多操纵面气垫船的极区运动特性与控制方法研究  

Motion performance and control method for polar region hovercrafts with multiple control surfaces

作　　者：刘瑞琦 李新飞[1] 韩端锋[1] 贾定睿 尹蒙 LIU Ruiqi;LI Xinfei;HAN Duanfeng;JIA Dingrui;YIN Meng(College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2023年第5期750-759,共10页Journal of Harbin Engineering University

基　　金：国家重点研发计划(2018YFC1406000)。

摘　　要：为了研究极区气垫船在敷雪冰层上运动特性和多操纵面协调控制方法,本文建立了一种极区气垫船的冰面运动学模型,分析了极区运动特点和操纵难点,提出了一种多操纵面气垫船的极区运动控制体系结构,可实现空气桨、空气舵和矢量喷管等6个操纵面的协调分配控制。仿真结果表明:极区气垫船在侧风条件下操纵极易发生侧滑和甩尾,本方法可有效解决气垫船极区操纵过程中的航向稳定控制问题,并利用矢量喷管较好地抑制了危险的侧滑运动,分析得到了极区操纵的抗侧风能力曲线,为气垫船在极区的运动控制技术和安全控制策略的研究提供了一种有效与可行解决方法。We establish an ice surface kinematics model of polar region hovercrafts for the analysis of the motion characteristics and control difficulties of polar region hovercrafts to study the motion characteristics and coordinated control methods of polar region hovercrafts with multiple control surfaces on snow and ice layers.We propose motion control architecture of polar region hovercrafts with multiple control surfaces,realizing coordinated distributed control on six control surfaces of the air propeller,air rudder,and vectoring nozzle.Simulation results demonstrate that polar region hovercrafts are prone to sideslipping and tail flicking under crosswind conditions.Our method can effectively solve the problem of the course stability control of hovercrafts during polar region maneuvering.Dangerous sideslip motion is well suppressed by vectoring nozzles.The crosswind resistance curve of polar region maneuvering is obtained by analysis.Our method provides an effective and feasible solution for the research on motion control technology and safety control strategies of hovercrafts in Polar Regions.

关 键 词：极区气垫船 多操纵面 运动学模型 冰面摩擦阻力 路径跟踪 侧滑运动 航向控制 

分 类 号：U661.33[交通运输工程—船舶及航道工程]