面向对象方法在水下自航器仿真中的应用

利用ＯＭＴ方法（ＯｂｊｅｃｔＭｏｄｅｌｉｎｇＴｅｃｈｎｉｑｕｅ）建立水下自航器系统的对象模型、动态模型和功能模型，并以此为基础开发了一套具有面向对象风格的原型仿真软件。文中提供了模型的基本框架结构，描述了原型仿真软件的开发环境和主要开发工具，并给出了它的一组仿真曲线。

On Applying OMT(Object Modeling Technique)to Simulation of Autonomous Underwater Vehicle

We apply the rapidly emerging OMT(Object Modeling Technique)approach to simulation of Autonomous Underwater Vehicle(AUV).In the absence of any information on it in the open literature,we study it in order to satisfy P. R. China's needs and present now a progress report on our research.Our progress includes construction of simulation models and development of software of AUV.Figs.1,2 and 3 show respectively outlines of class model,dynamic model, and functional model.Of the three,class model is the most important and so both Chinese and English legends appear on Fig.1.The simulation software is based on MATCLIB and SIMLIB which are two reusable components developed with C . MATCLIB is a powerful class library applied to vector and matrix calculation,and SIMLIB is a base class for simulation. These software components possess many advantages of object orientation, such as natural structure, reusability and maintainability.A typical simulation result is shown in Fig.4Engineering implementation remains to be done.