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RESEARCH PAPERS: Offshore Mechanics

System Identification of Remotely Operated Vehicle Dynamics

[+] Author and Article Information
K. R. Goheen

Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Canada

E. R. Jefferys

Research and Development, Conoco Inc., Houston, TX 77252

J. Offshore Mech. Arct. Eng 112(3), 230-236 (Aug 01, 1990) (7 pages) doi:10.1115/1.2919861 History: Received July 17, 1989; Revised October 11, 1989

Abstract

Models for Remotely Operated Underwater Vehicles (ROVs) are difficult to derive because their dynamics are strongly coupled, highly nonlinear and vary according to the vehicle’s operating configuration. In addition, conventional modeling techniques require the use of expensive, specialized testing equipment. An alternative procedure using System Identification (SI) to process data gathered during simple free-running trials can generate fast, inexpensive and accurate ROV models. Three SI algorithms, Least Squares (LS), Extended Least Squares (ELS) and the Recursive Prediction Error Method (RPEM), are tested on simulated ROV data and compared for accuracy and economy. The vehicle studied in this paper, the UMEL Seapup, can be represented accurately by a linear model at the low speeds where accurate maneuvering control is most important and gain scheduling can be used to switch models at higher speeds.

Copyright © 1990 by The American Society of Mechanical Engineers
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