CN105197004A - System and method for hovercraft docking control based on laser range finder - Google Patents

Abstract

The invention discloses a system and method for hovercraft docking control based on a laser range finder. The system comprises a compass, the laser range finder, a comparator, a controller, an air rudder and a side air door. The compass collects and transmits a course angle of the current moment of a hovercraft to the comparator, and the laser range finder collects and transmits left-right distances of the current moment of the hovercraft to the comparator; the comparator makes a comparison on the received course angle and an instruction course angle to obtain course deviation, compares the received left-right distances to obtain positional deviation, and transmits the course deviation and the positional deviation to the controller. The controller comprises a course controller and a position sidesway controller, the course controller outputs rudder angle instructions to the air rudder according to the received course deviation, the rudder angle of the air rudder is adjusted, and the position sidesway controller outputs side air door opening and closing instructions to the side air door according to the received positional deviation to control the opening and closing of the side air door. According to the system and method for hovercraft docking control based on the laser range finder, the operating level and sailing stability can be improved.

Description

A kind of air cushion vehicle based on laser rangefinder lies up control system and control method

Technical field

The invention belongs to the motion control field of air cushion vehicle, particularly relate to a kind of air cushion vehicle based on laser rangefinder and to lie up control system and control method.

Background technology

The road-holding property extreme difference of air cushion vehicle, due to the support of static pressure, be suspended in the water surface (ground), operational configuration is affected by the external environment greatly, is easy to occur to break away and revolution at a high speed, stability extreme difference.Through the development air cushion vehicle of decades by automatically the driving till now of manual handling the earliest, the safety of the air cushion vehicle navigation that improves the manipulation level of air cushion vehicle, reduces operating difficulty, alleviates the working strength of navigating mate, improves.

Along with hovercraft prominent position is constantly strengthened, the maintenance of hovercraft also more and more comes into one's own, and it is exactly a requisite step that hovercraft lies up.Ensure that hovercraft fast and safely lies up, the economic benefit of hovercraft can be improved.

The country such as the United States, Russia, English has in succession developed air cushion vehicle and has comprehensively driven system.The air cushion vehicles such as the LCAC of the U.S. be all equipped with there is coordinated control mode automatically drive system.There are abundant theory and practical experience in Russia in air cushion vehicle control system, have developed " chrysolite-32M " type air cushion vehicle coordinated movement of various economic factors control system the nineties in 20th century, this type air cushion vehicle coordinated movement of various economic factors control system is equipped on " aurochs number " large-scale LCACs.But above system does not all mention the control that lies up of air cushion vehicle, does not see relevant open source literature yet.

Summary of the invention

The object of this invention is to provide a kind of time and fuel consumption of can reducing, the air cushion vehicle based on laser rangefinder lies up control system.Object of the present invention also comprises provides a kind of manipulation level and navigation stability of can improving, and the air cushion vehicle based on laser rangefinder lies up control method.

Air cushion vehicle based on laser rangefinder lies up a control system, comprises compass, laser rangefinder, comparator, controller, air rudder and crosswind door;

The course angle that compass gathers air cushion vehicle current time sends comparator to;

The left and right distance that laser rangefinder gathers air cushion vehicle current time sends comparator to;

The course angle and instruction course angle of reception compares and obtains course deviation by comparator, the left and right distance of reception is compared and obtains position deviation, send course deviation and position deviation to controller;

Controller comprises the traversing controller of direction controller and position, direction controller exports rudder angle instruction according to the course deviation received and sends air rudder to, regulate air rudder rudder angle, the traversing controller in position sends crosswind door to according to the position deviation outgoing side air door opening and closing instruction received, and controls the opening and closing of crosswind door.

Air cushion vehicle based on laser rangefinder lies up a control method, comprises the following steps,

Step one: compass gathers the course angle of air cushion vehicle current time, laser rangefinder gathers the left and right distance of air cushion vehicle current time;

Step 2: the course angle and instruction course angle of current time compares and obtains course deviation by comparator, and the left and right distance of reception compares and obtains position deviation;

Step 3: direction controller receives course deviation, adopts neural network synovial membrane control method, exports rudder angle instruction; Position traversing controller receiving position deviation, adopts logic judging method, obtains crosswind door opening and closing instruction;

Step 4: air rudder changes rudder angle according to the rudder angle instruction received, changes air cushion vehicle Moment, realizes Heading control, and crosswind door carries out opening and closing operations according to the opening and closing instruction received, and realizes the transverse shifting of air cushion vehicle.

