Abstract This article characterises the methodology for the endoscopic testing of a laboratory diesel engine used for testing marine fuels. The ‘Shadow’ measurement method used in the XLG3 type EVEREST digital endoscope, for quantitative and qualitative identification of detected surface defects, was approximated. Representative endoscopic images of the elements limiting the working space of the research engine are demonstrated, having been recorded during the usable quality testing of newly produced, low-sulphur marine fuels, so-called ‘modified fuels’. The main purpose of the endoscopic examinations was the final verification of the tested fuel’s suitability for feeding full-size marine engines.
{"title":"Health Monitoring of a Compression Ignition Engine Fed with Different Low-Sulphur Marine Fuels by Endoscopic Image Processing and Analysis","authors":"Z. Korczewski","doi":"10.2478/pomr-2023-0024","DOIUrl":"https://doi.org/10.2478/pomr-2023-0024","url":null,"abstract":"Abstract This article characterises the methodology for the endoscopic testing of a laboratory diesel engine used for testing marine fuels. The ‘Shadow’ measurement method used in the XLG3 type EVEREST digital endoscope, for quantitative and qualitative identification of detected surface defects, was approximated. Representative endoscopic images of the elements limiting the working space of the research engine are demonstrated, having been recorded during the usable quality testing of newly produced, low-sulphur marine fuels, so-called ‘modified fuels’. The main purpose of the endoscopic examinations was the final verification of the tested fuel’s suitability for feeding full-size marine engines.","PeriodicalId":49681,"journal":{"name":"Polish Maritime Research","volume":null,"pages":null},"PeriodicalIF":2.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41685260","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract This paper utilised computational fluid dynamics (CFD) technology to calculate the resistance of a novel high-speed quadramaran in calm water using the Navier‒Stokes (N‒S) equation, analysed the total resistance, frictional resistance, and residual resistance characteristics of this novel high-speed quadramaran at different length Froude numbers, and compared them with the results of a conventional high-speed catamaran with the same displacement. The results showed that the total resistance of the quadramaran had a significant hump at the Froude number of 0.6, due to the complexity of the wave interference among the four demihulls, and the hump value was about 1.6 times that of the catamaran. Above the hump speed, the total resistance of the quadramaran decreased with the increase of the Froude number, until reaching the Froude number of 1.06, when the curve became flat, and it showed a maximum resistance reduction of 40% at the Froude number of 1.66 compared with the catamaran, where the total resistance curve was steep. The frictional resistance of the quadramaran increased gradually with the growth of the Froude number, which was basically consistent with the change trend of the catamaran. The residual resistance of the quadramaran first rose and then reduced with the rising Froude number, the curve showed a large hump due to the adverse wave interference, and the hump value was about 1.7 times that of the catamaran. Above the Froude number of 1.06, as the wave interference changed from adverse to favourable, the quadramaran had lower residual resistance than the catamaran. The bow and stern demihulls of the quadramaran were also analysed for their resistance characteristics. The total resistance of the bow demihulls increased gradually with the increase of the Froude number, the curve had a small hump at the Froude number of 0.7, and above the hump speed, the curve was steep. The total resistance of the stern demihulls first increased and then decreased with the growth of the Froude number, the hump value at the Froude number of 0.85 was significant and was about 2 times that of the bow demihulls, and the curve became flat above the Froude number of 1.51.
