The inherent strongly nonlinear and coupling performance of the Autonomous Underwater Vehicles (AUV), maneuvering motion in the diving plane determines its difficulty in parametric identification. The motion parameters in diving plane are obtained by executing the Zigzag-like motion based on a mathematical model of maneuvering motion. A separate identification method is put forward for parametric identification by investigating the motion equations. Support vector machine is proposed to estimate the hydrodynamic derivatives by analyzing the data of surge, heave and pitch motions. Compared with the standard coefficients, the identified parameters show the validation of the proposed identification method. Sensitivity analysis based on numerical simulation demonstrates that poor sensitive derivative gives bad estimation results. Finally the motion simulation is implemented based on the dominant sensitive derivatives to verify the reconstructed model.

中文翻译：

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潜水平面内自主水下航行器的参数辨识与灵敏度分析

自主水下航行器（AUV）固有的强非线性和耦合性能（在潜水平面内进行机动）决定了其在参数识别中的难度。潜水平面中的运动参数是通过基于操纵运动的数学模型执行锯齿形运动来获得的。通过研究运动方程，提出了一种单独的参数辨识方法。提出了一种支持向量机，通过分析波动，升沉和俯仰运动的数据来估计水动力导数。与标准系数相比，所识别的参数表明了所提出的识别方法的有效性。基于数值模拟的敏感性分析表明，较差的敏感导数给出了较差的估计结果。