基于系统辨识的滑行艇回转运动模式研究  

Research on the Rotary Motion of Unmanned Surface Vehicle Based on System Identification

作　　者：刘曼 岳宗杰 于博 LIU Man;YUE Zongjie;YU Bo(Bohai Shipbuilding Vocational College,Xingcheng 125105,China)

机构地区：[1]渤海船舶职业学院,辽宁兴城125105

出　　处：《船舶职业教育》2022年第5期62-65,共4页Shipbuilding Vocational Education

摘　　要：通过对一种具有防滑行面飞溅的无人滑行艇模的自主操纵性回转实验研究,获得了回转实验的数据,依据经验公式构造了回转运动的数学模型,选用基于遗传算法的系统辨识方法对实验数据进行辨识计算。并对两组辨识数据与实验结果进行对比分析,得出理想的相对回转直径预报公式。辨识结果亦可用于同类型无人滑行艇。In this paper,the autonomous rotation test of an unmanned surface vehicle(USV)with anti-splash strip is studied,and the experimental data of the test is obtained.According to the empirical formula,the mathematical model of rotary motion is constructed.The system identification method based on genetic algorithm is used to identify and calculate the experimental data.By comparing the two groups of identification data with experimental results,an ideal prediction formula of relative rotation diameter is obtained.The identification results can also be used for the same type of USV.

关 键 词：滑行艇 操纵性 回转运动 系统辨识 遗传算法 

分 类 号：U674.91[交通运输工程—船舶及航道工程]