Study on improved LOS+MPC algorithm of aircraft ground taxiing deviation correction control

Résumé fourni par la source

To address the aircraft ground deviation correction control, a controller integrating the line-of-sight (LOS) guidance algorithm and model predictive control (MPC) is designed. Firstly, a nonlinear dynamic model for aircraft ground taxiing is established by incorporating the aerodynamic and ground loads. Specifically, an improved LOS algorithm is proposed, where the forward-looking distance dynamically adjusts with lateral displacement deviations. This transforms the aircraft's ground deviation correction control problem into a yaw angle stabilization problem, simplifying the control objective. For the differential braking loop, a two-layer control logic is developed. Firstly, a PID controller generates virtual slip ratio commands for differential braking. Secondly, an extended state observer (ESO) is designed for real-time estimation of uncertainties in the braking system, and the MPC algorithm is then employed to drive the left and right main wheels to accurately track their respective desired slip ratios. Finally, the MPC algorithm coordinately tracks the desired yaw angle (output from the above process) and the virtual slip ratio commands, achieving complete aircraft ground deviation correction control. Simulation results demonstrate that under harsh operating conditions, comparing with the traditional LOS algorithm, the improved LOS algorithm enhances the convergence rate of lateral displacement by 66.7% and that of yaw angle by 53.6%. Additionally, simulations verify the effectiveness of the proposed scheme in simplifying the braking control model, while tests under typical initial taxiing conditions further confirm the overall validity of the LOS+MPC deviation correction control scheme.

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