CN109739108A - AUV kinetic control system hardware-in―the-loop test analogue system and its working method - Google Patents
AUV kinetic control system hardware-in―the-loop test analogue system and its working method Download PDFInfo
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Abstract
The invention discloses a kind of AUV kinetic control system hardware-in―the-loop test analogue system and its working method, the analogue system includes PC machine and OP4500 real-time simulation machine；PC machine is bi-directionally connected by Ethernet and OP4500 real-time simulation machine, realizes real-time communication；OP4500 real-time simulation machine is bi-directionally connected by I/O interface and AUV kinetic control system to be tested, carries out real-time testing to AUV kinetic control system to be tested；Man-machine interface and seabed virtual scene module are run in PC machine, run AUV motion simulation unit on OP4500 real-time simulation machine.The present invention can efficiently test function and performance of the AUV kinetic control system under complicated marine environment and confined waters, the research and development cost of AUV kinetic control system can be saved, the risk for avoiding AUV actual tests solves the problems, such as that test emulation system hardware resource utilization is low and the practicability is poor under " multimachine interconnection mode ".
Description
Technical field
The present invention relates to the measuring technology in Autonomous Underwater Vehicle field, especially a kind of Autonomous Underwater Vehicle (AUV)
Kinetic control system hardware-in―the-loop test analogue system and its working method.
Background technique
In recent ten years, the development of marine science and technology achieves huge progress, provides elder generation for marine exploration and development
Into means and method.Latest developments in terms of sensor, computer, Communications and Information Systems are just applied to sophisticated technology
Development, these technologies will promote it is safer, faster and more effectively explore ocean.Autonomous Underwater Vehicle (AUV) is exactly newest
The typical example of ocean discovery techniques development, during developing AUV, control system needs corresponding software and hardware branch
It holds, and by testing repeatedly, to guarantee the functional reliability and stability of AUV；In addition, the experimentation cost of AUV is high, and there are one
Fixed risk.Therefore, the hardware-in―the-loop test analogue system for developing AUV is necessary.It is imitative by building AUV hardware-in―the-loop test
True system can carry out function and performance test to AUV kinetic control system, guarantee the safe and reliable property of AUV.
Chinese patent CN104407521A discloses a kind of method for realizing underwater robot real-time simulation, by virtual reality
Technical application is taken under DirectX environment to underwater robot real-time simulation field by the graphical modeling of Graphics Library
Underwater robot emulation platform is built, realizes the intuitive observation to underwater robot motion state.But this method can only be presented under water
The three-dimensional view of the three dimensional kinematics of robot can not achieve the emulation testing of its kinetic control system.Chinese patent
CN102117071A discloses a kind of multi-underwater robot semi-physical simulation system and its control method, by visual display computer
Network communication connection is carried out with virtual environment computer；Virtual environment computer has the kinematics of each underwater robot, power
It learns model and various virtual-sensor facility informations is generated by Models computed；Virtual environment computer and underwater robot, view
Scape shows the interconnection of computer multimachine, realizes the test of underwater robot semi-physical system.Chinese patent CN 205485374U
A kind of underwater robot semi-physical simulation platform is disclosed, is carried using monitor surface computer, automatic Pilot computer, robot
Body computer and environmental simulation computer realize the real-time semi-physical simulation of underwater robot control system.It is above-mentioned two special
The display interface of benefit is based on VC++ platform development, there is design process complexity, is not easy the problem of realizing；And use " multimachine
Interconnection mode " has that hardware resource utilization is low and the practicability is poor；In addition, marine environment analog simulation part can only
Change sea situation parameter, restricted water cannot be set, control performance of the testing and control algorithm in the case where limiting marine environment is unable to.
