Multi-control-surface hovercraft docking motion control and simulation method, program, equipment and storage medium

Abstract

The invention provides a multi-control-surface hovercraft docking motion control and simulation method, a program, equipment and a storage medium. The method comprises the following steps: firstly, establishing a four-air-chamber hover dynamic model according to structural characteristics of a hover hover system, and constructing a complete six-degree-of-freedom motion model in combination with resistance change in a docking process; aiming at the problem of weak steering effect during low-speed docking, a method for controlling a heading angle through a screw pitch difference of a propeller is designed; and meanwhile, stability augmentation control is implemented in the sideslip direction, so that the expected transverse speed is zero in the hovercraft docking process. On the basis, a docking motion control simulation platform is built for verification. Simulation results show that according to the control method, the navigational speed error is not larger than one section, the heading error is not larger than 2 degrees, the transverse speed is effectively restrained, high control precision is achieved, and the docking working condition requirement is met. The research has an important guiding value for deeply developing a hovercraft docking driving control system and a docking control technology in a complex environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hovercraft motion control, and particularly to a method, program, device and storage medium for in-dock motion control and simulation of a multi-control-surface hovercraft. BACKGROUND

[0002] As an amphibious special transport equipment, the hovercraft is researched based on the urgent demand for rapid delivery capability and the transportation bottleneck in complex hydrological environment. The aerodynamic lubricating layer is constructed through the ground effect principle to form a gas film effect with a pressure gradient between the ship base and the running interface. This design effectively overcomes the boundary layer effect of traditional ships, reduces the friction resistance by 2-3 orders of magnitude, and the typical speed can reach more than 50 knots. Based on its unique non-contact running mechanism, the vehicle shows all-terrain adaptability and can break through six typical restrictive geographical environments such as water surface, mudflat, and tundra.

[0003] Although the hovercraft has been widely used in various fields, the endurance performance of the hovercraft is limited by the high specific fuel consumption characteristics of its power system, and the continuous navigation radius is usually not more than 300 nautical miles, which forces it to rely on the mother ship for delivery. But in the recovery process, the control difficulty is also greatly increased due to its special navigation mechanism. Due to the small friction resistance caused by the gas cushion and the absence of underwater turning mechanism, the hovercraft faces the problem of insufficient centripetal moment when turning. According to the relevant model, when the speed exceeds the critical value, the turning radius and the gas cushion pressure are negatively related, which may increase the turning diameter by 35%-42% under the rated load condition. More notably, the gas-water interface coupling dynamics exhibited by the hovercraft makes it highly sensitive to sea state changes, especially when implementing braking operations in the high speed range, the imbalance of fluid dynamic moment under the downwind condition may induce a sudden change in the pitch angle. And the relevant experimental data shows that when the wind speed is greater than 12 m / s and the rudder angle is greater than 25°, the lateral stability coefficient will drop below the safety threshold, at which time serious side slip may occur, and then cause spin, overturning and collision with the dock wall, etc. Under this background, the robustness research of in-dock motion control becomes the core topic of ship coupling system dynamics. The current domestic hovercraft in-dock operation still adopts manual control mode, which is affected by the pressure pulsation of the mother ship stern flow field and the visual positioning error of the driver, resulting in a high failure rate of in-dock operation.

[0004] In summary, hovercraft possess excellent performance and wide applications. However, due to their unique navigation mechanism, hovercraft are susceptible to external environmental disturbances during sea navigation and docking, placing high demands on the operator's skill level. Therefore, further research is needed on the six-degree-of-freedom motion mathematical model, active disturbance rejection control algorithm, and multi-control surface thrust coordination distribution method for fully-cushioned hovercraft during sea navigation, especially during docking. This research is of great significance for ensuring the safe and efficient navigation of hovercraft. Summary of the Invention

[0005] The purpose of this invention is to provide a method, program, equipment and storage medium for controlling and simulating the docking motion of a multi-control surface hovercraft, which can simulate the motion law of the hovercraft during the docking process.

