Experimental Study on Rolling Motion Model of a Quad-Hull-USV

Zhiwei Cao, Songling Yang, Bao jiang Wang, Chenyi Zhuang

At present, the ship type of USV is relatively single. When the USV encounters harsh sea conditions, it is relatively difficult to carry out the task, which affects the safety of the USV and the degree of the task execution. This paper studied a roll attenuation test of a new type of small waterplane area quad-hull-USV in six working conditions. We changed the composition of restoring torque and damping to established four different mathematical models of roll damping. Based on the theory of system identification and intelligent optimization algorithms, we adapted a piece of self-programming software for system identification including genetic algorithm and particle swarm optimization algorithm developed in C# language in our research. The rolling test data under six working conditions were identified and analyzed. The optimal rolling motion mathematical models under different working conditions were obtained, and the variation trend of moment coefficients under different draft water was analyzed. By comparing the relative error values, the reliability of the self-programming software for system identification was proved. It provides a good basis for further research on the advantages of quad-hull-USV.