University Of Tianjin Zhao Xing et al. delivers entitled " be based on the 50th phase in 2014 in " computer engineering and application "
The paper of the AUV semi-matter simulating system design of LabVIEW/Matlab ", devises and is based under a set of new windows platform
The AUV semi-matter simulating system of LabVIEW/Matlab.Hydrodynamic model of the analogue system based on three-dimensional space calculates in real time
The information such as the position of AUV and posture；Meanwhile imitating sensors and the AUV such as Phins, GAPS, fixed high altimeter, avoidance sonar
Deck, master control and motion control unit carry out the communication of serial and ethernet network, realize the motion simulation of AUV.The system is also adopted
With " multimachine interconnection mode ", the problem of hardware resource utilization is low and the practicability is poor is equally existed；And it does not account for environment and disturbs
Dynamic and sea area limited case, is unable to control performance of the testing and control algorithm under complicated marine environment and confined waters.
Summary of the invention
To solve the above problems existing in the prior art, the present invention will design a kind of AUV kinetic control system hardware in loop
Test emulation system and its working method, it can be achieved that AUV kinetic control system in complicated marine environment, sea-floor relief it is uneven and
Function and performance test under the confined waters such as narrow water avoid the problem that AUV actual tests are at high cost, risk is big, meanwhile,
Solve the problems, such as that hardware resource utilization is low and the practicability is poor.
To achieve the goals above, technical scheme is as follows: the emulation of AUV kinetic control system hardware-in―the-loop test
System, including PC machine and OP4500 real-time simulation machine；The PC machine passes through Ethernet and the two-way company of OP4500 real-time simulation machine
It connects, realizes real-time communication；The OP4500 real-time simulation machine is double by I/O interface and AUV kinetic control system to be tested
To connection, real-time testing is carried out to AUV kinetic control system to be tested；Man-machine interface is run in the PC machine and seabed is empty
Intend scene module, runs AUV motion simulation unit on the OP4500 real-time simulation machine；
The man-machine interface is the monitoring interface of AUV kinetic control system test, is realized with Labview software design；
The seabed virtual scene module is used to simulated sea bottom working environment, and the seabed working environment includes AUV, sea-floor relief
And submerged pipeline, seabed virtual scene module pass through 3DS MAX, MultiCreate and Open Scene Graph, that is, OSG scene
Management software is realized；The AUV motion simulation unit includes AUV motion module, propulsion system module, sensor module, sea
Bottom restricted water module and ocean current module are designed realization in PC machine by MATLAB/Simulink, and are compiled into C code, are passed through
It is mounted on the OP4500 real-time simulation machine simulation management software download to OP4500 real-time simulation machine in PC machine, so that AUV is transported
The real-time simulation under the (SuSE) Linux OS on OP4500 real-time simulation machine of dynamic simulation unit is run；
The man-machine interface realizes following functions: the setting of various control instructions；AUV characteristic parameter, confined waters side
Setting, modification and the display of bound function and ocean current parameter；The motion state of AUV, each propeller state, confined waters display,
The archive of test result.The control instruction includes experiment sign on, experiment pause instruction and experiment END instruction；It is described
AUV characteristic parameter include AUV length, diameter, quality, hydrodynamic parameter, sustainer power and rudder area；Described
Ocean current parameter includes the angle of the speed and ocean current of ocean current relative to north orientation；The seabed virtual scene module application 3DS
MAX software establishes AUV overall model, constructs seabed working environment with MultiCreate, and be introduced into OSG and show
Out, then with the extension ocean module osgOcean in OSG, seabed working environment scene is established, Matlab/Simulink is utilized
The AUV posture information that emulation generates drives AUV overall model, realizes that AUV is aobvious in the dynamic three-dimensional visualization of seabed virtual scene
Show.The AUV motion module includes AUV motion mathematical model, calculates AUV movement state information；The propulsion system mould
Block includes each propeller mathematical model and its power conversion mathematical model of propulsion system, calculates the propeller work shape of AUV in real time
State information；The sensor module includes virtual doppler tachometer, optical fibre gyro compass, ultra-short baseline, depth transducer,
The AUV real-time pose and motion velocity information of each sensor measurement are simulated in real time；The seabed restricted water module includes sea
The boundary function of bottom complex water areas and narrow waters, simulates confined waters in real time；The ocean current module includes that ocean current acts on
Equivalent perturbed force and torque mathematical model on AUV calculate ocean current perturbed force and torque that AUV is subjected in real time.To be tested
AUV kinetic control system brings into operation by test sign on signal of the I/O interface from man-machine interface and generates control
Signal processed is sent to OP4500 real-time simulation machine by I/O interface；OP4500 real-time simulation machine is come from by I/O interface
The control signal of AUV kinetic control system to be tested carries out real-time simulation, and is the Doppler simulated by real time simulation results
Tachometer, optical fibre gyro compass, ultra-short baseline, depth transducer live signal, propeller real-time status signal and confined waters
Boundary function signal sends PC machine back to by Ethernet, and AUV kinetic control system to be tested is sent to by I/O interface；PC
The boundary function signal of each sensor live signal and confined waters is sent to man-machine interface again by machine, and by AUV Three-Dimensional Dynamic
Ground is shown in the virtual scene of seabed.
