基于系统辨识的复合小水线面三体无人艇横摇运动模式研究  

Research on the rolling motion mode of composite small waterplane area trimaran USV based on system identification

作　　者：蔡文鹏 杨松林[1] CAI Wen-peng;YANG Song-lin(Shipping and Marine Engineering Institute,Jiangsu University of Science and Technology,Zhenjiang 212003,China)

机构地区：[1]江苏科技大学船舶与海洋工程学院,江苏镇江212003

出　　处：《舰船科学技术》2022年第4期54-59,共6页Ship Science and Technology

基　　金：国家自然科学基金资助项目(51379094);江苏省研究生实践创新计划(SJCX20-1484)。

摘　　要：以水翼复合小水线面三体无人艇为研究对象,进行了在3种吃水、5个不同初始横摇角下横摇衰减试验。通过MTI惯性测量仪测得横摇角变化数据,得到角速度衰减情况。同时建立4种横摇衰减运动模式的系统辨识运动方程,以系统辨识理论和遗传优化算法为基础改编系统辨识软件。通过辨识计算得到方程4目标函数最小,其拟合度最佳。所得角速度试验值和拟合值相对误差控制在5%范围内,进一步验证了辨识软件的可靠性。分析在辨识方程4各力矩系数随初始横摇角及吃水的变化规律,选取2个初始横摇角和同吨位小水线面双体进行对比分析,得出小水线面三体横摇衰减周期大,角速度峰值较小,表明小水线面三体加装水翼具有较好的减摇效果。In this paper,the hydrofoil composite small waterplane area trimaran USV as the research object,and the roll attenuation test is carried out at three draughts and five different initial roll angles.The roll angle change data is measured by MTI inertial measuring instrument,and the angular velocity attenuation is obtained.At the same time,the system identification motion equations of four roll attenuation motion modes are established,and the system identification software is adapted based on the system identification theory and genetic optimization algorithm.Through identification and calculation,the objective function of equation 4 is the smallest and the fit is the best;the relative error between the experimental value and the fitting value of the obtained angular velocity is controlled within 5%,which further verifies the reliability of the identification software.Analyzed the variation law of each moment coefficient with the initial roll angle and draft in the identification equation 4.The two initial roll angles and the same tonnage small waterplane double body were selected for comparative analysis,and the small waterplane three body was obtained.The roll attenuation period is large and the angular velocity peak is small,indicating that the small waterplane trimaran USV add hydrofoil has a better anti-rolling effect.

关 键 词：复合小水线面三体无人艇 横摇衰减运动模式 系统辨识 遗传优化算法 

分 类 号：U661.3[交通运输工程—船舶及航道工程]