platform height change: (a) Accumulator off; (b) accumulator on.
6. Conclusions
The suspension system of a newly developed hydraulic transport vehicle was studied in this
6. Conclusions
paper.TheThesuspension
suspensionsystem
systemofofathenewly developed
transport vehiclehydraulic
was analyzedtransport vehicle
in detail, and was studiedforce
the impact in this
on
paper.
the TheThe
transport suspension
suspension
vehicle causedsystem
system by of
of the the
a newly transport
uneven road vehicle
developed was
andanalyzed
hydraulic
analyzed transportin vehicle
calculated. detail,
Based on and
was thethe impact
studied
analysis inofforce
this
the
on the The
paper. transport
accumulator vehiclesystem
suspension
mathematical caused
modelofby
the
and the uneven
transport
the road
wholevehicle analyzed
vehicle was and
analyzed
motion calculated.
the 3DBased
in detail,
equation, and
model theonincluding
the analysis
impact force
the
of
on
road the
theandaccumulator
transport mathematical
vehicle vehicle causedand
were created, model
by the model and the
unevenimported whole
road analyzed vehicle motion
and calculated.
into AMESim equation,
model, and Based the
on the
finally 3D model
analysis
a combined
including
of the
the accumulator
simulation road out.
carried and vehicle
mathematical weremodel
The simulation created, and
and the
results the that
whole
show model
vehicleimported
motioninto
a reasonable AMESim
equation,
selection ofthe model,
3D model
accumulator and
finally
including a combined
parametersthe canroad simulation
and the
reduce vehiclecarried
impact were out. The
created,
pressure simulation
of and results
the model imported
the suspension show that a reasonable
into AMESim
cylinder. Finally, selection
model, field
a real vehicle andof
accumulator
finally a combined
experiment parameters can
simulation
was carried reduce
out, andcarried
the datathe impact
out.ofThe pressure
onesimulation
suspension of the
results suspension
showcylinder
hydraulic cylinder.
that a reasonable Finally, a real
selection of
with the accumulator
vehicle
accumulatorfield experiment
parameters was
can carried
reduce out,
the and
impactthe data of
pressure one
of suspension
the suspension
on and off under full load collected when the vehicle was running at normal speed. The research hydraulic
cylinder. cylinder
Finally,with the
a real
accumulator on and off under full load collected when the vehicle was running
vehicle field experiment was carried out, and the data of one suspension hydraulic cylinder with the at normal speed. The
research results
accumulator show
on and offthat the setting
under full load ofcollected
the accumulator
when the and a reasonable
vehicle selection
was running of parameters
at normal speed. The not
research results show that the setting of the accumulator and a reasonable selection of parameters not
Appl. Sci. 2020, 10, 5220 14 of 15

results show that the setting of the accumulator and a reasonable selection of parameters not only have
a great effect on the impact pressure reduction of the suspension cylinder, but also have a positive
effect on the ride comfort of the transport vehicle.

Author Contributions: J.Z. proposed the research method. The simulation and experiments were performed and
the manuscript was written by W.L. and J.W. The creation of models and the manuscript revision were performed
by X.J. and P.W. All authors have read and agreed to the published version of the manuscript.
Funding: This research was funded by the National Key Research and Development Program of China
(2019YFB2005204), National Natural Science Foundation of China (51675461, 11673040), Key Research and
Development Program of Hebei Province (19273708D), the Scientific Research Project Foundation of Anhui
Education Department (KJ2019A1161), the Open Foundation of the State Key Laboratory of Fluid Power and
Mechatronic Systems (GZKF-201922) and the Open Project Program of Tianjin Key Laboratory of Aerospace
Intelligent Equipment Technology, Tianjin Institute of Aerospace Mechanical and Electrical Equipment.
Conflicts of Interest: The authors declare no conflict of interest.

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