[0006] This invention proposes a method, program, equipment, and storage medium for docking motion control and simulation of a multi-control surface hovercraft, the core of which includes the following technical solutions:

[0007] A method for controlling and simulating the docking motion of a multi-control surface hovercraft includes the following steps:

[0008] Step 1: Obtain the current actual status of the hovercraft; for the hovercraft's low-speed docking operation, set the desired longitudinal speed, desired heading angle, and desired lateral speed to meet the docking requirements.

[0009] Step 2: Calculate the active disturbance rejection control signal based on the current actual state of the hovercraft, the desired longitudinal speed, the desired heading angle, and the desired lateral speed.

[0010] Step 3: Convert the active disturbance rejection control signal into an actuator command.

[0011] Step 4: Calculate the resultant force and torque on the hovercraft according to the actuator command.

[0012] Step 5: Based on the resultant force and torque acting on the hovercraft, update the hovercraft's velocity, position, and Euler angle information according to the dynamic equations and kinematic equations.

[0013] Step 6: Output the updated hovercraft speed, position, and Euler angle information to the visualization interface for real-time decision-making.

[0014] Furthermore, the calculation method for the active disturbance rejection control signal in step 2 specifically includes:

[0015] Calculate the final control quantity of longitudinal speed ;

[0016]

[0017]

[0018]

[0019] in, For speed error, This refers to the actual longitudinal speed. for Expected longitudinal speed at any given moment for The differential signal, To track velocity parameters, Calculate the step size. This is the fastest control synthesis function used for smooth transitions. The maximum combined longitudinal speed control value, For longitudinal speed observation error, This is an estimate of the actual longitudinal speed. Differential signal The estimated value, This is the estimated total longitudinal speed disturbance. , and All are longitudinal speed gain coefficients of the observer. For longitudinal speed control gain, for The longitudinal speed control amount applied at all times It is a nonlinear function. For longitudinal speed state error, For longitudinal speed differential signal error, This is the initial control value for longitudinal speed. and All are longitudinal speed error feedback gain coefficients. This is the longitudinal speed disturbance compensation term.

[0020] Calculate the final control value of the heading angle ;

[0021]

[0022]

[0023]

[0024] in, For heading angle tracking error, This is the actual heading angle. for Expected heading angle at any moment for The differential signal, For the fastest integrated heading angle control, For heading angle observation error, This is an estimate of the actual heading angle. Differential signal The estimated value, This is the estimated total disturbance value for the heading angle. , and All of these are the observer heading angle gain coefficients. For heading angle control gain, for The amount of heading angle control applied at any given time, For heading angle state error, For the heading angle differential signal error, This is the initial control value for the heading angle. and All are bow angle error feedback gain coefficients. This is the heading angle disturbance compensation term.

[0025] Calculate the final control value of lateral velocity ;

[0026]

[0027]

[0028]

[0029] in, For lateral velocity tracking error, This is the actual lateral velocity. for Expected lateral velocity at any given moment for The differential signal, This is the fastest integrated lateral speed control value. For lateral velocity observation error, This is an estimate of the actual lateral velocity. Differential signal The estimated value, This is the estimated total lateral velocity disturbance. , and All are the transverse velocity gain coefficients of the observer. For lateral velocity control gain, for The amount of lateral velocity control applied at any given time. For lateral velocity state error, The error is the differential signal of the lateral velocity. This is the initial control value for lateral velocity. and All are lateral velocity error feedback gain coefficients. This is the lateral velocity disturbance compensation term.

[0030] Furthermore, step 3 specifically includes the following steps:

[0031] Step 3.1: Convert the final control value of the heading angle into the pitch difference control value. ;

[0032]

[0033] in, This is the heading control signal after disturbance compensation.

[0034] Step 3.2: Determine the left propeller pitch angle based on the pitch difference control amount. and right propeller pitch angle ;like ,but ;like ,but ;in, The reference pitch angle.

