Research On Parameter Identification Of An Unmanned Surface Vehicle Model Based On Differential Evolution Algorithm

Unmanned surface boat is a high-performance,intelligent,informational,and autonomous sea weapon that can perform tasks such as reconnaissance,search,anti-submarine,hydrological monitoring,and geographical survey.The unmanned surface boat with excellent performance must have good maneuverability,Flexible and practical conditions.In order to obtain the performance parameters of the unmanned surface boat,it is necessary to establish a suitable motion model for the unmanned surface boat and to identify the model parameters through various methods to provide accurate and reliable information in the design of the heading controller.To this end,this paper takes the "blue signal" unmanned surface boat of Dalian Maritime University as the research object,establishes the maneuvering motion model of the boat,and identifies the model to obtain accurate model parameters.The main research contents of this article are:(1)In order to study the motion of unmanned surface boats,the inertial reference coordinate system and the attached reference coordinate system are selected as modeling references,and the motion modeling of unmanned surface boats is carried out from kinematic modeling and dynamic modeling Research to establish a six-degree-of-freedom motion model for unmanned surface boats;on this basis,ignore external interference according to the actual situation and simplify to obtain a three-degree-of-freedom motion model;then combine the separation model modeling ideas and thruster characteristics to establish a response Models,including stern model,Nomoto model and Norrbin model,laid a theoretical foundation for the model identification later.(2)Differential evolution algorithm is one of the optimization algorithms.This paper introduces the principle,process and improved algorithm of differential evolution algorithm in detail,analyzes the influence of various parameters on the performance of the algorithm,and provides conditions for model identification.In order to facilitate model identification,a set of identification system was designed independently.The system is divided into hardware system and software system.The hardware system is responsible for data collection and instruction execution.The software system incorporates differential evolution algorithm,which is responsible for data display,data storage and model identification.(3)Using the improved differential evolution algorithm to identify the three-degree-of-freedom motion model,stern model,Nomoto model and Norrbin model of unmanned surface craft.After identifying the model parameters,under the same input conditions,compare the simulation output of the model with the data collected by the real ship,from the speed,heading angle fitting effect,gyration diameter,simulated heading angle and actual heading angle Root mean square error and other multiple angles verify the accuracy of the identification results.In addition,it is compared with the results obtained by the standard differential evolution algorithm and recursive least squares identification,which proves that the identification effect of the improved differential evolution algorithm in this paper is generally better than the recursive least squares method,and the identification time is generally less than the standard difference.Evolutionary algorithm.