舰载机无杆式牵引车横摆稳定性控制

doi:10.16183/j.cnki.jsjtu.2020.99.008

摘要/Abstract

摘要：

对舰载机无杆式牵引车的横摆稳定性控制进行深入的研究分析.考虑舰船横摇、纵摇和垂荡的耦合运动影响,建立轮毂电机驱动的舰载机无杆式牵引车时变非线性动力学模型.分别基于滑模变结构和自适应模糊比例积分微分(PID)控制理论获得横摆稳定性控制所需的补偿力矩,从而实现对理想参考模型的横摆角速度值的跟随.应用MATLAB/Simulink平台对两种控制方法进行仿真对比验证.仿真结果显示,所建立的动力学模型能够很好地反映舰载机牵引车的横摆运动特性.基于准滑动模态的滑模控制方法能够很好地控制牵引车的横摆角速度对理想模型的跟随,实现了对牵引车的稳定控制.在5级及以下海况的干扰下,能够保证系统响应迅速、稳健性高,有效地提高了舰载机无杆式牵引车的行驶稳定性.

关键词: 舰载机无杆式牵引车, 运动方程, 稳定性, 控制器

Abstract:

The yaw stability control of carried-based aircraft towbarless tractor is studied and analyzed. Considering the coupled roll-pitch-heave motion of the carrier, a time varying nonlinear dynamic model is established for the carrier-based aircraft towbarless tractor driven by in-wheel motors. The compensating moment needed for yaw stability control is obtained through the sliding mode controller and self-adaptive fuzzy proportion integration differentiation (PID)controller respectively. The yaw rate values of the ideal reference model can be followed. The two control methods are compared and verified by simulation using MATLAB/Simulink. The simulation results show that the yaw motion characteristics of the carrier-based aircraft towbarless tractor can be well reflected by the established dynamic model. Besides, the yaw rate of the tractor can be well controlled to follow an ideal reference model by the quasi sliding mode control. Moreover, the stability control of the tractor is achieved. Furthermore, the fast response time and the high robustness of system can be guaranteed under the sea state level 5 and below. The carrier-based aircraft towbarless tractor driving stability is effectively enhanced.

Key words: towbarless aircraft tractor on carrier, kinetic equation, stability, controller

中图分类号:

V351.34
O317

戚基艳, 金嘉琦, 付景顺. 舰载机无杆式牵引车横摆稳定性控制[J]. 上海交通大学学报, 2020, 54(9): 943-952.

QI Jiyan, JIN Jiaqi, FU Jingshun. Yaw Stability Control of Carrier-Based Aircraft Towbarless Tractor Carrier[J]. Journal of Shanghai Jiaotong University, 2020, 54(9): 943-952.

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参数	取值
m₁/kg	1000
u_c/(km·h^-1)	5.5
h₁/m	0.3
l₁/m	0.576
l₂/m	1.153
l₅/m	1.153
I_z₁/(kg·m^-2)	385.09

输入类型	海况等级
	4级		5级		6级		理想值
	ε_1,max	ε_1,min	ε_1,max	ε_1,min	ε_1,max	ε_1,min	ε_1,max	ε_1,min
阶跃	0.14440	-0.11820	0.04024	-0.07695	1.736	-2.107	0.01176		0
正弦	0.04285	-0.04772	0.06519	-0.05200	1.724	-2.119	0.01406		-0.01406