Research On Semi-physical Simulation Based On VxWorks For Air Cushion Vehicle Heading Control Method

Air cushion vehicle is a new marine transportation vehicle. The ship uses advanced manufacture, control and other aspects of high technology, because of its high speed, high efficiency,and high seakeeping,it ownes widespread attentions. In the military, for air cushion vehicle has the rapidity and amphibious, so its mobility and sudden on landing operations can greatly be improved, this will have a significant impact on amphibious warfare.In addition, in use the feature of air cushion vehicle having little affect on underwater physics,air cushion vehicle can be used as mine detection boats and minesweepers. In civilian transport, air cushion vehicle can also be used as inland passenger boats, estuaries, and coastal passenger ship.Unlike conventional drainage hovercraft vessels, air cushion vehicle sufferes little resistance when it sailes on the water,but greatly affected by wind and waves,when it sailes at high speed,it is easily to lead to boat bows and result obsessed phenomenon.However, when air cushion vehicle sailes at low speed, it easily leads to boat transfers bow also accompanied with severe skidding. It is because these characteristics of air cushion vehicle that determine the its security is poor,and difficult to manipulate.But currently in China, air cushion vehicle still mainly rely on manual manipulation,drivers surfer a lot of pressure and heavy workload while driving, it is prone to cause operator errors and result in significant losses. Therefore, to reduce the difficulty of operating air cushion vehicle, Mitigate the burden on the driver's operation,Fundamentally improve air cushion vehicle's reliability, stability, and security, it is extremely important to study automatic driving system and heading control of air cushion vehicle.This paper mainly studied air cushion vehicle,put the rugged computer as hardware platform, which is in the integrated drive control system of air cushion vehicle,and the real-time operating system VxWorks as the software platform,finally completed the study of heading control method for a semi-physical simulation for air cushion vehicle. The Specific working is as follows:Firstly, for the main function of the integrated drive control system of air cushion vehicle,complete the transplantation of the VxWorks operating system on a rugged computer,and then complete a plurality of driver based on the VxWorks operating system for bottom rugged computer expansion modules,so that can build a platform for semi-physical simulation of air cushion vehicle.Secondly, analysis and study the motion and the force of air cushion vehicle. According to the modular modeling idea to build various modules of air cushion vehicle. Then to merge the force of each module,and according to the principles of force and torque, and finally build the air cushion vehicle's four DOF space equations of motion.Then taking into account the defects of common PID control algorithm in engineering,make BP neural network algorithm to combine with PID control algorithm, in use of neural network to optimize traditional PID control method so to improve the control precision, so as to provide theoretical support of air cushion vehicle's heading control.Finally, according to the simulation procedure describes the simulation processes, and establish the simulation environment, conduct simulations and study of linear navigation and steering rotary, and complete BP neural network PID controller and PID controller for air cushion vehicle's heading control,and do some analysis and comparison of simulation results and draw relevant conclusions.