[0035] Step 3.3: Adjust the lateral speed control amount It is directly mapped to the nozzle azimuth angle.

[0036] Furthermore, the resultant force on the hovercraft described in step 4 includes the component of the propeller thrust in the hull coordinate system, the component of the rudder force in the hull coordinate system, and the component of the bow nozzle force in the hull coordinate system.

[0037] According to the left pitch angle and right pitch angle Calculate the thrust of the left propeller and right propeller thrust ;

[0038]

[0039] in, These are all propeller performance parameters. for Axial relative wind speed, These are the speeds of the left propeller and the right propeller, respectively. Rated speed, left pitch angle Right pitch angle .

[0040] Based on the thrust of the left propeller and right propeller thrust Calculate the component of propeller thrust in the ship's coordinate system;

[0041]

[0042] in, The thrust of the left propeller is respectively and right propeller thrust On the hull The resultant force in the axial direction, in The resultant force in the axial direction and in The resultant force in the axial direction, The thrust generated around the hull The torque and thrust generated around the hull of the shaft The torque and thrust generated around the hull of the shaft The torque on the shaft, All are the coordinates of the equivalent resultant force application point.

[0043] Calculate the component of the rudder force in the ship's coordinate system;

[0044]

[0045] in, These are the longitudinal component, the lateral component, and the vertical component, respectively. These are the heel moment, pitch moment, and turning moment, respectively. The first The longitudinal and lateral rudder force coefficients of each aerodynamic rudder. For the first The coordinates of the aerodynamic center of each air rudder in the ship's coordinate system. These are air density, relative airflow velocity across the rudder surface, and rudder blade area, respectively. This is the additional longitudinal offset of the aerodynamic center of the air rudder.

[0046] Calculate the component of the bow nozzle force in the ship's coordinate system based on the azimuth angle of the bow nozzle.

[0047]

[0048] in, The resultant force generated by the bow nozzle on the hull The amount, The resultant forces generated by the bow nozzles around the hull are respectively torque, The first The coordinates of the thrust application point of each bow nozzle in the ship's coordinate system. The first The magnitude of thrust generated by the bow nozzle, gravitational acceleration, and the first The azimuth angle of the bow nozzle.

[0049] Furthermore, the calculation method for the resultant force and torque acting on the hovercraft in step 4 specifically includes:

[0050]

[0051] in, For aerodynamic index, For cross-surface resistance index, For hovercraft power index, For the gravity index of the hovercraft, These are the longitudinal, lateral, and vertical resultant forces acting on the hovercraft, respectively. These are the total heeling moment, total trimming moment, and total turning moment of the hovercraft, respectively.

[0052] Furthermore, the method for updating velocity information based on the dynamic equations described in step 5 specifically includes:

[0053]

[0054] in, For the quality of hovercraft, These are coordinate systems around the ship's hull. The moment of inertia, These are roll rate, pitch rate, and yaw rate, respectively.

[0055] Furthermore, the method for updating position information and Euler angle information based on kinematic equations as described in step 5 specifically includes:

[0056]

[0057] in, All are rates of change of position. These are roll angle, pitch angle, and heading angle, respectively. All are rates of change of angle.

[0058] A computer device includes a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described above.

[0059] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0060] A computer program product includes computer instructions that, when executed by a processor, implement the steps of the method described above.

[0061] The beneficial effects of this invention are as follows:

[0062] Compared with existing technologies, this invention analyzes the dynamic response characteristics of a fully-cushioned hovercraft during its sea navigation and docking processes, establishes a six-degree-of-freedom motion mathematical model for the fully-cushioned hovercraft's docking conditions, and designs an active disturbance rejection controller algorithm based on the special characteristics of the docking conditions and the hovercraft's navigation mechanism, as well as the hovercraft's multiple control surfaces and actuators. The motion modeling and control problem of a multi-control-surface fully-cushioned hovercraft docking at sea is relatively complex, but certain research results have been achieved in the six-degree-of-freedom motion mathematical model and active disturbance rejection control method for the fully-cushioned hovercraft's docking conditions. This invention is applied to the design of a hovercraft driving control system simulator, providing a solid technical foundation for the study of the hovercraft docking process and possessing significant engineering application value. Attached Figure Description

[0063] Figure 1 This invention relates to a multi-control surface control system architecture for a hovercraft in low-speed docking mode.

