Podded Propulsion Unmanned Surface Vehicle Model Identification Based on Field Experiments

Model is the basis of the control, and in order to achieve the autonomous navigation of podded propulsion unmanned surface vehicle, its model is determined to be the beginning of all the work. The research object of this paper is Dalian Maritime University "Lanxin" podded propulsion unmanned surface vehicle. In practical engineering applications, the response model is often used to design ship controller. So first of all, for "Lanxin" unmanned surface vehicle, the MMG model of three DOF is simplified as a response model by force analysis and conditional hypothesis. Subsequently, the field experiments (turning experiment and zig-zag experiment) are executed to collect the experimental data. Then turning experiment data and zig-zag experiment data are used to identify the response model parameters by recursive least square method, respectively. Finally the correctness of the identification results are verified by simulation. Simulation results show that the identification result of zig-zag experiment data is more close to the reality than the identification result of turning experiment data, which it proves the correctness of modeling and the feasibility of identification scheme.