Patent ID: 11921505
Assignee: WUHAN UNIVERSITY OF TECHNOLOGY
Field: Control (Instruments)
Classification: CPC G  B  H | IPC B  G  H

Claim 2:
3. The method according to claim 2, wherein the improved mathematical model suitable for mean square stability analysis is, {
  
   
    
     
      
       
        u
        .
       
       =
       
        
         1
         
          m
          
           1
           ⁢
           1
          
         
        
        ⁢
        
         (
         
          
           
            m
            
             2
             ⁢
             2
            
           
           ⁢
           v
           ⁢
           r
          
          -
          
           
            d
            
             1
             ⁢
             1
            
           
           ⁢
           u
          
          +
          
           τ
           1
          
         
         )
        
       
      
     
    
    
     
      
       
        v
        .
       
       =
       
        
         1
         
          m
          
           2
           ⁢
           2
          
         
        
        ⁢
        
         (
         
          
           
            m
            
             1
             ⁢
             1
            
           
           ⁢
           u
           ⁢
           r
          
          -
          
           
            d
            
             2
             ⁢
             2
            
           
           ⁢
           v
          
         
         )
        
       
      
     
    
    
     
      
       
        r
        ˙
       
       =
       
        
         1
         
          m
          
           3
           ⁢
           3
          
         
        
        ⁢
        
         (
         
          
           
            (
            
             
              m
              
               2
               ⁢
               2
              
             
             -
             
              m
              
               1
               ⁢
               1
              
             
            
            )
           
           ⁢
           u
           ⁢
           v
          
          -
          
           
            d
            
             3
             ⁢
             3
            
           
           ⁢
           r
          
          +
          
           τ
           3
          
         
         )
        
       
      
     
    
    
     
      
       
        
         s
         ˙
        
        1
       
       =
       
        u
        +
        
         
          s
          2
         
         ⁢
         r
        
       
      
     
    
    
     
      
       
        s
        2
       
       =
       
        v
        -
        
         
          s
          1
         
         ⁢
         r
        
       
      
     
    
    
     
      
       
        
         s
         ˙
        
        3
       
       =
       r
      
     
    
   
   ,
  
 

wherein m11, m22, m33 representing hull inertial parameters, u, v respectively representing linear velocities of surging and swaying of the three degrees of freedom of the unmanned surface vehicle, r representing an angular velocity of yawing of the three degrees of freedom of the unmanned surface vehicle, d11, d22, d33 representing hydrodynamic damping coefficients, τ1, τ3 respectively representing a longitudinal propulsive force and a steering torque, and s1, s2 and s3 representing coordinates after transformation.