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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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san123
it is code for matlab..........................
- 2009-11-17 02:02:25下载
- 积分：1
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antcolonyalgorithm
蚁群算法LF解决聚类问题,程序文章比较全面，已测试！！！(LF ant colony algorithm to solve clustering problems, the article is more comprehensive program has been tested! ! ! )
- 2010-10-02 17:42:16下载
- 积分：1
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asynchronousmotormatlabsimulink
基于Matlab的异步电机的起动、控制、调速等的仿真(asynchronous motor matlab simulink)
- 2010-05-21 22:10:43下载
- 积分：1
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QPSK_Modulation
digital modulation - QPSK
- 2012-05-08 17:48:43下载
- 积分：1
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Tylor
说明： 阵列信号处理，用于产生和波束的泰勒加权子程序(Array signal processing, for generating and beam routines Taylor weighted)
- 2020-11-26 16:49:33下载
- 积分：1
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081119
说明： 基于MATLAB平台的分形图形的模拟
本文介绍了分形几何中的Sierpinski地毯和Vicsek图形，讨论了MATLAB平台下采用向量化
编程技术绘制Sierpinski地毯和Vicsek图形的问题，并给出了向量化程序和运行结果。(MATLAB-based platform for the simulation of fractal graphics In this paper, fractal geometry of the Sierpinski carpet and Vicsek graphics, discussed under the MATLAB platform programming techniques used to quantify the Sierpinski carpet and Vicsek drawn graphics, and gives the procedure to quantify and operating results.)
- 2009-08-09 13:05:12下载
- 积分：1
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my_Pls_Pred3
基于交叉检验的PLS算法，400组样本建模，200组样本检验(based on the cross-examination of the PLS algorithm, 400 sample modeling, testing 200 samples Group)
- 2006-12-23 19:49:58下载
- 积分：1
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project
Visual Cryptography is based on cryptography
where n images are encoded in a way that only the human
visual system can decrypt the hidden message without any
cryptographic computations when all shares are stacked
together. This paper presents an improved algorithm based
on Chang’s and Yu visual cryptography scheme for hiding
a colored image into multiple colored cover images. This
scheme achieves lossless recovery and reduces the noise in
the cover images without adding any computational
complexity.
- 2015-03-13 14:51:23下载
- 积分：1
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Power-Optimization
改进差分进化算法在电力系统无功优化中的应用(Application of Improved Differential Evolution Algorithm in Reactive Power Optimization)
- 2021-04-13 10:28:56下载
- 积分：1
