摘要
依据船舶理论中MMG分离建模的思想,通过对双喷水推进无人两栖平台的纵向及回转运动特性进行分析,建立了无人两栖平台的三自由度操纵模型,进而推导出了纵向运动以及回转运动的操纵响应方程,最后以某型双喷水推进无人两栖平台为例进行仿真实验,结果表明通过对两侧喷水推进器水门开度的协调控制可以较好地实现对预定航向的稳定跟踪,验证了纵向及回转运动操纵响应方程的正确性和有效性,为无人两栖平台进一步的路径和轨迹跟踪控制提供了依据。
According to the MMG＇s separating modeling method, a 3-DOF motion model of twin-propeller unmanned amphibious platform is developed by analyzing the platform＇s rotation characteristics, and the maneuvering response function is also established after then. In the end, a simulation is carried out on a certain twin-propeller unmanned amphibious platform, and the result shows that it is available for unmanned amphibious platform to track a predictive orientation by altering the twin propellers＇ openings, which illustrates the accuracy and effectiveness of the maneuvering response functior~
出处
《机械设计与制造》
北大核心
2015年第9期37-40,44,共5页
Machinery Design & Manufacture
基金
军内计划项目(2014ZB01)
关键词
无人两栖平台
双喷水推进
操纵响应方程
航向跟踪
Unmanned Amphibious Platform
Twin-Propulsion
Maneuvering Response Function
Orientation Trajectory
