Cushion lift control system and control method for hovercraft and hovercraft

Abstract

The present invention discloses a hovercraft lift control system, a control method and a hovercraft. The lift control system includes: a fan drive device and a plurality of independently driven local displacement control devices, wherein the fan drive device is used to drive the fan to generate wind volume to control the overall air pressure output of the hull; the plurality of independently driven local displacement control devices are distributed at multiple positions of the hull; the plurality of local displacement control devices are used to disperse the overall air pressure of the hull at multiple positions of the hull to control the hull posture. The embodiment of the present invention distributes local displacement control devices at multiple positions of the hull. These local displacement control devices decompose the wind volume output by the fan drive device and independently drive the local displacement control devices in a targeted manner, so that the displacement of each position of the hull can be dynamically adjusted in real time, thereby maintaining the balance of the hull and improving the dynamic balance performance of the hovercraft.

Description

Technical Field

[0001] The present invention relates to the technical field of hovercraft, and in particular to a hovercraft lift control system, a control method and the hovercraft. Background Art

[0002] A hovercraft is a high-speed vessel that utilizes the surface effect principle, relying on air at higher pressure than atmospheric pressure to form a cushion between the hull and a supporting surface (water or ground), allowing the hull to fully or partially detach from the supporting surface and navigate. However, existing technologies still suffer from insufficient dynamic balancing performance. During the lift process and in unstable conditions such as wind and waves, the hovercraft may experience hull swaying during operation. Summary of the Invention

[0003] The present invention provides a hovercraft lift control system, a control method and a hovercraft, so as to improve the dynamic balance performance of the hovercraft.

[0004] According to one aspect of the present invention, there is provided a control system for a hovercraft, comprising:

[0005] A fan driving device, the fan driving device is used to drive the fan to generate air volume to control the overall air pressure output of the hull;

[0006] A plurality of independently driven local displacement control devices are distributed at a plurality of positions of the hull; the plurality of local displacement control devices are used to disperse the overall air pressure of the hull at a plurality of positions of the hull to control the hull posture.

[0007] Optionally, the local displacement control device includes: a local displacement control module and a local air pressure setting module;

[0008] The local displacement control module receives the local steady-state displacement instruction, the local air pressure signal, the local air pressure disturbance signal and the local displacement signal output by the front-end controller, and generates a local displacement control instruction;

[0009] The local air pressure setting module adjusts the local displacement of the hull in response to the local displacement control instruction.

[0010] Optionally, the local air pressure setting module includes: at least one valve, and the opening of the valve is used to control the air volume.

[0011] Optionally, the local displacement control module includes: a first difference unit, a displacement outer loop PI control unit, a second difference unit, an air pressure inner loop PI control unit, a local air pressure disturbance amount calculation unit, a first feedforward control unit and a third difference unit;

[0012] The first difference unit is used to perform a difference between the local steady-state displacement instruction and the local displacement signal to generate a displacement difference signal;

[0013] The displacement outer loop PI control unit is used to convert the displacement difference signal into an air pressure control signal;

[0014] The second subtracting unit is used to subtract the air pressure control signal from the local air pressure signal to generate an air pressure difference signal;

[0015] The air pressure inner loop PI control unit is used to convert the air pressure difference signal into a first opening control signal;

[0016] The local air pressure disturbance amount calculation unit is used to calculate the local air pressure disturbance signal according to the total disturbance signal of the hull;

[0017] The first feedforward control unit is used to convert the local gas pressure disturbance signal into a second opening control signal;

[0018] The third subtraction unit is used to subtract the first opening control signal from the second opening control signal to generate the local displacement control instruction.

[0019] Optionally, the local displacement control module further includes: an air pressure total disturbance estimation unit, which is used to convert the overall air pressure signal of the hull into a hull total disturbance signal.

