Nonlinear modeling and experimental characterization of hydraulically interconnected suspension with shim pack and gas-oil emulsion

•A nonlinear correction function for compensating the errors of shim pack deflection was proposed.•A nonlinear model of HIS was presented with an emphasis on the shim pack deflection and gas-oil emulsion properties.•The entrapped gas volume will cause strongly effect on suspension characteristic.•More entrapped gas will result in a nonlinear decrease in damping forces but a linear increase in spring forces.•The gas volume fraction within 4% was suggested in HIS manufacturing.