Journal of Shanghai Jiao Tong University

Journal of Shanghai Jiaotong University >

2020 , Vol. 54 >Issue 9: 943 - 952

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2020.99.008

Yaw Stability Control of Carrier-Based Aircraft Towbarless Tractor Carrier

Expand
  • School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, China

Received date: 2019-09-12

  Online published: 2020-10-10

Fold

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

Cite this article

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 . DOI: 10.16183/j.cnki.jsjtu.2020.99.008

References

[1] 王能建, 周丽杰, 刘红博. 甲板上牵引车-直升机系统的稳定性控制[J]. 上海交通大学学报, 2012,46(7):1146-1152.
[1] WANG Nengjian, ZHOU Lijie, LIU Hongbo. Study on stability control for tractor-helicopter system on deck[J]. Journal of Shanghai Jiao Tong University, 2012,46(7):1146-1152.
[2] 刘洁, 韩维, 徐卫国, 等. 基于滚动时域的舰载机甲板运动轨迹跟踪最优控制[J]. 航空学报, 2019,40(8):180-205.
[2] LIU Jie, HAN Wei, XU Weiguo, et al. Optimal path tracking control of carrier-based aircraft on the deck based on RHC[J]. Acta Aeronautica et Astronautica Sinica, 2019,40(8):180-205.
[3] 张竞, 吴宇, 屈香菊. 舰载机牵引系统路径规划方法[J]. 北京航空航天大学学报, 2018,44(10):2125-2133.
[3] ZHANG Jing, WU Yu, QU Xiangju. Path planning method for traction system on carrier aircraft[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018,44(10):2125-2133.
[4] 解本铭, 赵宏伟, 王伟, 等. 遥控无杆飞机牵引车牵引转弯的运动学研究[J]. 机械设计与制造, 2018(7):127-129.
[4] XIE Benming, ZHAO Hongwei, WANG Wei, et al. Kinematics research on towing turning of remote control towbarless aircraft tractor[J]. Machinery Design & Manufacture, 2018(7):127-129.
[5] 王能建, 刘红博, 周丽杰. 甲板上舰载机牵引系统的行驶特性分析[J]. 中南大学学报(自然科学版), 2013,44(6):2304-2310.
[5] WANG Nengjian, LIU Hongbo, ZHOU Lijie. Moving characteristics analysis of carrier-based aircraft traction system on deck[J]. Journal of Central South University (Science and Technology), 2013,44(6):2304-2310.
[6] 王正, 黄葵, 范加利. 基于无杆牵引车的舰载机路径跟踪控制[J]. 计算机测量与控制, 2017,25(5):99-100.
[6] WANG Zheng, HUANG Kui, FAN Jiali. Path tracking control for carrier aircraft handled by tractor without bar[J]. Computer Measurement & Control, 2017,25(5):99-100.
[7] WANG N J, LIU H B, YANG W H. Path-tracking control of a tractor-aircraft system[J]. Journal of Marine Science and Application, 2012,11(4):512-517.
[8] ASIABAR A N, KAZEMI R. A direct yaw moment controller for a four in-wheel motor drive electric vehicle using adaptive sliding mode control[J]. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-Body Dynamics, 2019,233(3):549-567.
[9] 车竞, 和争春. 舰载机弹射起飞的动力学建模与相关问题研究[J]. 飞行力学, 2014,32(6):485-488.
[9] CHE Jing, HE Zhengchun. Research on dynamic modeling and correlative problems of catapult launch for carrier-based airplane[J]. Flight Dynamics, 2014,32(6):485-488.
[10] 胡伟, 傅军. 用于舰艇运动条件下姿态测量补偿的坐标变换算法[J]. 舰船电子工程, 2018,38(2):39-41.
[10] HU Wei, FU Jun. Research on algorithm of coordinate transformation using for attitude determination compensation under dynamic circumstances[J]. Ship Electronic Engineering, 2018,38(2):39-41.
