Podded Propulsion Unmanned Surface Vehicle Model Identification Based on Field Experiments
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- 英文论文题名：Podded Propulsion Unmanned Surface Vehicle Model Identification Based on Field Experiments
- 论文作者：Dongdong Mu ; Guofeng Wang ; Yunsheng Fan ; Yiming Bai
- 英文论文作者：Dongdong Mu ; Guofeng Wang ; Yunsheng Fan ; Yiming Bai ; School of Information Science and Technology ; Dalian Maritime University
- 年：2017
- 作者机构：School of Information Science and Technology,Dalian Maritime University;
- 英文论文关键词：Unmanned surface vehicle ; POD ; response model ; field experiments ; recursive least squares
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（B）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
- 语种：英文
- 分类号：U664.82
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：5
- 文件大小：628k
- 原文格式：D
- 会议级别：全国
摘要
Model is the basis of the control,and in order to achieve the autonomous navigation of podded propulsion unmanned surface vehicle,its model is determined to be the beginning of all the work.The research object of this paper is Dalian Maritime University "Lanxin" podded propulsion unmanned surface vehicle.In practical engineering applications,the response model is often used to design ship controller.So first of all,for "Lanxin" unmanned surface vehicle,the MMG model of three DOF is simplified as a response model by force analysis and conditional hypothesis.Subsequently,the field experiments(turning experiment and zig-zag experiment) are executed to collect the experimental data.Then turning experiment data and zig-zag experiment data are used to identify the response model parameters by recursive least square method,respectively.Finally the correctness of the identification results are verified by simulation.Simulation results show that the identification result of zig-zag experiment data is more close to the reality than the identification result of turning experiment data,which it proves the correctness of modeling and the feasibility of identification scheme.
Model is the basis of the control,and in order to achieve the autonomous navigation of podded propulsion unmanned surface vehicle,its model is determined to be the beginning of all the work.The research object of this paper is Dalian Maritime University "Lanxin" podded propulsion unmanned surface vehicle.In practical engineering applications,the response model is often used to design ship controller.So first of all,for "Lanxin" unmanned surface vehicle,the MMG model of three DOF is simplified as a response model by force analysis and conditional hypothesis.Subsequently,the field experiments(turning experiment and zig-zag experiment) are executed to collect the experimental data.Then turning experiment data and zig-zag experiment data are used to identify the response model parameters by recursive least square method,respectively.Finally the correctness of the identification results are verified by simulation.Simulation results show that the identification result of zig-zag experiment data is more close to the reality than the identification result of turning experiment data,which it proves the correctness of modeling and the feasibility of identification scheme.
Model is the basis of the control,and in order to achieve the autonomous navigation of podded propulsion unmanned surface vehicle,its model is determined to be the beginning of all the work.The research object of this paper is Dalian Maritime University "Lanxin" podded propulsion unmanned surface vehicle.In practical engineering applications,the response model is often used to design ship controller.So first of all,for "Lanxin" unmanned surface vehicle,the MMG model of three DOF is simplified as a response model by force analysis and conditional hypothesis.Subsequently,the field experiments(turning experiment and zig-zag experiment) are executed to collect the experimental data.Then turning experiment data and zig-zag experiment data are used to identify the response model parameters by recursive least square method,respectively.Finally the correctness of the identification results are verified by simulation.Simulation results show that the identification result of zig-zag experiment data is more close to the reality than the identification result of turning experiment data,which it proves the correctness of modeling and the feasibility of identification scheme.
引文
[1]Jialu Du,Xin Hu,Miroslav Krstic,Yuqing Sun,Robust dynamic positioning of ships with disturbances under input saturation,Automatica,2016,73,pp:207-214.
[2]Xin Hu,Jialu Du,Jiwei Shi,Adaptive fuzzy controller design for dynamic positioning system of vessels,Applied Ocean Research,2016,53,pp:46-53.
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[5]J.Liu,Y.Li.Study on Simulation of ship maneuvering Pod Propulsion,science technology and engineering,2011,11(3):507-512.
[6]H.Huang,J.Chu,H.Wei,etc.Model for equivalent rudder effect of a rotatable twin-propeller ship,Journal of Harbin Engineering University,2016,37(02):168-173.
