Numerical method to estimate the transfer function representing the displacement of towed underwater vehicle under the impact of sea waves

Abstract

The towed underwater vehicle (TUV) is one of the typical objects with the distributed parameters. The transfer function (TF) describing the dynamic processes of this object contains not only higher order functions but also inertial and transcendental components. This causes difficulties when synthesizing the control system for them. The basic synthesis way for such objects is carried out in two steps: first, a model with centralized parameters is established instead of the original object with the distributed parameters, 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 of TUV by an approximate model with the required error based on the real interpolation method (RIM), 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 the displacement at the cable’s point attached to the UV with displacement at the cable’s point attached to the winches.