Research On Hardware-in-the-Loop Simulation Of Autonomously Recycling Of AUV

Autonomous Underwater Vehicle(AUV)as an important carrier in human exploration of the blue deep-space plays an important role in many aspects,such as the development of marine,underwater rescue,intelligence gathering,the set of reconnaissance,and so on.So It has become one of the most important research directions of ocean exploitation and naval equipment.Because of the containment's limit of power or missions needed to be updated,the technology of autonomously recycling has become a key technology in the design of AUV.Through the comparison of digital simulation,physical simulation and hardware-in-the-loop simulation,the study found the last one cost properly and supply with a controlled,repeatable and safe environment.Learning from spacecraft docking,the hardware-in-the-loop simulation(HILS)system of autonomously recycling of AUV was designed in this paper.First,an overview of the research on hardward-in-the-loop simulation system in the field of aerospace,automotive and marine was shown,focusing on the application and trend of underwater robots and offshore platforms.Then equations of motion in six degrees of freedom was listed through stress analysis of AUV in real sea conditions.And finally hydrodynamics simulation was achieved in VC platform.Through a series of typical tests,the authenticity and reliability of the model had been verified.Next,the software of Creator and 3DSMax was used to model the underwater space,and Vega was used to drive those models.As for the natural phenomena of underwater space,solutions of texture mapping technology achieved better visual effect.Finally,a detailed description of the productions in MFC menus,toolbars,property forms and other processes was given,and the modular integrated simulation system has been created based on the MFC.The actual functionality of each module was also shown.Software and hardware architecture of the HILS and visual simulation were one of the key research content of this article.The needs of the integrated simulation system was analyzed,and the actual trajectory and the planning had been compared while AUV started from different initial positions,which demonstrated the feasibility of the control system and the reliability of hardware and software.