水下航行器半实物仿真系统虚拟仪器开发

虚拟仪器是计算机技术同仪器技术有机结合产生的全新概念的仪器,实现了将计算机硬件资源、仪器与测控系统硬件资源和虚拟仪器软件资源三者的有效结合.该文以水下航行器半实物仿真系统为开发平台,研究虚拟仪器技术在半实物仿真控制系统中的应用.该文详细介绍了虚拟仪器集成开发技术,说明了应用对象--水下航行器半实物仿真控制系统的组成以及本系统所采用的反射内存实时网络实现高速实时通信的技术,并由此设计完成了基于LabVIEW的水下航行器半实物仿真系统虚拟仪器开发.开发结果表明,采用该虚拟仪器平台于半实物仿真系统中,其强大的人机交互功能可直观、高效、实时地完成仿真信号的检测和监测,能够智能化地实现实时半实物仿真系统的数据测控.     

基于MBTY的水下航行体控制系统的建模与仿真

水下航行体运动控制系统复杂,研制难度较大,利用三轴转台和MBTY软件对其进行建模及仿真研究是该文的主要目的。文中首先简要介绍了MBTY软件和三轴运动模拟转台,描述了水下航行体的动力学和运动学数学模型,给出了水下航行体控制系统的数学模型,并建立了相应的MBTY仿真图形模型,最后介绍了仿真过程和仿真结果。结果表明,利用“MBTY＋三轴转台”的模式进行运动控制系统的仿真,数据接口灵活、开放;通用和专业模块丰富;无需进行大量软硬件的开发,与“dSPACE＋Matlab／Simulink（或MATRIXx）＋三轴转台”的仿真模式相比具有一定的优势。     

水洞超空泡人工通气控制系统设计

在水下航行体人工通气超空泡技术研究中,为了形成精确可控的超空泡形态和模拟航行体的尾部喷流,需要精确控制多路气体流量;从水洞实验实际需要出发,搭建人工通气流量控制系统总体方案,建立系统的机理模型,完成系统控制算法的综合,并基于LabWindows/CVI软件平台对系统测控软件进行模块化设计;仿真计算结果表明,所设计的自动控制系统可实现对通气流量的精确控制,且动态过程中系统响应平稳,控制品质良好;系统为水下航行体超空泡形成机理及空泡形态研究提供了可靠的实验平台。     

水下航行器自动驾驶仪开发中的虚拟原型技术

自动驾驶仪是自主水下航行器控制系统中的关键部件,随着技术的发展功能日趋复杂,传统的设计、制造方法已经不能满足现代系统研制的需要.研究了先进的虚拟原型(VP)技术在水下航行器自动驾驶仪开发过程中的应用,针对不同的开发阶段,分别提出并实现了三个不同层次的VP:控制律设计VP,软件交互开发VP以及半物理仿真VP,在开发过程中收到良好的效果.实践表明,VP的应用大大缩短了自动驾驶仪的研制周期,降低了研制风险,提高了研制质量.尤其是软件交互开发VP在软件的测试、维护过程中发挥了重要作用.     

目标、背景和海洋环境特性仿真计算机系统配置研究

水声目标、背景用海洋环境特性是声寻的水下航行声寻的水下航行体自导系统仿真的中心环节,该文在简述了水下航行体自导仿真的特点的基础上,研究了该计算机系统的配置方案;重点阐述了以DSP和DDS技术为基础的声变窄带水声信号生成原理和方法;给出了目标背景生成系统的基本结构;最后确定了计算机系统的配置方案。试验研究结果表明,这个系统在其主要技术性能上满足了水下航行体自导系统半实物仿真的要求,并具有很好的实时性。对实现水声目标背景特性的仿真具有重要意义。     

基于MATLAB实时视窗目标的实时仿真系统设计

在控制系统的设计开发中,传统的开发过程已不能满足市场对产品的快速性和多样性要求,该文提供了一种实现控制系统快速原型开发和实时仿真的新方法。其基本思路是将实时仿真的方法应用于控制系统的开发过程,使控制系统设计、实现、测试和生产准备过程同时进行,以实现产品的快速原型开发。该文中详细介绍了基于MATLAB实时视窗目标的实时仿真系统的构建,并且进一步深入分析了该系统的体系结构和实时机制,最终结合实例给出了相应的实时仿真的开发流程和控制方式。     

