DEVELOPING A MODEL OF THE DYNAMICS OF UNMANNED VESSEL ON COURSE BASED ON THE EXPERIMENTAL DATA

The issue of constructing a theoretical model of the dynamics of unmanned vessel on the course based on experimental data is discussed in the paper. A brief description of the experimental platform for unmanned surface vehicle (USV) and the equipment used in the study of the dynamic characteristics of the object is given. It is noted that the USV is characterized by three modes of movement: displacement, semi-displacement and planning. When collecting data to build a boat dynamics model, zigzag maneuvers and circulation are used. The developed software and hardware with a frequency of 10 Hz ensure the preservation of the required parameters, in particular, the boat speed, the angular velocity, the current position of the steering wheel. At the first stage, a theoretical model of the USV dynamics along the course is selected. The well-known Nomoto models of the 1st and 2nd orders are selected as such. At the second stage of constructing models of the USV dynamics along the course, a quadratic criterion is set; it estimates the deviation of the angular velocity of the experimental boat from the estimates of the angular velocity generated by the Nomoto model, with the same input action (position of the steering wheel). Thus, the task is reduced to the optimization of the quadratic criterion by choosing the parameters of the Nomoto model. This problem can be solved both analytically and numerically, using special software tools. Its complexity depends on the order of the selected ship dynamics model. In this work, the selection of the parameters of the vessel dynamics along the course is carried out in two ways: using a solution search tool in MS Excel and on the basis of the System Identification Toolbox software package. Both options give a good match for the parameters of the constructed dynamics model. Studies have shown that using the more complex 2nd order Nomoto model improves the quality criterion over the simpler 1st order model. The approach used in the work has a fairly high degree of generality and can be practically applied without changes to build more complex nonlinear models of ship dynamics.

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