臺灣博碩士論文加值系統

水下無人遙控載具(Remotely Operated Vehicle; ROV)運動具有六個自由度，包括前進後退(Surge)、左右移動(Sway)、上下移(Heave)、橫搖(Roll)、縱搖(Pitch)、航偏(Yaw)，其中水流阻力及附加質量(Added mass)效應對ROV運動之影響最大。ROV流阻係數及附加質量係數可以透過平面運動機構(Planar Motion Mechanism ; PMM)直接求得，但其缺點是成本太高。所以本研究利用低成本的投影映射法來求得ROV運動軌跡，再由運動軌跡與推進器推力之關係反算動力參數。由於六自由度的ROV運動方程式具高度非線性，利用數值迭代運算一次求出所有的動力參數，容易產生大的誤差。所以，本研究透過ROV非耦合運動來降低動力參數之求解數目，針對不同ROV運動型態求解相關之動力參數。本研究以中山大學海下技術研究所之ROV Seamor為研究對象，使用攝影機拍攝水下ROV平面運動軌跡，並利用投影映射(Projective mapping)法與ROV深度計回傳之資訊，求出ROV之位置軌跡及速度，再利用最佳化方法迭代求出流阻係數及附加質量係數。將所求出的動力參數代入運動方程式推估ROV之運動軌跡，並與實際ROV在水中運動軌跡做比對驗證，結果相當吻合。

Remotely operated vehicle (ROV) dynamics is affected by hydrodynamic forces such as added mass and viscous drag force. Both of added mass and drag force coefficients can be measured by a set of Planar Motion Mechanism (PMM) tests; however, it is costly. In this study, an economic method for identifying hydrodynamic parameters of ROV is given. A simplified nonlinear ROV dynamics model with twelve unknown hydrodynamic parameters in six degrees of freedom was derived for simulations. The identification is based on experimental data obtained by projective mapping method which is utilized to measure the planar motions of a ROV. Then least-squares optimization is performed by comparison between the theoretical simulations and the actual motion measurements. But, an optimization computation involving a large number of parameters is likely to get trapped in a local minimum. Therefore, to reduce the number of parameters to be optimized, some models of simple motions such as surge, sway, surge and sway, yaw, and heave are decoupled from the ROV dynamic model. A commercial ROV “Seamor” that equipped with two vertical thrusters, two horizontal thrusters, and a depth sensor is used for identification. The experiments for measuring ROV motions of surge, sway, surge and sway, and yaw were performed in a swimming pool in National Sun Yat-sen University. A video camera is utilized to capture ROV for position estimation using projective mapping method. As for the heave motion of ROV, the experiment was conducted offshore the Shio-Liu-Qiu Island and the ROV depth was measured by an onboard pressure sensor. Then, optimal hydrodynamic parameters are identified in sequence of surge, heave, yaw, sway, and then surge and sway. Verification experiments were performed and the simulation results with the optimum values of hydrodynamic parameters show good agreement with the measured data from verification experiments.

第一章 緒論 1
第二章 非耦合動力模式 5
第三章 投影映射法 40
第四章 實驗規劃與設計 51
第五章 參數鑑別結果 62
第六章 結論與建議 86

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