Parameter Identification for Micro Underwater Vehicles

Journal
Proceedings in applied mathematics and mechanics  
Volume
18
Issue
1
Article Number
e201800350
Citation
Proceedings in applied mathematics and mechanics 18 (1): e201800350 (2018)
Contribution to Conference
89th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM 2018)  
Publisher DOI
10.1002/pamm.201800350
Publisher
Wiley-VCH
Detailed knowledge of model parameters is key for accurate forward simulations and control design. Identifying these parameters is especially challenging for underwater vehicles as they are subject to hydrodynamics effects which cannot be neglected in the equation of motion. In this work we present a method for hydrodynamic parameter identification of micro underwater vehicles which allow full-size experiments due to their small size. The low-cost experimental setup consists mainly on a free fall mass and an angular encoder. In an experimental series the hydrodynamic parameters of the micro underwater vehicle HippoCampus [1] are identified and compared with the analytically derived parameter set.