CN103921784B - Automatically the system that drives of a kind of air cushion vehicle and control method - Google Patents
Automatically the system that drives of a kind of air cushion vehicle and control method Download PDFInfo
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- CN103921784B CN103921784B CN201410134514.6A CN201410134514A CN103921784B CN 103921784 B CN103921784 B CN 103921784B CN 201410134514 A CN201410134514 A CN 201410134514A CN 103921784 B CN103921784 B CN 103921784B
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Abstract
The present invention relates to the system that automatically drives and the control method of a kind of air cushion vehicle, peripheral equipment management computer obtains the actual heading information of aircushion vehicle ship from sensor unit, obtain the speed over ground information of ship from aircushion vehicle location measurement unit, be sent to control computer by aforementioned information by EBI；Control computer, according to the deviation between actual heading and set course, is calculated aircushion vehicle airvane rudder angle and left and right oar pitch；Control computer, by EBI, the instruction of airvane rudder angle and left and right oar pitch command value are sent to peripheral equipment management computer；Said instruction is sent to aircushion vehicle driving actuator by peripheral equipment management computer, it is achieved automatic control mode.
Description
Technical field
The present invention relates to the system that automatically drives and the control method of a kind of air cushion vehicle.
Background technology
In prior art, air cushion vehicle much uses manual control mode, mainly relies on driver to observe
The change of aircushion vehicle space motion parameter, the multiple actuator directly handling ship realizes grasping ship.Due to full pad
Rise less stable when aircushion vehicle navigates by water in stormy waves, course and the more difficult control of attitude, be susceptible to driftage and side
Drift, skirt of hovercraft system wet water when high speed operation is relatively big simultaneously, easily produces the unstable phenomenon of unexpected indentation.
Therefore, when using driver's manual control mode, it is difficult to obtain good Control platform, and the work of driver
Measure the heaviest, bear great burden, once improper maneuver mentally, high speed revolution and the side of ship can be caused
Sliding, make ship be in the operational configuration of danger, be likely to result in the major accident of shipwreck.
Summary of the invention
Present invention aim at providing a kind of air cushion vehicle drives system and method automatically, it is possible to realize complete
The automatic Pilot of raising air cushion vessel, is effectively improved stability and the safety of aircushion vehicle navigation.
Based on same inventive concept, mesh of the present invention has two independent technical schemes:
1. the system that automatically drives of air cushion vehicle, including hand wheel, propeller control crank,
Aircushion vehicle drives actuator, it is characterised in that: also include controlling computer, peripheral equipment management computer, manipulation
Panel and control panel management computer, hand wheel, the signal output part of propeller control crank connect peripheral hardware pipe
Reason computer, controls computer and is connected with peripheral equipment management computer, control panel management computer communication, peripheral hardware
It is single that management Computer signal output termination aircushion vehicle drives actuator, sensor unit and air cushion ship position to measure
The signal output part of unit connects peripheral equipment management computer.
Sensor unit includes wind sensor, is used for measuring wind speed and direction；Attitude transducer, for surveying vessel
Course, revolution rate, pitching, rolling and vertical acceleration.
Aircushion vehicle drives actuator to include machine oar joint control system, for driving the spiral shell controlling two air propellers
Away from；Airvane control system, for synchronizing to drive the rudder angle of four airvanes of control.
2, the control method of a kind of system that automatically drives utilizing air cushion vehicle, peripheral equipment management computer from
Sensor unit obtains the actual heading information of aircushion vehicle ship, obtains the reality of ship from aircushion vehicle location measurement unit
Speed of a ship or plane information, is sent to control computer by aforementioned information by EBI；Control computer to navigate according to reality
Deviation between set course, is calculated aircushion vehicle airvane rudder angle and left and right oar pitch；Control meter
The instruction of airvane rudder angle and left and right oar pitch command value are sent to peripheral equipment management by EBI and calculate by calculation machine
Machine；Said instruction is sent to aircushion vehicle driving actuator by peripheral equipment management computer, it is achieved automatic control mode.
