| Anti-rollover Control of Semi-trailer Liquid Tanker Based on Energy Method |
| Lihang Wang1, Mingmao Hu1,2, Yongchao Li3, Aihong Gong3, Qingshan Gong3, Dong Guo4, Yuyang Chen1 |
1School of Automotive Engineering, Hubei University of Automotive Technology, Shiyan, 442002, China
2Key Laboratory of Automotive Power Train and Electronic Control, Hubei University of Automotive Technology, 167 Checheng West Road, Shiyan, 442002, China
3School of Automotive Intelligent Manufacturing, Hubei University of Automotive Technology, Shiyan, 442002, China
4School of Vehicle Engineering, Chongqing University of Technology, Chongqing, 400054, China |
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Received: July 18, 2025; Revised: September 15, 2025 Accepted: September 22, 2025. Published online: November 11, 2025. |
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| ABSTRACT |
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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. |
| Key Words:
Anti-rollover control · Semi-trailer liquid tanker · Rollover evaluation index · Energy method |
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Corresponding Author.
Mingmao Hu , Email. 
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