Project Scope The scope of this project is to complete research that will lead to the design and construction of an autonomous hovercraft. The hovercraft will have the ability to maneuver a path that will contain multiple obstacles. This hovercraft can then be used to find an object or give video surveillance and return to its initial launch point. 3
Background of Hovercraft A hovercraft is a vehicle that floats or hovers on a cushion of pressurized air. A hovercraft consists of: Hull Skirt Lift Fan Propulsion Fan 4
Design Parameters α = Hovercraft Angle Heading β = Hovercraft Angle of Velocity E = Drive Force F = Friction Force T = Yaw Torque M = Mass I = Yaw Inertia K = Dart Effect J = Yaw Drag X = Prop Coefficient Relating Ramp up Speed Y = Prop Coefficient Relating Maximum Torque Z = Coefficient of Friction 5
Governing Equations 6 Equations of MotionDrive Equation Yaw Control Translation Control
Simulation Effects of Variables on Hovercraft Control Root Locus & Simulink 7
Simulation 8 VariableEffectDesign Considerations Mass: M Faster response more damping for smaller values Lightweight Moment of Inertia: I Faster response for smaller values, damping effect negligible Mass located to reduce moment of inertia Yaw Damping: J Response speed decreases with increasing values. Damping only signification for J = 0. Low yaw damping desirable Dart Effect: K Unstable for negative values, slower response for increasing values, negligible damping Balance mass as well as possible, front heavy is unstable, back heavy is stable but reduces response time Prop Torque: Y Poor damping at low values, negligible response speed until a critical value where response speed decreases Ensure sufficient torque available for fast response, control system design to compensate for poorer damping Friction: Z Faster response, more damping at higher values High friction desirable
Your consent to our cookies if you continue to use this website.