为提高30万吨级大型船舶非线性Norrbin模型的精度，本文在不改变Norrbin辨识的非线性力（矩）公式的基础上，将与转首角速度r和转首角加速度$ \dot r$有关的4个流体动力导数均放大1.4倍。运用融入旋回速降与舵机伺服系统的VB与Matlab混合编程的船舶运动数学模型实验平台反复测试，改进的Norrbin模型旋回试验与实船相比精度为93.6%，比改进前提升了17.6%，比MMG模型提升了1.3%；Z形试验精度为84.8%，与MMG模型精度相当，但图形相位符合度更好。将改进的Norrbin模型应用到30万吨级不同船型的船舶旋回预报上，验证其泛化性能，仿真表明具有85.1%的精度，优于原Norrbin模型73.4%的精度。改进的Norrbin模型保留了原Norrbin模型所需船舶参数少、物理意义明显的优点，且精度得到提高、泛化性能较好。
In order to improve the accuracy of the nonlinear Norrbin model for 300 000 tons large-scale ship, the four hydrodynamic derivatives relating to yaw rate r and yaw acceleration $ \dot r$ are magnified 1.4 times without changing the nonlinear force (moment) formulas identified by Norrbin. Through the repeated tests on the ship motion mathematical model platform programmed by the mix of VB and Matlab, the accuracy of the improved Norrbin model is 93.6% compared with the full-scale ship turning test, 17.6% higher than the original one, and 1.3% higher than that of the MMG model, considering the rudder servo system and speed loss in turning test. The accuracy of the improved Norrbin model in zig-zag test is 84.8%, which is similar to that of the MMG model, but its phase matching degree of the graphics is better than the MMG model. For the verification of generalization performance, the improved Norrbin model is applied to forecast the manoeuvrability of different type of ship in the 300 000 tons level. It owns an accuracy of 85.1%, superior to the original Norrbin model with the accuracy of 73.4%. The improved Norrbin model preserves the advantages of original Norrbin model, i.e. the less modified ship parameters and obvious physical meaning, meanwhile the improved Norrbin model possesses the better accuracy and generalization performance.
2020,42(10): 35-41 收稿日期：2019-09-09
DOI：10.3404/j.issn.1672-7649.2020.10.008
分类号：U661.73
基金项目：国家自然科学基金资助项目(51679024)，学院科研基金资助项目(2018B41)
作者简介：杨光平(1993-)，男，硕士，助教，主要从事船舶操纵及船舶运动控制研究
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