水下机器人半实物运动仿真系统的设计

通过对水下机器人体系结构中的控制层进行实物仿真和对感知层以及执行层进行虚拟仿真相结合的方法建立了水下机器人半实物运动仿真系统,该仿真系统不仅能够对整个系统的软件逻辑进行测试,同时能够对水下机器人控制系统的硬件体系、数据接口、可靠性都进行验证。详细阐述了水下机器人半实物运动仿真系统的硬件和软件体系结构,并对虚拟仿真中的水动力仿真、运动传感器仿真以及实物仿真中的运动控制系统的设计进行了说明。最后通过远距离航行仿真试验和避碰仿真试验证明了所设计的水下机器人半实物运动仿真系统对实际海试具有重要的参考价值。

Design of Semi Physical Motion Simulation System of Underwater Vehicle

Semi physical motion simulation system of underwater vehicle was established by combining physical simulation of control layer with virtual simulation of sensory and executive layer. Not only the software logic but also the hardware architecture, information interface and reliability could be verified with the semi physical motion simulation system. The hardware and software architecture of the simulation system were explained in detail. The virtual simulation of hydrodynamics, motion sensors and physical simulation of control layer were described. Finally, the long distance motion simulation and obstacle avoidance simulation tests were conducted to demonstrate the importance of the system for the success of sea experiments.