基于纵荡速度的非线性变参数无人艇模型  

Nonlinear Parameter-Varying Unmanned Vehicle Model Based on Surge Velocity

作　　者：黄宴委[1] 闫景辉 HUANG Yanwei;YAN Jinghui(College of Electrical Engineering and Automation,Fuzhou University,Fuzhou 350116)

机构地区：[1]福州大学电气工程与自动化学院,福州350116

出　　处：《系统科学与数学》2024年第3期595-609,共15页Journal of Systems Science and Mathematical Sciences

基　　金：国家自然科学基金(51977040);福建省科技引导项目(2019H0007);福州大学研究生教改项目(00489444)资助课题。

摘　　要：无人艇的水动力学具有强非线性与时变性,为便于转艏控制,提出一种基于纵荡速度的非线性变参数(nonlinear parameter varying,NPV)模型.首先从水动学机理出发,引入Ross阻尼模型,建立三自由度的非线性机理模型.其次,在机理模型基础上,将非线性项隐含于线性结构中,使模型构成类线性结构,再忽略数值较小的横荡阻尼项,并以纵荡速度为变参数,建立基于纵荡速度的NPV模型.NPV模型结构简单,具有非线性项与变参项,为Norrbin非线性模型与线性变参数(linear parameter varying,LPV)模型的扩展形式.最后,由仿真和实验验证了NPV模型能够很好地刻画无人艇转艏运动的非线性与时变特性.The hydrodynamic characteristics of USV are highly nonlinear and time-varying.In order to facilitate the control of the yaw,a nonlinear parameter-varying(NPV)model based on the surge velocity is proposed.Firstly,a nonlinear mechanism model with three degrees of freedom is established by introducing Ross damping model from the hydrodynamic mechanism.Secondly,on the basis of the mechanism model,the nonlinear term is implied in the linear structure to make the model form a linear structure.Then,the sway damping term with small value is ignored,and the surge velocity is taken as the variable parameter to establish the NPV model based on the surge velocity.The NPV model has a simple structure with nonlinear and variable parameter terms,which is an extended form of the Norrbin nonlinear model and linear parameter-varying(LPV)model.Finally,simulations and experiments show that the NPV model can well describe the nonlinear and time-varying characteristics of the yaw motion of the USV.

关 键 词：无人艇 水动力学建模 非线性时变特性 非线性变参数模型 

分 类 号：U664.82[交通运输工程—船舶及航道工程]