CN105235676B - The many control surface control method for coordinating of aircushion vehicle are distributed based on control - Google Patents
The many control surface control method for coordinating of aircushion vehicle are distributed based on control Download PDFInfo
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- CN105235676B CN105235676B CN201510616202.3A CN201510616202A CN105235676B CN 105235676 B CN105235676 B CN 105235676B CN 201510616202 A CN201510616202 A CN 201510616202A CN 105235676 B CN105235676 B CN 105235676B
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Abstract
The present invention is to provide one kind based on the control distribution many control surface control method for coordinating of aircushion vehicle.Track produces controller and sets the track that aircushion vehicle is navigated by water by man-machine interface；Track is produced controller and obtains desired locations, course and GPS, the current actual positions of platform compass, course by comparator to be compared and obtains position, course deviation；Controller according to position, course deviation calculate longitudinally, laterally make a concerted effort and turn bow torque, be sent to control dispensing controller；Control dispensing controller is by longitudinally, laterally making a concerted effort of exporting of controller and turns bow resultant moment and distributes to a control surface executing agency to coordinate the work of each control surface.The present invention is by making a concerted effort of controlling that dispensing controller can export controller and resultant moment is reasonably assigned on each control surface, to realize that many control surfaces to aircushion vehicle coordinate control, so as to reach the purpose of aircushion vehicle safe navigation, while alleviating the working strength and mental burden of manual steering.
Description
Technical field
The present invention relates to a kind of motion control method of aircushion vehicle, particularly a kind of air cushion with control dispensing controller
Ship control surface control method for coordinating.
Background technology
External early stage aircushion vehicle uses manual control mode, mainly observes aircushion vehicle spatial movement parameter by driver
Change, directly manipulate executing agency and realize behaviour's ship.Less stable when being navigated by water due to air cushion vehicle in stormy waves, is adopted
During with driver's manual control mode, good Control platform is difficult to obtain.And the workload of driver is extremely heavy, spirit
On bear great burden, once improper maneuver, can cause revolution at a high speed and the sideslip of ship, ship is in dangerous operational configuration,
If motion state exceedes the safety clearance of ship, it is also possible to cause the major accident of shipwreck.
In order to improve manipulation level, reduction operating difficulty, the working strength for mitigating human pilot, the United States, Russia, English of aircushion vehicle
System is driven Deng the national aircushion vehicle synthesis that developed in succession.The aircushion vehicles such as the LCAC in the U.S. are equipped with coordination control
The automatic of mode drives system.There are abundant theory and practical experience, 20th century 90 in Russia in terms of aircushion vehicle control system
Age have developed " chrysolite -32M " type aircushion vehicle coordinated movement of various economic factors control system, the type aircushion vehicle coordinated movement of various economic factors control system
It is already equipped with " aurochs number " large-scale LCACs.But system above does not mention the manipulation based on control distribution
Coordinate control in face.
The content of the invention
The co-ordination between hovercraft handling face can be realized it is an object of the invention to provide a kind of, manipulation level is improved
With navigation stability many control surface control method for coordinating of aircushion vehicle are distributed based on control.
The object of the present invention is achieved like this：Controller, comparator, controller and control distribution control are produced including track
Device processed；Track produces controller and sets the track that aircushion vehicle is navigated by water by man-machine interface；Track is produced controller and obtained by comparator
It is compared to desired locations, course and GPS, the current actual positions of platform compass, course and obtains position, course deviation；Control
Device processed according to position, course deviation calculate longitudinally, laterally make a concerted effort and turn bow torque, be sent to control dispensing controller；Control
Dispensing controller processed is by longitudinally, laterally making a concerted effort of exporting of controller and turns bow resultant moment and distributes to a control surface executing agency to assist
Adjust the work of each control surface.
The features of the present invention is mainly reflected in：1st, controller is produced with track, uses Man Machine Interface can be with
Set the desired track of aircushion vehicle.Current desired position that 2nd, including a controller, the input of controller exports for comparator,
Course and current actual positions, the deviation in course.3rd, control method using Backstepping control, separately designed aircushion vehicle longitudinal direction,
Laterally, bow is to controller.4th, the output order of controller for longitudinally, laterally make a concerted effort and bow to resultant moment, pass through control point
It will make a concerted effort with controller and resultant moment is assigned to each control surface up, the coordination control of each control surface when realizing aircushion vehicle navigation
System.
Hovercraft handling face control method for coordinating with control dispensing controller produces controller by track and calculated in real time
And update desired position and the course angle at current time, then comparator to desired locations, bow to actual position, bow to
It is compared and obtains deviation and be input in controller.Controller according to deviation export all directions make a concerted effort and resultant moment to control
In dispensing controller processed.Dispensing controller and position and bow are controlled to the key that controller is this method, control distribution control
Device processed uses sequential quadratic programming method, and position and course heading control method use non-linear backstepping control method.
