CN107301802B - Manned submersible simulation system - Google Patents
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- CN107301802B CN107301802B CN201710631498.5A CN201710631498A CN107301802B CN 107301802 B CN107301802 B CN 107301802B CN 201710631498 A CN201710631498 A CN 201710631498A CN 107301802 B CN107301802 B CN 107301802B
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- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
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- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/06—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles
- G09B9/063—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of ships, boats, or other waterborne vehicles by using visual displays
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Abstract
The invention relates to a manned submersible simulation system, which comprises a manned submersible simulation body, a data simulation platform and a visual simulation system, wherein the systems are interconnected through a high-speed Ethernet switch, and the manned submersible simulation body is used for simulating the real structure of a dragon number manned submersible and comprises an overall appearance size, an in-cabin environment and an operating system which are consistent with those of a real boat; the data simulation platform is used for generating sensing detection data acquired by various sensors of the dragon-number manned submersible and providing a simulated digital environment for an in-cabin control system of the simulation body; the visual simulation system is based on a submarine real image shot by diving a dragon-shaped manned submersible, three submarine simulation visual environments including a submarine hydrothermal jet active area and a submarine multi-metal tuberculosis distribution area in a submarine mountain area are constructed through computer modeling, and movement and transformation of submarine visual can be achieved through movement instructions of an in-cabin control system.
Description
Technical Field
The invention relates to a simulation system, in particular to a simulation system of a manned submersible.
Background
The manned submersible is a movable submersible device which is driven by a carrying person, has a life support matching and auxiliary system and has underwater operation capability. The manned submersible not only can be used for underwater experiments, but also can be used for underwater geological features and resource exploration, underwater scientific investigation, underwater engineering construction, underwater rescue and other working purposes, and plays an important role in scientific investigation and submarine resource exploration in the fields of deep sea geology, biology and the like in China at present. The manned submersible is used as a safe and efficient underwater carrying platform and can carry a diver, engineering technician or scientist to carry out underwater operation activities.
The diving personnel carried by the manned submersible and the water surface commander of the manned submersible are required to be trained by a system, and the training of the diving personnel firstly grasps the manipulation and operation skills of the manned submersible under the conventional conditions, so that the offshore training of the real boat is very important and indispensable; however, the offshore real boat training requires large ships and other matched equipment, the offshore maneuvering training needs to select a proper sea area, the training period is long, and the deep submerged real boat training takes hundreds of thousands of near million yuan once; meanwhile, a great deal of frequent manipulation training is needed for manned deep diving, and manpower and material resources cannot be estimated by means of real boat training, so that long-term low-cost high-efficiency training cannot be realized.
At present, no driving operation simulator or simulation system developed for manned submersible exists, so that a scheme is required to be provided for providing an important platform for improving the technical skills of the manned submersible real boat operation of a diver and related personnel.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a manned submersible simulation system which is used for simulating a manned submersible, combines cabin environment, operation data and seabed vision, and provides required technical equipment for on-land simulation training of a manned submersible diver.
The invention is realized by adopting the following technical scheme, and the manned submersible simulation system comprises a manned submersible simulation body, a visual simulation system and a data simulation platform which are interconnected through an Ethernet switch; the manned submersible simulation body is used for simulating the real structure of the dragon number manned submersible and comprises a simulation shell, a manned cabin and an in-cabin control system; the visual simulation system is based on a submarine real image shot by diving the dragon-shaped manned submersible, constructs a submarine simulation visual environment through computer modeling, and realizes the movement and transformation of a submarine visual through a motion instruction of an in-cabin control system; the data simulation platform is used for generating sensing detection data acquired by a sensor on the manned submersible with the dragon number, and provides a simulated digital environment for a control system in a simulation body cabin of the manned submersible.
