水下自航体航姿控制系统的仿真测试

Simulating and Testing Design for a AUV's Attitude Control System

为了全面检测与实时考核水下自航体航姿控制系统的性能参数,确保自航体能够高精度地实现预定的航行轨道,设计了由精密程控交、直流信号源产生自航体水下航行的各种姿态、状态和轨道指令信号,实时测定航姿控制系统输出信号,从而考察其控制性能的计算机仿真测试系统,阐述了系统的组成原理和仿真设计方案。实现了多种信号的实时、高精度定量控制产生功能,航姿、速率、深度和目标角指令的仿真信号分辨率分别达到0.001°、0.002°/s、0.08m和0.02°,解决了六路航姿仿真信号的相位不一致性。经实际应用证明,该系统工作稳定可靠,测试准确,满足实时性要求。

In order to test performances of a attitude control system built in an autonomous underwater vehicle （AUV） on real time, and to ensure the AUV can be navigated precisely according to a intended trajectory, a simulating and testing system controlled by computer is de signed. The system principle of work and the design scheme of simulation are expatiated. Some real--time precise simulating signals , such as attitudes, states and trajectory commands, are generated by a program--controlled signal source both AC and DC. And some indispensa hie outputs of the attitude control system are measured on real time. Basing on these, the true time controlling performances of the AUV can be examined. Those simulating signals are high precise. Attitude angle resolving power is 0. 001°, velocity is 0. 002°/s, depth is 0.08m and target angle is 0. 02°. And phase differences between attitude angles and velocities are eliminated. It has been proved by testing and running that the system is high precise and reliable.