水下航行器模型参数辨识技术

Underwater vehicle model parameters identification technology

采用系统辨识技术识别水下航行器模型参数,是修正理论计算或船模水动力试验结果,实现精确数学建模的有效手段,对水下航行器总体性能优化、操纵性预报、控制器设计等方面都具有重要意义。重点对基于最小二乘法、人工智能和卡尔曼滤波的3种典型参数辨识方法进行分述,并对相关领域取得的成果、存在的问题和研究热点进行系统梳理。最后,对系统辨识技术在水下航行器模型参数辨识应用领域的发展趋势进行展望。

Identification of underwater vehicle model parameters by system identification technology is an effective way to correct the parameters obtained from theoretical calculation or ship model hydrodynamic test and realize accurate mathematical modeling,which is of great significance to overall performance optimization,maneuverability prediction and controller design for underwater vehicles.Three typical parameter identification methods based on Least Square,artificial intelligence and Kalman filter are described respectively,and the achievements,existing problems and research hotspots in related fields are systematically sorted out.Finally,the development trend of system identification technology in underwater vehicle model parameters identification is prospected.