{"title":"Numerical Analysis of Resistance Characteristics of a Novel High-Speed Quadramaran","authors":"Xin Liu, Jinglei Yang, Defeng Wu, Liang Hou, Xiaowen Li, Qian Wan","doi":"10.2478/pomr-2023-0018","DOIUrl":"https://doi.org/10.2478/pomr-2023-0018","url":null,"abstract":"Abstract This paper utilised computational fluid dynamics (CFD) technology to calculate the resistance of a novel high-speed quadramaran in calm water using the Navier‒Stokes (N‒S) equation, analysed the total resistance, frictional resistance, and residual resistance characteristics of this novel high-speed quadramaran at different length Froude numbers, and compared them with the results of a conventional high-speed catamaran with the same displacement. The results showed that the total resistance of the quadramaran had a significant hump at the Froude number of 0.6, due to the complexity of the wave interference among the four demihulls, and the hump value was about 1.6 times that of the catamaran. Above the hump speed, the total resistance of the quadramaran decreased with the increase of the Froude number, until reaching the Froude number of 1.06, when the curve became flat, and it showed a maximum resistance reduction of 40% at the Froude number of 1.66 compared with the catamaran, where the total resistance curve was steep. The frictional resistance of the quadramaran increased gradually with the growth of the Froude number, which was basically consistent with the change trend of the catamaran. The residual resistance of the quadramaran first rose and then reduced with the rising Froude number, the curve showed a large hump due to the adverse wave interference, and the hump value was about 1.7 times that of the catamaran. Above the Froude number of 1.06, as the wave interference changed from adverse to favourable, the quadramaran had lower residual resistance than the catamaran. The bow and stern demihulls of the quadramaran were also analysed for their resistance characteristics. The total resistance of the bow demihulls increased gradually with the increase of the Froude number, the curve had a small hump at the Froude number of 0.7, and above the hump speed, the curve was steep. The total resistance of the stern demihulls first increased and then decreased with the growth of the Froude number, the hump value at the Froude number of 0.85 was significant and was about 2 times that of the bow demihulls, and the curve became flat above the Froude number of 1.51.","PeriodicalId":49681,"journal":{"name":"Polish Maritime Research","volume":null,"pages":null},"PeriodicalIF":2.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47918733","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract This paper deals with the wave-induced cyclic response of a porous seabed (by means of oscillating parameters: pore-fluid pressure, soil displacement components, effective normal stress and shear stress components) due to a surface sinusoidal water-wave propagating over a seabed of infinite thickness. The main existing analytical solutions to the governing problem are critically discussed, pointing out their meaningful errors and doubtful items. A phase-lag phenomena is particularly studied as an immanent part of any complex-valued analytical solutions having a cyclic nature.
{"title":"Comments on Existing Analytical Solutions to the Wave-Induced Cyclic Response of a Porous Seabed of Infinite Thickness","authors":"W. Magda","doi":"10.2478/pomr-2023-0033","DOIUrl":"https://doi.org/10.2478/pomr-2023-0033","url":null,"abstract":"Abstract This paper deals with the wave-induced cyclic response of a porous seabed (by means of oscillating parameters: pore-fluid pressure, soil displacement components, effective normal stress and shear stress components) due to a surface sinusoidal water-wave propagating over a seabed of infinite thickness. The main existing analytical solutions to the governing problem are critically discussed, pointing out their meaningful errors and doubtful items. A phase-lag phenomena is particularly studied as an immanent part of any complex-valued analytical solutions having a cyclic nature.","PeriodicalId":49681,"journal":{"name":"Polish Maritime Research","volume":null,"pages":null},"PeriodicalIF":2.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46179628","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract This article presents the analysis of a damping fluid deficiency in a torsional vibration viscous damper. The problem is analysed both qualitatively and quantitatively. Experimental results are presented, showing what happens to the damper in a situation where the design of the housing is inadequate and the inertia forces prevent the formation of an oil film. In addition, the article deals with the problem of the proper design of the oil channel and the dimensions required to enable the damper to operate reliably. The results of the article may be useful to the constructors of torsional vibration viscous dampers for marine engines.
{"title":"Behaviour of a Torsional Vibration Viscous Damper in the Event of a Damper Fluid Shortage","authors":"A. Chmielowiec, Adam Michajłyszyn, W. Homik","doi":"10.2478/pomr-2023-0026","DOIUrl":"https://doi.org/10.2478/pomr-2023-0026","url":null,"abstract":"Abstract This article presents the analysis of a damping fluid deficiency in a torsional vibration viscous damper. The problem is analysed both qualitatively and quantitatively. Experimental results are presented, showing what happens to the damper in a situation where the design of the housing is inadequate and the inertia forces prevent the formation of an oil film. In addition, the article deals with the problem of the proper design of the oil channel and the dimensions required to enable the damper to operate reliably. The results of the article may be useful to the constructors of torsional vibration viscous dampers for marine engines.","PeriodicalId":49681,"journal":{"name":"Polish Maritime Research","volume":null,"pages":null},"PeriodicalIF":2.0,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44211166","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract In the field of ocean engineering, the task of spatial hull modelling is one of the most complicated problems in ship design. This study presents a procedure applied as a generative approach to the design problems for the hull geometry of small vessels using elements of concurrent design with multi-criteria optimisation processes. Based upon widely available commercial software, an algorithm for the mathematical formulation of the boundary conditions, the data flow during processing and formulae for the optimisation processes are developed. As an example of the application of this novel approach, the results for the hull design of a sailing yacht are presented.
