船舶运动模型参数辨识研究综述

A Review of Parameter Identification Methods for Ship Dynamic Models

创建精确且可靠的运动模型是有效分析船舶操纵性和保障船舶智能航行的关键。相较于常用的船舶运动建模方法(包括经验法、试验法、计算流体动力学数值法),参数辨识技术是1种实用有效、迁移性强的建模手段,但因受到诸如船舶强非线性运动特性、时变耦合的环境干扰、内外多重不确定性等众多复杂因素的影响而面临极大挑战。围绕船舶运动模型参数辨识技术的4个核心内容,即最优输入设计、船舶运动数学模型、参数估计算法、辨识模型测试验证,重点梳理了富含操控特性的激励数据获取、多型船舶运动模型、经典-智能-混合参数辨识方法、辨识模型评估方法相关的研究现状,剖析了噪声干扰、参数漂移、参数时变、评价指标选取等主要问题,发现面对操纵与航行特征复杂的船舶,获取覆盖广域运动特征的高质量数据仍无较好方法,参数漂移现象与模型复杂度紧密相关,且无法完全避免。面向数据高质量化、辨识实时性、航行场景复杂化等的发展要求,对船舶运动模型参数辨识技术在船舶操纵运动数据获取与处理,如鲁棒估计与信息融合、鲁棒在线参数辨识、多新息智能算法、复杂场景下的船舶运动辨识建模如受限条件下船舶运动辨识建模等重点方面进行了展望。

Developing a dynamic model with a high accuracy and reliability is essential for analyzing ship maneuverability and ensuring shipping safety.Compared with the existing three popular methods,including empirical,experimental and computational fluid dynamics(CFD),numerical parameter identification methods are practical,effective,and powerful solutions for dynamic modeling.However,it faces major challenges due to the influences from the following factors,such as strong nonlinear motion characteristics of ships,varying environmental interferences,and the multiple internal and external uncertainties.This paper reviews the state-of-the-art of parameter identification of ship dynamic models from the following four critical perspectives,including the optimal input design related to the informative characteristics acquisition,the mathematical model of ship motion,parameter estimation algorithms,and the verification and validation of the identified models.Several critical problems are discussed including noise interference,parameter drift,parameter variation,and selection of evaluation indexes.Based on a comprehensive survey,two challenging issues are pointed out.Currently,there is no method available that can provide high-quality data covering motion characteristics over a wide area,and due to the complexity of the models,the parameter drift fluctuates and cannot be completely avoided.Potential research questions closely related to the parameter identification of ship dynamic models are discussed.For instance,ship dynamic data acquired and processed using robust estimation techniques or information fusion techniques is worthy to be addressed to provide high-quality data;robust online parameter identification based on the multi-innovation intelligent approach can be a valuable solution to real-time identification of ship dynamic models;and complex conditions,such as ships sailing in restricted waters,should to be examined.