基于改进MILS的船舶操纵响应模型辨识  

Parameter Identification of Ship Maneuvering Response Model Based on Improved MILS

作　　者：向军 陈永冰[1] 李文魁[1] XIANG Jun;CHEN Yongbing;LI Wenkui(College of Electrical Engineering,Naval University of Engineering,Wuhan 430033)

机构地区：[1]海军工程大学电气工程学院,武汉430033

出　　处：《舰船电子工程》2023年第4期49-54,共6页Ship Electronic Engineering

基　　金：国家自然科学基金项目(编号:42074010)资助。

摘　　要：考虑到在船舶正常航行过程中采集的辨识数据存在难以满足持续激励的情况,基于多新息最小二乘法(Multi-Innovation Least Square Algorithm,MILS),利用奇异值分解技术处理协方差阵,提出一种改进的MILS船舶模型参数辨识算法。依据某船型参数进行仿真实验,利用实验数据进行模型参数辨识,对比多新息最小二乘法与改进算法的模型参数辨识结果,并根据辨识得到的参数进行船舶运动预报,验证算法的有效性。仿真结果表明,与多新息最小二乘法相比,改进的MILS辨识算法降低了船舶参数辨识对舵角输入信号的要求,使得在船舶航行过程中的小幅度短暂操舵情况下具有更高的辨识精度,为船舶的航向自适应控制奠定了基础。Considering that the data can not meet the continuous excitation during the normal navigation of the ship,based on the multi-innovation least square algorithm(MILS),the covariance matrix is processed by singular value decomposition technolo⁃gy,and a parameter identification algorithm of ship model based on improved MILS is proposed.The simulation experiment is car⁃ried out according to the parameters of a ship in the laboratory,and the model parameters are identified by using the experimental data.Comparing the model parameter identification results of the multi-innovation least square method and the improved algorithm.The ship motion prediction is carried out according to the identified parameters to verify the effectiveness of the algorithm.The simu⁃lation results show that compared with the multi innovation least square method,the prediction accuracy of the ship model identified by the improved MILS is improved by about 10%.The requirement of rudder angle input signal for ship parameter identification is re⁃duced,which lays a foundation for ship course adaptive control.

关 键 词：船舶操纵响应模型 持续激励 参数辨识 多新息最小二乘法 奇异值分解 

分 类 号：U661.3[交通运输工程—船舶及航道工程]