For studying the problem of yaw stability control for liquid tank semi-trailer with liquid sloshing,based on scale model theory,set up the liquid tank semi-trailer similarity model test rig. With 4-DOF of tractor semi-trailer as reference model,a vehicle hinge angle estimator is built with the Kalman filter,yaw stability control strategy based on tractor yaw rate and hinge angle of ve-hicle was suggested by using LQR optimal control and differential braking technique,and by using the established model test rig. Double shift line condition test results show that the yaw stability control,results show that the method can effectively restrain the influence of liquid sloshing of vehicles,reduces the vehicle state parameter fluctuations,improve the liquid tank semi-trailer’ s driving stability.%针对在液体晃动情况下，半挂液罐车横向稳定性较差的问题，以相似模型理论为基础，搭建了半挂液罐车相似模型试验台。以4自由度单轨半挂汽车模型作为参考模型，采用卡尔曼滤波方法估计车辆的铰接角，运用最优控制和差动制动技术，设计了基于牵引车横摆角速度和铰接角的半挂液罐车横向稳定性控制策略，并利用所建立的相似模型试验台，进行了双移线工况的横向稳定性控制试验。试验结果表明：运用设计的控制策略，结合最优控制和差动制动技术可以有效抑制液体晃动对车辆的影响，降低车辆行驶状态参数的波动，提高半挂液罐车的行驶稳定性。
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