基于反步法的全垫升气垫船航向增稳控制  

Heading Stability Control of Air Cushion Vehicles Based on Backstepping

作　　者：陈光祥 李仲彬 刘伟 CHEN Guang-xiang;LI Zhong-bin;LIU Wei(Maxie 92692 Unit,Zhanjiang 524064 China;College of Automation,Harbin Engineer university,Harbin 150001 China;Maxie 91227 Unit,Zhanjiang 524064 China)

机构地区：[1]麻斜92692部队 [2]哈尔滨工程大学自动化学院 [3]麻斜91227部队

出　　处：《自动化技术与应用》2018年第11期11-14,共4页Techniques of Automation and Applications

摘　　要：为了更好地对全垫升气垫船的航向进行控制,设计推导了基于反步法的全垫升气垫船航向控制器,因为过大的回转角速度有可能引发航行事故,所以在航向控制器上加上增稳环节。仿真结果表明:全垫升气垫船不仅艏向角可以达到期望值,而且回转角速度也在安全值范围之内。In order to better control the heading of the Air Cushion Vehicle （ACV）, the design of the ACV based on the backstepping method is designed. Because the excessive rotational angular velocity may lead to accidents of navigation, so the stabilizing link is added to the heading controller. The simulation results, show that not only the heading can reach the expected value, but also the speed of return angle is within the range of safety value.

关 键 词：全垫升气垫船 反步法 航向控制 回转角速度 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]