Estimation of the Hydrodynamic Coefficients for the Deep-sea UUV

J. Ocean Eng. Technol. 2008;22(4):97-105.

Estimation of the Hydrodynamic Coefficients for the Deep-sea UUV "HEMIRE"

Baek Hyuk,Kim Ki-Hun,Jun Bong-Huan,Lee Pan-Mook,Lim Yong-Kon

Ocean Engineering Research Department KORDI/MOERI,Ocean Engineering Research Department KORDI/MOERI,Ocean Engineering Research Department KORDI/MOERI,Ocean Engineering Research Department KORDI/MOERI,Ocean Engineering Research Department KORDI/MOERI

심해용 무인 잠수정의 동역학 계수의 추정에 관한 연구

백혁,김기훈,전봉환,이판묵,임용곤

한국해양연구원 해양시스템안전연구소,한국해양연구원 해양시스템안전연구소,한국해양연구원 해양시스템안전연구소,한국해양연구원 해양시스템안전연구소,한국해양연구원 해양시스템안전연구소

Keywords: Deep-sea unmaned underwater vehicle, Hydrodynamic coefficient, Mathematical model, System identification

핵심용어: 심해무인잠수정, 동역학계수, 수학적 모델, 시스템 식별

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, Z and heading degree-of-freedom from experimental data. The performance of the identified plant dynamical model was evaluated by directly comparing simulations of the identified plant model to the experimentally observed motion data from the actual vehicle.