摘要
为提高水下滑翔机的研究开发效率,降低研发成本,文中设计了一种水下滑翔机的半实物仿真系统。该系统首先仿真水下滑翔机水下运动时的运动状态及水下环境等信息,然后将其送入水下滑翔机的主控系统,主控系统输出对应的控制信息,再经由仿真系统采集处理后送入系统管理软件保存,方便用户对控制过程进行分析处理。最后,主控系统通过RS232串口将数据上传到数据接收处理软件,以仿真水下滑翔机与岸站的通信过程。通过相关测试可知,文中设计的半实物仿真系统可高效完成水下滑翔机控制系统、通信系统等的工作任务,满足设计要求,显著降低了研发成本,具有理想的应用前景。
In order to improve the research and development efficiency of the underwater glider and reduce the cost of research and development,a hardware-in-the-loop simulation system for the underwater glider is designed.The system simulates the underwater environment and the motion states of the underwater glider during the motion and sends the information to the main control system of the glider.The main control system outputs the corresponding control information,and then collects the information through the simulation system.After processing,it is sent to the simulation system management software for storage which is convenient for users to analyze and process.Finally,the main control system uploads the data to the data receiving and processing software through the RS232 serial port to simulate the communication process between the underwater glider and the shore station.Through the proposed system,the research of the underwater glider control system and communication system can be efficiently performed,and the research and development costs of the underwater glider can be reduced.
作者
潘昊东
王志光
刘纯虎
连琏
PAN Hao-dong;WANG Zhi-guang;LIU Chun-hu;LIAN Lian(The State Key Laboratory of Ocean Engineering,Shanghai Jiaotong University,Shanghai 200240,China)
出处
《水下无人系统学报》
北大核心
2020年第4期440-445,共6页
Journal of Unmanned Undersea Systems
基金
国家高技术发展研究计划(863计划)(2015AA09A112)。
关键词
水下滑翔机
半实物仿真
数据接收处理
主控系统
underwater glider
hardware-in-the-loop simulation
data receiving and processing
main control system
