CN103921784B - Automatically the system that drives of a kind of air cushion vehicle and control method - Google Patents

Abstract

The present invention relates to an automatic driving control system and control method of a full lift hovercraft. The peripheral management computer obtains the actual course information of the hovercraft from the sensor unit, and obtains the actual speed information of the ship from the position measurement unit of the hovercraft. The information is sent to the control computer; the control computer calculates the hovercraft air rudder angle and left and right propeller pitch values according to the deviation between the actual course and the set course; the control computer sends the air rudder angle command and the left and right propeller pitch command values through the bus interface Send to the peripheral management computer; the peripheral management computer sends the aforementioned instructions to the hovercraft driving actuator to realize the automatic control mode.

Description

An automatic driving control system and control method of a fully cushioned hovercraft

technical field

The invention relates to an automatic driving control system and a control method of a full cushion lift hovercraft.

Background technique

In the prior art, many full-cushion lift hovercraft are manually controlled, mainly relying on the driver to observe the changes in the space motion parameters of the hovercraft, and directly manipulate various actuators of the ship to realize the maneuvering. Due to the poor stability of the full-cushion hovercraft when navigating in wind and waves, it is difficult to control the heading and attitude, and it is prone to yaw and side drift. stable phenomenon. Therefore, it is difficult to obtain good control quality when the driver is manually controlled, and the driver’s workload is extremely heavy, and he bears a huge mental burden. Once the control is improper, it will cause the ship to turn at high speed and skid, putting the ship in danger. The navigating state may cause a serious accident of capsizing the ship.

Contents of the invention

The object of the present invention is to provide an automatic driving control system and method of a full-lift hovercraft, which can realize automatic driving of a full-lift hovercraft and effectively improve the stability and safety of the hovercraft's navigation.

Based on the same inventive concept, the present invention has two independent technical solutions:

1. An automatic driving control system of a full-cushion lift hovercraft, comprising a control handwheel, a propeller control handle, and a hovercraft driving actuator, characterized in that: it also includes a control computer, a peripheral management computer, a control panel and a control panel management computer, The signal output terminals of the control handwheel and the propeller joystick are connected to the peripheral management computer, the control computer communicates with the peripheral management computer and the control panel management computer, and the signal output terminals of the peripheral management computer are connected to the hovercraft driving actuator, sensor unit and hovercraft position The signal output terminal of the measurement unit is connected with the peripheral management computer.

The sensor unit includes a wind sensor to measure wind speed and direction; an attitude sensor to measure the ship's heading, rate of turn, pitch, roll and vertical acceleration.

The driving actuator of the hovercraft includes a propeller joint control system, which is used to drive and control the pitch of two air propellers; an air rudder control system, which is used to synchronously drive and control the rudder angles of four air rudders.

2. A control method for an automatic driving control system utilizing a full-cushion lift hovercraft. The peripheral management computer obtains the actual course information of the hovercraft from the sensor unit, obtains the actual speed information of the ship from the position measurement unit of the hovercraft, and transfers the aforementioned information through the bus interface. The information is sent to the control computer; the control computer calculates the hovercraft air rudder angle and left and right propeller pitch values according to the deviation between the actual course and the set course; the control computer sends the air rudder angle command and the left and right propeller pitch command values Send to the peripheral management computer; the peripheral management computer sends the aforementioned instructions to the hovercraft driving actuator to realize the automatic control mode.

When it is detected that the trim angle of the hovercraft is greater than the alarm limit value, the control computer sends an alarm control signal to the control panel computer, and the control panel gives an audible and visual alarm; Send commands to automatically reduce the pitch value of the left and right propellers.

When it is detected that the sideslip angle of the hovercraft is greater than the alarm limit value, the control computer sends an alarm control signal to the control panel computer, and the control panel gives an audible and visual alarm; The management computer sends instructions to automatically adjust the rudder angle of the air rudder and the pitch difference between the left and right propellers.

The manual control mode can be realized directly by manipulating the handwheel and the propeller joystick, the signals of the manipulation handwheel and the propeller joystick are input to the peripheral management computer, and the peripheral management computer sends corresponding instructions to the hovercraft drive actuator; the control panel is equipped with a manual mode, automatic mode changeover switch.

