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Figure IV.1: Coordinate frames
State-space method is used to
representing the dynamics of hovercraft.
Since this method makes the dynamics
of hovercraft is easier to understand.
A state equation is a first order, vector
differential equation. It is represent the
equation of hovercraft motion. The
state-space general expression is:
x Ax Bu
y Cx Du
= +
= +
&
n
x R is the state vector
m
u R is the control vector
A is the state coefficient
B is the driving matrix
Dynamics of hovercraft:
1
r R
R
r R R
Y
Y Y
r
V V V
r r
| |
= + +
|
\
= + +
&
&
Obtained the state-space representation
of the dynamics of hovercraft:
| |
*
' '
'
1
0 1
R
R
v
R
r
Y Y
r r
y
r
(
( ( (
= + (
( ( (
(
(
=
(
&
&
1
tan
v v
u u
= = side-slip angle
= yaw moments
3
R
= rudder deflection
2 2
V u v = + = speed of the hovercraft
V. Dynamics of Electric Motor
Electric motor is used to control the
speed of the propellers which provide
lift force for the hovercraft. Lift force is
cause by the air pressure ejected
downwards against the surface.
Air Inlet
Air Outlet (low-pressure) Air Outlet (low-pressure)
Lift Propeller
Motor
Figure V.1: Hovercrafts plenum principle
Lift Force = Pressure x Surface Area
The electric motor input is dc current,
and the output is the angular speed of
the motor which depends on the torque.
t e t
in
k k k
T V
R R
T J
| | | |
=
| |
\ \
= &
Obtained the dynamics of the electric
motor:
e t t
in
k k k
I
JR J
| | | |
= +
| |
\ \
&
T = Motor torque
J = Inertia of the load
k
e
= Motors electric constant
k
t
= Torque constant
R = Electrical resistance
I
in
= Current input
= Angular velocity
VI. Control System Design and
Simulation Progress
Simple block diagram of the hovercraft
automatic steering control system
C HD
S
A
Input Output
Amp
C = Controller
Amp = Signal amplifier
A = Actuator (rudder)
HD = Hovercraft dynamics
S = Sensor (rate gyro)
For manual steering system, sensor is
not needed and controller only has an
amplification function, like an
amplifier, for the input signal.
Simple block diagram of the automatic
motor speed control system
Cm
Sm
Am
Input Output
MD
Cm = Motor speed controller
Am = Signal amplifier
MD = Motor dynamics
Sm = Speed sensor
The control system simulation using
MATLAB and Simulink has not done
yet and is still in progress.
VII. References
[1] Ogata, Katsuhiko. 1997. Modern
Control Engineering.New Jersey:
Prentice Hall International, Inc
[2] Franklin, Gene F, J David Powell,
Abbas Emami.1994.Feedback
Control of Dynamic System.USA:
Wesley Publishing Company
4
[3] McLean, Donald.1990.Automatic
Flight Control System.UK:
Prentice Hall International, Inc
[4] Boldean, Ion and SA Nasar. 1999.
Electric Drives. Florida: CRC
Press
[5] Friedland, Bernard. 1987. Control
System Design an Introduction to
State Space Methods. Singapore:
McGraw-Hill Book Co.