[0064] Figure 2 This is a flowchart of the simulation architecture for the hovercraft's offshore docking in accordance with the present invention.

[0065] Figure 3 This is the interface of the hovercraft controller in an embodiment of the present invention.

[0066] Figure 4 This is the Joystick signal source selection module in an embodiment of the present invention.

[0067] Figure 5 This is the display interface of the hovercraft control simulator according to an embodiment of the present invention. Detailed Implementation

[0068] The following is in conjunction with the appendix Figure 1 The present invention will be further described below.

[0069] The technical solution of the present invention for a method for controlling and simulating the docking motion of a multi-control surface hovercraft is as follows:

[0070] Step 1: Obtain the current actual status of the hovercraft; for the hovercraft's low-speed docking operation, set the desired longitudinal speed, desired heading angle, and desired lateral speed to meet the docking requirements.

[0071] Step 2: Calculate the active disturbance rejection control signal based on the current actual state of the hovercraft, the desired longitudinal speed, the desired heading angle, and the desired lateral speed.

[0072] The calculation method for the active disturbance rejection control signal specifically includes:

[0073] Calculate the final control quantity of longitudinal speed ;

[0074]

[0075]

[0076]

[0077] in, For speed error, This refers to the actual longitudinal speed. for Expected longitudinal speed at any given moment for The differential signal, To track velocity parameters, Calculate the step size. This is the fastest control synthesis function used for smooth transitions. The maximum combined longitudinal speed control value, For longitudinal speed observation error, This is an estimate of the actual longitudinal speed. Differential signal The estimated value, This is the estimated total longitudinal speed disturbance. , and All are longitudinal speed gain coefficients of the observer. For longitudinal speed control gain, for The longitudinal speed control amount applied at all times It is a nonlinear function. For longitudinal speed state error, For longitudinal speed differential signal error, This is the initial control value for longitudinal speed. and All are longitudinal speed error feedback gain coefficients. This is the longitudinal speed disturbance compensation term.

[0078] Calculate the final control value of the heading angle ;

[0079]

[0080]

[0081]

[0082] in, For heading angle tracking error, This is the actual heading angle. for Expected heading angle at any moment for The differential signal, For the fastest integrated heading angle control, For heading angle observation error, This is an estimate of the actual heading angle. Differential signal The estimated value, This is the estimated total disturbance value for the heading angle. , and All of these are the observer heading angle gain coefficients. For heading angle control gain, for The amount of heading angle control applied at any given time, For heading angle state error, For the heading angle differential signal error, This is the initial control value for the heading angle. and All are bow angle error feedback gain coefficients. This is the heading angle disturbance compensation term.

[0083] Calculate the final control value of lateral velocity ;

[0084]

[0085]

[0086]

[0087] in, For lateral velocity tracking error, This is the actual lateral velocity. for Expected lateral velocity at any given moment for The differential signal, This is the fastest integrated lateral speed control value. For lateral velocity observation error, This is an estimate of the actual lateral velocity. Differential signal The estimated value, This is the estimated total lateral velocity disturbance. , and All are the transverse velocity gain coefficients of the observer. For lateral velocity control gain, for The amount of lateral velocity control applied at any given time. For lateral velocity state error, The error is the differential signal of the lateral velocity. This is the initial control value for lateral velocity. and All are lateral velocity error feedback gain coefficients. This is the lateral velocity disturbance compensation term.

[0088] Step 3: Convert the active disturbance rejection control signal into an actuator command.

