A lift system, a control method of the lift system, and an electric hovercraft

Abstract

The present invention discloses a lift system, a control method for the lift system, and an electric hovercraft. The lift system includes: a lift attitude determination module, a first lift control module, a plurality of second lift control modules, and lift motors connected to the respective second lift control modules. The lift attitude determination module is configured to decompose a desired lift attitude into lift displacement amounts at a plurality of position points, and synthesize the plurality of lift displacement amounts into a displacement vector and input the displacement vector to the first lift control module. The first lift control module is configured to perform combined power distribution at the plurality of position points according to the displacement vector; the combined power distribution unit is configured to output power distribution instructions for the plurality of position points according to the first lift attitude information and the desired lift attitude information. By performing combined power distribution at the plurality of position points through the displacement vector, the present invention can ensure that each lift point of the lift system can be lifted to the desired height, achieve rapid tracking of the hull attitude, thereby ensuring the stability of the hull and improving the reliability of the lift system.

Description

Technical Field

[0001] The present invention relates to the technical field of electric hovercrafts, and particularly to a lift system, a control method for the lift system, and an electric hovercraft. Background Art

[0002] An electric hovercraft is a watercraft with special performance. Different from ordinary watercrafts, an electric hovercraft uses a lift system to inject gas under the hull, so that the hull is lifted above the water surface without underwater devices. This special structure makes it possible for the electric hovercraft to sail at high speed.

[0003] Currently, during the lift process of an electric hovercraft, there is an easy problem that the lift heights at multiple position points are inconsistent with the expected heights, which easily causes the phenomenon of unstable hull. In severe cases, the hull may capsize. Summary of the Invention

[0004] The present invention provides a lift system, a control method for the lift system, and an electric hovercraft, which can ensure that each lift point of the lift system can be lifted to the expected height, realize rapid tracking of the hull attitude, thereby ensuring the stability of the hull and improving the reliability of the lift system.

[0005] In a first aspect, an embodiment of the present invention provides a lift system, including: a lift attitude determination module, a first lift control module, a plurality of second lift control modules, and lift motors connected to each second lift control module. The lift attitude determination module is configured to decompose the expected lift attitude into lift displacement amounts at multiple position points, and synthesize the multiple lift displacement amounts into a displacement vector and input it to the first lift control module. The first lift control module is configured to perform combined power distribution for multiple position points according to the displacement vector. Among them, the first lift control module includes an attitude analysis unit, a combined power distribution unit, and a displacement command sending unit. The input end of the attitude analysis unit is connected to the output end of the lift attitude determination module, and is configured to output first lift attitude information according to the displacement vector. The input end of the combined power distribution unit is connected to the output end of the attitude analysis unit, and is configured to output power distribution commands for multiple position points according to the first lift attitude information and the expected lift attitude information. The input end of the displacement command sending unit is connected to the output end of the combined power distribution unit, and is configured to send displacement commands to each second lift control module according to the power distribution commands. The second lift control module is configured to control the plurality of lift motors to perform lift displacement according to the displacement commands.

[0006] Optionally, the second lift control module includes an inverter unit, a signal acquisition unit, a position outer loop control unit, and a signal control unit. The output end of the inverter unit is connected to the lift motor. The signal acquisition unit is used to acquire the lift displacement of the lift motor and feedback the lift displacement to the position outer loop control unit. The position outer loop control unit is used to output a rotational speed reference value according to the lift displacement and the displacement command. The signal control unit is used to output a drive control signal for the inverter unit according to the rotational speed reference value.

[0007] Optionally, the signal control unit includes a current inner loop control unit and a rotational speed inner loop control unit. The signal acquisition unit is further used to acquire the rotational speed of the lift motor and the current output by the inverter unit. The input end of the rotational speed inner loop control unit is connected to the output end of the position outer loop control unit, and the output end of the rotational speed inner loop control unit is connected to the input end of the current inner loop control unit. The rotational speed inner loop control unit is used to output a current reference value from its output end according to the rotational speed of the lift motor and the rotational speed reference value, and the current inner loop control unit is used to output a drive control signal for the inverter unit from its output end according to the current output by the inverter unit and the current reference value.

[0008] Optionally, the second lift control module further includes a feedforward compensation unit. The output end of the feedforward compensation unit is connected to the input end of the current inner loop control unit, and the input end of the feedforward compensation unit is used to receive the second lift attitude information, where the second lift attitude information is attitude disturbance information.

[0009] Optionally, the second lift control module further includes a power supply unit, a precharge unit, and a filtering unit. The output end of the power supply unit is connected to the input end of the precharge unit, the output end of the precharge unit is connected to the input end of the filtering unit, and the output end of the filtering unit is connected to the input end of the inverter unit.

