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.

本数据集包含125组时长1小时的船舶运动仿真数据，仿真场景为不同海况下，船舶以4自由度（纵荡surge、横荡sway、首摇yaw、横摇roll）进行随机操纵运动。原始船舶为Perez等人[1]开发的巡逻艇，本研究对该船型进行了扩展，加装了两台对称布置的舵螺旋桨（rudder propeller）。此外，本仿真依据Isherwood风力模型[2]模拟风力载荷；风浪由JONSWAP谱[3]生成，并利用波浪力响应幅值算子（ROA, Response Amplitude Operator）计算相应的波浪载荷。船舶模型、Isherwood风力模型、波浪力ROA以及JONSWAP谱的实现代码，可参考Fossen与Perez开发的《海洋系统仿真器（Marine Systems Simulator, MSS）》工具箱[4]。
本数据集分为常规操作数据集（96小时）与分布外（Out-Of-Distribution, OOD）数据集（29小时）。常规操作数据集按照60-10-30的比例划分为训练集、验证集与测试集，而分布外数据集仅用于测试环节。本数据集可用于评估面向多步预测的非线性系统辨识方法。
本辨识问题考虑如下输入与输出变量：输入变量为两台螺旋桨的轴转速、方位角（azimuth angles）以及风速；输出/实测状态变量包括纵荡速度（surge velocity）、横荡速度（sway velocity）、横摇角速度（roll rate）、首摇角速度（yaw rate）、横摇角（roll angle）以及风攻角（wind angle of attack）。有关本数据集的文件结构以及.tab文件内变量的详细说明，请参阅README.txt文档。
本研究得到德国科学基金会（Deutsche Forschungsgemeinschaft, DFG）德国卓越战略计划——项目编号EXC 2075 - 390740016的资助，同时感谢斯图加特仿真科学中心（Stuttgart Center for Simulation Science, SimTech）的支持。

参考文献：
[1] T. Perez, A. Ross, T. I. Fossen. 面向波浪中操纵的近海巡逻艇4自由度SIMULINK模型[C]//IFAC MCMC. 2006.
[2] R. M. Isherwood. 商船的风力阻力[J]. 英国皇家造船工程师学会, 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, H. Walden. 联合北海海浪项目（JONSWAP）期间的风浪生成与涌浪衰减测量[J]. Deut. Hydrogr. Z., 1973, 8: 1-95.
[4] T. I. Fossen, T. Perez. 海洋系统仿真器（Marine Systems Simulator, MSS）[EB/OL]. https://github.com/cybergalactic/MSS, 2004. 最后访问时间：2022-06-14.

搜集汇总

背景与挑战

背景概述

该数据集是一个模拟生成的4自由度船舶运动数据集，专门用于在环境扰动下进行系统识别研究。它包含125个1小时的模拟数据，覆盖了风和波浪等扰动条件，并分为常规操作集和分布外集以支持模型训练和测试。数据集提供了详细的输入输出变量，如螺旋桨控制参数和船舶运动状态，适用于非线性预测方法的评估。