Identification of the hydrodynamic model of a marine vehicle

本研究建议的主要目标是开发一种方法，用于识别作用在海上航行的船舶或水下航行器上的瞬时水动力。要克服的主要障碍是我们无法衡量输入，因此无法建立输出和输入之间的关系。相反，我们不得不求助于仅依赖于响应测量的技术来识别控制船舶或水下航行器运动的流体动力学模型。在这项工作中将遵循的方法是使用技术，如随机减量技术，以获得自由响应的车辆从其随机响应。然后，神经网络可用于真实的实时识别流体动力学模型。因此，模型可以随着导航条件的改变而更新。这种技术将提供更好的操纵特性、更高的定位精度和更安全的工作条件。

The main objective of this research proposal is to develop a methodology for the identification of the instantaneous hydrodynamic forces acting on a ship or an underwater water vehicle sailing at sea. The main hurdle to overcome is our inability to measure the input, so a relationship between output and input cannot be established. Instead, we have to take recourse to techniques which depend only on response measurements to identify the hydrodynamic model which govern the motion of the ship or the underwater vehicle. The approach which will be followed in this work is to use techniques, like the random decrement technique, to obtain the free response of the vehicle from its random response. neural networks can then be used to identify the hydrodynamic model in real time. Thus, the model can be updated as the navigation conditions change. Such a technique will provide better manoeuvring characteristics, more positioning precision, and safer working conditions.