基于无杆牵引车的舰载机路径跟踪控制

摘要

针对航母机库空间狭小、障碍物多等因素导致舰载机转运难度大的问题,以无杆牵引车和舰载机组成的铰接系统为研究对象,研究了舰载机在机库甲板调运作业的路径自动跟踪问题,建立了基于无杆牵引车的舰载机转运模型,将舰载机期望路径近似为直线和圆弧的组合,基于反馈线性化和时间一状态形式设计各路段的跟踪控制律,仿真结果表明,所设计的控制律和各控制律间的切换策略可实现舰载机沿组合路径的跟踪;基于自动跟踪的调运,可放宽对牵引车司机牵引技术的要求,确保调运作业时间准确、可控;该研究为后续自动跟踪的实现打下基础.%Aim at some difficulty problem such as narrowness space and multi-obstacles,path tracking of carrier aircraft in carrier hangar was studied.The articulated vehicle with tractor and aircraft was selected as study object.The kinematics model of carrier aircraft handling based on non-bar tractor.The path tracking controllers for rectilinear and circular paths were designed separately based on feedback linearization and time-state system model.The switching strategy for the two controller was proposed also.The simulation results show that the proposed controllers and switching strategy can realize arbitrary path tracking for carrier aircraft.The demand for tracking skill of handling crew can be released by the handling task based on automatically tracking,and the handling time would be exact and controlled.This study was the ground for realization of automatic handling.