Research On Track Keeping Controller For Air Cushion Vehicle Based On VxWorks

Air cushion vehicle is supported by the air,when it is sailing,the water resistance is relatively small,at the same time,the air cushion vehicle affected the flow will be relatively large by the wind、wave and current.When air cushion vehicle is sailing at high speed,it will cause ship heeling、side leakage,and prone to skidding and dangerous voyages state;But when the air cushion vehicle sailes at low speed,sea waves will change the apron area at the bottom of air cushion vehicle and the air volume,thus affecting the air-cushion pressure,and then affecting the condition of the air-cushion vehicles.The special structure of the air cushion vehicle leds to the poor safety of navigation、easy manipulation and other issues.To solve such problems,domestic and foreign experts began to adopt an integrated useage of driving air-cushion vehicle control system to achieve it’s tracking control which will not only reduce the burden on the driver but also take the sailing of the air-cushion vehicle more security.Driving control system integrated PC interface program was originally run under the DOS operating system,but the DOS operating system have many drawbacks.It is a single-user、single-threaded operating system,when it process events that will spend a long time,it is not enough in real time,and the system is no longer supported by the latest available technology.So the Vx Works operating system is an embedded real-time operating system,it adopt multi-threaded approach to deal with multi-tasking,it widely used in industrial and military.This article was change the run system of the interface program under DOS system to the Vx Works operating system,in order to improve the real-time further.A controller of the air-cushion vehicles track is designed,apply fuzzy neural network control method to achieve the air-cushion vehicles trajectory control.This paper mainly studied the air-cushion vehicles,with the development environment of VxWorks operating system and the rugged computer of integrated drive-control system.The specific working is as follows:Firstly,This paper builds a mathematical model of controlled object according to the modular modeling idea.Secondly,it introduces the theoretical basis of fuzzy logic and neural networks,in order to control air-cushion vehicle`s sailing track better,the paper chooses fuzzy neural network control method to control air-cushion vehicle.Then according to the fuzzy-control and neural network control their advantages and disadvantages,they make up for the shortcomings ofeach other,and amplify the respective advantages.The track controller using fuzzy neural network control method is designed and it provided a powerful theoretical support for the track contral of the air-cushion vehicle.Afterwards,in order to control the air-cushion vehicle better,the paper chooses Tilcon graphics software development tools to design the motion display interface of the air-cushion vehicle.After the research on the development of Tilcon technology and the VxWorks operating system development environment,a cross-development platform is established,and graphical interface and development of applications is particular introduced.Finally,in order to verify the correctness of the VxWorks operating system controller designed in this paper,a simulation is taken.Versus the model which is built in the second chapter is verified,the simulation of linear navigation and steering rotary is studied mostly.then the controller of fuzzy and the controller of the fuzzy neural network which have achieve trajectory control is compared,conclusions have received via analyzing the result of the simulation.