水下航行器控制系统半实物仿真

The Hardware in the Loop Simulation for Underwater Vehicle Control System

该文提出了一种水下航行器控制系统半实物仿真结构，介绍了仿真数学模型与仿真算法，并给出了水下航行器控制系统半实物仿真实例。实航试验结果表明半实物仿真与水下航行器控制系统实际航行结果基本接近。

This paper presents the hardware in the loop simulation architecture for underwater vehicle control system. The mathematical model and simulation algorithm are introduced, and an example for the simulation is given. The result of both the hardware in th loop simulation and the real navigation are closely approximate.