一种水下自航器实时控制半实物仿真系统

介绍了一种水下自航器实时控制半实物仿真系统。为保证控制的实时性，系统采用双机并行工作，利用PC机求解水下自航器运动方程，工业控制机实现控制算法。文中阐述了系统硬件结构及工作原理，介绍了实时仿真软件和实时控制软件，最后给出了一种变结构控制方案在该系统上的试验结果。结果表明，该仿真系统结构合理可靠，容易编程，仿真算法完全满足实时仿真要求。

On a Cost-Effective Real-Time Simulation Control System for Underwater Vehicle

In China, the usual but costly method for evaluating the reai - time control system for underwater vehicle employs real components excepting the under water vehicle itself. We retain stern as the only real component and thus reduce the cost of evaluation by at least 50%.Our real - time simulation control system employs two computers as shown schematically in Fig. 1: (1) a PC486 for solving equation of motion of underwater vehicle, (2) a Chinese STD5000 industrial computer for implementing control law algorithm. We developed three software modules: (1) main control module (flowchart shown in Fig. 4) 1 (2) service - interrupter module (flowchart shown in Fig. 5), (3) control - law algorithm module.Fig. 6 shows the simulation test results obtained with our cost - effective real - time simulation control system for underwater vehiele. These results show that our system is feasible.