CN105204508A - Hovercraft course control method based on course and slew rate coordination control strategy - Google Patents

Abstract

The invention provides a hovercraft course control method based on a course and slew rate coordination control strategy. The method relates to a course-slew rate coordination control module, a comparator and a course controller, wherein the course-slew rate coordination control module calculates the current desired course angle according to the limit of the slew rate and the current actual course angle by means of the coordination control strategy, the comparator compares the desired course angle with the actually measured course value to obtain course deviation, and the course controller obtains a control instruction through calculation according to the course deviation, so that the torque of a hovercraft is changed and a set slew rate is reached. By the adoption of the method, limitation on the slew rate is achieved while course control is achieved, system instability caused by switching between the course controller and a slew rate controller is avoided, and the complexity of a course-slew rate coordination controller is reduced.

Description

Based on the hovermarine course heading control method of course and revolution rate coordination control strategy

Technical field

The present invention relates to a kind of course heading control method of hovermarine, particularly a kind of hovermarine course heading control method based on course-revolution rate coordination control strategy.

Background technology

Hovermarine is also called surface effect ship, and be a kind of vehicle having aircraft and normal shipboard water performance concurrently, its design concept is by aerodynamic force principle, utilizes the booster fan that hovers, produces one deck air cushion between hull and the water surface.For reducing air cushion vent flow, reducing energy ezpenditure, and maintaining navigation stability, devising flexible skirt structure and air cushion is sealed.Rely on air cushion static pressure to support hull, when hull is navigated by water, drinking water reduces, and departs from surface navigation even completely, thus reaches the object reducing ship resistance and improve sea-keeping.

Hovermarine, when changing course or make motor-driven, often causes a side of a ship gas leakage, thus occurs heel phenomenon.Larger heeling angle, by with larger side direction drainage area, can cause air serious leak in air cushion, have a strong impact on hover fan efficiency.Alist motion simultaneously also can make apron contact with the water surface, causes a side of a ship ship resistance to increase, causes aggravation of breakking away, increase the probability of shipwreck to a certain extent.So Heading control is the important component part that hovermarine navigation controls, and revolution rate is the important navigation beacon in Heading control process, because revolution rate will cause wide-angle to break away once exceed safety clearance, also may cause the major accident of shipwreck.

Summary of the invention

The object of the present invention is to provide and a kind ofly can realize the size of same limit revolution rate of hovermarine Heading control, improve the hovermarine course heading control method based on course and revolution rate coordination control strategy of navigation stability.

The object of the present invention is achieved like this: comprise course-revolution rate coordinating control module, comparer and direction controller; Course-revolution rate coordinating control module, by coordination control strategy, calculates the desired course angle of current time according to the boundary of revolution rate and current actual heading angle; Desired course angle and the actual course value recorded compare and obtain course deviation by comparer; Direction controller calculates steering order according to course deviation, thus hovermarine Moment is changed, and reaches setting revolution rate.

The present invention can also comprise:

1, described coordination control strategy Heading control is divided into two following stages:

A, boost phase: at Heading control in earlier stage, with constant acceleration, reach the maximum revolution rate in safety clearance, realize the quick tracking in course;

B, decelerating phase: in the Heading control later stage, with constant acceleration, revolution rate is reduced to 0, and make course reach expectation value.

2, constant acceleration r is asked for according to actual heading angle and maximum revolution rate ₀process comprise:

Design Nonlinear Tracking Differentiator is:

$\left\{\begin{array}{c}e={\mathrm{\ψ}}_d-\mathrm{\ψ}\left(t\right)\\ f_h=fsun(e,r_d,r_0,h)\\ {\mathrm{\ψ}}_d={\mathrm{\ψ}}_d+h{r}_d\\ r_d=r_d+{\mathrm{hf}}_h\end{array}\right.$

Wherein ψ _dfor hovermarine desired course, ψ is actual heading, r _dfor ψ _dderivative namely expect revolution rate, h is simulation step length, f _hrepresent course-revolution rate coordination control strategy;

If T ₀for the settling time of tracing control, the tracing control so through Nonlinear Tracking Differentiator transition process arranging has following feature: in the first half section time on, with r ₀for acceleration rises to the maximum tracking velocity risen is latter half on, with-r ₀for acceleration slows down, but continue to rise to expectation, arrive after expecting, ascending velocity is 0, T just ₀post-acceleration is 0, T ₀with r ₀pass be

$\frac{r_0{(T_0/2)}^2}{2}=\frac{1}{2}\mathrm{\ψ}\left(t\right)$

Work as T ₀or r ₀after determining, the maximum tracking velocity of certainty annuity

$r_{max}=r_0\frac{T_0}{2}=\frac{4}{T_0^2}\mathrm{\ψ}\left(t\right)\frac{T_0}{2}=\frac{2\mathrm{\ψ}\left(t\right)}{T_0}.$

3, direction controller calculates steering order according to course deviation and adopts pid control algorithm, and PID controller is represented by formula:

$\mathrm{\τ}=K_P{\mathrm{\ψ}}_e+K_I\∫{\mathrm{\ψ}}_{e}dt+K_D\frac{{\mathrm{d\ψ}}_e}{dt}$

In formula, τ represents the torque that marine propeller exports, K _p, K _iand K _dfor the scale-up factor in pid algorithm; ψ _efor boats and ships desired course ψ _dand the deviation between actual heading ψ, i.e. ψ _e=ψ _d-ψ.