[0020] Optionally, the fan driving device includes: a fan control module, a drive control module, a motor drive module and a sampling module; the fan includes a motor and a fan execution module;

[0021] The fan control module receives the steady-state power instruction output by the front-end controller, the current signal output by the sampling module, the motor power signal and the overall hull air pressure signal, and generates a motor power control instruction;

[0022] The drive control module receives the motor power control instruction and generates a motor drive signal;

[0023] The motor driving module generates a motor power supply signal in response to the motor driving signal;

[0024] The motor rotates under the action of the motor power supply signal;

[0025] The fan execution module generates air volume in response to the rotation of the motor.

[0026] Optionally, the sampling module includes: a current acquisition unit, a torque and speed acquisition unit, and an air pressure acquisition unit;

[0027] The current acquisition unit is used to acquire the current output by the motor drive module and generate a current signal;

[0028] The torque and speed acquisition unit is used to acquire the torque and speed of the motor and generate a motor power signal;

[0029] The air pressure collection unit is used to collect the air pressure at the air outlet of the fan execution module to generate an overall hull air pressure signal.

[0030] Optionally, the fan control module includes: a fourth difference unit, a speed outer loop PI control unit, a fifth difference unit, a current inner loop PI control unit, a gas pressure total disturbance estimation unit, a second feedforward control unit and a sixth difference unit;

[0031] The fourth difference unit is used to difference the steady-state power command and the motor power signal to generate a power difference signal;

[0032] The speed outer loop PI control unit is used to convert the power difference signal into a current control signal;

[0033] The fifth difference unit is used to perform a difference between the current control signal and the collected current signal to generate a current difference signal;

[0034] The current inner loop PI control unit is used to convert the current difference signal into a first air pressure control signal;

[0035] The air pressure total disturbance estimation unit is used to convert the overall air pressure signal of the hull into a hull total disturbance signal;

[0036] The second feedforward control unit is used to convert the total hull disturbance signal into a second air pressure control signal;

[0037] The sixth subtracting unit is configured to subtract the first air pressure control signal from the second air pressure control signal to generate the motor driving signal.

[0038] Correspondingly, an embodiment of the present invention further provides an air cushion vehicle, comprising: a hover control system as described in any embodiment of the present invention.

[0039] Accordingly, an embodiment of the present invention further provides a method for controlling the lift of a hovercraft, comprising:

[0040] Drive the fan to generate air volume according to the steady-state power command to control the overall air pressure output of the hull;

[0041] According to the overall air pressure signal of the hull and multiple local steady-state instructions, multiple local displacement control devices are independently driven to disperse the overall air pressure of the hull to multiple positions of the hull to control the hull posture.

[0042] Optionally, the method for driving the local displacement control device includes:

[0043] Subtracting the local steady-state displacement command from the local displacement signal to generate a displacement difference signal;

[0044] According to the displacement outer loop PI control method, the displacement difference signal is converted into an air pressure control signal;

[0045] Subtracting the air pressure control signal from the local air pressure signal to generate an air pressure difference signal;

[0046] According to the air pressure inner loop PI control method, the air pressure difference signal is converted into a first opening control signal;

[0047] Calculate the local air pressure disturbance signal according to the total disturbance signal of the hull;

[0048] converting the local gas pressure disturbance signal into a second opening control signal;

[0049] The first opening control signal and the second opening control signal are subtracted to generate a local displacement control instruction.

[0050] Optionally, the method for driving a fan includes:

[0051] Subtracting the steady-state power command from the motor power signal to generate a power difference signal;

[0052] Converting the power difference signal into a current control signal according to a speed outer loop PI control method;

[0053] Subtracting the current control signal from the collected current signal to generate a current difference signal;

[0054] Converting the current difference signal into a first air pressure control signal according to a current inner loop PI control method;

[0055] Converting the overall hull air pressure signal into a total hull disturbance signal;

[0056] converting the total hull disturbance signal into a second air pressure control signal;

[0057] The first air pressure control signal and the second air pressure control signal are subtracted to generate a motor driving signal.

