基于LS-SVM的船舶操纵运动在线建模

On-line Modeling of Ship Maneuvering Motion by Using LS-SVM

基于最小二乘支持向量机(LS-SVM)和积分型辨识样本结构开展了船舶操纵运动的在线建模。以整体型Abkow⁃itz模型为辨识对象,大阪号油轮作为具体研究对象。在操纵运动仿真时,采用40个粘性类水动力导数的Abkowitz模型,但是在参数辨识时,采用了仅具有20个粘性类水动力导数的简化模型。为了对建模方法的有效性进行检验,将辨识得到的水动力导数与其原始值进行了比较,同时也针对辨识模型和原始模型的操纵运动仿真进行了比较。辨识结果表明,使用简化模型进行船舶操纵运动的在线建模是合适的,具有较好的预报效果和较高的精度。

Incremental least square support vector machines are applied on the on-line modeling of ship maneuvering motion with integral sample structure for identification.With the integral-type Ab⁃kowitz model as the identification subject,the Mariner class vessel is taken as the research object.The Abkowitz model with 40 viscous hydrodynamic derivatives is used for maneuvering simulation,but a simplified model with 20 viscous hydrodynamic derivatives is proposed during the identification pro⁃cess.The proposed method is verified by the comparison of the identified hydrodynamic derivatives with their original values,and by comparison of the maneuvering simulation between the identified model and the original model.This work demonstrates that the simplified model can be well used for on-line modeling of ship maneuvering motion,and it has a good prediction effect and a high precision.