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simulation and test of an agricultural unmanned airboat maneuverability model

International Journal of Agricultural and Biological Engineering 2017年第1期10卷 88-96页

作者： Yufei Liu Noboru Noguchi Roshanian Fard Ali Graduate School of Agriculture Hokkaido UniversityKita-9Kita-kuSapporoHokkaido 060-8589Japan Research Faculty of Agriculture Hokkaido UniversityKita-9Kita-kuSapporoHokkaido 060-8589Japan

The objective of this research was to determine the Nomoto model maneuverability indices of an agricultural unmanned airboat which was developed to perform autonomous weeding and paddy growth monitoring in a paddy field.A global positioning system compass and an inertial measurement unit were attached on the airboat body to record the position,heading and angular *** zig-zag experiments were adopted to obtain the maneuverability *** Matlab-based maneuvering simulations were conducted and compared with field experimental data of circular motion test and sinusoidal running test,*** results showed that the trace error was at sub-meter level,which expounds the validity of the obtained maneuvering *** proposed Nomoto model maneuverability indices can be used to improve the airboat precise automatic control in paddy field.

关键词： Nomoto model unmanned airboat maneuvering simulation GPS compass IMU

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Ship maneuvering prediction based on virtual captive model test and system dynamics approaches

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Journal of Hydrodynamics 2022年第2期34卷 259-276页

作者： Peng Du Lu Cheng Zi-jian Tang A.Ouahsine Hai-bao Hu Y.Hoarau Research and Development Institute of Northwestern Polytechnical University in Shenzhen Shenzhen518057China School of Marine Science and Technology Northwestern Polytechnical UniversityXi’an710072China Laboratoire Roberval UT Compiègne-Sorbonne UniversitéCompiègneFrance ICUBE Laboratory University of StrasbourgStrasbourgFrance

The maneuvering simulation is carried out through the continuous captive model test and the system dynamics *** mathematical maneuvering group(MMG)model is implemented in the virtual captive model tests by using the computational fluid dynamics(CFD)*** oblique towing test(OTT),the circular motion test(CMT),the rudder force test and the open water test are performed to obtain the hydrodynamic derivatives of the hull,the rudder and the propeller,and the results are validated by experimental *** designing the tests,the number of cases is reduced to a low level,to allow us to evaluate the maneuverability with a low cost and in a short *** these obtained coefficients,the system-based maneuvering simulations are conducted to calculate the position and the attitude of the ship,with results in agreement with the free running test *** procedure can also be used for other hull forms,with reduced workload and with convenience for maneuvering simulation tasks.

关键词： maneuvering simulation captive model test(CMT) system dynamics computational fluid dynamics(CFD) Hydrodynamic derivatives

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