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Hovercraft path tracking control method based on second-order sliding-mode control

A second-order sliding mode and control method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of no hovercraft, high robustness, etc., achieve excellent robustness and reduce chattering degree, the effect of improving the robustness of the system

Active Publication Date: 2017-12-08
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The general control method is difficult to solve this problem. The sliding mode control method has high robustness, and has a good control effect on nonlinear systems, system uncertainties and external environmental disturbances. However, the traditional sliding mode control method is based on Greater chatter in exchange for better control performance
[0004] In the literature and patent documents at home and abroad, there is no report of applying this method to hovercraft

Method used

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  • Hovercraft path tracking control method based on second-order sliding-mode control
  • Hovercraft path tracking control method based on second-order sliding-mode control
  • Hovercraft path tracking control method based on second-order sliding-mode control

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specific Embodiment approach 1

[0070] Specific embodiment one: a kind of hovercraft path tracking control method based on the second-order sliding mode control described in this embodiment is carried out according to the following steps:

[0071] 1. Establish the three-degree-of-freedom mathematical model of the hovercraft motion:

[0072] Study space moving bodies, establish a fixed coordinate system and a hull motion coordinate system, and establish a three-degree-of-freedom motion mathematical model for the three degrees of freedom of the hovercraft, sway, surge, and yaw;

[0073] 2. Get the position error:

[0074] Obtain the actual position of the hovercraft through the global positioning system GPS, and compare it with a given reference path to obtain the actual error;

[0075] 3. Design a second-order sliding mode point-to-point position controller:

[0076] Based on the mathematical model of hovercraft motion established in step 1 and the position error in step 2, a second-order sliding mode point...

specific Embodiment approach 2

[0083] Embodiment 2: This embodiment is a further description of the hovercraft path tracking control method based on second-order sliding mode control described in Embodiment 1. The specific process of establishing the three-degree-of-freedom mathematical model of the hovercraft motion in step 1 is as follows:

[0084] Establish a mathematical model for the three-degree-of-freedom water surface movement of the hovercraft:

[0085]

[0086] Where: η=[x,y,ψ] T Indicates the position and heading angle of the hovercraft; υ=[u,v,r] T Indicates the velocity and angular velocity of the hovercraft; M=diag{m,m,I z} represents the mass and moment of inertia of the hovercraft; τ=[τ u ,0,τ r ] T Indicates control force and control torque; d=[d u d v d r ] T Indicates external interference; k mi (i=1~7) represents the damping coefficient; the additional mass matrix C(υ) and the rotation matrix R(ψ) are as follows:

[0087]

specific Embodiment approach 3

[0088] Embodiment 3: This embodiment is a further description of the hovercraft path tracking control method based on second-order sliding mode control described in Embodiment 1. The specific process of designing the second-order sliding mode heading controller in step 6 is as follows:

[0089] Based on the three-degree-of-freedom mathematical model of the air-cushion motion established in step 1, the nonlinear second-order model of the heading subsystem of the hovercraft motion is obtained as follows:

[0090]

[0091] Aiming at the above second-order nonlinear model, the traditional sliding mode surface s is designed 1 and the nonsingular terminal sliding surface σ 1 :

[0092]

[0093] where: x 1 =ψ,x 2 = r, e 1 =x 1 -ψ d , lambda 1 >0,β 1 >0,p 1 ,q 1 It is a positive odd number, satisfying: 11 / q 1 d To refer to the heading angle, it is designed in step 3.

[0094] The design heading control torque is:

[0095]

[0096] Among them: K 1 >0 is the c...

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Abstract

The invention discloses a hovercraft path tracking control method based on second-order sliding-mode control, belongs to the technical field of path tracking control, and in particular relates to the application of a second-order sliding mode control method to the hovercraft path tracking. The hovercraft path tracking control method based on second-order sliding-mode control comprises steps of: firstly establishing a hovercraft motion three-degree-of-freedom mathematical model; then, calculating trim force by using a second-order sliding-mode point-to-point position controller; calculating heading torque by using a second-order sliding-mode heading controller; and finally, applying the trim torque and the heading torque to hovercraft path tracking control. The method applies the second-order sliding-mode control method to the hovercraft path tracking control, mainly solves the high nonlinearity and uncertainty of a hovercraft model, and is not liable to be disturbed by external environment.

Description

technical field [0001] The invention relates to the technical field of path tracking control, in particular to a hovercraft path tracking control method based on second-order sliding mode control. Background technique [0002] As an amphibious ship type, hovercraft can be easily navigated on the water and on the ground, so it is widely used in military applications. As a combat landing craft is one of its important uses. The hovercraft is divided into a full lift hovercraft and a side wall type hovercraft, and the present invention is mainly aimed at the full lift hovercraft. The full cushion lift hovercraft has a wide range of uses, especially military use. Therefore, it is of great significance to study the path-following control of the hovercraft. [0003] For the high nonlinearity and uncertainty of the hovercraft motion model, as well as the characteristics of being easily disturbed by the external environment. The general control method is difficult to solve this p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王元慧佟海艳付明玉王成龙葛然李子宜佘文超
Owner HARBIN ENG UNIV
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