共查询到19条相似文献,搜索用时 531 毫秒
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在以VAXlab计算机为主机的小型通用动力学半实物仿真系统上对某型水下航行器的运动进行了半实物仿真。给出了半实物仿真系统的基本组成和工作原理,讨论了水下航行器运动的仿真模型和实时积分算法。结果表明,该仿真系统结构合理,精度高,可靠性好,所采用的控制方案可使其满足使用要求,达到了预期的目的。 相似文献
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针对传统采用RS422通信的集中式管理中心任务过重、可靠性差、抗干扰能力差等缺点,设计开发一种基于CAN总线的无人水下航行器分布式控制系统。与传统的集中式控制系统相比,该控制系统可以更容易地接入功能模块且无须对现有硬件进行重新设计,具有很好的可扩展性,并充分考虑了该航行器的安全性及可靠性问题。首先,给出分布式控制系统的构建方案,再针对核心PC104控制管理中心给出主要控制模型方法,随后通过建立空间运动方程,完成对控制系统的模型建设和控制器软硬件设计工作,并通过实验室数字仿真和半实物仿真进行验证。结果表明,该控制系统具有性能稳定、传输效率高等特点,能够满足无人水下航行器的使用要求。 相似文献
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船用蒸汽发生器给水控制系统半物理仿真技术研究 总被引:1,自引:0,他引:1
针对船用蒸汽发生器给水控制系统,研发了一套半物理仿真试验平台.该平台包括HRT-1000型半物理仿真计算机、仿真管理计算机、模型计算机、PLC冗余控制器以及外围电路等.建立了船用蒸汽发生器给水控制系统的数学模型.半物理仿真计算机、仿真管理计算机以及模型计算机通过以太网互联,通过网络通讯进行数据交互.采用VC++6.0编制了仿真管理计算机软件与模型计算机软件,采用Tornado2.0与Control Builder M编制了半物理仿真机软件与控制软件.通过与航行试验数据比较,验证了半物理仿真平台的准确性. 相似文献
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HLA(High Level Architecture)是美国国防部推出的在高级分布仿真领域最新的通用集成体系结构,针对分布式水下对抗虚拟战场环境这一仿真应用,分析了构建水下多武器平台作战动态仿真使用的综合环境的需求和意义,提出采用基于高层体系结构HLA先进的建模、开发软件平台pRTI和仿真建模工具LabWorks来构建一个开放式、可扩展、可重构的水下对抗建模仿真综合环境的框架结构的设计方案。该对抗仿真系统可以通过目标系统重组方式进行多种不同对抗样式的水下战仿真结构。分析了该系统的功能、组成,提出了系统的工作流程、体系结构,探讨了系统实现过程中的建模、成员接口层框架设计等关键技术。 相似文献
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Station keeping control of remotely operated vehicles is crucial in the successful completion of underwater missions of work class robotic vehicles. The conventional method of station keeping using the vehicle pose/velocity measurement introduces delay in vehicle control and often leads to instability. In this paper, we present a novel method for measuring the underwater disturbances and controlling the robot for station keeping using a feed-forward control strategy. A strain-gauge based disturbance force measurement is proposed here with suitable algorithms to measure the forces acting on the vehicle due to external disturbances. Using the dynamic models, the vehicle response is predicted and a feed-forward control is implemented for station keeping. The controller activates corrective control action even before the vehicle responds to the disturbances. The performance of the controller is analyzed through simulation studies as well as hardware-in-loop tests. Results show that this approach is an effective alternative for conventional station keeping control of underwater vehicles. 相似文献
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[目的]为解决母艇携载的自主式水下航行器(AUV)在水下自主回收和对接的问题,基于惯导(INS)、声学超短基线定位(USBL)、光学等信号引导的多源数据融合,提出一种面向移动平台的AUV水下回收对接引导方法.[方法]为此,设计融合多传感器信息的扩展联邦卡尔曼滤波器,采用分散滤波并再经信息融合方法以提高滤波精度.分别以I... 相似文献
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Valuable mineral resources are widely distributed throughout the seabed. autonomous underwater vehicles (AUVs) are preferable
to remotely-operated vehicles (ROVs) when probing for such mineral resources as the extensive exploration area makes it difficult
to maintain contact with operators. AUVs depend on batteries, so their power consumption should be reduced to extend exploration
time. Power for conventional marine instrument systems is incorporated in their waterproof sealing. External intermittent
control of this power source until termination of exploration is challenging due to limitations imposed by the underwater
environment. Thus, the AUV must have a power control system that can improve performance and maximize use of battery capacity.
The authors developed such a power control system with a three-step algorithm. It automatically detects underwater operational
states and can limit power, effectively decreasing power consumption by about 15%. 相似文献
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水下潜器改进S面控制及控制系统仿真(英文) 总被引:1,自引:0,他引:1
S surface controllers have been proven to provide effective motion control for an autonomous underwater vehicle (AUV). However,
it is difficult to adjust their control parameters manually. Choosing the optimum parameters for the controller of a particular
AUV is a significant challenge. To automate the process, a modified particle swarm optimization (MPSO) algorithm was proposed.
It was based on immune theory, and used a nonlinear regression strategy for inertia weight to optimize AUV control parameters.
A semi-physical simulation system for the AUV was developed as a platform to verify the proposed control method, and its structure
was considered. The simulation results indicated that the semi-physical simulation platform was helpful, the optimization
algorithm has good local and global searching abilities, and the method can be reliably used for an AUV. 相似文献
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水下运动物体在相互接近过程中的水动力计算 总被引:6,自引:1,他引:5
用面元法计算了两个水下物体在相互接近过程中对水动力的影响,给出了水动力系统系数随物体间距离的变化曲线。该计算程序经对圆球的计算值与试验值比较了得到了验证。本研究对水下双潜器的近距离协同作业和潜器在接近障碍物过程中的运动控制能够提供较好的数学模型。 相似文献
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Bing Sun Daqi Zhu Feng Ding Simon X. Yang 《Journal of Marine Science and Technology》2013,18(1):63-74
A novel hybrid control approach is presented for trajectory tracking control of unmanned underwater vehicles in this paper. The kinematic and dynamic controllers are integrated by the proposed control strategy. The paper has two objectives. Firstly, an improved backstep method is proposed to generate the virtual velocity using a bio-inspired neurodynamics model in the kinematic controller. The bio-inspired neurodynamics model is intended to smooth the virtual velocity output to avoid speed jumps of the unmanned underwater vehicle caused by tracking errors and to meet the thruster control constraints. Secondly, a new sliding-mode method is added to the dynamic controller, which is robust against parameter inaccuracy and disturbances. The combined kinematic–dynamic control law is applied to the trajectory tracking problem of two different types of unmanned underwater vehicle. Finally, simulation results illustrate the performance of the proposed controller. 相似文献