一种双电力推进无人水面艇的非线性建模、仿真和实验

针对水面艇运动过程中的非线性因素和线性化建模方法的不足,提出了一种由直流电机驱动固定双桨的无入水面艇非线性建模方法.基于所建模型采用直接数值求解方法对无入水面艇进行运动仿真,分析船体运动的全过程.海上实验结果与仿真结果相符,验证了所建非线性模型的正确性.与经典的线性化建模方法相比,非线性建模方法能更好地对无入水面艇运动的全过程进行分析.

Nonlinear Modeling, Simulating and Experiment of an Unmanned Surface Vehicle Driven by Twin Electric Thrusters

Considering the disadvantage of the linearization method in modeling an unmanned surface vehicle(USV) with nonlinear factors,a nonlinear model of a catamaran-style USV thrust with twin fixed propellers which are driven by DC electric motors,is presented in this paper.According to the model,the whole motion process of the USV is simulated through the numerical solution method,based on which the performance of the USV is discussed.Experiment results from sea tests are in accord with the ones from simulating,which validate the nonlinear model.Compared with the classical linearization method,the advantage of the nonlinear modeling lies in convenience for dealing with system response in the whole motion process of USV.