Parameter Identification of a Remotely Operated Underwater Vehicle

This study describes an optimal design technique of input forces for the parameter identification of a Remotely Operated Vehicle (ROV). The design considerations and the general arrangement of a small ROV are presented. A thruster’s dynamic model is introduced and it is verified by propeller voltage responses to input voltages. An identification technique using a least squares technique is utilized for the estimation of an initial set of parameters. Based on the initial parameters, optimal inputs are then calculated according to a cost function that maximizes output sensitivity to parameter variations. The resulting parameter estimates are used to refine the estimated parameters from initial experiments. Inertia coefficients, linear drag, and quadratic drag coefficients, terms are determined for surge, sway, yaw, and heave directions. Effects of ROV parameters on the dynamic behavior are simulated using the motion equations, and the results are compared to tank experimental data. Experiments results assure that the scheme has been effectively implemented on the ROV.