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探讨了通过牵引车的自动转向来提高牵引车牵引飞机行驶时飞机牵引系统的轨迹跟踪性能和操纵稳定性的基本原理.考虑到牵引车和飞机之间铰接角引起的非线性因素,建立了包含转向系统子模型在内的三自由度飞机牵引系统力学模型.针对飞机参数和运行状态的不确定性,设计基于反演变结构控制方法的牵引车转角控制器,并采用边界层法对控制器进行修正.仿真结果表明,所设计的前轮转角控制器可以使系统精确地跟踪指定轨迹,当相对横摆角过大时,附加的牵引车后轮转角控制器有效地提高了系统稳定性,并且控制器能很好地抑制参数不确定性的影响,使系统具有很好的鲁棒性.
The basic principle of improving the trajectory tracking performance and steering stability of the aircraft towing system when the towing vehicle is towing is studied by considering the automatic steering of the towing vehicle.According to the nonlinear factors caused by the hinge angle between the towing vehicle and the airplane, Steering system sub-model.Thirdly, based on the uncertainties of aircraft parameters and operating conditions, a steering angle controller based on backstepping variable structure control is designed and the controller is implemented by boundary layer method The simulation results show that the designed front wheel angle controller can make the system track the specified trajectory accurately and the additional rear wheel angle controller effectively improves the system stability when the relative yaw angle is too large, The controller can well suppress the influence of parameter uncertainty and make the system robust.