Design and Realization of Hardware-in-the-loop Simulation System of Underwater Glider
-
摘要: 为提高水下滑翔机的研究开发效率, 降低研发成本, 文中设计了一种水下滑翔机的半实物仿真系统。该系统首先仿真水下滑翔机水下运动时的运动状态及水下环境等信息, 然后将其送入水下滑翔机的主控系统, 主控系统输出对应的控制信息, 再经由仿真系统采集处理后送入系统管理软件保存, 方便用户对控制过程进行分析处理。最后, 主控系统通过RS232串口将数据上传到数据接收处理软件, 以仿真水下滑翔机与岸站的通信过程。通过相关测试可知, 文中设计的半实物仿真系统可高效完成水下滑翔机控制系统、通信系统等的工作任务, 满足设计要求, 显著降低了研发成本, 具有理想的应用前景。Abstract: In order to improve the research and development efficiency of the underwater glider and reduce the cost of research and development, a hardware-in-the-loop simulation system for the underwater glider is designed. The system simulates the underwater environment and the motion states of the underwater glider during the motion and sends the information to the main control system of the glider. The main control system outputs the corresponding control information, and then collects the information through the simulation system. After processing, it is sent to the simulation system management software for storage which is convenient for users to analyze and process. Finally, the main control system uploads the data to the data receiving and processing software through the RS232 serial port to simulate the communication process between the underwater glider and the shore station. Through the proposed system, the research of the underwater glider control system and communication system can be efficiently performed, and the research and development costs of the underwater glider can be reduced
-
[1] 俞建成, 刘世杰, 金文明, 等. 深海滑翔机技术与应用现状[J]. 工程研究-跨学科视野中的工程, 2016, 8(2): 208-216.Yu Jian-cheng, Liu Shi-jie, Jin Wen-ming, et al. The Present State of Deep-sea Underwater Glider Technologies and Applications[J]. Journal of Engineering Studies, 2016, 8(2): 208-216. [2] Eriksen C C, Osse T J, Light R D, et al. Seaglider: A Long-range Autonomous Underwater Vehicle for Ocean-ographic Research[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 424-436. [3] Nakamura M, Asakawa K, Hyakudome T, et al. Hydrodynamic Coefficients and Motion Simulations of Underwater Glider for Virtual Mooring[J]. IEEE Journal of Oceanic Engineering, 2013, 38(3): 581-597. [4] Wang S X, Sun X J, Wang Y H, et al. Dynamic Modeling and Motion Simulation for A Winged Hybrid-Driven Underwater Glider[J]. China Ocean Engineering, 2011, 25(1): 97-112. [5] Cao J J, Cao J L, Zeng Z, et al. Seagull——Designed for Oceanographic Research[C]//Oceans 2016. Shanghai: IEEE, 2016: 1-7. [6] 张禹, 刘开周, 邢志伟, 等. 自治水下机器人实时仿真系统开发研究[J]. 计算机仿真, 2004, 21(4): 155-158.Zhang Yu, Liu Kai-zhou, Xing Zhi-wei, et al. Research on Real-time Simulation System of Autonomous Underwater Vehicle[J]. Journal of Computer simulation, 2004, 21(4): 155-158. [7] 赵加敏, 秦再白, 庞永杰, 等. 一种水下机器人集成仿真系统的设计[J]. 计算机仿真, 2005, 22(10): 172-175.Zhao Jia-min, Qing Zai-bai, Pang Yong-jie, et al. Design of an Integrated Simulation System for AUV[J]. Journal of Computer simulation, 2005, 22(10): 172-175. [8] 甘永, 毛宇峰, 万磊, 等. 水下机器人半实物运动仿真系统的设计[J]. 系统仿真学报, 2006, 18(7): 2026-2029.Gan Yong, Mao Yu-feng, Wan Lei, et al. Design of Semi-Physical Motion Simulation System of Underwater Vehicle[J]. Journal of System Simulation, 2006, 18(7): 2026- 2029. [9] 唐原广, 王志光. 船舶运动姿态测量系统设计与实现[J]. 舰船科学技术, 2017, 39(13): 108-111.Tang Yuan-guang, Wang Zhi-guang. Design and Realization of Motion Attitude Measurement System for Ships[J]. Journal of Ship Science and Technology, 2017, 39(13): 108-111. [10] 曹俊亮. 水下滑翔机多模态运动控制与路径规划研究[D]. 上海: 上海交通大学, 2016.
点击查看大图
计量
- 文章访问数: 250
- HTML全文浏览量: 16
- PDF下载量: 168
- 被引次数: 0