Motion control systems

A motion compensated ADV system was evaluated to determine its ability to
make measurements necessary for characterizing the variability of the ambient current in
the Gulf Stream. The impact of IMU error relative to predicted turbulence spectra was
quantified, as well as and the ability of the motion compensation approach to remove
sensor motion from the ADV measurements. The presented data processing techniques
are shown to allow the evaluated ADV to be effectively utilized for quantifying ambient
current fluctuations from 0.02 to 1 Hz (50 to 1 seconds) for dissipation rates as low as
3x10-7. This measurement range is limited on the low frequency end by IMU error,
primarily by the calculated transformation matrix, and on the high end by Doppler noise.
Inshore testing has revealed a 0.37 Hz oscillation inherent in the towfish designed and
manufactured as part of this project, which can nearly be removed using the IMU.

This study assesses the viability of using a towfish mounted ADV for quantifying water velocity fluctuations in the Florida Current relevant to ocean current turbine performance. For this study a motion compensated ADV is operated in a test flume. Water velocity fluctuations are generated by a 1.3 cm pipe suspended in front of the ADV at relative current speeds of 0.9 m/s and 0.15 m/s, giving Reynolds numbers on the order of 1000. ADV pitching motion of +/- 2.5 [degree] at 0.3 Hz and a heave motion of 0.3 m amplitude at 0.2 Hz are utilized to evaluate the motion compensation approach. The results show correction for motion provides up to an order of magnitude reduction in turbulent kinetic energy at frequencies of motion while the IMU is found to generate 2% error at 1/30 Hz and 9% error at 1/60 Hz in turbulence intensity.