中国舰船研究2025，Vol.20Issue(1)：58-64,7.DOI:10.19693/j.issn.1673-3185.04019
基于误差监测机制的船舶操纵运动自适应在线建模
Adaptive online modeling of ship maneuvering motion based on error monitoring
摘要
Abstract
[Objective]Aiming to address the problem of model inaccuracy caused by ship dynamic changes during actual navigation,this study proposes an adaptive online modeling method for ship maneuvering mo-tion based on an error monitoring mechanism.[Methods]The method determines model update timing through a model prediction error monitoring mechanism and realizes the adaptive retraining update of the model based on voyage data by combining the sliding window technique and support vector machine.Taking a KCS container ship as the research object,the method is tested and validated under zigzag maneuvering and turning circle motion scenarios with variable speed,and the influence of the error monitoring mechanism's hy-perparameter selection on the online modeling is analyzed.[Results]The simulation results show that the error detection mechanism can effectively reduce the frequency of online model updating and save computa-tional resources.Compared with the offline method,this method can update the model in time when the dy-namic characteristics of the ship change,thereby guaranteeing prediction accuracy.[Conclusion]The pro-posed method is applicable to scenarios in which the dynamic characteristics of ships change due to their own attributes,environmental changes,etc.Thus,it has practical engineering significance by providing a technical method for the online modeling and prediction of ship motion.关键词
船舶/操纵性/人工智能/运动控制/运动预测/在线建模/系统辨识/时变系统Key words
ships/maneuverability/artificial intelligence/motion control/motion prediction/online modeling/system identification/time-varying system分类
交通工程引用本文复制引用
余耀辉,刘溯扬,王子豪,谢文博,彭艳..基于误差监测机制的船舶操纵运动自适应在线建模[J].中国舰船研究,2025,20(1):58-64,7.基金项目
国家自然科学基金资助项目(52101361) （52101361）
