摘要
建立三自由度运动Abkowitz非线性无人艇运动模型,并对此非线性模型进行线性化,分析无人艇受到海浪干扰下的运动状态,采用Matlab中仿真工具Simulink对无人艇运动控制系统的进行仿真,给出了最后仿真实验结果。仿真结果表明,所建立的模型与实际无人艇的运动规律相符合,使用此模型可以非常方便地进行无人艇运动控制规律的研究。对无人艇运动控制仿真与研究具有实际意义。
Nonlinear unmanned surface vessel movement model with three degrees of freedom movement Abkowitz is established, and then the nonlinear model is linearized. Unmanned surface vessel movement under the interference by the waves is analyzed, and then the ship motion control system based on Simulink simulation is studied and the simulation results is presented. The simulation results show that the established model consistent with the actual movement regularity of unmanned surface vessel, using this model can be very convenient for unmanned surface vessel research on the laws of the motion control. It aims to be beneficial for performance tests of ship manoeuvrering and studies for ship control strategies.
出处
《沈阳理工大学学报》
CAS
2017年第1期77-84,共8页
Journal of Shenyang Ligong University
关键词
无人艇
运动模型
海浪干扰
仿真
unmanned surface vessel
movement model
interference by the waves
simula-tio