Furthermore, the manned submersible simulation body further comprises an operation system, a viewing and communication simulation system, a water sound communication simulation system and a life support simulation system which are respectively connected with the control system in the manned cabin, and an observation window is arranged at the front part of the manned cabin; the operation system comprises a sampling basket, a mechanical arm, a simulation propeller, a simulation throwing load mechanism and a hydraulic source; the viewing simulation system comprises camera lighting equipment and an in-cabin video monitoring system; the underwater sound communication simulation system comprises an underwater sound communication computer in the cabin, a simulated underwater sound telephone, a microphone and a sound box; the life support simulation system comprises an in-cabin oxygen supply system model, a standby oxygen supply system model, a carbon dioxide filtering tank model, an in-cabin environment monitoring panel model, a life support display control panel model and an emergency breathing mask model.
Furthermore, the cabin control system comprises a navigation control simulation module and a comprehensive display control simulation module, and the navigation control simulation module and the comprehensive display control simulation module are connected with the underwater acoustic communication simulation system, the visual simulation system and the digital simulation platform through Ethernet.
Further, the visual simulation system comprises an annular projection column curtain, a high-performance computer workstation, a graphic accelerator card, a projector set and an electronic chart module, wherein the annular projection column curtain, the high-performance computer workstation, the graphic accelerator card, the projector set and the electronic chart module are arranged in front of the observation window, and the electronic chart module is used for displaying and setting the visual of the training area in real time; the electronic chart module generates and displays the position of the simulated manned submersible relative to the mother ship, the position of the submersible in the geodetic coordinate system, the posture of the submersible (including heading, depth, trim, altitude, speed, collision avoidance and the like) and the position of the submersible relative to the operation target, generates simulated temperature, salinity, depth, altitude and bottom speed data according to the positioning data, and sends the simulated temperature, salinity, depth, altitude and bottom speed data to the cabin control system; the high-performance computer workstation calls the view information according to the electronic chart module, the view information comprises digital submarine simulation view information manufactured according to submarine video shot by the dragon number manned submersible, and the view information is projected to the annular projection column curtain for display through the projector unit after being operated by the graphic accelerator card.
Furthermore, the annular projection column curtain adopts a 120-degree seamless spliced column curtain with the radius larger than 5m, and can cover the maximum view of the observation window of the manned cabin.
Further, the data simulation platform comprises a propeller system data simulation module, a hydraulic system data simulation module, a ballast and trim adjustment simulation module and a battery system data simulation module which are connected with the in-cabin control system; the cabin control system receives the manned submersible positioning data sent by the electronic chart module and generates simulated temperature, salinity, depth, height and bottom speed data according to the positioning data; the propeller system data simulation module is used for receiving the control quantity of a navigation operation handle of the operation system in the manned cabin, generating simulated propeller current and feedback data according to the control quantity, and calculating the simulated speed and acceleration data of the manned submersible according to the manned submersible dynamics model; the hydraulic system data simulation module is used for generating simulated hydraulic system pressure, current and oil tank temperature data of the manned submersible simulation body; the ballast and trim adjustment simulation module is used for generating a simulated ballast load rejection instruction of the manned submersible simulation body and front and rear mercury liquid level trim adjustment sensing data; the battery system data simulation module is used for simulating voltage and current data of a main storage battery, a secondary storage battery and a standby storage battery of the submersible system.
Further, the data simulation platform further comprises a manned submersible fault database, the fault occurrence and the fault recovery of a manned submersible related system are simulated by controlling the change of the data, and the fault information contained in the fault database comprises: time of failure occurrence, variable condition of failure occurrence, list of related variables of failure, time-value variation of related variables, and failure elimination condition.
Further, the data simulation platform and the in-cabin control system realize data interaction, and the interaction content comprises: the ground coordinate position of the manned submersible, the gesture and movement speed of the manned submersible, the adjustable ballast system data of the manned submersible, the depth and height of the submersible, CTD data, in-cabin life support system data, anti-collision sonar data, the current voltage energy consumption of a storage battery of the submersible, the position of a mother ship, the movement speed of the mother ship and the position data of the submersible relative to the mother ship.
