摘要
基于VisualC++,Vega Prime,Multigen Creator和Matlab对子母型自治水下航行器(Autonomous Underwater Vehicle,AUV)回收控制视景仿真系统进行了开发研究。通过建立子/母AUV的动力学方程,给出了一种基于主-从运动状态同步思想的母AUV自主回收子AUV的控制方案。依据该方案,利用Multigen Creator创建了子/母AUV的实体模型,并由Vega Prime导入模型进行场景配置,以Matlab作为后台对子/母AUV的动力学方程进行实时计算,然后,采用VisualC++平台进行综合集成,得到子母型AUV回收控制视景仿真系统,并通过实例演示进行了验证。
The visual simulation system for the recovery control of parent-child autonomous underwater vehicles（AUV）is studied based on visual C＋＋,vega prime,multigen creator and matlab. First,the dynamical equation of both the parent AUV and the child AUV are given,and then a control scheme for the parent AUV recovering the child AUV is established with the idea of master-slave motional states synchronization. Based on this scheme,the physical models of both parent AUV and child AUV are built and read by Vega Prime such that the simulation scene is deployed,the matlab is used as a back calculator for the dynamical equations of parent AUV and child AUV,then,the vega prime and matlab are integrated by visual C ＋＋ such that the whole visual simulation system for the recovery control of parent-child AUV is obtained. The validity of the simulation system is verified by example demonstration.
出处
《火力与指挥控制》
CSCD
北大核心
2014年第5期18-21,26,共5页
Fire Control & Command Control
基金
国家自然科学基金资助项目(No.61074012
No.11202239)
关键词
视景仿真
子母型自治水下航行器
回收控制
主-从同步
visual simulation
parent-child autonomous underwater vehicle
recovery control
masterslave synchronization
