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Vol. 164, Issue 2, February 2014, pp. 288-294




Hydrodynamic Coefficients Identification and Experimental Investigation for an Underwater Vehicle

1 Shaorong XIE, 1 Qingmei LI, 1 Peng WU, 1 Jun LUO, 1 Feng LI, 2 Jason GU

1 School of Mechatronics Engineering and Automation, Shanghai University, 149 Yanchang Road, Zhabei District, Shanghai, 200072, China
2 Department of Electrical and Computer Engineering Dalhousie University, Halifax, B3J 2X4, NS Canada
Tel.: 021-56331204

E-mail: li_qm@shu.edu.cn


Received: 16 December 2013 /Accepted: 28 January 2014 /Published: 28 February 2014

Digital Sensors and Sensor Sysstems


Abstract: Hydrodynamic coefficients are the foundation of unmanned underwater vehicles modeling and controller design. In order to reduce identification complexity and acquire necessary hydrodynamic coefficients for controllers design, the motion of the unmanned underwater vehicle was separated into vertical motion and horizontal motion models. Hydrodynamic coefficients were regarded as mapping parameters from input forces and moments to output velocities and acceleration of the unmanned underwater vehicle. The motion models of the unmanned underwater vehicle were nonlinear and Genetic Algorithm was adopted to identify those hydrodynamic coefficients. To verify the identification quality, velocities and acceleration of the unmanned underwater vehicle was measured using inertial sensor under the same conditions as Genetic Algorithm identification. Curves similarity between measured velocities and acceleration and those identified by Genetic Algorithm were used as optimizing standard. It is found that the curves similarity were high and identified hydrodynamic coefficients of the unmanned underwater vehicle satisfied the measured motion states well.


Keywords: Unmanned underwater vehicle, Hydrodynamic coefficients, System identification, Genetic algorithm.


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