灵巧航行体半实物仿真系统设计方法与应用

Design and Application of Hardware-in-the-Loop Simulation System For Smart Underwater Vehicles

以新型灵巧航行体研发为背景,针对其近水面运动易受波浪力干扰、舵面受力复杂等问题,通过建模与仿真解耦设计、环境条件自动切换等方法设计了模拟灵巧航行体水中工作环境的半实物仿真系统,并在此基础上进行了实时仿真计算能力试验、灵巧航行体半实物仿真试验研究和波浪干扰试验研究.结果表明,应用所建立的设计方法构建的半实物仿真系统解决了灵巧航行体近水面运动姿态控制系统半实物仿真的需求,可为灵巧航行体的姿态控制系统设计和实航试验提供重要参考依据.

The new smart underwater vehicle which runs near free-surface of the water is subject to wave disturbance and its rudder moment is complex. To simulate the water environment, a hardware-in-the-loop simulation （HILS） system was designed using methods of modeling, simulating decoupling design and automatic switching environment conditions. The real-time computation ability test of the simulation computer was implemented. The HILS and wave disturbance tests of the underwater vehicle were done. Test results show that the designed HILS system could meet the demands of the attitude control system HILS of the underwater vehicles. The approach presented in this research might be very useful to the design of the attitude control system and the undergoing shipping test of the underwater vehicles.