中文摘要：

研究半挂液罐车在避障运动时液体晃动对车辆行驶稳定性的影响，采用Galerkin方法建立了罐体的液体晃动方程。根据等效原则，建立了液体晃动的质量-弹簧-阻尼等效模型。结合半挂车的刚体模型，建立了半挂液罐车动力学模型，并进行了双移线避障运动仿真分析。仿真表明：随着充液率的增加，车辆的各项行驶参数先增加再减小，在充液率k=1．O附近时，液体晃动最剧烈，对车辆的行驶稳定性影响最大，在此充液率下，随着车速的增加，液罐车先发生摆振失稳，再发生侧翻事故；而在同等工况下，在充液率k=1．8时，随着车速的增加，车辆将表现为侧翻事故。

英文摘要：

In order to study the effect of liquid sloshing on the driving stability of vehicle when liquid tank semi-trailer is under the obstacle avoidance motion, the liquid sloshing equation is built by the Galerkin method. According to the equivalence principle, the quality-spring-damping model of liquid sloshing is built. Combining with the rigid body model of the semi-trailer, the dynamics model of the liquid tank semi-trailer is built, and the double shift line simulation for obstacle avoidance is performed. The simulation result shows that （ 1 ） when the filling rate increases, the driving parameters of the vehicle increase firstly, then decrease. When the filling rate is near 1.0, the liquid rocks violently, which has the greatest impact on the driving stability. When the filling rate is 1.0, with the increase of vehicle speed, the pendulum vibration instability is occurred firstly, then the rollover occurs. （2） Under the same working condition, when the filling rate is 1.8, with the increase of vehicle speed, the vehicle will rollover directly.