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wm
水面无人艇(Unmanned Surface Vehicle)的航迹控制对提升无人艇艇载设备
侦察观测效果以及多任务作战能力具有十分ffi要的意义。由于受到风、浪、流等
干扰环境影响,水而无人艇将产生六自由度的操纵运动,具有很强的非线性和随
机性。这将致使无人艇的航向航迹及姿态控制具有一定的难度,因此需要对水面
无人艇建立六自由度操纵模型,更好地实现对无人艇的控制。
采用经典的MMG分离建模思想,依托浜本刚实提出的水平附体坐标系,建
立水面无人艇的六自由度操纵运动方程。分析无人艇艇体、桨、舵所受的流动动
力和力矩,分别建立流体惯性力模型、流体粘性力模型、螺旋桨推力模型及舵机
模型。
考虑海况和气象环境的影响,分析风、浪作用于无人艇上的T扰力。将随机
风简化为定常风,建、风的干扰力数孕模型 采用傅汝德-克茁洛火(Froude - Krylov)
假设,研究规则波中无人艇受到的T扰力,述立波浪的r扰力数学投型。
在数学模型的站础上述立?于MATLAB/Simulink的仿i t校型,并进行典型的
冋转试验,分别分析不同海况下的无人艇的问转情况。无人艇丨 丨主航行时,在不
同海况下,绘制出其航速及船摇炻的变化曲线。通过总结分析,推论出多种海况
(The course and track control of unmanned surface vehicle (USV) is important to
improve the observational effect of the recon reconnaissance equipment and the multi-
-mission operational capability. Because of the effects of wind, wave and flow, the
unmanned surface vehicle will produce six degrees of freedom movement which has
randomicity and nonlinearity. It is difficult of the course, track and attitude control of
unmanned surface vehicle, so six degrees of freedom movement model is built for the
better control of unmanned surface vehicle.
According to the classic MMG s separated modeling theory and the horizontal
body axes system which was developed by Hamamoto, this thesis describes a six
degrees of freedom motion equation of unmanned surface vehicle. Through analyzing
the hydrodynamic force and moment, the fluid inertia force model, the fluid viscous
force model, propeller thrust model and steering gear model are built respectively.
Considering )
- 2016-03-29 10:22:42下载
- 积分：1
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qga
量子遗传算法的源程序，很实用，很经典，适合入门
(Quantum genetic algorithm source code, very practical, very classic, suitable for entry)
- 2011-01-08 20:05:25下载
- 积分：1
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orginal
watermarking with informed embedding
- 2013-12-23 22:55:37下载
- 积分：1
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curvelet-usfft
曲线波变换用于图像去噪可以很好的解决物体沿曲线边缘的特性，本算法基于USFFFT，可以更高效的进行去噪(Curvelet transform for image denoising can solve problems well along the curve edge features, the algorithm based on USFFFT, can be more efficient denoising)
- 2021-02-25 17:49:38下载
- 积分：1
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IMM-MATLAB
MATLAB对IMM算法的仿真，基于CV,CA模型(MATLAB simulation of the IMM algorithm, based on CV, CA Model)
- 2011-05-01 18:26:33下载
- 积分：1
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pv1
光伏电池simulink仿真模型，光伏电池IV和PV特性(Simulink simulation model of the photovoltaic cells, photovoltaic cells IV and PV characteristics)
- 2020-12-11 19:09:18下载
- 积分：1
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ex_kaiser
kaiser窗函数的用法，这是一个资料上的，经过验证了，希望帮得到你。(usage of the kaiser window function, which is an information, after the verification, and hope to help get you.)
- 2012-06-15 10:51:40下载
- 积分：1
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project2_code
这是matlab编写的Logistic Discrimination 和 KNN分类器代码。这两个算法的实现参考了《Introduction to Machine Learning》。 除此在代码中还包含了调用matlab自带的libsvm的例程。rumLogisticDiscrimination， runKnn， runSvm分别对这3个算法在数据集liver_train_data上的分类准确度进行测试。测试结果在code report.doc 中有简要描述。(This code implements the Logistic Discrimination and KNN classifier. The implementation is according to the text book <<Introduction to Machine Learning>>. We have also compared the classification accuracy among Logistic Discrimination, KNN and SVM on data set liver_train_data. A brief test report is included as well. Enjoy :).)
- 2015-03-09 21:11:54下载
- 积分：1
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contourlet_toolbox
说明： 一种MGA方法(Contourlet变换)程序包，相信对从事基于图像表示理论方面的朋友一定有用！(A kind of MGA method (Contourlet transform) package, I believe in the theory of image-based friends that must be useful!)
- 2010-04-26 14:57:09下载
- 积分：1
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Evolution-Strategies
Evolution Strategies
minimizes the objective function designated in ff
- 2013-09-02 19:05:50下载
- 积分：1
