基于递推最小二乘的吊舱推进无人水面艇建模与辨识研究  

Research on Modelling and Identification of POD Propulsion Unmanned Surface Vehicle Based on Recursive Least Squares

作　　者：慕东东 王国峰[1] 范云生[1] 赵永生[1] Mu Dongdong;Wang Guofeng;Fan Yunsheng;Zhao Yongsheng(College of Information Science and Technology,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学信息科学技术学院,辽宁大连116026

出　　处：《计算机测量与控制》2018年第4期131-135,151,共6页Computer Measurement &Control

基　　金：国家自然科学基金(51609033);辽宁省自然科学基金(2015020022);中央高校基本科研业务费专项基金(3132014321)

摘　　要：为了研究吊舱推进无人水面艇的建模问题,以响应型数学模型为研究重点,应用系统辨识的方法确定其模型参数;根据MMG分离建模的理论建立吊舱推进无人艇的三自由度平面运动数学模型,然后对作用在艇体的力与推进器推力进行分析与假设,将平面运动数学模型化简为响应型数学模型;在得到响应型模型的基础上,通过实船进行回转实验和Z型实验采集相应数据,然后利用递推最小二乘以及数据拟合的方法对模型参数加以辨识;为了验证辨识结果的正确性,对辨识出的响应模型进行模拟仿真并与实际数据进行比较,结果表明:仿真结果与实际数据的误差在可信范围内,由此证明了系统建模与辨识结果的正确性。In order to study the modeling problem of podded propulsion unmanned surface vehicle,focusing on the research of response type mathematical model,system identification method is applied to determine model parameters.According to the theory of MMG separation model,three degree of freedom planar motion model of unmanned surface vehicle is established.Then the forces acting on hull and propeller thrust are analyzed and the mathematical model of plane motion is simplified as a response model.On the basis of response model,the turning experiment and Z experiment are carried out to collect the relevant data,and then the model parameters are identified by using the recursive least square and data fitting.In order to verify the correctness of the result of the identification,the identified response model is simulated and compared with the actual data,and the errors between the simulation results and the actual data are within the range of confidence,which proves the correctness of the system modeling and identification results.

关 键 词：无人水面艇 吊舱 递推最小二乘 辨识 

分 类 号：U675.91[交通运输工程—船舶及航道工程]