Aircraft ground coordinated turning system and sliding mode control method and system thereof

A sliding mode control system of an aircraft ground coordinated turning system, comprising:

• an acquisition module, configured to acquire real-time parameters of an aircraft;
• a control module, configured to control a state of the aircraft ground coordinated turning system on a composite sliding mode surface for nose-wheel-main-wheel coordinated turning by a nose-wheel-main-wheel coordinated turning control law based on the real-time parameters of the aircraft;
• wherein
• the state of the aircraft ground coordinated turning system comprises a steering angle of a left main wheel and a right main wheel, and a steering angle of a nose wheel;
• a control target of the composite sliding mode surface for nose-wheel-main-wheel coordinated turning is that a yaw distance of the aircraft and a yaw angle of the aircraft approach zero within a preset time;
• and
• an acquisition method of the nose-wheel-main-wheel coordinated turning control law comprises:
• taking a derivative of the composite sliding mode surface for nose-wheel-main-wheel coordinated turning, and in combination with a model of the aircraft ground coordinated turning system, determining a nose-wheel-main-wheel coordinated turning control law;
• wherein system state variables of the model of the aircraft ground coordinated turning system comprise a yaw distance of the aircraft, a yaw angle of the aircraft, a longitudinal velocity of the aircraft and a yaw angular velocity.