[11] RAO S S. Mechanical vibrations[M]. 5th ed. London, England: Pearson Education, Inc., 2011: 494-503.
[12] 刘金琨. 滑模变结构控制MATLAB仿真[M].第3版. 北京: 清华大学出版社, 2015: 22-44.
[12] LIU Jinkun. Sliding mode control design and MATLAB simulation[M]. 3rd ed. Beijing: Tsinghua University Press, 2015: 22-44.
[13] 何永勃, 夏文卿, 董玉珊. 基于模糊自适应算法的异步电机矢量控制系统[J]. 中国民航大学学报, 2017,35(1):47-51.
[13] HE Yongbo, XIA Wenqing, DONG Yushan. Asynchronous motor vector control system based on fuzzy adaptive algorithm[J]. Journal of Civil Aviation University of China, 2017,35(1):47-51.
[14] XIONG L, YU Z P, WANG Y, et al. Vehicle dynamics control of four in-wheel motor drive electric vehicle using gain scheduling based on tyre cornering stiffness estimation[J]. Vehicle System Dynamics, 2012,50(6):831-846.
[15] 刘秋生, 徐延海, 陈启, 等. 4WID轮毂电机式电动汽车横摆稳定性滑模控制研究[J]. 广西大学学报(自然科学版), 2015,40(5):1080-1091.
[15] LIU Qiusheng, XU Yanhai, CHEN Qi, et al. Study on sliding mode control for the yaw stability of 4WID wheel motor electric vehicle[J]. Journal of Guangxi University (Natural Science Edition), 2015,40(5):1080-1091.
[16] 戚基艳, 金嘉琦, 邹姗姗. 舰载机无杆式牵引车纵向动力学分析[J]. 兵器装备工程学报, 2020,41(1):193-199.
[16] QI Jiyan, JIN Jiaqi, ZOU Shanshan. Longitudinal dynamics analysis of carrier-based towbarless aircraft tractor[J]. Journal of Ordnance Equipment Engineering, 2020,41(1):193-199.
[17] 白冰. 全挂汽车列车横向操纵稳定性研究[D]. 长春: 吉林大学, 2007.
[17] BAI Bing. Study on lateral controllability and stability of tractor trailer[D]. Changchun: Jilin University, 2007.
[18] HAYHOE G F. Braking performance of towbarless towing vehicles during maintenance tows [C]//First Congress of Transportation and Development Institute. Chicago, Illinois, USA: TDI, 2011: 310-319.
[19] 李福海. 飞机地面牵引移动与停放安全技术研究[D]. 南京: 南京航空航天大学, 2016.
[19] LI Fuhai. Research on aircraft’s towing and parking safety technology[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2016.
[20] 洪伟宏. 国外航母甲板防滑涂料技术现状及发展趋势[J]. 舰船科学技术, 2015,37(12):166-169.
[20] HONG Weihong. Situation and development trend of foreign aircraft carrier deck anti-slip coating technology[J]. Ship Science and Technology, 2015,37(12):166-169.
[21] 胡孟权, 白双刚, 陈怡然. 舰载机弹射起飞六自由度动力学建模与仿真[J]. 飞行力学, 2013,31(2):97-100.
[21] HU Mengquan, BAI Shuanggang, CHEN Yiran. Modeling and simulation for carrier-based aircraft catapult launch with six degrees of freedom[J]. Flight Dynamics, 2013,31(2):97-100.
[22] 朱梦臣. 大型舰船甲板车行驶动力学研究[D]. 南京: 南京理工大学, 2013.
[22] ZHU Mengchen. Research on driving dynamics of vehicle on the ship`s deck[D]. Nanjing: Nanjing University of Science and Technology, 2013.
[23] 桑德一, 赵建军, 杨利斌. 航母运动对着舰引导雷达精度的影响[J]. 中国舰船研究, 2014,9(6):8-13.
[23] SANG Deyi, ZHAO Jianjun, YANG Libin. The impact on landing guidance radar precision caused by the movement of aircraft carriers[J]. Chinese Journal of Ship Research, 2014,9(6):8-13.
Options
Outlines

/

〈 〉