Research On Path Tracking Control Of Carrier-based Aircraft Traction System

Carrier aircraft is the core of the attack and defense system of aircraft carrier combat formation.Its responsibilities mainly include air defense,anti-ship,shore attack,early warning reconnaissance and air indication.Its transportation is mainly completed by towing or piggyback by tractor.When the carrier-based aircraft is on the ship surface,whether moving on the ship surface deck or entering and leaving the hangar,it must rely on the traction of the tractor to make the carrier-based aircraft reach the designated position.In the past,the dispatching position of carrierbased aircraft was mainly determined by the commander according to the shutdown situation on the deck.The high-intensity dispatching work brought great physical fatigue to the driver and commander.Therefore,it is considered to introduce unmanned technology into the carrier-based aircraft traction system.The driverless technology of carrier-based aircraft traction system consists of perception,planning and control,and the path tracking control is the key technology to realize the autopilot of the carrier-based aircraft traction system.Based on the above reasons,this paper takes the path tracking control of carrier-based aircraft traction system as the core,deduces the dynamic model of traction system under the influence of ocean wave motion,and designs the transverse path tracking controller and longitudinal speed controller of the traction system.Firstly,the wave motion is described and a simplified model of wave motion is established;The coordinate systems of inertia,ship and traction system are established according to the right-hand Cartesian law.To analyze the process from inertial coordinate system to the carrier-based aircraft traction system,the directional cosine matrix is used,so as to analyze the motion of traction system on the deck.Secondly,the kinematics of traction systems with different structures are analyzed,and the kinematics equations of three traction systems are established respectively.Finally,considering the influence of wave motion on the force of the traction system,the gravities of the carrier-based aircraft and the tractor are decomposed into different directions.The force of the traction system at the hinge point is analyzed,and the force relationship between the tractor and the carrierbased aircraft at the hinge point is established.Analyzed the rolling resistance of the traction system to determine the rolling resistance of the traction system at different speeds;Considering the air resistance and tire cornering force,the longitudinal,transverse and yaw dynamic models of carrier-based aircraft traction system are established.Based on the dynamic model,the path tracking control system of carrier-based aircraft traction system is designed.Firstly,the lateral path tracking controller is raised according to the model predictive control algorithm combined with the traction system’s lateral and yaw dynamics model.Secondly,according to the sliding mode control algorithm,the longitudinal speed controller is designed based on the longitudinal dynamic model of the traction system.Finally,the connection between the path tracking control system and the dynamic model is connected in Simulink.To analyze the factors which affect the tracking effect of the path tracking control system,the simulation experiments are carried out under several different working conditions.The path tracking control system of carrier-based aircraft traction system is designed based on Qt creator.The information of Qt creator and MATLAB/Simulink is transmitted in real time by establishing the interface slot of Qt creator and MATLAB/Simulink,and the simulation results are displayed on the corresponding window of the created path tracking control system.Based on the kinematics and dynamics analysis of the carrier-based aircraft tractor system,the corresponding dynamic model is established in MATLAB/Simulink.In the light of the model predictive control algorithm and sliding mode control,the transverse path tracking controller and longitudinal speed controller are designed respectively.Combined with the dynamic model,the simulation is simulated in Simulink,which results are viewed in the user interface,and the effect of the path tracking control system is verified.This paper provides a reliable reference for introducing unmanned driving technology into carrier-based aircraft tractor system.