[0010] Second aspect, the embodiment of the present invention provides a control method for a lift system. The lift system includes a lift attitude determination module, a first lift control module, a plurality of second lift control modules, and lift motors connected to each second lift control module. Among them, the first lift control module includes an attitude analysis unit, a combined power distribution unit, and a displacement command sending unit; the output end of the lift attitude determination module is connected to the input end of the attitude analysis unit, the output end of the attitude analysis unit is connected to the input end of the combined power distribution unit, the output end of the combined power distribution unit is connected to the input end of the displacement command sending unit, the output end of the displacement command sending unit is connected to the input end of the second lift control module, and the output end of the second lift control module is connected to the lift motor; the control method of the lift system includes: controlling the lift attitude determination module to decompose the desired lift attitude into lift displacement amounts at multiple position points, and synthesizing the multiple lift displacement amounts into a displacement vector; controlling the attitude analysis unit to output first lift attitude information according to the displacement vector; controlling the combined power distribution unit to output power distribution commands at multiple position points according to the first lift attitude information and the trajectory of the desired lift attitude; controlling the displacement command sending unit to send displacement commands to each second lift control module according to the power distribution commands; controlling the second lift control module to control the multiple lift motors to execute lift displacement according to the displacement commands.

[0011] Optionally, the step of controlling the combined power distribution unit to output power distribution commands at multiple position points according to the first lift attitude information and the desired lift attitude information includes: based on the motion model of the lift motor, controlling the combined power distribution unit to generate a first displacement command and a first power command according to the first lift attitude information and the attitude disturbance information; inputting the first displacement command, the first power command, and the attitude disturbance information into a pre-trained attitude model, and respectively correcting the first displacement command and the first power command according to the desired lift attitude information to obtain corresponding second displacement commands and second power commands; the step of controlling the displacement command sending unit to send displacement commands to each second lift control module according to the power distribution commands includes: controlling the displacement command sending unit to send second displacement commands to each second lift control module according to the second power commands.

[0012] Optionally, the step of controlling the combined power distribution unit to output power distribution instructions for multiple position points according to the first lift attitude information and the desired lift attitude information includes: based on the motion model of the lift motor, controlling the combined power distribution unit to generate a first displacement instruction and a first power instruction according to the first lift attitude information and the attitude disturbance information; inputting the historical displacement instruction, the historical power instruction, the historical attitude information, the first displacement instruction, the first power instruction, and the attitude disturbance information into a pre-trained attitude model, and respectively correcting the first displacement instruction and the first power instruction according to the desired lift attitude information to obtain the corresponding second displacement instruction and second power instruction; the step of controlling the displacement instruction sending unit to send displacement instructions to each second lift control module according to the power distribution instruction includes: controlling the displacement instruction sending unit to send the second displacement instruction to each second lift control module according to the second power instruction.

[0013] Optionally, the second lift control module includes an inverter unit, a signal acquisition unit, a position outer loop control unit, and a signal control unit. The output end of the inverter unit is connected to the lift motor; the signal control unit includes a current inner loop control unit and a speed inner loop control unit. The input end of the speed inner loop control unit is connected to the output end of the position outer loop control unit, and the output end of the speed inner loop control unit is connected to the input end of the current inner loop control unit; the step of the second lift control module controlling multiple lift motors to perform lift displacement according to the displacement instruction includes: controlling the signal acquisition unit to acquire the lift displacement amount of the lift motor, the speed of the lift motor, and the current output by the inverter unit; controlling the position outer loop control unit to output a speed reference value according to the lift displacement amount and the displacement instruction; controlling the speed inner loop control unit to output a current reference value from its output end according to the speed of the lift motor and the speed reference value; controlling the current inner loop control unit to output a drive control signal of the inverter unit from its output end according to the current output by the inverter unit and the current reference value.

[0014] In a third aspect, an embodiment of the present invention provides an electric hovercraft, including the lift system provided in the first aspect.

[0015] The lift system provided by the embodiment of the present invention includes: a lift attitude determination module, a first lift control module, a plurality of second lift control modules, and lift motors connected to each second lift control module. The lift attitude determination module is configured to decompose the desired lift attitude into lift displacement amounts at multiple position points, and synthesize the multiple lift displacement amounts into a displacement vector and input it to the first lift control module. The first lift control module is configured to perform combined power distribution at multiple position points according to the displacement vector. Among them, the first lift control module includes an attitude analysis unit, a combined power distribution unit, and a displacement command sending unit. The input end of the attitude analysis unit is connected to the output end of the lift attitude determination module, and is configured to output first lift attitude information according to the displacement vector. The input end of the combined power distribution unit is connected to the output end of the attitude analysis unit, and is configured to output power distribution commands at multiple position points according to the first lift attitude information and the desired lift attitude information. The input end of the displacement command sending unit is connected to the output end of the combined power distribution unit, and is configured to send displacement commands to each second lift control module according to the power distribution commands. The second lift control module is configured to control the plurality of lift motors to perform lift displacement according to the displacement commands. By performing combined power distribution at multiple position points through the displacement vector, it can ensure that each lift point of the lift system can be lifted to the desired height, realize rapid tracking of the hull attitude, thereby ensuring the stability of the hull and improving the reliability of the lift system.