Compared with the prior art, the invention has the advantages and positive effects that:
the manned submersible simulation system provided by the invention integrates a series of key technologies such as a manned submersible driving and operation simulation technology, a seabed operation process simulation technology, an abrupt fault simulation technology, a deep sea environment vision simulation technology and the like, forms a set of full-function multitasking dynamic simulation system combining a body structure, an in-cabin environment, a deep sea vision, an operation flow, a fault response, a physical object, a semi-physical object and digital simulation, can realize that the full-flow driving and operation simulation from the lifting and the submerging operation to the deck recovery of the submersible provides a required technical assembly and software system for the land simulation training of a manned submersible, can be used as a basic operation training means before the actual boat operation of the submersible, can repeatedly perform operation training, has low simulation training cost and high safety, and has strong practicability.
Drawings
FIG. 1 is a schematic block diagram of an analog system according to an embodiment of the invention.
Detailed Description
In order that the above objects, features and advantages of the invention will be more readily understood, a further description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
The embodiment discloses a manned submersible simulation system, referring to fig. 1, comprising a manned submersible simulation body, a data simulation platform and a visual simulation system, wherein the systems are interconnected through a high-speed Ethernet switch, and the manned submersible simulation body is used for simulating the real structure of a manned submersible with a dragon number, and comprises an overall appearance size consistent with a real boat, an in-cabin environment and an operating system; the data simulation platform is used for generating sensing detection data acquired by each subsystem sensor of the dragon number manned submersible and providing a simulated digital environment for the cabin control system of the simulation body; the visual simulation system is based on a submarine real image shot by diving a dragon-shaped manned submersible, three submarine simulation visual environments including a submarine hydrothermal jet active area and a submarine multi-metal tuberculosis distribution area in a submarine mountain area are constructed through computer modeling, and movement and transformation of submarine visual can be achieved through movement instructions of an in-cabin control system.
The implementation of the specific scheme is as follows:
1. manned submersible simulation body:
the manned submersible simulation body provided by the embodiment comprises a simulation shell, a manned cabin, an in-cabin control system, an operation system, a viewing and communication simulation system, an underwater sound communication simulation system and a life support simulation system, wherein the operation system, the viewing and communication simulation system, the underwater sound communication simulation system and the life support simulation system are connected with the in-cabin control system respectively.
1) Simulation shell: the simulation light shell is made of high-strength engineering plastics, and the stabilizer is made of wood materials and is consistent with a real object; the front part of the manned cabin is provided with an observation window which is made of organic glass and comprises an observation window with the diameter of 200 mm and two observation windows with the diameter of 120 mm.
2) The manned cabin is of a sphere structure with the inner diameter of 2.1m and is made of a titanium alloy material with the diameter of 78mm, and an access hatch with the diameter of 480mm is arranged at the upper part of the manned cabin. The observation window is arranged at the front lower part of the manned cabin, and a cable penetrating piece disc is also arranged at the rear lower part of the manned cabin, and the layout in the cabin is basically consistent with that of a dragon number manned submersible, and the observation window comprises a cabin junction box, a bracket, a guide plate, a seat, an operation desk, VHF, a loudspeaker, a display control computer, a display, cabin light, a video recorder and the like; the wired telephone is used for replacing the underwater sound telephone, simulation of a voice function is achieved, the observation windows are made of organic glass, 1 observation window with the diameter of 200 mm and 2 observation windows with the diameter of 120 mm are adopted, in the simulated manned cabin spherical shell, the inner diameter of the observation window is kept unchanged by 2.1m, two hemispheres are punched by adopting a steel plate with the thickness of about 10mm, then the two hemispheres are welded into an integral spherical shell, an access hatch is consistent with the actual size and welded to the corresponding position, and then a hatch cover is arranged to form an access hatch structure consistent with a real object. The manned cabin is internally provided with a navigation operation handle, a control panel, a comprehensive display control computer, a navigation control computer, an underwater sound communication computer, an underwater video camera, a camera display and an operation handle thereof, and can form an in-cabin environment consistent with a real manned dragon number manned submersible by combining a manned cabin spherical shell, a simplified hatch cover, an in-cabin bracket, a guide plate, a seat, an operation desk and a floor;
3) And (3) an in-cabin control system: the system comprises a navigation control simulation module and a comprehensive display control simulation module, wherein the navigation control simulation module and the comprehensive display control simulation module are connected with an underwater acoustic communication simulation system, a visual simulation system and a digital simulation platform through an Ethernet.
