School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China.
Sensors (Basel). 2018 Jun 8;18(6):1889. doi: 10.3390/s18061889.
This paper presents a complete scheme for research on the three degrees of freedom model and response model of the vector propulsion of an unmanned surface vehicle. The object of this paper is “Lanxin”, an unmanned surface vehicle (7.02 m × 2.6 m), which is equipped with a single vector propulsion device. First, the “Lanxin” unmanned surface vehicle and the related field experiments (turning test and zig-zag test) are introduced and experimental data are collected through various sensors. Then, the thrust of the vector thruster is estimated by the empirical formula method. Third, using the hypothesis and simplification, the three degrees of freedom model and the response model of USV are deduced and established, respectively. Fourth, the parameters of the models (three degrees of freedom model, response model and thruster servo model) are obtained by system identification, and we compare the simulated turning test and zig-zag test with the actual data to verify the accuracy of the identification results. Finally, the biggest advantage of this paper is that it combines theory with practice. Based on identified response model, simulation and practical course keeping experiments are carried out to further verify feasibility and correctness of modeling and identification.
本文提出了一种完整的方案，用于研究无人水面舰艇的矢量推进的三自由度模型和响应模型。本文的研究对象是“蓝欣”号无人水面艇（7.02m×2.6m），它配备了单一的矢量推进装置。首先，介绍了“蓝欣”号无人水面艇和相关的现场实验（转弯试验和之字形试验），并通过各种传感器收集了实验数据。然后，采用经验公式法估算矢量推进器的推力。第三，通过假设和简化，分别推导出和建立了 USV 的三自由度模型和响应模型。第四，通过系统辨识得到模型的参数（三自由度模型、响应模型和推进器伺服模型），并将模拟的转弯试验和之字形试验与实际数据进行比较，以验证辨识结果的准确性。最后，本文的最大优势在于将理论与实践相结合。基于辨识的响应模型，进行了仿真和实际的操舵试验，进一步验证了建模和辨识的可行性和正确性。
