载人潜器半物理虚拟仿真系统及其性能分析

为了缩短深海载人潜器控制系统的开发周期,测试系统性能,根据载人潜器的自身特点,构建和实现了载人潜器所有传感器、执行器设备模拟,以及潜器在海底实景的运动状态的半物理虚拟仿真系统。首先,以仿真系统的硬件架构和数据流程为基础,重点介绍了潜器设备模拟的软件体系结构;其次,在仿真平台上测试了各种网络数据的传输延迟,分析了其整体性能;最后,得出了潜器控制器设计的时间约束。现阶段整个系统已经开发成功,并投入运行到潜器控制系统的安装调试中。

In order to shorten the development period of manned submersible vehicle(MSV),test the performance of networking communication and verify the robust and reliability of control software,semi-physical virtual simulation system related to MSV' sensors,actuators and its motion status in deep sea environment was designed and implemented according to this MSV' characteristics.First,software architecture of MSV devices simulation was introduced on the basis of hardware architecture and Ethernet-based data flow;and then networking data transmission delay was tested on this platform and the overall performance of Ethernet-based data communication and control system was analyzed;at last the time restriction of vehicle controller was deduced.Now the overall system has been implemented and already put into configuration and debugging of MSV’ control system.

国家十五“863”重大专项(2003AA401003)