An amphibious vehicle water course control method, device, equipment and medium
By constructing a wind, wave, and current rudder angle compensation calibration table and PI closed-loop control, the heading deviation is calculated in real time and rudder control commands are generated, which solves the heading stability problem of amphibious vehicles when navigating in water, improves steering response speed and accuracy, and ensures navigation safety.
CN122308167APending Publication Date: 2026-06-30CHERY AUTOMOBILE CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHERY AUTOMOBILE CO LTD
- Filing Date
- 2026-02-13
- Publication Date
- 2026-06-30
AI Technical Summary
Technical Problem
When amphibious vehicles navigate in water, they are affected by wind, waves, and currents, resulting in poor directional stability, slow steering response, and reduced accuracy, posing safety hazards.
Method used
By constructing a wind, wave, and current rudder angle compensation calibration table, and combining inertial navigation and PI closed-loop control, the heading deviation is calculated in real time and rudder control commands are generated to counteract wind and water flow interference and achieve heading closed-loop control.
Benefits of technology
It improves the underwater steering response speed and precision of amphibious vehicles, ensuring navigation safety and handling stability.
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Smart Images
Figure CN122308167A_ABST
Abstract
This invention relates to the field of vehicle stability control technology, and discloses a method, device, equipment, and medium for underwater heading control of an amphibious vehicle. The method includes: receiving steering wheel signals in real time and calculating the target heading; receiving the actual heading fed back by the inertial navigation system in real time; calculating the heading deviation based on the target heading and the actual heading; triggering a rudder angle compensation request when the heading deviation exceeds a set threshold; responding to the rudder angle compensation request, acquiring current wind and water flow data, and matching the corresponding rudder angle compensation parameters based on a preset wind, wave, and current rudder angle compensation calibration table; generating servo control commands based on the rudder angle compensation parameters and sending them to the servo motor; continuously receiving the vehicle's actual heading, and repeating the above steps until the heading deviation drops below the set threshold. This invention can specifically counteract the interference of wind and water flow on the vehicle's heading, ensuring the accuracy of steering control.
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