Adaptive loS guidance method for hovercraft path tracking based on sideslip compensation

Abstract

The invention discloses a self-adaption LOS guide method of hovership path tracking based on sideslip compensation, and belongs to the field of hovership control. The method comprises the following steps of 1, building a hovership three-degree-of-freedom motion mathematical model; 2, building an error dynamic model; 3, designing a self-adaption sideslip angle estimator; 4, designing a self-adaptation LOS guidance law of sideslip angle compensation; 5, designing a PID heading controller; 6, conducting simulation verification. By means of the self-adaption LOS guide method of hovership path tracking based on the sideslip compensation, the self-adaption estimation of the sideslip angle is applied to LOS guide of a hovership, the LOS guidance law is subjected to sideslip compensation, the self-adaption method is adopted to estimate the sideslip angle online, the estimation problem of the sideslip angle is solved, the problem that the path tracking effect is influenced when a hovership sideslips while sailing on the water surface and interfered by the external environment is solved, and the precision of hovership path tracking is improved.

Description

technical field [0001] The invention belongs to the field of hovercraft control, in particular to an adaptive LOS guidance method for hovercraft path tracking based on sideslip compensation. Background technique [0002] Hovercraft is a ship that uses high-pressure air to form an air cushion between the bottom of the ship and the water surface or the ground to lift all or part of the hull, thereby greatly reducing the resistance of the hull during navigation and realizing high-speed navigation. The air cushion is formed by pressing the air under the bottom of the ship with a high-power blower, and restricting its escape by air sealing devices such as flexible aprons or rigid side walls around the bottom of the ship. [0003] At the beginning of the 19th century, some people realized that injecting compressed air into the bottom of the ship can reduce navigation resistance and increase speed. In 1953, the British Cockrell founded the air cushion theory. After a lot of experi...

AI Technical Summary

Problems solved by technology

[0005] During the navigation of the hovercraft in the water, it is disturbed by the external ocean environment such as wind, waves, and currents. Since there is no propulsion force in the lateral direction, it is easy to produce side slip, and the side slip will affect the accuracy of its path tracking.

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