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Adaptive ship motion modeling method applied to ship motion control

A technology of ship motion and modeling method, which is applied in non-electric variable control, control/regulation system, two-dimensional position/channel control, etc. The effect of low complexity and improved accuracy

Active Publication Date: 2020-01-07
WUHAN UNIV OF TECH
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Problems solved by technology

[0007] The purpose of the present invention is to provide an adaptive ship motion modeling method applied to ship motion control, to solve or at least partly solve the technical problems of complex modeling and low model accuracy existing in the methods in the prior art

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  • Adaptive ship motion modeling method applied to ship motion control
  • Adaptive ship motion modeling method applied to ship motion control
  • Adaptive ship motion modeling method applied to ship motion control

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Embodiment Construction

[0061] The purpose of the present invention is to provide an adaptive ship motion modeling method applied to ship motion control in view of the deficiencies in the existing ship motion modeling technology, so as to realize the technical effect of simplifying the modeling process and improving the model accuracy.

[0062] In order to achieve the above-mentioned technical effects, the main idea of ​​the present invention is as follows:

[0063] Determine the six-degree-of-freedom ship motion model according to the ship's operating coordinate system and the ship's motion description; and obtain a plane three-degree-of-freedom motion model for describing the ship's motion characteristics according to the determined six-degree-of-freedom ship motion model and ship motion characteristics; Then, according to the preset high-precision ship motion model, simulate the ship motion, and combine the structural characteristics of the ship motion model, select the support vector regression al...

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Abstract

The invention discloses an adaptive ship motion modeling method applied to ship motion control. The method comprises the following steps of firstly, determining a six-degree-of-freedom ship motion model according to a ship operation coordinate system and a ship motion description; secondly, obtaining a planar three-degree-of-freedom motion model describing ship motion characteristics according tothe six-degree-of-freedom ship motion model and the ship motion characteristics; thirdly, simulating the ship motion according to a preset high-precision ship motion model, and selecting a support vector regression algorithm as an identification method in combination with structural features of the ship motion model; fourthly, optimizing parameters of the support vector regression algorithm by adopting an artificial bee colony algorithm in order to obtain an optimized support vector regression algorithm; and finally, carrying out model identification by utilizing the optimized support vector regression algorithm in order to obtain an identification result, and selecting a model with the highest precision from the identification result as a target three-degree-of-freedom ship motion model according to a preset evaluation standard. According to the method, a modeling process can be simplified and the precision of the model can be improved.

Description

technical field [0001] The invention relates to the technical field of ship motion modeling and ship model parameter identification, in particular to an adaptive ship motion modeling method applied to ship motion control. Background technique [0002] With the growing interest of the shipping industry in the development of autonomous ships, the National Maritime Organization (IMO) proposed a trial version of the Maritime Autonomous Surface Ship (MASS) regulations in 2018, which is scheduled to be evaluated and finalized in September 2019 based on the results of the trial operation. Further improve the trial operation regulations, and complete the definition of the regulatory scope of MASS before 2020. Compared with traditional manned ships, when the safety of MASS is greatly improved, its waste emissions can be effectively reduced or even zero. MASS has a relatively long service life, and its applications are diverse, ranging from marine field research and environmental mon...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 朱曼陶威文元桥顾尚定肖长诗周春辉黄亮
Owner WUHAN UNIV OF TECH
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