PARAMETRIC IDENTIFICATION AND SENSITIVITY ANALYSIS FOR AUTONOMOUS UNDERWATER VEHICLES IN DIVING PLAN

• 作 者: XU Feng ZOU Zao-jian YIN Jian-chuan CAO Jian
• 机 构: School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 2
• 出 处: 水动力学研究与进展B辑
• 发表日期: 2012年5期
• 关键词: parametric identification Autonomous Underwater Vehicles (AUVs) support vector m

The inherent strongly nonlinear and coupling performance of the Autonomous Underwater Vehicles (AUV),maneuvering motion in the diving plane determines its difficulty in parametric identification.The motion parameters in diving plane are obtained by executing the Zigzag-like motion based on a mathematical model of maneuvering motion.A separate identification method is put forward for parametric identification by investigating the motion equations.Support vector machine is proposed to estimate the hydrodynamic derivatives by analyzing the data of surge,heave and pitch motions.Compared with the standard coefficients,the identified parameters show the validation of the proposed identification method.Sensitivity analysis based on numerical simulation demonstrates that poor sensitive derivative gives bad estimation results.Finally the motion simulation is implemented based on the dominant sensitive derivatives to verify the reconstructed model.