Research On The Control Method For Air Cushion Vehicle Docking Process

Air cushion vehicle is a kind of fast and high-performance amphibious ships.In order to enhance the flexibility of air cushion vehicle and complete the landing, mine detection and other military tasks better, most air-cushion vehicle relatively small volume so that the task cannot be completed long-distance voyage. generally, the task of air-cushion vehicle transport is mainly accomplished by the dock landing ship. Therefore, the docking process control is an important part of air cushion vehicle control. However, almost all of the air-cushion vehicle docking is done by the operator.In order to make the air cushion vehicle into the dock automatically and accurately, aiming at this situation designed the air-cushion vehicle docking process control system.Aiming the sailing characteristics and maneuverability of air-cushion vehicle, the docking process control system is designed at the level of theory and simulation. The system is consists of three parts. The first part is the track guiding device. This part is designed basing on Gray Prediction, linear least squares fitting and other principles. The second part is docking procedure tracking module. This part is basing on the reach of the PSO and the route designed by track guiding device. The third part is air-cushion vehicle speed control module. Each parts of this system is simulated and verified its feasibility.The main mission of this paper is the air-cushion vehicles docking process theoretical research. The specific working is as follows:Firstly, This paper builds a four degrees mathematical model of controlled object according to the modular modeling idea.Secondly, introduces the theoretical basis and design the method of air-cushion vehicles docking process track guiding device. The device is consists of two parts. The first part is dock ship track prediction module. This part is base on Grey Prediction Theory. The second part is air-cushion vehicles route setting module. This part is base on least squares for linear fitting. Then make simulation experiments on docking process track guiding device to verify its feasibility.Afterwards, In order to design the docking process control system, this paper describes various theoretical basis about hovercraft docking process control. These theories mainly include improved Particle Swarm Optimization, air-cushion vehicles path tracking theory(consist of track control and heading control) and air-cushion vehicles speed control theory.These theories provide theoretical basis for designing air-cushion vehicles docking process control system.Finally, According to various control theories and control methods described, the air-cushion vehicles docking process control system is designed. This system mainly include track tracking module and speed control module. This article not only describes the entire system, and make simulation experiments on each module and the entire system to verify the feasibility of this system.