[0016] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Brief Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 is a schematic structural diagram of a lift system provided by an embodiment of the present invention;

[0019] Figure 2 is a schematic structural diagram of another lift system provided by an embodiment of the present invention;

[0020] Figure 3 is a flowchart of a control method for a lift system provided by an embodiment of the present invention;

[0021] Figure 4 is a flowchart of another control method for a lift system provided by an embodiment of the present invention;

[0022] Figure 5 is a flowchart of yet another control method for a lift system provided by an embodiment of the present invention;

[0023] Figure 6 is a flowchart of yet another control method for a lift system provided by an embodiment of the present invention;

[0024] Figure 7 is a flowchart of yet another control method for a lift system provided by an embodiment of the present invention. Detailed implementation manners

[0025] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0027] Figure 1 is a schematic structural diagram of a lift system provided by an embodiment of the present invention. This embodiment is applicable to the case of the lift of an electric hovercraft. Refer to Figure 1, the lift system includes: a lift attitude determination module 10, a first lift control module 20, a plurality of second lift control modules 30, and lift motors 40 connected to each of the second lift control modules 30. The lift attitude determination module 10 is configured to decompose the desired lift attitude into lift displacement amounts at a plurality of position points, and synthesize the plurality of lift displacement amounts into a displacement vector and input it to the first lift control module 20. The first lift control module 20 is configured to perform combined power distribution at a plurality of position points according to the displacement vector. Among them, the first lift control module 20 includes an attitude analysis unit 210, a combined power distribution unit 220, and a displacement command sending unit 230. The input end of the attitude analysis unit 210 is connected to the output end of the lift attitude determination module 20, and is configured to output first lift attitude information according to the displacement vector. The input end of the combined power distribution unit 220 is connected to the output end of the attitude analysis unit 210, and is configured to output power distribution commands at a plurality of position points according to the first lift attitude information and the desired lift attitude information. The input end of the displacement command sending unit 230 is connected to the output end of the combined power distribution unit 220, and is configured to send displacement commands to each of the second lift control modules 30 according to the power distribution commands. The second lift control module 30 is configured to control the plurality of lift motors 40 to perform lift displacement according to the displacement commands.

[0028] Among them, the lift attitude determination module 10 can decompose the desired lift attitude into a plurality of local position components of the hull according to the set desired lift attitude, so as to determine the values of the displacement amounts at a plurality of position points, and synthesize the plurality of lift displacement amounts into a displacement vector and transmit it to the first lift control module 20 for control.

[0029] The desired lift attitude is an attitude that the lift system hopes the hull to reach. The desired lift attitude includes the values of the displacement amounts at a plurality of position points. The method for determining the desired lift attitude can be that the user designates the lift attitude to the electric hovercraft through the monitoring system.

[0030] After receiving the displacement vector command, the first lift control module 20 performs attitude analysis on the displacement vector through the intelligent algorithm in the attitude analysis unit 210 to obtain the first lift attitude information, and uses the obtained first lift attitude information as the distribution basis for the combined power distribution unit 220. That is to say, the attitude analysis unit 210 can collect the data output by the lift attitude determination module 10. Among them, the first lift attitude information includes attitude information associated with the desired lift attitude. For example, the first lift attitude information can include the reference values of the displacement amounts at a plurality of position points.

[0031] The combined power distribution unit 220 is used to output power distribution instructions for multiple position points according to the first cushioning attitude information and the desired cushioning attitude information, so as to ensure that each position point has sufficient power to reach the desired cushioning height, realize rapid tracking of the hull attitude, and thus ensure the stability of the hull. As an implementable solution, the combined power distribution unit 220 can generate pre-power distribution instructions for each cushioning point of the hull based on the motion model of the cushioning motor, input the historical power distribution instructions, historical attitude information, pre-displacement instructions, and attitude disturbance information into a pre-trained attitude model, and correct the pre-displacement instructions according to the desired cushioning attitude information to obtain the final power distribution instructions.

[0032] The displacement instruction sending unit 230 sends displacement instructions to each second cushioning control module 30 according to the power distribution instructions obtained by the combined power distribution unit 220; the second cushioning control module 30 controls multiple cushioning motors 40 to execute cushioning displacement according to the displacement instructions.

[0033] Exemplarily, when the desired cushioning attitude of the electric hovercraft is a 30-degree pitch, the cushioning attitude determination module 10 can decompose the desired cushioning attitude into displacement components of multiple local positions of the hull, such as the bow displacement component and the displacement components on both sides of the hull, etc., and synthesize multiple cushioning displacement amounts into a displacement vector, which is sent to the first cushioning control module 20 for control. After receiving the displacement vector instruction, the first cushioning control module 20 performs attitude analysis on the displacement vector through the intelligent algorithm in the attitude analysis unit 210 to obtain the reference values of the displacement amounts corresponding to each position point. The combined power distribution unit 220 outputs power distribution instructions for multiple position points according to the obtained displacement information and the desired cushioning attitude information to distribute corresponding power to each position point. The displacement instruction sending unit 230 then sends displacement instructions to the corresponding second cushioning control module 30 according to the power distribution result to output the corresponding displacement amount to the second cushioning control module 30 for control. Here, the displacement amount is the desired displacement amount to ensure that each position point has sufficient power to reach the desired cushioning height.

