基于拓展Kalman滤波的船舶自由横摇参数辨识  

Identification of Ship Roll Parameters from Free-roll Decay Based on Extended Kalman Filtering

作　　者：霍聪[1] 董文才[1] 

机构地区：[1]海军工程大学舰船工程系,武汉430033

出　　处：《武汉理工大学学报（交通科学与工程版）》2016年第2期214-218,226,共6页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家自然科学基金项目资助(50879090)

摘　　要：提出一种基于拓展Kalman滤波的船舶自由横摇辨识算法,可以对横摇阻尼及回复力系数进行参数辨识.该算法可使用横摇角位移、角速度、角加速度信号或者它们的组合作为辨识输入.通过对非线性横摇的仿真运动进行辨识,确定了有效参数初值的选取范围,同时发现即使在观测误差较大时该算法仍能获得较精确的辨识结果,且减小测量误差,有助于提高辨识精度.在确定了适用于目标船模的阻尼模型后,根据试验数据,辨识其自由横摇参数并以此进行横摇运动仿真,所获得的仿真曲线与试验测量值匹配良好.This paper proposes an identification method of ship roll parameters based on the extended Kalman filtering theory,which can be used to obtain the damping and restoring force coefficients of ship free-roll decay.Inputs to the identification algorithm can be widely chosen from signals including angle,angular velocity,angular acceleration or their combinations.The range of initial parameter value is determined through identification tests of nonlinear roll simulations.High identification accuracy can still be achieved with relatively big measurement errors and the reduction of measurement error is helpful to improving the identification accuracy.The free-roll decay simulation based on the parameters identified from ship model tests and proper damping model confirmed from model tests,shows good agreement with the experimental data.

关 键 词：自由横摇 参数辨识 拓展Kalman滤波 

分 类 号：U661.32[交通运输工程—船舶及航道工程]