基于等效晃动模型的液罐车防侧翻控制策略

摘要

In order to improve the stability of tank trucks,which can cause serious casualties,economic losses and environmental pollution because of vehicle-liquid coupling,an equivalent sloshing dynamics model of the tank trucks is established.This model consists of 3 DOF vehicle model and the equivalent pendulum model,which represents the movement of the liquid in the tank.Further,the anti-rollover control strategy of the tank trucks based on differential breaking is proposed.The Trucksim/Simulink co-simulation is carried out.Comparison of the state variables of the tank trucks with the same liquid cargo and solid cargo,and selected step condition,proves that the liquid sloshing in the tank influences the motion of the truck.Also it is demonstrated that the anti-rollover strategy is effective by comparing the states of tank trucks with or without control under the step condition and the hook condition.%为提高公路液罐车行驶稳定性,减少由其侧翻引起的事故,将液罐内液体货物的晃动等效为单摆运动,结合3自由度车辆模型建立了液罐车等效晃动动力学模型,并提出了基于差动制动的液罐车防侧翻控制策略.通过Trucksim/Simulink联合仿真,比较了不同车速、阶跃工况下,装载等质量的液体货物与固体货物的液罐车的状态变量数值大小,由此证明液体晃动对车辆运动的影响;比较了液罐车在阶跃工况与鱼钩工况下有、无主动控制情况时的状态变量值,证明了本文防侧翻控制策略的有效性.