tailieunhanh - A method to identify the dynamic parameters of ships

In this paper, a method to identify the dynamic parameters of ships is proposed. Accordingly, firstly, the parallel model and the Lyapunov method to identify the parameters of the model are used. Then, the proposed method to adjust the dynamic parameters of the model that ensures convergence of parameters of model on the dynamic parameters of the ship is used. | Research A METHOD TO IDENTIFY THE DYNAMIC PARAMETERS OF SHIPS Do Cong Thang Abstract In this paper a method to identify the dynamic parameters of ships is proposed. Accordingly firstly the parallel model and the Lyapunov method to identify the parameters of the model are used. Then the proposed method to adjust the dynamic parameters of the model that ensures convergence of parameters of model on the dynamic parameters of the ship is used. Experimental results on our datasets show that the proposed approach can speed up identifying time compared to previous works. The above proposed algorithms can be applied to construct adaptive control systems for steerring the heading angle of marine vessels. Keywords Ships Dynamic parameters Identity Parallel model Lyapunov. 1. INTRODUCTION Marine ships are important means of transportation by sea. To operate and exploit ships in high efficiency it requires the use of equipment and automation systems in which the automatic control system of the ship is essential. To design the controller it is necessary to define the parameter of the controlled object. Nowaday modern ships are equipped with automatic navigation systems these are referred to as automatic steering systems . The most common control law in these systems is the PID and its variants. In general they work well under ideal conditions quiet ocean external noise is not significant unchanging load constant speed and so on. When the effect of waves winds up or when the load changes the operator must adjust the parameters for the controller. Although there is human participation driver quality is reduced increasing fuel consumption increasing journey time reducing vessel efficiency. There have been a lot of research with efforts to improve the quality of ship direction control systems 1 2 3 4 5 . Accordingly the main ways are pay attention to the nonlinearity in ship dynamics 1 6 using modern control rules such as fuzzy control 3 4 adaptive control 2 3 5 6 model reference .