无人水面艇响应模型的参数辨识方法研究

Research on Parameter Identification of USV Manoeuvring Response Model

为实现有效操控无人艇,需要首先建立无人艇操纵运动响应模型,并获得可靠的模型参数;在多组实船Z形操舵和定常回转试验数据分析的基础上,分别利用野本标准Z形操纵试验法、最小二乘递推算法和分步数据处理法,对无人艇的模型参数进行辨识;通过仿真实验与实船试验数据对比分析,证明分步数据处理法能够有效辨识模型参数,并具备更高的辨识精度。

In order to achieve automatic control of course,the manoeuvring response model of unmanned boat is identified first,including the dependable model parameter.The maneuverability test is based on collecting the data of z test and rotation test in the primary sea condition,the model parameter is identified by basic tomoto test,recursive least squares and data processing by step.The comparison between the simulation outputs and sea trial results is presented,which shows that the method of data processing by step is verified and dependable.