조종제어 계측 값을 활용한 이심이 AUV의 수치모델 보정

Abstract

This paper presents the estimation and investigation of the hydrodynamic coefficients of the ISiMI AUV using the experimental results of maneuvering test. The numerical model of ISiMI AUV was simplified by decoupling the 6-DOF coupled model into the vertical and horizontal motion. The coefficients of simplified model were estimated by minimizing the error between the numerical and actual responses in the least-square sense. The results are validated by comparing with responses of the existing model of which coefficients were estimated by empirical formula. The mathematical model estimated from the experimental results is expected to be used in the dynamic characteristics estimation and model-based controller design for ISiMI AUV.