摘要
在无人水面艇(USV)航道运动跟踪目标定位控制控制研究中,建立流场作用下USV精确的运动数学模型是必要的;实际任务中经常要求USV工作在不均匀流场环境中,但以前主要讨论均匀流场中USV运动控制,难以反映实际情况。为此提出一种分布参数建模方法,建立运动特征随在不均匀流场中位置变化的三自由度非线性USV运动数学模型;进行不同条件下USV直航、回转运动仿真,对比分析不同流场对USV航向角及漂距的影响。仿真结果表明,与将流场看成均匀流场的集中参数建模方法相比,采用分布参数建模方法建立的USV运动模型能更精确反映不均匀流场对USV运动的影响,为研究USV任意流场干扰下的航速与航向控制、路径跟踪、动力定位等问题提供了参考。
It is necessary to establish an accurate mathematical model for the motion of USV in the study of the motion tracking and target positioning control of the unmanned surface vehicle （USV） ,In the actual tasks ,the USV is often required to work in an non - uniform flow field, but the existing literatures mainly discusses the USV motion con- trol in the uniform flow field, and it is difficult to reflect the actual situation. Using distributed parameter modeling method, a three - degree - of - freedom nonlinear mathematical model is established, which describes the motion char- acteristics of USV under the interference of non - uniform flow field. The simulation experiments on straight and turn- ing motion of USV under various conditions were performed. Compared with the simulation results, this paper ana- lyzed the influence of different flow field on flow speed, heading angle and drift distance of USV. The experimental re- sults show that the distributed parameter model performed in this paper is more accurate than the lumped parameter motion model in the existing literature to express the influence of non - uniformed flow field on the motion of the USV, which provides some reference for extensive study of speed and direction control, path following and dynamic po- sitioning of the USV in any field.
作者
任福鑫
王建华
李振义
祝镜
REN Fu - xin WANG Jian - hua LI Zhen - yi ZHU Jing(Marine Technology ＆ Control Engineering Key Laboratory, Shanghai Maritime University, Shanghai 201306, China)
出处
《计算机仿真》
北大核心
2017年第10期314-319,共6页
Computer Simulation
基金
国家自然科学基金项目(51309148)
