Numerical Solution to Estimate the Transfer Function Describing the Towed Underwater Vehicle

Abstract

Synthesizing the control system for objects with distributed parameters is carried out in two steps: first, a model with centralized parameters is established instead of the original object, then the synthesis of the controler is performed using well-known methods for linear systems. Therefore, this article will propose and investigate a solution estimating the transfer function (TF) describing the towed underwater vehicle (TUV) by an approximate model with the required error based on the real interpolation method (RIM). This solution allows manipulation of real numbers, which overcomes the limitations of previous estimation methods. It reduces the amount of calculation and allows to obtain an approximate model of arbitrary order without any difficulty. In addition, the proposed algorithm can be easily realized on computers.

This study includes main contents: establishing the model of the Towed cable (TC)- Underwater vehicle (UV) system, proposing an estimation algorithm and building a program to automatically estimate the TF, which associates between displacement at the end of cable attached to the UV with displacement at the point attached to the winches, evaluating the impact of sea waves on the towed underwater vehicle.