高速无人艇的运动建模及其视景仿真  

Motion modeling and visual simulation for high-speed unmanned surface vehicle

作　　者：吴恭兴 邹劲 孙寒冰 田守东 

机构地区：[1]哈尔滨工程大学水下机器人技术国防科技重点实验室,哈尔滨150001

出　　处：《大连海事大学学报》2010年第1期9-13,18,共6页Journal of Dalian Maritime University

基　　金：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

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.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 equation for the USV was established.The system architecture for the USV visual simulation was designed,and the maneuverability simulation was carried out for the USV.The results show that the proposed model can better reflect the maneuverability of the USV under ocean environment.

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 

分 类 号：U661.33[交通运输工程—船舶及航道工程] TP391.9[交通运输工程—船舶与海洋工程]