Traditional hydro-pneumatic spring suspensions are limited to a single vertical degree of freedom, which cannot accommodate the significant technological changes introduced by the new in-wheel motor drive mode. Integrating the motor into the vehicle’s hub creates a direct motor drive mode, replacing the traditional engine–transmission–drive shaft configuration. Together with the dual in-wheel motor wheelset structure, this setup can achieve both drive and differential steering functions. In this study, we designed a six-arm suspension wheel-leg device based on hydro-pneumatic springs, and its structural composition and functional characteristics are presented herein. The external single-chamber hydro-pneumatic springs used in the six-arm structure suspension were analyzed and mathematically modeled, and the nonlinear characteristic curves of the springs were derived. To overcome the instability caused by inconsistent extension lengths of the hydro-pneumatic springs during horizontal steering, the spring correction force, horizontal rotational torque, consistency, and stiffness of the six-degree-of-freedom hydro-pneumatic spring wheel-leg device were analyzed. Finally, with the auxiliary action of tension springs, the rotational torque of the hydro-pneumatic springs and the tension resistance torque of the tension spring counterbalanced each other, keeping the resultant torque on the wheelset at approximately 0 N∙m. The results suggest that the proposed device has excellent self-stabilizing performance and meets the requirements for straight-line driving and differential steering applications. This device provides a new approach for the drive mode and suspension design of the dual in-wheel motor wheelset.

The rolling system for stainless steel, particularly in the production of diamond plates, represents a complex industrial control scenario. The process requires precise load distribution to effectively manage pattern height, due to the high strength, hardness, and required dimensional accuracy of the material. This paper addresses the limitations of offline methods, which include heavy reliance on initial conditions, intricate parameter settings, susceptibility to local optima, and suboptimal performance under stringent constraints. A Multi-Objective Adaptive Rolling Iteration method that incorporates local constraints (MOARI-LC) is proposed. The MOARI-LC method simplifies the complex multi-dimensional nonlinear constrained optimization problem of load distribution, into a one-dimensional multi-stage optimization problem without explicit constraints. This simplification is achieved through a single variable cycle iteration involving reduction rate and rolling equipment selection. The rolling results of HBD-SUS304 show that the pattern height to thickness ratio obtained by MOARI-LC is 0.20–0.22, which is within a specific range of dimensional accuracy. It outperforms the other two existing methods, FCRA-NC and DCRA-GC, with results of 0.19~0.24 and 0.15~0.25, respectively. MOARI-LC has increased the qualification rate of test products by more than 25%, and it has also been applied to the other six industrial production experiments. The results show that MOARI-LC can control the absolute value of the rolling force prediction error of the downstream stands of the hot strip finishing rolls within 5%, and the absolute value of the finished stand within 3%. These results validate the scalability and accuracy of MOARI-LC.