摘要
水下航行体运动控制系统复杂,研制难度较大,利用三轴转台和MBTY软件对其进行建模及仿真研究是该文的主要目的。文中首先简要介绍了MBTY软件和三轴运动模拟转台,描述了水下航行体的动力学和运动学数学模型,给出了水下航行体控制系统的数学模型,并建立了相应的MBTY仿真图形模型,最后介绍了仿真过程和仿真结果。结果表明,利用"MBTY+三轴转台"的模式进行运动控制系统的仿真,数据接口灵活、开放;通用和专业模块丰富;无需进行大量软硬件的开发,与"dSPACE+Matlab/S imu link(或MATR IXx)+三轴转台"的仿真模式相比具有一定的优势。
The control system of the autonomous underwater vehicle（AUV） is so complicated that it is significant to set up simulation model and study it on the basis of MBTY software and three - axis movement - modeling table. In this paper, the simple introduction to MBTY software and three - axis movement - modeling table is given, and the mathematical model of the AUV dynamics and kinematics is described. The MBTY model and mathematical model of the control system is set up. Finally, the simulation method and result are given and analyzed. It shows that the simulation method ＂ MBTY ＋ three - axis movement - modeling table＂ possesses superiority when comparing with the method ＂dSPACE ＋ Matlah/Simulink（or MATRIXx） ＋ three- axis movement- modeling table＂.
出处
《计算机仿真》
CSCD
2006年第7期31-33,共3页
Computer Simulation
基金
国防"十五"预先研究重点项目(10101060020202)
