Practical Experiments in ROV System Identification

This paper presents research-in-progress from a joint project between the Department of Mechanical and Aerospace Engineering, Carleton University and the Ocean Engineering Department at the Woods Hole Oceanographic Institute (WHOI). The initial stage of the project is concerned with the application of System Identification (SI) to Remotely Operated Vehicle (ROV) modelling. Models for ROVs are difficult to derive because their dynamics are strongly coupled, highly nonlinear and vary according to the vehicle´s operating configuration. In addition, conventional modelling techniques require the use of expensive, specialised testing equipment. An alternative procedure using SI to process data gathered during simple free-running trials can generate fast, inexpensive and accurate ROV models. A preliminary set of vehicle trials is described. These trials took place in September 1991 at the WHOI´s small indoor ROV test tank, using a modified RCV 225. Three SI algorithms are tested on the ROV data and compared for accuracy.