[0089] Step 3 specifically includes:

[0090] Step 3.1: Convert the final control value of the heading angle into the pitch difference control value. ;

[0091]

[0092] in, This is the heading control signal after disturbance compensation.

[0093] Step 3.2: Determine the left propeller pitch angle based on the pitch difference control amount. and right propeller pitch angle ;like ,but ;like ,but ;in, The reference pitch angle.

[0094] Step 3.3: Adjust the lateral speed control amount It is directly mapped to the nozzle azimuth angle.

[0095] Step 4: Calculate the resultant force and torque on the hovercraft according to the actuator command.

[0096] The resultant force on the hovercraft includes the component of propeller thrust in the hull coordinate system, the component of rudder force in the hull coordinate system, and the component of bow nozzle force in the hull coordinate system.

[0097] According to the left pitch angle and right pitch angle Calculate the thrust of the left propeller and right propeller thrust ;

[0098]

[0099] in, These are all propeller performance parameters. for Axial relative wind speed, These are the speeds of the left propeller and the right propeller, respectively. Rated speed, left pitch angle Right pitch angle .

[0100] Based on the thrust of the left propeller and right propeller thrust Calculate the component of propeller thrust in the ship's coordinate system;

[0101]

[0102] in, The thrust of the left propeller is respectively and right propeller thrust On the hull The resultant force in the axial direction, in The resultant force in the axial direction and in The resultant force in the axial direction, The thrust generated around the hull The torque and thrust generated around the hull of the shaft The torque and thrust generated around the hull of the shaft The torque on the shaft, All are the coordinates of the equivalent resultant force application point.

[0103] Calculate the component of the rudder force in the ship's coordinate system;

[0104]

[0105] in, These are the longitudinal component, the lateral component, and the vertical component, respectively. These are the heel moment, pitch moment, and turning moment, respectively. The first The longitudinal and lateral rudder force coefficients of each aerodynamic rudder. For the first The coordinates of the aerodynamic center of each air rudder in the ship's coordinate system. These are air density, relative airflow velocity across the rudder surface, and rudder blade area, respectively. This is the additional longitudinal offset of the aerodynamic center of the air rudder.

[0106] Calculate the component of the bow nozzle force in the ship's coordinate system based on the azimuth angle of the bow nozzle.

[0107]

[0108] in, The resultant force generated by the bow nozzle on the hull The amount, The resultant forces generated by the bow nozzles around the hull are respectively torque, The first The coordinates of the thrust application point of each bow nozzle in the ship's coordinate system. The first The magnitude of thrust generated by the bow nozzle, gravitational acceleration, and the first The azimuth angle of the bow nozzle.

[0109] The specific methods for calculating the resultant force and moment acting on the hovercraft include:

[0110]

[0111] in, For aerodynamic index, For cross-surface resistance index, For hovercraft power index, For the gravity index of the hovercraft, These are the longitudinal, lateral, and vertical resultant forces acting on the hovercraft, respectively. These are the total heeling moment, total trimming moment, and total turning moment of the hovercraft, respectively.

[0112] Step 5: Based on the resultant force and torque acting on the hovercraft, update the hovercraft's velocity, position, and Euler angle information according to the dynamic equations and kinematic equations.

[0113] The method for updating velocity information based on the dynamic equations specifically includes:

[0114]

[0115] in, For the quality of hovercraft, These are coordinate systems around the ship's hull. The moment of inertia, These are roll rate, pitch rate, and yaw rate, respectively.

[0116] The method for updating position information and Euler angle information based on kinematic equations specifically includes:

[0117]

[0118] in, All are rates of change of position. These are roll angle, pitch angle, and heading angle, respectively. All are rates of change of angle.

[0119] Step 6: Output the updated hovercraft speed, position, and Euler angle information to the visualization interface for real-time decision-making.

