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. 2018 Jun 8;18(6):1889.
doi: 10.3390/s18061889.

Modeling and Identification for Vector Propulsion of an Unmanned Surface Vehicle: Three Degrees of Freedom Model and Response Model

Dongdong Mu  1 , Guofeng Wang  2 , Yunsheng Fan  3 , Xiaojie Sun  4 , Bingbing Qiu  5
Affiliations

Modeling and Identification for Vector Propulsion of an Unmanned Surface Vehicle: Three Degrees of Freedom Model and Response Model

Dongdong Mu et al. Sensors (Basel). .

Abstract

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.

Keywords: course keeping; field experiment; identification; modeling; sensors; unmanned surface vehicle; vector propulsion.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
Lanxin USV.
Figure 2
Figure 2
Vector propulsion system.
Figure 3
Figure 3
Multi-sensor structure.
Figure 4
Figure 4
The sea state of the field experiment.
Figure 5
Figure 5
Schematic diagram of plane motion.
Figure 6
Figure 6
A schematic diagram of the vector thrust distribution.
Figure 7
Figure 7
The comparison results of the zig-zag test.
Figure 8
Figure 8
The comparison results of the turning test.
Figure 9
Figure 9
The comparison results of the zig-zag test.
Figure 10
Figure 10
The comparison results of the turning test.
Figure 11
Figure 11
External disturbance curve.
Figure 12
Figure 12
The numerical simulation of course keeping.
Figure 13
Figure 13
The field experiment for course keeping.
See this image and copyright information in PMC

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