The Research on Rolling Motion Model of the SWATH-USV Based on System Identification

DOI

10.2991/mecs-17.2017.174How to use a DOI?

Keywords

SWATH-USV; Ship model test; System identification; Roll motion model

Abstract

In this paper, a SWATH USV is taken as the research object, a series of static roll attenuation tests are carried out under different draft and different initial roll angles. By changing the composition of the restoring moment and damping, 4 mathematical models of roll attenuation motion system identification are established. And based on system identification theory and a variety of optimization algorithms programming ideas, C# language is used to rewrite the system identification software including genetic algorithm and particle swarm algorithm. The identification and analysis of the rolling data of unmanned craft are carried out, and a better mathematical model of rolling motion is obtained by identification and calculation, and the variation of identification parameters under different draught and inclination angles is compared. The relative error between the experimental value and the forecast value predicted by the software, in good agreement with experimental values, proved the reliability of the system identification method, can forecast the future of unmanned navigation parameters and motion attitude.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Xue Cao
AU  - Man Liu
AU  - Song-lin Yang
PY  - 2016/06
DA  - 2016/06
TI  - The Research on Rolling Motion Model of the SWATH-USV Based on System Identification
BT  - Proceedings of the 2017 2nd International Conference on Machinery, Electronics and Control Simulation (MECS 2017)
PB  - Atlantis Press
SP  - 434
EP  - 442
SN  - 2352-5401
UR  - https://doi.org/10.2991/mecs-17.2017.174
DO  - 10.2991/mecs-17.2017.174
ID  - Cao2016/06
ER  -