Active time-delay feedback control method for attitude adjustment of hovercraft

A technology of feedback control and hovercraft, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as unfavorable start, hovercraft vibration, hovercraft difficulty, etc., and achieve the effect of improving real-time performance

Active Publication Date: 2018-04-17
HARBIN ENG UNIV
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In the static state of the hovercraft, due to the complexity of the ocean environment, the influence of wind, waves, and currents, it is difficult for the hovercraft to maintain a stable state, which increases the difficulty of maneuvering the hovercraft, and is not conducive to its starting in a static state. There is no relevant achievement in the open literature, and there is no relevant report on the way of using water guns to actively control the attitude of the hovercraft
[0003] Due to the limited power provided by the water gun and the large inertia of the hovercraft, changing the state of the hovercraft will inevitably encounter the problem of inertia delay. If this problem is ignored, it will cause a large shock when the hovercraft adjusts its attitude. , there is even the danger of capsizing

Method used

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  • Active time-delay feedback control method for attitude adjustment of hovercraft
  • Active time-delay feedback control method for attitude adjustment of hovercraft
  • Active time-delay feedback control method for attitude adjustment of hovercraft

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Embodiment Construction

[0017] The following examples describe the present invention in more detail.

[0018] The attitude information of the hovercraft is obtained through the hovercraft sensor system, and the control signal of the controller is obtained according to the information. The signal enters the conversion logic to calculate the power required by each water gun, and finally adjusts the attitude of the hovercraft through the actuator mechanism.

[0019] 1. Establish a six-degree-of-freedom model of the hovercraft:

[0020] The six-degree-of-freedom motion model of the full-cushion lift hovercraft is:

[0021] in:

[0022] u, ——the speed in the direction of X-axis, ξ——the position on the X-axis

[0023] v, ——the speed in the Y-axis direction, η——the position on the Y-axis

[0024] w, ——the speed in the Z-axis direction, ζ——the position on the Z-axis

[0025] p, — the angular velocity of the movement around the X axis, ——Attitude angle around the X axis

[0026] q, ——The an...

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PUM

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Abstract

The invention provides an initiative time-lag feedback control device and method for hovercraft posture adjustment. The initiative time-lag feedback control device comprises water guns, a controller and transformation logic which are arranged on the periphery of a hovercraft. A hovercraft sensor system obtains hovercraft posture information which is input into the controller, the controller obtain control signals of the controller according to the information, the control signals enter the transformation logic, the power required to be provided by the water guns is worked out, and finally the posture of the hovercraft is adjusted through the water guns. By means of the initiative time-lag feedback control device and method, on-line adjustment of the static posture of hovercraft is achieved, the influence of inertial delay is improved, and good real-time performance and robustness are achieved.

Description

technical field [0001] The invention relates to a method for adjusting the attitude of the hovercraft, in particular to a method for adjusting the static attitude of the hovercraft by introducing water guns and time-delay feedback. Background technique [0002] In the static state of the hovercraft, due to the complexity of the ocean environment, the influence of wind, waves, and currents, it is difficult for the hovercraft to maintain a stable state, which increases the difficulty of maneuvering the hovercraft, and is not conducive to its starting in a static state. There is no relevant achievement in the open literature, and there is no relevant report on the way of using water guns to actively control the attitude of the hovercraft. [0003] Due to the limited power provided by the water gun and the large inertia of the hovercraft, changing the state of the hovercraft will inevitably encounter the problem of inertia delay. If this problem is ignored, it will cause a large...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 丁福光林孝工梁坤王元慧付明玉刘向波李娟赵大威
Owner HARBIN ENG UNIV
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