[0120] Example

[0121] The following will be combined with the appendixFigures 1 to 5 The technical solutions in the embodiments of the present invention are clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0122] In the description of this invention, it should be understood that the terms "upper," "middle," "outer," "inner," etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0123] This embodiment provides a method for maneuvering and simulating a hovercraft under docking conditions. The following describes a full-cushion hovercraft control simulator developed based on the QtCreator framework. Furthermore... Figure 2 The diagram shown is a flowchart of the simulated architecture for air cushion production docking, which provides a detailed description of the present invention.

[0124] Reference Appendix Figure 1 A method for maneuvering and simulating a hovercraft under docking conditions, comprising the following steps:

[0125] Step 1: Based on the motion parameters of the mother ship, propulsion and maneuvering signals for the hovercraft are given through manual control and assisted driving modes;

[0126] The multi-control surface control system architecture of hovercraft in low-speed docking mode, such as Figure 1 As shown, the pitch angle mainly provides longitudinal thrust to the hovercraft, the pitch difference provides turning torque to the hovercraft, and the bow nozzle controls the sideslip angle.

[0127] Dry dock mode: The hovercraft control simulator adopts a combined control Joystick mode, such as... Figure 3 As shown; and combined with automatic heading control and automatic speed control, and in this mode the bow nozzle always jets air forward.

[0128] Reference Appendix Figure 4 The Joystick signal source selection module provides two input modes: "ControlPanel" and "PCI". Figure 4 As shown: the former interfaces with the virtual joystick module built into the control panel, suitable for current simulation experiment requirements; the latter connects to real sensors via a physical bus interface, reserving an expansion interface for future integration with the actual ship control system. In the current simulation verification process, the system defaults to using the virtual joystick on the control panel as the control signal source.

[0129] Step 2: A docking motion controller for the hovercraft based on an active disturbance rejection (ADR) algorithm was designed. Through the designed speed ADR, bow ADR, and sideslip ADR, the execution variables of each maneuvering device of the hovercraft were obtained. The specific design of the controller is as follows:

[0130] Design of speed active disturbance rejection controller:

[0131] (1)

[0132] (2)

[0133] in The specific form of the function is:

[0134] (3)

[0135] (4)

[0136] Design of bow angle active disturbance rejection controller:

[0137] (5)

[0138] in, For the desired heading angle, This is the real-time heading angle.

[0139] (6)

[0140] (7)

[0141] At low speeds, the controller provides a turning torque to the hovercraft through pitch difference, thus controlling the hovercraft's heading angle. The controller output is designed as follows:

[0142] (8)

[0143] when , , ;

[0144] when , , .

[0145] Sideslip active disturbance rejection controller design:

[0146] (9)

[0147] (10)

[0148] (11)

[0149] Step 3: Based on the obtained pitch angle, rudder angle, and nozzle azimuth angle, calculate the longitudinal thrust, lateral thrust, and turning moment of the hovercraft at this time;

[0150] When the pitch angle is greater than 0°, the formula for the thrust generated is:

[0151] (12)

[0152] In the formula, These represent the thrust generated by the air propellers in the left and right ducts, respectively, in N; The pitch angle of the air propeller blades in the left and right ducts is °; The rotational speeds of the air propellers in the left and right ducts are in rpm. The rated speed of the ducted air propeller is rpm; The relative wind speed along the x-axis is in m / s; These are the performance parameters of the ducted air propeller.

[0153] Based on the coordinates of the ducted air propeller arrangement on the fully cushioned air-cushioned vessel , Its mathematical model:

[0154] (13)

[0155] When the air propeller thrust of the duct hour:

[0156] (14)

[0157] In the formula, The incoming flow velocity is in m / s; For the rudder blade area, m 2 .