The navigation control simulation module is used for realizing the acquisition and control functions of control equipment signals and providing acquired information to the comprehensive display control simulation module; the navigation control simulation module is a system for realizing simulated motion and simulated navigation control of the manned submersible, and the simulated main functions of the system comprise the functions of manual operation, automatic directional control, automatic height setting control, automatic depth setting control, unpowered submerging and floating, hovering positioning and the like. In order to reproduce the running condition of the manned submersible in the ocean, the navigation control simulation module sends the submersible motion control data to the visual simulation system through the data interface, the visual simulation system carries out the simulation and calculation of the manned submersible motion data based on the kinematic equation, the motion components of each coordinate space of the submersible are calculated through calculating the irregular spectrum density functions under different ocean environments, the position and the gesture in the running process are obtained, and the motion simulation of the manned submersible in the ocean is realized by transmitting the motion components to the navigation control simulation system in real time through the data interface.
The navigation control simulation module mainly comprises a software system and a hardware system, wherein the hardware system comprises a navigation control computer, an in-cabin switch, a hardware interface device and the like, the software system mainly realizes the control functions of mission planning, a bottom control algorithm, virtual and physical hardware devices, the hardware signal transmission device RS-232 serial port server, RS-485/422 serial port server, I/O node controller and I/O module are consistent with the device type of the real boat control system, a data interface protocol is arranged between the simulation control system and the training command system, and the information such as the submarine motion, the feedback of control states, command commands, fault generation commands and the like are transmitted. The control information of the manned submersible simulation body is obtained from a navigation control computer, the navigation control computer controls a simulated propeller to generate driving force, the thrust distribution matrix of the manned submersible can be obtained according to the arrangement position of the simulated propeller on the manned submersible, then the manned submersible can calculate the current position and the current posture of the manned submersible under the action of the thrust matrix, the ocean current and the fluid dynamics, and various virtual navigation sensors, sonar sensors and other sensors send feedback information to the navigation control computer according to the position and the posture of the manned submersible.
The comprehensive display control simulation module is an interface for information communication between an operation commander and an in-cabin control system, an operator obtains working states of the submersible, a mother ship, a working tool and the like through the interface, and the comprehensive display control system is connected with the navigation positioning module through an Ethernet and displays various information of the submersible in real time. The system specifically comprises a sensor information detection module, an information processing and fusion module, an information display and alarm module, a fault diagnosis and analysis module, an electrical equipment operation and detection module, an electrical equipment control module and a data recording module; the sensor information detection module comprises an outboard sensor group and an inboard sensor group, wherein the outboard sensor group comprises various sensors for realizing sensor information detection such as analog propeller current or rotating speed, CTD data, leakage alarm of each pressure-resistant tank, compensation alarm of an oil-filled container, mercury liquid level, adjustable ballast water tank liquid level, working pressure and oil return pressure of a hydraulic system, temperature of the hydraulic system, temperature of various electrical equipment, ballast release state, 110V power supply voltage and current, 24V power supply voltage and current, standby battery voltage and current and the like; the manned cabin sensor group comprises sensor information such as heading, pitching, transverse inclination, speed, 3 axial accelerations, angular speed, angular acceleration, cabin temperature, humidity, carbon dioxide concentration, oxygen concentration and the like for detecting various sensors; the information display and alarm module comprises a comprehensive information display screen, a display panel for audible and visual alarm and a battery pack parameter display panel, wherein the comprehensive information display screen displays according to a ship operation mode and is provided with functional operation keys capable of turning pages for display and setting a display mode; the electric equipment operation and detection module is provided with operation panels of various equipment and is responsible for detecting operation information of the operation panels and transmitting an operation result to the in-cabin control system in real time; the electric equipment control module controls signals to drive the electric equipment to operate, the electric equipment control module is divided into switching value output and adjustable analog output according to the type of the driving signals, and a corresponding driving circuit is arranged according to the requirement.