The working method of AUV kinetic control system hardware-in―the-loop test analogue system, comprising the following steps:
A, AUV kinetic control system hardware-in―the-loop test analogue system is opened；
B, AUV characteristic parameter, ocean current parameter and confined waters boundary function are arranged by man-machine interface；The AUV is special
Sign parameter includes length, diameter, quality, hydrodynamic parameter, sustainer power and the rudder area of AUV；The ocean current ginseng
Number includes the angle of the speed and ocean current of ocean current relative to north orientation；
C, whether I/O interface is passed through according to AUV kinetic control system to be tested the experiment of man-machine interface has been arrived and open
It is determined whether to enable test, such as AUV kinetic control systems to be tested to be not received by signal, go to step C for beginning command signal；It is no
Then, step D is executed；
D, restricted water module in seabed, which receives, comes from man-machine interface restricted water dummy instruction signal, and sends it to sea
Bottom virtual scene module；
E, ocean current module receives ocean current parameter, and operation result, that is, ocean current is acted on equivalent perturbed force on AUV by simulation run
AUV motion module is sent to torque signals；
F, AUV kinetic control system to be tested sends the expectation of each propeller by I/O interface to propulsion system module
Revolving speed, deflection, helm signal；Propulsion system module is received from the quasi- expectation revolving speed for testing Track In Track controller, direction
Angle signal, simulation run, and operation result, that is, propeller actual speed, deflection, helm signal are sent to man-machine interface,
And the equivalent force for acting on AUV is converted by the actual speed of each propeller, deflection, helm signal and torque signals are sent to
AUV motion module；
G, AUV motion module receives the operation result from propulsion system module and ocean current module, simulation run, and will transport
Row result, that is, AUV motion state signal is sent to sensor module, and the motion state signal includes pose signal and speed
Signal；
H, sensor module receives the operation result from AUV motion module, simulation run, and by operation result, that is, each biography
The analog signal of sensor measurement result is sent to seabed virtual scene module, man-machine interface and AUV motion control system to be tested
System；
I, virtual scene module in seabed receives the confined waters boundary function signal from seabed restricted water module, will be empty
Quasi- seabed restricted water is shown in the virtual scene module of seabed；
J, operation result of the man-machine interface reception from sensor module, propulsion system module, display AUV characteristic parameter,
Ocean current parameter, propeller state, AUV actual motion curve, and test result is achieved；
K, judge whether to continue to test, if so, going to step L；If it is not, terminating experiment, AUV kinetic control system hardware is closed
In ring test analogue system；
L, judge whether to change AUV characteristic parameter, ocean current parameter or confined waters boundary function, if so, going to step B；If
It is no, go to step C.
Compared with prior art, the invention has the following advantages:
1, the present invention establishes a test emulation system, which has ocean current module and confined waters module, can be high
Function and performance of the test AUV kinetic control system in effect ground under complicated marine environment and confined waters, can save AUV movement control
The research and development cost of system processed, avoids the risk of AUV actual tests.
