Field tests and validation of dynamical models of tank vehicles Part I: mathematical model and experimental apparatus

This paper presents an experimental investigation of the handling performances of an articulated vehicle carrying liquid cargo. The test vehicle consists of a car with a single-axle trailer carrying a cylindrical tank, fully instrumented to measure the interested parameters of vehicle dynamics and liquid-vehicle interactions. An original device for the visualisation of the liquid free surface inside the tank is also described. Besides, the authors present a simplified model of articulated vehicle carrying liquid cargo and a comparison between experimental data and model results.