Amphibious Vehicle Takeoff Control via Coupled Dynamic Model

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Solution Overview

Problem

The precise control of motion states during takeoff and landing of multimodal air-ground amphibious vehicles is challenging due to complex forces involved, making it difficult to accurately manage the motion of these vehicles.

Innovation Solution

A takeoff and landing control method using a coupled dynamic model that incorporates a two-degree-of-freedom suspension dynamic equation and a six-degree-of-freedom motion equation, allowing for precise control of motion states by processing dynamic parameters to determine dynamic control parameters, thereby managing the interaction between the aircraft and vehicle during takeoff and landing.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If a simple control model is used for the multimodal air-ground amphibious vehicle, then the device complexity is reduced, but the measurement precision of motion state control deteriorates

Engineering Contradiction:

Improvecontrol model complexityVSAvoidmotion state control precision

Core Design Contradiction:

Device complexityVSMeasurement precision

Solution Approach 1:

The control model is segmented into two distinct parts: a two-degree-of-freedom suspension dynamic model for vertical motion and a six-degree-of-freedom motion model for overall vehicle dynamics. This segmentation allows each model to focus on specific aspects of motion control, improving precision without requiring a single overly complex unified model.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent transitions from considering only the six-degree-of-freedom motion of the entire vehicle to adding the vertical dimension of suspension movement. By incorporating the two-degree-of-freedom suspension model, the system accounts for tire vertical displacement and suspension compression, providing more precise control of the contact between tires and ground.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Measurement precision

If a coupled dynamic model with suspension equations is used, then the motion state control precision is improved, but the device complexity increases

Engineering Contradiction:

Improvemotion state control precisionVSAvoidcontrol model complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent merges the suspension dynamic model with the vehicle motion model into a coupled control system. The suspension equations are integrated with the six-degree-of-freedom motion equations, allowing the controller to simultaneously manage both suspension compression and overall vehicle motion, achieving precise control despite increased complexity.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The suspension system acts as an intermediary between the vehicle body and the ground. By modeling the suspension's two degrees of freedom (compression and rebound), the system mediates the interaction forces, providing better control over tire-ground contact while isolating the complexity of suspension dynamics from the overall vehicle control.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Device complexity

If the suspension motion is not considered, then the control model is simpler, but the reliability of takeoff and landing control deteriorates

Engineering Contradiction:

Improvecontrol model complexityVSAvoidtakeoff and landing control reliability

Core Design Contradiction:

Device complexityVSReliability

Solution Approach 1:

The control system performs preliminary action by actively controlling suspension compression before touchdown and rebound after landing. The controller pre-compresses the suspension during approach and manages the rebound phase, ensuring reliable absorption of impact forces and stable ground contact, which is critical for safe takeoff and landing operations.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The suspension system provides beforehand cushioning by compressing before the vehicle body contacts the ground during landing. This pre-compression absorbs impact energy and prevents sudden shocks to the vehicle structure, significantly improving the reliability of landing control and protecting the vehicle from damage.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

Data Source

PatentUS11493937B2Takeoff and landing control method and control apparatus of multimodal air-ground amphibious vehicle, and computer storage medium

Publication Date: 2022.11.08 TSINGHUA UNIVERSITY

AI summary

A takeoff and landing control method of a multimodal air-ground amphibious vehicle includes: receiving dynamic parameters of the multimodal air-ground amphibious vehicle; processing the dynamic parameters by a coupled dynamic model of the multimodal air-ground amphibious vehicle to obtain dynamic control parameters of the multimodal air-ground amphibious vehicle, wherein the coupled dynamic model of the multimodal air-ground amphibious vehicle comprises a motion equation of the multimodal air-ground amphibious vehicle in a touchdown state; and the motion equation of the multimodal air-ground amphibious vehicle in a touchdown state is determined by a two-degree-of-freedom suspension dynamic equation and a six-degree-of-freedom motion equation of the multimodal air-ground amphibious vehicle in the touchdown state; and controlling takeoff and landing of the multimodal air-ground amphibious vehicle according to the dynamic control parameters of the multimodal air-ground amphibious vehicle. The method is used for takeoff and landing control of a multimodal air-ground amphibious vehicle.