4) An operating system: the device comprises a sampling basket, a mechanical arm, a simulation propeller, a simulation load rejection mechanism and a hydraulic source; the simulated propeller is subjected to simulation design by referring to a dragon-shaped physical structure, and mainly comprises a motor, a precise planetary reducer and a distance screw propeller, wherein the simulated propeller is subjected to speed control by + -5 v control signals, 7 propellers are mounted on a 7000-meter manned submersible in total, four stern propellers are respectively arranged, two vertical propellers and a lateral channel propeller, and the two vertical propellers and the lateral channel propeller form a propulsion system of the 7000-meter manned submersible together to provide power for the 7000-meter manned submersible; the manipulator comprises a master-slave manipulator and a switch manipulator, the power of a hydraulic source is not less than 10kw, the design of the hydraulic source, the manipulator and auxiliary equipment thereof refers to the design of a dragon number manned submersible vehicle operation system, the actual deep-diving operation experience is combined, the hydraulic oil property of a transmission medium is influenced by the extreme environment of the deep sea, the hydraulic oil property of the transmission medium is changed along with the depth and the temperature, the hydraulic source and related executing mechanisms are also influenced, and particularly, the operation response of the manipulator is slowed down or delayed; the change of the working environments directly affects the stability and accuracy of the operation of the diver, reduces the success rate of sampling operation and test measurement, and therefore trains the adaptability of the diver to different environments by simulating similar environments and equipment changes on land and plays a role in certain psychological training.
5) And (3) a viewing simulation system: the system comprises photographic lighting equipment and an in-cabin video display control system, and specifically comprises a land high-definition camera, two cloud platforms with two rotation degrees of freedom of horizontal and pitching, two land high-definition color cameras, 14 LED land lighting lamps and a four-way input hard disk video recorder; the key technologies of simulating the development of a manned cabin system, the operation simulation of a deep sea manned submersible and the like are broken through, a manned submersible body model consistent with the shape of an dragon number object is formed, and the principle of taking a dragon number real boat as a template is adopted, so that internal equipment and installation are simplified; the invisible part covered by the simulated light shell or the buoyancy material is not provided with the equipment model, and the whole coverage is realized outside.
6) An underwater acoustic communication simulation system: the underwater acoustic system comprises an underwater acoustic communication computer in a cabin, an analog underwater acoustic telephone, a microphone and a sound box, an outside-cabin sounding side-scan sonar model, a collision avoidance sonar model, an imaging sonar model and an ultra-short baseline transponder model. The underwater acoustic communication computer takes the underwater acoustic communication system of the existing dragon number manned submersible as a prototype, develops a set of underwater acoustic communication simulation software, transmits an underwater acoustic channel simulating the dragon number underwater acoustic communication system through the Ethernet, develops a simulation interface consistent with the visual effect of a real interface, achieves the original functions, ensures the position and the color of the original button unchanged, and achieves the transmission of contents such as voice, images, characters, morse codes, state data of the submersible and the like of the manned cabin of the submersible simulation system and the outside. The simulated underwater sound telephone simulates the function of the backup underwater voice communication system of the dragon number real boat through the wireless voice intercom system. The microphone and the sound box are used as a man-machine interface of the cabin sound signal to finish the input and output of the sound signal.
7) Life support simulation system: the simulation manned cabin realizes cabin air exchange through an air conditioner ventilation hole arranged near the floor, so that the life support simulation system reflects the physical position and the appearance consistent with the real boat only through a model, and the simulation system specifically comprises the following steps: an in-cabin oxygen supply system model, a standby oxygen supply system model, a carbon dioxide filtering tank model, an in-cabin environment monitoring panel model, a life support display control panel model and an emergency breathing mask model.