{"title":"A Generative Approach to Hull Design for a Small Watercraft","authors":"A. Karczewski, J. Kozák","doi":"10.2478/pomr-2023-0001","DOIUrl":"https://doi.org/10.2478/pomr-2023-0001","url":null,"abstract":"Abstract In the field of ocean engineering, the task of spatial hull modelling is one of the most complicated problems in ship design. This study presents a procedure applied as a generative approach to the design problems for the hull geometry of small vessels using elements of concurrent design with multi-criteria optimisation processes. Based upon widely available commercial software, an algorithm for the mathematical formulation of the boundary conditions, the data flow during processing and formulae for the optimisation processes are developed. As an example of the application of this novel approach, the results for the hull design of a sailing yacht are presented.","PeriodicalId":49681,"journal":{"name":"Polish Maritime Research","volume":null,"pages":null},"PeriodicalIF":2.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46540880","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract Underwater localization and tracking is a challenging problem and Time-of-Arrival and Time-Difference-of-Arrival approaches are commonly used. However, the performance difference between these approaches is not well understood or analysed adequately. There are some analytical studies for terrestrial applications with the assumption that the signal arrival times are not correlated. However, this assumption is not valid for underwater propagation. To present the distinct nature of the problem under the water, a high-fidelity simulation is required. In this study, Time-of-Arrival and Time-Difference-of-Arrival approaches are compared using a ray tracing based propagation model. Moreover, basic methods to mitigate the multipath propagation problem are also implemented for Bernoulli filters. Since the Bernoulli filter is a joint detection and tracking filter, the detection performance is also analysed. Comparisons are done for all combinations of filter and measurement approaches. The results can help to design underwater localization systems better suited to the needs.
{"title":"Performance Comparison of ToA and TDOA Based Tracking In Underwater Multipath Environments Using Bernoulli Filter","authors":"A. Gunes","doi":"10.2478/pomr-2023-0014","DOIUrl":"https://doi.org/10.2478/pomr-2023-0014","url":null,"abstract":"Abstract Underwater localization and tracking is a challenging problem and Time-of-Arrival and Time-Difference-of-Arrival approaches are commonly used. However, the performance difference between these approaches is not well understood or analysed adequately. There are some analytical studies for terrestrial applications with the assumption that the signal arrival times are not correlated. However, this assumption is not valid for underwater propagation. To present the distinct nature of the problem under the water, a high-fidelity simulation is required. In this study, Time-of-Arrival and Time-Difference-of-Arrival approaches are compared using a ray tracing based propagation model. Moreover, basic methods to mitigate the multipath propagation problem are also implemented for Bernoulli filters. Since the Bernoulli filter is a joint detection and tracking filter, the detection performance is also analysed. Comparisons are done for all combinations of filter and measurement approaches. The results can help to design underwater localization systems better suited to the needs.","PeriodicalId":49681,"journal":{"name":"Polish Maritime Research","volume":null,"pages":null},"PeriodicalIF":2.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45057690","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract Marine centrifugal fans usually work in harsh environments. Their vibration signals are non-linear. The traditional fault diagnosis methods of fans require much calculation and have low operating efficiency. Only shallow fault features can be extracted. As a result, the diagnosis accuracy is not high. It is difficult to realize the end-to-end fault diagnosis. Combining the Complete Ensemble Empirical Mode Decomposition with Adaptive Noise (CEEMDAN) and lightweight neural network, a fault classification method is proposed. First, the CEEMDAN can decompose the vibration signal into several intrinsic modal functions (IMF). Then, the original signals can be transformed into 2-D images through pseudo-colour coding of the IMFs. Finally, they are fed into the lightweight neural network for fault diagnosis. By embedding a convolutional block attention module (CBAM), the ability of the network to extract critical feature information is improved. The results show that the proposed method can adaptively extract the fault characteristics of a marine centrifugal fan. While the model is lightweight, the overall diagnostic accuracy can reach 99.3%. As exploratory basic research, this method can provide a reference for intelligent fault diagnosis systems on ships.
