IDENTIFICATION OF LOW-ORDER DYNAMIC MODELS FOR DEEPLY-TOWED UNDERWATER VEHICLE SYSTEMS
The horizontal dynamics of deeply-towed underwater vehicle systems can be effectively modelled by nonlinear partial differential equations. However, high resolution numerical solutions are of limited use in controller design, where methods for systems of very high or infinite order are not well developed. This paper examines the possibility of finding low-order dynamic models in differential equation form, in order to present a more tractable control problem. A learning model method is used, and the identification process is novel in that a verified high-order model provides the primary data set. This approach allows a priori characterisation of system responses in regimes or scenarios for which no experimental data exist. The performances of the reduced-order forms are verified through comparison of model output with actual sea data obtained during recent deepwater tests.
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Supplemental Notes:
- ISOPE 91, 1st Intl Offshore & Polar Engng Conference; 11-16 Aug 1991; Edinburgh, U.K. Sponsored by Intl Soc Offshore & Polar Engrs (ISOPE) et al. Procs. Publ by ISOPE, ISBN 0-9629104-61, Vol II, p 97 [9 p, 21 ref, 1 tab, 16 fig]
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Authors:
- Hover, F S
- Yoerger, D R
- Publication Date: 1991
Language
- English
Subject/Index Terms
- TRT Terms: Cables; Dynamic loads; Dynamics
- Uncontrolled Terms: Dynamic response; Remotely operated vehicles; System identification
- Old TRIS Terms: Cable dynamics
- Subject Areas: Marine Transportation; Materials;
Filing Info
- Accession Number: 00702419
- Record Type: Publication
- Source Agency: British Maritime Technology
- Files: TRIS
- Created Date: Aug 14 1995 12:00AM