When Angle of Trim aircushion vehicle being detected is more than alarm limit dividing value, control computer to control panel computer
Sending alarm control signal, control panel carries out sound and light alarm；Open when the Angle of Trim of aircushion vehicle reaches security control
During dynamic value, control computer and send instruction to peripheral equipment management computer, automatically reduce left and right oar pitch.
When yaw angle aircushion vehicle being detected is more than alarm limit dividing value, control computer to control panel computer
Sending alarm control signal, control panel carries out sound and light alarm；Open when the yaw angle of aircushion vehicle reaches security control
During dynamic value, control computer and send instruction to peripheral equipment management computer, automatically adjust airvane rudder angle and left and right spiral shell
The pitch difference of rotation oar.
Directly can realize MANUAL CONTROL mode by manipulation hand wheel and propeller control crank, hand wheel and
The input of propeller control crank signal is to peripheral equipment management computer, and peripheral equipment management computer drives to aircushion vehicle and performs
Mechanism sends command adapted thereto；Control panel is provided with manual mode, automatic mode switch switch.
Under automatic control mode, slewing maneuver handwheel sets the revolution rate of aircushion vehicle, and the revolution rate information of setting is sent out
Delivering to peripheral equipment management computer, peripheral equipment management computer obtains the actual revolution rate letter of aircushion vehicle from sensor unit
Breath, the revolution rate information of setting and actual revolution rate information are sent to control computer by peripheral equipment management computer,
Control the computer deviation according to actual revolution rate with setting revolution rate, be calculated aircushion vehicle airvane rudder angle,
The revolution rate realizing aircushion vehicle keeps controlling.
The invention have the benefit that
The present invention can be effectively improved stability and the safety of aircushion vehicle navigation.Peripheral equipment management computer of the present invention from
Sensor unit obtains the actual heading information of aircushion vehicle ship, obtains the reality of ship from aircushion vehicle location measurement unit
Speed of a ship or plane information, is sent to control computer by aforementioned information by EBI；Control computer to navigate according to reality
Deviation between set course, is calculated aircushion vehicle airvane rudder angle and left and right oar pitch；Control meter
The instruction of airvane rudder angle and left and right oar pitch command value are sent to peripheral equipment management by EBI and calculate by calculation machine
Machine；Said instruction is sent and drives actuator to aircushion vehicle by peripheral equipment management computer, can realize course and keep certainly
Dynamic control.Under automatic control mode of the present invention, slewing maneuver handwheel sets the revolution rate of aircushion vehicle, can realize back
Rate of rotation keeps automatically controlling.The present invention when detect the Angle of Trim of aircushion vehicle, yaw angle more than alarm limit dividing value time,
Control panel can carry out sound and light alarm；When the Angle of Trim of aircushion vehicle, yaw angle reach security control initiation value,
Safety automation control can be carried out.The present invention also can directly be realized by manipulation hand wheel and propeller control crank
MANUAL CONTROL mode, control panel is correspondingly provided with manual mode, automatic mode switch switch.
Accompanying drawing explanation
Fig. 1 be air cushion vehicle of the present invention automatically drive the block diagram of system；
Fig. 2 be air cushion vehicle of the present invention automatically drive method flow block diagram；
Fig. 3 is safety clearance Automatic Control Theory block diagram of the present invention.
