CAJ | 학술논문

为探讨基于喷水推进方式的无人艇运动建模及其视景仿真方法,根据船舶操纵性和快艇动力学的基本理论,建立无人艇的动力学模型,并根据喷水推进器的倒车原理,提出分流系数法来分析喷嘴和倒车斗的受力,推导出相应的表达式,建立无人艇的六自由度操纵性数学模型.设计基于该模型的无人艇视景仿真的体系结构,并进行各种操纵性运动的仿真试验.结果表明,该运动模型能够较好地反映无人艇在海洋环境中的操纵性.
위탐토기우분수추진방식적무인정운동건모급기시경방진방법,근거선박조종성화쾌정동역학적기본이론,건립무인정적동역학모형,병근거분수추진기적도차원리,제출분류계수법래분석분취화도차두적수력,추도출상응적표체식,건립무인정적륙자유도조종성수학모형.설계기우해모형적무인정시경방진적체계결구,병진행각충조종성운동적방진시험.결과표명,해운동모형능구교호지반영무인정재해양배경중적조종성.
To discuss the motion modeling and visual simulation methods of high-speed unmanned surface vehicle (USV) pro-pelled by water-jet, a USV dynamic model was established ac-cording to the basic principles of ship maneuverability and yacht dynamics. Then the deflecting coefficient method was presented to analyze the force of steering nozzle and astern deflector ac-cording to the principle of astern deflector, and the expression of the water-jet thrust was deduced, thereby the six-degree of free-dom maneuvering motion equation for the USV was established. The system architecture for the USV visual simulation was de-signed, and the maneuverability simulation was carried out for the USV. The results show that the proposed model can better reflect the maneuverability of the USV under ocean environ-ment.