The present invention is the course heading control method of a kind of course-revolution rate coordinating control module based on Nonlinear Tracking Differentiator (TrackingDifferentiator) and controller composition.By utilizing Nonlinear Tracking Differentiator design transition process, realize the optimization to controlling wanted signal.Tracking velocity is controlled, not only can solve the contradiction between overshoot and response speed, can also by single direction controller, the restriction to revolution rate can be realized again while completing Heading control, avoid the system instability because the switching between direction controller and revolution rate controller causes, reduce the complexity of course-revolution rate tuning controller.

Hinge structure of the present invention has following advantage and effect:

Hovermarine its revolution rate change in navigation process is very fast, and often exceeds safety margin.This method is exactly the steady increase and the decline that achieve revolution rate with course-revolution rate coordinating control module that Nonlinear Tracking Differentiator (TD) is core, and revolution rate is limited in safe range, reduce yaw angle rate of change, effectively avoid and occur large revolution rate-phenomenon of breakking away greatly, for the safe navigation of hovermarine provides guarantee.

Accompanying drawing explanation

Fig. 1 is based on the hovermarine course control system theory diagram of course-revolution rate coordinating control module.

Fig. 2 is based on the Heading control program flow diagram of course-revolution rate coordinating control module.

Fig. 3 a-Fig. 3 d hovermarine Heading control curve, wherein, Fig. 3 a is that bow is to angle change curve; Fig. 3 b is yaw angle change curve; Fig. 3 c is rudder angle change curve; Fig. 3 d is revolution rate change curve.

Embodiment

Below in conjunction with accompanying drawing, the invention will be further described.

The principle of the hovermarine course control system based on course-revolution rate coordinating control module of the present invention as shown in Figure 1,

1. course-revolution rate coordinating control module, calculate the desired course angle of current time according to the boundary of revolution rate and current actual heading angle, its coordination control strategy Heading control is divided into two following stages:

1) boost phase: at Heading control in earlier stage, with constant acceleration, reach the maximum revolution rate in safety clearance, realize the quick tracking in course.

2) in the decelerating phase: in the Heading control later stage, with constant acceleration, revolution rate is reduced to 0, and make course reach expectation value.

2. comparer, compares desired course value and the actual course value recorded and obtains course deviation,

3. direction controller, what adopt herein is conventional pid control algorithm, and direction controller calculates steering order according to course deviation, thus hovermarine Moment is changed, and reaches setting revolution rate.

The performing step of the hovermarine course heading control method based on course and revolution rate coordination control strategy of the present invention is described below in conjunction with Fig. 2:

1. read the actual heading angle ψ of current time;

2. according to the course angle of setting, by course-revolution rate coordinating control module, Heading control is divided into two following stages: (1) boost phase: at Heading control in earlier stage, with constant acceleration r ₀, reach the maximum revolution rate r in safety clearance _max, realize the quick tracking in course; (2) decelerating phase: in the Heading control later stage, with constant acceleration-r ₀, revolution rate is reduced to 0, and makes course reach expectation value ψ _d.

Below ask for constant acceleration r according to actual heading angle and maximum revolution rate ₀process,

Design following Nonlinear Tracking Differentiator:

$\left\{\begin{array}{c}e={\mathrm{\ψ}}_d-\mathrm{\ψ}\left(t\right)\\ f_h=fsun(e,r_d,r_0,h)\\ {\mathrm{\ψ}}_d={\mathrm{\ψ}}_d+h{r}_d\\ r_d=r_d+{\mathrm{hf}}_h\end{array}\right.---\left(5\right)$

Wherein ψ _dfor hovermarine desired course, ψ is actual heading, r _dfor ψ _dderivative namely expect revolution rate, h is simulation step length, f _hrepresent course-revolution rate coordination control strategy.

