The axle coupling road simulation test system can be widely used in vehicle R&D and manufacturing institutions. In the system, actuators are connected to axles (or hubs) with appropriate fixtures and can control vertical, lateral, longitudinal, braking/driving torque, camber torque and steering torque in six degrees of freedom in each axis; The external loop of servo control plus identification iterative control can accurately reproduce the actual road excitation that contributes to fatigue damage to the vehicle under test, to meet the driving performance improvement and evaluation needs.