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Amphibious air cushion shipway point guidance control method

A control method and hovercraft technology, applied in two-dimensional position/channel control, vehicle position/route/height control, non-electric variable control, etc., to achieve the effects of avoiding deceleration, smooth cornering, and improving stability and safety

Inactive Publication Date: 2017-02-15
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in the open literature at home and abroad, there is no report on the application of this method to the control method of the full-cushion lift hovercraft

Method used

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  • Amphibious air cushion shipway point guidance control method
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  • Amphibious air cushion shipway point guidance control method

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Embodiment Construction

[0028] The present invention will be further described below with examples in conjunction with the accompanying drawings.

[0029] The present invention realizes according to the following steps:

[0030] 1. Obtaining the position and attitude of the hovercraft

[0031] The current position information of the hovercraft is measured by the position reference system composed of DGPS and radar, and the attitude information of the ship such as heading, slew rate and roll is measured by the attitude sensor system composed of attitude sensor and gyro compass. The acquired information is filtered and space-time aligned to obtain accurate position and attitude information of the hovercraft.

[0032] 2. Calculation of guidance point and expected heading angle

[0033] attached figure 1 The rationale for calculating steering points is shown. Take the real-time position (x(t), y(t)) of the hovercraft as the center of the circle, and take a certain length R (usually a multiple of the ...

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Abstract

The invention provides an amphibious air cushion shipway point guidance control method, which comprises the following steps of (1) measuring current position information of an air cushion ship, heading of the ship, rotating rate and rolling attitude information; (2) combining a current position and a target position of the air cushion ship, and setting a way point;(3) calculating a guide point PLOS (xlos, ylos) of ship trajectory tracking through integrating a way point coordinate (xk, yk) and the current position (x(t), y(t)) of the air cushion ship by an LOS guidance system;(4) calculating an expected heading angle psi d according to the current position of the air cushion ship and a guide point coordinate, comparing the expected heading angle psi d with a current heading angle psi of the air cushion ship, and regarding a difference delta psi being equal to subtract psi d from psi as input of a PID controller; (5) controlling the air cushion ship to sail toward the guide point through the PID controller; (6) switching. According to the amphibious air cushion ship way point guidance control method provided by the invention, the ship trajectory control of the amphibious air cushion ship is realized, the work intensity and the mental burden of a driver can be reduced, and the stability and the safety in sailing of the amphibious air cushion ship are improved.

Description

technical field [0001] The invention relates to a control method of a hovercraft, in particular to a waypoint guidance control method of a full-cushion lift hovercraft. Background technique [0002] At present, my country's full-cushion lift hovercraft is mainly operated manually, and its unique operating surfaces are numerous and complex to control, requiring the driver to concentrate all the time, resulting in great mental pressure. At the same time, due to the special navigation mechanism, the stability and maneuverability of the full-cushion hovercraft are poor, the heading and attitude are difficult to control, and yaw and side drift are prone to occur. Therefore, it is difficult to obtain good control quality when the driver is manually controlled. . Waypoint Guidance equates the more complex path following to heading tracking to a guidance point. It has a good performance in the field of aircraft and robot movement, and has achieved good control effects. However, i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/203G05D1/0206
Inventor 王元慧葛然丁福光王成龙蒋希赟张放
Owner HARBIN ENG UNIV
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