Estimation of Hydrodynamic Coefficients for an AUV Using Nonlinear Observers

비선형 관측기를 이용한 무인잠수정의 유체동역학 계수 추정

  • 김준영 (제주대학교 해양과학대학)
  • Published : 2006.12.30

Abstract

Hydrodynamic coefficients strongly affect the dynamic performance of an AUV. Thus, it is important to know the true values of these coefficients, in order to accurately simulate the AUV's dynamic performance. Although these coefficients are generally obtained experimentally, such as through the PMM test, the measured values are not completely reliable because of experimental difficulties and errors. Another approach, by which these coefficients can be obtained, is the observer method, in which a model-based estimation algorithm estimates the coefficients. In this paper, the hydrodynamic coefficients are estimated using two nonlinear observers: a sliding mode observer and an extended Kalman filter. Their performances are evaluated in Matlab simulations, by comparing the estimated coefficients obtained from the two observer methods, with the experimental values as determined from the PMM test. A sliding mode controller is constructed for the diving and steering maneuver by using the estimated coefficients. It is demonstrated that the controller, applied with the estimated values, maintains the desired depth and path with sufficient accuracy.

Keywords

References

  1. 김준영, 허건수 (2000). 'SKFMEC를 이용한 차량의 타이어 횡력 감지시스템 개발', 대한기계학회논문집A, 제24권, 제7호, pp 1871-1877
  2. 김찬기 (1996). 계수식별법에 의한 몰수체의 조종계수 추정, 공학박사학위논문, 서울대학교
  3. 서주노, 서영태 (1992). '비선형 무인잠수정을 위한 슬라이딩 모우드 조종기 설계 및 실험적 고찰', 한국해양공학회지, 제6권, 제4호, pp 11-18
  4. 유현규 (2003). 모델링 전 추정기법을 이용한 선박의 동유체력 미계수 추정, 공학박사학위논문, 서울대학교
  5. 이판묵, 전봉환, 이종식, 오준호, 김도현 (1997). 'AUV의 운동 계측을 위한 스트랩-다운형 관성계측장치 (IMU)의 개발', 한국해양공학회지, 제11권, 제1호, pp 96-105
  6. Antonelli, G., Caccavale, F., Chiaverini, S. and Villani, L. (2000). 'Tracking Control for Underwater Vehicle Manipulator Systems with Velocity Estimation', IEEE J. of Oceanic Eng., Vol 25, No 3, pp 399-413 https://doi.org/10.1109/48.855403
  7. Boutayeb, M., Rafaralahy, H. and Darouach, M (1997). 'Convergence Analysis of the Extended Kalman Filter Used as an Observer for Nonlinear Deterministic Discrete-Time Systems', IEEE Trans. on Autom. Control, Vol 42, No 4, pp 581-586 https://doi.org/10.1109/9.566674
  8. Fossen, T.I. (1994). Guidance and Control of Ocean Vehicles, John Wiley & Sons
  9. Healey, A.J. and Lienard, D. (1993). 'Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles', IEEE J. of Oceanic Eng., Vol. 18, No.3. pp 327-339 https://doi.org/10.1109/JOE.1993.236372
  10. Hwang, W.Y. (1980). Application of System Identification to Ship Maneuvering, MIT Ph.D. Thesis
  11. Lee, P.M., Hong, S.W., Lim, Y.K., Lee, C.M., Jeon, B.H. and Park, J.W. (1999). 'Discrete-Time Quasi-Sliding Mode Control of an Autonomous Underwater Vehicle', IEEE J. of Oceanic Eng., Vol 24, No 3, pp 388-395 https://doi.org/10.1109/48.775300
  12. McGookin, E.W. (2001). 'Reconfigurable Sliding Mode Control for Submarine Manoeuvring', Proc. Oceans 2001, pp 1775-1782
  13. Ray, L.R (1995). 'Stochastic Decision and Control Parameters for IVHS', ASME IMECE Advanced Automotive Technologies, pp 114-118
  14. Sen, D. (2000). 'A Study on Sensitivity of Maneuverability Performance on the Hydrodynamic Coefficients for Submerged Bodies', J. of Ship Research, Vol 44, No 3, pp 186-196
  15. Slotine, J.J.E., Hedrick, J.K. and Misawa, E.A. (1987). 'On Sliding Observers for Nonlinear Systems', ASME J. of Dynamics, Measurement, and Control, Vol 109, pp 245-252 https://doi.org/10.1115/1.3143852
  16. Wernli, R.L. (2002). 'AUVs - A Technology Whose Time Has Come', Proc. Conf. UT'02 OES/IEEE, pp 309-314