NDLI: Modeling and Identification of an Open-frame Underwater Vehicle: The Yaw Motion Dynamics

Content Provider	Springer Nature Link
Author	Avila, Juan Pablo Julca Adamowski, Julio Cezar Maruyama, Newton Takase, Fabio Kawaoka Saito, Milton
Copyright Year	2011
Abstract	A semi-autonomous unmanned underwater vehicle (UUV), named LAURS, is being developed at the Laboratory of Sensors and Actuators at the University of Sao Paulo. The vehicle has been designed to provide inspection and intervention capabilities in specific missions of deep water oil fields. In this work, a method of modeling and identification of yaw motion dynamic system model of an open-frame underwater vehicle is presented. Using an on-board low cost magnetic compass sensor the method is based on the utilization of an uncoupled 1-DOF (degree of freedom) dynamic system equation and the application of the integral method which is the classical least squares algorithm applied to the integral form of the dynamic system equations. Experimental trials with the actual vehicle have been performed in a test tank and diving pool. During these experiments, thrusters responsible for yaw motion are driven by sinusoidal voltage signal profiles. An assessment of the feasibility of the method reveals that estimated dynamic system models are more reliable when considering slow and small sinusoidal voltage signal profiles, i.e. with larger periods and with relatively small amplitude and offset.
Starting Page	37
Ending Page	56
Page Count	20
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	66
Issue Number	1-2
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2011-08-18
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Hydrodynamic parameter estimation Unmanned Underwater vehicle Artificial Intelligence (incl. Robotics) Electrical Engineering Mechanical Engineering Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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