[0034] The lift system provided by the embodiment of the present invention includes: a lift attitude determination module, a first lift control module, a plurality of second lift control modules, and lift motors connected to each second lift control module. The lift attitude determination module is configured to decompose the desired lift attitude into lift displacement amounts at multiple position points, and synthesize the multiple lift displacement amounts into a displacement vector and input it to the first lift control module. The first lift control module is configured to perform combined power distribution at multiple position points according to the displacement vector. Among them, the first lift control module includes an attitude analysis unit, a combined power distribution unit, and a displacement command sending unit. The input end of the attitude analysis unit is connected to the output end of the lift attitude determination module, and is configured to output first lift attitude information according to the displacement vector. The input end of the combined power distribution unit is connected to the output end of the attitude analysis unit, and is configured to output power distribution commands for multiple position points according to the first lift attitude information and the desired lift attitude information. The input end of the displacement command sending unit is connected to the output end of the combined power distribution unit, and is configured to send displacement commands to each second lift control module according to the power distribution commands. The second lift control module is configured to control the multiple lift motors to perform lift displacement according to the displacement commands. By performing combined power distribution at multiple position points through the displacement vector, it can ensure that each lift point of the lift system can be lifted to the desired height, realize rapid tracking of the hull attitude, thereby ensuring the stability of the hull and improving the reliability of the lift system.

[0035] Figure 2 is a schematic structural diagram of another lift system provided by the embodiment of the present invention. Refer to Figure 2 , on the basis of the above embodiment, the specific structure of the second lift control module 30 will be described below, but it is not a limitation to the present invention.

[0036] Optionally, the second lift control module 30 includes an inverter unit 310, a signal acquisition unit 320, a position outer loop control unit 330, and a signal control unit 340. The output end of the inverter unit 310 is connected to the lift motor 40. The signal acquisition unit 320 is configured to acquire the lift displacement amount of the lift motor 40 and feedback the lift displacement amount to the position outer loop control unit 330. The position outer loop control unit 330 is configured to output a speed reference value according to the lift displacement amount and the displacement command. The signal control unit 340 is configured to output a drive control signal for the inverter unit 310 according to the speed reference value.

[0037] Among them, in order to enhance the load-carrying smooth start ability of the system, an inner loop control can also be set. Optionally, the signal control unit 340 includes a current inner loop control unit 60 and a speed inner loop control unit 70. The signal acquisition unit 320 is further configured to acquire the speed of the lift motor 40 and the current output by the inverter unit 310.

[0038] The input end of the rotational speed inner loop control unit 70 is connected to the output end of the position outer loop control unit 330, and the output end of the rotational speed inner loop control unit 70 is connected to the input end of the current inner loop control unit 60; the rotational speed inner loop control unit 70 is configured to output a current reference value from its output end according to the rotational speed of the lift motor 40 and the rotational speed reference value, and the current inner loop control unit 60 is configured to output a drive control signal for the inverter unit 310 from its output end according to the current output by the inverter unit 310 and the current reference value.

[0039] The second lift control module 30 further includes a feedforward compensation unit 350, the output end of the feedforward compensation unit 350 is connected to the input end of the current inner loop control unit 60, and the input end of the feedforward compensation unit 350 is configured to receive the second lift attitude information; wherein, the second lift attitude information is attitude disturbance information.

[0040] The second lift control module 30 further includes a power supply unit 360, a precharge unit 370 and a filtering unit 380. The output end of the power supply unit 360 is connected to the input end of the precharge unit 370, the output end of the precharge unit 370 is connected to the input end of the filtering unit 380, and the output end of the filtering unit 380 is connected to the input end of the inverter unit 310.

[0041] The inverter unit 310 may be an integrated circuit including an inverter circuit. The inverter circuit is a circuit that converts direct current into alternating current. The working principle of the inverter unit 310 is as follows: using pulse width modulation (PWM), the switching elements in the inverter circuit are turned on and off to obtain a pulse with an equal amplitude at the output end, and these pulses are used to replace a sine wave or other required waveforms. That is, multiple pulses are generated in half a cycle of the output waveform, and the equivalent voltage of each pulse is a sine waveform, so that the obtained output is smooth and has few low-order harmonics. By modulating the width of each pulse according to a certain rule, the magnitude of the output voltage of the inverter circuit can be changed, and the frequency of the output current can also be changed, so as to be able to flexibly control the rotational speed of the lift motor 40.

[0042] The signal acquisition unit 320 is configured to acquire the lift displacement of the lift motor 40 and feedback the lift displacement to the position outer loop control unit 330; the signal acquisition unit 320 is further configured to acquire the output current of the inverter unit 310 and feedback the output current to the current inner loop control unit 60; the signal acquisition unit 320 is further configured to acquire the rotational speed of the lift motor 40 and feedback the rotational speed of the lift motor 40 to the current inner loop control unit 60. The signal acquisition unit 320 includes but is not limited to various sensors.

[0043] Specifically, the signal acquisition unit 320 may include a displacement feedback subunit 33, a rotational speed feedback subunit 44, and a current feedback subunit 55. Among them, the displacement feedback subunit 33 is used to acquire the actual lift displacement of the lift motor, the rotational speed feedback subunit 44 is used to acquire the actual rotational speed of the lift motor, and the current feedback subunit 55 is used to acquire the current output by the inverter unit.