[0058] The embodiment of the present invention distributes local displacement control devices at multiple positions on the hull. These local displacement control devices decompose the air volume output by the fan drive device and independently drive the local displacement control devices in a targeted manner, so that the displacement of various positions on the hull can be dynamically adjusted in real time, thereby maintaining the balance of the hull and improving the dynamic balance performance of the hovercraft.

[0059] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0061] Figure 1 A schematic structural diagram of a hovercraft lift control system provided by an embodiment of the present invention;

[0062] Figure 2 A schematic structural diagram of a local displacement control device provided by an embodiment of the present invention;

[0063] Figure 3 A schematic structural diagram of another local displacement control device provided by an embodiment of the present invention;

[0064] Figure 4 A schematic structural diagram of another local displacement control device provided by an embodiment of the present invention;

[0065] Figure 5 A schematic structural diagram of a fan drive device and a fan provided in an embodiment of the present invention;

[0066] Figure 6 A schematic structural diagram of another fan drive device and fan provided in an embodiment of the present invention;

[0067] Figure 7 A schematic flow chart of a method for controlling the lift of an air cushion vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0068] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0069] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0070] An embodiment of the present invention provides a lift control system for a hovercraft, which is applicable to small and medium-sized hovercraft. Figure 1 This is a structural diagram of a hovercraft control system provided by an embodiment of the present invention. Figure 1 , the cushion lifting control system includes:

[0071] The fan driving device 100 is used to drive the fan 300 to generate air volume to control the overall air pressure output of the hull;

[0072] A plurality of independently driven local displacement control devices 200 are distributed at a plurality of positions of the hull; the plurality of local displacement control devices 200 are used to disperse the overall air pressure of the hull at a plurality of positions of the hull to control the hull posture.

[0073] The local displacement control devices 200 can be installed at multiple locations, such as the bow, stern, and mid-hull, and can be 4, 8, 16, 24, or 32 in number. These local displacement control devices 200 decompose the air volume output by the fan drive device 100. The local displacement control devices 200 can, for example, include one or more valves, and control the local displacement of the corresponding location by controlling the valve opening.

[0074] Therefore, the embodiment of the present invention distributes local displacement control devices 200 at multiple positions of the hull. These local displacement control devices 200 decompose the wind volume output by the fan drive device 100 and independently drive the local displacement control devices 200 in a targeted manner, so that the displacement of various positions of the hull can be dynamically adjusted in real time, thereby maintaining the balance of the hull and improving the dynamic balance performance of the hovercraft.

[0075] Figure 2 This is a schematic diagram of the structure of a local displacement control device provided by an embodiment of the present invention. Figure 2Based on the above embodiments, the local displacement control device 200 optionally includes a local displacement control module 210 and a local air pressure setting module 220. The local displacement control module 210 receives the local steady-state displacement command, local air pressure signal, local air pressure disturbance signal, and local displacement signal output by the front-end controller and generates a local displacement control command. The local air pressure setting module adjusts the local displacement of the hull in response to the local displacement control command.

[0076] Optionally, the local air pressure setting module 220 includes at least one valve, the valve opening of which is used to control the air volume, thereby outputting the local displacement of the hull. Specifically, the air volume generated by the fan 300 is transmitted through air ducts to valves distributed throughout the hull. By controlling the valve opening, the local air pressure and air volume of the hull can be controlled, thereby adjusting the local displacement of the hull.

[0077] The local steady-state displacement command is provided by the front-end controller, the local air pressure signal can be obtained by feedback from the local air pressure setting module 220, and the local displacement signal can be detected by the displacement sensing module 230. Specifically, the displacement sensing module 230 detects the displacement of the local position and sends the detected local displacement signal to the local displacement control module.

