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为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=1.0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。
In order to study the influence of liquid sloshing on the vehicle running stability during the obstacle avoidance operation, a Galerkin method was used to establish the liquid sloshing equation of tank. According to the principle of equivalence, a mass-spring-damping equivalent model of liquid sloshing is established. Combined with the rigid body model of the semitrailer, the dynamic model of semi-trailer tanker was established, and the simulation of double-lane obstacle avoidance motion was carried out. The simulation results show that with the increase of the filling rate, the driving parameters of the vehicle first increase and then decrease. When the liquid filling rate is around k = 1.0, the shaking of the liquid is most violent, which has the greatest influence on the driving stability of the vehicle. Liquid rate, with the increase of vehicle speed, tanker vibration and instability occur first, and then rollover accident; and in the same conditions, the filling rate k = 1.8, with the increase of vehicle speed, the vehicle will be To rollover accident.