Simplified Modelling and Identification of an Inspection ROV

Thomas Thuesen Enevoldsen, Emil Már Einarsson, Simon Pedersen, Zhenyu Yang

Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

1 Citation (Scopus)

Resumé

The expansion of subsea applications demands extended use of autonomous capabilities within Remotely Operated Vehicles (ROVs), which can reduce the overall operation time and cost. Obtaining a simple but also reasonably precise model is important for an autonomized control strategy. This study outlines a low-dimensional model structure for a commercial underwater inspection ROV, based on simplifying physical assumptions. The respective model parameters are obtained from experimental data. Tuning parameters are then introduced in order to further improve the accuracy of the identified model. Based on a model validation it is concluded that the obtained model contains the main properties of the ROV.

OriginalsprogEngelsk
BogserieIFAC-PapersOnLine
Vol/bind51
Udgave nummer8
Sider (fra-til)257-262
Antal sider6
ISSN1474-6670
DOI
StatusUdgivet - jul. 2018
Begivenhed3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018 - Esbjerg, Danmark
Varighed: 30 maj 20181 jun. 2018
Konferencens nummer: 3

Konference

Konference3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018
Nummer3
LandDanmark
ByEsbjerg
Periode30/05/201801/06/2018

Fingerprint

Remotely operated vehicles
Inspection
Model structures
Tuning
Costs

Citer dette

Enevoldsen, Thomas Thuesen ; Einarsson, Emil Már ; Pedersen, Simon ; Yang, Zhenyu. / Simplified Modelling and Identification of an Inspection ROV. I: IFAC-PapersOnLine. 2018 ; Bind 51, Nr. 8. s. 257-262.
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abstract = "The expansion of subsea applications demands extended use of autonomous capabilities within Remotely Operated Vehicles (ROVs), which can reduce the overall operation time and cost. Obtaining a simple but also reasonably precise model is important for an autonomized control strategy. This study outlines a low-dimensional model structure for a commercial underwater inspection ROV, based on simplifying physical assumptions. The respective model parameters are obtained from experimental data. Tuning parameters are then introduced in order to further improve the accuracy of the identified model. Based on a model validation it is concluded that the obtained model contains the main properties of the ROV.",
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Simplified Modelling and Identification of an Inspection ROV. / Enevoldsen, Thomas Thuesen; Einarsson, Emil Már; Pedersen, Simon; Yang, Zhenyu.

I: IFAC-PapersOnLine, Bind 51, Nr. 8, 07.2018, s. 257-262.

Publikation: Bidrag til tidsskriftKonferenceartikel i tidsskriftForskningpeer review

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