In the automatic control mode, rotate the handwheel to set the slew rate of the hovercraft, and the set slew rate information is sent to the peripheral management computer. The peripheral management computer obtains the actual slew rate information of the hovercraft from the sensor unit, and the peripheral management computer sends the set The fixed gyration rate information and the actual slew rate information are sent to the control computer, and the control computer calculates the air rudder rudder angle of the hovercraft according to the deviation between the actual slew rate and the set slew rate, so as to realize the control of the slew rate of the hovercraft.

The beneficial effect that the present invention has:

The invention can effectively improve the navigation stability and safety of the hovercraft. The peripheral management computer of the present invention obtains the actual course information of the hovercraft from the sensor unit, obtains the actual speed information of the ship from the position measurement unit of the hovercraft, and sends the aforementioned information to the control computer through the bus interface; The deviation between the hovercraft air rudder angle and the left and right propeller pitch values are calculated; the control computer sends the air rudder angle command and the left and right propeller pitch command values to the peripheral management computer through the bus interface; the peripheral management computer sends the aforementioned commands to The hovercraft drives the actuator, which can realize the automatic control of course keeping. In the automatic control mode of the present invention, the gyration rate of the hovercraft is set by rotating the manipulation hand wheel, so that the gyration rate can be maintained and automatically controlled. When the present invention detects that the pitch angle and sideslip angle of the hovercraft are greater than the alarm limit value, the control panel can perform sound and light alarm; when the pitch angle and sideslip angle of the hovercraft reach the safety control starting value, automatic safety control can be performed. The present invention can also directly realize the manual control mode by manipulating the manipulating handwheel and the propeller control handle, and the manipulating panel is correspondingly provided with a manual mode and an automatic mode changeover switch.

Description of drawings

Fig. 1 is a composition block diagram of the automatic driving control system of the full cushion lift hovercraft of the present invention;

Fig. 2 is a flow chart of the automatic driving control method of the full-cushion lift hovercraft of the present invention;

Fig. 3 is a functional block diagram of the safety limit automatic control of the present invention.

detailed description

As shown in Figure 1, the automatic driving control system includes a control handwheel 5, a propeller control handle 7, and a hovercraft drive actuator, and the hovercraft drive actuator includes an engine-propeller joint control system for driving and controlling the pitch of two air propellers; the air rudder Steering system for synchronously driving and controlling the rudder angles of the four air rudders. The automatic driving control system also includes a control computer 1, a peripheral management computer 2, a control panel 3 and a control panel management computer 4, the control computer 1 is connected to an external display 6, and the signal output terminals of the control handwheel 5 and the propeller control handle 7 are connected to the control computer 1 , the control computer 1 communicates with the peripheral management computer 2 and the control panel management computer 4, the signal output terminal of the peripheral management computer 2 is connected to the driving actuator of the hovercraft, and the signal output terminal of the sensor unit and the position reference system (the position measurement unit of the hovercraft) is connected Peripherals manage the computer. The sensor unit includes a wind sensor to measure wind speed and direction; an attitude sensor to measure the ship's heading, rate of turn, pitch, roll and vertical acceleration. Position reference systems include GPS and Beidou navigation system.

During implementation, the control panel 3 is provided with function buttons, indicator lights and switches, mainly including a power switch, a manual/automatic mode changeover switch, a heading warning light, a failure warning light, a limit warning light, a numeric keypad, a heading holding light, a turning Rate hold light, course setting button, safety limit button, auxiliary function button, buzzer. The control panel management computer 4 is designed with a single-chip microcomputer, which collects the information of each key and sends it to the control computer 1 through the serial interface.

As shown in Figure 2, the automatic driving control method of the full cushion lift hovercraft is as follows:

(1) Manual control mode.

