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실해역 지그재그 테스트 값을 활용한 이심이100 AUV의 수치모델 보정Coefficients Correction of the Numerical Model for the ISiMI100 AUV Using the Zigzag Maneuvering Test Results
- Other Titles
- Coefficients Correction of the Numerical Model for the ISiMI100 AUV Using the Zigzag Maneuvering Test Results
- Issue Date
- 12월-2009
- Publisher
- 한국해양연구원 해양시스템안전연구소
- Keywords
- AUV; Least square method; zigzag maneuvering test; hydrodynamic coefficient; isimi100
- Citation
- 선박해양기술, v.48, no.1, pp 27 - 33
- Pages
- 7
- Journal Title
- 선박해양기술
- Volume
- 48
- Number
- 1
- Start Page
- 27
- End Page
- 33
- Abstract
- This paper presents the estimation and investigation of the hydrodynamic coefficients of the ISiMI100 AUV using the experimental results of zig-zag maneuvering test in the South Sea Research Institute(SSRI). The numerical model of ISiMI100 AUV was simplified by decoupling the 6-DOF coupled model into 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 method. 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 ISiMI100 AUV
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