[7]X.Liang.Modeling and Simulation of POD-ship's Motion,Dalian Maritime University,2008.
[8]C.Ma.Podded propulsion technology,Shanghai Jiaotong University Press,2007
[9]L.Xu.Study on Modeling and ADRC for Manoeuvering Motion of POD Propulsion Ship,Dalian Maritime University,2016.
[10]Perera L P,Oliveira P,Soares C G.Dynamic Parameter Estimation of a Nonlinear Vessel Steering Model for Ocean Navigation,ASME 2011 30th International Conference on Ocean,Offshore and Arctic Engineering.American Society of Mechanical Engineers,2011:881-888.
[11]Sutulo S,Soares C G.An algorithm for offline identification of ship manoeuvring mathematical models from free-running tests[J].Ocean Engineering,2014,79:10-25.
[12]W.Luo.On the Modeling of Ship Manoeuvring Motion by Using Support Vector Machines,Shanghai Jiao Tong University,2009.
[13]Y.Dai.Particle Swarm Optimization Methods and Its Applications in Parameter Identification of Ship Motions,Harbin:Harbin Engineering University,2010
[14]X.Jia,Y.Yang.Mathematical model of ship motionmechanism modeling and identification modeling,Dalian Maritime University press,1999
[15]Sonnenburg C R,Woolsey C A.Modeling,identification,and control of an unmanned surface vehicle,Journal of Field Robotics,2013,30(3):371-398.
[16]Xin Hu,Jialu Du,Yuqing Sun,Robust adaptive control for dynamic positioning of ships,IEEE Journal of Oceanic Engineering,published online,doi:10.1109/JOE.2017.2651242.
[2]Xin Hu,Jialu Du,Jiwei Shi,Adaptive fuzzy controller design for dynamic positioning system of vessels,Applied Ocean Research,2016,53,pp:46-53.
[3]Rains D A,Vanlandingham D J,Schlappi H C,et al.Hydrodynamics of Podded Ship Propulsion,Journal of Hydronautics,2015,15(1):18-24.
[4]Haraguchi T,Nimura T.A study on maneuvrability standards for a ship with a pod propulsion system,International Conference on Marine Simulation and Ship Maneuverability,MARSIM,3,2003.
[5]J.Liu,Y.Li.Study on Simulation of ship maneuvering Pod Propulsion,science technology and engineering,2011,11(3):507-512.
[6]H.Huang,J.Chu,H.Wei,etc.Model for equivalent rudder effect of a rotatable twin-propeller ship,Journal of Harbin Engineering University,2016,37(02):168-173.
[7]X.Liang.Modeling and Simulation of POD-ship's Motion,Dalian Maritime University,2008.
[8]C.Ma.Podded propulsion technology,Shanghai Jiaotong University Press,2007
[9]L.Xu.Study on Modeling and ADRC for Manoeuvering Motion of POD Propulsion Ship,Dalian Maritime University,2016.
[10]Perera L P,Oliveira P,Soares C G.Dynamic Parameter Estimation of a Nonlinear Vessel Steering Model for Ocean Navigation,ASME 2011 30th International Conference on Ocean,Offshore and Arctic Engineering.American Society of Mechanical Engineers,2011:881-888.
[11]Sutulo S,Soares C G.An algorithm for offline identification of ship manoeuvring mathematical models from free-running tests[J].Ocean Engineering,2014,79:10-25.
[12]W.Luo.On the Modeling of Ship Manoeuvring Motion by Using Support Vector Machines,Shanghai Jiao Tong University,2009.
[13]Y.Dai.Particle Swarm Optimization Methods and Its Applications in Parameter Identification of Ship Motions,Harbin:Harbin Engineering University,2010
[14]X.Jia,Y.Yang.Mathematical model of ship motionmechanism modeling and identification modeling,Dalian Maritime University press,1999
[15]Sonnenburg C R,Woolsey C A.Modeling,identification,and control of an unmanned surface vehicle,Journal of Field Robotics,2013,30(3):371-398.
[16]Xin Hu,Jialu Du,Yuqing Sun,Robust adaptive control for dynamic positioning of ships,IEEE Journal of Oceanic Engineering,published online,doi:10.1109/JOE.2017.2651242.