Hovercraft slew rate maintaining control method adopting guide module

A technology to maintain control and slew rate, applied in the direction of air cushion, transportation and packaging, vehicle parts, etc., can solve problems such as no mention of slew rate automatic maintenance control, no open documents, etc.

Active Publication Date: 2015-06-10
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the above systems have not mentioned the automatic maintenance control of the slew rate, and have not seen relevant public documents

Method used

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  • Hovercraft slew rate maintaining control method adopting guide module
  • Hovercraft slew rate maintaining control method adopting guide module
  • Hovercraft slew rate maintaining control method adopting guide module

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Embodiment Construction

[0037] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0038] The principle of the hovercraft slewing rate control system with the guidance module proposed by the present invention is as follows: figure 1 As shown, the process is as follows:

[0039] 1. The slewing rate control guidance module calculates the expected heading angle at the current moment according to the set slewing rate and the current actual heading angle;

[0040] 2. The comparator compares the expected heading obtained by the guidance module with the current actual heading of the platform compass to obtain the heading deviation;

[0041] 3. The controller calculates the rudder angle command according to the heading deviation and sends it to the air rudder system.

[0042] 4. The rudder angle of the air rudder changes, so that the torque on the hovercraft changes, so as to achieve the set slewing rate.

[0043] The hovercraft slewing rate aut...

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PUM

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Abstract

The invention discloses a hovercraft slew rate maintaining control method adopting a guide module. The hovercraft slew rate maintaining control method comprises steps as follows: a slew rate control guide module reads a set slew rate and a current actual course angle, and a current expected course angle is obtained and transmitted to a comparator; the comparator compares the received expected course angle with the current actual course angle, and course deviation is obtained and transmitted to a controller; the controller obtains a rudder angle control command according to the received course deviation, the rudder angle control command is sent to an air rudder, and the air rudder executes the command until the set slew rate is met. With adoption of the method, a hovercraft can be automatically controlled to slew, and the control level and the navigation stability can be improved.

Description

technical field [0001] The invention belongs to the field of motion control of hovercraft, and in particular relates to a control method for maintaining the slewing rate of the hovercraft with a guiding module, which can realize the automatic control of the hovercraft's rotation. Background technique [0002] The early foreign hovercraft adopted manual control, mainly relying on the driver to observe the change of the space motion parameters of the hovercraft, and directly manipulate the actuator to realize the maneuvering. Due to the poor stability of the full-cushion hovercraft when navigating in wind and waves, it is difficult to obtain good control quality when using the manual control method of the driver. Moreover, the workload of the driver is extremely heavy, and he bears a huge mental burden. Once the operation is not done properly, the ship will turn around at a high speed and skid, putting the ship in a dangerous sailing state. If the movement state exceeds the sa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60V1/11
Inventor 王成龙付明玉丁福光徐玉杰赵大威王元慧林孝工施小成
Owner HARBIN ENG UNIV
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