When the manual/automatic conversion mode switch on the control panel 3 is turned to "manual", the driver can control the rudder angle of the air rudder by turning the control handwheel 5, and the rotation angle of the control handwheel 5 is proportional to the rotation angle of the air rudder . The driver can control the pitch of the two propellers by pushing the propeller control handle 7, and the propeller control handle 7 is pushed forward to increase the pitch, and pulled back to reduce the pitch. The analog voltage signal output by the manipulation hand wheel 5 and the propeller joystick 7 enters the A/D board of the peripheral management computer 2 . The peripheral management computer 2 sends the collected analog signals of the control handwheel 5 and the propeller joystick 7 to the control computer 1, and the control computer 1 displays the rudder angle command and pitch command on the integrated display interface. At the same time, the peripheral management computer 2 sends the analog signal output by the control handwheel 5 to the air rudder controller through the D/A board, and controls the rotation angle of the air rudder as a command signal of the rudder angle; the peripheral management computer 2 sends the propeller The joystick 7 command is sent to the propeller joint control system. In the manual working mode, there is no safety limit control function, but there is a safety limit alarm function.

(2) Course keeping automatic control mode.

When the manual/automatic conversion mode switch on the control panel 3 is turned to "automatic", the automatic driving control system is in the automatic control mode. At this time, the control hand wheel 5 is required to be in the middle position, and the automatic driving control system is in the state of automatically maintaining the course. The purpose of the automatic heading maintenance is to automatically realize the automatic maintenance of the given heading through the action of the controller to control the action of the actuator under the interference of the ocean environment. When the hovercraft is in the course keeping function, the speed of the hovercraft can be controlled at the same time. The system takes the speed of the ship before the manual and automatic transfer switch is switched as the set speed to be maintained, and the system automatically controls the pitch angle of the air propeller to control the speed at the required speed. During course keeping, the driver can use the up and down arrow keys on the keypad of the control panel 3 to increase and decrease the set speed.

The peripheral management computer 2 obtains the actual course information of the ship from the attitude sensor, and obtains the actual speed information of the ship from the GPS receiver, and sends it to the control computer 1 through the bus interface, and the control computer 1 according to the deviation between the actual course and the set course, After the calculation of the controller, the air rudder angle and the left and right propeller pitch values are obtained. The control computer 1 sends the air rudder rudder angle command and the left and right two propeller pitch command values to the peripheral management computer 2 through the bus interface, and the peripheral management computer 2 sends the rudder angle command to the air rudder through the D/A board, and sends the rudder angle command to the engine-propeller connection. The control system sends the pitch command. Under the heading hold function, the driver can change the setting value of the heading through the control panel. When the hovercraft reaches the desired course, the hovercraft automatically keeps the hovercraft on the desired course.

(3) The slew rate maintains the automatic control mode:

Under the automatic control mode, the driver can rotate the control handle 5 to different angles (not in the middle position) to set the size of the slew rate. At this time, the "slew rate maintenance light" on the control panel is on. The peripheral management computer 2 obtains the actual slew rate information of the ship from the attitude sensor, and sends it to the control computer 1 through the bus interface. After solving the device, the air rudder angle is obtained.

As shown in Figure 2 and Figure 3, the safety limit alarm and control are realized through the following methods.

(1) The automatic driving control system monitors the changes of the trim angle, heel angle, sideslip angle and slewing rate of the hovercraft in real time during the navigation of the hovercraft, and displays them in the safety limit parameter area of the display page in real time.

(2) When it is detected that the trim angle of the hovercraft is greater than the alarm limit value, that is, when there is a bow bow tendency, the control system will send out a sound and indicator light alarm signal to remind the operator.

(3) If the driver does not take corresponding measures and the pitch angle continues to increase until the safety control start value is reached, the control system will automatically reduce the pitch values of the two pitch propellers to achieve the purpose of reducing the thrust. When it is detected that the ship returns to the normal sailing attitude, the instruction to reduce the pitch of the two propellers is automatically canceled.

(4) When it is detected that the sideslip angle of the hovercraft exceeds the alarm limit value, the operator will be reminded by sound and indicator light alarm signals.

(5) If the trend continues to be dangerous enough to exceed the start limit value of the safety control action, the control system changes the air rudder angle and the pitch difference between the two propellers to achieve the purpose of changing the sideslip angle of the ship and restore the normal sailing attitude of the ship. When it is detected that the hovercraft returns to the normal sailing attitude, the command to change the air rudder and the pitch difference between the two propellers is automatically canceled.