[0078] The embodiment of the present invention sets a local displacement control module 210 to process the local steady-state displacement instruction, the local air pressure signal, the local air pressure disturbance signal and the local displacement signal, which is conducive to obtaining the local displacement control instruction and realizing the control of the local air pressure setting module 220 (for example, a valve).

[0079] Figure 3 This is a schematic diagram of the structure of another local displacement control device provided by an embodiment of the present invention. Figure 3 Based on the above embodiments, optionally, the local displacement control module 210 includes: a first difference unit 211, a displacement outer loop PI control unit 212, a second difference unit 213, an air pressure inner loop PI control unit 214, a local air pressure disturbance calculation unit 215, a first feedforward control unit 216, and a third difference unit 217.

[0080] The first difference unit 211 is used to subtract the local steady-state displacement command from the local displacement signal to generate a displacement difference signal. The displacement outer loop PI control unit is used to convert the displacement difference signal into an air pressure control signal. The second difference unit 213 is used to subtract the air pressure control signal from the local air pressure signal to generate an air pressure difference signal. The air pressure inner loop PI control unit 214 is used to convert the air pressure difference signal into a first opening control signal.

[0081] The local air pressure disturbance calculation unit 215 is configured to calculate a local air pressure disturbance signal based on the total hull disturbance signal. The first feedforward control unit 216 is configured to convert the local air pressure disturbance signal into a second opening control signal. The third difference unit 217 is configured to generate a local displacement control command by taking the difference between the first opening control signal and the second opening control signal.

[0082] In the embodiment of the present invention, the local displacement control module 210 is configured in such a way as to realize the processing of the local steady-state displacement instruction, the local air pressure signal, the total disturbance signal of the hull and the local displacement signal, thereby obtaining the local displacement control instruction and realizing the control of the local air pressure setting module 220 (for example, a valve).

[0083] Figure 4 This is a structural diagram of another local displacement control device provided by an embodiment of the present invention. Figure 4 Based on the above embodiments, the local displacement control module 210 may optionally further include a total air pressure disturbance estimation unit 218, which is configured to convert the overall hull air pressure signal into a total hull disturbance signal. The overall hull air pressure signal is generated by the fan 300. The local hull air pressure disturbance signal is derived by decomposing the overall hull air pressure signal.

[0084] It can be seen that when controlling the valve opening, the embodiment of the present invention introduces the local air pressure disturbance signal of the hull as feedforward, controls the valve opening through the displacement outer loop control and the air pressure inner loop control, thereby adjusting the local displacement of the hull and improving the control accuracy.

[0085] Figure 5 A schematic diagram of the structure of a fan drive device and a fan provided by an embodiment of the present invention. Figure 5 Based on the above embodiments, optionally, the fan driving device includes: a fan control module 110, a drive control module 120, a motor drive module 130 and a sampling module 140; the fan includes a motor 140 and a fan execution module 150.

[0086] The fan control module 110 receives the steady-state power command output by the front-end controller, the current signal output by the sampling module 140, the motor power signal, and the overall hull air pressure signal, and generates a motor power control command. The motor power control signal is, for example, a PWM signal. The drive control module 120 receives the motor power control command and generates a motor drive signal. The drive control module 120 can be, for example, a power device driver that turns the power device on and off according to the PWM signal. The motor drive module 130 responds to the motor drive signal and generates a motor power supply signal. The motor drive module 130 can be, for example, an inverter that converts the DC voltage into the AC signal required by the motor 310.

[0087] The motor 310 is a lifting motor that rotates under the action of a motor power supply signal. The fan execution module 320 generates air volume in response to the rotation of the motor. The fan drive module 320 is, for example, a mechanical structure of a fan.

[0088] The fan driving device provided in the embodiment of the present invention includes a fan control module 110 , a drive control module 120 , a motor drive module 130 and a sampling module 140 , which can realize control of the fan 300 .

