本文对水下航行器的操纵运动在线建模进行研究。使用增量式最小二乘法辨识得到了MARIUS AUV的水动力导数。为了提高辨识精度,使用积分型辨识样本结构进行输入输出样本对的构造。基于约束模试验获取的水动力导数,进行操纵运动仿真,得到纵向速度、横向速度、摇首角速度和舵角等样本参数。通过试验水动力导数和辨识得到的水动力导数对比,表明辨识算法的有效性。该研究对水下航行器操纵运动的在线建模和控制应用具有重要意义。
This document presents the online maneuvering modeling for underwater vehicles. The hydrodynamic derivatives of MARIUSAUV are identified by using the incremental support vector machines. Besides, to improve the identification precision, integral sample structure for identification is applied for the construction of the in-out sample pairs. The data samples, i.e., surge velocities, sway velocities, yaw rates and rudder angles, are generated from the maneuvering simulation by using the hydrodynamic derivatives which are obtained from captive model tests. The comparison between the experimental hydrodynamic derivatives and the identified hydrodynamic derivatives demonstrates the validation of the parametric identification algorithm. This research is of great significance for underwater vehicles' on-line maneuvering modeling and control application.
2016,38(6): 81-85 收稿日期：2016-01-27
DOI：10.3404/j.issn.1672-7619.2016.06.016
分类号：U661.33+1
基金项目：国家自然科学基金资助项目(51279106,50979060,51509193)
作者简介：徐锋(1983-),男,博士,高级工程师,研究方向为潜艇总体。
参考文献：
[1] LUO Wei-lin, ZOU Zao-jian. Identification of response models of ship maneuvering motion using support vector machines[J]. Journal of Ship Mechanics, 2007, 11(6):832-838.
[2] ZHANG Xin-guang, ZOU Zao-jian. Identification of Abkowitz model for ship manoeuvring motion using ε-support vector regression[J]. Journal of Hydrodynamics, Ser. B, 2011, 23(3):353-360.
[3] XU Feng, ZOU Zao-jian, YIN Jian-chuan, et al. Identification modeling of underwater vehicles' nonlinear dynamics based on support vector machines[J]. Ocean Engineering, 2013, 67:68-76.
[4] XU Feng, ZOU Zao-jian, YIN Jian-chuan. On-line modeling of ship maneuvering motion based on support vector machines[J]. Journal of Ship Mechanics, 2012, 16(3):218-225.
[5] XU Feng, ZOU Zao-jian, YIN Jian-chuan. On-line modeling of AUV's maneuvering motion in diving plane based on SVM[C].//Proceedings of the Twenty-second (2012) International Offshore and Polar Engineering Conference, 2012, (6) 17-22.
[6] 刘胜, 杨震, 船舶横摇运动实时在线预报方法[J]. 电机与控制学报, 2011, 15(10):82-8794.
[7] XU Feng, CHEN Qing, ZOU Zao-jian, et al. Modeling of underwater vehicles' maneuvering motion by using integral sample structure for identification[J]. Journal of Ship Hydrodynamics, 2013, 18(3):211-220.
[8] SILVESTRE C, PASCOAL A. Control of an AUV in the vertical and horizontal planes:system design and tests at sea[J]. Transactions of the Institute of Measurement and Control, 1997, 19(3):126-138.
[9] 施生达, 潜艇操纵性[M]. 北京:国防工业出版社, 1995.
[10] 罗伟林, 李铁山, 邹早建, 船舶操纵运动建模中的参数可辨识性问题[J]. 大连海事大学学报, 2009, 35(4):1-3.
