Motion Simulation Of Unmanned Surface Vehicle Under Wind, Wave And Current Circumstances

Various motions of unmanned surface vehicle will be operated when it is in task. Different from ordinary surface ships, unmanned surface vehicle has to move not only in horizontal plane, but also in vertical plane. Much work has been done on motion simulation of the four degrees of freedom, but only in unbounded water. This paper is a study about unbounded water and other special circumstances—the four degrees of freedom maneuverability of a unmanned surface vehicle is studied, especially in the horizontal and vertical planes. The maneuverability variation of unmanned surface vehicle is analyzed under wind, current and wave circumstances.This paper is a practical application of modern computer technique to the maneuverability research of unmanned surface vehicle. The three aspects covered in it are as follows:1. Mathematical model of unmanned surface vehicle for motion simulation in four degrees of freedom is founded.2. The way to measure linear hydrodynamic coefficients by the experiment of model maneuverability is discussed, and also the way to calculate the nonlinear coefficients by the microtomy of the boat is discussed. The way to measure hydrodynamic coefficients is discussed with the application of the planar motion mechanism in a water circulating channel under variable conditions.3. Prediction of the maneuverability and the motion simulation of the boat are done with the hydrodynamic coefficients which were defined before.The content of this paper is an important component of the integrated simulation system of unmanned surface vehicle, it provides a useful reference to design the unmanned surface vehicle control system.