[0044] The position outer loop control unit 330, the current inner loop control unit 60, and the rotational speed inner loop control unit 70 constitute a three-loop control structure for the lift motor. In the entire three-loop control structure, the current inner loop control unit 60 and the rotational speed inner loop control unit 70 are the inner loops, and the position outer loop control unit 330 is the outer loop. Among them, the function of the current inner loop control unit 60 is to transform the transfer function of the inner loop control object, improve the rapidity of the system, timely suppress the interference inside the current inner loop control unit 60, limit the maximum current, enable the lift system to have a sufficiently large acceleration torque, and ensure the safe operation of the system. The current inner loop control unit 60 makes the lift motor 40 operate at a constant current to generate a constant acceleration torque to achieve the control of the lift displacement at each lift point. The function of the rotational speed inner loop control unit 70 is to enhance the ability of the system to resist load disturbances and suppress speed fluctuations. The function of the position outer loop control unit 330 is to ensure the static accuracy and dynamic tracking performance of the system, so that the entire lift system can operate stably and with high performance.

[0045] The feedforward compensation unit 350 is the feedforward disturbance compensation link. The feedforward compensation unit 350 is used to accelerate the dynamic response process (i.e., accelerate the time for the lift system to reach the desired lift attitude) and enhance the anti-interference ability of the lift system.

[0046] The power supply unit 360 is used to provide the stable voltage required by the lift system. The power supply unit 360 includes multiple low-voltage DC power supply subunits. Exemplarily, the inverter unit is powered by the first low-voltage DC power supply subunit, and the supply voltages include 15V, 25V, etc.; the signal control unit 340 is powered by the second low-voltage DC power supply subunit, and the supply voltages include 3.3V, 1.9V, 5V, etc.; the signal acquisition unit 320 is powered by the third low-voltage DC power supply subunit, and the supply voltages include +15V, -15V, 5V, 3.3V, etc.

[0047] The pre-charge unit 370 is used to perform pre-charge control on the battery and simultaneously execute the selected pre-charge scheme to solve the heating problem during the charging process.

[0048] The filtering unit 380 is used to prevent the supply voltages of various parts of the power supply unit 360 from changing due to load changes, filter out high-frequency and pulse interference, and convert the pulsating DC voltage into a smooth DC voltage. Among them, the filtering unit 380 includes support capacitors.

[0049] The attitude disturbance information is the interference suffered by the electric hovercraft (such as waves, attitude errors, etc.).

[0050] Optionally, the present invention further provides a control method for a cushion lift system to control the cushion lift systems provided in the above embodiments. Figure 3 It is a flowchart of a control method for a cushion lift system provided by an embodiment of the present invention.

[0051] As Figure 3 shown, the control method of the cushion lift system includes:

[0052] S301. Control the cushion lift attitude determination module to decompose the desired cushion lift attitude into cushion lift displacement amounts of multiple position points, and synthesize the multiple cushion lift displacement amounts into a displacement vector.

[0053] S302. Control the attitude analysis unit to output the first cushion lift attitude information according to the displacement vector.

[0054] S303. Control the combined power distribution unit to output power distribution instructions for multiple position points according to the first cushion lift attitude information and the trajectory of the desired cushion lift attitude.

[0055] S304. Control the displacement instruction sending unit to send displacement instructions to each second cushion lift control module according to the power distribution instructions.

[0056] S305. Control the second cushion lift control module to control multiple cushion lift motors to perform cushion lift displacement according to the displacement instructions.

[0057] The technical solution of the embodiment of the present invention decomposes the desired cushion lift attitude into cushion lift displacement amounts of multiple position points through the cushion lift attitude determination module, and synthesizes the multiple cushion lift displacement amounts into a displacement vector. The attitude analysis unit is controlled to output the first cushion lift attitude information according to the displacement vector, the combined power distribution unit is controlled to output power distribution instructions for multiple position points according to the first cushion lift attitude information and the trajectory of the desired cushion lift attitude, the displacement instruction sending unit is controlled to send displacement instructions to each second cushion lift control module according to the power distribution instructions, and the second cushion lift control module is controlled to control multiple cushion lift motors to perform cushion lift displacement according to the displacement instructions, which can ensure that each cushion lift point of the cushion lift system can be lifted to the desired height, realize rapid tracking of the hull attitude, thereby ensuring the stability of the hull and improving the reliability of the cushion lift system.

[0058] Figure 4 It is a flowchart of another control method for a cushion lift system provided by an embodiment of the present invention. As Figure 4 shown, the control method of the cushion lift system may further include:

[0059] S301. Control the cushion lift attitude determination module to decompose the desired cushion lift attitude into cushion lift displacement amounts of multiple position points, and synthesize the multiple cushion lift displacement amounts into a displacement vector.

[0060] S302. The attitude analysis unit controls to output the first lifting attitude information according to the displacement vector.

[0061] S3031. Based on the motion model of the lifting motor, the combined power distribution unit is controlled to generate a first displacement command and a first power command according to the first lifting attitude information and the attitude disturbance information.

[0062] The first displacement command and the first power command are the displacement command and the power command that the lifting motor needs to execute. However, since the response time and faults of the lifting motor will affect the motion model parameters of the lifting motor, there will be deviations in the first displacement command and the first power command, and the first displacement command and the first power command need to be corrected respectively.

[0063] S3032. The first displacement command, the first power command and the attitude disturbance information are input into the pre-trained attitude model, and the first displacement command and the first power command are corrected respectively according to the expected lifting attitude information to obtain the corresponding second displacement command and second power command.

