中文摘要：

为研究液体晃动对半挂液罐车行驶稳定性的影响,针对罐体内液体的横向晃动问题,运用势流理论建立液体晃动的控制方程,采用Galerkin方法求解该方程,并求解液体受迫晃动对罐体的作用力,根据等效原则,建立液体受迫晃动的等效力学模型,在考虑液体质心的横向移动产生的附加力矩和液体动压力对罐体产生的作用力基础上,结合半挂车的刚体模型,建立了半挂液罐车数学模型.对液体和固体2种货物,通过阶跃转向和双移线2种工况对比仿真试验,分析了液体晃动对半挂液罐车行驶参数和车辆失稳形式的影响.仿真结果表明,在阶跃转向时,液体晃动对车辆的侧倾角影响较大,降低了车辆的侧翻速度阈值,而对其他运行参数影响较小;在双移线工况时,液体晃动加剧车辆的侧向加速度和铰接角的波动,使车辆横向摆振明显;在充液率k=1.2附近,随着车速的增加,车辆先表现为摆振失稳,再发生侧翻,而在接近满充液率（k=1.9）情况下,随着车速的增加,车辆直接表现为侧翻事故.该文为半挂液罐车稳定性控制的研究和安全行驶提供参考依据.

英文摘要：

In order to study the effects of liquid sloshing on the driving stability of a tank truck, in the light of the problem of the horizontal fluid sloshing in the tank body, the governing equations of the transverse liquid sloshing within tank body are established by potential theory. The Galerkin method was used to establish a discrete forced sloshing equation of the fluids in the tank, and the force of the liquid forced sloshing on the tank was solved. According to the equivalence principle, an equivalent mechanical model of liquid forced sloshing was established. Based on the additional torque produced by the lateral movement of the liquid mass center and the force of the liquid sloshing pressure against the tank, combined with the rigid model of the semi-trailer, the mathematical model of the liquid tank semi-trailer was established. For liquid and solid cargoes, the impact of the liquid sloshing on the driving parameters and instability forms of the liquid tank semi-trailer was simulated comparatively by the two conditions of the step steering and double-shift line. Simulation results shows that： in the step steering, the liquid sloshing has the greater impact on the roll angle and reduces the threshold of the rollover speed of the vehicle, but has a smaller impact on the other operating parameters. In the double shift line condition, the liquid sloshing intensifies the fluctuations of the lateral acceleration and hinged angle, and makes the vehicle transverse shimmy significantly. When near the working-fluid filling rate of 1.2, with the increasing of the speed, the pendulum vibration instability occurred initially, and then the rollover occurred. When closing to the full charging rate, with the increase of speed, vehicles will rollover directly. The paper provides reference for stability control research and safety driving of semi-trailer liquid tank.