The simulated manned submersible frame and the light shell of the manned submersible can form a simulated manned submersible consistent with the appearance of a real dragon number manned submersible; the comprehensive display control computer in the manned cabin can receive and display the position data and the movement posture data of the submersible, the simulation data of the hydraulic system, the electric power system and the life support system, which are sent by the data simulation platform, the display and the hard disk video recorder in the manned cabin can display and store pictures recorded by the video camera and the video recorder on the simulation body, and the simulated underwater sound communication system and the underwater sound telephone in the manned cabin can respectively realize wired communication and wireless communication with an external control console. According to the design of the manned submersible simulation body, functions such as in-cabin operation simulation, propeller rotation simulation, video photographing simulation, lamplight illumination simulation, master-slave manipulator operation simulation, switch manipulator rejection simulation, ballast rejection function simulation and the like can be realized, the operation control is flexible, and the training is more convenient.
2. And (3) a visual simulation system:
the visual simulation system comprises a 120-degree annular projection column screen, a high-performance computer workstation, a graphic accelerator card, a projector set and an electronic chart module, wherein the annular projection column screen is arranged in front of an observation window, and the electronic chart module is used for displaying and setting the visual of a training area in real time; the electronic chart module generates and displays the position of the simulated manned submersible relative to the mother ship, the position of the submersible in the geodetic coordinate system, the posture of the submersible (including heading, depth, trim, altitude, speed, collision avoidance and the like) and the position of the submersible relative to the operation target, generates simulated temperature, salinity, depth, altitude and bottom speed data according to the positioning data, and sends the simulated temperature, salinity, depth, altitude and bottom speed data to the cabin control system; the high-performance computer workstation calls the view information according to the electronic chart module, the view information comprises digital submarine simulation view information manufactured according to submarine video shot by the dragon number manned submersible, and the view information is projected to the annular projection column curtain for display through the projector unit after being operated by the graphic accelerator card. The annular projection column curtain adopts a 120-degree seamless spliced column curtain with the radius larger than 5m, and can cover the maximum view of the observation window of the manned cabin.
In a specific design, the technology of the visual simulation system realizes comprehensive consideration of a submersible motion mathematical model and a deep sea environment visual simulation system. The method comprises the steps of applying a hydrodynamic and space kinematic algorithm to a submersible motion mathematical model, taking the changes of relevant motion parameters of the submersible under different motion working conditions such as deck preparation, deployment and recovery, water injection and submerging, submerging and throwing, near-bottom sailing, landing operation, throwing and loading and returning, drainage and floating, deck recovery and the like into consideration, establishing a deep water six-degree-of-freedom motion equation and a near-water six-degree-of-freedom motion equation, using a high-performance computer workstation, solving the motion equation by applying a fourth-order Dragon-lattice tower algorithm, realizing real-time solving of various motion attitude values such as direct sailing, turning and pitching motion of the submersible in a deep sea environment, and transmitting various motion component values to a vision display and a master console in real time.
The deep sea view simulation system combines a virtual reality technology, a graphic image technology and a three-dimensional view generation and reproduction technology to generate an interactive simulation environment which enables operators to be in the scene, and realizes direct and natural interaction between the operators and the three-dimensional view of the seabed; the deep sea environment vision simulation system can simulate the manned submersible to work in a flat seabed environment and a complex seabed environment, and the space movement of the manned submersible is reproduced through the real-time dynamic change of the three-dimensional vision, so that the vivid display of the performances such as direct navigation, rotation, pitching movement and the like in the deep sea environment is realized. The high-brightness stereoscopic vision system provided by the deep sea environment vision simulation technology can provide operators with high-fidelity submarine virtual scenes in a plurality of actual training tasks, so that the divers feel like approaching a deep sea driving submarine.
The deep sea environment vision simulation system is used for carrying out three-dimensional modeling on a high-reality virtual scene according to deep sea environment characteristics such as deep sea geological features, internal waves, underflow and the like and the motion characteristics of a deep submersible vehicle, realizing virtual special effects such as deep sea hydrothermal vents, deep sea living things, cobalt crusts and the like on the seabed, constructing a virtual deep sea three-dimensional vision database which mainly takes sea mountain as a main part and takes valleys, sea ditches, broken cliffs, flat seabed, ocean currents and the like as auxiliary parts, and an electronic chart module, constructing a high-brightness wide-view angle column curtain seamless splicing three-dimensional vision system, realizing real-time information exchange with a submersible vehicle motion model calculation computer, driving the three-dimensional vision system to respond to operation of an operator in real time and synchronously, thereby realistically simulating the motion of a manned submersible vehicle in a six-degree-of-freedom space, giving people the feeling of being personally on the scene and achieving the training purpose.