[0064] The second displacement command corresponds to the displacement command after the first displacement command is corrected, and the second power command corresponds to the power command after the first power command is corrected. Correcting the first displacement command and the first power command respectively according to the expected lifting attitude information can eliminate the deviation of the displacement command and the power command required by each lifting point of the hull. In this process, using the corrected first displacement command and first power command as the adjustment basis for the motion model parameters of the lifting motor can optimize the motion model of the lifting motor and have a certain fault tolerance ability.

[0065] S3041. The displacement command sending unit is controlled to send the second displacement command to each second lifting control module according to the second power command.

[0066] By controlling the displacement command sending unit to send the second displacement command (the corrected first displacement command) to each second lifting control module according to the second power command (the corrected first power command), the accuracy of the second power command and the second displacement command can be improved, thereby improving the dynamic response performance of the lifting system. Here, the second displacement command corresponds to the output expected displacement amount.

[0067] S3051. The second lifting control module is controlled to control multiple lifting motors to execute the lifting displacement according to the second displacement command.

[0068] Figure 5 It is a flowchart of another control method for a lifting system provided by an embodiment of the present invention. As Figure 5 shown, the control method of the lifting system may further include:

[0069] S301. The controlled cushioning attitude determination module decomposes the desired cushioning attitude into cushioning displacement amounts at multiple position points, and synthesizes the multiple cushioning displacement amounts into a displacement vector.

[0070] S302. The control attitude analysis unit outputs the first cushioning attitude information according to the displacement vector.

[0071] S3031. Based on the motion model of the cushioning motor, the controlled combined power distribution unit generates a first displacement command and a first power command according to the first cushioning attitude information and the attitude disturbance information.

[0072] S3033. Input the historical displacement command, historical power command, historical attitude information, first displacement command, first power command and attitude disturbance information into a pre-trained attitude model, and respectively correct the first displacement command and the first power command according to the desired cushioning attitude information to obtain the corresponding second displacement command and second power command.

[0073] The pre-trained attitude model can be a pre-trained deep neural network model. Since, based on the motion model of the cushioning motor, when the controlled combined power distribution unit generates a first displacement command and a first power command according to the first cushioning attitude information and the attitude disturbance information, the response time and faults of the cushioning motor will affect the motion model parameters of the cushioning motor, so there will be deviations in the first displacement command and the first power command. By inputting the historical displacement command, historical power command, historical attitude information, first displacement command, first power command and attitude disturbance information into a pre-trained attitude model, and respectively correcting the first displacement command and the first power command according to the desired cushioning attitude information, the deviations of the displacement commands and power commands required at each cushioning point of the hull can be eliminated. In this process, taking the corrected first displacement command and first power command as the adjustment basis for the motion model parameters of the cushioning motor can optimize the motion model of the cushioning motor and at the same time have a certain fault tolerance ability. Through this closed-loop model operation, the accuracy of the deep neural network model can also be continuously improved, thereby improving the inference speed in the deployment stage. The whole process is continuously iterated and updated, which can improve the anti-interference ability of the cushioning system, and the desired cushioning attitude of the hull in the next stage can be predicted through historical data, and the phased displacement commands and phased power commands of multiple cushioning points can be calculated through the desired cushioning attitude trajectory.

[0074] S3041. The controlled displacement command sending unit sends the second displacement command to each second cushioning control module according to the second power command.

[0075] S3051. The controlled second cushioning control module controls multiple cushioning motors to perform cushioning displacement according to the second displacement command.

[0076] Figure 6It is a flowchart of another control method for a lift system provided by an embodiment of the present invention. As Figure 6 shown, in combination with Figure 1 and Figure 2 , the control method of the lift system may further include:

[0077] S301. Control the lift attitude determination module to decompose the desired lift attitude into lift displacement amounts at multiple position points, and synthesize the multiple lift displacement amounts into a displacement vector.

[0078] S302. Control the attitude analysis unit to output first lift attitude information according to the displacement vector.

[0079] S303. Control the combined power distribution unit to output power distribution instructions at multiple position points according to the first lift attitude information and the trajectory of the desired lift attitude.

[0080] S304. Control the displacement instruction sending unit to send displacement instructions to each second lift control module according to the power distribution instructions.

[0081] S3052. Control the signal acquisition unit to acquire the lift displacement amount of the lift motor, the rotation speed of the lift motor, and the current output by the inverter unit.

[0082] Specifically, the signal acquisition unit 320 may include a displacement feedback sub-unit 33, a rotation speed feedback sub-unit 44, and a current feedback sub-unit 55. Among them, the displacement feedback sub-unit 33 is used to acquire the actual lift displacement amount of the lift motor, the rotation speed feedback sub-unit 44 is used to acquire the actual rotation speed of the lift motor, and the current feedback sub-unit 55 is used to acquire the current output by the inverter unit.

[0083] S3053. Control the position outer loop control unit to output a rotation speed reference value according to the lift displacement amount and the displacement instruction.