The present invention has the following advantages and effect compared with the prior art：
When aircushion vehicle is navigated by water in the marine environment such as wind, wave, stream, its maneuverability is poor, therefore, is generally manipulated using a variety of
Face (executing agency) come improve aircushion vehicle navigation when maneuverability.Its a variety of control surface includes main thruster, vertical air rudder, side
The control surfaces such as air door, bow spout.Common controller can only be controlled for single control surface, can between a variety of control surfaces
Interference can be produced and be unable to co-ordination, the waste of the energy can be caused, the voyage of aircushion vehicle is reduced, while will also result in mechanical knot
The abrasion of structure, reduces aircushion vehicle service life.The controller and control dispensing controller that the present invention is used being capable of controller outputs
By making a concerted effort and turn bow torque and be reasonably assigned to above each control surface to go longitudinally, laterally, aircushion vehicle manipulation can be made
Face co-ordination, reduces mechanical wear, saves the energy, improve aircushion vehicle safe navigation performance.Alleviate manual steering's simultaneously
Working strength and mental burden.
Brief description of the drawings
Hovercraft handling face coordinated control system theory diagrams of the Fig. 1 with control dispensing controller.
Fig. 2 tracks produce director demon flow chart.
Fig. 3 positions and bow are to non-linear Backstepping Controller block diagram.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
It is of the invention mainly to be produced based on the control distribution many control surface control method for coordinating of aircushion vehicle by track with reference to Fig. 1
Give birth to controller, comparator, controller and control dispensing controller to complete, in combination with Fig. 2, its key step is as follows：
1. the track laying air cushion vehicle set according to man-machine interface come read current time position and bow to angle；
2. deviation is obtained by comparator to angle and the position of reality, bow to angle according to desired position, bow；
3. according to position and bow to deviation, controller output making a concerted effort and turn bow torque longitudinally, laterally；
4. control dispensing controller by the output of controller make a concerted effort and resultant moment be assigned to each control surface executing agency,
And the power and torque that are assigned on each control surface are converted into specific control signal；
If 5. aircushion vehicle can follow desired position and bow to updating desired position and bow to going to step 1.
Comparator produces the current time desired locations that provide of controller and bow with track to angle and actual position and bow
The deviation for just having obtained position and course is made the difference to angle, course deviation is limited in actual comparator is realized -180 degree extremely
Between 180 degree, deviation represents that ship will turn right to be positive, otherwise ship will turn left.
Position and direction controller use nonlinear backstepping control method, and controller principle block diagram is shown in Fig. 3.Air cushion ship model
The characteristics of type has nonlinear parameter time-varying, therefore aircushion vehicle can only be controlled using nonlinear control method.Control
System uses nonlinear Backstepping Controller, and acceleration longitudinally, laterally and the angular acceleration for turning bow are controlled, so that
The flight path of aircushion vehicle desirably is navigated by water.
Designed non-linear Backstepping Controller using actual position and bow to desired position and bow to it is poor as
New state variable, according to Liapunov stability principle, obtain making the progressive longitudinally, laterally speed gone to zero of new state and
The function of yawing angular speed, and using obtained longitudinally, laterally speed and yawing angular speed as reference value, similarly, reality
Longitudinally, laterally speed and yawing angular speed and obtained longitudinally, laterally speed and the difference of yawing angular speed become as new state
Amount 2, again by Liapunov stability principle, obtain making new state variable 2 it is progressive go to zero longitudinally, laterally make a concerted effort and
Turn bow resultant moment as the output of controller.
In controller principle Fig. 3,For desired position under inertial coodinate system and bow to and their derivative
And second dervative；Position and bow for aircushion vehicle under inertial coodinate system to and their derivative；For hull
Coordinate is tied to the coordinate conversion matrix and its derivative of inertial coodinate system；M is the inertial matrix of aircushion vehicle；FahSuffered by aircushion vehicle
Air drag and hydrodynamic drag；P1,P2,Λ1,Λ2For the parameter matrix of designed controller, pass through regulation parameter square
Battle array improves the performance indications of control.
Nonlinear Control output is longitudinally, laterally made a concerted effort and turns the bow torque (τ in Fig. 1t) it is used as control dispensing controller
Input, control dispensing controller is minimum and to reduce abrasion of executing agency etc. be optimization aim, control according to the energy of consumption
What device processed was inputted longitudinally, laterally makes a concerted effort and turns bow Torque distribution to each control surface (τ in Fig. 1d), make the suitable behaviour of its output
Vertical amount, realizes the coordination control of aircushion vehicle, improves the maneuvering performance of aircushion vehicle.Its control surface mainly includes：2 main thrusters, 2
Individual vertical air rudder, 2 bow jet pipes, 8 crosswind doors.The mathematical modeling of the control distribution of aircushion vehicle is as follows：
Wherein, u represents the output action power distributed on each control surface, u0For the power output of last moment control surface；S tables
Show slack variable.H, M, Q are non-negative weight matrix；J (u, s) is the desired value of control allocation optimization problems；B is control distribution moments
Battle array；τcFor the output of controller；To represent that the active force exported on control surface is tried one's best small for Section 1 in optimization aim, represents energy
Consumption is minimum；Section 2 represents that the change of the power output of control surface is as far as possible small, represents the index of the reduction of the abrasion of executing agency,
Section 3 represents that slack variable is as far as possible small, that is, controls the error of distribution small；Equality constraint in condition is represented to making a concerted effort and making a concerted effort
Square and the relation of power output on control surface；Inequality constraints represents the scope of control surface power output and torque, you can row domain.