2, present invention only requires a monitoring computer and OP4500 real-time simulation machine, that is, " multimachine interconnection mode " is solved
The problem of lower test emulation system hardware resource utilization is low and the practicability is poor.
3, the present invention applies Labview software realization AUV kinetic control system test monitoring interface, compared to VC++ etc. other
Software, programming is simple, built-in software tool pack very abundant, the man-machine interface of easily designed close friend；Additionally provide and other
The good access interface of software program language, expansibility are stronger.
Detailed description of the invention
Fig. 1 is AUV kinetic control system hardware-in―the-loop test analogue system structural schematic diagram.
Fig. 2 is AUV kinetic control system hardware-in―the-loop test analogue system signal exchange figure.
Fig. 3 is AUV kinetic control system hardware-in―the-loop test analogue system work flow diagram.
In figure: 1, to be tested AUV kinetic control system, 2, I/O interface, 3, OP4500 real-time simulation machine, 4, Ethernet,
5, PC machine, 6, AUV motion module, 7, ocean current module, 8, sensor module, 9, seabed restricted water module, 10, propulsion system mould
Block, 11, seabed virtual scene module, 12, man-machine interface.
Specific embodiment
The present invention is further described through with reference to the accompanying drawing.As shown in Figure 1-3, AUV kinetic control system hardware
In ring test analogue system, including PC machine 5 and OP4500 real-time simulation machine 3；The PC machine 5 passes through Ethernet 4 and OP4500
Real-time simulation machine 3 is bi-directionally connected, and realizes real-time communication；The OP4500 real-time simulation machine 3 by I/O interface 2 with it is to be tested
AUV kinetic control system 1 be bi-directionally connected, real-time testing is carried out to AUV kinetic control system 1 to be tested；The PC machine 5
Upper operation man-machine interface 12 and seabed virtual scene module 11 run AUV motion simulation on the OP4500 real-time simulation machine 3
Unit；
The man-machine interface 12 is the monitoring interface of AUV kinetic control system test, real with Labview software design
It is existing；The seabed virtual scene module 11 is used to simulated sea bottom working environment, and the seabed working environment includes AUV, sea
Bottom landform and submerged pipeline, seabed virtual scene module 11 pass through 3DS MAX, MultiCreate and Open Scene Graph
That is OSG scene management software realization；The AUV motion simulation unit includes AUV motion module 6, propulsion system module 10, passes
Sensor module 8, seabed restricted water module 9 and ocean current module 7 are designed realization by MATLAB/Simulink in PC machine 5, and
It is compiled into C code, it is real-time to OP4500 by the 3 simulation management software download of OP4500 real-time simulation machine being mounted in PC machine 5
On replicating machine 3, so that the real-time simulation under the (SuSE) Linux OS on OP4500 real-time simulation machine 3 of AUV motion simulation unit is transported
Row；
The man-machine interface 12 realizes following functions: the setting of various control instructions；AUV characteristic parameter, confined waters
Setting, modification and the display of boundary function and ocean current parameter；The motion state of AUV, each propeller state, confined waters it is aobvious
Show, the archive of test result.The control instruction includes experiment sign on, experiment pause instruction and experiment END instruction；
The AUV characteristic parameter includes length, diameter, quality, hydrodynamic parameter, sustainer power and the rudder area of AUV；Institute
The ocean current parameter stated includes the angle of the speed and ocean current of ocean current relative to north orientation；The seabed virtual scene module 11 is answered
AUV overall model is established with 3DS MAX software, constructs seabed working environment with MultiCreate, and be introduced into OSG
In show, then with the extension ocean module osgOcean in OSG, establish seabed working environment scene, utilize Matlab/
The AUV posture information that Simulink emulation generates drives AUV overall model, realizes AUV in the dynamic 3 D of seabed virtual scene
Visualization display.The AUV motion module 6 includes AUV motion mathematical model, calculates AUV movement state information；Described pushes away
Include that each propeller mathematical model of propulsion system and its power convert mathematical model into system module 10, calculates pushing away for AUV in real time
Into device work state information；The sensor module 8 include virtual doppler tachometer, optical fibre gyro compass, ultra-short baseline,
