심해용 무인 잠수정의 동역학 계수의 추정에 관한 연구

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...

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Published inHan-guk haeyang gonghak hoeji (Online) Vol. 22; no. 4; pp. 97 - 105
Main Authors 백혁(HYUK BAEK), 김기훈(KI-HUN KIM), 전봉환(BONG-HUAN JUN), 이판묵(PAN-MOOK LEE), 임용곤(YONG-KON LIM)
Format Journal Article
LanguageKorean
Published 한국해양공학회 2008
Subjects
해양공학
Mathematical model 수학적 모델
Deep-sea unmaned underwater vehicle 심해무인잠수정
Hydrodynamic coefficient 동역학계수
System identification 시스템 식별
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ISSN1225-0767
2287-6715

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Summary: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.
Bibliography:KISTI1.1003/JNL.JAKO200833338361919
G704-000698.2008.22.4.008
ISSN:1225-0767
2287-6715