四轮转向牵引车牵引飞机轨迹跟踪控制研究  

Trajectory Tracking Control of Aircraft Towed by Four-wheel Steering Tractor

作　　者：董蕴琨 于鸿彬[1,2] 刘洋[1] DONG Yun-kun;YU Hong-bin;LIU Yang(School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Key Laboratory of Advanced Mechatronics Equipment Technology,Tiangong University,Tianjin 300387,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津工业大学天津现代机电装备技术重点实验室,天津300387

出　　处：《科学技术与工程》2025年第2期832-841,共10页Science Technology and Engineering

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4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。将该控制器与传统比例积分微分控制(proportional integral differential,PID)进行对比分析,得出该控制器的优越性,并分别在1.5、3、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3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。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 was proposed.Taking the double lane changing condition as the reference trajectory,the motion control simulation model of the aircraft traction system was built in MATLAB/Simulink,and the four-wheel steering trajectory tracking controller was established by combining the speed of the tractor and the angular distribution relationship of the four wheels.The controller was 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 were simulated and compared and analyzed at the speeds of 1.5 m/s,3 m/s and 4 m/s,respectively.The designed controller was 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.

关 键 词：飞机牵引系统 四轮转向 运动学模型 模型预测控制 轨迹跟踪 

分 类 号：V351.34[航空宇航科学与技术—人机与环境工程]