Research On Air Rudder Control System Of Training Simulator Through Hardware-in-Loop-Simulation

Hovercraft training simulator almost completely imitate the true hovercraft drivingmanipulated environment, the driver training and subjects exercise of hovercraft driver willtimely regulate the operation of them and accumulate their drive experience and provide helpfor the training of the hovercraft driver. Developing proprietary intellectual property rights ofthe hovercraft training simulator is of great important practical significance and has broadapplication prospects. As an important part of hovercraft training simulators, air ruddercontrol system plays a key role in safe driving control and heading control of hovercraft. Thefunction and the performance of air rudder control system will ultimately affect the entiremerits of the performance of the training simulator. Research on air rubber control system ofhovercraft training simulator is almost zero in the domestic, this is the first study on therelated aspects in this paper. Specific studies are as follows:1. This paper briefly introduced the hovercraft training simulator and studied thecomposition and functional requirements of air rudder control system.The subsystemdevelopment is proceeded based on above research. Rational structure design andimprovement of functional requirements are keys to the realization of the subsystem. The airrudder control system will accomplish the function that manually driving and automaticallyheading control of training simulator, on the basis of fully demonstratedthat function, thedesign and development of hardware circuit and driver control software of system isprocessed.2. For studying the controlling performance of air rudder control system, this paperestablished the four degrees of freedom mathematical model of hovercraft and made therelevant simulation. This paper established the model of the main modules of the hovercraft,listed a four degrees of freedom equations of motion of hovercraft in the fixed coordinatesystem, and then converted it to a moving coordinate system, then completed the built of thefour degrees of freedom motion simulation model.3. This paper studied the impact of the air rudder control surfaces in the navigationcontrol and designed a new hovercraft heading controller. Based on gray system theory andthe basic working principle of the conventional PID control and gray prediction model, thispaper accomplished the automatic adjustment proportion of forecast and actual courseheading deviation in the comprehensive course heading devidation, designed a self-adjusting grey prediction PID controller for the hovercraft heading control, and then listed the specificdesign steps of the controller and the realization of control algorithm.4. In training simulator hardware-in-the-loop simulation platform, the simulation studyof the hovercraft sailing characteristics is proceeded. Hovercraft linear navigation, manualcontrol and heading control simulation were respectively carried out. Through the simulationresults of linear navigation and manual manipulation of the hovercraft rotary, thereasonableness of hovercraft model established in this paper and the effectiveness of airrudder control system functions in the manual driving mode of training simulator is verified.By comparing simulation results of hovercraft heading control, it is verified that with thefluctuating wind interference, the self-adjusting grey prediction PID controller designed inthis paper possesses characteristics of short mediation time, small steady-state error andalmost no overshoot and robustness in the hovercraft heading control.