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基于某型AUV控制系统的研究与测试,提出了一种半实物仿真实验的方法。介绍了该半实物仿真系统的整体框架,详细描述了组成该系统的实物样机、上位机、主模型仿真机和物理效应设备等硬件设施,以及仿真实验配套的相关软件。基于该半实物仿真系统,进行了控制算法稳定性验证,重点进行了一些边界条件考核和应急流程考核等仿真实验,并详细描述了实验过程和结果分析,为该型水下自主航行器的研究和进一步的实航实验提供了参考和保障。
Based on the research and test of a certain type of AUV control system, a semi-physical simulation experiment method is proposed. The overall framework of the hardware - in - the - loop simulation system is introduced, and the hardwares such as the physical prototype, the host computer, the main model simulator and the physical effect equipment that constitute the system are described in detail. The related software of the simulation experiment is also described. Based on the semi-physical simulation system, the stability of the control algorithm is verified, and some simulation experiments such as boundary condition assessment and emergency flow assessment are carried out. The experimental process and result analysis are described in detail. And further flight experiment provides a reference and protection.