| As a main force of road energy transportation,tank semi-trailer has a decisive position and strategic significance in the transportation of dangerous chemicals.The tank semi-trailer has the characteristics of large loading quality,high center of gravity,and large volume,and it is easy to roll over during transportation,causing serious traffic accidents.This article will focus on the coupling characteristics of liquid lateral sloshing in the tank and vehicle body dynamics.The main research on the anti-rollover stability of the tank semi-trailer is of great practical significance for improving its stable driving ability and reducing life and property losses.The thesis first builds the dynamic model of the tank semi-trailer and the transient nonlinear sloshing model of the liquid in the tank.The kinematics theory is used to derive the differential equations of motion of the tractor and trailer,and its Simulink linear model and Trucksim multi-degree-of-freedom model are established.Using the potential flow theory to analyze the forces and moments generated by the horizontal sloshing of the liquid in the tank,and using the Fluent modeling method to establish the fluid motion model in the tank;considering the characteristics of the transient sloshing of the liquid in the tank,establish an equivalent to reasonably characterize the liquid Single pendulum model.Secondly,aiming at the problem that the current research on v ehicle-liquid coupling and vehicle anti-rollover stability is not thorough enough,the mutual coupling relationship between the liquid sloshing in the tank and the vehicle body dynamics is explored.Numerical simulation analysis was conducted on the latera l sloshing of the liquid in the tank under different filling rates,and the effect of the filling rate on the peak side impact force of the tank was obtained;and the vehicle-liquid coupling simulation test and loading were carried out under specific working conditions.Compared with the mass solid trailer,the liquid lateral sloshing action will increase the peak response of the vehicle's roll angle,and it is more likely to cause rollover;by comparing the lateral sloshing power and torque changes at different filling rates and different speeds,it is confirmed The single pendulum model can better simulate the lateral stability changes of tank semi-trailers at medium and high speeds.Thirdly,for a certain type of tank semi-trailer,based on the lateral stability test system built,the actual vehicle test was carried out.The correctness and reliability of the vehicle-liquid coupling model based on the equivalent simple pendulum model are verified through simulation and experiments,which can meet the needs of subsequent research work.Finally,based on the Simulink-Trucksim co-simulation platform,the model predictive control(MPC)method was used to develop the anti-rollover stability control strategy of the tank semi-trailer.Taking the yaw angular velocity as the main tracking target,the differential braking method is used to implement the additional yaw moment control for the vehicle.The double-shift line simulation results show that after the intervention of the MPC control strategy,the lateral slosh ing intensity of the liquid in the tank is suppressed,and the lateral load transfer rates at 5.3s and 8s have decreased by 26.74% and 23.07%,Anti-rollover stability can be greatly improved. |
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