Experimental Parameter Identification for an open-frame ROV: Comparison of towing tank tests and open water self-propelled tests

摘要

Modern control strategies for underwater vehicles often need a good dynamic model for the controller design. Due to the hydrodynamic effects a theoretical or mathematical comprehensive description is often not possible or only for simple shapes. Instead simplified models with few parameters are used. To estimate these parameters a lot of different experimental techniques can be applied, depending on the available measurement equipment and infrastructure. This paper describes the two main classes of experimental parameter identification techniques, towing tank tests and open water self-propelled tests and compares the identified parameters of the two classes for a simplified nonlinear uncoupled dynamic model for the heave degree of freedom of a small remotely operated vehicle (ROV) with an open frame.