多自由度无人船系统建模

Modeling of multi degree of freedom unmanned ship system

本文通过对多自由度下无人船的运行情况分析,提出了多自由度的无人船建模方法,主要是通过分析建立无人船的六自由度的MMG分离型模型,并依次减少一个自由度,推导出了其五自由度、四自由度与三自由度下的数学运动模型,解决了无人船在各个自由度下的建模问题。在建模时依次讨论了各个自由度下无人船舵、螺旋桨、粘性流体动力的力与力矩模型,以及其受到的风、浪、流的干扰模型,得出了比较完整统一的各个自由度船体数学运动模型。

Based on the analysis of the operation of unmanned ship with multiple degrees of freedom,this paper puts forward a multi degree of freedom unmanned ship modeling method,mainly through the analysis and establishment of six degrees of freedom MMG separated model of unmanned ship,and reduces one degree of freedom in turn,deduces the mathematical motion models of five degrees of freedom,four degrees of freedom and three degrees of freedom,and solves the problems of each degree of freedom Under the modeling problem.In modeling,the force and moment models of rudder,propeller and viscous fluid dynamics of unmanned ship under various degrees of freedom,as well as the interference model of wind,wave and current,are discussed in turn,and a relatively complete and unified mathematical motion model of each degree of freedom is obtained.