[0084] Among them, the displacement instruction output by the first lift control module 20 is the desired lift displacement amount corresponding to each lift motor 40, the lift displacement amount acquired by the displacement feedback sub-unit 33 is the actual lift displacement amount of the lift motor 40, and the position outer loop control unit 330 uses the desired lift displacement amount as the reference quantity and the actual lift displacement amount as the feedback quantity to ensure the static accuracy and dynamic tracking performance of the system. The rotation speed reference value is obtained through calculation and input to the signal control unit 340. For example, it can be calculated by proportional integral (PI) or proportional integral derivative (PID). The signal control unit 340 includes a rotation speed inner loop control unit 60 and a current inner loop control unit 70.

[0085] S3054. Control the rotation speed inner loop control unit to output a current reference value from its output end according to the rotation speed of the lift motor and the rotation speed reference value.

[0086] Among them, the rotational speed collected by the rotational speed feedback sub-unit 44 is the actual rotational speed of the lift motor 40. The rotational speed inner loop control unit 60 uses the rotational speed reference value as the reference quantity, and the actual rotational speed as the feedback quantity to adjust the rotational speed of the lift motor 40. The current reference value is obtained through calculation and input into the current inner loop control unit 70. For example, the current reference value can be obtained through proportional integral (PI) or proportional integral derivative (PID) calculation.

[0087] S3055. Control the current inner loop control unit to output the drive control signal of the inverter unit from its output terminal according to the current output by the inverter unit and the current reference value.

[0088] Among them, the current collected by the current feedback sub-unit 44 is the actual current output by the inverter unit 310, and the output of the inverter unit 310 is the phase current of each phase of the lift motor 40. The current inner loop control unit 70 uses the current reference value as the reference quantity and the actual output of the inverter unit 310 as the feedback quantity to adjust the load torque, which is beneficial to increasing the stability of the system.

[0089] Figure 7 is a flowchart of another control method for the lift system provided by the embodiment of the present invention. As Figure 7 shown, the control method of the lift system may further include:

[0090] S301. Control the lift attitude determination module to decompose the expected lift attitude into lift displacement amounts of multiple position points, and synthesize the multiple lift displacement amounts into a displacement vector.

[0091] S302. Control the attitude analysis unit to output the first lift attitude information according to the displacement vector.

[0092] S3031. Based on the motion model of the lift motor, control the combined power distribution unit to generate a first displacement command and a first power command according to the first lift attitude information and the attitude disturbance information.

[0093] S3033. Input the historical displacement command, historical power command, historical attitude information, first displacement command, first power command, and attitude disturbance information into the pre-trained attitude model, and respectively correct the first displacement command and the first power command according to the expected lift attitude information to obtain the corresponding second displacement command and second power command.

[0094] S3041. Control the displacement command sending unit to send the second displacement command to each second lift control module according to the second power command.

[0095] S3052. Control the signal acquisition unit to collect the lift displacement amount of the lift motor, the rotational speed of the lift motor, and the current output by the inverter unit.

[0096] S3053. The control position outer loop control unit outputs a rotational speed reference value according to the lift displacement and the displacement command.

[0097] S3054. The control rotational speed inner loop control unit outputs a current reference value from its output terminal according to the rotational speed of the lift motor and the rotational speed reference value.

[0098] S3055. The control current inner loop control unit outputs a drive control signal for the inverter unit from its output terminal according to the current output by the inverter unit and the current reference value.

[0099] The embodiment of the present invention also provides an electric hovercraft, which includes the lift system of any of the above embodiments and has the corresponding functional modules and beneficial effects of the lift system.

[0100] It should be understood that various forms of the processes shown above can be used, reordering, adding or deleting steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. No limitation is made herein.

[0101] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A lifting system, characterized in that, it includes: a lifting attitude determination module, a first lifting control module, a plurality of second lifting control modules, and lifting motors connected to each of the second lifting control modules. The lifting attitude determination module is configured to decompose the desired lifting attitude into lifting displacement amounts of multiple position points, and synthesize the multiple lifting displacement amounts into a displacement vector and input it to the first lifting control module. The first lifting control module is configured to perform combined power distribution for multiple position points according to the displacement vector; wherein, the first lifting control module includes an attitude analysis unit, a combined power distribution unit, and a displacement command sending unit; the input end of the attitude analysis unit is connected to the output end of the lifting attitude determination module, and is configured to output first lifting attitude information according to the displacement vector; the input end of the combined power distribution unit is connected to the output end of the attitude analysis unit, and is configured to output power distribution commands for multiple position points according to the first lifting attitude information and the desired lifting attitude information; the input end of the displacement command sending unit is connected to the output end of the combined power distribution unit, and is configured to send displacement commands to each of the second lifting control modules according to the power distribution commands; the second lifting control module is configured to control the multiple lifting motors to perform lifting displacement according to the displacement commands; the second lifting control module includes an inverter unit, a signal acquisition unit, a position outer loop control unit, and a signal control unit. The output end of the inverter unit is connected to the lifting motor; the signal acquisition unit is configured to acquire the lifting displacement amount of the lifting motor and feedback the lifting displacement amount to the position outer loop control unit; the position outer loop control unit is configured to output a speed reference value according to the lifting displacement amount and the displacement command; the signal control unit is configured to output a drive control signal for the inverter unit according to the speed reference value; the signal control unit includes a current inner loop control unit and a speed inner loop control unit; the signal acquisition unit is further configured to acquire the speed of the lifting motor and the current output by the inverter unit; the input end of the speed inner loop control unit is connected to the output end of the position outer loop control unit, and the output end of the speed inner loop control unit is connected to the input end of the current inner loop control unit; the speed inner loop control unit is configured to output a current reference value from its output end according to the speed of the lifting motor and the speed reference value, and the current inner loop control unit is configured to output the drive control signal for the inverter unit from its output end according to the current output by the inverter unit and the current reference value.

