水下滑翔机深度模拟装置仿真及实验研究

Simulation and Experimental Study on Depth Simulator of Sea Glider

深度模拟装置是水下滑翔机半实物仿真的重要组成部分。针对水下滑翔机深度模拟的需求,设计了一种采用电液压力伺服控制系统的深度模拟装置,以此为研究对象,建立数学模型并基于PID控制策略完成仿真分析,仿真结果表明,设计的系统在理论上能够满足模拟装置的要求。以此为基础搭建试验平台,并进行实验研究,实验结果表明,深度模拟装置可以实现准确的压力控制,从而在实验室条件下为水下滑翔机提供精确的深度变化环境,同时也验证了所构建数学模型及控制器设计的正确性。

Depth simulator is an essential part of the hardware-in-the-loop simulation system of sea glider. In order to meet the requirement of depth simulation, a depth simulator with electro-hydraulic pressure servo simulator con- trol system is designed. We take this system as a research object and establish a mathematical model. The analysis is completed based on the PID control strategy, and the simulation results show that the system can meet the re- quirements of simulator in theory. The experimental results show that depth simulator can meet the pressure control requirements, and provide accurate underwater conditions of varied water pressure for sea glider, meanwhile, verify the correctness of the mathematical model and the design of controller.