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首页> 外文期刊>Indian Journal of Marine Sciences >Hardware-In-the-loop simulation platform for the design, testing and validation of autonomous control system for unmanned underwater vehicle
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Hardware-In-the-loop simulation platform for the design, testing and validation of autonomous control system for unmanned underwater vehicle

机译：硬件在环仿真平台，用于无人水下航行器自主控制系统的设计，测试和验证

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摘要

Significant advances in various relevant science and engineering disciplines have propelled the development of more advanced, yet reliable and practical underwater vehicles. A great array of vehicle types and applications has been produced along with a wide range of innovative approaches for enhancing the performance of unmanned underwater vehicle (UUV). These recent advances enable the extension of UUVs' flight envelope comparable to that of manned vehicles. For undertaking longer missions, therefore more advanced control and navigation will be required to maintain an accurate position over larger operational envelope particularly when a close proximity to obstacles (such as manned vehicles, pipelines, underwater structures) is involved. In this case, a sufficiently good model is prerequisite of control system design. System evaluation and testing ^f unmanned underwater vehicles in certain environment can be tedious, time consuming and expensive. This paper, focused on developing dynamic model of UUV for the purpose of guidance and control. Along with this a HILS (Hardware-In-the-Loop Simulation) based novel framework for rapid construction of testing scenarios with embedded systems has been investigated. The modeling approach is implemented for the AUV Squid, an autonomous underwater vehicle that was designed, developed and tested by research team at Center for Unmanned System Studies at InstitutTeknologi Bandung.
机译：各种相关科学和工程学科的重大进步推动了更先进，可靠和实用的水下航行器的发展。产生了各种各样的车辆类型和应用，以及用于提高无人水下航行器（UUV）性能的各种创新方法。这些最新进展使UUV的飞行范围得以扩展，可与载人车辆媲美。为了执行更长的任务，因此将需要更高级的控制和导航，以在较大的作战范围内保持准确的位置，尤其是在涉及障碍物（例如有人驾驶的车辆，管道，水下结构）的情况下。在这种情况下，足够好的模型是控制系统设计的前提。在某些环境中对无人水下航行器进行系统评估和测试可能是乏味，耗时且昂贵的。本文的重点是开发用于指导和控制的UUV动力学模型。与此同时，还研究了一种基于HILS（硬件在环仿真）的新颖框架，用于快速构建具有嵌入式系统的测试场景。该模型方法是针对自动水下航行器AUV Squid实施的，该水下航行器由万隆技术研究所无人系统研究中心的研究团队设计，开发和测试。

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