牵引车-飞机系统的自适应滑模变结构控制

摘要

For a tractor-aircraft system,we propose a new active four-wheel steering control strategy,in which the lateral displacement and the relative yaw angle are taken as the feedback signals.Considering the lateral and yaw motions of the tractor as well as the aircraft and taking the articulated angle into account,we derive a nonlinear dynamic model of the tractor-aircraft system.The lateral tire stiffness of the tractor and the aircraft are considered as the bounded uncertain parameters,and the crosswind is taken as the unknown external disturbance;the tractor steering controllers are designed by using the adaptive and variable structure control with sliding mode method.Simulation results show that the front and rear steering controllers effectively control the trajectory-tracking with a good steering stability and reduce the impacts from parameter perturbations and external disturbance.%将自动转向技术应用于牵引车–飞机系统,并以侧偏位移和相对横摆角作为反馈,提出一种牵引车四轮主动转向控制策略.重点考虑牵引车和飞机的侧向和横摆运动,建立含铰接角在内的牵引车–飞机系统非线性动力学模型.将牵引车和飞机的轮胎侧偏刚度视为有界的不确定性参数,将侧向风等因素视为未知的外在扰动,采用自适应滑模变结构控制方法设计牵引车转向角控制器.仿真结果表明,设计出的前、后轮转向控制器能使控制系统同时获得很好的轨迹跟踪性和操纵稳定性,并且能够有效的克服参数摄动和外界干扰对系统操作性的影响.