Frequency domain identification of the Nomoto model to facilitate Kalman filter estimation and PID heading control of a patrol vessel

• Published in: Ocean engineering Vol. 72; pp. 344 - 355
• Main Authors: Banazadeh, A., Ghorbani, M.T.
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01.11.2013; Elsevier
• Subjects: Applied sciences; CIFER; Dynamical systems; Dynamics; Estimating; Exact sciences and technology; Filtering; Frequency domain identification; Ground, air and sea transportation, marine construction; Kalman filter; Kalman filters; Marine construction; Mathematical models; Nomoto model; Patrol vessel; Patrols; Rolling motion; Vessels; Patrol vessel; Nomoto model; Frequency domain identification; Kalman filter; CIFER; Navigation; Control system; Modeling; Frequency domain analysis; Patrol boat; Maneuverability; Software; System identification; Ship
• ISSN: 0029-8018; 1873-5258
• DOI: 10.1016/j.oceaneng.2013.07.003

This paper presents a detailed frequency-domain system identification method applied to identify steering dynamics of a coastal patrol vessel using a data analysis software called CIFER. Advanced features such as the Chirp-Z transform and composite window optimization are used to extract high quality frequency responses. An accurate, robust and linear transfer function model is derived for yaw and roll dynamics of the vessel. To evaluate the accuracy of the identified model, time domain responses from a 45–45 zig-zag test are compared with the responses predicted by the identified model. The identified model shows excellent predictive capability and is well suited for simulation and controller design. Consequently, based on the identified linear model, a PID heading controller and a Kalman filter observer are constructed for estimating vessel motion-related parameters and filtering disturbances. The results show excellent tracking of pilot inputs in the presence of wave induced motions and forces. •The Nomoto model for a patrol vessel is identified with the CIFER software.•Based on the identified linear model, a PID heading controller is constructed.•The Kalman filter is provided for estimating vessel states and wave filtering.•The results show excellent tracking of pilot inputs in the presence of wave loads.