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An online identification method of yaw response parameters based on integral method

A technology of response parameters and identification methods, applied in two-dimensional position/channel control, etc., can solve problems such as inability to apply real-time systems

Active Publication Date: 2021-08-20
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, most of these methods are obtained by offline processing of sample data, which cannot be applied to real-time systems.

Method used

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  • An online identification method of yaw response parameters based on integral method
  • An online identification method of yaw response parameters based on integral method
  • An online identification method of yaw response parameters based on integral method

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Embodiment 1

[0045] to combine figure 1 , the present invention provides a method for online identification of ship yaw response parameters based on integral method, the steps of the method are:

[0046] Step (1) sets the time length L of the integral interval;

[0047] Step (2) Integrate the ship maneuvering response equation with respect to time to obtain the integral ship maneuvering response equation. The integral interval is the interval of the time length L from the current moment, that is, the lower limit of the integral is Points are capped at in is the current moment; wherein, the change of the yaw response parameter that needs to be estimated for the ship manipulation response equation described in the integration interval is ignored, that is, the needs of the ship manipulation response equation are considered in the integration interval The estimated yaw response parameter is constant;

[0048] Step (3) sets the criterion function, and the criterion function includes: the...

Embodiment 2

[0072] The invention also proposes an online identification method of the yaw response parameters of the wave glider based on the integral method. The wave glider is a new type of marine vehicle, relying on wave energy to provide forward power, combined with figure 2 Describe 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.

[0073] to combine image 3 An online identification method of wave glider yaw response parameters based on the integral method is described, including the online identification method of the yaw response parameters of the floating body based on the integral method...

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Abstract

The invention proposes an online identification method for yaw response parameters based on an integral method, belongs to the technical field of maneuverability models of marine vehicles, and is suitable for ships and wave gliders. This method firstly sets the time length of the integration interval, integrates the control response equation with respect to time, and obtains the integrated ship control response equation; then sets the criterion function, and adjusts the relative weight of the parameters in the criterion function through the weight coefficient; then the criterion function according to Find the minimum value of the estimated value of the main parameter at the current moment, add a step factor, iteratively correct the estimated value of the main parameter at the current moment, and finally repeat the above steps until the end of the estimation process is received, so as to ensure the traversal manipulation of the main parameter in the estimation process All parameters to be estimated in the response equation. This method corrects the yaw response parameters in real time through the actual navigation data, avoids the difficulty of mechanism modeling, and ensures the true reflection of the yaw response parameters to the maneuverability of the ship or wave glider.

Description

technical field [0001] The invention belongs to the technical field of maneuverability models of marine vehicles, and in particular relates to an online identification method of yaw response parameters based on an integral method, which is suitable for real-time parameter estimation of marine vehicles. Background technique [0002] The dynamic model of ship and wave glider is the theoretical basis for evaluating its maneuverability, dynamic analysis and control method research. However, due to the uncertainty of the carrier itself and the external environment, the accuracy of the mechanism modeling method is difficult to guarantee, making it difficult to apply in practice. [0003] The ship maneuvering response model plays an important role in the study of ship maneuverability. Since scholars in the research field put forward the standard algorithm for obtaining yaw response parameters through Z-shape test, ship maneuverability researchers in various countries are willing t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 廖煜雷王磊峰潘恺文李晔张蔚欣成昌盛李一鸣王博
Owner HARBIN ENG UNIV
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