The invention discloses a method for determining the maximum navigational speed based on a sail attack angle of an unmanned sailboat. The method comprises the following steps: building a sailboat model by taking the internal relation between a sail acting force coefficient and a sail attack angle as the basis, comprehensively considering the sail boosting force and side thrust, and combining target sailboat parameters; synthesizing rudder stress factors to establish a rudder stress model; and establishing a sailboat motion model by using a response type three-degree-of-freedom ship manipulation separation (MMG) method, so that conditions required by an unmanned sailboat to reach the maximum navigational speed under different relative wind direction angles are calculated. By means of the method, a strategy for the sail attack angle of the target sailboat at the maximum navigational speed is obtained, and a more reliable guarantee is provided for the unmanned sailboat to stably sail at the maximum navigational speed in expected course.
本发明公开了一种基于无人帆船风帆攻角确定最大航速的方法,以风帆作用力系数与风帆攻角内在联系为基础,综合考虑风帆助推力和侧推力,结合目标帆船参数,建立帆船模型;综合舵受力因素,建立舵受力模型;利用响应型三自由度船舶操纵分离(MMG)方法建立帆船运动模型,从而计算无人帆船在不同的相对风向角下达到最大航速需要的条件。利用此获得目标帆船的最大航速下风帆攻角的策略,为无人帆船在期望航向上以最大航速稳定地航行提供了更加可靠的保障。
Method for determining maximum navigational speed based on sail attack angle of unmanned sailboat
一种基于无人帆船风帆攻角确定最大航速的方法
2021-09-17
Patent
Electronic Resource
Chinese
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