Continuous-Time Model Identification for the Dynamics of a Dynamic Positioning Ship

摘要

This paper focuses on discussing the problem of identifying a continuous-time (CT) mathematical model for the dynamics of a Dynamic Positioning (DP) ship. The model of the ship is considered as a black box and is identified by applying the subspace identification method for the firsttime. The identification problem is first transformed from time domain into the all-pass domain using Laguerre filters applied to the sampled input/output data. Then Continuous-Time Predictor-Based Subspace Identification algorithm (CT-PBSID) can be used to identify the transformed model.At last, the system matrices of the continuous-time state space model of the ship can be extracted through bijective mapping. By using the data collected from the identification experiments carried on the DP-3 simulation system, the feasibility and effectiveness of CT-PBSID is verified, andthe identified continuous-time model can well establish the characteristics of a DP ship.