槽道型无人双体船操纵性预报研究  

Maneuverability prediction of channel-type unmanned catamarans

作　　者：刘冬雨 高霄鹏[1] 霍聪 LIU Dong-yu;GAO Xiao-peng;HUO Cong(Naval University of Engineering,Wuhan 430000,China)

机构地区：[1]海军工程大学,武汉430000

出　　处：《船舶力学》2024年第4期501-512,共12页Journal of Ship Mechanics

基　　金：舰载水面无人船型技术研究(20190190)。

摘　　要：路径规划是无人艇实现自主航行的关键技术之一,良好的路径规划方法对无人艇的智能化发展具有重要意义。而在已有的路径规划研究中,并未考虑无人艇的操纵性能。为了使规划的路径具有较短的航行时间、路径长度以及较优的路径跟踪能力,需将无人艇自身的操纵性能与路径规划算法相融合。为精确地预测船舶的操纵性能,本文以槽道型无人双体船为研究对象,通过CFD技术开展斜航、纯横荡和纯艏摇三种平面运动机构仿真试验,使用不同水动力模型对仿真结果进行拟合,计算得到相应的水动力导数。同时采用MMG模型,建立船舶操纵运动数学模型,模拟无人双体船的回转运动和Z形运动,分析不同水动力模型对仿真结果的影响,并实现无人双体船的操纵性预报。Path planning is one of the key technologies for autonomous navigation of unmanned vehicles.A good path planning method is of great significance to the intelligent development of unmanned vehicles.In the existing path planning research,the maneuvering performance of unmanned vehicles is not considered.In order to make the planned path have shorter voyage time,shorter path length and better path tracking ability,it is necessary to combine the maneuvering performance of unmanned vehicles with the path planning algo⁃rithm.In order to accurately predict the ship maneuverability,the channel-type unmanned catamaran was taken as the research object,and simulation tests of three planar motion mechanisms were carried out by CFD technology.Simulation results were fitted with different hydrodynamic models,and corresponding hydro⁃dynamic derivatives were calculated.The MMG model was used to establish a mathematical model of ship maneuvering motion to simulate the turning motion and Z-shape motion of the unmanned catamaran.The in⁃fluence of different hydrodynamic models on the simulation results was analyzed,and the maneuvering pre⁃diction of the unmanned catamaran was realized.

关 键 词：MMG模型 水动力导数 操纵性能 无人双体船 

分 类 号：TV131.2[水利工程—水力学及河流动力学]