水下自航体航姿控制系统的仿真测试

为了全面检测与实时考核水下自航体航姿控制系统的性能参数,确保自航体能够高精度地实现预定的航行轨道,设计了由精密程控交、直流信号源产生自航体水下航行的各种姿态、状态和轨道指令信号,实时测定航姿控制系统输出信号,从而考察其控制性能的计算机仿真测试系统,阐述了系统的组成原理和仿真设计方案。实现了多种信号的实时、高精度定量控制产生功能,航姿、速率、深度和目标角指令的仿真信号分辨率分别达到0.001°、0.002°/s、0.08m和0.02°,解决了六路航姿仿真信号的相位不一致性。经实际应用证明,该系统工作稳定可靠,测试准确,满足实时性要求。     

水下航行器网络控制系统仿真

传统控制系统的设计方法中忽略了通信网络中的时延和数据包丢失等问题,仅通过传统方法设计的控制器来降低其对控制系统产生的不利影响,严重影响了系统的稳定性;对于水下航行器等对系统性能要求较高的水下控制平台,突破传统使其在网络环境下能够稳定运行显得尤为重要;在此背景下,提出了网络控制系统的设计方案,以水下航行器为控制平台,进行系统建模,设计反馈控制器,使用MATLAB仿真工具TrueTime,研究分析了网络体系结构下时延和丢包对传统控制系统动静态性能的影响;仿真结果表明该设计方法优化了系统性能,为系统在发生网络诱导时延和数据包丢失时能够稳定运行,提供了可靠的参考依据;该设计结果具有普适性,也可以用于导弹、坦克等航行器。     

基于六面体网格的水下航行体流体动力分析

本文建立了一种534.4口径的水下航行体物理模型,基于有限体积法和六面体结构化划分网格的技术,进行网格合并,完成了对水下航行体数值研究。通过计算得到了水下航行体各攻角条件下的阻力系数和俯仰力矩系数,分别使用所计算的零升阻力系数与经验公式计算结果、1:1.5缩比模型水下试验结果进行对比,对比分析之后,发现划分六面体网格并进行流体动力计算是一种可靠的流体动力数值仿真方法,可以为水下航行体的控制系统提供较准确的流体动力参数,可以应用于工程实践,具有很好的实际意义。     

水下航行器控制系统半实物仿真

该文提出了一种水下航行器控制系统半实物仿真结构,介绍了仿真数学模型与仿真算法,并给出了水下航行器控制系统半实物仿真实例。实航试验结果表明半实物仿真与水下航行器控制系统实际航行结果基本接近。     

一种基于反射内存实时网络的半实物仿真系统

半实物仿真是样机研制过程中的一个重要环节,实时算法和通讯技术是半实物仿真系统的关键技术。该文首先介绍了VMIC反射内存实时网络的特点,然后详细介绍了基于反射内存实时网络半实物仿真系统的软硬件组成、功能,以及水下航行器控制系统半实物仿真的系统结构,最后给出了半实物仿真结果。仿真结果表明,采用实时网络的半实物仿真系统,大大地提高了仿真帧频,减小了多种仿真设备信息传输中的信号干扰。基于反射内存实时网络的半实物仿真系统,具有模块化结构的特点,配置灵活,便于扩充、升级和软件移植。     

Development and Control of Underwater Gliding Robots: A Review

As one of the most effective vehicles for ocean development and exploration, underwater gliding robots (UGRs) have the unique characteristics of low energy consumption and strong endurance. Moreover, by borrowing the motion principles of current underwater robots, a variety of novel UGRs have emerged with improving their maneuverability, concealment, and environmental friendliness, which significantly broadens the ocean applications. In this paper, we provide a comprehensive review of underwater gliding robots, including prototype design and their key technologies. From the perspective of motion characteristics, we categorize the underwater gliding robots in terms of traditional underwater gliders (UGs), hybrid-driven UGs, bio-inspired UGs, thermal UGs, and others. Correspondingly, their buoyancy driven system, dynamic and energy model, and motion control are concluded with detailed analysis. Finally, we have discussed the current critical issues and future development. This review offers valuable insight into the development of next-generation underwater robots well-suited for various oceanic applications, and aims to gain more attention of researchers and engineers to this growing field.      