Depth transducer simulates the AUV real-time pose and motion velocity information of each sensor measurement in real time；The seabed restricted water
Module 9 includes the boundary function in sea bottom complex waters and narrow waters, simulates confined waters in real time；The ocean current module 7 is wrapped
The equivalent perturbed force and torque mathematical model that ocean current acts on AUV are included, calculates ocean current perturbed force and power that AUV is subjected in real time
Square.AUV kinetic control system 1 to be tested receives the test sign on signal from man-machine interface 12 by I/O interface 2,
It brings into operation and generates control signal, OP4500 real-time simulation machine 3 is sent to by I/O interface 2；OP4500 real-time simulation machine 3
The control signal from AUV kinetic control system 1 to be tested is received by I/O interface 2, carries out real-time simulation, and will be real-time
Simulation result is the Doppler log simulated, optical fibre gyro compass, ultra-short baseline, depth transducer live signal, propeller
Real-time status signal and confined waters boundary function signal send PC machine 5 back to by Ethernet 4, and by I/O interface 2 be sent to
The AUV kinetic control system 1 of test；PC machine 5 again sends each sensor live signal and the boundary function signal of confined waters
It is shown in the virtual scene of seabed to man-machine interface 12, and by AUV Three-Dimensional Dynamic.
The working method of AUV kinetic control system hardware-in―the-loop test analogue system, comprising the following steps:
A, AUV kinetic control system hardware-in―the-loop test analogue system is opened；
B, AUV characteristic parameter, ocean current parameter and confined waters boundary function are arranged by man-machine interface 12；The AUV
Characteristic parameter includes length, diameter, quality, hydrodynamic parameter, sustainer power and the rudder area of AUV；The ocean current
Parameter includes the angle of the speed and ocean current of ocean current relative to north orientation；
C, whether the reality that I/O interface 2 has received man-machine interface 12 is passed through according to AUV kinetic control system 1 to be tested
Sign on signal is tested it is determined whether to enable test, such as AUV kinetic control system 1 to be tested is not received by signal, turns step
Rapid C；Otherwise, step D is executed；
D, seabed restricted water module 9, which receives, comes from 12 restricted water dummy instruction signal of man-machine interface, and is sent to
To seabed virtual scene module 11；
E, ocean current module 7 receives ocean current parameter, and operation result, that is, ocean current is acted on equivalent interference on AUV by simulation run
Power and torque signals are sent to AUV motion module 6；
F, AUV kinetic control system 1 to be tested sends each propeller to propulsion system module 10 by I/O interface 2
It is expected that revolving speed, deflection, helm signal；Propulsion system module 10 receives the expectation from quasi- test Track In Track controller and turns
Speed, direction angle signal, simulation run, and operation result, that is, propeller actual speed, deflection, helm signal are sent to people
Machine interface 12, and convert the actual speed of each propeller, deflection, helm signal to the equivalent force and torque for acting on AUV
Signal is sent to AUV motion module 6；
G, operation result of the reception of AUV motion module 6 from propulsion system module 10 and ocean current module 7, simulation run, and
Operation result, that is, AUV motion state signal is sent to sensor module 8, the motion state signal include pose signal and
Speed signal；
H, sensor module 8 receives the operation result from AUV motion module 6, simulation run, and by operation result, that is, each
The analog signal of sensor measurement is sent to seabed virtual scene module 11, man-machine interface 12 and AUV movement to be tested
Control system 1；
I, seabed virtual scene module 11 receives the confined waters boundary function signal from seabed restricted water module 9,
Virtual seabed restricted water is shown in seabed virtual scene module 11；
J, man-machine interface 12 receives the operation result from sensor module 8, propulsion system module 10, shows AUV feature
Parameter, ocean current parameter, propeller state, AUV actual motion curve, and test result is achieved；
K, judge whether to continue to test, if so, going to step L；If it is not, terminating experiment, AUV kinetic control system hardware is closed
In ring test analogue system；
L, judge whether to change AUV characteristic parameter, ocean current parameter or confined waters boundary function, if so, going to step B；If
It is no, go to step C.
