Abstract
In this research work, a Water-Jet catamaran HUSTER-30 is used as a case study to investigate the modeling and system identification of water-jet vessels. There is a natural phenomenon of the water-jet vessels, which is that the vessel cannot go straight with zero steering angle even under absolutely calm water conditions. Identifying the parameters of the water-jet vessel model and guaranteeing the identified parameters cover a wide range of maneuvering is investigated in this paper. The nonlinear asymmetric 3 Degree of Freedom (DOF) model considering water-jet system assembly error and the external force generated by the effect of outlet water flows is established. Moreover, a constrained multi-step prediction (CMSP) method is proposed in this paper to identify parameters of the nonlinear model. A series of experiments are conducted to identify the parameters, and the prediction results demonstrate that the asymmetric model has better performance than the symmetric model. Also, the identified results demonstrate that the parameters identified by the CMSP method have a more accurate prediction than the LS method in a wide range of maneuvering. The future work will focus on optimizing the proposed method and using the identified model for controller design and simulation study.
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