[0089] Figure 6 This is a structural diagram of another fan drive device and fan provided by an embodiment of the present invention. Figure 6 Based on the above embodiments, the sampling module 140 optionally includes a current acquisition unit 141, a torque and speed acquisition unit 142, and an air pressure acquisition unit 143. The current acquisition unit 141 is used to acquire the current output by the motor drive module 130 and generate a current signal. The torque and speed acquisition unit 142 is used to acquire the torque and speed of the motor 310 and generate a motor power signal. The air pressure acquisition unit 143 is used to acquire the air pressure at the air outlet of the fan execution module 320 and generate an overall hull air pressure signal.

[0090] Continue to see Figure 6 Based on the above embodiments, optionally, the fan control module 110 includes: a fourth difference unit 111, a speed outer loop PI control unit 112, a fifth difference unit 113, a current inner loop PI control unit 114, a total air pressure disturbance estimation unit 115, a second feedforward control unit 116 and a sixth difference unit 117.

[0091] The fourth difference unit 111 is configured to subtract the steady-state power command from the motor power signal to generate a power difference signal. The speed outer-loop PI control unit 112 is configured to convert the power difference signal into a current control signal. The fifth difference unit 113 is configured to subtract the current control signal from the collected current signal to generate a current difference signal. The current inner-loop PI control unit 114 is configured to convert the current difference signal into a first air pressure control signal.

[0092] The air pressure total disturbance estimation unit 115 is used to convert the overall air pressure signal of the hull into a total disturbance signal of the hull. The second feedforward control unit is used to convert the total disturbance signal of the hull into a second air pressure control signal.

[0093] The sixth subtracting unit 117 is configured to subtract the first air pressure control signal from the second air pressure control signal to generate a motor driving signal.

[0094] In an embodiment of the present invention, a fan control module 110 is provided, which includes a fourth difference unit 111, a speed outer loop PI control unit 112, a fifth difference unit 113, a current inner loop PI control unit 114, an air pressure total disturbance estimation unit 115, a second feedforward control unit 116 and a sixth difference unit 117, thereby realizing control of the fan.

[0095] Thus, the embodiment of the present invention introduces the overall hull pressure signal as a feedforward for overall hull disturbance control. This stabilizes the motor power output through the outer speed loop and the inner current loop, thereby dynamically adjusting the overall air output of the fan 300. Introducing the overall hull pressure signal as a feedforward reduces the motor's response time to changes in load power. Simultaneously, closed-loop control of the motor power output is achieved through the series current inner loop PI control.

[0096] Optionally, the total air pressure disturbance amount estimation unit 115 may be reused as the total air pressure disturbance amount estimation unit 218 in the local displacement control module to simplify the structure of the cushion lift control system.

[0097] To sum up, the lifting control system provided by the embodiment of the present invention can accurately control the valve openings at the outlets of various local positions of the hull during the lifting process, when encountering wind and waves and operating under unstable working conditions, to obtain accurate air pressure so that the entire ship reaches a dynamic balance state.

[0098] An embodiment of the present invention further provides an air cushion vehicle, which includes a lift control system as provided in any embodiment of the present invention. The technical principles and effects produced are similar and will not be described in detail.

[0099] An embodiment of the present invention further provides a method for controlling the lift of a hovercraft. The method can adopt the lift control system provided by any embodiment of the present invention and be executed by hardware and / or software in the lift control system. Figure 7 A flow chart of a method for controlling the lift of an air cushion vehicle provided by an embodiment of the present invention. Figure 7 , the cushion lift control method comprises the following steps:

[0100] S110. Drive the fan to generate air volume according to the steady-state power command to control the overall air pressure output of the hull.

[0101] Optionally, the method for driving the fan is: subtracting the steady-state power command from the motor power signal to generate a power difference signal; converting the power difference signal into a current control signal according to the speed outer loop PI control method; subtracting the current control signal from the collected current signal to generate a current difference signal; converting the current difference signal into a first air pressure control signal according to the current inner loop PI control method; converting the overall hull air pressure signal into a hull total disturbance signal; converting the hull total disturbance signal into a second air pressure control signal; subtracting the first air pressure control signal from the second air pressure control signal to generate a motor drive signal.

