Design And Credibility Assessment Of Hardware-in-the-Loop Simulation Platform For Long Endurance Underwater Glider

The long endurance underwater glider is an underwater observation equipment with long range,large depth and reusable characteristics.It has many subsystems that are coupled with each other,therefore,the overall system is complex,which makes its development costs a lot of time.In addition,as an underwater equipment,the lake and marine tests are very demanding,costly and have certain risks.As a result of that,the hardware-in-the-loop simulation technology which is a land test method that can shorten the development cycle while minimizing costs,is of great significance for the long endurance underwater glider.The main contents of this paper are summarized bellow:The mathematical model of the long endurance underwater glider is derived.On the basis of clarifying the main composition and working flow of the long endurance underwater glider,the kinematics and dynamics analysis are carried out.And then according to the momentum theorem and the momentum moment theorem,this paper established the dynamic equation of the long endurance underwater glider,which provides a theoretical basis for the following hardware-in-the-loop simulation platform.The software and hardware framework design and key functions of the hardwarein-the-loop simulation platform are completed.Firstly,the overall composition of the hardware-in-the-loop simulation platform of the long-range underwater glider is analyzed.Secondly,the hardware and software framework of the hardware-in-the-loop simulation platform is designed in combination with the actual requirements of the underwater glider.Finally,the realization of the main functions of the hardware-in-theloop simulation platform and the analysis of key technologies are completed.The design and realization of the hardware-in-the-loop platform provides an effective hardware-in-the-loop simulation test method for the underwater glider,which greatly accelerates the development progress.The credibility evaluation of the hardware-in-the-loop simulation platform is completed.On the one hand,the comprehensive evaluation method of qualitative and quantitative analysis is used to evaluate the overall credibility of the hardware-in-theloop simulation platform.Firstly,the system level of the hardware-in-the-loop simulation platform is analyzed by AHP.Then,the resemble of degree method is adopted.The credibility of some elements was quantitatively analyzed and fuzzed by ANFIS.Finally,the overall credibility of the platform was evaluated by the synthetically fuzzy judgement method.On the other hand,Bayesian hypothesis test method under small-sample condition is used to evaluate the single performance credibility of the hardware-in-the-loop simulation platform.This paper selects the representative maximum glide speed parameter that can reflect the performance of the underwater glider,which verified the credibility of the hardware-in-the-loop simulation platform from a statistical perspective.The credibility evaluation result of the hardware-in-the-loop simulation platform is verified by the lake & marine tests data.A comparative analysis between the hardware-in-the-loop simulation data and the lake & marine test data is carried out for the further credibility verification of the control flow and main performance parameters of the long endurance underwater glider.