{"title":"Deep Learning-Based Fault Diagnosis for Marine Centrifugal Fan","authors":"Congyue Li, Yihuai Hu, Jiawei Jiang, Guo Yan","doi":"10.2478/pomr-2023-0011","DOIUrl":"https://doi.org/10.2478/pomr-2023-0011","url":null,"abstract":"Abstract Marine centrifugal fans usually work in harsh environments. Their vibration signals are non-linear. The traditional fault diagnosis methods of fans require much calculation and have low operating efficiency. Only shallow fault features can be extracted. As a result, the diagnosis accuracy is not high. It is difficult to realize the end-to-end fault diagnosis. Combining the Complete Ensemble Empirical Mode Decomposition with Adaptive Noise (CEEMDAN) and lightweight neural network, a fault classification method is proposed. First, the CEEMDAN can decompose the vibration signal into several intrinsic modal functions (IMF). Then, the original signals can be transformed into 2-D images through pseudo-colour coding of the IMFs. Finally, they are fed into the lightweight neural network for fault diagnosis. By embedding a convolutional block attention module (CBAM), the ability of the network to extract critical feature information is improved. The results show that the proposed method can adaptively extract the fault characteristics of a marine centrifugal fan. While the model is lightweight, the overall diagnostic accuracy can reach 99.3%. As exploratory basic research, this method can provide a reference for intelligent fault diagnosis systems on ships.","PeriodicalId":49681,"journal":{"name":"Polish Maritime Research","volume":null,"pages":null},"PeriodicalIF":2.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46140159","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
T. Le, Nguyen Duy Anh, T. Tu, Nguyen Thi Ngoc Hoa, Vu Minh Ngoc
Abstract The paper discusses the length to beam (L/B) ratio effects on ship resistance at three different Froude numbers using unsteady RANSE simulation. First, the JBC ship model was used as an initial hull form for verification and validation of predicted ship resistance results with measured data, and then the influence of the L/B ratio on ship resistance was carried out. Ship hull forms with different L/B ratios were produced from the initial one by using the Lackenby method. The numerical results obtained show the L/B ratio’s effect on ship resistance. Increases of the L/B ratio led to gradual reduction of the total ship resistance and vice versa. Analysis of the changing of the resistance components indicates that the pressure resistance changes are considerably larger than the frictional one. Finally, the paper analyses the difference in the flow field around the hull of the ship with variation of the L/B ratio to fully understand the physical phenomenon in the change of ship resistance at different L/B parameters.
{"title":"Numerical Investigation of Length to Beam Ratio Effects on Ship Resistance Using Ranse Method","authors":"T. Le, Nguyen Duy Anh, T. Tu, Nguyen Thi Ngoc Hoa, Vu Minh Ngoc","doi":"10.2478/pomr-2023-0002","DOIUrl":"https://doi.org/10.2478/pomr-2023-0002","url":null,"abstract":"Abstract The paper discusses the length to beam (L/B) ratio effects on ship resistance at three different Froude numbers using unsteady RANSE simulation. First, the JBC ship model was used as an initial hull form for verification and validation of predicted ship resistance results with measured data, and then the influence of the L/B ratio on ship resistance was carried out. Ship hull forms with different L/B ratios were produced from the initial one by using the Lackenby method. The numerical results obtained show the L/B ratio’s effect on ship resistance. Increases of the L/B ratio led to gradual reduction of the total ship resistance and vice versa. Analysis of the changing of the resistance components indicates that the pressure resistance changes are considerably larger than the frictional one. Finally, the paper analyses the difference in the flow field around the hull of the ship with variation of the L/B ratio to fully understand the physical phenomenon in the change of ship resistance at different L/B parameters.","PeriodicalId":49681,"journal":{"name":"Polish Maritime Research","volume":null,"pages":null},"PeriodicalIF":2.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48522818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract The article addresses the three-dimensional (3D) underwater path planning problem of an autonomous underwater vehicle (AUV) in a time-varying current. A modified artificial potential field algorithm combining the velocity vector synthesis method is proposed to search for the optimal path. The modified potential field (MPF) algorithm is designed to dynamically plan the non-collision path. Meanwhile, this modified method is also proved to be an effective solution to the goals not reachable with obstacles nearby (GNRON), U-shaped trap, and rotation unreachable problems. To offset the influence of time-varying current, the velocity synthesis approach is designed to adjust the AUV movement direction. Besides, considering path planning in the complex underwater environment, the multi-beam forward-looking sonar (FLS) model is used. Finally, simulation studies substantiate that the designed algorithm can implement the AUV path planning effectively and successfully in a 3D underwater environment.
