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Self-Propulsion Parameter Identification for Control of Marin’s AUV

机译：Marin的AUV控制的自推进参数识别

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Marin designed and built a modular autonomous underwater vehicle to be used in its model basins. In order to improve the control design, as well as its digital twin, the motions of the simulation model should closely resemble the motions of the true system. The goal of this work is to improve the estimates of the model parameters. The estimation is done during self-propulsion tests to gather data from the true system response, while emphasising on one parameter at a time.Our AUV has more thrusters than there are degrees of freedom, and this property is used to find the relative thrust coefficients of the individual thrusters. The coefficients found are validated and it was found that they better match than the settings previously obtained with a captive test. The added mass is estimated in combination with the rigid body mass based on i) forced harmonic excitations, ii) free exponential decay and iii) closed loop step tests. The principle drag terms were estimated by sailing at a set of constant velocities and fitting the drag coefficients to the median values of the steady state values.Next to a scaling factor, the added masses and principle drag terms for a 6 DOF AUV are identified with self-propulsion tests without the use of an external captive set up. The tests for the hydrodynamic parameters can be performed while in closed-loop control, making them easy to repeat when the modular aspect of our AUV is tested.
机译：Marin设计并制造了一个模块化的自主水下车辆，以便在其型号盆地中使用。为了改善控制设计，以及其数字双胞胎，模拟模型的动作应与真实系统的动作非常类似于真正的系统。这项工作的目标是提高模型参数的估计。估计是在自推进测试期间完成的，以收集来自真正的系统响应的数据，同时一次在一个参数上强调一个参数。您的AUV比有自由度更多的推进器，而且该属性用于找到相对推力系数个别推进器。找到的系数被验证，并发现它们比以前使用的设置更好地匹配，以捕获测试获得。添加的质量与基于I）强制谐波激发，ii）自由指数衰减和III）闭环步骤测试的刚性体重估计。通过在一组恒定速度上航行并将拖动系数施加到稳态值的中值，估计原理拖动术语.DOF AUV的增加的群众和6 DOF AUV的原理拖动术语自推进测试而不使用外部俘虏设置。可以在闭环控制中进行流体动力学参数的测试，使得当测试AUV的模块化方面时，使它们易于重复。

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