Detailed description of the invention
As it is shown in figure 1, the system that automatically drives includes that hand wheel 5, propeller control crank 7, aircushion vehicle drive
Dynamic actuator, aircushion vehicle drives actuator to include machine oar joint control system, is used for driving two air spiral shells of control
The pitch of rotation oar；Airvane control system, for synchronizing to drive the rudder angle of four airvanes of control.Automatically drive
System also includes that controlling computer 1, peripheral equipment management computer 2, control panel 3 and control panel management calculates
Machine 4, controls computer 1 external-connection displayer 6, hand wheel 5, the signal output of propeller control crank 7
Termination controls computer 1, controls computer 1 and peripheral equipment management computer 2, control panel management computer 4
Communication connect, peripheral equipment management computer 2 signal output part connect aircushion vehicle drive actuator, sensor unit and
The signal output part of position reference system (aircushion vehicle location measurement unit) connects peripheral equipment management computer.Sensor
Unit includes wind sensor, is used for measuring wind speed and direction；Attitude transducer, is used for measuring ship's head, returning
Rate of rotation, pitching, rolling and vertical acceleration.Position reference system has GPS and triones navigation system.
During enforcement, control panel 3 is provided with function button, display lamp and switch, mainly has on and off switch, manually
/ automatic mode switch switch, course alarm lamp, trouble lamp, gauge alarm lamp, numeric keypad,
Course keeps lamp, revolution rate to keep lamp, course to set button, safety clearance button, miscellaneous function button, honeybee
Ring device.Control panel management computer 4 uses single-chip microcomputer to design, and gathers the information of each button and passes through serial
Interface is sent to control computer 1.
As in figure 2 it is shown, the method that automatically drives of air cushion vehicle is as follows:
(1) MANUAL CONTROL mode.
When the manual/auto translative mode switch on control panel 3 is allocated to " manually ", human pilot is permissible
The rudder angle of airvane, the angle of hand wheel 5 rotation and the corner of airvane is controlled by rotating hand wheel 5
Proportional relation.Human pilot can control the pitch of two propellers by promoting propeller control crank 7,
Propeller control crank 7 pushes away forward pitch to be increased, and pulls back pitch and reduces.Hand wheel 5 and propeller are handled
The analog quantity voltage signal of handle 7 output, enters the A/D plate of peripheral equipment management computer 2.Peripheral equipment management meter
The analog signals of the hand wheel 5 collected and propeller control crank 7 is sent to control to calculate by calculation machine 2
Machine 1, controls computer 1 and the instruction of this rudder angle and pitch instruction is shown on integrated display interface.Meanwhile, outward
If the analog signals that hand wheel 5 is exported by management computer 2, it is sent to airvane control by D/A plate
Device processed, as the command signal of rudder angle, controls the corner of airvane；Propeller is grasped by peripheral equipment management computer 2
Vertical handle 7 instruction is sent to machine oar joint control system.Under manual work pattern, safety clearance is not had to control function,
But there is the warning function of safety clearance.
(2) course keeps automatic control mode.
When the manual/auto translative mode switch on control panel 3 is allocated to " automatically ", automatically drive system
Being in automatic control mode, now hand wheel 5 requires in an intermediate position, and the system that automatically drives is in course
Automatically functional status is kept.The purpose that course keeps automatically is under marine environment interference effect, passes through controller
Control the action of actuator, be automatically obtained to the automatic holding of vectoring.Aircushion vehicle is in course and keeps function
Time, the speed of a ship or plane can be controlled simultaneously.System using the ship's speed before the switching of manual, automatic change-over as wanting
The setting speed of a ship or plane kept, system automatically controls the angle of pitch of air propeller, controls the speed of a ship or plane in required boat
In speed.During course keeps, driver may utilize the upper and lower arrow key on control panel 3 keypad
Increase setting the speed of a ship or plane and reduce.
Peripheral equipment management computer 2 obtains the actual heading information of ship from attitude transducer, obtains from GPS
To the speed over ground information of ship, it is sent to control computer 1 by EBI, controls computer 1 according to reality
Deviation between course, border and set course, after the resolving of controller, obtains airvane rudder angle and left and right oar
Pitch.Control computer 1 by EBI by the instruction of airvane rudder angle and two, left and right oar pitch command value
Being sent to peripheral equipment management computer 2, peripheral equipment management computer 2 sends rudder angle instruction through D/A plate to airvane,
Pitch instruction is sent to machine oar joint control system.Under course keeps function, driver can be changed by control panel
The setting value in course.When aircushion vehicle reaches desired course, aircushion vehicle keeps aircushion vehicle to travel in expectation automatically
Course on.