[0102] S120: driving the local displacement control device according to the overall hull air pressure signal and the multiple local steady-state instructions to disperse the overall hull air pressure to multiple positions of the hull to control the hull posture.

[0103] Optionally, the method for driving the local displacement control device is: subtracting the local steady-state displacement instruction and the local displacement signal to generate a displacement difference signal; converting the displacement difference signal into an air pressure control signal according to the displacement outer loop PI control method; subtracting the air pressure control signal and the local air pressure signal to generate an air pressure difference signal; converting the air pressure difference signal into a first opening control signal according to the air pressure inner loop PI control method; calculating the local air pressure disturbance signal based on the total disturbance signal of the hull; converting the local air pressure disturbance signal into a second opening control signal; subtracting the first opening control signal and the second opening control signal to generate a local displacement control instruction.

[0104] It can be seen that, when controlling the wind turbine, the embodiment of the present invention introduces the overall hull air pressure signal as the overall hull disturbance as feedforward, and obtains a stable output of the motor power through the outer loop of speed and the inner loop of current flow, thereby dynamically adjusting the overall air output of the wind turbine 300. Among them, by introducing the overall hull air pressure signal as a feedforward, the response time of the motor to the load power change is reduced; at the same time, the motor power output is closed-loop controlled by the series current inner loop PI control. And when controlling the valve opening, by introducing the local hull air pressure disturbance signal as feedforward, the valve opening is controlled by the outer loop control of displacement and the inner loop control of air pressure, thereby adjusting the local displacement of the hull and improving the accuracy of control.

[0105] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed 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. This is not limited herein.

[0106] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A hovercraft lift control system, characterized in that: include: A fan driving device, the fan driving device is used to drive the fan to generate air volume to control the overall air pressure output of the hull; Multiple independently driven local displacement control devices, distributed at multiple locations on the hull; The plurality of local displacement control devices are used to disperse the overall air pressure of the hull to a plurality of positions of the hull to control the hull attitude; The local displacement control device includes: a local displacement control module and a local air pressure setting module; the local displacement control module includes: a local air pressure disturbance amount calculation unit; The local displacement control module receives the local steady-state displacement instruction output by the front-end controller, the local air pressure signal fed back by the local air pressure setting module, the local air pressure disturbance signal calculated by the local air pressure disturbance calculation unit, and the local displacement signal detected by the displacement sensing module, and generates a local displacement control instruction; The local air pressure setting module adjusts the local displacement of the hull in response to the local displacement control instruction; The local displacement control module further includes: a first difference unit, a displacement outer loop PI control unit, a second difference unit, an air pressure inner loop PI control unit, a first feedforward control unit and a third difference unit; The first difference unit is used to perform a difference between the local steady-state displacement instruction and the local displacement signal to generate a displacement difference signal; The displacement outer loop PI control unit is used to convert the displacement difference signal into an air pressure control signal; The second subtracting unit is used to subtract the air pressure control signal from the local air pressure signal to generate an air pressure difference signal; The air pressure inner loop PI control unit is used to convert the air pressure difference signal into a first opening control signal; The local air pressure disturbance amount calculation unit is used to calculate the local air pressure disturbance signal according to the total disturbance signal of the hull; The first feedforward control unit is used to convert the local gas pressure disturbance signal into a second opening control signal; The third subtraction unit is used to subtract the first opening control signal from the second opening control signal to generate the local displacement control instruction.

2. The hovercraft lift control system according to claim 1, characterized in that: The local air pressure setting module includes: at least one valve, the opening of the valve is used to control the air volume.

