Abstract
A simplified model is proposed in this work for the study of the directional stability of articulated tank vehicles. The liquid in the tank is simulated through elementary pendulums distributed longitudinally inside it. A mathematical model of the articulated vehicle is reached that, compared to the case of fixed cargo, has only two further degrees of freedom. The closed formulation, obtained through the linear mathematical model, allows the appraisal of the articulated vehicle's behaviour in global terms. The critical speed for the variation of the fill level is calculated and the results of the vehicle's dynamic response to a step variation of the steering angle are reported.
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