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심해용 무인 잠수정의 동역학 계수의 추정에 관한 연구Estimation of the Hydrodynamic Coefficients for the Deep-sea UUV "HEMIRE"
- Other Titles
- Estimation of the Hydrodynamic Coefficients for the Deep-sea UUV "HEMIRE"
- Issue Date
- 2008
- Publisher
- 한국해양공학회
- Keywords
- Deep-sea unmaned underwater vehicle 심해무인잠수정; Hydrodynamic coefficient 동역학계수; Mathematical model 수학적 모델; System identification 시스템 식별; Deep-sea unmaned underwater vehicle 심해무인잠수정; Hydrodynamic coefficient 동역학계수; Mathematical model 수학적 모델; System identification 시스템 식별
- Citation
- 한국해양공학회지, v.22, no.4, pp 97 - 105
- Pages
- 9
- Journal Title
- 한국해양공학회지
- Volume
- 22
- Number
- 4
- Start Page
- 97
- End Page
- 105
- ISSN
- 1225-0767
2287-6715
- 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.
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