This paper presents a nonlinear force transfer model for active suspension. First of all, according to the motion analysis of Mcpherson suspension, the force transfer characteristics between the three-dimensional force on tire contact point and the output force of suspension cylinder was studied. Then the friction force between the piston rod and the cylinder body was analyzed. Combined with the force transfer characteristics and the friction force, the nonlinear force transfer model was established which expressed the relationship between the pressure of cylinder cavities and the three-dimensional force at the tire contact point. Finally, the test is carried out on the three-axis emergency rescue vehicle, and the results show that, compared with the simplified active suspension model the ME and RMSE values of the force transfer model are reduced by 93.97%, and 78.31%, respectively. The nonlinear force transfer model can provide more accurate data support for the operation and control of active suspension system.
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