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<p>To mitigate the rollover risk of semi-trailer liquid tankers during steering maneuvers, an energy-based rollover evaluation index is introduced. Based on a six-degree-of-freedom model of the semi-trailer liquid tanker, an integrated control strategy that combines AFS (active front-wheel steering) and DBC (differential braking control) is designed. Co-simulations are performed to validate the proposed strategy. Under the double lane change condition, in comparison with AFS strategy, the simulation results indicate that the proposed control strategy reduces roll angles by 16.84% and 16.81% for the tractor and trailer, respectively. Similarly, compared to DBC strategy, the proposed strategy reduces roll angles by 76.22% and 75.69%, respectively. Under the J-Turn condition with crosswind, and across various liquid filling rates, the proposed control strategy achieves a more significant reduction in vehicle roll angles compared to the DBC strategy based on LQR (linear quadratic regulation). Overall, the proposed control strategy enhances the rollover stability of semi-trailer liquid tankers.</p>

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Anti-rollover Control of Semi-trailer Liquid Tanker Based on Energy Method

  • 期刊论文

  • 发表日期：

    2025年11月11日

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  • Lihang Wang,
  • Mingmao Hu,
  • Yongchao Li,
  • Aihong Gong,
  • Qingshan Gong,
  • Dong Guo,
  • Yuyang Chen

摘要

To mitigate the rollover risk of semi-trailer liquid tankers during steering maneuvers, an energy-based rollover evaluation index is introduced. Based on a six-degree-of-freedom model of the semi-trailer liquid tanker, an integrated control strategy that combines AFS (active front-wheel steering) and DBC (differential braking control) is designed. Co-simulations are performed to validate the proposed strategy. Under the double lane change condition, in comparison with AFS strategy, the simulation results indicate that the proposed control strategy reduces roll angles by 16.84% and 16.81% for the tractor and trailer, respectively. Similarly, compared to DBC strategy, the proposed strategy reduces roll angles by 76.22% and 75.69%, respectively. Under the J-Turn condition with crosswind, and across various liquid filling rates, the proposed control strategy achieves a more significant reduction in vehicle roll angles compared to the DBC strategy based on LQR (linear quadratic regulation). Overall, the proposed control strategy enhances the rollover stability of semi-trailer liquid tankers.