The Design And Implementation Of Submarine Manipulate Dynamics Simulation Unit

Navigational training simulator test platform is used to train personnel of submarine manipulate basic device,which ensure navigational training simulator can accurate simulation of the normal operation of submarine.Submarine manipulate dynamics simulation unit is an important component of navigational training simulator test platform. This unit can simulate the use of submarine in different area and different intended, realize six degrees of freedom movement data simulation computation, network communication with other equipment, and satisfy the navigational training simulator test platform of requirements.Submarine dynamics model of the settlement is the key problem of the submarine manipulate dynamics simulation unit.Based on the navigational training simulator test platform as research object, the paper design and relize submarine manipulate dynamics simulation unit. The main work and achievements are as following:Through researching the characteristics of submarine manipulate dynamics simulation unit with project situations,the system scheme of the unit is reasonably advanced in this paper.The system struture,the structure of information flow exchanging with the outside devices of navigational training simulator test platform,the system model structure,the software structure are also built,the functional modules are achieved by VC++and MATLAB mixing programming.The relatively rounded model calculation necessary to simulate motion of submarine are presented in this paper. By the study of ordinary differential equation for calculating methods and real-time simulation system simulation algorithm,the paper converts submarine space six degrees of freedom movement equation to submarine simulation execution equation, create simulation algorithm suitable for this system. This simulation algorithms were tested by the experimentations of the horizontal Z shape maneuver, vertical trapezium stern helm maneuver and turning circle maneuver,and verified that the algorithm of numerical simulation can meet submarine movement rules and satisfy the system requirements. In order to facilitate future on a variety of the method for checking, this paper designed on the basis of above three handling trials of submarine movement model algorithm checking tools.Finally, this paper introduces the system test method, based on the research of the basic software,according to the unit tests, integrate testing, system testing, these three steps, combining white-box testing, black box testing and performance testing method respectively. This paper tests every modules of submarine to manipulate dynamics simulation unit.And it is proved that the submarine manipulate dynamics simulation unit can satisfy the system requirements.