(3) revolution rate holding automatic control mode:
Under automatic control mode, driver can be with slewing maneuver handwheel 5 to different angles (not in centre position)
Set the size of revolution rate.Now on console panel, " revolution rate keeps lamp " is bright.Peripheral equipment management computer 2
Obtain the actual revolution rate information of ship from attitude transducer, be sent to control computer 1, control by EBI
Computer 1 processed is according to actual revolution rate and from the deviation between the setting revolution rate of hand wheel 5, through control
After the resolving of device processed, obtain airvane rudder angle.
As shown in Figure 2 and Figure 3, realize safety clearance by the following method report to the police and control.
(1) system that automatically drives is the real-time Angle of Trim of monitoring ship, Angle of Heel, sideslip in the navigation of aircushion vehicle
Angle and the change of revolution rate, and safety clearance parameter region at Display system is shown in real time.
(2) it is more than alarm limit dividing value when Angle of Trim aircushion vehicle being detected, when namely bow trend is buried in existence,
Control system sends sound and display lamp light warning signal, reminds operator.
(3) if human pilot does not take corresponding measure, trim angle continues to become big, reaches security control and opens
During dynamic value, control system reduces the pitch of two pitch oars automatically, reaches to reduce the purpose of thrust.By the time examine
Measure ship when returning to normal/cruise attitude, automatically cancel the instruction reducing double oar pitch.
(4) when detecting that aircushion vehicle yaw angle exceedes alarm limit dividing value, by sound and display lamp light warning
Signal reminds operator.
(5) if trend continues dangerous to exceeding security controlling actions startup boundary value, control system changes sky
Gas rudder rudder angle and the pitch difference of two propellers, reach to change the purpose of the yaw angle of ship, recovers the normal boat of ship
Row attitude.Until detecting that aircushion vehicle returns to normal/cruise attitude, automatically cancel and change airvane and double oar
The instruction of pitch difference.
Claims (7)
1. the system that automatically drives of air cushion vehicle, including hand wheel, propeller control crank,
Aircushion vehicle drives actuator, it is characterised in that: also include controlling computer, peripheral equipment management computer, manipulation
Panel and control panel management computer, hand wheel, the signal output part of propeller control crank connect peripheral hardware pipe
Reason computer, controls computer and is connected with peripheral equipment management computer, control panel management computer communication, peripheral hardware
It is single that management Computer signal output termination aircushion vehicle drives actuator, sensor unit and air cushion ship position to measure
The signal output part of unit connects peripheral equipment management computer；Peripheral equipment management computer obtains aircushion vehicle ship from sensor unit
Actual heading information, obtain the speed over ground information of ship from aircushion vehicle location measurement unit, pass through EBI
It is sent to aforementioned information control computer；Control inclined according between actual heading and set course of computer
Difference, is calculated aircushion vehicle airvane rudder angle and left and right oar pitch；Control computer by EBI by sky
The instruction of gas rudder rudder angle and left and right oar pitch command value are sent to peripheral equipment management computer；Peripheral equipment management computer is by front
State instruction to send to aircushion vehicle driving actuator, it is achieved automatic control mode；Control panel is provided with manual mould
Formula, automatic mode switch switch, and directly realize Non-follow control by manipulation hand wheel and propeller control crank
Pattern.
Automatically the system that drives of air cushion vehicle the most according to claim 1, it is characterised in that: pass
Sensor cell includes wind sensor, is used for measuring wind speed and direction；Attitude transducer, be used for measure ship's head,
Revolution rate, pitching, rolling and vertical acceleration.
Automatically the system that drives of air cushion vehicle the most according to claim 2, it is characterised in that: gas
Pad ship drives actuator to include machine oar joint control system, for driving the pitch controlling two air propellers；Empty
Gas rudder control system, for synchronizing to drive the rudder angle of four airvanes of control.
