| 多无人船编队控制半实物仿真系统开发 |
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| 引用本文： | 严卫生,王卫国,高剑,李勇强.多无人船编队控制半实物仿真系统开发[J].电子设计工程,2014(11):43-46. |
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| 作者姓名： | 严卫生 王卫国 高剑 李勇强 |
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| 作者单位： | 西北工业大学航海学院,陕西西安710072 |
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| 摘 要： | 设计并实现了用于模拟多无人船编队的实时半实物仿真系统。该系统通过对电压信号的数模模数转换模拟电机控制信号的输出和采集，通过串行通讯端口模拟测量设备的数据输出和数据采集。利用PC104平台搭建无人船控制器，使用基于VxWorks的实时控制软件；利用工控机和VC＋＋6．0环境搭建无人船仿真中心，实现无人船仿真过程数据的图形化显示。最后仿真实验表明该系统可以良好的模拟多无人船的编队行为，在验证编队算法和测试无人船嵌入式控制软件方面有很强的实用性。
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| 关 键 词： | 无人船 实时操作系统 编队控制 半实物仿真 |
Design and development of a simulation system for multi-USV formation control |
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| YAN Wei-sheng,WANG Wei-guo,GAO Jian,LI Yong-qiang.Design and development of a simulation system for multi-USV formation control[J].Electronic Design Engineering,2014(11):43-46. |
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| Authors: | YAN Wei-sheng WANG Wei-guo GAO Jian LI Yong-qiang |
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| Affiliation: | ( College of Marine Engineering, Northwestern Polytechnical University, Xi ＇an 710072, China) |
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| Abstract: | A simulation system for muhi-USV formation control is designed and accomplished in this paper.The system simulates the input and output of voltage signal which is used to control the motor by way of A/D and D/A conversion, and simulate the communication of sensor data via RS-232 port. PC104 platform and VxWorks real-time control software is used to build the USV＇s controller. The IPC and VC＋＋6.0 software environment is utilized to build muhi- USV simulation center, which will achieve the graphical display of USVs＇ states parameter. Finally Simulation results show that the system can properly and effectively simulate multi-USV formation. The system has a strong practicality in aspect of the validating of muhi-USV formation algorithms and the testing of embedded control software. |
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| Keywords: | USV PC104 VxWorks Formation control |
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