Control the calculation procedure of dispensing controller as follows：
(1) initial value u is givenk, k=0；
(2) u is determinedkDescent direction dk；
(3) u is calculatedk+1=uk+dk；Judge uk+1Whether end condition is met, if meeting end condition, calculating terminates,
uk+1For last solution；If being unsatisfactory for end condition, step (1) is gone to；
According to above method, aircushion vehicle control distribution control program is write using C Plus Plus, laboratory has been carried out
HWIL simulation and ship trial, achieve good effect.
Claims (2)
1. one kind is based on the control distribution many control surface control method for coordinating of aircushion vehicle, it is characterized in that：Including track produce controller,
Comparator, controller and control dispensing controller；Track produces controller and sets the track that aircushion vehicle is navigated by water by man-machine interface；
Track is produced controller and obtains desired locations, course and GPS, the current actual positions of platform compass, course progress by comparator
Compare and obtain position, course deviation；Controller calculates making a concerted effort and turn bow torque longitudinally, laterally according to position, course deviation,
It is sent to control dispensing controller；Control dispensing controller is by longitudinally, laterally making a concerted effort of exporting of controller and turns bow resultant moment point
Dispensing control surface executing agency is to coordinate the work of each control surface；
The controller uses non-linear Backstepping Controller, described non-linear Backstepping Controller actual position and bow to
Desired position and bow to difference as new state variable, according to Liapunov stability principle, obtain making new state gradually
Enter the function of the longitudinally, laterally speed gone to zero and yawing angular speed, and obtained longitudinally, laterally speed and yawing angular speed
As reference value, actual longitudinally, laterally speed and yawing angular speed and obtained longitudinally, laterally speed and yawing angular speed
Difference as new state variable 2, again by Liapunov stability principle, obtain making new state variable 2 is progressive to tend to
Zero longitudinally, laterally make a concerted effort and turn bow resultant moment as the output of controller.
2. it is according to claim 1 based on the control distribution many control surface control method for coordinating of aircushion vehicle, it is characterized in that control
The step of dispensing controller, is as follows：
(1) initial value u is givenk, k=0；
(2) u is determinedkDescent direction dk；
(3) u is calculatedk+1=uk+dk；Judge uk+1Whether end condition is met, if meeting end condition, calculating terminates, uk+1For
Last solution；If being unsatisfactory for end condition, step (1) is gone to.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510616202.3A CN105235676B (en) | 2015-09-24 | 2015-09-24 | The many control surface control method for coordinating of aircushion vehicle are distributed based on control |
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| CN201510616202.3A CN105235676B (en) | 2015-09-24 | 2015-09-24 | The many control surface control method for coordinating of aircushion vehicle are distributed based on control |
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| CN105235676B true CN105235676B (en) | 2017-08-04 |
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| CN106289627B (en) * | 2016-09-14 | 2019-03-08 | 北京必创科技股份有限公司 | A kind of air cushion pressure monitoring method of aircushion vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2301750C1 (en) * | 2006-02-26 | 2007-06-27 | Владимир Степанович Григорчук | Aerodynamic vessel |
| CN102707625A (en) * | 2012-06-01 | 2012-10-03 | 哈尔滨工程大学 | Thrust distribution management-based thrust distribution method for dynamic positioning vessel |
| CN103092077A (en) * | 2013-01-06 | 2013-05-08 | 中国海洋石油总公司 | Thrust distributing method of dynamic positioning system |
| WO2014186875A1 (en) * | 2013-05-24 | 2014-11-27 | John Mackenzie | Air cavity cushion vessel |
| CN104898688A (en) * | 2015-03-27 | 2015-09-09 | 哈尔滨工程大学 | UUV four degree-of-freedom dynamic positioning adaptive anti-interference sliding mode control system and control method |
-
2015
- 2015-09-24 CN CN201510616202.3A patent/CN105235676B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2301750C1 (en) * | 2006-02-26 | 2007-06-27 | Владимир Степанович Григорчук | Aerodynamic vessel |
| CN102707625A (en) * | 2012-06-01 | 2012-10-03 | 哈尔滨工程大学 | Thrust distribution management-based thrust distribution method for dynamic positioning vessel |
| CN103092077A (en) * | 2013-01-06 | 2013-05-08 | 中国海洋石油总公司 | Thrust distributing method of dynamic positioning system |
| WO2014186875A1 (en) * | 2013-05-24 | 2014-11-27 | John Mackenzie | Air cavity cushion vessel |
| CN104898688A (en) * | 2015-03-27 | 2015-09-09 | 哈尔滨工程大学 | UUV four degree-of-freedom dynamic positioning adaptive anti-interference sliding mode control system and control method |
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