水产养殖无人导航明轮船运动仿真与试验  

Motion Simulation and Test of Aquaculture Unmanned Navigation Paddlewheel Vehicle

作　　者：洪剑青[1,2] 赵德安[1] 孙月平[1] 张军[1] 刘星桥[1] 

机构地区：[1]江苏大学电气信息工程学院,镇江212013 [2]镇江市高等专科学校机械系,镇江212003

出　　处：《农业机械学报》2016年第3期124-130,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：江苏省'十二五'农业支撑项目(BE2013402);江苏高校优势学科建设工程项目(PAPD;No.6-2011);江苏省高校研究生科研创新计划项目(CXLX12_0661);镇江市重点研发(现代农业)计划项目(NY2015022)

摘　　要：无人导航明轮船依据目前经验公式计算的明轮推力和实际推力偏差较大,不利于控制系统的设计,为此给出明轮驱动力计算方法,建立明轮船水动力仿真模型,并据此进行了正航和回转仿真。为验证模型,在试验艇上安装高精度GPS设备及通信装置,在设定明轮船航速0.4 m/s、左明轮转速60 r/min、右明轮转速40 r/min条件下进行了试验,测量并记录了航行轨迹数据,经GPS设备测量得到的回转直径为3.2 m。仿真和试验结果表明,通过控制明轮可以使明轮船实现正航和回转运动,具有较好的低速机动性和操纵性。Those works of aquaculture,such as cleaning aquatic weed,feeding,and increasing the oxygen content in the water body and so on were tedious and burdensome. China＇s aging population led to labor tensions,high labor costs. In order to solve the employment problem of the aquaculture industry,reduce labor costs and improve labor efficiency,a universal water surface operating platform for the aquaculture industry-unmanned navigation paddlewheel vehicle was proposed. The characteristics of the boat motion were analyzed; the method for calculating the paddlewheel driving force was gave according to the hydrodynamic theory and Newton＇s law,which overcame larger error by using the old original formula. The hydrodynamic equations of the paddlewheel vehicle were constructed, based on the characteristics of paddle vehicle movement and Fossen ＇s theory of ship motion model,and then was simulated by computer and experimented by experimental boat. With an installed high-precision GPS equipments and communications equipment on the experimental boat,sailing trajectory data was measured and recorded. Boat was set at speed of 0. 4 m / s,the left paddle of 60 r / min,and the right paddle of40 r / min conditions,turning diameter measured by the GPS device was 3. 2 m. The results of simulation and experiment show that the paddlewheel could make the boat realize ahead and turning motion and the boat has better mobility at low speed,the paddlewheel vehicle is very suitable for aquaculture. Digital model provided a way for the study of paddlewheel vehicle motion control and system design,optimization in the future.

关 键 词：水产养殖 明轮船 运动模型 导航 仿真 

分 类 号：S969.19[农业科学—水产养殖] U664.32[农业科学—水产科学]