一种自主水下航行器半实物仿真系统

Hardware-in-the-loop Simulation System for Autonomous Underwater Vehicle

半实物仿真(HILS)在自主水下航行器(AUV)控制系统开发过程中起着非常重要的作用。针对AUV控制系统开发测试的需要,提出一种基于AD/RTS实时仿真计算机的半实物仿真系统;该系统由AD/RTS实时仿真计算机和三轴模拟转台、水压仿真器、舵机负载模拟器等物理效应设备组成。重点讨论了AD/RTS仿真计算机和VMIC反射内存实时网络,最后给出半实物仿真运行的结果。结果表明:该仿真系统能够为控制系统提供测试环境,并作为AUV研制和实航试验的依据。

The hardware-in-the-loop simulation （HILS） plays a very important role in the development of autonomous underwater vehicle＇s （AUV＇s） control system. The HILS system based on the AD/RTS realtime simulation computer is developed to satisfy the requirements of the test and verification of AUV＇s control system. This HILS system consists of the AD/RTS simulator, tri-axiality rotated-table, and water pressure simulator. Two key components of the system, that is, the AD/RTS simulator and the VMIC reflective memory realtime network, are discussed. Finally the HILS experiment results are provided to illustrate that this simulation system can provide a testing environment for AUV control system, as well as give a base for the development and sea-trial experiments of AUV.