Mathematical Model of the Surface Mini Vessel

Abstract

Problems of analysis and movement simulation of mobile robots (surface mini vessel in our case) require complete nonlinear multivariable mathematical model that allows to consider nonlinear cross-relationships between various components of rotary and forward movement. Such system is necessary for synthesis of robot control system and its development is presented in the paper. Besides mathematical model, accurate estimation of aerial and / or hydrodynamic influence from the continuous medium is also required for the synthesis of adequate control system. However, calculation of these influences is a very time-consuming task from the computational standpoint. The solution to this problem is in development of such calculation procedures that take in to account specific characteristics of the interaction between a carrier and a solid medium - single-phase or multi -- that greatly accelerates the process of calculation at the algorithmic level. Such procedure for the surface mini vessel is presented in the paper. Mathematical model and calculation procedure are followed by the numerical simulation of movement for the vessel, managed by position-path regulator. Experiment was conducted at small angles of heel and with the presence of sea waves on the basis of proposed mathematical model and algorithms.