全垫升气垫船安全航行控制技术研究综述  

Survey on the navigation control technology of air cushion vehicles

作　　者：王元慧 王晓乐 王成龙 WANG Yuanhui;WANG Xiaole;WANG Chenglong(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2023年第9期1475-1486,共12页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(51879049);黑龙江省自然科学基金项目(LH2019E039).

摘　　要：全垫升气垫船是一种具有两栖性的高性能船舶,因其独特的两栖性和高速性被广泛应用于民用和军事领域。由于其特殊的气垫围裙结构,船体可以脱离于航行表面,航行阻力极小,因此会导致其操纵性和安全性比普通水面船差。尤其在垫态高速航行时,气垫船缺少足够的向心力和横向力,会涉及失速、低头埋艏、侧漂翻船、高速甩尾等问题。因此针对全垫升气垫船安全航行控制问题,开展其安全航行控制理论与方法研究有着重要的军事意义和民用价值。本文介绍了全垫升气垫船的主要性能和国内外发展概况和全垫升气垫船运动数学模型建立及研究发展;最后归纳总结国内外关于全垫升气垫船安全航行控制技术的研究,分类介绍控制策略发展现状,并讨论全垫升气垫船安全航行技术未来发展方向和趋势。指出未来气垫船安全航行控制将以实现气垫船多功能、智能化、无人化等为目标,在保证气垫船航行安全的前提下实现气垫船自动控制和管理。Air cushion vehicles are high-performance amphibious ships idely used in civil and military fields due to their unique amphibious and high-speed properties.Given its special air cushion apron structure,the hull can be separated from the sailing surface such that the sailing resistance is extremely small,which results in poorer maneuverability and safety of air cushion vehicles than those of ordinary surface vehicles.Hovercrafts lack sufficient centripetal and lateral forces when sailing at high speeds in the cushion state.This situation leads to problems,such as stalling,plowing-in,sideways drifting and overturning,and high-speed tail flickering.Therefore,the study of the theory and method of safe navigation control with a focus on the problem of the safe navigation control of air cushion vehicles is of great military importance and civil value.This paper first introduces the main performance and development of air cushion vehicles at home and abroad,as well as the establishment,research,and development of the mathematical models of their motion.It then summarizes the research on the safe navigation control technology of air cushion vehicles at home and abroad,introduces the status of the development of control strategies by classification,and discusses the future development direction and trend of the safe navigation technology of air cushion vehicles.This paper points out that in the future,safety navigation control will aim to achieve multifunctional,intelligent,and unmanned hovercrafts and realize the automatic control and management of hovercrafts on the premise of ensuring the safe navigation of hovercrafts.

关 键 词：海洋工程 全垫升气垫船 数学模型 航行控制 控制系统 运动控制 技术发展 安全航行 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]