水面无人艇(Unmanned Surface Vehicle)的航迹控制对提升无人艇艇载设备



侦察观测效果以及多任务作战能力具有十分ffi要的意义。由于受到风、浪、流等



干扰环境影响,水而无人艇将产生六自由度的操纵运动,具有很强的非线性和随



机性。这将致使无人艇的航向航迹及姿态控制具有一定的难度,因此需要对水面



无人艇建立六自由度操纵模型,更好地实现对无人艇的控制。



采用经典的MMG分离建模思想,依托浜本刚实提出的水平附体坐标系,建



立水面无人艇的六自由度操纵运动方程。分析无人艇艇体、桨、舵所受的流动动



力和力矩,分别建立流体惯性力模型、流体粘性力模型、螺旋桨推力模型及舵机



模型。



考虑海况和气象环境的影响,分析风、浪作用于无人艇上的T扰力。将随机



风简化为定常风,建、风的干扰力数孕模型 采用傅汝德-克茁洛火(Froude - Krylov)



假设,研究规则波中无人艇受到的T扰力,述立波浪的r扰力数学投型。



在数学模型的站础上述立?于MATLAB/Simulink的仿i t校型,并进行典型的



冋转试验,分别分析不同海况下的无人艇的问转情况。无人艇丨 丨主航行时,在不



同海况下,绘制出其航速及船摇炻的变化曲线。通过总结分析,推论出多种海况

-The course and track control of unmanned surface vehicle (USV) is important to



improve the observational effect of the recon reconnaissance equipment and the multi-



-mission operational capability. Because of the effects of wind, wave and flow, the



unmanned surface vehicle will produce six degrees of freedom movement which has



randomicity and nonlinearity. It is difficult of the course, track and attitude control of



unmanned surface vehicle, so six degrees of freedom movement model is built for the



better control of unmanned surface vehicle.



According to the classic MMG s separated modeling theory and the horizontal



body axes system which was developed by Hamamoto, this thesis describes a six



degrees of freedom motion equation of unmanned surface vehicle. Through analyzing



the hydrodynamic force and moment, the fluid inertia force model, the fluid viscous



force model, propeller thrust model and steering gear model are built respectively.



Considering