摘要
建立无人帆船的运动学模型是开展无人帆船操纵性和运动控制研究的基础。为简便快速地建模,在保证模型准确性的基础上,降低模型开发的难度,以“海鸥”号无人帆船为例,采用船舶操纵数学模型小组(MMG)分离建模方法建模,综合考虑风和浪环境扰动,根据经验公式和计算流体力学(CFD)方法进行参数计算。在此基础上,根据试验数据进行试验复现,以验证模型的准确性。结果表明,建立的无人帆船模型和提出的参数计算方法适用于“海鸥”号无人帆船,跟踪536 m长轨迹,航速误差为13.41%,横摇角误差在10%以内。建立的四自由度无人帆船模型能反映无人帆船实体的速度和位姿,可基本复现试验现象。
The establishment of the kinematic model of autonomous sailboat is the basis for the research on the maneuverability and motion control of autonomous sailboat.Simple and fast modeling can reduce the difficulty of model development on the basis of ensuring the accuracy of the model.For the autonomous sailboat"Seagull"is taken as an example,and the MMG separation modeling method is applied to model,taking into account the wind and wave environmental disturbance,and the parameters are calculated according to the empirical formula and CFD method.On this basis,test data are reproduced to verify the accuracy of the model.The results show that the established model and parameter calculation method are suitable for the autonomous sailboat"Seagull",tracking 536 m long track,with speed error of 13.41%and roll angle error of less than 10%.The four degree of freedom autonomous sailboat model can reflect the speed and posture of autonomous sailboat,and can basically reproduce the experimental phenomenon.
作者
刘浩
赵文涛
孙朝阳
刘凯
俞建成
LIU Hao;ZHAO Wentao;SUN Zhaoyang;LIU Kai;YU Jiancheng(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China;State Key Laboratory of Robotics,Shenyang Institute of Automation Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China)
出处
《船舶工程》
CSCD
北大核心
2023年第7期9-16,共8页
Ship Engineering
基金
国家自然科学基金项目(42276198,42206197,41906173)
机器人学国家重点实验室自主课题(2020-Z14)
辽宁省博士科研启动基金计划项目(1645783741584)
关键词
无人帆船
船舶建模
船舶操纵数学模型小组法
autonomous sailboat
ship modeling
ship manoeuvring mathematical model group(MMG)method
