基于不同航行状态无人艇的水动力模型研究

无人艇操纵灵活,机动性强,在很多方面都有着广泛的应用。但相关研究还比较少。以往的单一水动力模型只是针对特定航行状态进行研究,对于不同的航速,单一的水动力模型已不再适用。因此随着航速不同,建立同一艘无人艇在不同航行状态下的水动力模型,并研究在此模型下无人艇的运动特性成为一个难点,也是研究真实无人艇的一个关键环节。论文在以往学者的研究成果基础上,给出了一种全新的水动力模型,并就某一真实无人艇,研究从静止到高速起滑整个过程的水动力与航速之间的开环变化关系。仿真结果表明了所给模型的有效性。

Hydrodynamic Modeling of Unmanned Surface Vehicle in Different Sailing Conditions

The Unmanned Surface Vehicle（USV） can be easily manipulated and maneuvered and has been extensively used for both military and commercial application.However,the hydrodynamic modeling of USV was rarely researched,the single hydrodynamic models previously employed in the related literature were merely designed for specific sailing condition.USV＇s sailing status will change with the variation of speed,so the single hydrodynamic model is not acceptable all the time.The establishment of hydrodynamic models in different sailing conditions for various speeds and analyzing motion features of USV based on these models are necessary and of particular interest in this area.A new hydrodynamic model according to the results of related literature was rebuilt.The open-loop concern of hydrodynamic performance with speed from zero to high-speed sliding was studied with a real USV.The results of simulation show that the hydrodynamic models proposed are better than the single hydrodynamic models.