Specifically, in the training process, a master console trainer selects a training sea area, sets training subjects, sets system faults, monitors training of a diver, records training data and the like, and is provided with a visual channel with changeable visual points, so that the trainer can observe the motion of the simulation body of the whole manned submersible. The manned submersible simulation body is provided with operation equipment and a control system which are completely consistent with the manned submersible, a diver can realize real-time interaction with the system through the equipment, control and operation information is transmitted to a six-degree-of-freedom motion model in real time, and the six-degree-of-freedom motion data of the submersible is resolved by a motion model resolving module in real time. The three-dimensional vision system synchronously updates the submarine virtual scene in real time according to the six-degree-of-freedom motion data, the manipulator control information and the like, so that the space motion of the manned submersible and the response of the system to the operation of an operator are dynamically reproduced in real time.
The visual simulation system is simple in equipment erection, low in consumable cost, free of difference from the actual diving process, high in standardization, interactivity and immersion, and beneficial to training of operators.
3. And (3) a data simulation platform:
the data simulation platform comprises a propeller system data simulation module, a hydraulic system data simulation module, a ballast and trim adjustment simulation module and a battery system data module which are connected with the cabin control system; the propeller system data module is used for receiving the control quantity of the navigation operation handle in the cabin, generating simulated propeller current and feedback data according to the control quantity, and calculating simulated speed and acceleration data of the manned submersible according to the dynamic model of the manned submersible; the hydraulic system data simulation module is used for generating simulated hydraulic system pressure and current data of the manned submersible simulation body; the ballast and trim adjustment simulation module is used for generating simulated ballast and trim adjustment sensing data of the manned submersible simulation body; the battery system data module is used for generating voltage and current data of the simulation main storage battery, the auxiliary storage battery and the standby storage battery of the simulation body system; and transmits all the data to the cabin control system.
In addition, in order to improve the simulation training effect, the data simulation platform further comprises a manned submersible fault database and a simulation fault generation module, fault generation and fault recovery of a related system of the manned submersible are simulated by controlling the change of the data, and fault information contained in the fault database comprises: time of failure occurrence, variable condition of failure occurrence, list of related variables of failure, time-value variation of related variables, and failure elimination condition. In the design process, the simulated fault generation module firstly analyzes the content and the source of the fault, and carries out classification simulation according to the fault type, and particularly, devices and components which are possibly affected when the fault occurs are arranged by summarizing the faults of the dragon number manned submersible in the application process, and when the system is simulated to generate the fault, the related functional modules are subjected to functional constraint, so that the simulated manipulation control system can vividly reproduce the fault. The simulation fault generation module firstly receives a fault command generated according to a fault database, generates random detection information exceeding a corresponding threshold value through a virtual data generation technology, sends the random detection information to the navigation control computer for processing, completes the updating of the man-machine interface fault information, and reasonably stops the execution condition of related execution equipment and the feedback response of a sensor according to the reason and the representation of the fault of the dragon number, and simultaneously sends the fault state information to the vision simulation system and the command center in real time so as to complete the linkage of the fault of the whole operation simulation system and master the condition of the fault emergency operation of training personnel.
The data simulation platform is based on the operation data of a real submersible, simulates various sensor data changes in the underwater operation process of the submersible, and can simulate faults and recovery conditions of the faults generated by a manned submersible training system through numerical changes under the fault triggering and eliminating instructions.
The present invention is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical substance of the present invention without departing from the technical content of the present invention still belong to the protection scope of the technical solution of the present invention.