A kind of air cushion vehicle based on laser rangefinder of the present invention lies up control method, can also comprise:

1, in neural network synovial membrane control method, control law is:

$u=-b^{-1}\[f\left(x\right)+\mathrm{\β}\frac{q}{p}{e_2}^{2-\frac{p}{q}}(1+\frac{\mathrm{\γ}+1}{\mathrm{\α}}|\left|e_1\right|{|}^{\mathrm{\γ}})+\hat{l}g+\mathrm{\η}\mathrm{sgn}\left(s\right)-{\stackrel{\·\·}{x}}_d\]$

Wherein, e ₁for course deviation, e ₂for the rate of change of course deviation, α, beta, gamma >0 are constant, and p, q are positive odd number, and meet 1<p/q<2, for neural network output valve, lg is the handoff gain of control law, and η >0 is the power of parameter, f (x) part actuating unit suffered by air cushion vehicle.

2, logic judging method is: when position deviation is crosswind door on the right side of unlatching, when position deviation is that negative value opens left side crosswind door.

Beneficial effect:

It is a highly difficult task that air cushion vehicle lies up, this control method auxiliary under can finish the work more fast and accurately, the loss of minimizing time and fuel, alleviate the stress of chaufeur, strengthen the manipulative capability of air cushion vehicle, not only can reach good control effects, make full use of the operating control of air cushion vehicle, improve the nevigation safety of air cushion vehicle.

Accompanying drawing explanation

Fig. 1 air cushion vehicle lies up control method functional block diagram;

Fig. 2 air cushion vehicle lies up control method program flow diagram;

Fig. 3 air cushion vehicle lies up control method controller principle block diagram;

Fig. 4 air cushion vehicle lies up control method direction controller functional block diagram;

Fig. 5 air cushion vehicle lies up the traversing control principle block diagram of control method;

Fig. 6 air cushion vehicle lies up control method Heading control analogous diagram;

The laser rangefinder of Fig. 7 air cushion vehicle measures left and right distance schematic diagram; Distance schematic diagram about when Fig. 7 (a) air cushion vehicle is positioned on line of centers, distance schematic diagram about Fig. 7 (b) air cushion vehicle is parallel when being positioned at line of centers side, Fig. 7 (c) air cushion stem is to distance schematic diagram about during disalignment.

Fig. 8 RBF nerve net of the present invention structural representation.

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is described in further details.

The present invention proposes a kind of air cushion vehicle based on laser rangefinder to lie up control method, object is to realize air cushion vehicle and lies up control, can alleviate working strength and the mental burden of navigating mate, improve manipulation level and navigation stability.

Air cushion vehicle proposed by the invention lies up controlling party ratio juris as shown in Figure 1, and process is as follows:

1. data acquisition, calculates course angle and the horizontal position state of current time per compass with laser rangefinder;

2. comparator, obtains and instruction course, course data acquisition module and compares and obtain course deviation, the d obtained by laser rangefinder ₁, d ₂compare and obtain position deviation;

3. controller, calculates according to course deviation and controls rudder angle instruction, send to air rudder system, obtain crosswind gate control information, send to switch controlling device, as shown in Figure 3 according to position deviation.

4. air rudder rudder angle changes, and air cushion vehicle Moment is changed, thus reaches Heading control, and crosswind door makes air cushion vehicle obtain horizontal power to make air cushion vehicle complete transverse motion.

The invention discloses a kind of air cushion vehicle based on laser rangefinder to lie up control method, is a kind of control method that lies up of the air cushion vehicle be made up of laser rangefinder and compass data acquisition, comparator and controller.Laser rangefinder provide current air cushion vehicle lie up left and right positional distance information, compass provides the course made good angle of hovercraft.The comparison that comparator carries out current course and command heading obtains course deviation and obtains the position deviation of left and right distance, judges the location status that air cushion vehicle is current.Controller according to location status export control command to air rudder and crosswind door, adjust current course and left and right distance, make air cushion vehicle centrally line complete the task of lying up.The present invention can realize the control in air cushion vehicle course by automatically regulating air rudder, controlled by the transverse shifting regulating crosswind door can realize air cushion vehicle, not only can improve the manoevreability of air cushion vehicle, the manipulation level of air cushion vehicle can also be improved, reduce the working strength of operator and mental burden, reduce the lie up difficulty of task of air cushion vehicle and serve good control effects.

