Unmanned navigation and control systems are gaining traction in various industries, including aviation. The related issues of control systems are also hot topics in research. This paper comprehensively studies the application of unmanned navigation and the implementation of proportional integral differential (PID) control methods for aircraft tractors. Aiming at the characteristics of large deviation of turning trajectory angle error and long lag time in the process of an unmanned tractor, the dynamic characteristics and state equation of the unmanned tractor are established by the PID method, and the motion equation is established by the Cartesian coordinate system. Finally, the simulation results show that the proposed method has good dynamic stability and rapidity. Compared with proportional control or integral control alone, the PID control system has better stability and a faster frequency response, which can be obtained that the PID control algorithm can effectively improve the work efficiency of the unmanned tractor and reduce its instability and slow response.

中文翻译：

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飞机牵引车无人导航及PID控制方法研究

无人驾驶导航和控制系统在包括航空在内的各个行业中越来越受到关注。控制系统的相关问题也是研究的热点。本文全面研究了无人导航的应用以及飞机牵引车比例积分微分（PID）控制方法的实现。针对无人拖拉机在行驶过程中转弯轨迹角度误差偏差大、滞后时间长的特点，采用PID方法建立无人拖拉机的动态特性和状态方程，并采用笛卡尔建立运动方程坐标系。最后仿真结果表明，该方法具有良好的动态稳定性和快速性。与单独比例控制或积分控制相比，PID控制系统具有更好的稳定性和更快的频率响应，可见PID控制算法可以有效提高无人拖拉机的工作效率，减少其不稳定和响应迟缓。