[0158] Combined with the layout coordinates of the air rudder on the fully cushioned air-cushioned vessel , Its mathematical model is:

[0159] (15)

[0160] Combined with the arrangement coordinates of the bow vector nozzle on the fully cushioned air-cushioned vessel , Its mathematical model is:

[0161] (16)

[0162] The fourth step involves obtaining the motion state information of the mother ship at any given time through real-time calculations using the hovercraft motion mathematical model simulation module. The six-degree-of-freedom mathematical model of the hovercraft is as follows:

[0163] Kinematic model:

[0164] (17)

[0165] Dynamic model:

[0166] (18)

[0167] In the formula, the subscripts are: a for aerodynamics; b for cross-surface drag; p for propeller; R for air rudder; c for air cushion power; n for bow vector nozzle; and G for the weight of the hovercraft.

[0168] (19)

[0169] In the formula: I x Let x be the moment of inertia along the x-axis, kg m 2 ;I y Let y be the moment of inertia along the y-axis, kg m 2 ;I z Let g be the z-axis moment of inertia, kg m 2 ;

[0170] The fifth step involves outputting comprehensive information such as the hovercraft's motion status, equipment status, and air cushion pressure. This information is then displayed on the hovercraft's control simulator interface, showing the various status parameters of the hovercraft. Figure 5 As shown.

[0171] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling and simulating the docking motion of a multi-control surface hovercraft, characterized in that... Includes the following steps: Step 1: Obtain the current actual status of the hovercraft; for the working condition of the hovercraft entering the dock at low speed, set the desired longitudinal speed, desired heading angle and desired lateral speed to meet the docking requirements; Step 2: Calculate the active disturbance rejection control signal based on the current actual state of the hovercraft, the desired longitudinal speed, the desired heading angle, and the desired lateral speed; Step 3: Convert the active disturbance rejection control signal into an actuator command; Step 4: Calculate the resultant force and torque on the hovercraft according to the actuator command; Step 5: Based on the resultant force and torque acting on the hovercraft, update the hovercraft's velocity, position, and Euler angle information according to the dynamic equations and kinematic equations. Step 6: Output the updated hovercraft speed, position, and Euler angle information to the visualization interface for real-time decision-making.

2. The docking motion control and simulation method for a multi-control surface hovercraft according to claim 1, characterized in that, The calculation method for the active disturbance rejection control signal in step 2 specifically includes: Calculate the final control quantity of longitudinal speed ; in, For speed error, This refers to the actual longitudinal speed. for Expected longitudinal speed at any given moment for The differential signal, To track velocity parameters, Calculate the step size. This is the fastest control synthesis function used for smooth transitions. The maximum combined longitudinal speed control value, For longitudinal speed observation error, This is an estimate of the actual longitudinal speed. Differential signal The estimated value, This is the estimated total longitudinal speed disturbance. , and All are longitudinal speed gain coefficients of the observer. For longitudinal speed control gain, for The longitudinal speed control amount applied at all times It is a nonlinear function. For longitudinal speed state error, For longitudinal speed differential signal error, This is the initial control value for longitudinal speed. and All are longitudinal speed error feedback gain coefficients. This is the longitudinal speed disturbance compensation term; Calculate the final control value of the heading angle ; in, For heading angle tracking error, This is the actual heading angle. for Expected heading angle at any moment for The differential signal, For the fastest integrated heading angle control, For heading angle observation error, This is an estimate of the actual heading angle. Differential signal The estimated value, This is the estimated total disturbance value for the heading angle. , and All of these are the observer heading angle gain coefficients. For heading angle control gain, for The amount of heading angle control applied at any given time, For heading angle state error, For the heading angle differential signal error, This is the initial control value for the heading angle. and All are bow angle error feedback gain coefficients. This is the heading angle disturbance compensation term; Calculate the final control value of lateral velocity ; in, For lateral velocity tracking error, This is the actual lateral velocity. for Expected lateral velocity at any given moment for The differential signal, This is the fastest integrated lateral speed control value. For lateral velocity observation error, This is an estimate of the actual lateral velocity. Differential signal The estimated value, This is the estimated total lateral velocity disturbance. , and All are the transverse velocity gain coefficients of the observer. For lateral velocity control gain, for The amount of lateral velocity control applied at any given time. For lateral velocity state error, The error is the differential signal of the lateral velocity. This is the initial control value for lateral velocity. and All are lateral velocity error feedback gain coefficients. This is the lateral velocity disturbance compensation term.

