Research On Hardware In The Loop Real-time Simulation System For High-speed Underwater Vehicle

Because of the influences by supercavitating drag reduction technology for the researching high-speed underwater vehicle and the tremendous impact on the development of this technology for the future naval war, naval powers have invested largely in supercavitating drag reduction technology. For reaserching on high-speed underwater vehicle which is base on supercavitating drag reduction technology, the hardware in the loop simulation system is built up. In order to solve the problems of long development cycle, high-testing costs, risky, and difficultties in proving the feasibility, it is necessary to use hardware in the loop simulation technology for simulating and debugging the components.First, based on the characters of high-speed underwater vehicle, the function of hardware in the loop simulation system is analyzed, and high-speed underwater vehicle hardware in the loop real-time simulation system is constructed.Second, according to the domestic and overseas references published, this paper analyses the cavity boundaries shape in a stable mode, and the boundary shape change caused by cavitator's deflection. On this basis, using Newton's law and the relevant kinetic theories, forces acting on high-speed underwater are analyzed, and high-speed underwater vehicle'nonlinear mathematical model is established, mathematical model is linearized based on small disturbance theory.Third, because of nondeterminacy of mathematical model and external interference for the high-speed underwater vehicle, robust H∞control mixed sensitivity theory is used to design a controller for high-speed underwater vehicles. Disturbance and the nondeterminacy of model is analysed, the weigh functions is reasonable chosen, and the generalized mathematics model is established, a lower rank controller is achieved, performance of controller is checks out. The robust H∞controller is simulated when the hydrodynamic parameters with nondeterminacy, the simulation results show that the controller has good dynamic performances.Forth, According to needs of hardware in the loop simulation system, simulation software is designed and completed. Using VC++ programming language, the human-computer interaction interfaces are designed, the functions of saving data, platting curves, and communicating with other computers are completed. Utilising the advantages of Fortran programming language in science calculation, the mathematical model of high-speed underwater vehicle iscalculated.