Research On Path Planning And Path Following Control Strategy Of Traction System

Chinese naval strength ranks among the top in the world,and it is inseparable from my country’s ability to independently design and manufacture aircraft carriers.It can be seen that aircraft carriers are the embodiment of naval strength.One of the combat effectiveness of an aircraft carrier comes from the carrier-based aircraft on the deck of the aircraft carrier,and the dispatch capability of the carrier-based aircraft directly affects the combat effectiveness of the aircraft carrier.At present,increasing number of aircraft carriers adopt tractors to tow the movement of carrier-based aircraft,and realize the tasks such as the dispatching and transportation of carrier-based aircraft.This shows the importance of the path planning technology and motion control technology of the traction system.Because the traction system is a multi-body mobile robot system,the path planning and motion control of the system need to be considered both at the same time,which greatly increases the difficulty.This paper studies the path planning and tracking control technology of the traction system,realizes the path planning and tracking tasks of the rodless tractor towing the carrier-based aircraft,and designs a scaled-down model to verify the research.This thesis takes rodless traction system as the research object,and the main research contents are as follows:(1)The kinematic models of the traction system are studied,including the kinematics models of the carrier-based aircraft and the towing point of the tractor at different positions,and different models are derived.Kinematics simulation is carried out when the traction point is located at the midpoint of the rear wheel axle to verify the law of the traction system during the movement.(2)The path planning technology of the traction system is studied,the carrier aircraft model is simplified,the simplified geometric model and obstacle avoidance model of the traction system are established,the obstacle avoidance detection algorithm of the traction system is given,and the extension based on geometric theory is proposed.Through obstacle avoidance algorithm and maneuverability constraints,the path planning simulation of the traction system is carried out.Simulation shows that the proposed path planning algorithm can search for a collision-free optimal path connected by a straight line and a curve,which is convenient for tracking and controlling the traction system.(3)The path tracking control technology of the traction system is studied,and the forward motion controller and the backward motion controller of the traction system are proposed.The forward motion controller is a pure tracking control based on fuzzy control optimization.The fuzzy control is used to improve the shortcomings of the fixed forward distance value in the pure tracking model.The backward motion controller is based on the steering angle control derived from the inverse kinematics model,and the influence of the preview distance on the backward controller is analyzed.The simulation results show that the forward and backward controllers can quickly track the straight line and curve of the ideal target.(4)Designed a scaled object of carrier-based aircraft traction system,using UWB module to realize system positioning,electronic compass and angle encoder to measure the attitude of carrier-based aircraft and tractor.Aiming at the task of hauling out and entering the warehouse on the aircraft carrier’s deck,Simulation is carried out by combining two parts of path planning and tracking control.The simulation shows that the proposed planning and tracking algorithm can complete the task of leaving and entering the warehouse.Finally,based on the scaled model to simulate the local area of the aircraft carrier,experiments are carried out on the loading mission of the carrier-based aircraft.The experimental results show that the maximum error of the control algorithm is 6cm,which verifies the effectiveness of the path planning and tracking control algorithm.