Work-Energy Principle-Based Model Parameter Identification Method for Underwater Vehicle and its Application

摘要

To aim at attaining the control model of an underwater vehicle, an initial method of work-energy principle-based parameter identification is proposed according to the relations of work-energy conversion in the process of a underwater vehicle motion and to the least squares technique. Then identification experiments for a Remotely Operated Vehicle (ROV) are performed in laboratory tank and its parameters are estimated by the proposed method. Finally, the estimated parameters are shown to be effective by comparison of the calculated ones from the formula in the ocean and underwater engineering handbook, hence the method is turned out to be valid partially. The proposed method is clear in physical significance and is suitable to identify model parameters for a mechanical motion system.