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Judgment method of safety boundary of hovercraft

A technology of safety boundary and determination method, applied in special data processing applications, instruments, electrical digital data processing, etc., to reduce pressure, ensure safe navigation, and reduce hovercraft instability

Active Publication Date: 2015-12-23
HARBIN ENG UNIV
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Problems solved by technology

[0005] The above safety limits are set for manual manipulation, without considering the influence of the control law. When the autopilot system is used to control the hovercraft, it is necessary to provide a safety boundary under the current control law to provide a basis for whether to carry out emergency control

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  • Judgment method of safety boundary of hovercraft

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Embodiment Construction

[0021] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0022] The invention mainly includes obtaining sample space, training BP neural network and adopting dichotomy method to calculate safety boundary.

[0023] combine figure 1 , the process steps to obtain the sample space are as follows:

[0024] 1. Obtain the status information of the hovercraft, and use the six parameters of sideslip angle, gyration angular velocity, heel angle, heel angular velocity, pitch angle and pitch angular velocity with the variable x 1 ,x 2 ,x 3 ,x 4 ,x 5 ,x 6 Indicates that the vector X=[x 1 ,x 2 ,x 3 ,x 4 ,x 5 ,x 6 ] T , the current control law of the hovercraft is denoted as τ, and the model of the hovercraft is denoted as Where X(0) represents the initial state, and t represents time;

[0025] 2. Select the initial state sequence according to the working range of the state. The working scope of the state is expr...

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Abstract

The invention provides a judgment method of a safety boundary of a hovercraft. The method comprises the steps that on the basis of a Lyapunov stability theory and real hovercraft handling characteristics, judgment conditions of the stable state of the hovercraft are provided; then, according to the judgment conditions, the state in the working space of the hovercraft is divided into two types of a stable point and an unstable point, and the working space serves as a sample space to train a BP neural network to obtain a stable region judging model; at last, by means of a dichotomy and the BP neural network stable region judging model, the working space is searched, and therefore the safety boundary is obtained. In the real-time control process of the hovercraft, the safety boundary can serve as a judgment basis of an emergency control input in a dangerous working condition, and the safe navigation of the hovercraft is guaranteed. According to the judgment method of the safety boundary of the hovercraft, due to the fact that the safety boundary of the hovercraft in the current control law is calculated, unstability of the hovercraft due to misjudgments of operators can be reduced, the labor intensity and the mental burden of the operators can be reduced, and the great practical value is achieved.

Description

technical field [0001] The invention relates to a method for judging the safety boundary of a hovercraft, in particular to an off-line calculation method for the safety boundary of the hovercraft based on a neural network. Background technique [0002] During the navigation and maneuvering of the hovercraft, different risks may occur under the disturbance of wind and waves or the damage of the apron or the malfunction of the control equipment and the improper operation of the driver, such as high-speed bowing, low-speed overturning, high-speed tail flicking, etc. If the driver does not operate properly, the dangerous state of the hovercraft during navigation is as follows: with the increase of the turning angular velocity, the sideslip angle gradually increases, and then the heel angle and pitch angle increase rapidly. Therefore, in order to ensure navigation safety, it is necessary to calculate the safety boundary of the main variables that affect navigation safety, and jud...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
Inventor 丁福光徐玉杰付明玉张丽娜王成龙林孝工刘向波王元慧
Owner HARBIN ENG UNIV
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