Abstract
In this paper, a convenient parameters prediction method for deep ocean work-class Remote Operated Vehicle(ROV) is proposed to obtain the nonlinear control model based on the geometric model of ROV. Considering the complex shape of ROV, the empirical method and computational fluid dynamic(CFD) numerical calculation method are introduced to determine model critical items: added mass term and damping matrix term, respectively. The empirical method can estimate the parameters rapidly with relative accuracy, while the CFD numerical method can calculate the hydrodynamic parameters more precisely. In this paper, STAR CCM+ and ANSYS/AWQA software are used to determine the added mass and the damping item. A reliable model is obtained for the complex shaped work-class ROV. Compare with the results from the empirical approach, the presented modeling approach is more suitable for the robust control scheme with unknown nonlinearities. Finally, the desired yaw tracking control is implemented to verify the feasibility of the modeling method when considering the input time delay.
Published Version
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