심해무인잠수정 해미래를 위한 수학적 모델의 계수 추정

Abstract

This paper presents the experimental identification of a finite-demensional dynamical plant model for the HEMIRE ROV(Remotely Operated Vehicle). The experimetnts were conducted in the pier of South Sea Research Institute of KORDI and the East Sea in October 2006. A multivariable least-square method is employed to identify decoupled single degree of freedom from experimental data. Performance of the identified dynamic model is evaluated by directly comparing simulations of the identified model to the experimnetally observed motion data of Hemire.