Claims (2)
1. The manned submersible simulation system is characterized by comprising a manned submersible simulation body, a visual simulation system and a data simulation platform which are interconnected through an Ethernet switch;
the manned submersible simulation body is used for simulating the real structure of the dragon number manned submersible and comprises a simulation shell, a manned cabin, an in-cabin control system, an operation system, a viewing simulation system, a underwater sound communication simulation system and a life support simulation system which are respectively connected with the in-cabin control system, and an observation window is arranged at the front part of the manned cabin;
the operation system comprises a sampling basket, a mechanical arm, a simulation propeller, a simulation throwing load mechanism and a hydraulic source; the viewing simulation system comprises camera lighting equipment and an in-cabin video monitoring system; the underwater sound communication simulation system comprises an underwater sound communication computer in the cabin, a simulated underwater sound telephone, a microphone and a sound box; the life support simulation system comprises an in-cabin oxygen supply system model, a standby oxygen supply system model, a carbon dioxide filtering tank model, an in-cabin environment monitoring panel model, a life support display control panel model and an emergency breathing mask model;
the cabin control system comprises a navigation control simulation module and a comprehensive display control simulation module, and the navigation control simulation module and the comprehensive display control simulation module are connected with the underwater acoustic communication simulation system, the visual simulation system and the digital simulation platform through Ethernet;
the visual simulation system is based on a submarine real image shot by diving the dragon-shaped manned submersible, constructs a submarine simulation visual environment through computer modeling, and realizes the movement and transformation of a submarine visual through a motion instruction of an in-cabin control system; the visual simulation system comprises an annular projection column screen, a high-performance computer workstation, a graphic accelerator card, a projector set and an electronic chart module, wherein the annular projection column screen, the high-performance computer workstation, the graphic accelerator card and the projector set are arranged in front of an observation window, and the electronic chart module is used for displaying and setting the visual of a training area in real time; the electronic chart module generates and displays the coordinate positioning data of the seabed area where the simulated manned submersible simulation body is located, generates simulated temperature, salinity, depth, height and bottom speed data according to the positioning data, sends the simulated temperature, salinity, depth and height data to the cabin control system, and the high-performance computer workstation calls the visual information of the electronic chart module, and projects the visual information to the annular projection column curtain for display by the projector unit after the graphic accelerator card operation;
the data simulation platform is used for generating sensing detection data acquired by a sensor on the manned submersible with the dragon number, and providing a simulated digital environment for a control system in a simulation body cabin of the manned submersible; the data simulation platform comprises a propeller system data simulation module, a hydraulic system data simulation module, a ballast and trim adjustment simulation module and a battery system data simulation module which are connected with the cabin control system; the cabin control system receives the manned submersible positioning data sent by the electronic chart module and generates simulated temperature, salinity, depth, height and bottom speed data according to the positioning data;
the data simulation platform further comprises a manned submersible fault database, and fault information contained in the fault database comprises: fault occurrence time, fault occurrence variable conditions, fault related variable list, time-value variation of related variables, and fault elimination conditions;
the data simulation platform and the in-cabin control system realize data interaction, and the interaction content comprises: the ground coordinate position of the manned submersible, the gesture and movement speed of the manned submersible, the adjustable ballast system data of the manned submersible, the depth and height of the submersible, CTD data, in-cabin life support system data, anti-collision sonar data, the current voltage energy consumption of a storage battery of the submersible, the position of a mother ship, the movement speed of the mother ship and the position data of the submersible relative to the mother ship;
the propeller system data simulation module is used for receiving the control quantity of a navigation operation handle of the operation system in the manned cabin, generating simulated propeller current and feedback data according to the control quantity, and calculating the simulated speed and acceleration data of the manned submersible according to the manned submersible dynamics model;
the hydraulic system data simulation module is used for generating simulated hydraulic system pressure, current and oil tank temperature data of the manned submersible simulation body;
the ballast and trim adjustment simulation module is used for generating a simulated ballast load rejection instruction of the manned submersible simulation body and front and rear mercury liquid level trim adjustment sensing data; the battery system data simulation module is used for simulating voltage and current data of a main storage battery, a secondary storage battery and a standby storage battery of the submersible system.
2. The manned submersible simulation system of claim 1, wherein: the annular projection column curtain adopts a 120-degree seamless spliced column curtain with the radius larger than 5 m.
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