- 學位論文
水下載具縱移運動參數鑑定之研究
Parameter Identification on the Surge Equation of an Underwater Vehicle
並列摘要
This thesis uses the system identification techniques to measure the submarine’s resistance and propulsive forces using a submarine vehicle which is built in our lab. From several simple trials in a water tank, the data were analyzed with a Least Squares method so that values of the resistance coefficient, thrust deduction, wake fraction, propeller thrust could be measured. The identification procedure predicts those coefficients in a reasonable manner. Experimental results have shown that an on-line method of coefficient measurement using a free running vehicle is possible.
並列關鍵字
underwater vehicle參考文獻
[13] 邱逢琛、林守毅, “潛艦流體動力係數之拘束船模試驗分析,” NTU-ESOE Report No. , July 2005.
[1] M. Gautier and P. Poigent, "Extended Kalman Filtering and Weighted Least Squares Dynamic Identification of Robot," Control Engineering Practice, vol. 9, No. 12, pp. 1361-1342, 2001.
[2] L. R. Ray, "Nonlinear Tire Force Estimation and Road Friction Identification: Simulation and Experiment," Automatica, vol. 33, No.10, pp. 1819-1833, 1997.
[4] V. A. Sujan and S. Dubowsky, "An Optimal Information Method for Mobile Manipulator Dynamic Parameter Identification," IEEE/ASME Transactions on Mechatronics, vol. 2, No 2, pp. 215-225, June 2003.
[5] J. Kim, K. Kim, H. S. Choi, W. Seong, and K.-Y. Lee, "Estimation of Hydrodynamic Coefficients for an AUV Using Nonlinear Observers," IEEE Journal of Oceanic Engineering, vol. 27, pp. 830-840, October 2002.