Claims (7)

1. the system that automatically drives of air cushion vehicle, including hand wheel, propeller control crank, Aircushion vehicle drives actuator, it is characterised in that: also include controlling computer, peripheral equipment management computer, manipulation Panel and control panel management computer, hand wheel, the signal output part of propeller control crank connect peripheral hardware pipe Reason computer, controls computer and is connected with peripheral equipment management computer, control panel management computer communication, peripheral hardware It is single that management Computer signal output termination aircushion vehicle drives actuator, sensor unit and air cushion ship position to measure The signal output part of unit connects peripheral equipment management computer；Peripheral equipment management computer obtains aircushion vehicle ship from sensor unit Actual heading information, obtain the speed over ground information of ship from aircushion vehicle location measurement unit, pass through EBI It is sent to aforementioned information control computer；Control inclined according between actual heading and set course of computer Difference, is calculated aircushion vehicle airvane rudder angle and left and right oar pitch；Control computer by EBI by sky The instruction of gas rudder rudder angle and left and right oar pitch command value are sent to peripheral equipment management computer；Peripheral equipment management computer is by front State instruction to send to aircushion vehicle driving actuator, it is achieved automatic control mode；Control panel is provided with manual mould Formula, automatic mode switch switch, and directly realize Non-follow control by manipulation hand wheel and propeller control crank Pattern.

Automatically the system that drives of air cushion vehicle the most according to claim 1, it is characterised in that: pass Sensor cell includes wind sensor, is used for measuring wind speed and direction；Attitude transducer, be used for measure ship's head, Revolution rate, pitching, rolling and vertical acceleration.

Automatically the system that drives of air cushion vehicle the most according to claim 2, it is characterised in that: gas Pad ship drives actuator to include machine oar joint control system, for driving the pitch controlling two air propellers；Empty Gas rudder control system, for synchronizing to drive the rudder angle of four airvanes of control.

4. utilize a control method for the system that automatically drives of air cushion vehicle described in claim 1, its It is characterised by: peripheral equipment management computer obtains the actual heading information of aircushion vehicle ship from sensor unit, from air cushion Ship position measuring unit obtains the speed over ground information of ship, is sent to control meter by aforementioned information by EBI Calculation machine；Control computer, according to the deviation between actual heading and set course, is calculated aircushion vehicle airvane Rudder angle and left and right oar pitch；Control computer by EBI by the instruction of airvane rudder angle and left and right oar pitch Command value is sent to peripheral equipment management computer；Said instruction is sent to aircushion vehicle to drive and holds by peripheral equipment management computer Row mechanism, it is achieved automatic control mode；Control panel is provided with manual mode, automatic mode switch switch, directly Connected manipulation hand wheel and propeller control crank realized MANUAL CONTROL mode.

Method the most according to claim 4, it is characterised in that: when Angle of Trim aircushion vehicle being detected is big When alarm limit dividing value, controlling computer and send alarm control signal to control panel computer, control panel enters Row sound and light alarm；When the Angle of Trim of aircushion vehicle reaches security control initiation value, control computer to peripheral equipment management Computer sends instruction, automatically reduces left and right oar pitch.

Method the most according to claim 5, it is characterised in that: when yaw angle aircushion vehicle being detected is big When alarm limit dividing value, controlling computer and send alarm control signal to control panel computer, control panel enters Row sound and light alarm；When the yaw angle of aircushion vehicle reaches security control initiation value, control computer to peripheral equipment management Computer sends instruction, automatically adjusts airvane rudder angle and the pitch difference of left-and-right spiral oar.

Method the most according to claim 6, it is characterised in that: under automatic control mode, slewing maneuver Handwheel sets the revolution rate of aircushion vehicle, and the revolution rate information of setting sends to peripheral equipment management computer, peripheral equipment management Computer obtains the actual revolution rate information of aircushion vehicle from sensor unit, and peripheral equipment management computer is by returning of setting Rate of rotation information and actual revolution rate information are sent to control computer, control computer according to actual revolution rate with set Determine the deviation of revolution rate, be calculated aircushion vehicle airvane rudder angle, it is achieved the revolution rate of aircushion vehicle keeps controlling.