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探讨了甲板上牵引车牵引直升机行驶时,通过主动控制牵引车后轮转向角来提高直升机牵引系统操纵稳定性的基本原理.考虑船体横摇、纵摇和垂荡3个自由度的耦合运动对牵引系统产生的惯性力,建立了包含转向子系统模型在内的3自由度时变、非线性牵引车-直升机系统动力学模型.针对直升机参数和海洋环境的不确定性,结合转向子系统特性,应用扩展后的反演变结构控制方法设计了牵引车后轮主动转向+前轮补偿转向控制器.仿真结果表明,变结构控制器在有效控制牵引车和直升机之间相对横摆角速度的同时,很好地跟随了理想模型,增强了牵引系统的操作性;并且控制系统能够很好地克服参数摄动和不确定的外界干扰对系统稳定性的影响.
This paper discusses the basic principle of improving steering stability of helicopter towing system by actively controlling rear wheel steering angle of towing helicopter on deck.Considering the coupled motion of three degrees of freedom of hull rolling, pitching and heaving A three-DOF time-varying and nonlinear tug-helicopter system dynamics model including the steering subsystem model is established. According to the helicopter parameters and the uncertainty of the marine environment, combined with the characteristics of the steering subsystem , The extended backstepping variable structure control method is used to design the rear wheel active steering + front wheel compensation steering controller of the tractor.The simulation results show that the variable structure controller can effectively control the relative yaw rate between the tractor and the helicopter, It follows well the ideal model and enhances the operability of the traction system. The control system can well overcome the influence of parameter perturbation and uncertain external disturbance on system stability.