【摘要】：在無人水面艇(USV)航道運(yùn)動(dòng)跟蹤目標(biāo)定位控制控制研究中,建立流場(chǎng)作用下USV精確的運(yùn)動(dòng)數(shù)學(xué)模型是必要的;實(shí)際任務(wù)中經(jīng)常要求USV工作在不均勻流場(chǎng)環(huán)境中,但以前主要討論均勻流場(chǎng)中USV運(yùn)動(dòng)控制,難以反映實(shí)際情況。為此提出一種分布參數(shù)建模方法,建立運(yùn)動(dòng)特征隨在不均勻流場(chǎng)中位置變化的三自由度非線性USV運(yùn)動(dòng)數(shù)學(xué)模型;進(jìn)行不同條件下USV直航、回轉(zhuǎn)運(yùn)動(dòng)仿真,對(duì)比分析不同流場(chǎng)對(duì)USV航向角及漂距的影響。仿真結(jié)果表明,與將流場(chǎng)看成均勻流場(chǎng)的集中參數(shù)建模方法相比,采用分布參數(shù)建模方法建立的USV運(yùn)動(dòng)模型能更精確反映不均勻流場(chǎng)對(duì)USV運(yùn)動(dòng)的影響,為研究USV任意流場(chǎng)干擾下的航速與航向控制、路徑跟蹤、動(dòng)力定位等問題提供了參考。
[Abstract]:It is necessary to establish the accurate mathematical model of USV motion under the action of flow field in the research of moving tracking target positioning control of (USV) waterway of unmanned water craft. The USV is often required to work in the non-uniform flow field in practical tasks, but the USV motion control in the uniform flow field is mainly discussed in the past, so it is difficult to reflect the actual situation. In this paper, a distributed parameter modeling method is proposed, and a three-degree-of-freedom (USV) nonlinear motion mathematical model is established, in which the motion characteristic changes with the position in the non-uniform flow field. The effects of different flow fields on the heading angle and drift distance of USV were compared and analyzed by simulating the direct and rotational motion of USV under different conditions. The simulation results show that compared with the lumped parameter modeling method which regards the flow field as a uniform flow field, the USV motion model established by the distributed parameter modeling method can more accurately reflect the effect of the non-uniform flow field on the USV motion. It provides a reference for the study of speed and course control, path tracking and dynamic positioning of USV under arbitrary flow field interference.
【作者單位】： 上海海事大學(xué)航運(yùn)技術(shù)與控制工程交通行業(yè)重點(diǎn)實(shí)驗(yàn)室;
【基金】：國(guó)家自然科學(xué)基金項(xiàng)目(51309148)
【分類號(hào)】：U664.82

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