System identification of an autonomous underwater vehicle
Autonomous Underwater Vehicles (AUVs) are finding more applications and are widely used. To better control these vehicles, there is a need to identify the hydrodynamic characteristics using system or parameter identification. This report details the fabrication and system identification of a prototy...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2021
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| Online Access: | https://hdl.handle.net/10356/150934 |
| _version_ | 1811687101796712448 |
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| author | Kuek, Zheng Wei |
| author2 | Basman Elhadidi |
| author_facet | Basman Elhadidi Kuek, Zheng Wei |
| author_sort | Kuek, Zheng Wei |
| collection | NTU |
| description | Autonomous Underwater Vehicles (AUVs) are finding more applications and are widely used. To better control these vehicles, there is a need to identify the hydrodynamic characteristics using system or parameter identification. This report details the fabrication and system identification of a prototype, where all sensors and data logging are within the AUV itself for better accuracy. Two experiments were conducted to determine the hydrodynamic coefficients in yaw motion. The first experiment intended to determine the linear and quadratic damping coefficients. The steady state velocity was measured at different specified thruster settings and substituted into the equation of motion. The second experiment was intended to determine the added mass coefficient. This involved turning off thrusters when the AUV was rotating at constant angular velocity and measuring the decay in angular rate. A least squares technique was performed on the data and derived the deceleration data at specific angular velocities before being substituted into the equation of motion. With these three hydrodynamic coefficients determined, a dynamic model of the AUV was generated for yaw motion. |
| first_indexed | 2024-10-01T05:10:58Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/150934 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:10:58Z |
| publishDate | 2021 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1509342021-06-15T04:00:53Z System identification of an autonomous underwater vehicle Kuek, Zheng Wei Basman Elhadidi School of Mechanical and Aerospace Engineering mbasman@ntu.edu.sg Engineering::Mechanical engineering::Fluid mechanics Autonomous Underwater Vehicles (AUVs) are finding more applications and are widely used. To better control these vehicles, there is a need to identify the hydrodynamic characteristics using system or parameter identification. This report details the fabrication and system identification of a prototype, where all sensors and data logging are within the AUV itself for better accuracy. Two experiments were conducted to determine the hydrodynamic coefficients in yaw motion. The first experiment intended to determine the linear and quadratic damping coefficients. The steady state velocity was measured at different specified thruster settings and substituted into the equation of motion. The second experiment was intended to determine the added mass coefficient. This involved turning off thrusters when the AUV was rotating at constant angular velocity and measuring the decay in angular rate. A least squares technique was performed on the data and derived the deceleration data at specific angular velocities before being substituted into the equation of motion. With these three hydrodynamic coefficients determined, a dynamic model of the AUV was generated for yaw motion. Bachelor of Engineering (Aerospace Engineering) 2021-06-15T04:00:53Z 2021-06-15T04:00:53Z 2021 Final Year Project (FYP) Kuek, Z. W. (2021). System identification of an autonomous underwater vehicle. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/150934 https://hdl.handle.net/10356/150934 en A133 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Mechanical engineering::Fluid mechanics Kuek, Zheng Wei System identification of an autonomous underwater vehicle |
| title | System identification of an autonomous underwater vehicle |
| title_full | System identification of an autonomous underwater vehicle |
| title_fullStr | System identification of an autonomous underwater vehicle |
| title_full_unstemmed | System identification of an autonomous underwater vehicle |
| title_short | System identification of an autonomous underwater vehicle |
| title_sort | system identification of an autonomous underwater vehicle |
| topic | Engineering::Mechanical engineering::Fluid mechanics |
| url | https://hdl.handle.net/10356/150934 |
| work_keys_str_mv | AT kuekzhengwei systemidentificationofanautonomousunderwatervehicle |