Simulation study of the backward-motion for a aircraft towbarless tractor

The kinematic model of a towbarless tractor-aircraft system pushing a airplane on the flat ground was established, and based on Lyapunov stability theory, backing up the system was proved to be an open-loop unstable problem by kinematic analysis. In this paper, we investigate the effects of different kinematics and configuration parameters on backward operation, and the manoeuvring stability of the system is also evaluated using the virtual prototype model by simulations. In this study, a tractor driver´s operation of correcting steering angle has been simulated with the STEP function according to the results of the experiment that researched on the stability of the reversing operation with a steering wheel angle step input. Theoretical verification and experimental results proved that it is referential for studying the handling and stability of the towbarless tractor-aircraft system in backward-motion.