一种小型潜器模型参数估计方法与实验研究

Parameter estimation of a small ROV and experiment

潜器的位置控制性能对深海采矿取样过程有很大影响。本文针对小型潜器位置控制的需要,研究其动态模型参数辨识方法。以机械能守恒定理为基础,讨论了机械能增量在正交坐标下的分配量与外力作功的能量转换关系。利用这一关系与最小二乘法,以潜器纵向运动动态灰箱模型参数估计为例,建立了基于能量转换的潜器模型参数估计方程,并开展了实验研究。将海洋水下工程手册经验公式的计算结果与实验结果对比,验证了本方法的有效性。本方法物理意义明显,适用于作机械运动的线性与非线性系统辨识。

The performance of position controlling for a remotely operated vehicle （ROV） underwater has a great influence on the procedure of deep-sea mining sampling. To meet the needs of position controlling of a small ROV,the relationship between the input work and the allotment of energy conversion along cartesian coordinates is discussed on the basis of the law of mechanical energy conservation. According to the relationship and the least square method, an energy conversion-based parameter estimation method for a ROV control model along the vertical direction is put forward. Then identification experiments for the ROV are performed in the tank by means of the proposed method. Finally,the results of parameter estimation are shown to be valid by comparison with the data from the empirical formula in the ocean and underwater engineering handbook. The method above is clear in physical meanings and is suitable for linear and non-linear system.