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Sensors 2018, 18(6), 1889; https://doi.org/10.3390/s18061889

Modeling and Identification for Vector Propulsion of an Unmanned Surface Vehicle: Three Degrees of Freedom Model and Response Model

School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China
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Received: 18 April 2018 / Revised: 24 May 2018 / Accepted: 6 June 2018 / Published: 8 June 2018
(This article belongs to the Section Physical Sensors)
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Abstract

This paper presents a complete scheme for research on the three degrees of freedom model and response model of the vector propulsion of an unmanned surface vehicle. The object of this paper is “Lanxin”, an unmanned surface vehicle (7.02 m × 2.6 m), which is equipped with a single vector propulsion device. First, the “Lanxin” unmanned surface vehicle and the related field experiments (turning test and zig-zag test) are introduced and experimental data are collected through various sensors. Then, the thrust of the vector thruster is estimated by the empirical formula method. Third, using the hypothesis and simplification, the three degrees of freedom model and the response model of USV are deduced and established, respectively. Fourth, the parameters of the models (three degrees of freedom model, response model and thruster servo model) are obtained by system identification, and we compare the simulated turning test and zig-zag test with the actual data to verify the accuracy of the identification results. Finally, the biggest advantage of this paper is that it combines theory with practice. Based on identified response model, simulation and practical course keeping experiments are carried out to further verify feasibility and correctness of modeling and identification. View Full-Text
Keywords: modeling; identification; vector propulsion; unmanned surface vehicle; field experiment; sensors; course keeping modeling; identification; vector propulsion; unmanned surface vehicle; field experiment; sensors; course keeping
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Mu, D.; Wang, G.; Fan, Y.; Sun, X.; Qiu, B. Modeling and Identification for Vector Propulsion of an Unmanned Surface Vehicle: Three Degrees of Freedom Model and Response Model. Sensors 2018, 18, 1889.

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