一型两栖无人概念艇的横摇特性初步研究  

Preliminary Study on the Rolling Characteristics of an Amphibious Unmanned Vehicle

作　　者：刘福伟[1] 徐海通[1] 杨松林[1] 

机构地区：[1]江苏科技大学船舶与海洋工程学院,江苏镇江212003

出　　处：《中国舰船研究》2014年第1期46-51,共6页Chinese Journal of Ship Research

基　　金：国家自然科学基金资助项目(51379094)

摘　　要：多栖化是无人艇的未来发展趋势之一。提出一型两栖无人艇的概念艇型,其空气螺旋桨布置采用四旋翼飞行器的布置,水面部分采用类似五体船的形式。制作模型并进行一系列的横摇试验,同时还基于系统辨识方法研究不同侧体位置布置方案下的横摇特性。通过比较,验证了辨识方法的可靠性和数学模型的正确性,得到了该艇型的横摇特性在不同布置方案下的变化规律。Multi-habitat is one of the tendencies for the future development of unmanned vehicles. This pa-per presents a novel concept of amphibious unmanned vehicles,whose air propeller arrangement corre-sponds to the arrangement of four-rotor aircrafts,and the above-water design is in the form similar to thatof pentamarans. Then,a series of rolling tests are performed for the model,and the study of its rolling char-acteristic under different side hull positions is conducted based on the system identification method. The re-sults successfully verify the reliability of the identification method as well as the correctness of the mathe-matical model.

关 键 词：两栖无人艇 船舶运动 系统辨识 非线性阻尼 

分 类 号：U674.91[交通运输工程—船舶及航道工程]