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Identification of rudder—yaw and rudder—roll steering models by using recursive prediction error techniques
Author(s) -
Zhou WeiWu,
Cherchas Dale B.,
Calisal Sander
Publication year - 1994
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.4660150203
Subject(s) - rudder , yaw , control theory (sociology) , euler angles , coupling (piping) , nonlinear system , transfer function , engineering , computer science , mathematics , marine engineering , artificial intelligence , physics , automotive engineering , mechanical engineering , geometry , control (management) , electrical engineering , quantum mechanics
Linear and non‐linear recursive prediction error (RPE) methods have been employed for the purpose of identification of the dynamics of ship rudder—yaw and —roll motions. The evaluations of the goodness of model structures have been carried out by comparing simulated outputs from the identified model with real measurements. In the linear case Nomoto's first‐order model has been initially considered for the transfer functions between rudder—yaw and —sway, with a second‐order model for rudder—roll with coupling effects considered only between sway—yaw and —roll. Identification results have shown that such a model is not appropriate. Changing the model to second‐order between rudder—sway and —yaw and further considering the coupling effects between roll angle—sway and —yaw shows that a significant improvement is achieved, while the coupling effect between yaw and roll appears negligible. In the nonlinear case effects due to various non‐linear terms have been studied with the non‐linear RPE algorithm.