Course generalized switching control method achieved through hovercraft executing mechanism
A technology of executive mechanism and control method, applied in general control system, adaptive control, control/adjustment system, etc., can solve problems such as poor stability, difficult quality control, capsize, etc., achieve stable and fast rotation, and improve stability and flexibility, the effect of improving accuracy
Active Publication Date: 2016-07-27
HARBIN ENG UNIV
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Problems solved by technology
Due to the poor stability of the full-cushion hovercraft when navigating in wind and waves, it is not easy to obtain better control quality by manual manipulation, and may even cause dangerous navigation states such as high-speed turning and sideslip of the hovercraft, and even more likely Serious accidents such as ship capsizing
Method used
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[0023] Below in conjunction with accompanying drawing, the present invention is described in further detail, and steps are as follows:
[0024] (1). First, establish the coordinate system of space motion of the hovercraft, the mathematical model of each control device, and the mathematical model of the hovercraft motion, and establish the 6-degree-of-freedom motion mathematical model of the full-cushion lift hovercraft:
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[0031] The meanings of the parameters are as follows, where ξ, η, ζ are the coordinate systems of the fixed coordinate system, pointing to the true north, the true east and the center of the earth respectively, ψ is the heading angle, θ is the pitch angle, is the heel angle, u, v, r are the axial velocity respectively, p, r, q are the attitude angular velocity respectively. Since the hovercraft is fully lifted, the heave motion is generally not considered. In addition, in order to simpli...
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The invention provides a course generalized switching control method achieved through a hovercraft executing mechanism.The method comprises the steps that 1, an outer generalized supervisor supervises analog quantity signals of a hovercraft control system, and the analog quantity signals are classified and quantized; 2, control classes are worked out according to different environments and ship posture information, and a control scheme set for control surface coordination control is included in the inner layer of each control class; 3, output of corresponding activated weight values, namely, signals yj is obtained through classification and quantization, the jth control class to which a response is made is activated, and the outer connecting weight value is updated according to the deviation between an expected output signal and an actual output signal; 4, the corresponding multi-control-surface expected output scheme is executed in each control class through stranded switching logic, and the control schemes are updated in real time.Compared with a common control method, the method is more effective, and rotation of a hovercraft is more stable and faster.
Description
technical field [0001] The present invention relates to a generalized switching control method of a hovercraft course, in particular to a generalized switching control method using environment and multi-directional information of a hull and based on a CMAC-specific actuator of a hovercraft. Background technique [0002] At present, there have been some research results on the course control of hovercraft at home and abroad, but most of them control the course by manipulating the air rudder of the hovercraft. In addition, the hovercraft used manual control in the early days, mainly relying on the driver to observe the changes of the space motion parameters of the hovercraft and directly manipulate the actuator. Due to the poor stability of the full-cushion hovercraft when navigating in wind and waves, it is not easy to obtain better control quality by manual manipulation, and may even cause dangerous navigation states such as high-speed turning and sideslip of the hovercraft,...
Claims
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CPCG05B13/042
Inventor 刘向波林孝工李恒王成龙丁福光付明玉王元慧李娟
Owner HARBIN ENG UNIV