水下航行器攻击效果仿真评估系统

面向军用水下航行器装备发展论证和作战使用研究,介绍了一种通用的水下航行器攻击效果仿真评估系统的体系结构及功能实现。仿真评估系统主要由通用模型库、方法库、试验数据库、试验框架库四个分系统组成,以仿真数据库为核心,作用在四个分系统之上的是相应的管理模块,从而构建起一个面向水下自主航行器的通用的建模一仿真一评估平台。系统主要实现水下自主航行器的建模仿真、统计分析和航路回放三个功能,在此基础上讨论了仿真评估系统在军用水下航行器技术性能评定和战术研究两个方面的应用,给出了两个仿真应用实例。     

基于模糊神经网络水下机器人直接自适应控制

提出了基于广义动态模糊神经网络的水下机器人直接自适应控制方法, 该控制方法既不需要预先知道模糊神经结构, 也不需要预先的训练阶段, 完全通过在线自适应学习算法构建水下机器人的逆动力学模型. 首先, 本文提出了基于这种网络结构的水下机器人直接自适应控制器, 然后, 利用 Lyapunov 稳定理论, 证明了基于该控制器的水下机器人控制系统闭环稳定性, 最后, 采用某水下机器人模型仿真验证了该控制方法的有效性.     

Sonar-based guidance of unmanned underwater vehicles

This paper addresses the problem of the design and coordination of guidance and sonarbased motion estimation algorithms for unmanned underwater vehicles. In the framework of a two-layered hierarchical architecture uncoupling the system's dynamics and kinematics, a couple of guidance laws for approaching a target with the desired orientation and following an environmental feature have been designed with Lyapunov-based techniques. Suitable acoustic-based estimators of the corresponding operational variables have been designed and integrated with the guidance and control system. A finite state machine combined with a suitable interface for event generation allows the coordinated execution of basic guidance and motion estimation tasks to carry out more complex functions. Experimental results of pool trials of a prototype unmanned underwater vehicle executing free-space maneuvering, wall-following tasks and the more complex mission of following the perimeter of the trial pool are reported and discussed.     

A comparative study of control techniques for an underwater flight vehicle

Unmanned, underwater vehicles have been developed considerably in recent years. Remotely operated vehicles (ROVs) are increasingly used for routine inspection and maintenance tasks but have a range that is limited by the umbilical cable. For long range operations, such as oceanographic exploration and surveying, autonomous underwater vehicles (AUVs) are emerging which haveon-board power and are equipped with advanced control capabilities to carry out tasks with the minimum of human intervention. AUVs typically resemble torpedoes in that mosthave control surfaces and a single propulsion unit, and must move forwards to manoeuvre. Such vehicles are called flight vehicles. This paper describes techniques which are candidates for control of a flight AUV and identifies controllers used on some existing vehicles. Since underwater vehicle dynamics are nonlinear, fuzzy logic and sliding mode control were felt to have promise for autopilot application due to their potential robustness. Following development using a comprehensive simulation programme, the controllers were tested using the experimental vehicle, Subzero II, and their performance compared with that of a classical linear controller. The relative merits of the methods for practical implementation are discussed.     

Loon Copter: Implementation of a hybrid unmanned aquatic–aerial quadcopter with active buoyancy control

Aquatic–aerial unmanned vehicles recently became the focus of many researchers due to their various possible applications. Achieving a fully operational vehicle that is capable of aerial, water‐surface, and underwater operations is a significant challenge considering the vehicle's air–water–air transition, propulsion system, and stability underwater. We present in this paper an unconventional unmanned hybrid aquatic–aerial quadcopter with active buoyancy control that is capable of aerial flight and water‐surface operation, as well as subaquatic diving. We report on the first successful prototype of the vehicle, named the Loon Copter, to provide initial evaluation results of its performance in both mediums. The Loon Copter uses a single set of motors and propellers for both air and underwater maneuvering. It utilizes a ballast system to control vehicle buoyancy and depth underwater, as well as to perform seamless air‐to‐water and water‐to‐air transitions. A closed loop control algorithm is utilized for the vehicle's aerial and water‐surface stability and maneuver, whereas an open loop control algorithm is used for underwater maneuver. The experimental results show a fully operational prototype with six degrees of freedom underwater, stable flight, operation capabilities on water surface, and agile maneuvering underwater.