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Parallel estimation method for parameter vector of maneuvering response equation

A parameter vector, response equation technology, applied in two-dimensional position/channel control and other directions, can solve problems such as huge

Active Publication Date: 2019-05-21
HARBIN ENG UNIV
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  • Application Information

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Problems solved by technology

However, the maneuverability parameters of ships are different under different working conditions, such as different speeds, different drafts, and different environmental disturbances, so it will be a huge task to obtain the maneuverability parameters under each working condition

Method used

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  • Parallel estimation method for parameter vector of maneuvering response equation
  • Parallel estimation method for parameter vector of maneuvering response equation
  • Parallel estimation method for parameter vector of maneuvering response equation

Examples

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Embodiment 1

[0028] combine figure 1 , the present invention proposes a method for parallel estimation of the parameter vector of the maneuvering response equation applicable to ships, the steps of the method are:

[0029] Step (1) set parameter vector P and state vector Y according to ship manipulation response equation; Described parameter vector P is a column vector, includes all parameters that need to be estimated of described ship manipulation response equation; Described state vector Y is column vector, so that the ship maneuvering response equation is equivalent to P T Y=r, where r is the ship's bow angular velocity;

[0030] Step (2) sets the criterion function, and the criterion function includes: the actual ship turning angle velocity r measured by the sensor and the transposition of the parameter vector multiplied by the state vector to estimate the ship turning velocity P T The square of the difference between Y, the estimated value of the parameter vector at the current mom...

Embodiment 2

[0038] Same as Example 1, the difference is:

[0039] The method for parallel estimation of parameter vectors of maneuvering response equations proposed by the invention is also applicable to wave glider. figure 2 It is the structural composition of the wave glider. The wave glider is composed of a floating body 1 floating on the water surface, a submersible body 2 located under water, and a flexible chain 3 connecting the floating body 1 and the submersible body 2. The turning rudder 4 installed at the tail of the submersible provides the turning moment of the submersible 2, and the pulling force of the flexible chain 3 drives the floating body 1 to turn.

[0040] combine image 3 A method for parallel estimation of parameter vectors of maneuvering response equations suitable for wave glider proposed by the present invention includes a method for parallel estimation of parameter vectors of maneuvering response equations of floating bodies and a method for parallel estimati...

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Abstract

The invention, which belongs to the technical field of parameter estimation of the maneuverability model, proposes a parallel estimation method for a parameter vector of a maneuvering response equation, wherein the method is suitable for a ship or a wave glider. A parameter vector P and a state vector Y are set and a formula P<T>Y=r is met, wherein the r expresses a turning angular velocity; a criterion function J is set, wherein P^ in the criterion function expresses an estimated value of a current time P, P~ expresses an estimated value of a last time P, and mu expresses a weight coefficient; a minimum value of the criterion function J related to the P^ is calculated, a step factor lambda is added, and recursion correction is carried out, wherein the lambda expresses the step factor; andthe last step is repeated continuously until an estimation process ending instruction is received. According to the invention, the parameter vector can be corrected in real time in the ship navigation process and maneuverability parameters changing in real time of the ship or wave glider are obtained. Compared with the prior art, the method has the advantage of high rapidness and great convenience and has the broad development prospects.

Description

technical field [0001] The invention belongs to the technical field of maneuverability model parameter estimation, in particular to a method for parallel estimation of maneuvering response equation parameter vectors applied in the heading process of a ship or a wave glider. Background technique [0002] When studying the ship's heading control problem, its yaw motion is the degree of freedom we are most concerned about, while other motions such as roll and pitch are not the main influencing factors. Scholars in the research field take the rudder angle as the system input and the yaw response as the system output to establish the ship maneuvering response equation, also known as the KT equation, which provides great convenience for the research on the ship's heading control motion. Other factors such as environmental interference , the coupling between the motions of each degree of freedom, etc. on the ship's maneuvering response are all reflected in the changes of parameters...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 廖煜雷潘恺文王磊峰李晔姜权权杜廷朋李志晨庄佳园
Owner HARBIN ENG UNIV
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