无人水面艇操纵模型分级辨识方法

doi:10.12066/j.issn.1007-2861.2248

上海大学学报(自然科学版) ›› 2020, Vol. 26 ›› Issue (6): 896-908.doi: 10.12066/j.issn.1007-2861.2248

无人水面艇操纵模型分级辨识方法

袁晓宇¹, 黄承义², 彭艳¹, 瞿栋¹, 刘东柯³()

1. 上海大学无人艇工程研究院, 上海 200444
2. 国家海洋局北海海洋工程勘察研究院, 山东青岛 266061
3. 上海大学计算机工程与科学学院, 上海 200444

收稿日期:2019-03-20 出版日期:2020-12-31 发布日期:2020-12-29
通讯作者: 刘东柯 E-mail:liudongke@shu.edu.cn
作者简介:刘东柯(1991—), 男, 实验师,研究方向为水面无人艇导航、制导和控制等. E-mail: liudongke@shu.edu.cn
基金资助:
国家科技部重点研发计划资助项目(2018YFF01013402)

Hierarchical model identification method for unmanned surface vehicle

YUAN Xiaoyu¹, HUANG Chengyi², PENG Yan¹, QU Dong¹, LIU Dongke³()

1. Research Institute of USV Engineering, Shanghai University, Shanghai 200444, China
2. North Sea Engineering Survey and Research Institute, State Oceanic Administration, Qingdao 266061, Shandong, China
3. School of Computer Engineering and Science, Shanghai University, Shanghai 200444, China

Received:2019-03-20 Online:2020-12-31 Published:2020-12-29
Contact: LIU Dongke E-mail:liudongke@shu.edu.cn

摘要/Abstract

摘要：

近年来, 随着科技和军事能力的大幅提高, 无人水面艇(unmanned surfacevehicle, USV)以独特的地位和不可取代的作用得到了迅猛发展.受海面环境干扰大、无人水面艇本身时滞性强、艇载计算机运算能力有限等限制,很难获得精确的无人水面艇操纵模型. 同时作为一个工业领域的机器人,操纵模型的快速辨识对于研发和工程化都至关重要. 针对这一问题,提出了无人水面艇分级操纵辨识方法,获得了无人水面艇的转舵模型和不同速度下的转艏操纵模型,并在此基础上通过仿真和实验验证了该模型的有效性. 该方法简单高速,可以快速应用于无人水面艇的控制系统中.

关键词: 无人水面艇, 模型辨识, 系统辨识, 操纵模型, 分级辨识

Abstract:

With the developments in science, technology, and military, unmanned surface vehicles (USVs) with unique roles have been rapidly developed in recent years. Considering the large interference of the sea environment, large time delay, and limited computing capability of the onboard computer, it is challenging to obtain an accurate control mode for the USV. As an industry robot, rapid identification of the control model is important for the research, development, and engineering. To address this issue, this paper proposes a hierarchical mode identification method for the USV, with a rudder steering model and heading control model at different speeds. The validity of the model is verified by a simulation and experiment. This method is simple and fast and can be quickly applied to the control system of the USV.

Key words: unmanned surface vehicle (USV), model identification, system identification, control model, hierarchical identification

中图分类号:

TP242.6

袁晓宇, 黄承义, 彭艳, 瞿栋, 刘东柯. 无人水面艇操纵模型分级辨识方法[J]. 上海大学学报(自然科学版), 2020, 26(6): 896-908.

YUAN Xiaoyu, HUANG Chengyi, PENG Yan, QU Dong, LIU Dongke. Hierarchical model identification method for unmanned surface vehicle[J]. Journal of Shanghai University（Natural Science Edition）, 2020, 26(6): 896-908.

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无人水面艇操纵模型分级辨识方法

Hierarchical model identification method for unmanned surface vehicle

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