【作者】 龙建军； 吴百海； 吴金萍；

【Author】 LONG Jianjun,WU Baihai,WU Jinping Faculty of Electromechanical Engineering,Guangdong University of Technology,Guangzhou 510006,P.R.China

【机构】 广东工业大学机电工程学院；

【摘要】 针对小型水下潜器动态模型参数辨识需要。根据功能原理,结合水下潜器运动时的功能转换关系与最小二乘法提出了一种水下潜器模型参数辨识方法。针对带缆水下潜器沿重力方向运动灰箱模型参数辨识,建立了相应的辨识方程,并开展了辨识实验与参数估计、控制仿真与实验;通过仿真与实验对比,验证了该方法的有效性。本方法辨识的参数具有明确物理意义,适用于具有能量转换的机械运动系统动态模型参数估计。更多还原

【Abstract】 To meet the needs of controlling an underwater vehicle,the work-energy principle and the least squares technique are used for model parameter identification for an underwater vehicle.According to the proposed method,the identification equations for a RemotelyOperated Vehicle(ROV)are built,and then experiments for identification are performed in laboratory tank and its parameters are estimated,next experiments in the same tank and simulations for its station-keeping control are performed.Finally,the method is shown to be valid by comparing the simulation and experiments data.The estimated parameters in the proposed method are explicit in physical significance.Via the method,it is helpful to identify dynamic model parameters of a mechanical system which has work and energy conversation in motion.更多还原