A Simulated 4-DOF Ship Motion Dataset for System Identification under Environmental Disturbances

This dataset contains data of 125 1-hour simulations of ship motion during various sea states performing random maneuvers in 4 degrees of freedom (surge-sway-yaw-roll). The original ship is a patrol ship developed by Perez et al. [1]. We have extended it with a set of two symmetrically placed rudder propellers. Additionally, we simulate wind forces according to Isherwood's wind model [2]. Wind-induced waves are generated with the JONSWAP spectrum [3] and the corresponding wave forces are then computed using wave force response amplitude operators (ROA). Implementations of the ship model, Isherwood's wave model, wave force ROAs and the JONSWAP spectrum can be found in the Marine Systems Simulator toolbox by Fossen and Perez [4]. The dataset is split into a routine operation set (96 hours) and into an Out-Of-Distribution (OOD) set (29 hours). The routine operation set is split into train-validation-test with a 60-10-30 split, while the OOD set is used solely for testing. The dataset is used for the evaluation of nonlinear system identification methods for multi-step predictions. The following inputs and outputs are considered for the identification problem. Inputs are the shaft speeds of both propellers, their azimut angles, and wind speed. Measured states or outputs are surge velocity, sway velocity, roll rate, yaw rate and roll angle, as well as the wind angle of attack. Please see the README.txt file for details regarding the file structure of this dataset and a description of the variables in the .tab files. This research is funded by Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under Germany's Excellence Strategy - EXC 2075 - 390740016. We acknowledge the support by the Stuttgart Center for Simulation Science (SimTech). [1] T. Perez, A. Ross, and T. I. Fossen, “A 4-DOF SIMULINK model of a coastal patrol vessel for manoeuvring in waves,” in IFAC MCMC, 2006. [2] R. M. Isherwood, “Wind resistance of merchant ships,” The Royal Institution of Naval Architects, 1972. [3] K. Hasselmann, T. Barnett, E. Bouws, H. Carlson, D. Cartwright, K. Enke, J. Ewing, H. Gienapp, D. Hasselmann, P. Kruseman, A. Meerburg, P. Muller, D. Olbers, K. Richter, W. Sell, and H. Walden, “Measurements of wind-wave growth and swell decay during the joint north sea wave project (JONSWAP),” Deut. Hydrogr. Z., vol. 8, pp. 1-95, 01 1973. [4] T. I. Fossen and T. Perez, “Marine Systems Simulator (MSS),” https://github.com/cybergalactic/MSS, 2004, last accessed: 2022-06-14.

本数据集汇聚了125次船舶运动模拟数据，每次模拟时长为一小时，涵盖了不同海况下进行的随机操纵，并在四个自由度（纵荡、横荡、偏航、横摇）中进行。原始船舶模型由Perez等人开发[1]。在此基础上，我们引入了一组对称布置的舵叶推进器。此外，我们依据Isherwood风模型[2]模拟风力。利用JONSWAP谱[3]生成风浪，随后通过波浪力响应幅值算子（ROA）计算相应的波浪力。船舶模型、Isherwood波浪模型、波浪力ROA和JONSWAP谱的实现可在Fossen与Perez的海洋系统模拟工具箱（Marine Systems Simulator toolbox）[4]中找到。数据集被划分为常规操作集（96小时）和分布外（Out-Of-Distribution，简称OOD）集（29小时）。常规操作集进一步划分为训练集-验证集-测试集，比例为60-10-30，而OOD集则仅用于测试。该数据集用于评估多步预测的非线性系统识别方法。识别问题中考虑的输入和输出包括两个推进器的轴转速、其方位角以及风速。测量的状态或输出包括纵荡速度、横荡速度、横摇角速度、偏航角速度和横摇角，以及风攻角。有关本数据集的文件结构和.tab文件中变量的详细描述，请参阅README.txt文件。本研究由德国研究共同体（Deutsche Forschungsgemeinschaft，DFG）资助，属于德国卓越战略——EXC 2075——390740016项目。我们感谢斯图加特模拟科学中心（Stuttgart Center for Simulation Science，SimTech）的支持。[1] T. Perez, A. Ross, 和 T. I. Fossen, “海岸巡逻舰在波浪中操纵的4自由度SIMULINK模型，”于IFAC MCMC，2006。[2] R. M. Isherwood, “商船的风阻力，”皇家海军建筑师学会，1972。[3] K. Hasselmann, T. Barnett, E. Bouws, H. Carlson, D. Cartwright, K. Enke, J. Ewing, H. Gienapp, D. Hasselmann, P. Kruseman, A. Meerburg, P. Muller, D. Olbers, K. Richter, W. Sell, 和 H. Walden, “联合北海波浪项目（JONSWAP）期间的风浪增长和涌浪衰减测量，”德国水文测量杂志，第8卷，第1-95页，1973年1月。[4] T. I. Fossen 和 T. Perez, “海洋系统模拟（MSS），”https://github.com/cybergalactic/MSS，2004，最后访问日期：2022年6月14日。

搜集汇总

背景与挑战

背景概述

该数据集是一个用于系统识别的模拟船舶运动数据集，包含125次1小时的4自由度船舶运动模拟，并考虑了风和波浪等环境扰动。数据集分为常规操作集和分布外测试集，专门用于评估非线性系统识别方法的多步预测性能，输入输出变量涵盖了螺旋桨控制参数和船舶运动状态。