Air cushion vehicle lies up control method, mainly comprises data acquisition, comparator and controller.Data acquisition realizes the collection of current location and course information, and comparator carries out course and compares to compare with right position and obtain course deviation and position deviation, and controller resolves control command.Some explanation is done to the present invention below.

1, comprise the collection of data, recorded the course angle of current hovercraft reality by compass sensor, recorded the location information of the left and right distance that current hovercraft lies up by laser rangefinder.

2, comprise a controller, controller be input as the present instruction course and the deviation of current course made good and position deviation that comparator exports, export the opening into rudder angle and crosswind door.

3, course heading control method adopts neural networks sliding mode to control, and utilizes the external disturbance of neural network real-time monitored, utilizes sliding formwork to control to make course deviation level off to zero.Traversing control of position adopts basic Logic judgment, is controlled the opening of crosswind door by position deviation, make air cushion vehicle centrally line complete the task of lying up.

4, the output command of direction controller is the rudder angle of air rudder, exports to air rudder system, by the Heading control regulating air rudder rudder angle to realize air cushion vehicle; The output of the traversing controller in position is crosswind door opening and closing information, is realized the transverse shifting of air cushion vehicle, make air cushion vehicle be in position of center line by the opening and closing controlling crosswind door.

Air cushion vehicle lies up control method program realization flow figure as shown in Figure 2, and step is as follows:

1. read the course made good angle of current time, comparator current time command heading angle and actual course angle are done difference and are just obtained course deviation, in the comparator of reality realizes course deviation is limited to-180 degree to 180 degree between, deviation is for just to represent that right-hand turning wanted by ship, otherwise left-handed turning wanted by ship, when course deviation is zero, carry out step 2.

2. according to the d that laser rangefinder records ₁, d ₂compare and obtain position deviation, as shown in Figure 7, air cushion vehicle carries out transverse motion by crosswind gate control;

Direction controller designs

Direction controller functional block diagram as shown in Figure 4, sliding moding structure controls to have unique effect to nonlinearuncertain systems, its essence is the switching by controlling quantity, make state of the system according to predetermined " sliding mode " orbiting motion, thus guarantee system is receiving Parameter Perturbation and external interference has invariability, for uncertain nonlinear system, non-singular terminal sliding mode controller design is simple, robustness good, fast response time and have the feature of terminal sliding mode finite time convergence control, has higher stability relative to linear sliding mode.

For air cushion vehicle system, for improving the controller performance of System with Sliding Mode Controller further, and the convergence rate making system arrive equilibrium point is accelerated further, and selection nonlinear sliding mode face is:

$s=e_1+\frac{1}{\mathrm{\&alpha;}}\left|\right|e_1|{|}^{\mathrm{\&gamma;}+1}+\frac{1}{\mathrm{\&beta;}}{e_2}^{\frac{p}{q}}$

In formula, e ₁for course deviation, e ₂for the rate of change of course deviation, α, beta, gamma >0 are constant, and p, q are positive odd number, and meet 1<p/q<2.

Design control law u makes system arrive sliding-mode surface in finite time, and makes tracking error on sliding-mode surface at Finite-time convergence to zero.Control law form is:

$\begin{array}{c}u=u_{eq}+u_{sw}\\ =-b^{-1}\&lsqb;f\left(x\right)+\mathrm{\&beta;}\frac{q}{p}{e_2}^{2-\frac{p}{q}}(1+\frac{\mathrm{\&gamma;}+1}{\mathrm{\&alpha;}}|\left|e_1\right|{|}^{\mathrm{\&gamma;}+1}+(\lg +\mathrm{\&eta;}\mathrm{sgn}\left(s\right))-{\stackrel{\&CenterDot;\&CenterDot;}{x}}_d)\&rsqb;\end{array}$

Wherein, u _eqrepresent the equivalent control for nominal system design, can basis calculate, u _sw=-(lg+ η sgn (s))/b represents switching controls, object is used to the uncertainty existed in bucking-out system, lg>0 is the upper dividing value of external disturbance, η >0 is the power etc. of design parameters, f (x) part actuating unit suffered by air cushion vehicle.

In sliding formwork controls, lg is the handoff gain of control law, and the size of lg is relevant with uncertain disturbances amount, based on the uncertainty of disturbance quantity, if lg takes fully ensure sliding formwork reaching condition enough greatly, larger buffeting can be brought, reduce the stability of system and the response time of system can be increased.So in order to eliminate this impact, the stability keeping sliding formwork to control reduces the buffeting that sliding formwork controls, and the present invention's RBF neural regulates handoff gain lg simultaneously.Design has two inputs, and the RBF neural of two hidden layer nodes and an output, constructional drawing as shown in Figure 8.

