无人水面艇航道运动跟踪目标定位控制研究
发布时间：2018-10-30 14:49
【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。
[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.
【作者单位】： 上海海事大学航运技术与控制工程交通行业重点实验室;
【基金】：国家自然科学基金项目(51309148)
【分类号】：U664.82
本文编号：2300303
[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.
【作者单位】： 上海海事大学航运技术与控制工程交通行业重点实验室;
【基金】：国家自然科学基金项目(51309148)
【分类号】：U664.82
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1 邵井丰;基于滑模变结构的船舶动力定位控制研究[D];大连海事大学;2015年
，本文编号：2300303
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