Path-tracking Control of a Tractor-aircraft System

• Published in: Journal of marine science and application Vol. 11; no. 4; pp. 512 - 517
• Main Authors: Wang, Nengjian, Liu, Hongbo, Yang, Wanhui
• Format: Journal Article
• Language: English
• Published: Heidelberg Harbin Engineering University 01.12.2012; School of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
• Subjects: Electrical Machines and Networks; Engineering; Geotechnical Engineering & Applied Earth Sciences; Machinery and Machine Elements; Offshore Engineering; Power Electronics; 拉格朗日方程; 拖拉机; 操纵稳定性; 模糊逻辑理论; 虚拟样机模型; 路径跟踪控制; 飞机牵引车; 飞机系统; fuzzy control; path-tracking controller; co-simulation; aircraft tractor; preconcert route
• ISSN: 1671-9433; 1993-5048
• DOI: 10.1007/s11804-012-1162-x

An aircraft tractor plays a significant role as a kind of important marine transport and support equipment. It＇s necessary to study its controlling and manoeuvring stability to improve operation efficiency. A virtual prototyping model of the tractor-aircraft system based on Lagrange＇s equation of the first kind with Lagrange mutipliers was established in this paper, According to the towing characteristics, a path-tracking controller using fuzzy logic theory was designed. Direction control herein was carried out through a compensatory tracking approach. Interactive co-simulation was performed to validate the path-tracking behavior in closed-loop, Simulation results indicated that the tractor followed the reference courses precisely on a flat ground.