甲板上牵引车-直升机系统的稳定性控制

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.

Study on Stability Control for Tractor-Helicopter System on Deck

The problem of enhancing tractor-helicopter system stability through controlling tractor rear steering angles was addressed, when the helicopter is towed by the tractor on the deck. Considering the inertial force on the helicopter traction system produced by coupled roll-pitch-heave motion of ship, a time varying, nonlinear 3DOF tractor-helicopter system dynamic model including steering system was established. To cope with the variation of aircraft parameters and ocean environment, tractor rear active steering controller and front compensative steering controller were designed based on constructive backstepping variable structure control method with the characteristic of steering subsystem taken into account. The simulation results show that the variable structure controllers can control the relative yaw angular velocity between the tractor and aircraft effectively, meanwhile, can follow the reference model and improve the handling of the system; the control system can restrict the effect of the uncertain outer disturbance and parameter perturbations, has strong robustness.