Abstract: Under turning condition, the liquid sloshing of tank truck will affect its driving stability. According to the liquid distribution in the liquid tank when sloping, the computational model of liquid centroid position was inferred. According to the vehicle dynamics model, three degrees of freedom model under the influence of centroid variation was optimized and the computational model of lateral load transfer rate (LTR) of tank truck was inferred. The proposed model was simulated by MATLAB/Simulink software and compared with results of Hardware in the Loop platform. In addition, the changes of centroid and LRT under different velocity and front wheel steering angle were simulated. The results show that the proposed model can reflect the motion state of tank truck well; the change of centroid and lateral load transfer rate is similar to the variation trend of angle of heel, which can provide model reference for subsequent control. Meanwhile, according to the simulation results, the critical curve of speed and front wheel steering angle is obtained. Under this curve, the vehicle is safe.

Key words: vehicle engineering, tank truck, turning condition, centroid, lateral load transfer rate

摘要： 液罐车在转弯工况下液体晃动会影响其行驶稳定性，根据侧倾时液罐中的液体分布，得出液体质心位置的计算模型；根据车辆动力学模型，对质心变化影 响下的三自由度模型进行优化，推导出液罐车在转弯工况下横向载荷转移率计算模型；运用MATLAB/Simulink软件对模型进行仿真，并与硬件在环仿真平台试验 结果进行对比，对不同速度及前轮转向角下液体质心以及横向载荷转移率的变化进行仿真。仿真结果说明该模型能够较好的反映液罐车的运动状态；转弯时质心 的变化与横向载荷转移率的变化趋势与侧倾角的变化趋势相似，可以为后续控制提供模型参考；同时，根据仿真结果得出速度-前轮转向角临界曲线，在该曲线下 方，车辆是安全的。

关键词: 车辆工程, 液罐车, 转弯工况, 质心, 横向载荷转移率