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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >System Identification of a Model Ship Using a Mechatronic System
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System Identification of a Model Ship Using a Mechatronic System

机译：机电系统对模型船的系统识别

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摘要

This paper describes a mechatronic system for a model ship that is developed as a validation platform for ship maneuvering control system research. The model ship is a free-running system that is propelled and steered by two propulsion motors and two rudder motors, respectively, powered by batteries packed onboard. Real-time control is performed by an embedded processor, with control algorithm being programmed on a hosting PC and communicated through a wireless network. Sensors for the ship motion are integrated for feedback control and data acquisition. The hardware description, software development, and system integration efforts will be delineated. The mechatronic system has been used to develop a dynamic mathematical model for the ship to facilitate future control work. System identification results are presented to demonstrate the utility of the hardware and software presented in this paper.
机译：本文介绍了一种用于模型船的机电一体化系统，该系统已开发为舰船操纵控制系统研究的验证平台。模型船是一种自由运行的系统，由两个推进马达和两个舵马达分别驱动和操纵，由装在船上的电池供电。实时控制由嵌入式处理器执行，控制算法在主机PC上编程并通过无线网络进行通信。集成了船舶运动传感器，用于反馈控制和数据采集。将描述硬件描述，软件开发和系统集成工作。机电一体化系统已用于开发船舶的动态数学模型，以方便将来的控制工作。给出系统识别结果以证明本文介绍的硬件和软件的实用性。

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