Underwater Vehicle Control System Simulation Test Applications

An autonomous underwater vehicle (AUV) is an unmanned, untethered, underwater vehicle that carries its own power source and relies on an on-board computer and build-in machine intelligence to execute a mission consisting of a series of preprogrammed instructions. The modern AUVs are long-range, intelligent, hard to be discovered, vary maneuverable, and cost effective, and has broad potential application is both the commercial and military fields. In order to ensure complete reliability, AUV software and hardware need to be fully tested in the laboratory before operational deployment. The Hardware-In-the-Loop simulation (HILS) approach includes some level of system's hardware and software plays more important role in the development of an AUV. The mostly work of the thesis is summarized as follows:(1) The adaptive PID (APID) control is studied for the AUV control. The control system must be adaptive to the uncertain parameters to overcome the modeling error, uncertainty of the hydrodynamic parameters and unknown ware disturbances. Introducing the adaptive method to the classic PID control, the APID inherits the simplicity and practicality of PID, and satisfies the requirement of adaptability for AUV control.(2)On the need of the HILS experiment of an AUV, the mathematic nonlinear model of AUV is well studied, and the corresponding simulation model with the integration algorithm and step length is developed with 'C' language.(3) The HILS system is developed and tested with the AD/RTS real-time simulator as the center of the system, including the development AUV simulation software with Advantage IDE, the frequency characteristics measurements of the rotate-table. The emphasis is put on the studies of the reflective memory network as the HILS real-time communication network.(4)The AUV HILS experiment is introduced. The experiment includes the testing of depth sensor, static and dynamic testing of gyro-compass and the closed loop simulation of the control and guidance system. With the simulation data, the performance of control and guidance system is analyzed, and the trajectories are plotted. Based on the AUV HILS experiment, the real-time analysis of this HILS...