Air cushion ship formation control device and method based on virtual navigator and navigation strategy

Abstract

The invention provides an air cushion ship formation control device based on a virtual navigator and a navigation strategy. The air cushion ship formation control device comprises a virtual navigator module, a navigation module, a comparator and a controller, wherein the virtual navigator module sets the expected position for each air cushion ship through the geometrical relationship and updates the expected position in real time; the navigation module converts the self expected position into an expected speed signal; the comparator compares the expected speed with the practical speed to obtain the speed misalignment; and the controller can resolve a control command according to the speed misalignment. The air cushion ship formation control device and method based on a virtual navigator and a navigation strategy utilize the strategy for combining navigation with a virtual navigator, and set the expected position for each air cushion ship through the specific geometrical relationship by means of the virtual navigator, and then utilize translation to approach the navigation to convert an expected position signal into an expected speed signal to control, thus being able to effectively avoid the overshooting situation and improving the accuracy of formation and the safety of navigation.

Description

technical field [0001] The invention relates to a formation control device of a hovercraft. The invention also relates to a formation control method of the hovercraft. Background technique [0002] With the leap-forward development of new shipbuilding technology, various high-performance special ships have been launched one after another, receiving more and more attention, and have become the focus of research in shipbuilding circles around the world. The so-called high-performance special ship is a new type of marine carrier developed to break through the performance of conventional ships and adapt to special environmental requirements. The hovercraft is such a new type of ocean vehicle. However, the operating capability of a single hovercraft is limited after all, and in practical applications, multiple hovercraft are often required to coordinate with each other to complete complex tasks. At the same time, compared with a single hovercraft, multiple hovercraft have many...

AI Technical Summary

Problems solved by technology

However, the operating capacity of a single hovercraft is limited after all, and in practical applications, multiple hovercraft are often required to coordinate with each other to complete complex tasks

Images