4. utilize a control method for the system that automatically drives of air cushion vehicle described in claim 1, its
It is characterised by: peripheral equipment management computer obtains the actual heading information of aircushion vehicle ship from sensor unit, from air cushion
Ship position measuring unit obtains the speed over ground information of ship, is sent to control meter by aforementioned information by EBI
Calculation machine；Control computer, according to the deviation between actual heading and set course, is calculated aircushion vehicle airvane
Rudder angle and left and right oar pitch；Control computer by EBI by the instruction of airvane rudder angle and left and right oar pitch
Command value is sent to peripheral equipment management computer；Said instruction is sent to aircushion vehicle to drive and holds by peripheral equipment management computer
Row mechanism, it is achieved automatic control mode；Control panel is provided with manual mode, automatic mode switch switch, directly
Connected manipulation hand wheel and propeller control crank realized MANUAL CONTROL mode.
Method the most according to claim 4, it is characterised in that: when Angle of Trim aircushion vehicle being detected is big
When alarm limit dividing value, controlling computer and send alarm control signal to control panel computer, control panel enters
Row sound and light alarm；When the Angle of Trim of aircushion vehicle reaches security control initiation value, control computer to peripheral equipment management
Computer sends instruction, automatically reduces left and right oar pitch.
Method the most according to claim 5, it is characterised in that: when yaw angle aircushion vehicle being detected is big
When alarm limit dividing value, controlling computer and send alarm control signal to control panel computer, control panel enters
Row sound and light alarm；When the yaw angle of aircushion vehicle reaches security control initiation value, control computer to peripheral equipment management
Computer sends instruction, automatically adjusts airvane rudder angle and the pitch difference of left-and-right spiral oar.
Method the most according to claim 6, it is characterised in that: under automatic control mode, slewing maneuver
Handwheel sets the revolution rate of aircushion vehicle, and the revolution rate information of setting sends to peripheral equipment management computer, peripheral equipment management
Computer obtains the actual revolution rate information of aircushion vehicle from sensor unit, and peripheral equipment management computer is by returning of setting
Rate of rotation information and actual revolution rate information are sent to control computer, control computer according to actual revolution rate with set
Determine the deviation of revolution rate, be calculated aircushion vehicle airvane rudder angle, it is achieved the revolution rate of aircushion vehicle keeps controlling.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410134514.6A CN103921784B (en) | 2014-04-04 | 2014-04-04 | Automatically the system that drives of a kind of air cushion vehicle and control method |
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| CN201410134514.6A CN103921784B (en) | 2014-04-04 | 2014-04-04 | Automatically the system that drives of a kind of air cushion vehicle and control method |
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| CN103921784B true CN103921784B (en) | 2016-09-14 |
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| CN105204338A (en) * | 2015-09-24 | 2015-12-30 | 哈尔滨工程大学 | Track keeping control method for hovercraft with guiding module |
| CN105867191A (en) * | 2016-04-18 | 2016-08-17 | 太仓弘杉环保科技有限公司 | Intelligent control system for ship |
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| CN106403957A (en) * | 2016-11-03 | 2017-02-15 | 哈尔滨工程大学 | Amphibious air cushion shipway point guidance control method |
| CN106527133A (en) * | 2016-11-11 | 2017-03-22 | 哈尔滨工程大学 | Multi-paddle coordination control distribution method for ship |
| CN106741671A (en) * | 2016-12-23 | 2017-05-31 | 南京长峰航天电子科技有限公司 | A kind of high speed target vessel |
| CN109572958B (en) * | 2018-12-03 | 2020-09-08 | 中国船舶工业集团公司第七0八研究所 | Safety early warning system and early warning method for navigation attitude of hovercraft |
| CN115214860B (en) * | 2022-06-23 | 2023-07-25 | 广西大学 | Power system cooperative control strategy for multimode lower boat |
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