高技术船舶_水面无人艇.pdf

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1、HarbinEngineeringUniversity高技术船舶与海洋工程中的控制问题授课教师：刘志林1HarbinEngineeringUniversity前言图1.1ARTEMIS自主执行地形监测工作2HarbinEngineeringUniversity前言图1.2自主水面双体船ACES3HarbinEngineeringUniversity前言图1.3欠驱动无人水面艇CARAVELA4HarbinEngineeringUniversity前言OwlOwlMKII5OwlMKIIOwlMKIIHarbi

2、nEngineeringUniversity前言图1.5斯巴达侦察兵高速水面无人艇6HarbinEngineeringUniversity前言以色列研制的“保护者”水面无人艇7HarbinEngineeringUniversity前言以色列Elbit系统公司的“黄貂鱼”水面艇以色列的“银色马林鱼”水面艇8HarbinEngineeringUniversity前言英国的“芬里厄”水面高速水面艇9HarbinEngineeringUniversity前言Rodeur罗勒10HarbinEngineeringUni

3、versity前言MiniVAMPArgonaute的USVs11HarbinEngineeringUniversity前言UMV-HUMV-O12HarbinEngineeringUniversity前言VeersSTIPS2VeersSTIPS13HarbinEngineeringUniversity前言VeersMMSV3;(See-Wiesel)14HarbinEngineeringUniversity前言加拿大梭鱼（CanadianBarracuda）15HarbinEngineeringUnive

4、rsity前言“天象一号”无人船16HarbinEngineeringUniversity前言17HarbinEngineeringUniversity一、水面艇的运动模型(mmu)(mmvr)XXXxyPHW(mmv)(mmur)YYYyxPHW(IJ)rNNNzzzzPHWxucosvsin0yusinvcos0r18HarbinEngineeringUniversity一、水面艇的运动模型19HarbinEnginee

5、ringUniversity一、水面艇的运动模型附加质量mddm[0.39811.97(13.73)2.89(11.13)CCxbb100BBL2dLd0.175()(10.541)1.107C]bBBBBdLmm[0.8820.54(11.6)0.156(10.673)CCybbBBdLdLdd0.826(10.678)0.638C(10.619)]bBBBBBBm2LJL[3376.85C(10.784C)3.43(10.63C)]zzbbb100B20Harb

6、inEngineeringUniversity一、水面艇的运动模型横向流体动力22XXuuXvrXvXrHuuvrvvrr1BLXLd(0.40.006)vv2LdX(1.11C0.07)mvrbyX1Ld2Lrr2d21HarbinEngineeringUniversity一、水面艇的运动模型纵向流体动力YY(,)vrY(,,)vrHH0H1NN(,)vrN(,,)vrYxHH0H1HGYYvYrYvvYvrYrrH0vrv

7、vvrrr22NNvNrNvrNvrNrrH0vrvvrvrrrr22HarbinEngineeringUniversity一、水面艇的运动模型1B'YLdV(1.4C)(10.67)vb22L1'YLdV(10.80)r241d1'YvvLd(0.0482656.293(1Cb))NLdV2(10.27)2Bv2l12dvYLd(0.37911.28(1C))vrb2B122'1dNLdV(0

8、.54)(10.3)YLd3(0.00450.445(1C))r2rrb2BN1Ld4(0.08058.6092(CB)236.9816(CB))3rrbb2LL13BB2B3NLd(6.0856137.4735(C)1029.514(C)2480.6082(C))vvrbbb2LLL1d4NLd(0.06350.04414(C))