Research On The Coordination Control Of Air Cushion Vehicle's Control Surfaces

Air Cushion Vehicle is a high performance vehicle which makes use of air-cushion to reduce sailing resistance, and has features of high-speed, Amphibians .etc. The usage of air-cushion can reduces the sailing resistance, and simultaneously the force of wind has a great influence on navigation of air cushion vehicle, as well as the angle of heel has effect on navigation of air-cushion vehicle. Finally, many control surfaces are introduced to improve the maneuverability of air cushion vehicle.The manuscript design control surfaces cooperated control system which contains upper main controller and lower cooperated control allocation and researches preliminarily on the coordination of control surfaces of air cushion vehicle. The main work is as follows:Firstly, the kinetic equation of air cushion vehicle is established based on Rigid body dynamics principle. the mathematical model of wind force, hydrodynamic force and force of control surfaces are also established. Program based on fourth order Runge Kutta algorithm is adopted to research on the character of maneuverability of air cushion vehicle.Secondly, path following system is designed based on the method line of sight.Reference path is set by way-point and composed of line-segments. Reference Heading is computed by the current reference path and the current position of air cushion vehicle.Reference models are introduced to guide the state of heading of air cushion vehicle transit to the setpoint smoothly, and provide the information of derivative of the controlled variable to the controller.Thirdly, the main backstepping controller of the cooperated control system based on hovercraft's features of nonlinear, variety of hydrodynamic coefficients etc. is designed to control the variable of surge,sway, heel angle and azimuth angle. Simulation program is programmed to research the character of the main backstepping controller of the cooperated control system..Finally, the mathematical model of lower cooperated control allocation of the cooperated system contains main propeller and control surfaces is established, and the problem of cooperated control of control surfaces is converted into the mathematical problem of quadratic programming with constraints. Sequential Quadratic Programming Algorithm(SQP)and Genetic Algorithms(GA) are introduced to solve the problem of cooperated control allocation model. Program of path following system with SQP and GA is programmed separately to reaserch on the coordination of propellers and control surfaces of air cushion vehicles in the procedure of path following control, some preliminarily results is got through simulation.