期刊文献+

多无人船编队控制半实物仿真系统开发 被引量:1

Design and development of a simulation system for multi-USV formation control
下载PDF
导出
摘要 设计并实现了用于模拟多无人船编队的实时半实物仿真系统。该系统通过对电压信号的数模模数转换模拟电机控制信号的输出和采集,通过串行通讯端口模拟测量设备的数据输出和数据采集。利用PC104平台搭建无人船控制器,使用基于VxWorks的实时控制软件;利用工控机和VC++6.0环境搭建无人船仿真中心,实现无人船仿真过程数据的图形化显示。最后仿真实验表明该系统可以良好的模拟多无人船的编队行为,在验证编队算法和测试无人船嵌入式控制软件方面有很强的实用性。 A simulation system for muhi-USV formation control is designed and accomplished in this paper.The system simulates the input and output of voltage signal which is used to control the motor by way of A/D and D/A conversion, and simulate the communication of sensor data via RS-232 port. PC104 platform and VxWorks real-time control software is used to build the USV's controller. The IPC and VC++6.0 software environment is utilized to build muhi- USV simulation center, which will achieve the graphical display of USVs' states parameter. Finally Simulation results show that the system can properly and effectively simulate multi-USV formation. The system has a strong practicality in aspect of the validating of muhi-USV formation algorithms and the testing of embedded control software.
出处 《电子设计工程》 2014年第11期43-46,共4页 Electronic Design Engineering
关键词 无人船 实时操作系统 编队控制 半实物仿真 USV PC104 VxWorks Formation control
  • 相关文献

参考文献8

二级参考文献59

  • 1陈大光,韩凤学,唐耿林.多状态气路分析法诊断发动机故障的分析[J].航空动力学报,1994,9(4):349-352. 被引量:34
  • 2许真珍,封锡盛.多UUV协作系统的研究现状与发展[J].机器人,2007,29(2):186-192. 被引量:47
  • 3江翔 袁辉.Visual C++实践与提高——网络编程篇[M].北京:中国铁道出版社,2001..
  • 4BФrhaug E, Pavlov A, Pettersen K Y. Cross-track Formation Control of Underactutated Autonomous Underwater Vehicles, "Group Coordination and Cooperative Control'[M]. Number 336 in "Lecture Notes in Control and Information Sciences ", Springer-Verlag, Berlin Heldelberg, 2006, 3: 35- 54.
  • 5Prestero T. Verification of a Six-degree of Freedom Simulation Model for the REMUS Autonomous Underwater Vehicle [D]. MS Thesis, MIT/WHOI Joint Program in Oceanographic Engineering, 2001.
  • 6Do K D, Pan J, State- and output-feedback robust path- following controllers for underactuated ships using Serret- Frenet frame[J]. Ocean Engineering, 2004, 31 (5/6): 587-613.
  • 7Lapierre L, Soetanto D, Pascoal A. Nonlinear path following with applications to the control of autonomous underwater ve- hicles[C]//42nd IEEE Conference on Decision and Control. Pis- cataway, NJ, USA: IEEE, 2003: 1256-1261.
  • 8Lapierre L, Jouvencel B. Robust nonlinear path-following con- trol of an AUV[J], IEEE Journal of Oceanic Engineering, 2008, 33(2): 89-102.
  • 9Breivik M, Fossen T I. Guidance laws for planar motion con- trol[C]//47th IEEE Conference on Decision and Control. Pis- cataway, NJ, USA: IEEE, 2008: 570-577.
  • 10Maurya P, Aguiar A P, Pascoal A M. Marine vehicle path fol- lowing using inner-outer loop control[C]//8th IFAC Interna- tional Conference on Manoeuvring and Control of Marine Craft. Kidlington, UK: Elsevier Science, 2009.

共引文献64

同被引文献11

引证文献1

二级引证文献4

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部