ABSTRACT

Steering ship models are important for the study of autonomous ship manoeuverability and design of ship motion control system. It is always a difficult task to find the mathematical model by first principle as it needs prior knowledge of hydrodynamic derivatives. The input–output-based system identification theory can be used to establish system mathematical models. A solution is offered by developing a Wi-Fi-based self-propelled, autonomous system for a ship model with Internet of Things (IoT) capabilities to perform manoeuvering and seakeeping tests in indoor environment without any complex mechanical structure, viz. following bridge. The developed autonomous on-board system equipped with main computer, suitable electronics, sensors, data acquisition system and Wi-Fi-based communication system. The developed system offers a cost effective, modular and portable solution to perform hydrodynamic studies of different hull form without incorporating major changes in the system. The use of IoT makes the data accessible to a naval architecture in real-time to analyse the motion response of the ship in different wave conditions and enables to implement the digital twin to simulate the real field scenario. Input–output-based model identification experiments such as turning circle and zig-zag tests are conducted to estimate the first-order steering model parameters and is further extended to design and implementation of a classical proportional–derivative-based steering control. The design is described in this paper with details of implementation on a demonstration oceanographic coastal research vessel. It illustrates the excellent communication between shore station computer and the on-board system on a wire-free model with robust control and exhibiting all the motion behaviour and dynamic effects. Experiments performed in wave basin in different wave conditions validate the efficacy of the proffered method.

摘要

舵船模型对于自主船舶操纵性研究和船舶运动控制系统设计具有重要意义。通过第一原理找到数学模型始终是一项艰巨的任务，因为它需要先验流体动力学导数。基于输入输出的系统辨识理论可用于建立系统数学模型。通过为具有物联网 (IoT) 功能的船模开发基于 Wi-Fi 的自行式自主系统提供了一种解决方案，可以在没有任何复杂机械结构的情况下在室内环境中进行机动和适航测试，即。下桥。开发的自主车载系统配备了主计算机、合适的电子设备、传感器、数据采集系统和基于 Wi-Fi 的通信系统。开发的系统提供了具有成本效益的，模块化和便携式解决方案，用于执行不同船体形式的流体动力学研究，而无需对系统进行重大更改。物联网的使用使海军架构可以实时访问数据，以分析船舶在不同波浪条件下的运动响应，并实现数字双胞胎以模拟真实的现场场景。进行了基于输入-输出的模型识别实验，例如转弯和锯齿形测试，以估计一阶转向模型参数，并进一步扩展到经典比例微分转向控制的设计和实现。本文描述了该设计，并详细介绍了在示范海洋学沿海研究船上的实施细节。它说明了岸站计算机与车载系统之间在具有鲁棒控制的无线模型上的出色通信，并展示了所有运动行为和动态效果。在不同波浪条件下的波浪盆中进行的实验验证了所提供方法的有效性。