Chinese Journal of Ship Research, Volume. 18, Issue 3, 75(2023)
Extended state observer-based parameter identification of Nomoto model for autonomous vessels
Figures & Tables(9)
Fig. 2. Measurements and estimates for cargo ship and 货船艏向角和舵角的测量值与估计值
Fig. 3. Measurements and estimates for container ship and 集装箱船艏向角和舵角的测量值与估计值
Fig. 6. Estimated values for cargo ship and container ship货船和集装箱船的估计值
Table 1. Summary of state estimation errors
View tableView in ArticleTable 1. Summary of state estimation errors
状态量 RMSE R2 货船 集装箱船 货船 集装箱船 $\psi $ 0 0 1.0000 1.0000 $\dot \psi $ 0 0 1.0000 0.9999 $\ddot \psi $ 0 0 0.9249 0.9162 ${\delta _{\text{R}}} $ 0 0 0.9997 0.9992 扩展状态 0 0 0.9999 0.9999 $\dddot \psi $ − − − −
Table 2. Parameter identification results of the two ships's second-order linear Nomoto model
View tableView in ArticleTable 2. Parameter identification results of the two ships's second-order linear Nomoto model
参数 标准值 辨识值 相对误差/% 货船 集装箱船 货船 集装箱船 货船 集装箱船 ${T_1}$ /s45 2.087 5 46.210 2.089 6 2.689 0 0.100 6 ${T_2}$ /s6 0.317 9 5.960 0.303 5 −0.666 7 −4.530 0 ${T_3}$ /s10 0.183 0 9.751 0.184 0 −2.490 0 0.546 4 ${K_{\rm{R}}}$ /(s−1)0.09 −0.172 4 0.095 −0.183 7 5.555 0 6.554 0
Table 3. Prediction error of the proposed identification model
View tableView in ArticleTable 3. Prediction error of the proposed identification model
状态量 RMSE R2 货船 集装箱船 货船 集装箱船 $ \psi $ 0.003 2 0.002 6 0.998 1 0.999 3 $ \dot \psi $ 0.004 1 0.003 5 0.999 0 0.999 4
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Man ZHU, Yuanqiao WEN, Wuqiang SUN, Tao LEI. Extended state observer-based parameter identification of Nomoto model for autonomous vessels[J]. Chinese Journal of Ship Research, 2023, 18(3): 75
Paper Information
Category: Ship Design and Performance
Received: Oct. 8, 2021
Accepted: --
Published Online: Mar. 20, 2025
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