Study On The Stability And Control Of Anti-Roll Of Semi-Trailer Dangerous Chemical Tank Truck

Semi-trailer tank trucks,as a common means of transportation of dangerous chemicals,are more prone to rollover danger than other vehicles due to their higher center of mass and larger load capacity,leading to more serious secondary dangerous accidents,such as hazardous chemicals leakage,burning and explosion of the product.Therefore,studying the coupling characteristics of the vehicle dynamics of the semi-trailer tanker with hazardous chemicals and the sloshing of the liquid in the tank,and establishing an anti-rollover control system,thereby improving its driving stability,plays an important role in ensuring the safety of people’s lives and properties.This thesis has carried out the following research work on the anti-rollover stability of the semi-trailer hazardous chemical tanker:(1)Analyzed the kinematics characteristics of the semi-trailer hazardous chemical tanker,and established a reference model of a seven-degree-of-freedom vehicle based on MATLAB/Simulink according to the research content;the vehicle model was designed using Trucksim,and then the accuracy of the reference model was simulated and compared and verified;the results show that the established reference model can accurately characterize the basic motion characteristics of the vehicle,and can be used as a reference model for subsequent studies on the anti-rollover stability of semi-trailer tank trucks with hazardous chemicals.(2)Through the analysis of the liquid movement characteristics in the semi-trailer cargo compartment,an equivalent pendulum model for simulating liquid sloshing was established and modeled in Simulink;the fluid dynamics characteristics of the liquid in the tank were analyzed,the fluid-filled system was numerically modeled using Fluent software,and the accuracy of the equivalent simple pendulum model was verified by comparison and simulation.(3)Using the equivalent pendulum model established in Simulink,the liquid sloshing in the tank was integrated into the Trucksim vehicle model,and a vehicle-fluid coupling simulation model was established;through simulation tests,the adverse effects of liquid sloshing in the tank on the roll stability of the semi-trailer hazardous chemicals tank truck under different filling rates were analyzed,which provides a model basis for the subsequent formulation of anti-rollover control strategies.(4)Based on the Simulink-Trucksim co-simulation model,an anti-rollover control system for semi-trailer tank trucks with hazardous chemicals was established: the additional yaw moment controller is designed using model predictive control(MPC)theory to obtain the yaw moment required for the vehicle to maintain stable driving,and then use the principle of differential braking to brake the target wheel to provide additional yaw Torque,realizing the anti-rollover control of the whole vehicle;through the simulation test of different working conditions,the changes of various parameters of the vehicle with or without control were compared and analyzed,and the effectiveness of the anti-rollover control system was verified.