中文摘要：

为研究半挂液罐车在液体晃动情况下的稳定性控制问题,根据等效原则,建立液体晃动的等效模型,并结合半挂车的刚体模型,建立半挂液罐车非线性动力学模型。选择牵引车横摆角速度作为控制变量,在相平面内判断车辆处于＂不足-过度转向＂的强弱程度,并结合铰接角判断车辆的运行工况,考虑偏差零态为保持态时,设计了相平面分区九态控制器,通过差动制动实现附加横摆力矩控制车辆的稳定性。仿真结果表明：基于相平面分区控制的方法可以有效抑制液体晃动对车辆的影响,提高半挂液罐车的行驶稳定性,避免侧翻、摆振和折叠事故的发生。

英文摘要：

To research the stability control problem of liquid tank semi-trailer with liquid sloshing,According to the equivalence principle,the equivalent model of liquid sloshing is built. Combining with the rigid body model of semi-trailer,the nonlinear dynamic model of liquid tank semi-trailer is established. Taking tractor yaw rate as the control variable,the degree of the vehicle＇s understeering and oversteering are judged in the phase plane,and vehicle＇s driving condition is judged combining with hinge angle. Considering deviation zero state as maintain state,the nine-state controller for phase plane division is designed,and the additional yawing moment is applied using differential brake to control vehicle stability. The simulation result shows that using the control method based on phase plane division,the influence of liquid sloshing on the whole vehicle can be effectively restrained,the driving stability of liquid tank semi-trailer can be improved, and the accidents of roll,shimmy and folding can be avoided.