{"title":"Three-Dimensional Underwater Path Planning Based on Modified Potential Field Algorithm in Time-Varying Current","authors":"Shasha Wang, Guilin Feng, Dan Wang, Yulong Tuo","doi":"10.2478/pomr-2023-0004","DOIUrl":"https://doi.org/10.2478/pomr-2023-0004","url":null,"abstract":"Abstract The article addresses the three-dimensional (3D) underwater path planning problem of an autonomous underwater vehicle (AUV) in a time-varying current. A modified artificial potential field algorithm combining the velocity vector synthesis method is proposed to search for the optimal path. The modified potential field (MPF) algorithm is designed to dynamically plan the non-collision path. Meanwhile, this modified method is also proved to be an effective solution to the goals not reachable with obstacles nearby (GNRON), U-shaped trap, and rotation unreachable problems. To offset the influence of time-varying current, the velocity synthesis approach is designed to adjust the AUV movement direction. Besides, considering path planning in the complex underwater environment, the multi-beam forward-looking sonar (FLS) model is used. Finally, simulation studies substantiate that the designed algorithm can implement the AUV path planning effectively and successfully in a 3D underwater environment.","PeriodicalId":49681,"journal":{"name":"Polish Maritime Research","volume":null,"pages":null},"PeriodicalIF":2.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49387832","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract Aiming at the challenges to the accurate and stable heading control of underactuated unmanned surface vehicles arising from the nonlinear interference caused by the overlay and the interaction of multi interference, and also the uncertainties of model parameters, a heading control algorithm for an underactuated unmanned surface vehicle based on an improved backpropagation neural network is proposed. Based on applying optimization theory to realize that the underactuated unmanned surface vehicle tracks the desired yaw angle and maintains it, the improved momentum of weight is combined with an improved tracking differentiator to improve the robustness of the system and the dynamic property of the control. A hyperbolic tangent function is used to establish the nonlinear mappings an approximate method is adopted to summarize the general mathematical expressions, and the gradient descent method is applied to ensure the convergence. The simulation results show that the proposed algorithm has the advantages of strong robustness, strong anti-interference and high control accuracy. Compared with two commonly used heading control algorithms, the accuracy of the heading control in the complex environment of the proposed algorithm is improved by more than 50%.
{"title":"Adptive Heading Control of Underactuated Unmanned Surface Vehicle Based on Improved Backpropagation Neural Network","authors":"Zaopeng Dong, Jiakang Li, W. Liu, Haisheng Zhang, Shijie Qi, Zheng Zhang","doi":"10.2478/pomr-2023-0006","DOIUrl":"https://doi.org/10.2478/pomr-2023-0006","url":null,"abstract":"Abstract Aiming at the challenges to the accurate and stable heading control of underactuated unmanned surface vehicles arising from the nonlinear interference caused by the overlay and the interaction of multi interference, and also the uncertainties of model parameters, a heading control algorithm for an underactuated unmanned surface vehicle based on an improved backpropagation neural network is proposed. Based on applying optimization theory to realize that the underactuated unmanned surface vehicle tracks the desired yaw angle and maintains it, the improved momentum of weight is combined with an improved tracking differentiator to improve the robustness of the system and the dynamic property of the control. A hyperbolic tangent function is used to establish the nonlinear mappings an approximate method is adopted to summarize the general mathematical expressions, and the gradient descent method is applied to ensure the convergence. The simulation results show that the proposed algorithm has the advantages of strong robustness, strong anti-interference and high control accuracy. Compared with two commonly used heading control algorithms, the accuracy of the heading control in the complex environment of the proposed algorithm is improved by more than 50%.","PeriodicalId":49681,"journal":{"name":"Polish Maritime Research","volume":null,"pages":null},"PeriodicalIF":2.0,"publicationDate":"2023-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47574889","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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