无人水面艇推进系统模型辨识

Model identification of unmanned surface vehicle propulsion system

摘要:
目的提出一种能简单、快速获取无人水面艇推进系统经验模型的方法。
方法在理论模型的基础上，通过Z型操舵、定常回转以及发动机稳定转速试验，获取实船运动数据，搭建基于Simulink Project的开发平台，完成对喷水推进系统关键参数的估计、辨识以及仿真对比，从而得到实船推进系统经验模型。
结果经验证，采用该方法所得推进系统模型正确、合理。
结论所做研究可为无人水面艇控制系统的开发奠定基础。

Abstract:
Objectives A simple and rapid method for obtaining the empirical model of the propulsion system of Unmanned Surface Vehicles (USV) is presented.
Methods Based on the theoretical model, the motion data of USV is obtained by zigzag manoeuvre tests, steady turning motion tests and engine stable speed tests. The development platform based on Simulink Project is built to estimate, identify and compare the key parameters of the propulsion system, and then the empirical model of propulsion system is obtained.
Results It is proved that the propulsion system model obtained through this method is correct and reasonable.
Conclusions The research can lay a foundation for the development of the control system of USV.