심해용 무인 잠수정의 동역학 계수의 추정에 관한 연구
Estimation of the Hydrodynamic Coefficients for the Deep-sea UUV "HEMIRE"
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초록
This paper represents the experimental identification of a finite-dimensional dynamical plant model for the HEMIRE Remotely Operated Vehicle. The experiments were conducted during sea trials in the East Sea in October 2006 and peer testing by the South Sea Research Institute in January 2007. A least-squares method was employed to identify decoupled single degree-of-freedom plant dynamical models for the X, Y, Zand heading degree-of-freedom from experimental data. The performance of the identified plant dynamical model was evaluatedby directly comparing simulations of the identified plant model to the experimentally observed motion data from the actual vehicle.
Abstract
This paper represents the experimental identification of a finite-dimensional dynamical plant model for the HEMIRE Remotely Operated Vehicle. The experiments were conducted during sea trials in the East Sea in October 2006 and peer testing by the South Sea Research Institute in January 2007. A least-squares method was employed to identify decoupled single degree-of-freedom plant dynamical models for the X, Y, Zand heading degree-of-freedom from experimental data. The performance of the identified plant dynamical model was evaluatedby directly comparing simulations of the identified plant model to the experimentally observed motion data from the actual vehicle.
참고문헌 (6)
- 이판묵, "심해탐사용 무인잠수정 해미래의 시스템 개요", 1(1), pp.1886~1891 (2006), 한국해양공학회
- 백혁, "심해무인잠수정 해미래를 위한 수학적모델 계수추정", 2007 한국해양과학기술협의회 공동학술대회, 1(1), pp.790~ (2007)
- 백혁, "입출력 계측치를 이용한 수중로봇 모델의 동역학계수 추정", 석사, 정보통신학과, pp.2007
- DTNSRDC Revised Standard Submarine Equations of Motions of Motion, "Feldman, J.P.", David Taylor Naval Ship Research and Development Center, ~, pp.Defense Technical Information Center document #A071804 (1976)
- Standard Equations of Motion for Submarine Simulation, "Gertler, M.", David Taylor Naval Ship Research and Development Center, ~, pp.Defense Technical Information Center document #653861 (1967)
- Smallwood, D.A., "Preliminary Identification of a Dynamical Plant Model for the JASON 2 Underwater Robotic Vehicle", Proceedings of IEEE, 2003, ~