Rollover prevention control of the tank semi-trailer considering sloshing of the liquid

In this paper, the rollover prevention control of the tank semi-trailer considering liquid sloshing is studied, and a rollover prevention control strategy of the tank semi-trailer based on the LQR (linear quadratic regulator) method is proposed. There are three main contributions in this paper. Firstly, the roll stability model of the whole vehicle is established, and the roll stability of the whole vehicle under different conditions is analysed. Secondly, based on the kinematics analysis, a seven-degree-of-freedom model of the vehicle is established. Also, the key parameters related to the model are identified by the combination of genetic algorithm and optimisation function. Thirdly, a rollover prevention controller of the tank semi-trailer based on the LQR method is proposed and the effectiveness of the control strategy is verified under fishhook conditions.