The present invention is not limited to the present embodiment, any equivalent concepts within the technical scope of the present disclosure or changes
Become, is classified as protection scope of the present invention.
Claims (2)
1.AUV kinetic control system hardware-in―the-loop test analogue system, it is characterised in that: real-time including PC machine (5) and OP4500
Replicating machine (3)；The PC machine (5) is bi-directionally connected by Ethernet (4) with OP4500 real-time simulation machine (3), is realized logical in real time
News；The OP4500 real-time simulation machine (3) passes through I/O interface (2) and AUV kinetic control system (1) two-way company to be tested
It connects, real-time testing is carried out to AUV kinetic control system (1) to be tested；In the PC machine (5) run man-machine interface (12) and
Seabed virtual scene module (11) runs AUV motion simulation unit on the OP4500 real-time simulation machine (3)；
The man-machine interface (12) is the monitoring interface of AUV kinetic control system test, is realized with Labview software design；
The seabed virtual scene module (11) is used to simulated sea bottom working environment, and the seabed working environment includes AUV, seabed
Landform and submerged pipeline, seabed virtual scene module (11) pass through 3DS MAX, MultiCreate and Open Scene Graph
That is OSG scene management software realization；The AUV motion simulation unit includes AUV motion module (6), propulsion system module
(10), sensor module (8), seabed restricted water module (9) and ocean current module (7), by MATLAB/Simulink in PC machine
(5) it designs and realizes on, and be compiled into C code, pass through OP4500 real-time simulation machine (3) simulation management being mounted on PC machine (5)
On software download to OP4500 real-time simulation machine (3), so that AUV motion simulation unit is on OP4500 real-time simulation machine (3)
Real-time simulation is run under (SuSE) Linux OS；
The man-machine interface (12) realizes following functions: the setting of various control instructions；AUV characteristic parameter, confined waters side
Setting, modification and the display of bound function and ocean current parameter；The motion state of AUV, each propeller state, confined waters display,
The archive of test result；The control instruction includes experiment sign on, experiment pause instruction and experiment END instruction；It is described
AUV characteristic parameter include AUV length, diameter, quality, hydrodynamic parameter, sustainer power and rudder area；Described
Ocean current parameter includes the angle of the speed and ocean current of ocean current relative to north orientation；Seabed virtual scene module (11) application
3DS MAX software establishes AUV overall model, constructs seabed working environment with MultiCreate, and be introduced into OSG
It shows, then with the extension ocean module osgOcean in OSG, establishes seabed working environment scene, utilize Matlab/
The AUV posture information that Simulink emulation generates drives AUV overall model, realizes AUV in the dynamic 3 D of seabed virtual scene
Visualization display；The AUV motion module (6) includes AUV motion mathematical model, calculates AUV movement state information；Described
Propulsion system module (10) includes each propeller mathematical model and its power conversion mathematical model of propulsion system, calculates AUV in real time
Propeller work state information；The sensor module (8) includes virtual doppler tachometer, optical fibre gyro compass, surpasses
Short baseline, depth transducer simulate the AUV real-time pose and motion velocity information of each sensor measurement in real time；The seabed
Restricted water module (9) includes the boundary function of sea bottom complex waters and narrow waters, simulates confined waters in real time；The ocean
Flow module (7) includes the equivalent perturbed force and torque mathematical model that ocean current acts on AUV, calculates the ocean that AUV is subjected in real time
Flow perturbed force and torque；AUV kinetic control system (1) to be tested is received by I/O interface (2) from man-machine interface (12)
Sign on signal is tested, brings into operation and generates control signal, OP4500 real-time simulation machine is sent to by I/O interface (2)
(3)；OP4500 real-time simulation machine (3) receives the control from AUV kinetic control system (1) to be tested by I/O interface (2)
Signal, carry out real-time simulation, and by real time simulation results be simulate Doppler log, optical fibre gyro compass, ultra-short baseline,
Depth transducer live signal, propeller real-time status signal and confined waters boundary function signal are sent back to by Ethernet (4)
PC machine (5), and AUV kinetic control system (1) to be tested is sent to by I/O interface (2)；PC machine (5) is again by each sensor
Live signal and the boundary function signal of confined waters are sent to man-machine interface (12), and AUV Three-Dimensional Dynamic is shown in sea
In the virtual scene of bottom.
