基于Adams与Matlab/Simulink的水下自航行器协同仿真

Cooperative Simulation Based on Adams and Matlab/Simulink for Autonomous Underwater Vehicle

针对传统水下自航行器(Autonomous underwater vehicle,AUV)仿真中图形界面、实时性和动力学性能难以兼顾的问题,提出利用虚拟样机分析软件Adams和控制仿真软件Matlab/Simulink联合建立AUV虚拟样机系统的方法。在分析虚拟样机系统运动学、动力学和水动力数学模型的基础上,给出虚拟样机物理模型及控制模型的建立过程,并利用该虚拟样机系统对设计的AUV空间动态定位控制算法进行基于动力学基础的仿真分析。仿真试验的过程及结果表明,该虚拟样机系统具备智能控制与动态控制交互仿真演示和功能验证的能力,可为AUV图形仿真研究提供一种新的解决思路,对研究水下自航行器的操纵与控制有重要的现实意义。

To solve the problem that the traditional autonomous underwater vehicle （AUV） simulation cannot balance the performance among graphical interface, real-time and dynamics, a virtual prototype technology based AUV simulation method is proposed, in which virtual prototype and control simulation soft-ware are used to build the AUV＇s model. The building process of physical model for AUV virtual prototype and its control model are given based on analyzing kinematic model and hydrodynamic model of the virtual prototype, and the AUV dynamic location control algorithm used is simulated based on hydrodynamic. The simulation results indicate that the proposed virtual prototype system has the capability of simulative demonstration and performance validation, and can provide an innovative approach for AUV graphic simulation.