Then control law can be expressed as:

$u=-b^{-1}\&lsqb;f\left(x\right)+\mathrm{\&beta;}\frac{q}{p}{e_2}^{2-\frac{p}{q}}(1+\frac{\mathrm{\&gamma;}+1}{\mathrm{\&alpha;}}|\left|e_1\right|{|}^{\mathrm{\&gamma;}})+\hat{l}g+\mathrm{\&eta;}\mathrm{sgn}\left(s\right)-{\stackrel{\&CenterDot;\&CenterDot;}{x}}_d\&rsqb;$

In formula, for neural network output valve.H ₁, h ₂for Gaussian function, ω ₁, ω ₂for the weight vector of network

Transverse shifting Controller gain variations

Lateral Controller realizes by controlling crosswind door, and control principle block diagram as shown in Figure 5.By the distance d that laser rangefinder gathers ₁, d ₂compare and obtain position deviation, control the open and-shut mode of left and right sides crosswind door and the size of opening and closing by the positive and negative values of position deviation, when deviation is on the occasion of unlatching right side crosswind door, when deviation is that negative value opens left side crosswind door.

According to method above, adopt C++ programming language to work out air cushion vehicle Heading control program, carry out the HWIL simulation experiment of test cell.Course analogous diagram as shown in Figure 6.

Claims (4)

1. to lie up a control system based on the air cushion vehicle of laser rangefinder, it is characterized in that: comprise compass, laser rangefinder, comparator, controller, air rudder and crosswind door;

The course angle that compass gathers air cushion vehicle current time sends comparator to;

The left and right distance that laser rangefinder gathers air cushion vehicle current time sends comparator to;

The course angle and instruction course angle of reception compares and obtains course deviation by comparator, the left and right distance of reception is compared and obtains position deviation, send course deviation and position deviation to controller;

Controller comprises the traversing controller of direction controller and position, direction controller exports rudder angle instruction according to the course deviation received and sends air rudder to, regulate air rudder rudder angle, the traversing controller in position sends crosswind door to according to the position deviation outgoing side air door opening and closing instruction received, and controls the opening and closing of crosswind door.

2. a control method for the control system that lies up based on the air cushion vehicle based on laser rangefinder according to claim 1, is characterized in that: comprise the following steps,

Step one: compass gathers the course angle of air cushion vehicle current time, laser rangefinder gathers the left and right distance of air cushion vehicle current time;

Step 2: the course angle and instruction course angle of current time compares and obtains course deviation by comparator, and the left and right distance of reception compares and obtains position deviation;

Step 3: direction controller receives course deviation, adopts neural network synovial membrane control method, exports rudder angle instruction; Position traversing controller receiving position deviation, adopts logic judging method, obtains crosswind door opening and closing instruction;

Step 4: air rudder changes rudder angle according to the rudder angle instruction received, changes air cushion vehicle Moment, realizes Heading control, and crosswind door carries out opening and closing operations according to the opening and closing instruction received, and realizes the transverse shifting of air cushion vehicle.

3. a kind of air cushion vehicle based on laser rangefinder according to claim 2 lies up control method, it is characterized in that: in described neural network synovial membrane control method, control law is:

$u=-b^{-1}\&lsqb;f\left(x\right)+\mathrm{\&beta;}\frac{q}{p}{e_2}^{2-\frac{p}{q}}(1+\frac{\mathrm{\&gamma;}+1}{\mathrm{\&alpha;}}|\left|e_1\right|{|}^{\mathrm{\&gamma;}})+\hat{l}g+\mathrm{\&eta;}\mathrm{sgn}\left(s\right)-{\stackrel{\&CenterDot;\&CenterDot;}{x}}_d\&rsqb;$

Wherein, e ₁for course deviation, e ₂for the rate of change of course deviation, α, beta, gamma >0 are constant, and p, q are positive odd number, and meet 1<p/q<2, for neural network output valve, lg is the handoff gain of control law, and η >0 is the power of parameter, f (x) part actuating unit suffered by air cushion vehicle.

4. a kind of air cushion vehicle based on laser rangefinder according to claim 2 lies up control method, it is characterized in that: described logic judging method is: when position deviation is on the occasion of unlatching right side crosswind door, when position deviation is that negative value opens left side crosswind door.