基于ESO扰动估计的双桨推进无人艇运动模型在线交互式辨识方法  

Online interactive identification method of twin-propelled unmanned boat motion model based on ESO perturbation estimation

作　　者：熊勇[1,2,3] 王显飞 XIONG Yong;WANG Xianfei(School of Navigation,Wuhan University of Technology,Wuhan 430063,China;National Engineering Research Center for Water Transport Safety,Wuhan University of Technology,Wuhan 430063,China;Hubei Key Laboratory of Inland Shipping Technology,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]武汉理工大学航运学院,湖北武汉430063 [2]武汉理工大学国家水运安全工程技术研究中心,湖北武汉430063 [3]武汉理工大学内河航运技术湖北省重点实验室,湖北武汉430063

出　　处：《中国航海》2024年第4期155-167,174,共14页Navigation of China

基　　金：国家自然科学基金资助项目(52271367,52071249)

摘　　要：为提高无人艇运动模型参数辨识算法的精度和抗扰性,以双桨推进无人艇为研究对象,考虑不确定环境扰动对其运动状态的影响,提出一种基于扩张状态观测器(ESO)的交互式辨识方法。首先根据分离建模思想,考虑螺旋桨转速对指令信号的响应特性,构建双桨推进无人艇三自由度动力学方程,对其参数化得到用于辨识的线性模型。其次基于最小二乘准则函数,从数学期望角度证明引入扰动估计的交互辨识方法可以提高辨识精度,并设计了扩张状态观测器对模型中的未知扰动进行估计。将估计值作为多新息递推最小二乘辨识算法的先验信息,将所获辨识值作为下次扰动估计的依据,持续在线交互更新,提高了辨识算法的抗扰性。最后通过实船试验验证了交互式辨识算法的有效性。Aiming at the problem of recognizing the parameters of the motion model of unmanned boat,taking the double-propeller-propelled unmanned boat as the research object,considering the influence of uncertain environmental perturbation on its motion state,and in order to improve the accuracy and anti-perturbation of the recognition algorithm,the paper proposes an interactive recognition method based on the Extended State Observer.Firstly,according to the idea of separation-type modeling,the response characteristics of propeller speed to the command signal are introduced to construct the three-degree-of-freedom dynamics equation of the double-propeller-propelled unmanned boat,which is parameterized to get the linear model used for the identification.Then based on the least squares criterion function,it is proved from the perspective of mathematical expectation that the interaction identification method introducing perturbation estimation can improve the identification accuracy.An expansion state observer is designed to estimate the unknown perturbations in the model,and the estimated value is used as the a priori information of the multi-neo-interest recursive least squares identification algorithm,and the obtained identification value will be used as the model basis for the next perturbation estimation,which is interactively updated on-line and improves the immunity to perturbation of the identification algorithm.Finally,the effectiveness of the interactive discrimination algorithm is verified by real ship test experiments.

关 键 词：参数辨识 船舶运动模型 扩张状态观测器 多新息递推最小二乘 交互式辨识 

分 类 号：U661.33[交通运输工程—船舶及航道工程]