基于LabVIEW/Matlab的AUV半实物仿真系统设计

摘要

In order to solve the problem of the establishment of actual experimental environment of large AUV(Autono-mous Underwater Vehicle), and for the testing need of different units of AUV control system, a new AUV semi-physical simulation system is designed based on LabVIEW/Matlab under Windows platform. The simulation system realizes the real-time calculation of AUV’s position and posture based on three-dimensional hydrodynamic model; meanwhile, it makes serial port and Ethernet communication with deck system and master control system by imitating Phins, GAPS, fixed high altimeter, obstacle avoidance sonar, and other sensors, which realizes AUV’s motion simulation and also pro-vides evidences for determining motion control strategy. Experimentation shows that the system model is reasonable, and the given software design is feasible. The established simulation system is flexible to be extended or reduced, which is used successfully in testing experiment of AUV’s control system.%为解决大型自主式水下航行器（Autonomous Underwater Vehicle，AUV）实际实验环境搭建的困难，以及AUV控制系统各单元功能测试的需要，设计了一套新的Windows平台下基于LabVIEW/Matlab的AUV半实物仿真系统。该仿真系统基于三维空间的水动力模型，来实时计算AUV的位置和姿态等信息；同时，模仿Phins、GAPS、定高高度计、避障声呐等传感器，和AUV甲板、主控以及运动控制单元进行串行和以太网络通信，实现了AUV的运动仿真，同时也为制定运动控制策略提供相关依据。大量实验表明，该系统模型较合理，软件设计可行，具有灵活的扩展性和伸缩性，在AUV控制系统测试实验中成功应用。