| 摘要: |
| 小型双体无人监测船运行平稳,甲板尺寸大,吃水浅,在水环境监测、工程测量、巡逻跟踪、水产养殖等领域具有广阔的发展与应用前景。但该类船风阻大,水动力复杂,运动特性在风力作用下变化明显。本文对双体无人监测船的风作用力进行了分析,将风作用项引入其动力学模型。利用该模型,对其主要运动特性进行了仿真预报。仿真结果与现场实测数据具有良好的一致性。该研究结果可以为新型双体USV运动控制算法在不同风作用环境下的适应性调整提供依据,从而提高其海上作业能力与控制精度。 |
| 关键词: 双体船 风力作用 运动特性 仿真预报 |
| DOI：10.11759/hykx20170331002 |
| 分类号:P715.4 |
| 基金项目:国家高技术研究发展计划（863计划） |
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| The Prediction of a marine monitoring two-body unmanned surface vehicle motion Characteristics changed by wind force |
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guansheng,hezhiqiang,jinjiucai and wangyanfeng
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Key Laboratory of Marine Science and Numerical Modeling, The First Institute of Oceanography, State Oceanic Administration,715th Research Institute of China Shipbuilding Industry Corporation,Key Laboratory of Marine Science and Numerical Modeling, The First Institute of Oceanography, State Oceanic Administration,Key Laboratory of Marine Science and Numerical Modeling, The First Institute of Oceanography, State Oceanic Administration
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| Abstract: |
| - Small two-body marine monitoring Unmanned Surface Vehicles (USV) sail smoothly with larger deck and shallower draft compared with other common ships. They can be widely used in water environmental monitoring, engineering surveying, security patrolling etc. However, the motion characteristics of two-body ship will be significant while under the influence of complicated hydrodynamic environment and strong wind forces. In this paper, we have studied the wind influence on the USV, with wind forces introduced to the dynamic model. Our model is used to predict the USV’s motion characteristics induced by wind forces. The simulation result is fairly consistent with observed data. The model is proved to be useful for the study of control algorithm of USV’s adaptability under different wind environment. It can further improve USV’s working capability and control accuracy. |
| Key words: two-body unmanned surface vehicle wind effects motion characteristics simulation and prediction |