水下航行体控制系统快速原型设计

摘要

基于V模式的控制系统开发流程,研究了适用于水下航行体控制系统开发的快速原型仿真系统,进行了控制系统快速原型设计.利用dSPACE、光纤反射内存网、以太网、相应的物理效应仿真硬件和xPC技术建立了拓展性很强的快速原型仿真系统.给出了水下航行体的运动方程组,进行了控制律设计和不同控制参数下的半实物仿真.实践证明,控制系统快速原型技术的发展有力地支持了日益复杂的水下航行体控制器的开发.%According to the control systems' V-mode development flow, a rapid prototype simulation system for underwater vehicles' control system development was explored and the rapid prototype design was presented. The dSPACE, fiber optic reflective memory network, Ethernet, physical effects simulation hardware and xPC technique were used to build the rapid prototype simulation system. The motion equations of underwater vehicles were proposed, control rules were designed, and hardware-in-loop simulations for various control parameters were practised. The practice shows that the rapid control prototype techniques can strongly support the more and more complex controllers' design for underwater vehicles.