| 高速无人艇的运动建模及其视景仿真 |
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| 引用本文： | 吴恭兴,邹劲,孙寒冰,田守东.高速无人艇的运动建模及其视景仿真[J].大连海事大学学报(自然科学版),2010(1). |
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| 作者姓名： | 吴恭兴 邹劲 孙寒冰 田守东 |
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| 作者单位： | 哈尔滨工程大学水下机器人技术国防科技重点实验室; |
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| 基金项目： | 国家自然科学基金资助项目(50579007);;国防973项目(61311101);;哈尔滨工程大学基础研究基金资助(HEUFT08017);;水下智能机器人技术国防科技重点实验室开放课题研究基金资助 |
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| 摘 要： | 为探讨基于喷水推进方式的无人艇运动建模及其视景仿真方法,根据船舶操纵性和快艇动力学的基本理论,建立无人艇的动力学模型,并根据喷水推进器的倒车原理,提出分流系数法来分析喷嘴和倒车斗的受力,推导出相应的表达式,建立无人艇的六自由度操纵性数学模型.设计基于该模型的无人艇视景仿真的体系结构,并进行各种操纵性运动的仿真试验.结果表明,该运动模型能够较好地反映无人艇在海洋环境中的操纵性.
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| 关 键 词： | 高速无人艇（USV） 运动建模 视景仿真 喷水推进 动力学模型 |
Motion modeling and visual simulation for high-speed unmanned surface vehicle |
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| WU Gong-xing,ZOU Jin,SUN Han-bing,TIAN Shou-dong.Motion modeling and visual simulation for high-speed unmanned surface vehicle[J].Journal of Dalian Maritime University,2010(1). |
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| Authors: | WU Gong-xing ZOU Jin SUN Han-bing TIAN Shou-dong |
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| Institution: | State Key Laboratory of Autonomous Underwater Vehicle;Harbin Engineering University;Harbin 150001;China |
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| Abstract: | To discuss the motion modeling and visual simulation methods of highspeed unmanned surface vehicle(USV) propelled by water-jet,a USV dynamic model was established according to the basic principles of ship maneuverability and yacht dynamics.Then the deflecting coefficient method was presented to analyze the force of steering nozzle and astern deflector according to the principle of astern deflector,and the expression of the water-jet thrust was deduced,thereby the six-degree of freedom maneuvering motion equ... |
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| Keywords: | high-speed unmanned surface vehicle(USV) motion modeling visual simulation water-jet propulsion dynamics models |
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