Abstract: In view of the problem that the coupling between liquid sloshing in the tank and vehicle movement results in the low rolling stability and the proneness to rollover of liquid tank semi-trailer (LTST), an anti-rollover control strategy for LTST is proposed in this paper. An equivalent simple pendulum model is adopted to simulate the dynamic process of liquid sloshing in the tank, its parameters are identified, and a dynamic simulation model for LTST is established. Based on the 6 DOF linear simplified model for LTST, a LQR anti-rollover state feedback controller is designed and the additional yaw moment is generated by using differential braking. A simulation is conducted with the simulation model for LTST to compare the state responses under the step condition of the turning angle of steering wheel with and without control. The results show that the control strategy proposed can effectively prevent LTST from rollover.

Key words: liquid tank semi-trailer, anti-rollover control, differential braking, liquid sloshing, equivalent simple pendulum model