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
CN113156965AActive Publication Date: 2021-07-23HARBIN ENG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
HARBIN ENG UNIV
Publication Date
2021-07-23

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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.
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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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