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A Parallel Estimation Method of Parameter Vector of Manipulation 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: 2022-04-29
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • 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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  • A Parallel Estimation Method of Parameter Vector of Manipulation Response Equation
  • A Parallel Estimation Method of Parameter Vector of Manipulation Response Equation
  • A Parallel Estimation Method of Parameter Vector of Manipulation Response Equation

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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 provides a parallel estimation method for parameter vectors of maneuvering response equations, belongs to the technical field of maneuverability model parameter estimation, and is suitable for ships or wave gliders. This method first sets the parameter vector P and the state vector Y, and satisfies P T Y=r, r is the turning angle velocity; then set the criterion function as the estimated value of P at the current moment, which is the estimated value of P at the previous moment, and μ is the weight coefficient; then add the step size to the criterion function J regarding finding the minimum value Factor λ, recursive correction λ is the step factor; finally repeat the previous step until receiving the instruction to end the estimation process. A method for parallel estimation of parameter vectors of maneuvering response equations suitable for ships and wave gliders proposed by the present invention can correct the parameter vectors in real time during the sailing process of ships, and obtain the maneuverability parameters of ships or wave gliders that change in real time Compared with the existing technology, it has significant advantages in terms of rapidity and convenience, and has a good development prospect.

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 Patents(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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