The working method of 2.AUV kinetic control system hardware-in―the-loop test analogue system, it is characterised in that: the following steps are included:
A, AUV kinetic control system hardware-in―the-loop test analogue system is opened；
B, AUV characteristic parameter, ocean current parameter and confined waters boundary function are set by man-machine interface (12)；The AUV is special
Sign parameter includes length, diameter, quality, hydrodynamic parameter, sustainer power and the rudder area of AUV；The ocean current ginseng
Number includes the angle of the speed and ocean current of ocean current relative to north orientation；
C, man-machine interface (12) is had received according to whether AUV kinetic control system (1) to be tested passes through I/O interface (2)
Sign on signal is tested it is determined whether to enable test, such as AUV kinetic control system (1) to be tested is not received by signal,
Go to step C；Otherwise, step D is executed；
D, seabed restricted water module (9), which receives, comes from man-machine interface (12) restricted water dummy instruction signal, and is sent to
To seabed virtual scene module (11)；
E, ocean current module (7) receives ocean current parameter, and operation result, that is, ocean current is acted on equivalent perturbed force on AUV by simulation run
AUV motion module (6) are sent to torque signals；
F, AUV kinetic control system (1) to be tested sends each propeller to propulsion system module (10) by I/O interface (2)
Expectation revolving speed, deflection, helm signal；Propulsion system module (10) receives the expectation from quasi- test Track In Track controller
Revolving speed, direction angle signal, simulation run, and operation result, that is, propeller actual speed, deflection, helm signal are sent to
Man-machine interface (12), and convert the actual speed of each propeller, deflection, helm signal to the equivalent force for acting on AUV and
Torque signals are sent to AUV motion module (6)；
G, operation result of AUV motion module (6) reception from propulsion system module (10) and ocean current module (7), simulation run,
And be sent to operation result, that is, AUV motion state signal sensor module (8), the motion state signal includes pose letter
Number and speed signal；
H, sensor module (8) receives the operation result for coming from AUV motion module (6), simulation run, and by operation result, that is, each
The analog signal of sensor measurement is sent to seabed virtual scene module (11), man-machine interface (12) and AUV to be tested
Kinetic control system (1)；
I, seabed virtual scene module (11) receives the confined waters boundary function signal for coming from seabed restricted water module (9),
Virtual seabed restricted water is shown in seabed virtual scene module (11)；
J, man-machine interface (12) receives the operation result from sensor module (8), propulsion system module (10), and display AUV is special
Parameter, ocean current parameter, propeller state, AUV actual motion curve are levied, and test result is achieved；
K, judge whether to continue to test, if so, going to step L；If it is not, terminating experiment, AUV kinetic control system hardware in loop is closed
Test emulation system；
L, judge whether to change AUV characteristic parameter, ocean current parameter or confined waters boundary function, if so, going to step B；If it is not, turning
Step C.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328663A (en) * | 2019-06-25 | 2019-10-15 | 河北工业大学 | Robot hard real-time control system based on virtual emulation and (SuSE) Linux OS |
| CN110794710A (en) * | 2019-11-18 | 2020-02-14 | 株洲中车时代电气股份有限公司 | Underwater robot simulation system |
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