Adaptive Parameter Identification of an Accurate Nonlinear Dynamical Model for Marine Thrusters

Author:

Bachmayer Ralf1,Whitcomb Louis L.2

Affiliation:

1. Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544

2. Department of Mechanical Engineering, The Johns Hopkins University, Baltimore, MD 21218

Abstract

Recently reported finite-dimensional nonlinear thruster models employing empirically determined lift–drag curves have been shown to accurately model both the transient and steady state response of marine thrusters. These reports have employed the standard off-line paradigm for model parameter identification: First, real-time sensor data (force, torque, fluid velocity) is logged in laboratory experiments. Second, the experimental data is analyzed with a least-square regression technique to complete a best fit for the model parameters. This paper reports an on-line technique for adaptive identification of model parameters for marine thrusters. The stability of the proposed technique is shown analytically. The performance of the on-line adaptive identification technique, evaluated with respect to an experimentally validated plant model, is shown to compare favorably to its off-line counterpart, but does not require the thrust and torque instrumentation required by conventional off-line least-squares parameter identification techniques.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Cited by 7 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Intelligenter Antrieb;KI-Technologie für Unterwasserroboter;2023

2. Intelligent Propulsion;AI Technology for Underwater Robots;2019-10-24

3. Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation;International Journal of Advanced Robotic Systems;2013-09-01

4. Analysis of underwater thruster model with ambient flow velocity using CFD;Intelligent Service Robotics;2013-07

5. Torque and power control of electrically driven marine propellers;Control Engineering Practice;2009-09

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