3. The docking motion control and simulation method for a multi-control surface hovercraft according to claim 2, characterized in that, Step 3 specifically includes the following steps: Step 3.1: Convert the final control value of the heading angle into the pitch difference control value. ; in, This is the bow control signal after disturbance compensation; Step 3.2: Determine the left propeller pitch angle based on the pitch difference control amount. and right propeller pitch angle ;like ,but ;like ,but ;in, The reference pitch angle; Step 3.3: Adjust the lateral speed control amount It is directly mapped to the nozzle azimuth angle.

4. The docking motion control and simulation method for a multi-control surface hovercraft according to claim 3, characterized in that: The resultant force on the hovercraft described in step 4 includes the component of the propeller thrust in the hull coordinate system, the component of the rudder force in the hull coordinate system, and the component of the bow nozzle force in the hull coordinate system. According to the left pitch angle and right pitch angle Calculate the thrust of the left propeller and right propeller thrust ; in, These are all propeller performance parameters. for Axial relative wind speed, These are the speeds of the left propeller and the right propeller, respectively. Rated speed, left pitch angle Right pitch angle ; Based on the thrust of the left propeller and right propeller thrust Calculate the component of propeller thrust in the ship's coordinate system; in, The thrust of the left propeller is respectively and right propeller thrust On the hull The resultant force in the axial direction, in The resultant force in the axial direction and in The resultant force in the axial direction, The thrust generated around the hull The torque and thrust generated around the hull of the shaft The torque and thrust generated around the hull of the shaft The torque on the shaft, All are coordinates of the equivalent resultant force application point; Calculate the component of the rudder force in the ship's coordinate system; in, These are the longitudinal component, the lateral component, and the vertical component, respectively. These are the heel moment, pitch moment, and turning moment, respectively. The first The longitudinal and lateral rudder force coefficients of each aerodynamic rudder. For the first The coordinates of the aerodynamic center of each air rudder in the ship's coordinate system. These are air density, relative airflow velocity across the rudder surface, and rudder blade area, respectively. This is the additional longitudinal offset of the aerodynamic center of the air rudder. Calculate the component of the bow nozzle force in the ship's coordinate system based on the azimuth angle of the bow nozzle. in, The resultant force generated by the bow nozzle on the hull The amount, The resultant forces generated by the bow nozzles around the hull are respectively torque, The first The coordinates of the thrust application point of each bow nozzle in the ship's coordinate system. The first The magnitude of thrust generated by the bow nozzle, gravitational acceleration, and the first The azimuth angle of the bow nozzle.

5. The docking motion control and simulation method for a multi-control surface hovercraft according to claim 4, characterized in that, The calculation method for the resultant force and moment acting on the hovercraft in step 4 specifically includes: in, For aerodynamic index, For cross-surface resistance index, For hovercraft power index, For the gravity index of the hovercraft, These are the longitudinal, lateral, and vertical resultant forces acting on the hovercraft, respectively. These are the total heeling moment, total trimming moment, and total turning moment of the hovercraft, respectively.

6. The docking motion control and simulation method for a multi-control surface hovercraft according to claim 5, characterized in that, Step 5, the method for updating velocity information based on the dynamic equations, specifically includes: in, For the quality of hovercraft, These are coordinate systems around the ship's hull. The moment of inertia, These are roll rate, pitch rate, and yaw rate, respectively.

7. The docking motion control and simulation method for a multi-control surface hovercraft according to claim 6, characterized in that, Step 5 describes a method for updating position and Euler angle information based on kinematic equations, which specifically includes: in, All are rates of change of position. These are roll angle, pitch angle, and heading angle, respectively. All are rates of change of angle.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method of claim 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it implements the steps of the method of claim 7.

10. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by the processor, they implement the steps of the method of claim 7.

Images