2. The lifting system according to claim 1, characterized in that, the second lifting control module further includes a feedforward compensation unit. The output end of the feedforward compensation unit is connected to the input end of the current inner loop control unit, and the input end of the feedforward compensation unit is configured to receive second lifting attitude information; wherein, the second lifting attitude information is attitude disturbance information.

3. The lifting system according to claim 1, characterized in that, The second lift control module further includes a power supply unit, a pre-charge unit, and a filtering unit; The output end of the power supply unit is connected to the input end of the pre-charge unit, the output end of the pre-charge unit is connected to the input end of the filtering unit, and the output end of the filtering unit is connected to the input end of the inverter unit.

4. A control method for a lift system, characterized in that the lift system includes a lift attitude determination module, a first lift control module, a plurality of second lift control modules, and lift motors connected to each of the second lift control modules. Among them, the first lift control module includes an attitude analysis unit, a combined power distribution unit, and a displacement command sending unit; the output end of the lift attitude determination module is connected to the input end of the attitude analysis unit, the output end of the attitude analysis unit is connected to the input end of the combined power distribution unit, the output end of the combined power distribution unit is connected to the input end of the displacement command sending unit, the output end of the displacement command sending unit is connected to the input end of the second lift control module, and the output end of the second lift control module is connected to the lift motor; The control method of the lift system includes: controlling the lift attitude determination module to decompose the desired lift attitude into lift displacement amounts at multiple position points, and synthesizing the multiple lift displacement amounts into a displacement vector; controlling the attitude analysis unit to output first lift attitude information according to the displacement vector; controlling the combined power distribution unit to output power distribution commands at multiple position points according to the first lift attitude information and the trajectory of the desired lift attitude; controlling the displacement command sending unit to send displacement commands to each of the second lift control modules according to the power distribution commands; controlling the second lift control module to control the multiple lift motors to perform lift displacement according to the displacement commands.

5. The control method of the lift system according to claim 4, characterized in that the step of controlling the combined power distribution unit to output power distribution commands at multiple position points according to the first lift attitude information and the desired lift attitude information includes: based on the motion model of the lift motor, controlling the combined power distribution unit to generate a first displacement command and a first power command according to the first lift attitude information and the attitude disturbance information; inputting the first displacement command, the first power command, and the attitude disturbance information into a pre-trained attitude model, and respectively correcting the first displacement command and the first power command according to the desired lift attitude information to obtain corresponding second displacement commands and second power commands; the step of controlling the displacement command sending unit to send displacement commands to each of the second lift control modules according to the power distribution commands includes: controlling the displacement command sending unit to send second displacement commands to each of the second lift control modules according to the second power command.

6. The control method of the lift system according to claim 4, characterized in that The steps of controlling the combined power distribution unit to output power distribution instructions for multiple position points according to the first lifting attitude information and the desired lifting attitude information include: Based on the motion model of the lifting motor, controlling the combined power distribution unit to generate a first displacement instruction and a first power instruction according to the first lifting attitude information and the attitude disturbance information; Inputting the historical displacement instruction, historical power instruction, historical attitude information, the first displacement instruction, the first power instruction, and the attitude disturbance information into a pre-trained attitude model, and respectively correcting the first displacement instruction and the first power instruction according to the desired lifting attitude information to obtain corresponding second displacement instructions and second power instructions; The steps of controlling the displacement instruction sending unit to send displacement instructions to each of the second lifting control modules according to the power distribution instructions include: Controlling the displacement instruction sending unit to send second displacement instructions to each of the second lifting control modules according to the second power instruction.

7. The control method of the lifting system according to claim 4, wherein, the second lifting control module includes an inverter unit, a signal acquisition unit, a position outer loop control unit, and a signal control unit. The output end of the inverter unit is connected to the lifting motor; the signal control unit includes a current inner loop control unit and a speed inner loop control unit. The input end of the speed inner loop control unit is connected to the output end of the position outer loop control unit, and the output end of the speed inner loop control unit is connected to the input end of the current inner loop control unit; The steps of the second lifting control module controlling the multiple lifting motors to perform lifting displacement according to the displacement instruction include: Controlling the signal acquisition unit to acquire the lifting displacement amount of the lifting motor, the speed of the lifting motor, and the current output by the inverter unit; Controlling the position outer loop control unit to output a speed reference value according to the lifting displacement amount and the displacement instruction; Controlling the speed inner loop control unit to output a current reference value from its output end according to the speed of the lifting motor and the speed reference value; Controlling the current inner loop control unit to output a drive control signal of the inverter unit from its output end according to the current output by the inverter unit and the current reference value.

8. An electric hovercraft, wherein, it includes the lifting system according to any one of claims 1-3.

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