Ship motion simulation and control method based on nonlinear innovation identification model
A technology for identifying models and ship motion, applied in non-electric variable control, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve the problem that the accuracy cannot meet the requirements of system simulation or controller design, and achieve Fast and accurate identification of effects
Inactive Publication Date: 2019-10-15
DALIAN MARITIME UNIVERSITY
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Using this small amount of ship test data for system identification research, the parameters of the mathematical model of ship motion obtained cannot meet the requirements of system simulation or controller design.
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[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0029] figure 1 It is the flow chart of the ship motion simulation and control method based on the nonlinear innovation identification model of the present invention, such as figure 1 As shown, the method of this embodiment may include:
[0030] Step 101, obtaining the experimental data sampling sample of the ship;
[0031] Specifically, the es...
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The invention discloses a ship motion simulation and control method based on a nonlinear innovation identification model. The method comprises the following steps of acquiring experimental parameter sampling samples of a small amount of ships; processing the sampled samples of a system identification algorithm through using a nonlinear function; substituting the sampled samples into the processedsystem identification algorithm to obtain identification parameters; and using the identification parameters to establish a ship model, and simulating the ship according to the ship model or designinga ship motion controller. Accuracy of ship simulation and a control system is improved by improving the accuracy of the identification parameters. An identification model method has better universality so as to achieve fast and accurate identification of the ship model.
Description
technical field [0001] The invention relates to the technical field of ship motion data processing, in particular to a ship motion simulation and control method based on a nonlinear innovation identification model. Background technique [0002] In recent years, system identification theory has been widely used in the establishment of mathematical models of ship motion. The commonly used system identification algorithms mainly include least squares method, gradient identification method, auxiliary model identification method, etc., and their characteristics are to use the useful information of identification data (Innovation) to identify the parameters of the system. Multi-innovation identification is an important branch of system identification, and innovation is useful information that can improve the accuracy of parameter estimation or state estimation. [0003] After the new ship leaves the factory, only the full rudder turning test and some Z-type tests are done accordi...
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IPC IPC(8): G05B17/02G05D1/02G06F17/50
CPCG05B17/02G05D1/0206G06F30/367
Inventor 张显库祝慧颖张国庆梁才磊
Owner DALIAN MARITIME UNIVERSITY