An Estimation Method of Yaw Response Parameter Vector Based on Integral Method

Abstract

The invention provides a yaw response parameter vector estimation method based on an integration method, and belongs to the technical field of ship maneuverability modeling. The yaw response parametervector estimation method based on the integration method is suitable for ships or wave gliders. The yaw response parameter vector estimation method based on the integration method comprises the following steps that firstly, a time length L of an integration interval is set, a manipulation response equation is integrated with time to obtain an integrated manipulation response equation; then, a parameter vector and a state vector are set according to the manipulation response equation, then a criterion function is set, and the relative weight of internal parameters is adjusted by using a weightcoefficient; a minimum value of an estimated value of the criterion function with respect to a current time parameter vector is obtained, and a step factor is added to obtain an estimated value of the current time parameter vector in a recursive form; and finally, the steps are repeated until the end instruction of a estimation process is received. According to the yaw response parameter vector estimation method based on the integration method, a yaw response parameter vector can be corrected in real time in the ship sailing process, and yaw response parameters of the ships or the wave gliders which change in real time can be obtained; and compared with the prior art, the yaw response parameter vector estimation method based on the integration method has obvious advantages in the aspectsof rapidity, convenience, application range and the like.

Description

technical field [0001] The invention belongs to the technical field of ship maneuverability modeling, and in particular relates to a method for estimating a yaw response parameter vector based on an integral method, which is suitable for a ship or a wave glider. Background technique [0002] For marine vehicles, the establishment of accurate maneuverability mathematical models is a necessary basis for dynamic analysis and control method research. Generally speaking, the maneuverability analysis of surface ships often adopts dynamic methods such as Lagrangian method to establish dynamic equations, and uses hydrodynamic coefficients and motion state quantities to express hydrodynamic forces, so as to establish mechanism models. However, hydrodynamic calculations generally use empirical formulas, numerical simulation methods, or constrained ship model tests. The results obtained in this way have errors, or only have high accuracy under specific working conditions, and the prac...

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Problems solved by technology

The collection of sample data and the system identification to obtain the yaw response parameters are separated from each other in time. People can only obtain the yaw response parameters after the voyage process is over, and there is no guarantee that the yaw response parameters of the ship will be the same as the collected samples during the next voyage. The working condition of the data is consistent

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