Volume 40 Issue 5
Nov.  2022
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Article Navigation >  Journal of Transport Information and Safety  > 2022  >  40(5): 91-101
SUN Yankun, YANG Hui, ZHANG Wei, QIN Jiahao. A Method for Safe Moving Paths and Tracking & Control of the Trajectory of Towed Taxiing-in Aircrafts[J]. Journal of Transport Information and Safety, 2022, 40(5): 91-101. doi: 10.3963/j.jssn.1674-4861.2022.05.010
Citation: SUN Yankun, YANG Hui, ZHANG Wei, QIN Jiahao. A Method for Safe Moving Paths and Tracking & Control of the Trajectory of Towed Taxiing-in Aircrafts[J]. Journal of Transport Information and Safety, 2022, 40(5): 91-101. doi: 10.3963/j.jssn.1674-4861.2022.05.010
shu

A Method for Safe Moving Paths and Tracking & Control of the Trajectory of Towed Taxiing-in Aircrafts

doi: 10.3963/j.jssn.1674-4861.2022.05.010
  • 1.

    Aeronautical Engineering College, Civil Aviation University of China, Tianjin 300300, China

  • 2.

    Aviation Ground Special Equipment Research Base, CAAC, Tianjin 300300, China

  • 3.

    Key Laboratory of Smart Airport Theory and System, CAAC, Tianjin 300300, China

  • Received Date: 2022-04-05
    Available Online: 2022-12-05
    Abstract
  • Under the circumstance that an aircraft cannot use its own power to taxi into a port after an emergency landing, towing the aircraft to the port using an aircraft tractor is necessary. Considering the safety clearance between aircraft wheels and airport runway, a hinge point over centerline(HPOC)method for the scenarios where the type of aircraft matches the airport category, and a geometric center over centerline(GCOC)method for the scenarios where the type of aircrafts does not match the airport category, is proposed, respectively. Based on these two methods, a dynamics model of the system is developed. Under the constraints of safety clearance and the aircraft's front angle, trajectory planning of the tractor-aircraft system is carried out. Based on the GCOC method, a continuous nonlinear trajectory tracking model is developed. The trajectory tracking problem with different weights and initial deviations is studied using a linear quadratic regular(LQR)method. Study results show that on an unmatched airport runway, when the tractor-aircraft system is taxiing in using the HPOC method, the wheels of the aircraft would potentially collide with. In contrast, the GCOC method can be used to meet the requirement of the minimum distance between the wheels of aircrafts and the edge of airport runways and taxiways. In the process of trajectory tracking and control for the system, when the weights for the horizontal and vertical coordinates of the geometric center of the aircraft main landing gear(Q1 and Q2), and the angle representing the attitude of the aircraft(Q3)are set to 100, and that for the angle representing the attitude of the tractor(Q4)is set to 0, that is, Q=(100, 100, 100, 0), the deviations between the actual and the reference trajectory are found to be between 0.05 and 0.1 m. The method can control the errors of the variables for measuring the system state within about 10 s and thus ensure the system maintains a stable state. Correction of the initial deviation can be done within 12 s, and the time span for the correction is acceptable compared to the time required(10 s)for the correction under the scenarios where the aircraft is taxiing in alone.

     

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