摘要
可回转多桨推进因机动性好、控制效率高成为无人船重要的推进方式,但其运动控制相对复杂,须对其运动模型进行深入研究。在可回转双桨电力推进船舶的研究基础上,根据船舶分离型运动建模方法,分析可回转四桨推进无人船的运动规律及其在纵荡、横荡和艏摇三个自由度上的作用力,建立可回转四桨船舶的推进与回转运动模型,导出无人船运动线性响应方程。选取了4种典型的螺旋桨组合工况:①仅船首两桨工作;②仅船尾两桨工作;③四桨同时工作;④仅右舷两桨工作。通过计算机数值仿真,对比了不同工况下无人船的回转能力。仿真结果表明,无人船在工况④下的回转能力最佳,回转半径约为8 m;在工况①下的回转能力最差,回转半径约为50 m。最后通过试验验证了该运动模型的有效性。
The motion law of a USV with 4 azimuth thrusters and the forces on the USV in 3 dimensions(surge, swaying and yaw) are analyzed and the model of the motion is built. The linear response equation of the USV is derived. Fore typical operation modes of the thrusters are simulated: 1 only two bow thrusters operating, 2 only two stern thrusters operating, 3 four thrusters all operating, 4 only two starboard thrusters operating. The tuning performance is focused on in the investigation. The simulations indicate that the best turning performance is achieved in operation mode number 4, with turning radius of 8 m. In contrast, the turning radius for operation mode number 1 is as worse as 50 m.
作者
朱巡
高迪驹
刘志全
吴国栋
ZHU Xun;GAO Diju;LIU Zhiquan;WU Guodong(Key Laboratory of Marine Technology and Control Engineering,Ministry of Transport,Shanghai Maritime University,Shanghai 201306,China;Shanghai Marine Equipment Research Institute,Shanghai 200031,China)
出处
《中国航海》
CSCD
北大核心
2022年第1期133-138,共6页
Navigation of China
基金
国家自然科学基金(52001197)。
关键词
可回转多桨
无人船
船舶运动响应方程
建模
multiple azimuth thruster installation
USV
ship motion response equation
modelling
