四轮转向牵引车牵引飞机轨迹跟踪控制研究
DOI:
作者:
作者单位:

天津工业大学机械工程学院

作者简介:

通讯作者:

中图分类号:

V351.34

基金项目:


Research on Trajectory Tracking Control of Aircraft Towed by Four-wheel Steering Tractor
Author:
Affiliation:

School of Mechanical Enginering, Tiangong University

Fund Project:

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
  • |
  • 文章评论
    摘要:

    为提高飞机在牵引过程中的轨迹跟踪精度与稳定性,以四轮转向飞机牵引系统为研究对象,建立了飞机牵引系统运动学模型,提出了基于模型预测控制(Model Predictive Control, MPC)的牵引车四轮转向轨迹跟踪控制方法。以双移线工况作为参考轨迹,在Matlab/Simulink中搭建飞机牵引系统运动控制仿真模型,结合牵引车车速以及四个车轮的转角分配关系,建立牵引车四轮转向轨迹跟踪控制器。将该控制器与传统PID控制进行对比分析,得出该控制器的优越性,并分别在1.5 m/s、3 m/s和4 m/s的速度下,将牵引车四轮转向与前轮转向轨迹跟踪控制器进行仿真对比分析。在1.5 m/s的速度下,通过改变飞机牵引系统的初始位姿对所设计的控制器进行仿真验证。结果表明:在三种不同的速度下,牵引车四轮转向轨迹跟踪控制下的飞机横向误差、航向角误差以及牵引车航向角误差均小于前轮转向轨迹跟踪控制。在存在初始偏差的情况下,四轮转向轨迹跟踪控制器能够使飞机及时完成对初始偏差的修正,减小轨迹跟踪误差,同时提高飞机牵引系统行驶过程中的稳定性。

    Abstract:

    In order to improve the trajectory tracking accuracy and stability of the aircraft in the traction process, taking the four-wheel steering aircraft traction system as the research object, the kinematics model of the aircraft traction system is established, and the four-wheel steering trajectory tracking control method of the tractor based on the model predictive control is proposed. Taking the double lane changing condition as the reference trajectory, the motion control simulation model of the aircraft traction system is built in Matlab/Simulink, and the four-wheel steering trajectory tracking controller is established by combining the speed of the tractor and the angular distribution relationship of the four wheels. The controller is compared and analyzed with the traditional PID control to derive the superiority of the controller, and the tractor four-wheel steering and front-wheel steering trajectory tracking controllers are simulated and compared and analyzed at the speeds of 1.5 m/s, 3 m/s and 4 m/s, respectively. The designed controller is simulated and verified by changing the initial positional attitude of the aircraft traction system at a speed of 1.5 m/s. The results show that at three different speeds, the airplane lateral error, the heading angle error, and the tractor heading angle error under the four-wheel steering trajectory tracking control of the tractor are smaller than those under the front-wheel steering trajectory tracking control. In the case of initial deviation, the four-wheel steering trajectory tracking controller can enable the aircraft to complete the correction of the initial deviation in time, reduce the trajectory tracking error, and at the same time improve the stability of the aircraft's traction system in the driving process.

    参考文献
    相似文献
    引证文献
引用本文

董蕴琨,于鸿彬,刘洋. 四轮转向牵引车牵引飞机轨迹跟踪控制研究[J]. 科学技术与工程, , ():

复制
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:2024-03-20
  • 最后修改日期:2024-05-08
  • 录用日期:2024-05-21
  • 在线发布日期:
  • 出版日期:
×
亟待确认版面费归属稿件,敬请作者关注