Suppose T ₀for the settling time of tracing control, the tracing control so passing through (5) transition process arranging has following feature: in the first half section time on, with r ₀for acceleration rises to the maximum tracking velocity of such rising is latter half on, with-r ₀for acceleration slows down, but continue to rise to expectation, arrive after expecting, ascending velocity is 0, T just ₀post-acceleration is 0.T ₀with r ₀pass be

$\frac{r_0{(T_0/2)}^2}{2}=\frac{1}{2}\mathrm{\ψ}\left(t\right)---\left(6\right)$

Work as T ₀or r ₀after determining, just can the maximum tracking velocity of certainty annuity

$r_{max}=r_0\frac{T_0}{2}=\frac{4}{T_0^2}\mathrm{\ψ}\left(t\right)\frac{T_0}{2}=\frac{2\mathrm{\ψ}\left(t\right)}{T_0}---\left(7\right)$

By to utilizing the control characteristic of TD transition process arranging to analyze, considering to need restriction revolution rate and orientation tracking speed in hovermarine Heading control, Nonlinear Tracking Differentiator can be applied to course-revolution rate cooperation control.The safety clearance of revolution rate is under normal circumstances 1 °/s, and the hovermarine course utilizing Nonlinear Tracking Differentiator to design-revolution rate coordination control strategy is: setting r _max=1 °/s, according to ψ (t), r is determined in utilization (6), (7) ₀.

3. the torque of the steering order that calculates of controller just corresponding marine propeller.This direction controller adopts pid control algorithm the most general, and PID controller is represented by formula:

$\mathrm{\τ}=K_P{\mathrm{\ψ}}_e+K_I\∫{\mathrm{\ψ}}_{e}dt+K_D\frac{{\mathrm{d\ψ}}_e}{dt}---\left(8\right)$

In formula, τ represents the torque that marine propeller exports, K _p, K _iand K _dfor the scale-up factor in pid algorithm; ψ _efor boats and ships desired course ψ _dand the deviation between actual heading ψ, i.e. ψ _e=ψ _d-ψ.

Claims (4)

1., based on a hovermarine course heading control method for course and revolution rate coordination control strategy, it is characterized in that: comprise course-revolution rate coordinating control module, comparer and direction controller; Course-revolution rate coordinating control module, by coordination control strategy, calculates the desired course angle of current time according to the boundary of revolution rate and current actual heading angle; Desired course angle and the actual course value recorded compare and obtain course deviation by comparer; Direction controller calculates steering order according to course deviation, thus hovermarine Moment is changed, and reaches setting revolution rate.

2. the hovermarine course heading control method based on course and revolution rate coordination control strategy according to claim 1, is characterized in that described coordination control strategy Heading control is divided into two following stages:

A, boost phase: at Heading control in earlier stage, with constant acceleration, reach the maximum revolution rate in safety clearance, realize the quick tracking in course;

B, decelerating phase: in the Heading control later stage, with constant acceleration, revolution rate is reduced to 0, and make course reach expectation value.

3. the hovermarine course heading control method based on course and revolution rate coordination control strategy according to claim 2, is characterized in that asking for constant acceleration r according to actual heading angle and maximum revolution rate ₀process comprise:

Design Nonlinear Tracking Differentiator is:

$\left\{\begin{array}{c}e={\mathrm{\ψ}}_d-\mathrm{\ψ}\left(t\right)\\ f_h=fsun(e,r_d,r_0,h)\\ {\mathrm{\ψ}}_d={\mathrm{\ψ}}_d+{\mathrm{hr}}_d\\ r_d=r_d+{\mathrm{hf}}_h\end{array}\right.$

Wherein ψ _dfor hovermarine desired course, ψ is actual heading, r _dfor ψ _dderivative namely expect revolution rate, h is simulation step length, f _hrepresent course-revolution rate coordination control strategy;

If T ₀for the settling time of tracing control, the tracing control so through Nonlinear Tracking Differentiator transition process arranging has following feature: in the first half section time on, with r ₀for acceleration rises to the maximum tracking velocity risen is latter half on, with-r ₀for acceleration slows down, but continue to rise to expectation, arrive after expecting, ascending velocity is 0, T just ₀post-acceleration is 0, T ₀with r ₀pass be

$\frac{r_0{(T_0/2)}^2}{2}=\frac{1}{2}\mathrm{\ψ}\left(t\right)$

Work as T ₀or r ₀after determining, the maximum tracking velocity of certainty annuity

$r_{max}=r_0\frac{T_0}{2}=\frac{4}{{T_0}^2}\mathrm{\ψ}\left(t\right)\frac{T_0}{2}=\frac{2\mathrm{\ψ}\left(t\right)}{T_0}.$

4. the hovermarine course heading control method based on course and revolution rate coordination control strategy according to claim 1,2 or 3, it is characterized in that direction controller calculates steering order according to course deviation and adopts pid control algorithm, PID controller is represented by formula:

$\mathrm{\τ}=K_P{\mathrm{\ψ}}_e+K_I\∫{\mathrm{\ψ}}_{e}dt+K_D\frac{{\mathrm{d\ψ}}_e}{dt}$

In formula, τ represents the torque that marine propeller exports, K _p, K _iand K _dfor the scale-up factor in pid algorithm; ψ _efor boats and ships desired course ψ _dand the deviation between actual heading ψ, i.e. ψ _e=ψ _d-ψ.