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Hovercraft high-speed rotation control method based on longitudinal speed planning

A technology of longitudinal speed and control method, applied in two-dimensional position/channel control, vehicle position/route/altitude control, non-electric variable control, etc. Complexity and other issues, to achieve the effect of improving reliability and safety, improving mobility and workability, and avoiding tail flicks

Active Publication Date: 2021-07-23
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the complex structure of the hovercraft (including rigid hull and flexible apron) and the relatively large environmental interference during high-speed navigation, the model has a large nonlinearity and coupling, and most hovercraft have no transverse actuators and are typical underactuated ships. (i.e. cannot produce lateral control force), which poses a great challenge to the safety control of the hovercraft at high speed
[0003]The high-speed slewing control of the hovercraft mainly has the following difficulties: 1) Due to the multiple resistance peaks of the hovercraft, the feedback control of the longitudinal channel cannot completely realize the slewing process. Speed ​​maintenance; 2) The underactuated characteristics make it impossible for the hovercraft to directly control the side slip angle by controlling the lateral velocity; 3) The traditional control method based on the auxiliary system cannot strictly limit the slewing rate within the specified range
[0004]Because of the above control difficulties, in order to ensure safety, the current hovercraft restricts the turning motion under high-speed navigation to a conservative range, which greatly restricts the performance of the hovercraft itself and application scenarios

Method used

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  • Hovercraft high-speed rotation control method based on longitudinal speed planning
  • Hovercraft high-speed rotation control method based on longitudinal speed planning
  • Hovercraft high-speed rotation control method based on longitudinal speed planning

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Embodiment Construction

[0077]The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0078] The basic principle block diagram of the present invention is as figure 1 As shown, the specific implementation is as follows:

[0079] 1. Based on the four-degree-of-freedom model of the hovercraft, a second-order sliding mode observer is designed to estimate the uncertainty and disturbance of the system model for the longitudinal and rotational degrees of freedom;

[0080] Step 1. Establish the four-degree-of-freedom model of the hovercraft as

[0081]

[0082] Among them, m is the mass of the hovercraft, J x ,J z are the moments of inertia around the longitudinal and vertical directions; u, v, p, r are the longitudinal velocity, lateral velocity, heel angular velocity, and gyration angular velocity respectively; F xD , F yD , M xD , M zD Respectively represent the precise longitudinal resistance, lateral resistance ...

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Abstract

The invention relates to the field of hovercraft motion control, in particular to a hovercraft high-speed rotation control method based on longitudinal speed planning. According to the invention, the speed planning method based on sideslip angle constraint is adopted to solve the stall problem of the hovercraft during high-speed rotation by adopting traditional nonlinear feedback control, so that accurate speed tracking can be realized while the hovercraft rotates, and the maneuverability and operation capability of the hovercraft are improved; and according to the method, it is guaranteed that the hovercraft accurately tracks the expected heading in the high-speed rotation process, meanwhile, the drifting phenomenon caused by the too large rotation rate is avoided, and the reliability and safety of the hovercraft in the high-speed rotation process are improved.

Description

technical field [0001] The invention relates to the field of hovercraft motion control, in particular to a method for controlling the high-speed rotation of the hovercraft based on longitudinal velocity planning. Background technique [0002] As a special ship, the hovercraft suffers little resistance during navigation because the hull is not in direct contact with the water surface. It has the advantages of fast speed and high maneuverability. It has broad application prospects in military beach landing, civilian rescue and disaster relief, etc. However, due to the complex structure of the hovercraft (including rigid hull and flexible apron) and the relatively large environmental interference during high-speed navigation, the model has a large nonlinearity and coupling, and most hovercraft have no transverse actuators and are typical underactuated ships. (that is, can not produce lateral control force), which causes a greater challenge to the safety control of the hovercraf...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 徐玉杰付明玉郝旭东邓涵博赵春阳贾兆巍
Owner HARBIN ENG UNIV
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