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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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35738608fenchatu
this is for non linear sliding mode
- 2010-06-01 01:47:31下载
- 积分：1
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AP
AP算法源码代 运行可以画出图 AP算法源码代 运行可以画出图(AP algorithm source code to run on behalf of AP algorithm source code can be drawn diagram can be drawn map on behalf of running)
- 2013-08-15 14:56:28下载
- 积分：1
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convex-analysis-nonlinear-opti
这是讲凸优化与非线性优化的很好的书。国外大牛力作，做移动通信、金融、运筹的同学可好好看此书(This is a book on convex optimization and non-linear optimization which contains many detailed examples. It can be useful for Who are major in wireless communication,financial and operation research)
- 2011-12-13 15:42:08下载
- 积分：1
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steepest-descend-Newton
最速下降法语牛顿发的结合求解最优值，并且还可以动画演示(The steepest descend French Newton hair of combining solution of optimal value And animation
)
- 2012-04-27 20:14:03下载
- 积分：1
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LearningProgrammingusingMATLAB
This book is intended for anyone trying to learn the fundamentals of computer programming.
The chapters lead the reader through the various steps required for writing a program, introducing
the MATLABr constructs in the process. MATLABr is used to teach programming
because it has a simple programming environment. It has a low initial overhead which allows
the novice programmer to begin programming immediately and allows the users to easily debug
their programs. This is especially useful for people who have a “mental block” about computers.
Although MATLABr is a high-level language and interactive environment that enables
the user to perform computationally intensive tasks faster than with traditional programming
languages such as C, C++, and Fortran, the author shows that it can also be used as a programming
learning tool for novices. There are a number of exercises at the end of each chapter
which should help the users become comfortable with the language.
- 2009-09-30 20:32:12下载
- 积分：1
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matlab-drawing
matlab 绘图
绘图函数:plot,plot3,mesh 函数的用法简单图形标注，简单颜色设定(Drawing matlab function: plot, plot3, mesh function marking the use of simple graphics, simple color settings)
- 2009-07-10 23:56:49下载
- 积分：1
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libsvm_matlab
说明： 一个MATLAB的支持向量机程序，并包含几个使用实例(A MATLAB support vector machine procedures, and contains several use cases)
- 2010-05-04 10:25:10下载
- 积分：1
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Bounding-Box
无线传感器Bounding box算法matlab代码。(Wireless sensor Bounding box algorithm matlab code.)
- 2013-04-28 14:56:44下载
- 积分：1
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fftsiji
用matlab编写的实现四极照明的DOE设计代码(The quadrupole illumination using matlab DOE design code)
- 2013-05-14 23:34:06下载
- 积分：1
