System and method for hovercraft docking control based on laser range finder
A technology of laser range finder and hovercraft, which is applied in the direction of air cushion, transportation and packaging, vehicle parts, etc., can solve the problems of not mentioning the docking control of hovercraft and seeing no open documents, etc., achieve good control effect, reduce time and Fuel consumption, the effect of reducing mental stress
Inactive Publication Date: 2015-12-30
HARBIN ENG UNIV
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However, none of the above systems mentioned the docking control of the hovercraft, and no relevant public documents have been seen.
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[0031] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0032] The invention proposes a method for controlling the docking of a hovercraft based on a laser rangefinder, with the purpose of realizing the docking control of the hovercraft, reducing the work intensity and mental burden of the driver, and improving the control level and navigation stability.
[0033] The principle of the hovercraft docking control method proposed by the present invention is as follows: figure 1 As shown, the process is as follows:
[0034] 1. Data collection, calculate the heading angle and lateral position status at the current moment according to the compass and laser range finder;
[0035] 2. The comparator compares the course obtained by the data acquisition module with the command course to obtain the course deviation, and compares the d obtained by the laser range finder. 1 , d 2 Compare to get the position deviation;
[003...
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The invention discloses a system and method for hovercraft docking control based on a laser range finder. The system comprises a compass, the laser range finder, a comparator, a controller, an air rudder and a side air door. The compass collects and transmits a course angle of the current moment of a hovercraft to the comparator, and the laser range finder collects and transmits left-right distances of the current moment of the hovercraft to the comparator; the comparator makes a comparison on the received course angle and an instruction course angle to obtain course deviation, compares the received left-right distances to obtain positional deviation, and transmits the course deviation and the positional deviation to the controller. The controller comprises a course controller and a position sidesway controller, the course controller outputs rudder angle instructions to the air rudder according to the received course deviation, the rudder angle of the air rudder is adjusted, and the position sidesway controller outputs side air door opening and closing instructions to the side air door according to the received positional deviation to control the opening and closing of the side air door. According to the system and method for hovercraft docking control based on the laser range finder, the operating level and sailing 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 system and method for docking an hovercraft based on a laser range finder. Background technique [0002] The maneuverability of the hovercraft is extremely poor. Due to the support of static pressure, it is suspended on the water surface (ground). The navigation state is greatly affected by the external environment, and it is prone to sideslip and high-speed rotation, and its stability is extremely poor. After decades of development, the hovercraft has changed from the earliest manual control to the current automatic control, which has improved the control level of the hovercraft, reduced the difficulty of manipulation, reduced the work intensity of the driver, and improved the safety of the hovercraft. [0003] As the prominent position of hovercraft continues to strengthen, more and more attention is paid to the maintenance and repair of hovercr...
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IPC IPC(8): B60V1/14
Inventor 丁福光付明玉朱超方胜王元慧林孝工李娟刘向波
Owner HARBIN ENG UNIV