3. The hovercraft lift control system according to claim 1, characterized in that: The local displacement control module further includes: an air pressure total disturbance estimation unit, which is used to convert the overall hull air pressure signal generated by the fan into a hull total disturbance signal.

4. The hovercraft lift control system according to claim 1, characterized in that: The fan drive device includes: a fan control module, a drive control module, a motor drive module and a sampling module; the fan includes a motor and a fan execution module; The fan control module receives the steady-state power instruction output by the front-end controller, the current signal output by the sampling module, the motor power signal and the overall hull air pressure signal generated by the fan, and generates a motor power control instruction; The drive control module receives the motor power control instruction and generates a motor drive signal; The motor driving module generates a motor power supply signal in response to the motor driving signal; The motor rotates under the action of the motor power supply signal; The fan execution module generates air volume in response to the rotation of the motor.

5. The hovercraft lift control system according to claim 4, characterized in that: The sampling module includes: a current acquisition unit, a torque and speed acquisition unit and an air pressure acquisition unit; The current acquisition unit is used to acquire the current output by the motor drive module and generate a current signal; The torque and speed acquisition unit is used to acquire the torque and speed of the motor and generate a motor power signal; The air pressure collection unit is used to collect the air pressure at the air outlet of the fan execution module to generate an overall hull air pressure signal.

6. The hovercraft lift control system according to claim 5, characterized in that: The fan control module includes: a fourth difference unit, a speed outer loop PI control unit, a fifth difference unit, a current inner loop PI control unit, a gas pressure total disturbance estimation unit, a second feedforward control unit and a sixth difference unit; The fourth difference unit is used to difference the steady-state power command and the motor power signal to generate a power difference signal; The speed outer loop PI control unit is used to convert the power difference signal into a current control signal; The fifth difference unit is used to perform a difference between the current control signal and the collected current signal to generate a current difference signal; The current inner loop PI control unit is used to convert the current difference signal into a first air pressure control signal; The air pressure total disturbance estimation unit is used to convert the overall air pressure signal of the hull into a hull total disturbance signal; The second feedforward control unit is used to convert the total hull disturbance signal into a second air pressure control signal; The sixth subtracting unit is configured to subtract the first air pressure control signal from the second air pressure control signal to generate the motor driving signal.

7. A hovercraft, characterized in that: include: A cushion lift control system according to any one of claims 1 to 6.

8. A method for controlling the lift of a hovercraft, characterized in that: include: Drive the fan to generate air volume according to the steady-state power command to control the overall air pressure output of the hull; driving a plurality of independent local displacement control devices according to the overall air pressure signal of the hull and a plurality of local steady-state instructions to disperse the overall air pressure of the hull to a plurality of positions of the hull to control the hull attitude; A method for driving a local displacement control device, comprising: Subtracting the local steady-state displacement command from the local displacement signal to generate a displacement difference signal; According to the displacement outer loop PI control method, the displacement difference signal is converted into an air pressure control signal; Subtracting the air pressure control signal from the local air pressure signal to generate an air pressure difference signal; According to the air pressure inner loop PI control method, the air pressure difference signal is converted into a first opening control signal; Calculate the local air pressure disturbance signal according to the total disturbance signal of the hull; converting the local gas pressure disturbance signal into a second opening control signal; The first opening control signal and the second opening control signal are subtracted to generate a local displacement control instruction.

9. The hovercraft lift control method according to claim 8, characterized in that: A method for driving a fan, comprising: Subtracting the steady-state power command from the motor power signal to generate a power difference signal; Converting the power difference signal into a current control signal according to a speed outer loop PI control method; Subtracting the current control signal from the collected current signal to generate a current difference signal; Converting the current difference signal into a first air pressure control signal according to a current inner loop PI control method; Converting the overall hull air pressure signal into a total hull disturbance signal; converting the total hull disturbance signal into a second air pressure control signal; The first air pressure control signal and the second air pressure control signal are subtracted to generate a motor driving signal.

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