基于操纵试验的实船运动模型参数辨识实例研究

A pragmatic study on parameter identification of ship motion model based on maneuvering test

参数辨识对于构建船舶操纵运动数学模型具有重要意义。为有效、准确估计实船操纵运动模型参数,提出一种基于系统辨识原理、采用递推最小二乘算法进行差分方程型船舶运动模型参数辨识的技术路线。基于操纵试验数据,将技术路线应用于实船舵角-航向差分方程模型的参数辨识。应用研究显示,提出的技术路线在实船操纵运动模型参数辨识的应用中可行性好,辨识出的参数具有较高的精度,模型输出能够较好拟合观测输出。本文中提出的技术路线流程简单,便于工程实现,能够为船舶运动模型参数的自动辨识提供支持。

Parameter identification is of great significance for constructing up a mathematical model of ship maneuvering motion.In order to effectively and accurately estimate the parameters of a ship maneuvering motion model,a technical route for parameter identification of difference equation ship motion model based on system identification principle and recursive least square(RLS)algorithm is proposed.Based on the manipulation experimental data,the technical route is applied to the parameter identification of the rudder angle-heading difference equation model of a real ship.The application results show that the proposed method is feasible in the practical parameter identification of ship maneuvering motion model,the identified parameters have high accuracy and the model output can better fit the observation output.The technical route proposed in this paper is simple and easy to implement in engineering,which can provide available support for automatic parameter identification of ship motion models.