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Development of Maneuvering Control Model for a Catamaran using System Identification Method and Experimental Tests

Najari, Amir Hossein | 2022

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 56490 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Seif, Mohammad Saeed
  7. Abstract:
  8. The current research is one of the sections of the project for the design and construction of an Unmanned Surface vehicle (USV) , with the goal of extracting the dynamic model of the float using experimental tests. Initially, a literature review on system identification methods and the development of a dynamic model of the float has been conducted. Following that, the process of constructing and equipping a Catamaran platform for conducting tests and collecting suitable data for extracting the dynamic model has been described. Subsequently, tests have been conducted on the constructed float.Using the data obtained from the experimental tests, an artificial neural network has been employed to model the yaw motion relative to the input voltage to the motors. Afterward, system identification in the frequency domain is applied to the data obtained from the experimental tests, and transfer functions for pitch and yaw motion considering input voltage are developed. The float constructed during this research can serve as a tool for practical implementation in other research projects and theses in the fields of path control, collision avoidance, obstacle detection, etc
  9. Keywords:
  10. Unmanned Surface Vehicles (USVs) ; Frequency Domain Identification ; Artificial Neural Network ; Maneuver Control ; Catamaran Boat ; Experimental Test

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