Identification for a Heading Autopilot of an Autonomous In-Scale Fast Ferry
Identification for a Heading Autopilot of an Autonomous In-Scale Fast Ferry
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DOI：
10.1109/joe.2012.2227175
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发表时间：
2013-04
影响因子：
4.1
通讯作者：
F. Velasco;E. R. Herrero;L. Lopez;E. Moyano
中科院分区：
文献类型：
--
作者：
F. Velasco;E. R. Herrero;L. Lopez;E. Moyano
本文的目的是获得一个航向模型的目的是控制的比例快速渡轮TF-120物理模型，包括动力学和运动学，使用远程实验平台的海洋车辆。物理模型被开发为自主的，并使用WiFi通信从PC远程控制。利用回转圆拟合对模型动力学进行了辨识和验证。在桑坦德湾的海岸线上进行了高速船的自主比例物理模型的测试。利用辨识出的参数模型设计了航向自动驾驶仪的不同经典控制结构，并在Simulink中进行了仿真。
The aim of this paper is to obtain a heading model for the purpose of control of an in-scale fast-ferry TF-120 physical model, including the dynamics and kinematics, using a remote experimentation platform for marine vehicles. The physical model is developed to be autonomous and is controlled remotely from a PC using WiFi communications. The identification and validation of the model dynamics is obtained with turning circle maneuverings. The tests with the autonomous in-scale physical model of the high-speed ship were carried out on the coastline of the Bay of Santander. The parametric model identified is used to design different classical control structures for a heading autopilot, and a simulation of this system is performed in Simulink.