The ship motion system is a nonlinear control object, and its system parameters exhibit time-varying characteristics with the ship motion state, which increases the difficulty of control. Therefore, parameter identification has an important significance for the stability of ship motion control. Aiming at the real-time identification problem of the nonlinear and time-varying ship motion system during movement, this paper reconstructs the ship motion system with the propeller speed and rudder angle as control variables and designs an online identification algorithm with the sliding time window method based on the extended Kalman filter algorithm. In addition, to solve the problem of noise in ship motion data collected in real-time, a real-time wavelet filter is developed to perform online preprocessing of the input data of the identification algorithm. The applicability of the method is further demonstrated via a model-scale Korea Research Institute of Ships and Ocean Engineering container ship free-running experiments in a basin.

The electrodeposition technique was used to fabricate graphene and Cr particle-reinforced Ni–Cr–graphene coatings. The Rietveld refinement was utilized to analyze the microstructure of Ni deposits in the coatings. The properties including micro-hardness and corrosion behaviors of the coatings were also tested. Results showed that the addition of graphene particles contributed to the dendrite like structure on the surface of the Ni–Cr–graphene coating. The crystallite size and [200] texture of the Ni deposits in the Ni–Cr–graphene coatings were significantly decreased by the graphene particles. The crystallite size of 149.8 nm in the Ni-25–Cr-0–graphene coating was reduced to 35 nm in the Ni-25–Cr-8–graphene coating due to the addition of 8 g/L graphene to the electrolyte. The microstructure evolution of the Ni–Cr–graphene coatings brought about an enhancement in micro-hardness and corrosion resistance of the coatings. The micro-hardness of the coatings was improved from 260.1 HV_0.2 of the pure Ni coating to 285.9 HV_0.2 of the Ni-25–Cr-0–graphene coating and continually to 461.8 HV_0.2 of the Ni-25–Cr-8–graphene coating. In corrosion solution (3.5 wt.% NaCl), the corrosion current (6.22 μA/cm²) of the Ni-25–Cr-0–graphene coating could be decreased by about an order of magnitude through the addition of graphene particles, which was 0.33 μA/cm² for the Ni-25–Cr-8–graphene coating.