摘要
随着自主式水下机器人(AUV)实现功能日趋复杂,对其研究引起了人们的极大兴趣,但传统的测试手段已不适应现代的复杂系统。本文简要介绍了开放的复杂巨系统的基本概念,并从系统学的角度出发,提出了一个新的AUV测试系统。该测试系统是一个能够对AUV的体系结构以及编队协同等进行演示验证的实时半实物仿真系统,是开展AUV研发的有效手段。给出了基于web的测试系统的研究模型与总体框架,并对AUV实时仿真模块进行了深入剖析。远程AUV测试系统的采用为提高安全性以及减少试验成本与研发周期提供了有效的解决途径。
A new testing system for autonomous underwater vehicle （AUV） is presented based on the concept of open complex giant system and the system methodology. The testing system is a real time hardware-in-loop simulation system for demonstration of the architecture, formation control and coordination of AUV, which would play an important role in AUV research and development. The whole frame and model of the testing system based on Web are proposed, and the real time simulation module of AUV is analyzed. This testing system may provide an effective way to improve AUV＇s security, reduce test cost, and shorten research and development period.
出处
《鱼雷技术》
2008年第6期28-33,共6页
Torpedo Technology
基金
教育部新世纪优秀人才支持计划资助项目(教纪支2005-290)
关键词
自主式水下航行器
开放复杂巨系统
测试系统
半实物仿真
体系结构
编队协同
autonomous underwater vehicle （AUV）
open complex giant system
testing system
hardware-in-loop simulation
architecture
formation coordination
